From fb5fa70e78c18566ce79ebdb554d02ceec07d176 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 19 Apr 2025 16:17:18 +0100 Subject: [PATCH 001/135] ui(raylib): update text window font, new lines and indentation (#35031) --- system/ui/text.py | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 97d0ebcce9..4ea886ba1e 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import re import pyray as rl from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle @@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app MARGIN = 50 SPACING = 50 -FONT_SIZE = 60 -LINE_HEIGHT = 64 +FONT_SIZE = 72 +LINE_HEIGHT = 80 BUTTON_SIZE = rl.Vector2(310, 160) DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary. @@ -16,18 +17,24 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess def wrap_text(text, font_size, max_width): lines = [] - current_line = "" font = gui_app.font() - for word in text.split(): - test_line = current_line + word + " " - if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: - current_line = test_line - else: + for paragraph in text.split("\n"): + if not paragraph.strip(): + lines.append("") + continue + indent = re.match(r"^\s*", paragraph).group() + current_line = indent + for word in paragraph.split(): + test_line = current_line + word + " " + if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: + current_line = test_line + else: + lines.append(current_line) + current_line = word + " " + current_line = current_line.rstrip() + if current_line: lines.append(current_line) - current_line = word + " " - if current_line: - lines.append(current_line) return lines @@ -45,7 +52,7 @@ class TextWindow: position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT) if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height: continue - rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) + rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) From 618b7ccf230d4048f85924c7b1bbd0f9f1b6533a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 19 Apr 2025 17:08:33 +0100 Subject: [PATCH 002/135] ui(raylib): calculate spinner progress in set_text (#35036) --- system/ui/spinner.py | 32 ++++++++++++++++++-------------- 1 file changed, 18 insertions(+), 14 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 951c6f697e..edf1fe5ca9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -26,11 +26,17 @@ class Spinner: self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) self._rotation = 0.0 self._text: str = "" + self._progress: int | None = None self._lock = threading.Lock() def set_text(self, text: str) -> None: with self._lock: - self._text = text + if text.isdigit(): + self._progress = clamp(int(text), 0, 100) + self._text = "" + else: + self._progress = None + self._text = text def render(self): center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) @@ -49,23 +55,21 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - text = None + y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT with self._lock: + progress = self._progress text = self._text - if text: - y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT - if text.isdigit(): - progress = clamp(int(text), 0, 100) - bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) - rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) + if progress is not None: + bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) - bar.width *= progress / 100.0 - rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - else: - text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), text, - rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + bar.width *= progress / 100.0 + rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) + elif text: + text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) + rl.draw_text_ex(gui_app.font(), text, + rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) if __name__ == "__main__": From d56baa0fbb8f99f3ee6dc6ad3f9fbc5aee2b01e2 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 20 Apr 2025 15:03:49 +0100 Subject: [PATCH 003/135] ui(raylib): constant spinner rotation speed (#35037) --- system/ui/spinner.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index edf1fe5ca9..adfb604de9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -9,7 +9,7 @@ from openpilot.system.ui.lib.application import gui_app # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 -ROTATION_TIME_SECONDS = 1.0 # Time for one full circle +DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN = 200 TEXTURE_SIZE = 360 FONT_SIZE = 80 @@ -43,10 +43,8 @@ class Spinner: spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - fps = rl.get_fps() - if fps > 0: - degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps) - self._rotation = (self._rotation + degrees_per_frame) % 360.0 + delta_time = rl.get_frame_time() + self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0 # Draw rotating spinner and static comma logo rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), From ed555cb948ffcfd8a233938a6caba7fa93d30d2d Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 21 Apr 2025 12:48:11 -0700 Subject: [PATCH 004/135] [bot] Update translations (#35040) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_de.ts | 590 +++++++++++++-------------- 1 file changed, 295 insertions(+), 295 deletions(-) diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index f279a8d9f1..986c0fa54f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -3,14 +3,14 @@ AbstractAlert - + Close Schließen - - + + Snooze Update Update pausieren - + Reboot and Update Aktualisieren und neu starten @@ -66,26 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden - - Hidden Network - Verborgenes Netzwerk - - - CONNECT - VERBINDEN - - - Enter SSID - SSID eingeben - - - Enter password - Passwort eingeben - - - for "%1" - für "%1" - + + Hidden Network + Verborgenes Netzwerk + + + CONNECT + VERBINDEN + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + ConfirmationDialog @@ -115,34 +115,34 @@ DeveloperPanel - - Joystick Debug Mode - Joystick Debug-Modus - - - Longitudinal Maneuver Mode - Längsmanöver-Modus - - - openpilot Longitudinal Control (Alpha) - openpilot Längsregelung (Alpha) - - - WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB). - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird. - - - Enable ADB - ADB aktivieren - - - ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen. - + + Joystick Debug Mode + Joystick Debug-Modus + + + Longitudinal Maneuver Mode + Längsmanöver-Modus + + + openpilot Longitudinal Control (Alpha) + openpilot Längsregelung (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird. + + + Enable ADB + ADB aktivieren + + + ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. + ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen. + DevicePanel @@ -278,14 +278,14 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. - - Pair Device - Gerät koppeln - - - PAIR - KOPPELN - + + Pair Device + Gerät koppeln + + + PAIR + KOPPELN + DriverViewWindow @@ -307,41 +307,41 @@ FirehosePanel - - 🔥 Firehose Mode 🔥 - 🔥 Firehose-Modus 🔥 - - - openpilot learns to drive by watching humans, like you, drive. + + 🔥 Firehose Mode 🔥 + 🔥 Firehose-Modus 🔥 + + + openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut. + openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut. Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt. - - - Firehose Mode: ACTIVE - Firehose-Modus: AKTIV - - - ACTIVE - AKTIV - - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.<br><br>Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.<br><br><br><b>Häufig gestellte Fragen</b><br><br><i>Spielt es eine Rolle, wie oder wo ich fahre?</i> Nein, fahre einfach wie gewohnt.<br><br><i>Werden im Firehose-Modus alle meine Segmente hochgeladen?</i> Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.<br><br><i>Welcher USB-C-Adapter ist gut?</i> Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.<br><br><i>Spielt es eine Rolle, welche Software ich nutze?</i> Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden. - - - <b>%n segment(s)</b> of your driving is in the training dataset so far. - - <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. - <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. - - - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INAKTIV</span>: Verbinde dich mit einem ungedrosselten Netzwerk - + + + Firehose Mode: ACTIVE + Firehose-Modus: AKTIV + + + ACTIVE + AKTIV + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.<br><br>Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.<br><br><br><b>Häufig gestellte Fragen</b><br><br><i>Spielt es eine Rolle, wie oder wo ich fahre?</i> Nein, fahre einfach wie gewohnt.<br><br><i>Werden im Firehose-Modus alle meine Segmente hochgeladen?</i> Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.<br><br><i>Welcher USB-C-Adapter ist gut?</i> Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.<br><br><i>Spielt es eine Rolle, welche Software ich nutze?</i> Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden. + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + <b>%n Segment</b> deiner Fahrten ist bisher im Trainingsdatensatz. + <b>%n Segmente</b> deiner Fahrten sind bisher im Trainingsdatensatz. + + + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INAKTIV</span>: Verbinde dich mit einem ungedrosselten Netzwerk + HudRenderer @@ -419,44 +419,44 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde. - - Unable to download updates + + Unable to download updates %1 - Updates konnten nicht heruntergeladen werden + Updates konnten nicht heruntergeladen werden %1 - - - Taking camera snapshots. System won't start until finished. - Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. - - - An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. - - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. - - - NVMe drive not mounted. - NVMe-Laufwerk nicht gemounted. - - - Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen. - - - openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. - - - openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist. - - - Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 - + + + Taking camera snapshots. System won't start until finished. + Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. + + + NVMe drive not mounted. + NVMe-Laufwerk nicht gemounted. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist. + + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 + OffroadHome @@ -475,26 +475,26 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere OnroadAlerts - - openpilot Unavailable - openpilot nicht verfügbar - - - TAKE CONTROL IMMEDIATELY - ÜBERNIMM SOFORT DIE KONTROLLE - - - Reboot Device - Gerät neu starten - - - Waiting to start - Warten auf Start - - - System Unresponsive - System reagiert nicht - + + openpilot Unavailable + openpilot nicht verfügbar + + + TAKE CONTROL IMMEDIATELY + ÜBERNIMM SOFORT DIE KONTROLLE + + + Reboot Device + Gerät neu starten + + + Waiting to start + Warten auf Start + + + System Unresponsive + System reagiert nicht + PairingPopup @@ -514,10 +514,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Bookmark connect.comma.ai to your home screen to use it like an app Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden - - Please connect to Wi-Fi to complete initial pairing - Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. - + + Please connect to Wi-Fi to complete initial pairing + Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen. + ParamControl @@ -548,18 +548,18 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Remote access Fernzugriff - - 24/7 LTE connectivity - 24/7 LTE-Verbindung - - - 1 year of drive storage - Fahrdaten-Speicherung für 1 Jahr - - - Remote snapshots - Remote-Snapshots - + + 24/7 LTE connectivity + 24/7 LTE-Verbindung + + + 1 year of drive storage + Fahrdaten-Speicherung für 1 Jahr + + + Remote snapshots + Remote-Snapshots + PrimeUserWidget @@ -607,10 +607,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere vor %n Tagen - - now - jetzt - + + now + jetzt + Reset @@ -638,20 +638,20 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Confirm Bestätigen - - Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. - - - Resetting device... + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen. + + + Resetting device... This may take up to a minute. - Gerät wird zurückgesetzt... + Gerät wird zurückgesetzt... Dies kann bis zu einer Minute dauern. - - - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. - + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen. + SettingsWindow @@ -675,14 +675,14 @@ Dies kann bis zu einer Minute dauern. Software Software - - Developer - Entwickler - - - Firehose - Firehose - + + Developer + Entwickler + + + Firehose + Firehose + Setup @@ -754,30 +754,30 @@ Dies kann bis zu einer Minute dauern. Start over Von neuem beginnen - - No custom software found at this URL. - Keine benutzerdefinierte Software unter dieser URL gefunden. - - - Something went wrong. Reboot the device. - Etwas ist schiefgelaufen. Starte das Gerät neu. - + + No custom software found at this URL. + Keine benutzerdefinierte Software unter dieser URL gefunden. + + + Something went wrong. Reboot the device. + Etwas ist schiefgelaufen. Starte das Gerät neu. + Select a language Sprache wählen - - Choose Software to Install - Wähle die zu installierende Software - - - openpilot - openpilot - - - Custom Software - Benutzerdefinierte Software - + + Choose Software to Install + Wähle die zu installierende Software + + + openpilot + openpilot + + + Custom Software + Benutzerdefinierte Software + SetupWidget @@ -925,26 +925,26 @@ Dies kann bis zu einer Minute dauern. Uninstall Deinstallieren - - failed to check for update - Update-Prüfung fehlgeschlagen - - - up to date, last checked %1 - Auf dem neuesten Stand, zuletzt geprüft am %1 - - - DOWNLOAD - HERUNTERLADEN - - - update available - Update verfügbar - - - never - nie - + + failed to check for update + Update-Prüfung fehlgeschlagen + + + up to date, last checked %1 + Auf dem neuesten Stand, zuletzt geprüft am %1 + + + DOWNLOAD + HERUNTERLADEN + + + update available + Update verfügbar + + + never + nie + SshControl @@ -1002,14 +1002,14 @@ Dies kann bis zu einer Minute dauern. Agree Zustimmen - - Welcome to openpilot - Willkommen bei openpilot - - - You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter <span style='color: #465BEA;'>https://comma.ai/terms</span>, bevor du fortfährst. - + + Welcome to openpilot + Willkommen bei openpilot + + + You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. + Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter <span style='color: #465BEA;'>https://comma.ai/terms</span>, bevor du fortfährst. + TogglesPanel @@ -1073,54 +1073,54 @@ Dies kann bis zu einer Minute dauern. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - Aggressive - Aggressiv - - - Standard - Standard - - - Relaxed - Entspannt - - - Driving Personality - Fahrstil - - - End-to-End Longitudinal Control - Ende-zu-Ende Längsregelung - - - openpilot longitudinal control may come in a future update. - Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein. - - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden. - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben. - - - Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln. - - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt. - - - Always-On Driver Monitoring - Dauerhaft aktive Fahrerüberwachung - - - Enable driver monitoring even when openpilot is not engaged. - Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. - + + Aggressive + Aggressiv + + + Standard + Standard + + + Relaxed + Entspannt + + + Driving Personality + Fahrstil + + + End-to-End Longitudinal Control + Ende-zu-Ende Längsregelung + + + openpilot longitudinal control may come in a future update. + Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden. + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben. + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. + Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln. + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. + Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt. + + + Always-On Driver Monitoring + Dauerhaft aktive Fahrerüberwachung + + + Enable driver monitoring even when openpilot is not engaged. + Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist. + Updater @@ -1159,18 +1159,18 @@ Dies kann bis zu einer Minute dauern. WiFiPromptWidget - - Open - Öffnen - - - Maximize your training data uploads to improve openpilot's driving models. - Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. - - - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> - + + Open + Öffnen + + + Maximize your training data uploads to improve openpilot's driving models. + Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern. + + + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose-Modus <span style='font-family: Noto Color Emoji;'>🔥</span> + WifiUI From 34514ef1761037127cc009e5e95b7478b5fc1ad6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 14:11:57 -0700 Subject: [PATCH 005/135] Long planner: make work with training (#35043) * revert useless * update ref --- selfdrive/controls/lib/longitudinal_planner.py | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 104c7c9d49..4219e80f33 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -52,6 +52,7 @@ class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc(dt=dt) + self.mpc.mode = 'acc' self.fcw = False self.dt = dt self.allow_throttle = True @@ -89,7 +90,6 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'acc' self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: @@ -97,7 +97,7 @@ class LongitudinalPlanner: else: accel_coast = ACCEL_MAX - v_ego = sm['modelV2'].velocity.x[0] + v_ego = sm['carState'].vEgo v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET @@ -129,7 +129,7 @@ class LongitudinalPlanner: self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error self.v_model_error = get_speed_error(sm['modelV2'], v_ego) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f89d7802d..4b3ef33407 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0800e73b5d9c801f161b9559557c0559b0682fec \ No newline at end of file +fcc771b9ceb487a61035885acbd84e592fb316bf \ No newline at end of file From 33a7d853f00d7f6f9d1ffc13160816b6106aec72 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 15:10:41 -0700 Subject: [PATCH 006/135] Modeld: small refactor (#35044) refactor --- selfdrive/controls/lib/drive_helpers.py | 3 +++ selfdrive/modeld/modeld.py | 8 +------- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 9958755577..038061b7e6 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,6 +19,9 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val +def smooth_value(val, prev_val, tau): + alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 + return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll): # This function respects ISO lateral jerk and acceleration limits + a max curvature diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 0ad629f519..1060b36d28 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,15 +26,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext - - PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -46,10 +44,6 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p LAT_SMOOTH_SECONDS = 0.3 LONG_SMOOTH_SECONDS = 0.3 -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 - return alpha * val + (1 - alpha) * prev_val - def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: From a029d13398c0408b4ebcf7fa916474f5e3d79129 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Mon, 21 Apr 2025 15:44:30 -0700 Subject: [PATCH 007/135] update smooth --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 038061b7e6..3f99f1bbbb 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -19,8 +19,8 @@ def clamp(val, min_val, max_val): clamped_val = float(np.clip(val, min_val, max_val)) return clamped_val, clamped_val != val -def smooth_value(val, prev_val, tau): - alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1 +def smooth_value(val, prev_val, tau, dt=DT_MDL): + alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1 return alpha * val + (1 - alpha) * prev_val def clip_curvature(v_ego, prev_curvature, new_curvature, roll): From a9b9e0bb54dda1613e8347efe146a78d6ce6bc71 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Apr 2025 16:13:55 -0700 Subject: [PATCH 008/135] raylib: init updater (#35045) * raylib: init updater * cleanup --- system/ui/updater.py | 197 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 197 insertions(+) create mode 100755 system/ui/updater.py diff --git a/system/ui/updater.py b/system/ui/updater.py new file mode 100755 index 0000000000..eb9d766a16 --- /dev/null +++ b/system/ui/updater.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python3 +import sys +import subprocess +import threading +import pyray as rl +from enum import IntEnum + +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_text_box, gui_label + +# Constants +MARGIN = 50 +BUTTON_HEIGHT = 160 +BUTTON_WIDTH = 400 +PROGRESS_BAR_HEIGHT = 72 +TITLE_FONT_SIZE = 80 +BODY_FONT_SIZE = 65 +BACKGROUND_COLOR = rl.BLACK +PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255) +PROGRESS_COLOR = rl.Color(54, 77, 239, 255) + + +class Screen(IntEnum): + PROMPT = 0 + WIFI = 1 + PROGRESS = 2 + + +class Updater: + def __init__(self, updater_path, manifest_path): + self.updater = updater_path + self.manifest = manifest_path + self.current_screen = Screen.PROMPT + + self.progress_value = 0 + self.progress_text = "Loading..." + self.show_reboot_button = False + self.process = None + self.update_thread = None + + def install_update(self): + self.current_screen = Screen.PROGRESS + self.progress_value = 0 + self.progress_text = "Downloading..." + self.show_reboot_button = False + + # Start the update process in a separate thread + self.update_thread = threading.Thread(target=self._run_update_process) + self.update_thread.daemon = True + self.update_thread.start() + + def _run_update_process(self): + # TODO: just import it and run in a thread without a subprocess + cmd = [self.updater, "--swap", self.manifest] + self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + text=True, bufsize=1, universal_newlines=True) + + for line in self.process.stdout: + parts = line.strip().split(":") + if len(parts) == 2: + self.progress_text = parts[0] + try: + self.progress_value = int(float(parts[1])) + except ValueError: + pass + + exit_code = self.process.wait() + if exit_code == 0: + HARDWARE.reboot() + else: + self.progress_text = "Update failed" + self.show_reboot_button = True + + def render_prompt_screen(self): + # Title + title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE) + gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD) + + # Description + desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \ + The download size is approximately 1GB." + desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) + gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE) + + # Buttons at the bottom + button_y = gui_app.height - MARGIN - BUTTON_HEIGHT + button_width = (gui_app.width - MARGIN * 3) // 2 + + # WiFi button + wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT) + if gui_button(wifi_button_rect, "Connect to Wi-Fi"): + self.current_screen = Screen.WIFI + return # Return to avoid processing other buttons after screen change + + # Install button + install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT) + if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY): + self.install_update() + return # Return to avoid further processing after action + + def render_wifi_screen(self): + # Title and back button + title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60) + gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD) + + back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + if gui_button(back_button_rect, "Back"): + self.current_screen = Screen.PROMPT + return # Return to avoid processing other interactions after screen change + + # Draw placeholder for WiFi implementation + placeholder_rect = rl.Rectangle( + MARGIN, + title_rect.y + title_rect.height + MARGIN, + gui_app.width - MARGIN * 2, + gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT + ) + + # Draw rounded rectangle background + rl.draw_rectangle_rounded( + placeholder_rect, + 0.1, + 10, + rl.Color(41, 41, 41, 255) + ) + + # Draw placeholder text + placeholder_text = "WiFi Implementation Placeholder" + text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1) + text_pos = rl.Vector2( + placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2, + placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2 + ) + rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE) + + # Draw instructions + instructions_text = "Real WiFi functionality would be implemented here" + instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1) + instructions_pos = rl.Vector2( + placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2, + text_pos.y + text_size.y + 20 + ) + rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY) + + def render_progress_screen(self): + title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100) + gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD) + + # Progress bar + bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR) + + # Calculate the width of the progress chunk + progress_width = (bar_rect.width * self.progress_value) / 100 + if progress_width > 0: + progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height) + rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR) + + # Show reboot button if needed + if self.show_reboot_button: + reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) + if gui_button(reboot_rect, "Reboot"): + # Return True to signal main loop to exit before rebooting + HARDWARE.reboot() + return + + def render(self): + if self.current_screen == Screen.PROMPT: + self.render_prompt_screen() + elif self.current_screen == Screen.WIFI: + self.render_wifi_screen() + elif self.current_screen == Screen.PROGRESS: + self.render_progress_screen() + + +def main(): + if len(sys.argv) < 3: + print("Usage: updater.py ") + sys.exit(1) + + updater_path = sys.argv[1] + manifest_path = sys.argv[2] + + try: + gui_app.init_window("System Update") + updater = Updater(updater_path, manifest_path) + for _ in gui_app.render(): + updater.render() + finally: + # Make sure we clean up even if there's an error + gui_app.close() + + +if __name__ == "__main__": + main() From aaaa2d0dd064364d647fb381cc488fe6fe4d44e2 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 21 Apr 2025 17:02:36 -0700 Subject: [PATCH 009/135] Revert "OS04C10: use IFE downscaler for road cameras" (#35046) Revert "OS04C10: use IFE downscaler for road cameras (#35023)" This reverts commit 3b60b22ceeb090812e5fa948ac6e56442d681dc4. --- system/camerad/cameras/camera_common.cc | 3 ++ system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 ++-- system/camerad/cameras/ife.h | 18 ++++---- system/camerad/cameras/spectra.cc | 40 +++++++--------- system/camerad/sensors/os04c10.cc | 11 ----- system/camerad/sensors/os04c10_registers.h | 54 ++++++++-------------- system/camerad/sensors/sensor.h | 2 - 8 files changed, 53 insertions(+), 87 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1f6ad9b4be..f6c2681dea 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,6 +26,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } + out_img_width = sensor->frame_width; + out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; + // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c26859cbc4..c0426678b6 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - uint32_t out_img_width, out_img_height; + int out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 8c4602bb31..18a42f05d8 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index fd87d2baa4..49737f2db7 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((out_width - 1) << 16) | (s->frame_width - 1), + ((s->frame_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((out_height - 1) << 16) | (s->frame_height - 1), + ((s->frame_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((out_width / 2 - 1) << 16) | (s->frame_width - 1), + ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((out_height / 2 - 1) << 16) | (s->frame_height - 1), + ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - out_height - 1, - out_width - 1, + s->frame_height - 1, + s->frame_width - 1, }); dst += write_cont(dst, 0xe30, { - out_height / 2 - 1, - out_width - 1, + s->frame_height/2 - 1, + s->frame_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 47ae9061f4..4535078771 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,21 +281,18 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; - buf.out_img_width = sensor->frame_width / sensor->out_scale; - buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; - // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); assert(y_height/2 == uv_height); open = true; @@ -648,14 +645,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height / 2, + .width = sensor->frame_width, + .height = sensor->frame_height/2, .plane_stride = stride, .slice_height = uv_height, }; @@ -740,7 +737,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -847,14 +844,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = buf.out_img_width, - .height = buf.out_img_height / 2, + .width = sensor->frame_width, + .height = sensor->frame_height/2, .plane_stride = stride, .slice_height = uv_height, }; @@ -996,9 +993,6 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { - if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { - ((OS04C10*)s)->ife_downscale_configure(); - } sensor.reset(s); return (sensors_init() == 0); }; @@ -1071,8 +1065,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = buf.out_img_width, - .height = buf.out_img_height + sensor->extra_height, + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1147,8 +1141,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = buf.out_img_width, - .height = buf.out_img_height, + .width = sensor->frame_width, + .height = sensor->frame_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 38be4ecca4..d008e1d07b 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,17 +20,6 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace -void OS04C10::ife_downscale_configure() { - out_scale = 2; - - pixel_size_mm = 0.002; - frame_width = 2688; - frame_height = 1520; - exposure_time_max = 2352; - - init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); -} - OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index b501656090..8b1c78c69d 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,6 +88,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, + // {0x3829, 0x03}, + // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -197,6 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x370b, 0x48}, {0x370c, 0x01}, {0x370f, 0x00}, + {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, {0x371a, 0x1e}, @@ -228,6 +231,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37bd, 0x01}, {0x37bf, 0x26}, {0x37c0, 0x11}, + {0x37c2, 0x14}, {0x37cd, 0x19}, {0x37e0, 0x08}, {0x37e6, 0x04}, @@ -237,9 +241,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37d8, 0x02}, {0x37e2, 0x10}, {0x3739, 0x10}, + {0x3662, 0x08}, {0x37e4, 0x20}, {0x37e3, 0x08}, + {0x37d9, 0x04}, {0x4040, 0x00}, + {0x4041, 0x03}, + {0x4008, 0x01}, + {0x4009, 0x06}, // FSIN {0x3002, 0x22}, @@ -260,11 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3802, 0x00}, {0x3803, 0x00}, {0x3804, 0x0a}, {0x3805, 0x8f}, {0x3806, 0x05}, {0x3807, 0xff}, + {0x3808, 0x05}, {0x3809, 0x40}, + {0x380a, 0x02}, {0x380b, 0xf8}, {0x3811, 0x08}, {0x3813, 0x08}, + {0x3814, 0x03}, {0x3815, 0x01}, + {0x3816, 0x03}, {0x3817, 0x01}, + {0x380c, 0x0b}, {0x380d, 0xac}, // HTS + {0x380e, 0x06}, {0x380f, 0x9c}, // VTS + + {0x3820, 0xb3}, + {0x3821, 0x01}, {0x3880, 0x00}, {0x3882, 0x20}, {0x3c91, 0x0b}, @@ -313,40 +331,4 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // r {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, - - {0x3714, 0x28}, - {0x37c2, 0x14}, - {0x3662, 0x08}, - {0x37d9, 0x04}, - {0x4041, 0x03}, - {0x4008, 0x01}, - {0x4009, 0x06}, - {0x3808, 0x05}, {0x3809, 0x40}, - {0x380a, 0x02}, {0x380b, 0xf8}, - {0x3814, 0x03}, - {0x3816, 0x03}, - {0x380c, 0x0b}, {0x380d, 0xac}, // HTS - {0x380e, 0x06}, {0x380f, 0x9c}, // VTS - {0x3820, 0xb3}, - {0x3821, 0x01}, -}; - -const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { - // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz - {0x3829, 0x03}, - {0x3714, 0x24}, - {0x37c2, 0x04}, - {0x3662, 0x10}, - {0x37d9, 0x08}, - {0x4041, 0x07}, - {0x4008, 0x02}, - {0x4009, 0x0d}, - {0x3808, 0x0a}, {0x3809, 0x80}, - {0x380a, 0x05}, {0x380b, 0xf0}, - {0x3814, 0x01}, - {0x3816, 0x01}, - {0x380c, 0x08}, {0x380d, 0x5c}, // HTS - {0x380e, 0x09}, {0x380f, 0x38}, // VTS - {0x3820, 0xb0}, - {0x3821, 0x00}, }; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index d4be3cf036..c1131aafdf 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,7 +29,6 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; - int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -110,7 +109,6 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); - void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 8cefc00a6e67499eddf4fadb8eb4f1f491a50bd7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 21 Apr 2025 17:06:53 -0700 Subject: [PATCH 010/135] Tomb Raider 3 (#35042) * 92b64884-4506-4a03-87ad-33e1a177fe73/400 * faster lat --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/models/driving_policy.onnx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1060b36d28..1d0facd133 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.1 LONG_SMOOTH_SECONDS = 0.3 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3bf2e01b5e..df11e590dd 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342 +oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891 size 15578328 From 23524e203826ca944ffbff9789ec9765ba2b6c8e Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 15:28:54 +0100 Subject: [PATCH 011/135] ui(raylib): reduce spinner rotation artifact (#35048) * ui(raylib): reduce spinner rotation artifact A visual artifact (white pixels) appeared on the edge of the rotating spinner track texture, likely due to RGB color bleed during bilinear filtering in Raylib. Pre-multiplying the alpha channel of the spinner track image using `rl.image_alpha_premultiply` significantly reduces the visibility of the artifact. * lint --- system/ui/lib/application.py | 4 +++- system/ui/spinner.py | 3 ++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 470396bbc7..23f9316c3a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -50,9 +50,11 @@ class GuiApplication: self._set_styles() self._load_fonts() - def load_texture_from_image(self, file_name: str, width: int, height: int): + def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False): """Load and resize a texture, storing it for later automatic unloading.""" image = rl.load_image(file_name) + if alpha_premultiply: + rl.image_alpha_premultiply(image) rl.image_resize(image, width, height) texture = rl.load_texture_from_image(image) # Set texture filtering to smooth the result diff --git a/system/ui/spinner.py b/system/ui/spinner.py index adfb604de9..f3724cbd1e 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -23,7 +23,8 @@ def clamp(value, min_value, max_value): class Spinner: def __init__(self): self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) - self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, + alpha_premultiply=True) self._rotation = 0.0 self._text: str = "" self._progress: int | None = None From 651ff78cb051280513c297ac1ab356eb164116e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 16:07:05 +0100 Subject: [PATCH 012/135] ui(raylib): increase font size and wrap text in spinner (#35049) - Wrap text onto separate lines - Increase font size to be closer to Qt - Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text` Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered --- system/ui/spinner.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index f3724cbd1e..fd4264be6c 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -5,14 +5,17 @@ import threading from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.text import wrap_text # Constants PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second -MARGIN = 200 +MARGIN_H = 100 +MARGIN_V = 200 TEXTURE_SIZE = 360 -FONT_SIZE = 80 +FONT_SIZE = 88 +LINE_HEIGHT = 96 DARKGRAY = (55, 55, 55, 255) @@ -26,18 +29,18 @@ class Spinner: self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True) self._rotation = 0.0 - self._text: str = "" self._progress: int | None = None + self._wrapped_lines: list[str] = [] self._lock = threading.Lock() def set_text(self, text: str) -> None: with self._lock: if text.isdigit(): self._progress = clamp(int(text), 0, 100) - self._text = "" + self._wrapped_lines = [] else: self._progress = None - self._text = text + self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) def render(self): center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) @@ -54,10 +57,10 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT + y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT with self._lock: progress = self._progress - text = self._text + wrapped_lines = self._wrapped_lines if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) @@ -65,10 +68,11 @@ class Spinner: bar.width *= progress / 100.0 rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE) - elif text: - text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), text, - rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + elif wrapped_lines: + for i, line in enumerate(wrapped_lines): + text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0) + rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT), + FONT_SIZE, 0.0, rl.WHITE) if __name__ == "__main__": From c9259a9bcfd86f77c0d336b470c1f72cbfd073e8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 20:54:36 +0100 Subject: [PATCH 013/135] ui(raylib): update spinner vertical pos (#35051) Adjust the spinner vertical position when displaying text or a progress bar - When displaying the progress bar, center the comma logo and spinner in the middle of the screen - When displaying text, center the entire content vertically Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]` --- system/ui/spinner.py | 23 ++++++++++++++++------- system/ui/text.py | 4 +++- 2 files changed, 19 insertions(+), 8 deletions(-) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index fd4264be6c..9c1882cf5f 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -12,7 +12,6 @@ PROGRESS_BAR_WIDTH = 1000 PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN_H = 100 -MARGIN_V = 200 TEXTURE_SIZE = 360 FONT_SIZE = 88 LINE_HEIGHT = 96 @@ -43,7 +42,22 @@ class Spinner: self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H) def render(self): - center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) + with self._lock: + progress = self._progress + wrapped_lines = self._wrapped_lines + + if wrapped_lines: + # Calculate total height required for spinner and text + spacing = 50 + total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT + center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0 + else: + # Center spinner vertically + spacing = 150 + center_y = gui_app.height / 2.0 + y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing + + center = rl.Vector2(gui_app.width / 2.0, center_y) spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) @@ -57,11 +71,6 @@ class Spinner: rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT - with self._lock: - progress = self._progress - wrapped_lines = self._wrapped_lines - if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) diff --git a/system/ui/text.py b/system/ui/text.py index 4ea886ba1e..79c20ce8dc 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -21,7 +21,9 @@ def wrap_text(text, font_size, max_width): for paragraph in text.split("\n"): if not paragraph.strip(): - lines.append("") + # Don't add empty lines first, ensuring wrap_text("") returns [] + if lines: + lines.append("") continue indent = re.match(r"^\s*", paragraph).group() current_line = indent From f9767d265010101f123dcdc261206cb7be8bb5d8 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 22:07:47 +0100 Subject: [PATCH 014/135] ui(raylib): "exit" btn in text window on PC (#35052) * ui(raylib): "exit" btn in text window on PC * unused import --- system/ui/text.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 79c20ce8dc..9c7101dfe8 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,9 +58,12 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - HARDWARE.reboot() + if PC: + gui_app.close() + else: + HARDWARE.reboot() return ret From 754f5aa95590f7bc98c8f4f8fbe3f7f2a0a18e96 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 22 Apr 2025 22:30:20 +0100 Subject: [PATCH 015/135] Revert "ui(raylib): "exit" btn in text window on PC (#35052)" This reverts commit f9767d265010101f123dcdc261206cb7be8bb5d8. --- system/ui/text.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 9c7101dfe8..79c20ce8dc 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,12 +58,9 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - if PC: - gui_app.close() - else: - HARDWARE.reboot() + HARDWARE.reboot() return ret From 7b5468b2e8457856acbf3213be9ef0379a10597e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 22 Apr 2025 14:50:03 -0700 Subject: [PATCH 016/135] plotjuggler: support relative paths (#35054) * Support relative paths * Abspath for rlog too --- tools/plotjuggler/juggle.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index f66782d6f3..34f33d1959 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl env["BASEDIR"] = BASEDIR env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}" if dbc: + if os.path.exists(dbc): + dbc = os.path.abspath(dbc) env["DBC_NAME"] = dbc extra_args = "" if fn is not None: - extra_args += f" -d {fn}" + extra_args += f" -d {os.path.abspath(fn)}" if layout is not None: - extra_args += f" -l {layout}" + extra_args += f" -l {os.path.abspath(layout)}" if route_or_segment_name is not None: extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\"" From 281a72780b8e8b97fb12d983a29edc1f4f242aeb Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 23 Apr 2025 14:06:09 +0100 Subject: [PATCH 017/135] Reapply "ui(raylib): "exit" btn in text window on PC" (#35053) * ui(raylib): "exit" btn in text window on PC * unused import * request close * this was missing --- system/ui/lib/application.py | 6 +++++- system/ui/text.py | 10 +++++++--- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 23f9316c3a..f5a238b81e 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -38,6 +38,10 @@ class GuiApplication: self._textures: list[rl.Texture] = [] self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() + self._window_close_requested = False + + def request_close(self): + self._window_close_requested = True def init_window(self, title: str, fps: int=DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit @@ -80,7 +84,7 @@ class GuiApplication: rl.close_window() def render(self): - while not rl.window_should_close(): + while not (self._window_close_requested or rl.window_should_close()): rl.begin_drawing() rl.clear_background(rl.BLACK) diff --git a/system/ui/text.py b/system/ui/text.py index 79c20ce8dc..1337887d9b 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import re import pyray as rl -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app @@ -58,9 +58,12 @@ class TextWindow: rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: - HARDWARE.reboot() + if PC: + gui_app.request_close() + else: + HARDWARE.reboot() return ret @@ -69,6 +72,7 @@ def show_text_in_window(text: str): text_window = TextWindow(text) for _ in gui_app.render(): text_window.render() + gui_app.close() if __name__ == "__main__": From a38dcbb3fed278da25c3b8f3d538bdc43fab65d1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 23 Apr 2025 14:15:06 -0700 Subject: [PATCH 018/135] Disable low speed steer in modeld (#35056) * disable low speed steer * No steer under --- selfdrive/modeld/modeld.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1d0facd133..b89c8bad57 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -43,10 +43,11 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p LAT_SMOOTH_SECONDS = 0.1 LONG_SMOOTH_SECONDS = 0.3 +MIN_LAT_CONTROL_SPEED = 0.3 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, - lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action: + lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: plan = model_output['plan'][0] desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0], plan[:,Plan.ACCELERATION][:,0], @@ -55,7 +56,10 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) desired_curvature = model_output['desired_curvature'][0, 0] - desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) + if v_ego > MIN_LAT_CONTROL_SPEED: + desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) + else: + desired_curvature = prev_action.desiredCurvature return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), @@ -331,7 +335,7 @@ def main(demo=False): drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL) + action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego) prev_action = action fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, From e85d833a800838bb11e6abc625f4130b5114ad9a Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 23 Apr 2025 21:09:22 -0700 Subject: [PATCH 019/135] Revert "Revert "OS04C10: use IFE downscaler for road cameras"" (#35047) * Revert "Revert "OS04C10: use IFE downscaler for road cameras" (#35046)" This reverts commit aaaa2d0dd064364d647fb381cc488fe6fe4d44e2. * fixed * patch it here * surely --- system/camerad/cameras/camera_common.cc | 3 -- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 10 +++--- system/camerad/cameras/ife.h | 18 +++++----- system/camerad/cameras/spectra.cc | 40 +++++++++++++--------- system/camerad/sensors/os04c10.cc | 11 ++++++ system/camerad/sensors/os04c10_registers.h | 22 ++++++++++-- system/camerad/sensors/sensor.h | 2 ++ 8 files changed, 71 insertions(+), 37 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index f6c2681dea..1f6ad9b4be 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * LOGD("allocated %d CL buffers", frame_buf_count); } - out_img_width = sensor->frame_width; - out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; - // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c0426678b6..c26859cbc4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -32,7 +32,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs_raw; - int out_img_width, out_img_height; + uint32_t out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 18a42f05d8..8c4602bb31 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct if (!camera.enabled) return; - fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale; set_exposure_rect(); dc_gain_weight = camera.sensor->dc_gain_min_weight; @@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() { float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) + std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), + std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), + std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) }; } diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 49737f2db7..fd87d2baa4 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std: } -int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, uint32_t out_width, uint32_t out_height) { uint8_t *start = dst; // start with the every frame config @@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, - ((s->frame_width - 1) << 16) | (s->frame_width - 1), + ((out_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height - 1) << 16) | (s->frame_height - 1), + ((out_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, @@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo }); dst += write_cont(dst, 0xa68, { 0x00000003, - ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), + ((out_width / 2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, s->frame_width - 1, - ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), + ((out_height / 2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, @@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo // cropping dst += write_cont(dst, 0xe10, { - s->frame_height - 1, - s->frame_width - 1, + out_height - 1, + out_width - 1, }); dst += write_cont(dst, 0xe30, { - s->frame_height/2 - 1, - s->frame_width - 1, + out_height / 2 - 1, + out_width - 1, }); dst += write_cont(dst, 0xe18, { 0x0ff00000, diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 4535078771..47ae9061f4 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c if (!enabled) return; + buf.out_img_width = sensor->frame_width / sensor->out_scale; + buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale; + // size is driven by all the HW that handles frames, // the video encoder has certain alignment requirements in this case - stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); - y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); - uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; if (cc.output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } - assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width)); assert(y_height/2 == uv_height); open = true; @@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[1].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[1].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = cc.output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height); } else { buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } @@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .plane_stride = stride, .slice_height = y_height, }; io_cfg[0].planes[1] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height/2, + .width = buf.out_img_width, + .height = buf.out_img_height / 2, .plane_stride = stride, .slice_height = uv_height, }; @@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() { LOGD("-- Probing sensor %d", cc.camera_num); auto init_sensor_lambda = [this](SensorInfo *s) { + if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) { + ((OS04C10*)s)->ife_downscale_configure(); + } sensor.reset(s); return (sensors_init() == 0); }; @@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() { .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_FULL, .format = CAM_FORMAT_NV12, - .width = sensor->frame_width, - .height = sensor->frame_height + sensor->extra_height, + .width = buf.out_img_width, + .height = buf.out_img_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; @@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() { }, .out_res[0] = (struct cam_icp_res_info){ .format = 0x3, // YUV420NV12 - .width = sensor->frame_width, - .height = sensor->frame_height, + .width = buf.out_img_width, + .height = buf.out_img_height, .fps = 20, }, }; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index d008e1d07b..38be4ecca4 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = { } // namespace +void OS04C10::ife_downscale_configure() { + out_scale = 2; + + pixel_size_mm = 0.002; + frame_width = 2688; + frame_height = 1520; + exposure_time_max = 2352; + + init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10)); +} + OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index 8b1c78c69d..7cd9e97be5 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37c7, 0xa8}, {0x37da, 0x11}, {0x381f, 0x08}, - // {0x3829, 0x03}, - // {0x3832, 0x00}, {0x3881, 0x00}, {0x3888, 0x04}, {0x388b, 0x00}, @@ -332,3 +330,23 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x5104, 0x08}, {0x5105, 0xd6}, {0x5144, 0x08}, {0x5145, 0xd6}, }; + +const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x3c8c, 0x40}, + {0x3714, 0x24}, + {0x37c2, 0x04}, + {0x3662, 0x10}, + {0x37d9, 0x08}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3808, 0x0a}, {0x3809, 0x80}, + {0x380a, 0x05}, {0x380b, 0xf0}, + {0x3814, 0x01}, + {0x3816, 0x01}, + {0x380c, 0x08}, {0x380d, 0x5c}, // HTS + {0x380e, 0x09}, {0x380f, 0x38}, // VTS + {0x3820, 0xb0}, + {0x3821, 0x00}, +}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index c1131aafdf..d4be3cf036 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -29,6 +29,7 @@ public: uint32_t frame_stride; uint32_t frame_offset = 0; uint32_t extra_height = 0; + int out_scale = 1; int registers_offset = -1; int stats_offset = -1; int hdr_offset = -1; @@ -109,6 +110,7 @@ public: class OS04C10 : public SensorInfo { public: OS04C10(); + void ife_downscale_configure(); std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; From 196848c023bddea801994699eb1d92409638f989 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 15:55:15 +0100 Subject: [PATCH 020/135] ui(raylib): set display power and brightness on init (#35060) * add set_display_power to hardware.py * set display power and brightness on app init --- system/hardware/base.py | 4 ++++ system/hardware/pc/hardware.py | 3 +++ system/hardware/tici/hardware.py | 7 +++++++ system/ui/lib/application.py | 4 ++++ 4 files changed, 18 insertions(+) diff --git a/system/hardware/base.py b/system/hardware/base.py index c7c765f20a..f2c627d339 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -130,6 +130,10 @@ class HardwareBase(ABC): def get_thermal_config(self): return ThermalConfig() + @abstractmethod + def set_display_power(self, on: bool): + pass + @abstractmethod def set_screen_brightness(self, percentage): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 017a449c90..091f6a9b25 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -53,6 +53,9 @@ class Pc(HardwareBase): def shutdown(self): print("SHUTDOWN!") + def set_display_power(self, on): + pass + def set_screen_brightness(self, percentage): pass diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 15480bab50..ffa852403f 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -341,6 +341,13 @@ class Tici(HardwareBase): exhaust=exhaust, case=case) + def set_display_power(self, on): + try: + with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f: + f.write("0" if on else "4") + except Exception: + pass + def set_screen_brightness(self, percentage): try: with open("/sys/class/backlight/panel0-backlight/max_brightness") as f: diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index f5a238b81e..0b918d036c 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -5,6 +5,7 @@ import pyray as rl from enum import IntEnum from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware import HARDWARE DEFAULT_FPS = 60 FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops @@ -46,6 +47,9 @@ class GuiApplication: def init_window(self, title: str, fps: int=DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit + HARDWARE.set_display_power(True) + HARDWARE.set_screen_brightness(65) + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) From 8088438bd6d41311b27b6a5308c2a8ab10fd624d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 20:18:31 +0100 Subject: [PATCH 021/135] hardware: make set_display_power not abstract (#35061) hardware: make set_dispaly_power not abstract follow-up to https://github.com/commaai/openpilot/pull/35060#discussion_r2058829397 --- system/hardware/base.py | 1 - system/hardware/pc/hardware.py | 3 --- 2 files changed, 4 deletions(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index f2c627d339..1e3b94e44e 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -130,7 +130,6 @@ class HardwareBase(ABC): def get_thermal_config(self): return ThermalConfig() - @abstractmethod def set_display_power(self, on: bool): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 091f6a9b25..017a449c90 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -53,9 +53,6 @@ class Pc(HardwareBase): def shutdown(self): print("SHUTDOWN!") - def set_display_power(self, on): - pass - def set_screen_brightness(self, percentage): pass From 7c223e5586bc4ad8c21f1879fc3a0b73df6bd549 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 21:00:48 +0100 Subject: [PATCH 022/135] ui(raylib): decrease target FPS to 30 (#35062) --- system/ui/lib/application.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 0b918d036c..a3e209c394 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -7,7 +7,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -DEFAULT_FPS = 60 +DEFAULT_FPS = 30 FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions @@ -44,7 +44,7 @@ class GuiApplication: def request_close(self): self._window_close_requested = True - def init_window(self, title: str, fps: int=DEFAULT_FPS): + def init_window(self, title: str, fps: int = DEFAULT_FPS): atexit.register(self.close) # Automatically call close() on exit HARDWARE.set_display_power(True) From 3ee2882093f79dc1d879e6fabdcc89c6c11db570 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 24 Apr 2025 21:16:38 +0100 Subject: [PATCH 023/135] ui: replace qt spinner with raylib (#35059) * use raylib spinner * remove qt spinner * use wrapper, render spinner in thread * english * fix? * match Qt font size more closely --- .gitattributes | 1 - common/spinner.py | 52 -------------- selfdrive/ui/.gitignore | 1 - selfdrive/ui/SConscript | 3 +- selfdrive/ui/qt/spinner.cc | 120 -------------------------------- selfdrive/ui/qt/spinner.h | 37 ---------- selfdrive/ui/qt/spinner_larch64 | 3 - selfdrive/ui/spinner | 7 -- system/athena/registration.py | 2 +- system/manager/build.py | 12 ++-- system/ui/spinner.py | 65 ++++++++++++++--- 11 files changed, 64 insertions(+), 239 deletions(-) delete mode 100644 common/spinner.py delete mode 100644 selfdrive/ui/qt/spinner.cc delete mode 100644 selfdrive/ui/qt/spinner.h delete mode 100755 selfdrive/ui/qt/spinner_larch64 delete mode 100755 selfdrive/ui/spinner diff --git a/.gitattributes b/.gitattributes index eda2505d0e..1384edb626 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11,7 +11,6 @@ selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text -selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text third_party/**/*.a filter=lfs diff=lfs merge=lfs -text third_party/**/*.so filter=lfs diff=lfs merge=lfs -text diff --git a/common/spinner.py b/common/spinner.py deleted file mode 100644 index dcf22641c4..0000000000 --- a/common/spinner.py +++ /dev/null @@ -1,52 +0,0 @@ -import os -import subprocess -from openpilot.common.basedir import BASEDIR - - -class Spinner: - def __init__(self): - try: - self.spinner_proc = subprocess.Popen(["./spinner"], - stdin=subprocess.PIPE, - cwd=os.path.join(BASEDIR, "selfdrive", "ui"), - close_fds=True) - except OSError: - self.spinner_proc = None - - def __enter__(self): - return self - - def update(self, spinner_text: str): - if self.spinner_proc is not None: - self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n") - try: - self.spinner_proc.stdin.flush() - except BrokenPipeError: - pass - - def update_progress(self, cur: float, total: float): - self.update(str(round(100 * cur / total))) - - def close(self): - if self.spinner_proc is not None: - self.spinner_proc.kill() - try: - self.spinner_proc.communicate(timeout=2.) - except subprocess.TimeoutExpired: - print("WARNING: failed to kill spinner") - self.spinner_proc = None - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_value, traceback): - self.close() - - -if __name__ == "__main__": - import time - with Spinner() as s: - s.update("Spinner text") - time.sleep(5.0) - print("gone") - time.sleep(5.0) diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index f9724816da..d9176a3fd4 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -4,7 +4,6 @@ moc_* translations/main_test_en.* _text -_spinner ui mui diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 8fa4b55ea7..233addaa6a 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -66,9 +66,8 @@ if GetOption('extras'): qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - # spinner and text window + # text window qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs) - qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs) # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc deleted file mode 100644 index 2404efa668..0000000000 --- a/selfdrive/ui/qt/spinner.cc +++ /dev/null @@ -1,120 +0,0 @@ -#include "selfdrive/ui/qt/spinner.h" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" - -TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - setFixedSize(spinner_size); - - // pre-compute all the track imgs. make this a gif instead? - QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size); - QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size); - - QTransform transform(1, 0, 0, 1, width() / 2, height() / 2); - QPixmap pm(spinner_size); - QPainter p(&pm); - p.setRenderHint(QPainter::SmoothPixmapTransform); - for (int i = 0; i < track_imgs.size(); ++i) { - p.resetTransform(); - p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black); - p.drawPixmap(0, 0, comma_img); - p.setTransform(transform.rotate(360 / spinner_fps)); - p.drawPixmap(-width() / 2, -height() / 2, track_img); - track_imgs[i] = pm.copy(); - } - - m_anim.setDuration(1000); - m_anim.setStartValue(0); - m_anim.setEndValue(int(track_imgs.size() -1)); - m_anim.setLoopCount(-1); - m_anim.start(); - connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update())); -} - -void TrackWidget::paintEvent(QPaintEvent *event) { - QPainter painter(this); - painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]); -} - -// Spinner - -Spinner::Spinner(QWidget *parent) : QWidget(parent) { - QGridLayout *main_layout = new QGridLayout(this); - main_layout->setSpacing(0); - main_layout->setMargin(200); - - main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter); - - text = new QLabel(); - text->setWordWrap(true); - text->setVisible(false); - text->setAlignment(Qt::AlignCenter); - main_layout->addWidget(text, 1, 0, Qt::AlignHCenter); - - progress_bar = new QProgressBar(); - progress_bar->setRange(5, 100); - progress_bar->setTextVisible(false); - progress_bar->setVisible(false); - progress_bar->setFixedHeight(20); - main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter); - - setStyleSheet(R"( - Spinner { - background-color: black; - } - QLabel { - color: white; - font-size: 80px; - background-color: transparent; - } - QProgressBar { - background-color: #373737; - width: 1000px; - border solid white; - border-radius: 10px; - } - QProgressBar::chunk { - border-radius: 10px; - background-color: white; - } - )"); - - notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read); - QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update); -} - -void Spinner::update(int n) { - std::string line; - std::getline(std::cin, line); - - if (line.length()) { - bool number = std::all_of(line.begin(), line.end(), ::isdigit); - text->setVisible(!number); - progress_bar->setVisible(number); - text->setText(QString::fromStdString(line)); - if (number) { - progress_bar->setValue(std::stoi(line)); - } - } -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Spinner spinner; - setMainWindow(&spinner); - return a.exec(); -} diff --git a/selfdrive/ui/qt/spinner.h b/selfdrive/ui/qt/spinner.h deleted file mode 100644 index 43d90a75b0..0000000000 --- a/selfdrive/ui/qt/spinner.h +++ /dev/null @@ -1,37 +0,0 @@ -#include - -#include -#include -#include -#include -#include -#include - -constexpr int spinner_fps = 30; -constexpr QSize spinner_size = QSize(360, 360); - -class TrackWidget : public QWidget { - Q_OBJECT -public: - TrackWidget(QWidget *parent = nullptr); - -private: - void paintEvent(QPaintEvent *event) override; - std::array track_imgs; - QVariantAnimation m_anim; -}; - -class Spinner : public QWidget { - Q_OBJECT - -public: - explicit Spinner(QWidget *parent = 0); - -private: - QLabel *text; - QProgressBar *progress_bar; - QSocketNotifier *notifier; - -public slots: - void update(int n); -}; diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64 deleted file mode 100755 index 74081a6925..0000000000 --- a/selfdrive/ui/qt/spinner_larch64 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4 -size 3821728 diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner deleted file mode 100755 index 965c8f581a..0000000000 --- a/selfdrive/ui/spinner +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh - -if [ -f /TICI ] && [ ! -f _spinner ]; then - cp qt/spinner_larch64 _spinner -fi - -exec ./_spinner "$1" diff --git a/system/athena/registration.py b/system/athena/registration.py index 964fbff51e..e48ae64aea 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -7,10 +7,10 @@ from pathlib import Path from datetime import datetime, timedelta, UTC from openpilot.common.api import api_get from openpilot.common.params import Params -from openpilot.common.spinner import Spinner from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.spinner import Spinner from openpilot.common.swaglog import cloudlog diff --git a/system/manager/build.py b/system/manager/build.py index 93c0546c85..21eff2fecc 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -5,10 +5,10 @@ from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR -from openpilot.common.spinner import Spinner from openpilot.common.text_window import TextWindow -from openpilot.system.hardware import HARDWARE, AGNOS from openpilot.common.swaglog import cloudlog, add_file_handler +from openpilot.system.hardware import HARDWARE, AGNOS +from openpilot.system.ui.spinner import Spinner from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 @@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: if __name__ == "__main__": - spinner = Spinner() - spinner.update_progress(0, 100) - build_metadata = get_build_metadata() - build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) + with Spinner() as spinner: + spinner.update_progress(0, 100) + build_metadata = get_build_metadata() + build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS) diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 9c1882cf5f..5da96c73f9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -2,6 +2,7 @@ import pyray as rl import os import threading +import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app @@ -13,8 +14,8 @@ PROGRESS_BAR_HEIGHT = 20 DEGREES_PER_SECOND = 360.0 # one full rotation per second MARGIN_H = 100 TEXTURE_SIZE = 360 -FONT_SIZE = 88 -LINE_HEIGHT = 96 +FONT_SIZE = 96 +LINE_HEIGHT = 104 DARKGRAY = (55, 55, 55, 255) @@ -22,7 +23,7 @@ def clamp(value, min_value, max_value): return max(min(value, max_value), min_value) -class Spinner: +class SpinnerRenderer: def __init__(self): self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE, @@ -70,7 +71,7 @@ class Spinner: spinner_origin, self._rotation, rl.WHITE) rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) - # Display progress bar or text based on user input + # Display the progress bar or text based on user input if progress is not None: bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY) @@ -84,9 +85,55 @@ class Spinner: FONT_SIZE, 0.0, rl.WHITE) +class Spinner: + def __init__(self): + self._renderer: SpinnerRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def update(self, spinner_text: str): + if self._renderer is not None: + self._renderer.set_text(spinner_text) + + def update_progress(self, cur: float, total: float): + self.update(str(round(100 * cur / total))) + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Spinner") + self._renderer = renderer = SpinnerRenderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join spinner thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() + + if __name__ == "__main__": - gui_app.init_window("Spinner") - spinner = Spinner() - spinner.set_text("Spinner text") - for _ in gui_app.render(): - spinner.render() + with Spinner() as s: + s.update("Spinner text") + time.sleep(5) From 756aebd39f378a6a1db2826b4044290b391cc03c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 24 Apr 2025 16:24:21 -0700 Subject: [PATCH 024/135] Tomb Raider 4 (#35058) * dc455ed7-0ef1-4c57-9391-c71767784c7e/400 * f16884e6-417e-4842-aeda-b2e1b3edf40b/400 --- selfdrive/modeld/modeld.py | 2 +- selfdrive/modeld/models/driving_policy.onnx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index b89c8bad57..9805506432 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.1 +LAT_SMOOTH_SECONDS = 0.3 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index df11e590dd..528dd298d4 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891 +oid sha256:fe85c824c5c41580eb3818400433377b0bfc405927f8cb7d88af9a836bed693d size 15578328 From 37e86df41e2a411ac5db791a8315c29f543e5155 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Apr 2025 18:16:18 -0700 Subject: [PATCH 025/135] CI: comment reporter links on PRs (#35066) * comment * Revert "Tomb Raider 4 (#35058)" This reverts commit 756aebd39f378a6a1db2826b4044290b391cc03c. * no dpeth * Reapply "Tomb Raider 4 (#35058)" This reverts commit 7143835b3d075271e86fb181e08f32db7720c6f8. * no forks --- .github/workflows/model_review.yaml | 42 +++++++++++++++++++++++++++++ scripts/reporter.py | 31 +++++++++++++++++++++ 2 files changed, 73 insertions(+) create mode 100644 .github/workflows/model_review.yaml create mode 100755 scripts/reporter.py diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml new file mode 100644 index 0000000000..0e1825864c --- /dev/null +++ b/.github/workflows/model_review.yaml @@ -0,0 +1,42 @@ +name: "model review" + +on: + pull_request: + types: [opened, reopened, synchronize] + paths: + - 'selfdrive/modeld/models/*.onnx' + workflow_dispatch: + +jobs: + comment: + permissions: + contents: read + pull-requests: write + runs-on: ubuntu-latest + if: github.repository == 'commaai/openpilot' + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: Checkout master + uses: actions/checkout@v4 + with: + ref: master + path: base + - run: git lfs pull + - run: cd base && git lfs pull + + - run: pip install onnx + + - name: scripts/reporter.py + id: report + run: | + echo "content<> $GITHUB_OUTPUT + echo "## Model Review" >> $GITHUB_OUTPUT + MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT + echo "EOF" >> $GITHUB_OUTPUT + + - name: Post model report comment + uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16 + with: + header: model-review + message: ${{ steps.report.outputs.content }} \ No newline at end of file diff --git a/scripts/reporter.py b/scripts/reporter.py new file mode 100755 index 0000000000..903fcc8911 --- /dev/null +++ b/scripts/reporter.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 +import os +import glob +import onnx + +BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) +MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR) +MODEL_PATH = "/selfdrive/modeld/models/" + +def get_checkpoint(f): + model = onnx.load(f) + metadata = {prop.key: prop.value for prop in model.metadata_props} + return metadata['model_checkpoint'].split('/')[0] + +if __name__ == "__main__": + print("| | master | PR branch |") + print("|-| ----- | --------- |") + + for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"): + # TODO: add checkpoint to DM + if "dmonitoring" in f: + continue + + fn = os.path.basename(f) + master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn) + pr = get_checkpoint(BASEDIR + MODEL_PATH + fn) + print( + "|", fn, "|", + f"[{master}](https://reporter.comma.life/experiment/{master})", "|", + f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|" + ) From c961fb095fd192e1b4c325912d0fdb5ee9a7fc26 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 13:57:04 +0100 Subject: [PATCH 026/135] ui(raylib): preserve whitespace in wrapped text (#35067) * ui(raylib): preserve whitespace in wrapped text * lint --- system/ui/text.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index 1337887d9b..53ea2333ce 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -27,8 +27,10 @@ def wrap_text(text, font_size, max_width): continue indent = re.match(r"^\s*", paragraph).group() current_line = indent - for word in paragraph.split(): - test_line = current_line + word + " " + words = re.split(r"(\s+)", paragraph[len(indent):]) + while len(words): + word = words.pop(0) + test_line = current_line + word + (words.pop(0) if words else "") if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: current_line = test_line else: From 92ada2170f51ee20a34d6c4e6cbd746556cfd787 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 14:00:31 +0100 Subject: [PATCH 027/135] ui(raylib): start scroll at bottom of text window (#35068) --- system/ui/text.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/ui/text.py b/system/ui/text.py index 53ea2333ce..d2e7a1e433 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -48,6 +48,7 @@ class TextWindow: self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT) self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) + self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0) def render(self): scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect) From 7eb1c31d72f95142162d91ff738fe12db150faff Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 14:06:37 +0100 Subject: [PATCH 028/135] ui(raylib/text): spacing between button and scrollbar (#35069) --- system/ui/text.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/text.py b/system/ui/text.py index d2e7a1e433..531ed1919c 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -7,7 +7,7 @@ from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app MARGIN = 50 -SPACING = 50 +SPACING = 40 FONT_SIZE = 72 LINE_HEIGHT = 80 BUTTON_SIZE = rl.Vector2(310, 160) @@ -60,7 +60,7 @@ class TextWindow: rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() - button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) + button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT) if ret: if PC: From 362ddfc0c718a2c24e7228583caccf2ec82e5eb0 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 14:17:47 +0100 Subject: [PATCH 029/135] ui: replace qt text window with raylib (#35064) * remove qt text window * use wrapper, render text window in thread * add wait_for_exit method * update imports --- .gitattributes | 1 - common/text_window.py | 63 ----------------------------------- selfdrive/ui/.gitignore | 2 -- selfdrive/ui/SConscript | 3 -- selfdrive/ui/qt/text.cc | 64 ------------------------------------ selfdrive/ui/qt/text_larch64 | 3 -- selfdrive/ui/text | 7 ---- system/manager/build.py | 2 +- system/manager/manager.py | 2 +- system/ui/text.py | 60 ++++++++++++++++++++++++++++----- 10 files changed, 54 insertions(+), 153 deletions(-) delete mode 100755 common/text_window.py delete mode 100644 selfdrive/ui/qt/text.cc delete mode 100755 selfdrive/ui/qt/text_larch64 delete mode 100755 selfdrive/ui/text diff --git a/.gitattributes b/.gitattributes index 1384edb626..cc1605a132 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11,7 +11,6 @@ selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text -selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text third_party/**/*.a filter=lfs diff=lfs merge=lfs -text third_party/**/*.so filter=lfs diff=lfs merge=lfs -text third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text diff --git a/common/text_window.py b/common/text_window.py deleted file mode 100755 index d2762ebf7d..0000000000 --- a/common/text_window.py +++ /dev/null @@ -1,63 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import subprocess -from openpilot.common.basedir import BASEDIR - - -class TextWindow: - def __init__(self, text): - try: - self.text_proc = subprocess.Popen(["./text", text], - stdin=subprocess.PIPE, - cwd=os.path.join(BASEDIR, "selfdrive", "ui"), - close_fds=True) - except OSError: - self.text_proc = None - - def get_status(self): - if self.text_proc is not None: - self.text_proc.poll() - return self.text_proc.returncode - return None - - def __enter__(self): - return self - - def close(self): - if self.text_proc is not None: - self.text_proc.terminate() - self.text_proc = None - - def wait_for_exit(self): - if self.text_proc is not None: - while True: - if self.get_status() == 1: - return - time.sleep(0.1) - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_value, traceback): - self.close() - - -if __name__ == "__main__": - text = """Traceback (most recent call last): - File "./controlsd.py", line 608, in - main() - File "./controlsd.py", line 604, in main - controlsd_thread(sm, pm, logcan) - File "./controlsd.py", line 455, in controlsd_thread - 1/0 -ZeroDivisionError: division by zero""" - print(text) - - with TextWindow(text) as s: - for _ in range(100): - if s.get_status() == 1: - print("Got exit button") - break - time.sleep(0.1) - print("gone") diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index d9176a3fd4..7e9eaf932f 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,8 +3,6 @@ moc_* translations/main_test_en.* -_text - ui mui watch3 diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 233addaa6a..e63359da05 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -66,9 +66,6 @@ if GetOption('extras'): qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - # text window - qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs) - # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc deleted file mode 100644 index 21ec5eedcf..0000000000 --- a/selfdrive/ui/qt/text.cc +++ /dev/null @@ -1,64 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#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" - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - QWidget window; - setMainWindow(&window); - - QGridLayout *main_layout = new QGridLayout(&window); - main_layout->setMargin(50); - - QLabel *label = new QLabel(argv[1]); - label->setWordWrap(true); - label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - ScrollView *scroll = new ScrollView(label); - scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); - main_layout->addWidget(scroll, 0, 0, Qt::AlignTop); - - // Scroll to the bottom - QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() { - scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum()); - }); - - QPushButton *btn = new QPushButton(); -#ifdef __aarch64__ - btn->setText(QObject::tr("Reboot")); - QObject::connect(btn, &QPushButton::clicked, [=]() { - Hardware::reboot(); - }); -#else - btn->setText(QObject::tr("Exit")); - QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit); -#endif - main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom); - - window.setStyleSheet(R"( - * { - outline: none; - color: white; - background-color: black; - font-size: 60px; - } - QPushButton { - padding: 50px; - padding-right: 100px; - padding-left: 100px; - border: 2px solid white; - border-radius: 20px; - margin-right: 40px; - } - )"); - - return a.exec(); -} diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64 deleted file mode 100755 index 7d74f4d31c..0000000000 --- a/selfdrive/ui/qt/text_larch64 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552 -size 3787480 diff --git a/selfdrive/ui/text b/selfdrive/ui/text deleted file mode 100755 index b12235f4e6..0000000000 --- a/selfdrive/ui/text +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh - -if [ -f /TICI ] && [ ! -f _text ]; then - cp qt/text_larch64 _text -fi - -exec ./_text "$1" diff --git a/system/manager/build.py b/system/manager/build.py index 21eff2fecc..771024794f 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -5,10 +5,10 @@ from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR -from openpilot.common.text_window import TextWindow from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.hardware import HARDWARE, AGNOS from openpilot.system.ui.spinner import Spinner +from openpilot.system.ui.text import TextWindow from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 diff --git a/system/manager/manager.py b/system/manager/manager.py index 89e5a472f2..d8c56cbc73 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -9,7 +9,6 @@ from cereal import log import cereal.messaging as messaging import openpilot.system.sentry as sentry from openpilot.common.params import Params, ParamKeyType -from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.system.manager.process import ensure_running @@ -18,6 +17,7 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version from openpilot.system.hardware.hw import Paths +from openpilot.system.ui.text import TextWindow def manager_init() -> None: diff --git a/system/ui/text.py b/system/ui/text.py index 531ed1919c..e57ae45d9a 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,5 +1,8 @@ #!/usr/bin/env python3 +import os import re +import threading +import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle @@ -42,7 +45,8 @@ def wrap_text(text, font_size, max_width): return lines -class TextWindow: + +class TextWindowRenderer: def __init__(self, text: str): self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) @@ -70,13 +74,53 @@ class TextWindow: return ret -def show_text_in_window(text: str): - gui_app.init_window("Text") - text_window = TextWindow(text) - for _ in gui_app.render(): - text_window.render() - gui_app.close() +class TextWindow: + def __init__(self, text: str): + self._text = text + + self._renderer: TextWindowRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def wait_for_exit(self): + while self._thread.is_alive(): + time.sleep(0.01) + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Text") + self._renderer = renderer = TextWindowRenderer(self._text) + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join text window thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() if __name__ == "__main__": - show_text_in_window(DEMO_TEXT) + with TextWindow(DEMO_TEXT): + time.sleep(5) From 37839ea0c59dd80b2129d7594e5b9aff99fd1d9b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 25 Apr 2025 16:57:18 -0400 Subject: [PATCH 030/135] controls: publish current curvature in CarControl (#34679) * controls: publish current curvature in CarControl * clean up * update refs --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/controlsd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index dfff26d9db..5ecff1ccdf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -141,6 +141,7 @@ class Controls: # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller + CC.currentCurvature = self.curvature if self.calibrated_pose is not None: CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist() CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4b3ef33407..5f8610d58f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fcc771b9ceb487a61035885acbd84e592fb316bf \ No newline at end of file +4c7ac1a362933af9d97697979162087c1ab2584b \ No newline at end of file From 38610419dc31b967f6d5f9633876287a5f275714 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 25 Apr 2025 13:58:25 -0700 Subject: [PATCH 031/135] [bot] Update Python packages (#35041) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 137 +-- opendbc_repo | 2 +- panda | 2 +- uv.lock | 3321 +++++++++++++++++++++++++------------------------- 4 files changed, 1735 insertions(+), 1727 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a1b027c51b..95af300c0f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma device. All |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -195,8 +195,8 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Nissan[7](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -206,8 +206,8 @@ A supported vehicle is one that just works when you install a comma device. All |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ram connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Rivian A connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Subaru|Ascent 2019-21|All[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| @@ -218,19 +218,19 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|Outback 2020-22|All[8](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2018-19|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2020-21|EyeSight Driver Assistance[8](#footnotes)|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| -|Škoda|Fabia 2022-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Škoda|Kamiq 2021-23[12,14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Škoda|Karoq 2019-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia Scout 2017-19[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Škoda|Superb 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Tesla|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Fabia 2022-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Škoda|Kamiq 2021-23[13,15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Škoda|Karoq 2019-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia Scout 2017-19[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Škoda|Superb 2015-22[15](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model 3 (with HW3) 2019-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model 3 (with HW4) 2024-25[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model Y (with HW3) 2020-23[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla A connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Tesla[11](#footnotes)|Model Y (with HW4) 2024[10](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Tesla B connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -243,8 +243,8 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|C-HR Hybrid 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2018-20|All|Stock|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-24|All|openpilot|0 mph[11](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[12](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -276,42 +276,42 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[13](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[16](#footnotes)|| -|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,15](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[14](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[17](#footnotes)|| +|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.
@@ -324,12 +324,13 @@ A supported vehicle is one that just works when you install a comma device. All 8In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
9Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
10Some 2023 model years have HW4. To check which hardware type your vehicle has, look for Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen. See this page for more information.
-11openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-12Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-13Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-14Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
-15Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-16Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+11See more setup details for Tesla.
+12openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+13Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+14Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+15Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+16Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+17Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## 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/). diff --git a/opendbc_repo b/opendbc_repo index 3b33a71a2b..7bad67af29 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9 +Subproject commit 7bad67af29ea117ce8cf51cc6549c97b9acdafe1 diff --git a/panda b/panda index d319ea2bba..b4773f96b3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55 +Subproject commit b4773f96b38a56089b28bf70b8073a9ddce6d847 diff --git a/uv.lock b/uv.lock index 6911f053cb..a8a99e9979 100644 --- a/uv.lock +++ b/uv.lock @@ -1,5 +1,5 @@ version = 1 -revision = 1 +revision = 2 requires-python = ">=3.11, <3.13" resolution-markers = [ "python_full_version >= '3.12' and sys_platform == 'darwin'", @@ -14,14 +14,14 @@ resolution-markers = [ name = "aiohappyeyeballs" version = "2.6.1" source = { registry = "https://pypi.org/simple" } -sdist = { url = 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8 -------- selfdrive/ui/translations/main_tr.ts | 8 -------- selfdrive/ui/translations/main_zh-CHS.ts | 8 -------- selfdrive/ui/translations/main_zh-CHT.ts | 8 -------- 11 files changed, 88 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 2afc088b24..fa3b2d69e7 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -582,14 +582,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - إعادة التشغيل - - - Exit - إغلاق - openpilot openpilot diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 986c0fa54f..3123e52578 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -574,14 +574,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere QObject - - Reboot - Neustart - - - Exit - Verlassen - openpilot openpilot diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index a2d095c064..3d9be63caf 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -574,14 +574,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para QObject - - Reboot - Reiniciar - - - Exit - Salir - openpilot openpilot diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 673056bf3b..69652510df 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - Redémarrer - - - Exit - Quitter - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index da99fdd6e7..4cce79757f 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -572,14 +572,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ QObject - - Reboot - 再起動 - - - Exit - 閉じる - openpilot openpilot diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 1d8d76f219..3be96846a7 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - 재부팅 - - - Exit - 종료 - openpilot 오픈파일럿 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4971b7fbfa..a6a473bc92 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -574,14 +574,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar QObject - - Reboot - Reiniciar - - - Exit - Sair - openpilot openpilot diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index aab2270a01..c7521082c3 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - รีบูต - - - Exit - ปิด - openpilot openpilot diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 0b0e24dcf4..b8b7202898 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -569,14 +569,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - Yeniden başlat - - - Exit - Çık - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 963946e4da..c310265a1c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - 重启 - - - Exit - 退出 - openpilot openpilot diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1946493247..5f81cc2c53 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp QObject - - Reboot - 重新啟動 - - - Exit - 離開 - openpilot openpilot From 124198460b87e8e3d03751fca983adec9a83b5ea Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 25 Apr 2025 23:33:32 +0100 Subject: [PATCH 033/135] ui(raylib): create BaseWindow (#35074) * ui(raylib): create BaseWindow * test without typing * revert * Revert "test without typing" This reverts commit c8a5e1b8322bb7250ede540d7b6d25eefa72cef1. * lines --- system/ui/lib/window.py | 57 +++++++++++++++++++++++++++++++++++++++++ system/ui/spinner.py | 42 ++++-------------------------- system/ui/text.py | 45 ++++---------------------------- 3 files changed, 67 insertions(+), 77 deletions(-) create mode 100644 system/ui/lib/window.py diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py new file mode 100644 index 0000000000..d039d80b80 --- /dev/null +++ b/system/ui/lib/window.py @@ -0,0 +1,57 @@ +import threading +import time +import os +from typing import Generic, Protocol, TypeVar +from openpilot.system.ui.lib.application import gui_app + + +class RendererProtocol(Protocol): + def render(self): ... + + +R = TypeVar("R", bound=RendererProtocol) + + +class BaseWindow(Generic[R]): + def __init__(self, title: str): + self._title = title + self._renderer: R | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def _create_renderer(self) -> R: + raise NotImplementedError("Subclasses of BaseWindow must implement _create_renderer()") + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Spinner") + self._renderer = self._create_renderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + self._renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print(f"WARNING: failed to join {self._title} thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 5da96c73f9..119bdba3e7 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -6,6 +6,7 @@ import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text # Constants @@ -85,16 +86,12 @@ class SpinnerRenderer: FONT_SIZE, 0.0, rl.WHITE) -class Spinner: +class Spinner(BaseWindow[SpinnerRenderer]): def __init__(self): - self._renderer: SpinnerRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() + super().__init__("Spinner") - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return SpinnerRenderer() def update(self, spinner_text: str): if self._renderer is not None: @@ -103,35 +100,6 @@ class Spinner: def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Spinner") - self._renderer = renderer = SpinnerRenderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join spinner thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with Spinner() as s: diff --git a/system/ui/text.py b/system/ui/text.py index e57ae45d9a..33e8167c64 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 -import os import re -import threading import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow MARGIN = 50 SPACING = 40 @@ -74,52 +73,18 @@ class TextWindowRenderer: return ret -class TextWindow: +class TextWindow(BaseWindow[TextWindowRenderer]): def __init__(self, text: str): self._text = text + super().__init__("Text") - self._renderer: TextWindowRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return TextWindowRenderer(self._text) def wait_for_exit(self): while self._thread.is_alive(): time.sleep(0.01) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Text") - self._renderer = renderer = TextWindowRenderer(self._text) - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join text window thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with TextWindow(DEMO_TEXT): From 2619732d9f3ab5b7191df39e09ed4c768f898453 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Apr 2025 18:49:09 -0500 Subject: [PATCH 034/135] Fix tethering connection disabling internet (#35075) * fix * this is ignored in this networkmanager * whoop --- selfdrive/ui/qt/network/wifi_manager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index 1717210634..3d4bb9e7d1 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -439,7 +439,7 @@ void WifiManager::addTetheringConnection() { address["prefix"] = 24u; connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address); connection["ipv4"]["gateway"] = "192.168.43.1"; - connection["ipv4"]["route-metric"] = 1100; + connection["ipv4"]["never-default"] = true; connection["ipv6"]["method"] = "ignore"; asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection)); From 83b84a5bec719c3e8cc1501d56344d95d4a9c4f4 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 26 Apr 2025 01:20:58 +0100 Subject: [PATCH 035/135] Revert "ui(raylib): create BaseWindow (#35074)" This reverts commit 124198460b87e8e3d03751fca983adec9a83b5ea. --- system/ui/lib/window.py | 57 ----------------------------------------- system/ui/spinner.py | 42 ++++++++++++++++++++++++++---- system/ui/text.py | 45 ++++++++++++++++++++++++++++---- 3 files changed, 77 insertions(+), 67 deletions(-) delete mode 100644 system/ui/lib/window.py diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py deleted file mode 100644 index d039d80b80..0000000000 --- a/system/ui/lib/window.py +++ /dev/null @@ -1,57 +0,0 @@ -import threading -import time -import os -from typing import Generic, Protocol, TypeVar -from openpilot.system.ui.lib.application import gui_app - - -class RendererProtocol(Protocol): - def render(self): ... - - -R = TypeVar("R", bound=RendererProtocol) - - -class BaseWindow(Generic[R]): - def __init__(self, title: str): - self._title = title - self._renderer: R | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) - - def _create_renderer(self) -> R: - raise NotImplementedError("Subclasses of BaseWindow must implement _create_renderer()") - - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Spinner") - self._renderer = self._create_renderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - self._renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print(f"WARNING: failed to join {self._title} thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 119bdba3e7..5da96c73f9 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -6,7 +6,6 @@ import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text # Constants @@ -86,12 +85,16 @@ class SpinnerRenderer: FONT_SIZE, 0.0, rl.WHITE) -class Spinner(BaseWindow[SpinnerRenderer]): +class Spinner: def __init__(self): - super().__init__("Spinner") + self._renderer: SpinnerRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() - def _create_renderer(self): - return SpinnerRenderer() + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) def update(self, spinner_text: str): if self._renderer is not None: @@ -100,6 +103,35 @@ class Spinner(BaseWindow[SpinnerRenderer]): def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Spinner") + self._renderer = renderer = SpinnerRenderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join spinner thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() + if __name__ == "__main__": with Spinner() as s: diff --git a/system/ui/text.py b/system/ui/text.py index 33e8167c64..e57ae45d9a 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 +import os import re +import threading import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app -from openpilot.system.ui.lib.window import BaseWindow MARGIN = 50 SPACING = 40 @@ -73,18 +74,52 @@ class TextWindowRenderer: return ret -class TextWindow(BaseWindow[TextWindowRenderer]): +class TextWindow: def __init__(self, text: str): self._text = text - super().__init__("Text") - def _create_renderer(self): - return TextWindowRenderer(self._text) + self._renderer: TextWindowRenderer | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) def wait_for_exit(self): while self._thread.is_alive(): time.sleep(0.01) + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window("Text") + self._renderer = renderer = TextWindowRenderer(self._text) + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + print("WARNING: failed to join text window thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() + if __name__ == "__main__": with TextWindow(DEMO_TEXT): From 9d17c73f6b8677fc986d2c02096950715c64694c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 26 Apr 2025 03:09:19 +0100 Subject: [PATCH 036/135] avoid importing Raylib UI (#35078) --- system/athena/registration.py | 2 +- system/manager/manager.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/system/athena/registration.py b/system/athena/registration.py index e48ae64aea..ce7fcea89f 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -10,7 +10,6 @@ from openpilot.common.params import Params from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware.hw import Paths -from openpilot.system.ui.spinner import Spinner from openpilot.common.swaglog import cloudlog @@ -45,6 +44,7 @@ def register(show_spinner=False) -> str | None: cloudlog.warning(f"missing public key: {pubkey}") elif dongle_id is None: if show_spinner: + from openpilot.system.ui.spinner import Spinner spinner = Spinner() spinner.update("registering device") diff --git a/system/manager/manager.py b/system/manager/manager.py index d8c56cbc73..c3ffe28457 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -17,7 +17,6 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version from openpilot.system.hardware.hw import Paths -from openpilot.system.ui.text import TextWindow def manager_init() -> None: @@ -203,6 +202,8 @@ def main() -> None: if __name__ == "__main__": + from openpilot.system.ui.text import TextWindow + unblock_stdout() try: From e7cf508f500cbd6cd783554c37185d87765e848c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sat, 26 Apr 2025 07:30:47 -0700 Subject: [PATCH 037/135] Tomb Raider 5 (#35080) 846c53a4-b886-4942-a4d3-7ea3aff5be8d/400 --- selfdrive/modeld/models/driving_policy.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 528dd298d4..2075792f4d 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fe85c824c5c41580eb3818400433377b0bfc405927f8cb7d88af9a836bed693d +oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 size 15578328 From c0b0bb554cb4b9bebfad64a2d1cf89dea3dd6964 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sat, 26 Apr 2025 13:43:18 -0700 Subject: [PATCH 038/135] fix(replay): search for route key in entire str (#35081) fix(replay): look at whole segment string --- tools/replay/route.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 7731d0daf4..ff5a858e8c 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -121,7 +121,7 @@ bool Route::loadFromJson(const std::string &json) { bool Route::loadFromLocal() { std::string pattern = route_.timestamp + "--"; for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) { - if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) { + if (entry.is_directory() && entry.path().filename().string().find(pattern) != std::string::npos) { std::string segment = entry.path().string(); int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str()); From c4acae6b51983bcb6c4d2dc0f8aeec9401312888 Mon Sep 17 00:00:00 2001 From: William Bonilla <47262366+WilliamBonilla62@users.noreply.github.com> Date: Sun, 27 Apr 2025 22:54:00 -0400 Subject: [PATCH 039/135] =?UTF-8?q?=20"docs:=20update=20'Turn=20the=20Spee?= =?UTF-8?q?d=20Blue'=20tutorial=20with=20new=20UI=20path=20and=20fu?= =?UTF-8?q?=E2=80=A6=20(#35016)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * "docs: update 'Turn the Speed Blue' tutorial with new UI path and function" * Change 'Openpilot' to all lowercase ('openpilot') based on the review. --- docs/how-to/turn-the-speed-blue.md | 76 ++++++++++++++++++------------ 1 file changed, 46 insertions(+), 30 deletions(-) diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index e8b55ef81b..64f4475dfa 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -20,7 +20,7 @@ source .venv/bin/activate Then, compile openpilot: ```bash -scons -j8 +scons -j$(nproc) ``` ## 2. Run replay @@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route. If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect. + ## 3. Make the speed blue -Search for “mph” with git grep in the `ui` folder. -```bash -$ git grep "mph" selfdrive/ui/ -paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); -``` +Now let’s update the speed display color in the UI. -The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. +Search for the function responsible for rendering UI text: ```bash -$ git diff -diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc -index 821d95115..cc996eaa1 100644 ---- a/selfdrive/ui/paint.cc -+++ b/selfdrive/ui/paint.cc -@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) { - const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363)); - const std::string speed_str = std::to_string((int)std::nearbyint(speed)); - nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); -- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold"); -- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); -+ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold"); -+ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular"); - } - - static void ui_draw_vision_event(UIState *s) { +git grep "drawText" selfdrive/ui/qt/onroad/hud.cc ``` +You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function: -## 4. Rebuild UI, and admire your work +```cpp +void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { + QRect real_rect = p.fontMetrics().boundingRect(text); + real_rect.moveCenter({x, y - real_rect.height() / 2}); + p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color + p.drawText(real_rect.x(), real_rect.bottom(), text); +} ``` -scons -j8 && selfdrive/ui/ui + +Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to: + +```diff +- p.setPen(QColor(0xff, 0xff, 0xff, alpha)); ++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha)); ``` +This change will tint all speed-related UI text to blue with the same transparency (`alpha`). + +--- + +## 4. Rebuild the UI + +After making changes, rebuild Openpilot so your new UI is compiled: +```bash +scons -j$(nproc) && selfdrive/ui/ui +``` ![](https://blog.comma.ai/img/blue_speed_ui.png) +You should now see the speed displayed in a nice blue shade during the demo replay. + +--- + ## 5. Push your fork to GitHub -Click fork on GitHub. Then, push with: +Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with: ```bash git remote rm origin git remote add origin git@github.com:/openpilot.git git add . -git commit -m "Make the speed blue." +git commit -m "Make the speed display blue" git push --set-upstream origin master ``` -## 6. Run your fork on device in your car! +--- -Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: +## 6. Run your fork on your comma device + +Uninstall Openpilot through the settings on your device. + +Then reinstall using your own GitHub-hosted fork: ``` installer.comma.ai//master ``` -## 7. Admire your work IRL +--- + +## 7. Admire your work IRL 🚗💨 + +You’ve now successfully modified Openpilot’s UI and deployed it to your own car! ![](https://blog.comma.ai/img/c3_blue_ui.jpg) From c5b75168e9553ef8893213a36038889db003258c Mon Sep 17 00:00:00 2001 From: William Bonilla <47262366+WilliamBonilla62@users.noreply.github.com> Date: Mon, 28 Apr 2025 16:30:16 -0400 Subject: [PATCH 040/135] Fix test_update_returns_state to flatten Kalman output (#35083) fix(tests): flatten Kalman filter output in test_update_returns_state --- common/tests/test_simple_kalman.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py index f4a967e58a..e44ac2cc57 100644 --- a/common/tests/test_simple_kalman.py +++ b/common/tests/test_simple_kalman.py @@ -24,6 +24,6 @@ class TestSimpleKalman: self.kf.set_x([[1.0], [1.0]]) assert self.kf.x == [[1.0], [1.0]] - def update_returns_state(self): + def test_update_returns_state(self): x = self.kf.update(100) - assert x == self.kf.x + assert x == [i[0] for i in self.kf.x] From 91fbbf812fb935e44369d6899a04b42f02edf950 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 28 Apr 2025 13:33:28 -0700 Subject: [PATCH 041/135] [bot] Update Python packages (#35085) Update Python packages Co-authored-by: Vehicle Researcher --- docs/CARS.md | 2 +- opendbc_repo | 2 +- uv.lock | 58 ++++++++++++++++++++++++++++------------------------ 3 files changed, 33 insertions(+), 29 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 95af300c0f..c22568ce2e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -80,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. 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- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2023-25|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
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private: void initWindows(); From a0bcea5719ce4fb3d335fea841d335c284c11ccd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Apr 2025 15:49:41 -0700 Subject: [PATCH 043/135] capitalization typo --- tools/replay/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/README.md b/tools/replay/README.md index f02090c58e..719f7d2db9 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -81,7 +81,7 @@ Arguments: connect.comma.ai ``` -## Visualize the Replay in the Openpilot UI +## Visualize the Replay in the openpilot UI To visualize the replay within the openpilot UI, run the following commands: ```bash From 45787163a225c459234433118aeaba83c1a610ef Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 30 Apr 2025 15:32:11 -0700 Subject: [PATCH 044/135] feat: clip.py (#35071) --- tools/clip/run.py | 215 +++++++++++++++++++++++++++ tools/install_ubuntu_dependencies.sh | 3 +- tools/op.sh | 7 + 3 files changed, 224 insertions(+), 1 deletion(-) create mode 100755 tools/clip/run.py diff --git a/tools/clip/run.py b/tools/clip/run.py new file mode 100755 index 0000000000..97baa880ea --- /dev/null +++ b/tools/clip/run.py @@ -0,0 +1,215 @@ +#!/usr/bin/env python3 + +import atexit +import logging +import os +import platform +import shutil +import time +from argparse import ArgumentParser, ArgumentTypeError +from collections.abc import Sequence +from pathlib import Path +from random import randint +from subprocess import Popen, PIPE +from typing import Literal + +from cereal.messaging import SubMaster +from openpilot.common.basedir import BASEDIR +from openpilot.common.prefix import OpenpilotPrefix +from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached + +DEFAULT_OUTPUT = 'output.mp4' +DEMO_START = 90 +DEMO_END = 105 +DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19' +FRAMERATE = 20 +PIXEL_DEPTH = '24' +RESOLUTION = '2160x1080' +SECONDS_TO_WARM = 2 +PROC_WAIT_SECONDS = 5 + +REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) +UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) + +logger = logging.getLogger('clip.py') + + +def check_for_failure(proc: Popen): + exit_code = proc.poll() + if exit_code is not None and exit_code != 0: + cmd = str(proc.args) + if isinstance(proc.args, str): + cmd = proc.args + elif isinstance(proc.args, Sequence): + cmd = str(proc.args[0]) + msg = f'{cmd} failed, exit code {exit_code}' + logger.error(msg) + stdout, stderr = proc.communicate() + if stdout: + logger.error(stdout.decode()) + if stderr: + logger.error(stderr.decode()) + raise ChildProcessError(msg) + + +def parse_args(parser: ArgumentParser): + args = parser.parse_args() + if args.demo: + args.route = DEMO_ROUTE + if args.start is None or args.end is None: + args.start = DEMO_START + args.end = DEMO_END + elif args.route.count('/') == 1: + if args.start is None or args.end is None: + parser.error('must provide both start and end if timing is not in the route ID') + elif args.route.count('/') == 3: + if args.start is not None or args.end is not None: + parser.error('don\'t provide timing when including it in the route ID') + parts = args.route.split('/') + args.route = '/'.join(parts[:2]) + args.start = int(parts[2]) + args.end = int(parts[3]) + if args.end <= args.start: + parser.error(f'end ({args.end}) must be greater than start ({args.start})') + if args.start < SECONDS_TO_WARM: + parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up') + + # if using local files, don't worry about length check right now so we skip the network call + # TODO: derive segment count from local FS + if not args.data_dir: + try: + num_segs = get_max_seg_number_cached(SegmentRange(args.route)) + except Exception as e: + parser.error(f'failed to get route length: {e}') + + # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data + length = round(num_segs * 60) + if args.start >= length: + parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') + if args.end > length: + parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') + + return args + + +def start_proc(args: list[str], env: dict[str, str]): + return Popen(args, env=env, stdout=PIPE, stderr=PIPE) + + +def validate_env(parser: ArgumentParser): + if platform.system() not in ['Linux']: + parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n') + for proc in ['Xvfb', 'ffmpeg']: + if shutil.which(proc) is None: + parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n') + for proc in [REPLAY, UI]: + if shutil.which(proc) is None: + parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n') + + +def validate_output_file(output_file: str): + if not output_file.endswith('.mp4'): + raise ArgumentTypeError('output must be an mp4') + return output_file + + +def validate_route(route: str): + if route.count('/') not in (1, 3): + raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}') + return route + + +def wait_for_frames(procs: list[Popen]): + sm = SubMaster(['uiDebug']) + no_frames_drawn = True + while no_frames_drawn: + sm.update() + no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0. + for proc in procs: + check_for_failure(proc) + + +def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int): + logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB') + + begin_at = max(start - SECONDS_TO_WARM, 0) + duration = end - start + bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000)) + + # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision + display = f':{randint(99, 999)}' + + ffmpeg_cmd = [ + 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', + '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23', + '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath, + ] + + replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] + if data_dir: + replay_cmd.extend(['--data_dir', data_dir]) + if quality == 'low': + replay_cmd.append('--qcam') + replay_cmd.append(route) + + ui_cmd = [UI, '-platform', 'xcb'] + xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] + + with OpenpilotPrefix(prefix, shared_download_cache=True): + env = os.environ.copy() + env['DISPLAY'] = display + + xvfb_proc = start_proc(xvfb_cmd, env) + atexit.register(lambda: xvfb_proc.terminate()) + ui_proc = start_proc(ui_cmd, env) + atexit.register(lambda: ui_proc.terminate()) + replay_proc = start_proc(replay_cmd, env) + atexit.register(lambda: replay_proc.terminate()) + procs = [replay_proc, ui_proc, xvfb_proc] + + logger.info('waiting for replay to begin (loading segments, may take a while)...') + wait_for_frames(procs) + + logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...') + time.sleep(SECONDS_TO_WARM) + for proc in procs: + check_for_failure(proc) + + ffmpeg_proc = start_proc(ffmpeg_cmd, env) + procs.append(ffmpeg_proc) + atexit.register(lambda: ffmpeg_proc.terminate()) + + logger.info(f'recording in progress ({duration}s)...') + ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) + for proc in procs: + check_for_failure(proc) + logger.info(f'recording complete: {Path(output_filepath).resolve()}') + + +def main(): + p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai') + validate_env(p) + route_group = p.add_mutually_exclusive_group(required=True) + route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})') + route_group.add_argument('--demo', help='use the demo route', action='store_true') + p.add_argument('-d', '--data-dir', help='local directory where route data is stored') + p.add_argument('-e', '--end', help='stop clipping at seconds', type=int) + p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.) + p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT) + p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') + p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') + p.add_argument('-s', '--start', help='start clipping at seconds', type=int) + args = parse_args(p) + try: + clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size) + except KeyboardInterrupt as e: + logger.exception('interrupted by user', exc_info=e) + except Exception as e: + logger.exception('encountered error', exc_info=e) + finally: + atexit._run_exitfuncs() + + +if __name__ == '__main__': + logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s') + main() diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 03302364e9..f33569704a 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -63,7 +63,8 @@ function install_ubuntu_common_requirements() { libqt5svg5-dev \ libqt5serialbus5-dev \ libqt5x11extras5-dev \ - libqt5opengl5-dev + libqt5opengl5-dev \ + xvfb } # Install Ubuntu 24.04 LTS packages diff --git a/tools/op.sh b/tools/op.sh index b4508f7ef7..8a8faaf237 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -328,6 +328,11 @@ function op_sim() { op_run_command exec tools/sim/launch_openpilot.sh } +function op_clip() { + op_before_cmd + op_run_command tools/clip/run.py $@ +} + function op_switch() { REMOTE="origin" if [ "$#" -gt 1 ]; then @@ -395,6 +400,7 @@ function op_default() { echo -e " ${BOLD}juggle${NC} Run PlotJuggler" echo -e " ${BOLD}replay${NC} Run Replay" echo -e " ${BOLD}cabana${NC} Run Cabana" + echo -e " ${BOLD}clip${NC} Run clip (linux only)" echo -e " ${BOLD}adb${NC} Run adb shell" echo "" echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}" @@ -445,6 +451,7 @@ function _op() { lint ) shift 1; op_lint "$@" ;; test ) shift 1; op_test "$@" ;; replay ) shift 1; op_replay "$@" ;; + clip ) shift 1; op_clip "$@" ;; sim ) shift 1; op_sim "$@" ;; install ) shift 1; op_install "$@" ;; switch ) shift 1; op_switch "$@" ;; From c5ba5c9c23595e35a2282b79b6a399a1686edf7a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Apr 2025 15:44:27 -0700 Subject: [PATCH 045/135] push back a couple weeks, cvpr release! --- RELEASES.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index ced7e3d4fc..3ff80ca4dc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,12 @@ -Version 0.9.9 (2025-04-30) +Version 0.9.9 (2025-05-15) ======================== * New driving model + * New training architecture supervised by MLSIM +* Steering actuator delay is now learned online * Tesla Model 3 and Y support thanks to lukasloetkolben! * Coming soon - * New driving model supervised by MLSIM - * An online learner for steering actuator delay + * New Honda models + * Bigger vision model Version 0.9.8 (2025-02-28) ======================== From 9f1e462faabdc000b5c574b0e38818bcd6068e88 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 30 Apr 2025 17:19:53 -0700 Subject: [PATCH 046/135] Tomb Raider 6 (#35087) * 5ec366c3-7883-4004-84a2-e4b14bac5b1d/400 * Use lat plan * fix import * fix * 8d0a1b3b-9972-4e53-b9c5-3e13e5e3e404/400 * whitespace * whitespace --- selfdrive/controls/lib/drive_helpers.py | 10 ++++++++++ selfdrive/modeld/modeld.py | 7 ++++--- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 4 files changed, 17 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 3f99f1bbbb..56eeac3bdf 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -62,3 +62,13 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0. should_stop = (v_target < vEgoStopping and v_target_1sec < vEgoStopping) return a_target, should_stop + +def curv_from_psis(psi_target, psi_rate, vego, action_t): + vego = np.clip(vego, MIN_SPEED, np.inf) + curv_from_psi = psi_target / (vego * action_t) + return 2*curv_from_psi - psi_rate / vego + +def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t): + psi_target = np.interp(action_t, t_idxs, yaws) + psi_rate = yaw_rates[0] + return curv_from_psis(psi_target, psi_rate, vego, action_t) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 9805506432..c1b3dd52d8 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -54,8 +54,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. ModelConstants.T_IDXS, action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - - desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], + plan[:, Plan.ORIENTATION_RATE][:, 2], + ModelConstants.T_IDXS, v_ego, lat_action_t) if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 2075792f4d..5b9b686829 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 -size 15578328 +oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5 +size 15588463 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 5e08b78472..0a7b4a803d 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 +oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e size 46265585 From 45b273328de61905f5c8f48d21e626ef831ff697 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 1 May 2025 11:42:49 -0700 Subject: [PATCH 047/135] Enable online lag learning (#34968) * Use in modeld * Use in torqued * Do not use default value in torqued * Add liveDelay in process replay * update ref --------- Co-authored-by: Bruce Wayne --- selfdrive/locationd/torqued.py | 7 ++++--- selfdrive/modeld/modeld.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 9 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index fcaa19df73..5ed86e457f 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets): class TorqueEstimator(ParameterEstimator): def __init__(self, CP, decimated=False, track_all_points=False): self.hist_len = int(HISTORY / DT_MDL) - self.lag = CP.steerActuatorDelay + .2 # from controlsd + self.lag = 0.0 self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters if decimated: self.min_bucket_points = MIN_BUCKET_POINTS / 10 @@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["steer_override"].append(msg.steeringPressed) elif which == "liveCalibration": self.calibrator.feed_live_calib(msg) - + elif which == "liveDelay": + self.lag = msg.lateralDelay # calculate lateral accel from past steering torque elif which == "livePose": if len(self.raw_points['steer_torque']) == self.hist_len: @@ -241,7 +242,7 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose') params = Params() estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index c1b3dd52d8..dde742f159 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -221,7 +221,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) publish_state = PublishState() params = Params() @@ -248,7 +248,6 @@ def main(demo=False): # TODO this needs more thought, use .2s extra for now to estimate other delays # TODO Move smooth seconds to action function - lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS prev_action = log.ModelDataV2.Action() @@ -292,6 +291,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) + lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 6139846322..3183db0c3a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -568,7 +568,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"], + pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, @@ -577,7 +577,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"], + pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"], subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f8610d58f..3dd3eab25f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4c7ac1a362933af9d97697979162087c1ab2584b \ No newline at end of file +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file From afcd031cf1daca1e4ff8b49b0004f44bdda49699 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 1 May 2025 13:59:07 -0700 Subject: [PATCH 048/135] [bot] Update Python packages (#35095) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 3316 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changed, 9 insertions(+), 1 deletion(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index a5828d61cb..6b5398405c 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { preEnableStandstill @12; # added during pre-enable state with brake gasPressedOverride @13; # added when user is pressing gas with no disengage on gas steerOverride @14; + steerDisengage @94; # exits active state cruiseDisabled @15; speedTooLow @16; outOfSpace @17; diff --git a/opendbc_repo b/opendbc_repo index 0d3b96f1db..7b87e9069c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0d3b96f1dbb6d6318b123e6c481248685c805f18 +Subproject commit 7b87e9069c387ee27187efac45cdff42f3378e20 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 2d69d3d590..bbecc6e688 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -191,6 +191,8 @@ class CarSpecificEvents: events.add(EventName.accFaulted) if CS.steeringPressed: events.add(EventName.steerOverride) + if CS.steeringDisengage: + events.add(EventName.steerDisengage) if CS.brakePressed and CS.standstill: events.add(EventName.preEnableStandstill) if CS.gasPressed: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index ee2c418b6e..c187ed474a 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -670,6 +670,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { visual_alert=VisualAlert.brakePressed), }, + EventName.steerDisengage: { + ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Steering Pressed"), + }, + EventName.preEnableStandstill: { ET.PRE_ENABLE: Alert( "Release Brake to Engage", From e972a47b9389ea172433a7d68a40cc9abfe8952f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 1 May 2025 20:27:14 -0700 Subject: [PATCH 050/135] CI: check submodules after tests (#35100) release: check submodules after tests --- .github/workflows/selfdrive_tests.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 25fc258634..3edb6c2981 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -51,10 +51,6 @@ jobs: timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - uses: ./.github/workflows/setup-with-retry - - name: Check submodules - if: github.repository == 'commaai/openpilot' - timeout-minutes: 3 - run: release/check-submodules.sh - name: Build openpilot and run checks timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | @@ -65,6 +61,10 @@ jobs: run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh" + - name: Check submodules + if: github.repository == 'commaai/openpilot' + timeout-minutes: 3 + run: release/check-submodules.sh build: runs-on: From b58552542d29bce3c8ae17a2c940dbf935197aed Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 1 May 2025 22:10:16 -0700 Subject: [PATCH 051/135] Tesla safety: fix high angle rate fault and enforce steering disengage via safety (#35101) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 7b87e9069c..6af5ad8dd5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7b87e9069c387ee27187efac45cdff42f3378e20 +Subproject commit 6af5ad8dd5de3b890d2812cc19b063caae858b31 From e1d2360b8c1669ef664f4fc677c7da3023414bee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 2 May 2025 10:17:40 -0700 Subject: [PATCH 052/135] Revert: Tomb Raider 6 (#35105) --- selfdrive/modeld/modeld.py | 7 +++---- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index dde742f159..25bb190fcd 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -54,9 +54,8 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. ModelConstants.T_IDXS, action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], - plan[:, Plan.ORIENTATION_RATE][:, 2], - ModelConstants.T_IDXS, v_ego, lat_action_t) + + desired_curvature = model_output['desired_curvature'][0, 0] if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 5b9b686829..2075792f4d 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5 -size 15588463 +oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 +size 15578328 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 0a7b4a803d..5e08b78472 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e +oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 size 46265585 From a1ec8c6bfe93d5af4a4236291bec1335a874ec24 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 May 2025 20:23:30 -0700 Subject: [PATCH 053/135] test models: check steering disengage matches for Tesla (#35107) test models: check steering disengage matches for tesla --- selfdrive/car/tests/test_models.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 53f2bb586d..0a4784aca8 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -330,6 +330,7 @@ class TestCarModelBase(unittest.TestCase): prev_panda_gas = self.safety.get_gas_pressed_prev() prev_panda_brake = self.safety.get_brake_pressed_prev() prev_panda_regen_braking = self.safety.get_regen_braking_prev() + prev_panda_steering_disengage = self.safety.get_steering_disengage_prev() prev_panda_vehicle_moving = self.safety.get_vehicle_moving() prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min() prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max() @@ -357,6 +358,9 @@ class TestCarModelBase(unittest.TestCase): if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) + if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage: + self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev()) + if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) @@ -432,6 +436,7 @@ class TestCarModelBase(unittest.TestCase): brake_pressed = False checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() + checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev() if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. From df4f2955dc16325472322522b12a8db5347f52fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 2 May 2025 20:54:42 -0700 Subject: [PATCH 054/135] Revert TR (#35110) * Revert "Tomb raider 2 (#35029)" This reverts commit 2c162d9b75ae4e77bdf5bc3225e880d352ec0f5c. * bugfix * fix policy * min control speed --- selfdrive/controls/lib/longitudinal_planner.py | 15 +++------------ selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 6 +++--- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 +++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 23 insertions(+), 31 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4219e80f33..9d71faeca2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mode == 'acc': + if self.mpc.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -160,17 +160,8 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) - output_a_target_e2e = sm['modelV2'].action.desiredAcceleration - output_should_stop_e2e = sm['modelV2'].action.shouldStop - - if self.mode == 'acc': - output_a_target = output_a_target_mpc - self.output_should_stop = output_should_stop_mpc - else: - output_a_target = min(output_a_target_mpc, output_a_target_e2e) - self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 36bd724d01..a91c6395c7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - #temporal_pose = modelV2.temporalPose - #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 25bb190fcd..5e1acdea0e 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -41,8 +41,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.3 -LONG_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.0 +LONG_SMOOTH_SECONDS = 0.0 MIN_LAT_CONTROL_SPEED = 0.3 @@ -172,7 +172,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 2075792f4d..3601bbb5da 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198 -size 15578328 +oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 +size 15966721 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 5e08b78472..aee6d8f1bf 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177 -size 46265585 +oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 +size 34882971 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 783572d436..810c44ccb9 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,12 +88,6 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -101,10 +95,17 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3dd3eab25f..1ae4c4a1a8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 From db6832762b054f47627ab66165cdc8f05857d1a4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 May 2025 21:48:55 -0700 Subject: [PATCH 055/135] Tesla: forward Summon (#35113) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 6af5ad8dd5..b82e8e0122 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 6af5ad8dd5de3b890d2812cc19b063caae858b31 +Subproject commit b82e8e01225a2b9e0953f59d336b9d278bab9acf From 8c8b2c448801cdcfb4aa6513a0211390cc7aa012 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 May 2025 01:15:25 +0800 Subject: [PATCH 056/135] replay: fix potential timestamp parsing error in Route::load (#35117) Fix potential timestamp parsing error in Route::load --- tools/replay/route.cc | 6 ++++-- tools/replay/route.h | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index ff5a858e8c..98fa0e290e 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -50,9 +50,11 @@ bool Route::load() { return false; } + // Parse the timestamp from the route identifier (only applicable for old route formats). struct tm tm_time = {0}; - strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time); - date_time_ = mktime(&tm_time); + if (strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time)) { + date_time_ = mktime(&tm_time); + } bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); if (ret) { diff --git a/tools/replay/route.h b/tools/replay/route.h index 1806be5afa..fb9f1869f6 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -59,7 +59,7 @@ protected: RouteIdentifier route_ = {}; std::string data_dir_; std::map segments_; - std::time_t date_time_; + std::time_t date_time_ = 0; RouteLoadError err_ = RouteLoadError::None; }; From 8ee99523f4e9070a15b9edce6bc4fd5dde8c70aa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 May 2025 01:15:47 +0800 Subject: [PATCH 057/135] cleanup .gitignore (#35116) --- .gitignore | 2 -- 1 file changed, 2 deletions(-) diff --git a/.gitignore b/.gitignore index 834b463083..40438f5fd0 100644 --- a/.gitignore +++ b/.gitignore @@ -47,10 +47,8 @@ selfdrive/pandad/pandad cereal/services.h cereal/gen cereal/messaging/bridge -selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd -selfdrive/ui/translations/alerts_generated.h selfdrive/ui/translations/tmp selfdrive/test/longitudinal_maneuvers/out selfdrive/car/tests/cars_dump From f704d18a8b5c7a4428d3e28828d1eb1ac4cf04ee Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sun, 4 May 2025 10:16:35 -0700 Subject: [PATCH 058/135] feat(clip): title and metadata overlay (#35099) * wip * moar * ensure inter is installed * line len * refactor * dont need this * no longer than * show meta for 4s --- tools/clip/run.py | 80 ++++++++++++++++++++-------- tools/install_ubuntu_dependencies.sh | 1 + tools/lib/route.py | 7 +++ 3 files changed, 65 insertions(+), 23 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 97baa880ea..2384edc4bb 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -16,7 +16,7 @@ from typing import Literal from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR from openpilot.common.prefix import OpenpilotPrefix -from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached +from openpilot.tools.lib.route import Route DEFAULT_OUTPUT = 'output.mp4' DEMO_START = 90 @@ -26,7 +26,7 @@ FRAMERATE = 20 PIXEL_DEPTH = '24' RESOLUTION = '2160x1080' SECONDS_TO_WARM = 2 -PROC_WAIT_SECONDS = 5 +PROC_WAIT_SECONDS = 30 REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) @@ -52,6 +52,29 @@ def check_for_failure(proc: Popen): raise ChildProcessError(msg) +def escape_ffmpeg_text(value: str): + special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'} + value = value.replace('\\', '\\\\\\\\\\\\\\\\') + for char, escaped in special_chars.items(): + value = value.replace(char, escaped) + return value + + +def get_meta_text(route: Route): + metadata = route.get_metadata() + origin_parts = metadata['git_remote'].split('/') + origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown' + return ', '.join([ + f'openpilot v{metadata['version']}', + f'route: {metadata['fullname']}', + f'car: {metadata['platform']}', + f'origin: {origin}', + f'branch: {metadata['git_branch']}', + f'commit: {metadata['git_commit'][:7]}', + f'modified: {str(metadata['git_dirty']).lower()}', + ]) + + def parse_args(parser: ArgumentParser): args = parser.parse_args() if args.demo: @@ -74,20 +97,17 @@ def parse_args(parser: ArgumentParser): if args.start < SECONDS_TO_WARM: parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up') - # if using local files, don't worry about length check right now so we skip the network call - # TODO: derive segment count from local FS - if not args.data_dir: - try: - num_segs = get_max_seg_number_cached(SegmentRange(args.route)) - except Exception as e: - parser.error(f'failed to get route length: {e}') - - # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data - length = round(num_segs * 60) - if args.start >= length: - parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') - if args.end > length: - parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') + try: + args.route = Route(args.route, data_dir=args.data_dir) + except Exception as e: + parser.error(f'failed to get route: {e}') + + # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data + length = round(args.route.max_seg_number * 60) + if args.start >= length: + parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)') + if args.end > length: + parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)') return args @@ -119,6 +139,12 @@ def validate_route(route: str): return route +def validate_title(title: str): + if len(title) > 80: + raise ArgumentTypeError('title must be no longer than 80 chars') + return title + + def wait_for_frames(procs: list[Popen]): sm = SubMaster(['uiDebug']) no_frames_drawn = True @@ -129,20 +155,27 @@ def wait_for_frames(procs: list[Popen]): check_for_failure(proc) -def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int): - logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB') +def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: Route, out: str, start: int, end: int, target_mb: int, title: str | None): + logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') begin_at = max(start - SECONDS_TO_WARM, 0) duration = end - start - bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000)) + bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000)) # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision display = f':{randint(99, 999)}' + meta_text = get_meta_text(route) + overlays = [ + f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:box=1:boxcolor=black@0.33:boxborderw=7:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'" + ] + if title: + overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:box=1:boxcolor=black@0.33:boxborderw=10:x=(w-text_w)/2:y=53") + ffmpeg_cmd = [ 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23', - '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath, + '-filter:v', ','.join(overlays), '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), out ] replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] @@ -150,7 +183,7 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou replay_cmd.extend(['--data_dir', data_dir]) if quality == 'low': replay_cmd.append('--qcam') - replay_cmd.append(route) + replay_cmd.append(route.name.canonical_name) ui_cmd = [UI, '-platform', 'xcb'] xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}'] @@ -183,7 +216,7 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS) for proc in procs: check_for_failure(proc) - logger.info(f'recording complete: {Path(output_filepath).resolve()}') + logger.info(f'recording complete: {Path(out).resolve()}') def main(): @@ -199,9 +232,10 @@ def main(): p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') p.add_argument('-s', '--start', help='start clipping at seconds', type=int) + p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: - clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size) + clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size, args.title) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) except Exception as e: diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index f33569704a..3d6fd2e7a9 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -33,6 +33,7 @@ function install_ubuntu_common_requirements() { git \ git-lfs \ ffmpeg \ + fonts-inter \ libavformat-dev \ libavcodec-dev \ libavdevice-dev \ diff --git a/tools/lib/route.py b/tools/lib/route.py index ddb8b0486e..831a1e2ee5 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -21,6 +21,7 @@ class Route: def __init__(self, name, data_dir=None): self._name = RouteName(name) self.files = None + self.metadata = None if data_dir is not None: self._segments = self._get_segments_local(data_dir) else: @@ -59,6 +60,12 @@ class Route: qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments} return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)] + def get_metadata(self): + if not self.metadata: + api = CommaApi(get_token()) + self.metadata = api.get('v1/route/' + self.name.canonical_name) + return self.metadata + # TODO: refactor this, it's super repetitive def _get_segments_remote(self): api = CommaApi(get_token()) From c33e5b3209b0c4f925b41f3c99f3a9867d8ba072 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 May 2025 23:28:12 +0800 Subject: [PATCH 060/135] python ui: wifi manager (#34814) * python wifi manager * fix ui * need auth callback * move to widgets * confirm forgot * add drag detection * improve keyboard & list * remove duplicate * typos * use gui_app render * refactor * cleanup * cleanup * shutdown * fix types * revert * scroll panel cleanup * reset is_dragging on mouse release * Revert "reset is_dragging on mouse release" This reverts commit ff5e51cf6f00848d93aa3ce0bab16602fea7a319. * unformat * cleanup * update state when connecting * forgotten callback * maybe fix? first tap didn't work * Revert "maybe fix? first tap didn't work" This reverts commit 739f0e3bd37323d10479b081a20d05c7fdff5495. * remove set_target_fps * Revert "remove set_target_fps" This reverts commit 96f74553ef6fa2ab2a4d1a07880175e7da628c9f. --------- Co-authored-by: Cameron Clough --- system/ui/lib/scroll_panel.py | 17 +- system/ui/lib/wifi_manager.py | 481 ++++++++++++++++++++++++++++++++++ system/ui/widgets/keyboard.py | 34 ++- system/ui/widgets/network.py | 172 ++++++++++++ 4 files changed, 692 insertions(+), 12 deletions(-) create mode 100644 system/ui/lib/wifi_manager.py create mode 100644 system/ui/widgets/network.py diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 0dc757ff6f..7dc2fdb917 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -4,6 +4,7 @@ from enum import IntEnum MOUSE_WHEEL_SCROLL_SPEED = 30 INERTIA_FRICTION = 0.95 # The rate at which the inertia slows down MIN_VELOCITY = 0.1 # Minimum velocity before stopping the inertia +DRAG_THRESHOLD = 5 # Pixels of movement to consider it a drag, not a click class ScrollState(IntEnum): @@ -16,10 +17,12 @@ class GuiScrollPanel: def __init__(self, show_vertical_scroll_bar: bool = False): self._scroll_state: ScrollState = ScrollState.IDLE self._last_mouse_y: float = 0.0 + self._start_mouse_y: float = 0.0 # Track the initial mouse position for drag detection self._offset = rl.Vector2(0, 0) self._view = rl.Rectangle(0, 0, 0, 0) self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar self._velocity_y = 0.0 # Velocity for inertia + self._is_dragging = False def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2: mouse_pos = rl.get_mouse_position() @@ -35,20 +38,27 @@ class GuiScrollPanel: self._scroll_state = ScrollState.DRAGGING_SCROLLBAR self._last_mouse_y = mouse_pos.y + self._start_mouse_y = mouse_pos.y # Record starting position self._velocity_y = 0.0 # Reset velocity when drag starts + self._is_dragging = False # Reset dragging flag if self._scroll_state != ScrollState.IDLE: if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): delta_y = mouse_pos.y - self._last_mouse_y + # Check if movement exceeds the drag threshold + total_drag = abs(mouse_pos.y - self._start_mouse_y) + if total_drag > DRAG_THRESHOLD: + self._is_dragging = True + if self._scroll_state == ScrollState.DRAGGING_CONTENT: self._offset.y += delta_y - else: + elif self._scroll_state == ScrollState.DRAGGING_SCROLLBAR: delta_y = -delta_y self._last_mouse_y = mouse_pos.y self._velocity_y = delta_y # Update velocity during drag - else: + elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): self._scroll_state = ScrollState.IDLE # Handle mouse wheel scrolling @@ -73,3 +83,6 @@ class GuiScrollPanel: self._offset.y = max(min(self._offset.y, 0), -max_scroll_y) return self._offset + + def is_click_valid(self) -> bool: + return self._scroll_state == ScrollState.IDLE and not self._is_dragging and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py new file mode 100644 index 0000000000..af533e9a2a --- /dev/null +++ b/system/ui/lib/wifi_manager.py @@ -0,0 +1,481 @@ +import asyncio +import threading +import time +import uuid +from collections.abc import Callable +from dataclasses import dataclass +from enum import IntEnum + +from dbus_next.aio import MessageBus +from dbus_next import BusType, Variant, Message +from dbus_next.errors import DBusError +from dbus_next.constants import MessageType +from openpilot.common.swaglog import cloudlog + +# NetworkManager constants +NM = "org.freedesktop.NetworkManager" +NM_PATH = '/org/freedesktop/NetworkManager' +NM_IFACE = 'org.freedesktop.NetworkManager' +NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings' +NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings' +NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection' +NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless' +NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties' +NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" + +NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 + +# NetworkManager device states +class NMDeviceState(IntEnum): + DISCONNECTED = 30 + PREPARE = 40 + NEED_AUTH = 60 + IP_CONFIG = 70 + ACTIVATED = 100 + +class SecurityType(IntEnum): + OPEN = 0 + WPA = 1 + WPA2 = 2 + WPA3 = 3 + UNSUPPORTED = 4 + +@dataclass +class NetworkInfo: + ssid: str + strength: int + is_connected: bool + security_type: SecurityType + path: str + bssid: str + # saved_path: str + + +@dataclass +class WifiManagerCallbacks: + need_auth: Callable[[], None] | None = None + activated: Callable[[], None] | None = None + forgotten: Callable[[], None] | None = None + + +class WifiManager: + def __init__(self, callbacks): + self.callbacks: WifiManagerCallbacks = callbacks + self.networks: list[NetworkInfo] = [] + self.bus: MessageBus = None + self.device_path: str = "" + self.device_proxy = None + self.saved_connections: dict[str, str] = {} + self.active_ap_path: str = "" + self.scan_task: asyncio.Task | None = None + self.running: bool = True + + async def connect(self) -> None: + """Connect to the DBus system bus.""" + try: + self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect() + if not await self._find_wifi_device(): + raise ValueError("No Wi-Fi device found") + await self._setup_signals(self.device_path) + + self.active_ap_path = await self.get_active_access_point() + self.saved_connections = await self._get_saved_connections() + self.scan_task = asyncio.create_task(self._periodic_scan()) + except DBusError as e: + cloudlog.error(f"Failed to connect to DBus: {e}") + raise + except Exception as e: + cloudlog.error(f"Unexpected error during connect: {e}") + raise + + async def shutdown(self) -> None: + self.running = False + if self.scan_task: + self.scan_task.cancel() + try: + await self.scan_task + except asyncio.CancelledError: + pass + if self.bus: + await self.bus.disconnect() + + async def request_scan(self) -> None: + try: + interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) + await interface.call_request_scan({}) + except DBusError as e: + cloudlog.warning(f"Scan request failed: {str(e)}") + + async def get_active_access_point(self): + try: + props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE) + ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint') + return ap_path.value + except DBusError as e: + cloudlog.error(f"Error fetching active access point: {str(e)}") + return '' + + async def forget_connection(self, ssid: str) -> bool: + path = self.saved_connections.get(ssid) + if not path: + return False + + try: + nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) + await nm_iface.call_delete() + return True + except DBusError as e: + cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") + return False + + async def activate_connection(self, ssid: str) -> bool: + connection_path = self.saved_connections.get(ssid) + if not connection_path: + return False + try: + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + await nm_iface.call_activate_connection(connection_path, self.device_path, "/") + return True + except DBusError as e: + cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}") + return False + + async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: + """Connect to a selected Wi-Fi network.""" + try: + connection = { + 'connection': { + 'type': Variant('s', '802-11-wireless'), + 'uuid': Variant('s', str(uuid.uuid4())), + 'id': Variant('s', ssid), + 'autoconnect-retries': Variant('i', 0), + }, + '802-11-wireless': { + 'ssid': Variant('ay', ssid.encode('utf-8')), + 'hidden': Variant('b', is_hidden), + 'mode': Variant('s', 'infrastructure'), + }, + 'ipv4': {'method': Variant('s', 'auto')}, + 'ipv6': {'method': Variant('s', 'ignore')}, + } + + if bssid: + connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8')) + + if password: + connection['802-11-wireless-security'] = { + 'key-mgmt': Variant('s', 'wpa-psk'), + 'auth-alg': Variant('s', 'open'), + 'psk': Variant('s', password), + } + + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/") + await self._update_connection_status() + + except DBusError as e: + cloudlog.error(f"Error connecting to network: {e}") + + def is_saved(self, ssid: str) -> bool: + return ssid in self.saved_connections + + async def _find_wifi_device(self) -> bool: + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + devices = await nm_iface.get_devices() + + for device_path in devices: + device = await self.bus.introspect(NM, device_path) + device_proxy = self.bus.get_proxy_object(NM, device_path, device) + device_interface = device_proxy.get_interface(NM_DEVICE_IFACE) + device_type = await device_interface.get_device_type() # type: ignore[attr-defined] + if device_type == 2: # Wi-Fi device + self.device_path = device_path + self.device_proxy = device_proxy + return True + + return False + + async def _periodic_scan(self): + while self.running: + try: + await self.request_scan() + await self._get_available_networks() + await asyncio.sleep(30) + except asyncio.CancelledError: + break + except DBusError as e: + cloudlog.error(f"Scan failed: {e}") + await asyncio.sleep(5) + + async def _setup_signals(self, device_path: str) -> None: + rules = [ + f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'", + f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'", + f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'", + f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'", + ] + for rule in rules: + await self._add_match_rule(rule) + + # Set up signal handlers + self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed) + self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed) + + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + settings_iface.on_new_connection(self._on_new_connection) + settings_iface.on_connection_removed(self._on_connection_removed) + + def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): + # print("property changed", interface, changed, invalidated) + if 'LastScan' in changed: + asyncio.create_task(self._get_available_networks()) + elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: + self.active_ap_path = changed["ActiveAccessPoint"].value + asyncio.create_task(self._get_available_networks()) + + def _on_state_changed(self, new_state: int, old_state: int, reason: int): + print(f"State changed: {old_state} -> {new_state}, reason: {reason}") + if new_state == NMDeviceState.ACTIVATED: + if self.callbacks.activated: + self.callbacks.activated() + asyncio.create_task(self._update_connection_status()) + elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): + for network in self.networks: + network.is_connected = False + if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: + self.callbacks.need_auth() + + def _on_new_connection(self, path: str) -> None: + """Callback for NewConnection signal.""" + print(f"New connection added: {path}") + asyncio.create_task(self._add_saved_connection(path)) + + def _on_connection_removed(self, path: str) -> None: + """Callback for ConnectionRemoved signal.""" + print(f"Connection removed: {path}") + for ssid, p in list(self.saved_connections.items()): + if path == p: + del self.saved_connections[ssid] + if self.callbacks.forgotten: + self.callbacks.forgotten() + break + + async def _add_saved_connection(self, path: str) -> None: + """Add a new saved connection to the dictionary.""" + try: + settings = await self._get_connection_settings(path) + if ssid := self._extract_ssid(settings): + self.saved_connections[ssid] = path + except DBusError as e: + cloudlog.error(f"Failed to add connection {path}: {e}") + + def _extract_ssid(self, settings: dict) -> str | None: + """Extract SSID from connection settings.""" + ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value + return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None + + async def _update_connection_status(self): + self.active_ap_path = await self.get_active_access_point() + await self._get_available_networks() + + async def _add_match_rule(self, rule): + """Add a match rule on the bus.""" + reply = await self.bus.call( + Message( + message_type=MessageType.METHOD_CALL, + destination='org.freedesktop.DBus', + interface="org.freedesktop.DBus", + path='/org/freedesktop/DBus', + member='AddMatch', + signature='s', + body=[rule], + ) + ) + + assert reply.message_type == MessageType.METHOD_RETURN + return reply + + async def _get_available_networks(self): + """Get a list of available networks via NetworkManager.""" + wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) + access_points = await wifi_iface.get_access_points() + network_dict = {} + for ap_path in access_points: + try: + props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE) + properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint') + ssid_variant = properties['Ssid'].value + ssid = ''.join(chr(byte) for byte in ssid_variant) + if not ssid: + continue + + bssid = properties.get('HwAddress', Variant('s', '')).value + strength = properties['Strength'].value + flags = properties['Flags'].value + wpa_flags = properties['WpaFlags'].value + rsn_flags = properties['RsnFlags'].value + existing_network = network_dict.get(ssid) + if not existing_network or ((not existing_network.bssid and bssid) or (existing_network.strength < strength)): + network_dict[ssid] = NetworkInfo( + ssid=ssid, + strength=strength, + security_type=self._get_security_type(flags, wpa_flags, rsn_flags), + path=ap_path, + bssid=bssid, + is_connected=self.active_ap_path == ap_path, + ) + + except DBusError as e: + cloudlog.error(f"Error fetching networks: {e}") + except Exception as e: + cloudlog.error({e}) + + self.networks = sorted( + network_dict.values(), + key=lambda network: ( + not network.is_connected, + -network.strength, # Higher signal strength first + network.ssid.lower(), + ), + ) + + async def _get_connection_settings(self, path): + """Fetch connection settings for a specific connection path.""" + try: + connection_proxy = await self.bus.introspect(NM, path) + connection = self.bus.get_proxy_object(NM, path, connection_proxy) + settings = connection.get_interface(NM_CONNECTION_IFACE) + return await settings.call_get_settings() + except DBusError as e: + cloudlog.error(f"Failed to get settings for {path}: {str(e)}") + return {} + + async def _process_chunk(self, paths_chunk): + """Process a chunk of connection paths.""" + tasks = [self._get_connection_settings(path) for path in paths_chunk] + return await asyncio.gather(*tasks, return_exceptions=True) + + async def _get_saved_connections(self) -> dict[str, str]: + try: + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + connection_paths = await settings_iface.call_list_connections() + saved_ssids: dict[str, str] = {} + batch_size = 20 + for i in range(0, len(connection_paths), batch_size): + chunk = connection_paths[i : i + batch_size] + results = await self._process_chunk(chunk) + for path, config in zip(chunk, results, strict=True): + if isinstance(config, dict) and '802-11-wireless' in config: + if ssid := self._extract_ssid(config): + saved_ssids[ssid] = path + return saved_ssids + except DBusError as e: + cloudlog.error(f"Error fetching saved connections: {str(e)}") + return {} + + async def _get_interface(self, bus_name: str, path: str, name: str): + introspection = await self.bus.introspect(bus_name, path) + proxy = self.bus.get_proxy_object(bus_name, path, introspection) + return proxy.get_interface(name) + + def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: + """Determine the security type based on flags.""" + if flags == 0 and not (wpa_flags or rsn_flags): + return SecurityType.OPEN + if rsn_flags & 0x200: # SAE (WPA3 Personal) + return SecurityType.WPA3 + if rsn_flags: # RSN indicates WPA2 or higher + return SecurityType.WPA2 + if wpa_flags: # WPA flags indicate WPA + return SecurityType.WPA + return SecurityType.UNSUPPORTED + + +class WifiManagerWrapper: + def __init__(self): + self._manager: WifiManager | None = None + self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks() + + self._thread = threading.Thread(target=self._run, daemon=True) + self._loop: asyncio.EventLoop | None = None + self._running = False + + def set_callbacks(self, callbacks: WifiManagerCallbacks): + self._callbacks = callbacks + + def start(self) -> None: + if not self._running: + self._thread.start() + while self._thread is not None and not self._running: + time.sleep(0.1) + + def _run(self): + self._loop = asyncio.new_event_loop() + asyncio.set_event_loop(self._loop) + + try: + self._manager = WifiManager(self._callbacks) + self._running = True + self._loop.run_forever() + except Exception as e: + cloudlog.error(f"Error in WifiManagerWrapper thread: {e}") + finally: + if self._loop.is_running(): + self._loop.stop() + self._running = False + + def shutdown(self) -> None: + if self._running: + if self._manager is not None: + self._run_coroutine(self._manager.shutdown()) + if self._loop and self._loop.is_running(): + self._loop.call_soon_threadsafe(self._loop.stop) + if self._thread and self._thread.is_alive(): + self._thread.join(timeout=2.0) + self._running = False + + @property + def networks(self) -> list[NetworkInfo]: + """Get the current list of networks.""" + return self._manager.networks if self._manager else [] + + def is_saved(self, ssid: str) -> bool: + """Check if a network is saved.""" + return self._manager.is_saved(ssid) if self._manager else False + + def connect(self): + """Connect to DBus and start Wi-Fi scanning.""" + if not self._manager: + return + self._run_coroutine(self._manager.connect()) + + def request_scan(self): + """Request a scan for Wi-Fi networks.""" + if not self._manager: + return + self._run_coroutine(self._manager.request_scan()) + + def forget_connection(self, ssid: str): + """Forget a saved Wi-Fi connection.""" + if not self._manager: + return + self._run_coroutine(self._manager.forget_connection(ssid)) + + def activate_connection(self, ssid: str): + """Activate an existing Wi-Fi connection.""" + if not self._manager: + return + self._run_coroutine(self._manager.activate_connection(ssid)) + + def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False): + """Connect to a Wi-Fi network.""" + if not self._manager: + return + self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden)) + + def _run_coroutine(self, coro): + """Run a coroutine in the async thread.""" + if not self._running or not self._loop: + cloudlog.error("WifiManager thread is not running") + return + asyncio.run_coroutine_threadsafe(coro, self._loop) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 4d1ad1b2cd..13fdb912b5 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -44,25 +44,28 @@ keyboard_layouts = { class Keyboard: def __init__(self, max_text_size: int = 255): self._layout = keyboard_layouts["lowercase"] - self._input_text = "" self._max_text_size = max_text_size + self._string_pointer = rl.ffi.new("char[]", max_text_size) + self._input_text = "" + self._clear() @property - def text(self) -> str: - return self._input_text - - def clear(self): - self._input_text = "" + def text(self): + result = rl.ffi.string(self._string_pointer).decode("utf-8") + self._clear() + return result def render(self, rect, title, sub_title): gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): - return -1 + self._clear() + return 0 # Text box for input - rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True) - + self._sync_string_pointer() + rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._string_pointer, self._max_text_size, True) + self._input_text = rl.ffi.string(self._string_pointer).decode("utf-8") h_space, v_space = 15, 15 row_y_start = rect.y + 300 # Starting Y position for the first row key_height = (rect.height - 300 - 3 * v_space) / 4 @@ -87,7 +90,7 @@ class Keyboard: else: self.handle_key_press(key) - return 0 + return -1 def handle_key_press(self, key): if key in (SHIFT_DOWN_KEY, ABC_KEY): @@ -102,3 +105,14 @@ class Keyboard: self._input_text = self._input_text[:-1] elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size: self._input_text += key + + def _clear(self): + self._input_text = '' + self._string_pointer[0] = b'\0' + + def _sync_string_pointer(self): + """Sync the C-string pointer with the internal Python string.""" + encoded = self._input_text.encode("utf-8")[:self._max_text_size - 1] # Leave room for the null terminator + buffer = rl.ffi.buffer(self._string_pointer) + buffer[:len(encoded)] = encoded + self._string_pointer[len(encoded)] = b'\0' # Null terminator diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py new file mode 100644 index 0000000000..59427b57b8 --- /dev/null +++ b/system/ui/widgets/network.py @@ -0,0 +1,172 @@ +from dataclasses import dataclass +from typing import Literal + +import pyray as rl +from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper +from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.widgets.keyboard import Keyboard +from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog + +NM_DEVICE_STATE_NEED_AUTH = 60 +ITEM_HEIGHT = 160 + + +@dataclass +class StateIdle: + action: Literal["idle"] = "idle" + +@dataclass +class StateConnecting: + network: NetworkInfo + action: Literal["connecting"] = "connecting" + +@dataclass +class StateNeedsAuth: + network: NetworkInfo + action: Literal["needs_auth"] = "needs_auth" + +@dataclass +class StateShowForgetConfirm: + network: NetworkInfo + action: Literal["show_forget_confirm"] = "show_forget_confirm" + +@dataclass +class StateForgetting: + network: NetworkInfo + action: Literal["forgetting"] = "forgetting" + +UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting + + +class WifiManagerUI: + def __init__(self, wifi_manager: WifiManagerWrapper): + self.state: UIState = StateIdle() + self.btn_width = 200 + self.scroll_panel = GuiScrollPanel() + self.keyboard = Keyboard() + + self.wifi_manager = wifi_manager + self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten)) + self.wifi_manager.start() + self.wifi_manager.connect() + + def render(self, rect: rl.Rectangle): + if not self.wifi_manager.networks: + gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + return + + match self.state: + case StateNeedsAuth(network): + result = self.keyboard.render(rect, "Enter password", f"for {network.ssid}") + if result == 1: + self.connect_to_network(network, self.keyboard.text) + elif result == 0: + self.state = StateIdle() + + case StateShowForgetConfirm(network): + result = confirm_dialog(rect, f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") + if result == 1: + self.forget_network(network) + elif result == 0: + self.state = StateIdle() + + case _: + self._draw_network_list(rect) + + def _draw_network_list(self, rect: rl.Rectangle): + content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self.wifi_manager.networks) * ITEM_HEIGHT) + offset = self.scroll_panel.handle_scroll(rect, content_rect) + clicked = self.scroll_panel.is_click_valid() + + rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) + for i, network in enumerate(self.wifi_manager.networks): + y_offset = rect.y + i * ITEM_HEIGHT + offset.y + item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT) + if not rl.check_collision_recs(item_rect, rect): + continue + + self._draw_network_item(item_rect, network, clicked) + if i < len(self.wifi_manager.networks) - 1: + line_y = int(item_rect.y + item_rect.height - 1) + rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY) + + rl.end_scissor_mode() + + def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool): + label_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT) + state_rect = rl.Rectangle(rect.x + rect.width - self.btn_width * 2 - 150, rect.y, 300, ITEM_HEIGHT) + + gui_label(label_rect, network.ssid, 55) + + status_text = "" + if network.is_connected: + status_text = "Connected" + match self.state: + case StateConnecting(network=connecting): + if connecting.ssid == network.ssid: + status_text = "CONNECTING..." + case StateForgetting(network=forgetting): + if forgetting.ssid == network.ssid: + status_text = "FORGETTING..." + if status_text: + rl.gui_label(state_rect, status_text) + + # If the network is saved, show the "Forget" button + if self.wifi_manager.is_saved(network.ssid): + forget_btn_rect = rl.Rectangle( + rect.x + rect.width - self.btn_width, + rect.y + (ITEM_HEIGHT - 80) / 2, + self.btn_width, + 80, + ) + if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked: + self.state = StateShowForgetConfirm(network) + + if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked: + if not self.wifi_manager.is_saved(network.ssid): + self.state = StateNeedsAuth(network) + else: + self.connect_to_network(network) + + def connect_to_network(self, network: NetworkInfo, password=''): + self.state = StateConnecting(network) + if self.wifi_manager.is_saved(network.ssid) and not password: + self.wifi_manager.activate_connection(network.ssid) + else: + self.wifi_manager.connect_to_network(network.ssid, password) + + def forget_network(self, network: NetworkInfo): + self.state = StateForgetting(network) + self.wifi_manager.forget_connection(network.ssid) + + def _on_need_auth(self): + match self.state: + case StateConnecting(network): + self.state = StateNeedsAuth(network) + + def _on_activated(self): + if isinstance(self.state, StateConnecting): + self.state = StateIdle() + + def _on_forgotten(self): + if isinstance(self.state, StateForgetting): + self.state = StateIdle() + + +def main(): + gui_app.init_window("Wi-Fi Manager") + wifi_manager = WifiManagerWrapper() + wifi_ui = WifiManagerUI(wifi_manager) + + for _ in gui_app.render(): + wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100)) + + wifi_manager.shutdown() + gui_app.close() + + +if __name__ == "__main__": + main() From a8b9350103fe76a523a67ceff5719bff46803c39 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 5 May 2025 12:51:04 -0700 Subject: [PATCH 061/135] [bot] Update Python packages (#35125) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 74 ++++++++++++++++++++++++++-------------------------- 2 files changed, 38 insertions(+), 38 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b82e8e0122..de651d84e8 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b82e8e01225a2b9e0953f59d336b9d278bab9acf +Subproject commit de651d84e8514e58aaa6073b06327706b93f5b8a diff --git a/uv.lock b/uv.lock index eb43ede212..1d19dfd22e 100644 --- a/uv.lock +++ b/uv.lock @@ -149,16 +149,16 @@ wheels = [ [[package]] name = "azure-core" -version = "1.33.0" +version = "1.34.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "requests" }, { name = "six" }, { name = "typing-extensions" }, ] -sdist = { url = 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{metadata['fullname']}', - f'car: {metadata['platform']}', - f'origin: {origin}', - f'branch: {metadata['git_branch']}', - f'commit: {metadata['git_commit'][:7]}', - f'modified: {str(metadata['git_dirty']).lower()}', + f"openpilot v{metadata['version']}", + f"route: {metadata['fullname']}", + f"car: {metadata['platform']}", + f"origin: {origin}", + f"branch: {metadata['git_branch']}", + f"commit: {metadata['git_commit'][:7]}", + f"modified: {str(metadata['git_dirty']).lower()}", ]) From 5a94d818bb3c77e7da5ebab1213b5979de7b75c9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 5 May 2025 15:21:06 -0700 Subject: [PATCH 063/135] add xattr python package (#35131) * add xattr * comment --- pyproject.toml | 1 + uv.lock | 1131 +++++++++++++++++++++++++----------------------- 2 files changed, 582 insertions(+), 550 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 344bf2cfcc..6db5f00621 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -64,6 +64,7 @@ dependencies = [ "psutil", "pycryptodome", # used in updated/casync, panda, body, and a test "setproctitle", + "xattr", # used in place of 'os.getxattr' for macos compatibility # logreader "zstandard", diff --git a/uv.lock b/uv.lock index 1d19dfd22e..fbeda4d552 100644 --- a/uv.lock +++ b/uv.lock @@ -503,7 +503,7 @@ version = "0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "python-xlib", marker = "sys_platform == 'linux'" }, - { name = "typing-extensions" }, + { name = "typing-extensions", marker = "sys_platform != 'darwin'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657, upload-time = "2024-04-17T08:15:56.338Z" }, @@ -650,10 +650,10 @@ name = "gymnasium" version = "1.1.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cloudpickle" }, - { name = "farama-notifications" }, - { name = "numpy" }, - { name = "typing-extensions" }, + { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/90/69/70cd29e9fc4953d013b15981ee71d4c9ef4d8b2183e6ef2fe89756746dce/gymnasium-1.1.1.tar.gz", hash = "sha256:8bd9ea9bdef32c950a444ff36afc785e1d81051ec32d30435058953c20d2456d", size = 829326, upload-time = "2025-03-06T16:30:36.428Z" } wheels = [ @@ -964,22 +964,22 @@ name = "metadrive-simulator" version = "0.4.2.4" source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" } dependencies = [ - { name = "filelock" }, - { name = "gymnasium" }, - { name = "lxml" }, - { name = "matplotlib" }, - { name = "numpy" }, - { name = "opencv-python-headless" }, - { name = "panda3d" }, - { name = "panda3d-gltf" }, - { name = "pillow" }, - { name = "progressbar" }, - { name = "psutil" }, - { name = "pygments" }, - { name = "requests" }, - { name = "shapely" }, - { name = "tqdm" }, - { name = "yapf" }, + { name = "filelock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "gymnasium", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "progressbar", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "psutil", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pygments", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "requests", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "shapely", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] wheels = [ { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" }, @@ -1238,7 +1238,7 @@ name = "opencv-python-headless" version = "4.11.0.86" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/36/2f/5b2b3ba52c864848885ba988f24b7f105052f68da9ab0e693cc7c25b0b30/opencv-python-headless-4.11.0.86.tar.gz", hash = "sha256:996eb282ca4b43ec6a3972414de0e2331f5d9cda2b41091a49739c19fb843798", size = 95177929, upload-time = "2025-01-16T13:53:40.22Z" } wheels = [ @@ -1287,6 +1287,7 @@ dependencies = [ { name = "sympy" }, { name = "tqdm" }, { name = "websocket-client" }, + { name = "xattr" }, { name = "zstandard" }, ] @@ -1412,6 +1413,7 @@ requires-dist = [ { name = "types-requests", marker = "extra == 'dev'" }, { name = "types-tabulate", marker = "extra == 'dev'" }, { name = "websocket-client" }, + { name = "xattr" }, { name = "zstandard" }, ] provides-extras = ["docs", "testing", "dev", "tools"] @@ -1448,8 +1450,8 @@ name = "panda3d-gltf" version = "0.13" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "panda3d" }, - { name = "panda3d-simplepbr" }, + { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d-simplepbr", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573, upload-time = "2021-05-21T05:46:32.738Z" } wheels = [ 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b920e2a998eeb13e77fa383a53961b51a6247698 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 6 May 2025 07:48:15 +0800 Subject: [PATCH 064/135] tools: add --auto flag to replay and cabana for loading routes from auto source (#34863) * add flag to auto load a route from the most suitable source * split to functions * early return * add --auto to replay * README * cleanup * remove prefix * parse datetime * cleanup * improve help * do not modify logreader.py * fix seg_num * cleanup --- tools/auto_source.py | 17 ++++++++ tools/cabana/README.md | 2 + tools/cabana/cabana.cc | 4 +- tools/cabana/streams/replaystream.cc | 5 ++- tools/cabana/streams/replaystream.h | 2 +- tools/replay/README.md | 2 + tools/replay/main.cc | 14 ++++--- tools/replay/replay.cc | 4 +- tools/replay/replay.h | 2 +- tools/replay/route.cc | 58 +++++++++++++++++++++------- tools/replay/route.h | 6 ++- tools/replay/seg_mgr.h | 4 +- 12 files changed, 91 insertions(+), 29 deletions(-) create mode 100755 tools/auto_source.py diff --git a/tools/auto_source.py b/tools/auto_source.py new file mode 100755 index 0000000000..401929a9ad --- /dev/null +++ b/tools/auto_source.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import sys +from openpilot.tools.lib.logreader import LogReader + + +def main(): + if len(sys.argv) != 2: + print("Usage: python auto_source.py ") + sys.exit(1) + + log_path = sys.argv[1] + lr = LogReader(log_path, sort_by_time=True) + print("\n".join(lr.logreader_identifiers)) + + +if __name__ == "__main__": + main() diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 0b7c5bf3ee..7933098e34 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -12,6 +12,8 @@ Options: -h, --help Displays help on commandline options. --help-all Displays help including Qt specific options. --demo use a demo route instead of providing your own + --auto Auto load the route from the best available source (no video): + internal, openpilotci, comma_api, car_segments, testing_closet --qcam load qcamera --ecam load wide road camera --msgq read can messages from msgq diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index d140a323e1..97f178b1f3 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -23,6 +23,7 @@ int main(int argc, char *argv[]) { cmd_parser.addHelpOption(); cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai"); cmd_parser.addOption({"demo", "use a demo route instead of providing your own"}); + cmd_parser.addOption({"auto", "Auto load the route from the best available source (no video): internal, openpilotci, comma_api, car_segments, testing_closet"}); cmd_parser.addOption({"qcam", "load qcamera"}); cmd_parser.addOption({"ecam", "load wide road camera"}); cmd_parser.addOption({"dcam", "load driver camera"}); @@ -69,7 +70,8 @@ int main(int argc, char *argv[]) { } if (!route.isEmpty()) { auto replay_stream = std::make_unique(&app); - if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { + bool auto_source = cmd_parser.isSet("auto"); + if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) { return 0; } stream = replay_stream.release(); diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index ebe478ded7..b8cf1be299 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -7,6 +7,7 @@ #include #include "common/timing.h" +#include "common/util.h" #include "tools/cabana/streams/routes.h" ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { @@ -45,9 +46,9 @@ void ReplayStream::mergeSegments() { } } -bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { +bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) { replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, - {}, nullptr, replay_flags, data_dir.toStdString())); + {}, nullptr, replay_flags, data_dir.toStdString(), auto_source)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter([this](const Event *event) { return eventFilter(event); }); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index df1f2526a5..d429ed1f95 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -18,7 +18,7 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); void start() override { replay->start(); } - bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); + bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } bool liveStreaming() const override { return false; } diff --git a/tools/replay/README.md b/tools/replay/README.md index 719f7d2db9..8b4afb0acc 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -64,6 +64,8 @@ Options: -s, --start start from -x playback . between 0.2 - 3 --demo use a demo route instead of providing your own + --auto Auto load the route from the best available source (no video): + internal, openpilotci, comma_api, car_segments, testing_closet --data_dir local directory with routes --prefix set OPENPILOT_PREFIX --dcam load driver camera diff --git a/tools/replay/main.cc b/tools/replay/main.cc index b33b7fa263..38a1da292a 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -19,6 +19,8 @@ Options: -s, --start Start from -x, --playback Playback --demo Use a demo route instead of providing your own + --auto Auto load the route from the best available source (no video): + internal, openpilotci, comma_api, car_segments, testing_closet -d, --data_dir Local directory with routes -p, --prefix Set OPENPILOT_PREFIX --dcam Load driver camera @@ -39,6 +41,7 @@ struct ReplayConfig { std::string data_dir; std::string prefix; uint32_t flags = REPLAY_FLAG_NONE; + bool auto_source = false; int start_seconds = 0; int cache_segments = -1; float playback_speed = -1; @@ -52,6 +55,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { {"start", required_argument, nullptr, 's'}, {"playback", required_argument, nullptr, 'x'}, {"demo", no_argument, nullptr, 0}, + {"auto", no_argument, nullptr, 0}, {"data_dir", required_argument, nullptr, 'd'}, {"prefix", required_argument, nullptr, 'p'}, {"dcam", no_argument, nullptr, 0}, @@ -94,11 +98,9 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { case 'p': config.prefix = optarg; break; case 0: { std::string name = cli_options[option_index].name; - if (name == "demo") { - config.route = DEMO_ROUTE; - } else { - config.flags |= flag_map.at(name); - } + if (name == "demo") config.route = DEMO_ROUTE; + else if (name == "auto") config.auto_source = true; + else config.flags |= flag_map.at(name); break; } case 'h': std::cout << helpText; return false; @@ -136,7 +138,7 @@ int main(int argc, char *argv[]) { op_prefix = std::make_unique(config.prefix); } - Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir); + Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, config.auto_source); if (config.cache_segments > 0) { replay.setSegmentCacheLimit(config.cache_segments); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 80f586daa6..a8e5cd9d43 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -15,8 +15,8 @@ void notifyEvent(Callback &callback, Args &&...args) { } Replay::Replay(const std::string &route, std::vector allow, std::vector block, - SubMaster *sm, uint32_t flags, const std::string &data_dir) - : sm_(sm), flags_(flags), seg_mgr_(std::make_unique(route, flags, data_dir)) { + SubMaster *sm, uint32_t flags, const std::string &data_dir, bool auto_source) + : sm_(sm), flags_(flags), seg_mgr_(std::make_unique(route, flags, data_dir, auto_source)) { std::signal(SIGUSR1, interrupt_sleep_handler); if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 6a2c86ff02..5e868d2427 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -29,7 +29,7 @@ enum REPLAY_FLAGS { class Replay { public: Replay(const std::string &route, std::vector allow, std::vector block, SubMaster *sm = nullptr, - uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = ""); + uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "", bool auto_source = false); ~Replay(); bool load(); RouteLoadError lastRouteError() const { return route().lastError(); } diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 98fa0e290e..ba00828267 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -10,9 +10,8 @@ #include "tools/replay/replay.h" #include "tools/replay/util.h" -Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) { - route_ = parseRoute(route); -} +Route::Route(const std::string &route, const std::string &data_dir, bool auto_source) + : route_string_(route), data_dir_(data_dir), auto_source_(auto_source) {} RouteIdentifier Route::parseRoute(const std::string &str) { RouteIdentifier identifier = {}; @@ -44,7 +43,7 @@ RouteIdentifier Route::parseRoute(const std::string &str) { } bool Route::load() { - err_ = RouteLoadError::None; + route_ = parseRoute(route_string_); if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) { rInfo("invalid route format"); return false; @@ -56,17 +55,50 @@ bool Route::load() { date_time_ = mktime(&tm_time); } - bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); - if (ret) { - if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; - if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first; - for (auto it = segments_.begin(); it != segments_.end(); /**/) { - if (it->first < route_.begin_segment || it->first > route_.end_segment) { - it = segments_.erase(it); - } else { - ++it; + if (!loadSegments()) { + rInfo("Failed to load segments"); + return false; + } + + return true; +} + +bool Route::loadSegments() { + if (!auto_source_) { + bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); + if (ret) { + // Trim segments + if (route_.begin_segment > 0) { + segments_.erase(segments_.begin(), segments_.lower_bound(route_.begin_segment)); } + if (route_.end_segment >= 0) { + segments_.erase(segments_.upper_bound(route_.end_segment), segments_.end()); + } + } + return !segments_.empty(); + } + return loadFromAutoSource(); +} + +bool Route::loadFromAutoSource() { + auto origin_prefix = getenv("OPENPILOT_PREFIX"); + if (origin_prefix) { + setenv("OPENPILOT_PREFIX", "", 1); + } + auto cmd = util::string_format("../auto_source.py \"%s\"", route_string_.c_str()); + auto log_files = split(util::check_output(cmd), '\n'); + if (origin_prefix) { + setenv("OPENPILOT_PREFIX", origin_prefix, 1); + } + + const static std::regex rx(R"(\/(\d+)\/)"); + for (int i = 0; i < log_files.size(); ++i) { + int seg_num = i; + std::smatch match; + if (std::regex_search(log_files[i], match, rx)) { + seg_num = std::stoi(match[1]); } + addFileToSegment(seg_num, log_files[i]); } return !segments_.empty(); } diff --git a/tools/replay/route.h b/tools/replay/route.h index fb9f1869f6..0375252a19 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -40,7 +40,7 @@ struct SegmentFile { class Route { public: - Route(const std::string &route, const std::string &data_dir = {}); + Route(const std::string &route, const std::string &data_dir = {}, bool auto_source = false); bool load(); RouteLoadError lastError() const { return err_; } inline const std::string &name() const { return route_.str; } @@ -52,6 +52,8 @@ public: static RouteIdentifier parseRoute(const std::string &str); protected: + bool loadSegments(); + bool loadFromAutoSource(); bool loadFromLocal(); bool loadFromServer(int retries = 3); bool loadFromJson(const std::string &json); @@ -61,6 +63,8 @@ protected: std::map segments_; std::time_t date_time_ = 0; RouteLoadError err_ = RouteLoadError::None; + bool auto_source_ = false; + std::string route_string_; }; class Segment { diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h index 9158e41618..640169749e 100644 --- a/tools/replay/seg_mgr.h +++ b/tools/replay/seg_mgr.h @@ -20,8 +20,8 @@ public: bool isSegmentLoaded(int n) const { return segments.find(n) != segments.end(); } }; - SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "") - : flags_(flags), route_(route_name, data_dir), event_data_(std::make_shared()) {} + SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "", bool auto_source = false) + : flags_(flags), route_(route_name, data_dir, auto_source), event_data_(std::make_shared()) {} ~SegmentManager(); bool load(); From 3c58da5c84064191ced8ece01ffd0b7a0393440f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 5 May 2025 16:54:14 -0700 Subject: [PATCH 065/135] mimic agnos pyproject order --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 6db5f00621..bf43840d71 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -47,6 +47,7 @@ dependencies = [ # logging "pyzmq", "sentry-sdk", + "xattr", # used in place of 'os.getxattr' for macos compatibility # athena "PyJWT", @@ -64,7 +65,6 @@ dependencies = [ "psutil", "pycryptodome", # used in updated/casync, panda, body, and a test "setproctitle", - "xattr", # used in place of 'os.getxattr' for macos compatibility # logreader "zstandard", From 5c1f28591f8ff2e11b58ad8c99a4a450545a8783 Mon Sep 17 00:00:00 2001 From: Joey Date: Mon, 5 May 2025 17:07:27 -0700 Subject: [PATCH 066/135] remove dead link in SAFETY.md (#35122) * Update SAFETY.md remove broken link * Update SAFETY.md * Update docs/SAFETY.md --------- Co-authored-by: Shane Smiskol --- docs/SAFETY.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/SAFETY.md b/docs/SAFETY.md index 4b568728a7..18a450a395 100644 --- a/docs/SAFETY.md +++ b/docs/SAFETY.md @@ -25,9 +25,9 @@ ensuring two main safety requirements. by stepping on the brake pedal or by pressing the cancel button. 2. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained - to operate within reasonable limits[^1]. + to operate within reasonable limits[^1]. -For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety). +For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety). **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. From ddb19cc0742a8f7cbf6e71fdd00dfbb5c7a80139 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 10:21:23 -0700 Subject: [PATCH 067/135] op: better adb SSH (#35135) * op: better adb SSH * fix --- tools/adb_shell.sh | 8 -------- tools/op.sh | 2 +- tools/scripts/adb_ssh.sh | 7 +++++++ 3 files changed, 8 insertions(+), 9 deletions(-) delete mode 100755 tools/adb_shell.sh create mode 100755 tools/scripts/adb_ssh.sh diff --git a/tools/adb_shell.sh b/tools/adb_shell.sh deleted file mode 100755 index f757f7d4d0..0000000000 --- a/tools/adb_shell.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env expect -spawn adb shell -expect "#" -send "cd data/openpilot\r" -send "export TERM=xterm-256color\r" -send "su comma\r" -send "clear\r" -interact diff --git a/tools/op.sh b/tools/op.sh index 8a8faaf237..25a4670cd1 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -275,7 +275,7 @@ function op_venv() { function op_adb() { op_before_cmd - op_run_command tools/adb_shell.sh + op_run_command tools/scripts/adb_ssh.sh } function op_check() { diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh new file mode 100755 index 0000000000..43c8e07de6 --- /dev/null +++ b/tools/scripts/adb_ssh.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash +set -e + +# this is a little nicer than "adb shell" since +# "adb shell" doesn't do full terminal emulation +adb forward tcp:2222 tcp:22 +ssh comma@localhost -p 2222 From 9622b6f8bd434f21ec85a5034e062218a57f9659 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 7 May 2025 01:25:51 +0800 Subject: [PATCH 068/135] ui(raylib): add a simple toggle component (#35128) * simple toggle * Update system/ui/lib/toggle.py Co-authored-by: Adeeb Shihadeh * cleanup --------- Co-authored-by: Adeeb Shihadeh --- system/ui/lib/toggle.py | 53 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 system/ui/lib/toggle.py diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py new file mode 100644 index 0000000000..e72faef11c --- /dev/null +++ b/system/ui/lib/toggle.py @@ -0,0 +1,53 @@ +import pyray as rl + +ON_COLOR = rl.GREEN +OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255) +KNOB_COLOR = rl.WHITE +BG_HEIGHT = 60 +KNOB_HEIGHT = 80 +WIDTH = 160 + + +class Toggle: + def __init__(self, x, y, initial_state=False): + self._state = initial_state + self._rect = rl.Rectangle(x, y, WIDTH, KNOB_HEIGHT) + + def handle_input(self): + if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON): + mouse_pos = rl.get_mouse_position() + if rl.check_collision_point_rec(mouse_pos, self._rect): + self._state = not self._state + + def get_state(self): + return self._state + + def render(self): + self._draw_background() + self._draw_knob() + + def _draw_background(self): + bg_rect = rl.Rectangle( + self._rect.x + 5, + self._rect.y + (KNOB_HEIGHT - BG_HEIGHT) / 2, + self._rect.width - 10, + BG_HEIGHT, + ) + rl.draw_rectangle_rounded(bg_rect, 1.0, 10, ON_COLOR if self._state else OFF_COLOR) + + def _draw_knob(self): + knob_radius = KNOB_HEIGHT / 2 + knob_x = self._rect.x + knob_radius if not self._state else self._rect.x + self._rect.width - knob_radius + knob_y = self._rect.y + knob_radius + rl.draw_circle(int(knob_x), int(knob_y), knob_radius, KNOB_COLOR) + + +if __name__ == "__main__": + from openpilot.system.ui.lib.application import gui_app + + gui_app.init_window("Text toggle example") + toggle = Toggle(100, 100) + for _ in gui_app.render(): + toggle.handle_input() + toggle.render() + From 58bc8e3b43884a186c2054d258b0637aafbb7c7a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 10:51:15 -0700 Subject: [PATCH 069/135] op: more robust openpilot finding (#35136) --- tools/op.sh | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 25a4670cd1..93e774a2ac 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -52,6 +52,7 @@ function op_run_command() { # be default, assume openpilot dir is in current directory OPENPILOT_ROOT=$(pwd) function op_get_openpilot_dir() { + # First try traversing up the directory tree while [[ "$OPENPILOT_ROOT" != '/' ]]; do if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then @@ -59,6 +60,14 @@ function op_get_openpilot_dir() { fi OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" done + + # Fallback to hardcoded directories if not found + for dir in "$HOME/openpilot" "/data/openpilot"; do + if [[ -f "$dir/launch_openpilot.sh" ]]; then + OPENPILOT_ROOT="$dir" + return 0 + fi + done } function op_install_post_commit() { @@ -378,11 +387,6 @@ function op_default() { echo " op is only a wrapper for existing scripts, tools, and commands." echo " op will always show you what it will run on your system." echo "" - echo " op will try to find your openpilot directory in the following order:" - echo " 1: use the directory specified with the --dir option" - echo " 2: use the current working directory" - echo " 3: go up the file tree non-recursively" - echo "" echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " echo "" echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}" From 97bad78553746f6c1f1c0217ebb34e8446f4171d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 14:29:16 -0700 Subject: [PATCH 070/135] bump opendbc --- RELEASES.md | 1 + opendbc_repo | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 3ff80ca4dc..5730877f94 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -4,6 +4,7 @@ Version 0.9.9 (2025-05-15) * New training architecture supervised by MLSIM * Steering actuator delay is now learned online * Tesla Model 3 and Y support thanks to lukasloetkolben! +* Lexus RC 2023 support thanks to nelsonjchen! * Coming soon * New Honda models * Bigger vision model diff --git a/opendbc_repo b/opendbc_repo index de651d84e8..1754a76924 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit de651d84e8514e58aaa6073b06327706b93f5b8a +Subproject commit 1754a769240f170b9033d802be549bd69e16b6c0 From 2393e0d27d2bc42c9d79cfd9966bab5dd31a48d7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 6 May 2025 14:54:24 -0700 Subject: [PATCH 071/135] update CARS doc --- docs/CARS.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c22568ce2e..75917241d6 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,11 +4,12 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 304 Supported Cars +# 306 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -186,6 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| From e64be675e32bfae07c433c7cb03ba537c810cab8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 6 May 2025 14:57:35 -0700 Subject: [PATCH 072/135] don't need to assert, CI updates this --- selfdrive/car/tests/test_docs.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 43c30eb64d..6e13d55b29 100644 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -4,7 +4,7 @@ from openpilot.common.basedir import BASEDIR from opendbc.car.docs import generate_cars_md, get_all_car_docs from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff -from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE +from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE class TestCarDocs: @@ -13,11 +13,7 @@ class TestCarDocs: cls.all_cars = get_all_car_docs() def test_generator(self): - generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) - with open(CARS_MD_OUT) as f: - current_cars_md = f.read() - - assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation" + generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) def test_docs_diff(self): dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") From b4003120422b586c379c12c071609d1a068cb885 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 6 May 2025 20:37:09 -0700 Subject: [PATCH 073/135] agnos 12 (#35133) * new * all * prod * both * 12 * version * update --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 24 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ 3 files changed, 38 insertions(+), 38 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index aff451e541..9ce5013240 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.13" + export AGNOS_VERSION="12" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 1a3cd382a9..9d56c95fb4 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,29 +56,29 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", - "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", - "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", + "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" + "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", - "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", - "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "size": 4404019200, + "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img.xz", + "hash": "9b2b6df2ebc381404eef4a1765bf2657fb69b995d270d0c577bdaa5932e846fb", + "hash_raw": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", + "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", + "ondevice_hash": "3ff6c83006a739c11fea2c78347f2206f6050a7587ee355f4935846fdfdb5385", "alt": { - "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", - "size": 4404019200 + "hash": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", + "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img", + "size": 5368709120 } } ] \ No newline at end of file diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 4e24b229d4..15d41cc8ab 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", - "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", - "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", + "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" + "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", - "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", - "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "size": 4404019200, + "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img.xz", + "hash": "9b2b6df2ebc381404eef4a1765bf2657fb69b995d270d0c577bdaa5932e846fb", + "hash_raw": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", + "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", + "ondevice_hash": "3ff6c83006a739c11fea2c78347f2206f6050a7587ee355f4935846fdfdb5385", "alt": { - "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", - "size": 4404019200 + "hash": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", + "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img", + "size": 5368709120 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108.img.xz", - "hash": "ff01a0ca5a2ea6661f836248043a211cd8d71c3269c139cb574b56855fabc3f4", - "hash_raw": "175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f349c0b41915abc6526b4de7e9f2e1a4909fc3256ea91b597cc6512ffa3d31f0.img.xz", + "hash": "0510c16927f81cbfb30cb51a1adec3eeeac4c6c7fbf5ac0ba2b87909ef4d1363", + "hash_raw": "f349c0b41915abc6526b4de7e9f2e1a4909fc3256ea91b597cc6512ffa3d31f0", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "2f3d69e5015a45a18c3553f2edc5706aacd6d84a4b3d5010a3d76a1a3aa910b0" + "ondevice_hash": "5afb1b7859f210a250ea40e894aaa158dc7c72824565312a0f8381b1ec7d03c0" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz", - "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec", - "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-19287b0f0e3efc5dce1b1b686b2be02bb9ba1d80d896bbff605671afe389651c.img.xz", + "hash": "f9e949b03e224a507bcaae2b37790b2ec9c2941afdff5ffca9f5f1aeec81713a", + "hash_raw": "19287b0f0e3efc5dce1b1b686b2be02bb9ba1d80d896bbff605671afe389651c", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76" + "ondevice_hash": "ae80936894bd134cc23cca12aa325f24b2a217163d34c4fab65ef8f0c5448418" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz", - "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2", - "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93.img.xz", + "hash": "e25657872471bd6a7e2c71eda2306d365098b458ebd5a834d002b84c5654bb7b", + "hash_raw": "6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e" + "ondevice_hash": "2d24d20e9fbdcc8b098990970738465a5f537611559d69fa81095d03ac44ac51" } -] +] \ No newline at end of file From bbf37ae5c7e95f84f7460b20ce898a5ce0e20a6a Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Wed, 7 May 2025 07:09:59 +0300 Subject: [PATCH 074/135] Reapply "Mypy: Got passing on macos (#34591)" (#35126) * Mypy: Got passing on macos (#34591) * Mypy: Got mypy passing on macos * common/realtime.py refactor * Mypy: mypy passing on darwin * Refactor: Removed else: pass statement * Refactor: Removed unnecessary check * added xattr to pyproject * loggerd: switched to xatter module * loggerd: removed unused module in xattr_cache.py * UV: update uv.lock * Update system/athena/athenad.py Co-authored-by: Maxime Desroches * athenad: fixed blank lines * loggerd: refactor of xattr_cache * cleanup --------- Co-authored-by: Maxime Desroches * fix getxattr no attribute on macOS * try fixing missing ENOATTR on Linux --------- Co-authored-by: BrainLess <116778989+BrainLessPea@users.noreply.github.com> Co-authored-by: Maxime Desroches --- common/realtime.py | 5 +++-- system/athena/athenad.py | 7 +++++-- system/loggerd/xattr_cache.py | 11 ++++++----- 3 files changed, 14 insertions(+), 9 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 82176a00a6..57926b4c4f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -1,6 +1,7 @@ """Utilities for reading real time clocks and keeping soft real time constraints.""" import gc import os +import sys import time from setproctitle import getproctitle @@ -28,13 +29,13 @@ class Priority: def set_core_affinity(cores: list[int]) -> None: - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setaffinity(0, cores) def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 5813bc90a5..fb546fa40f 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -776,8 +776,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s # offroad, we can expect to time out in 30 + (10 * 3) = 60s # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + if sys.platform == 'linux': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + elif sys.platform == 'darwin': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index d3220118ac..39bb172059 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,16 +1,17 @@ -import os import errno +import xattr + _cached_attributes: dict[tuple, bytes | None] = {} def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: - response = os.getxattr(path, attr_name) + response = xattr.getxattr(path, attr_name) except OSError as e: - # ENODATA means attribute hasn't been set - if e.errno == errno.ENODATA: + # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set + if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR): response = None else: raise @@ -19,4 +20,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None: def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: _cached_attributes.pop((path, attr_name), None) - return os.setxattr(path, attr_name, attr_value) + xattr.setxattr(path, attr_name, attr_value) From aa1b7907086b5c1fe5e7b07c92e5aa6090a40c23 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 6 May 2025 21:38:50 -0700 Subject: [PATCH 075/135] revert agnos 12 --- common/realtime.py | 5 +-- launch_env.sh | 2 +- system/athena/athenad.py | 7 +--- system/hardware/tici/agnos.json | 24 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ system/loggerd/xattr_cache.py | 11 +++--- 6 files changed, 47 insertions(+), 52 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 57926b4c4f..82176a00a6 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -1,7 +1,6 @@ """Utilities for reading real time clocks and keeping soft real time constraints.""" import gc import os -import sys import time from setproctitle import getproctitle @@ -29,13 +28,13 @@ class Priority: def set_core_affinity(cores: list[int]) -> None: - if sys.platform == 'linux' and not PC: + if not PC: os.sched_setaffinity(0, cores) def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - if sys.platform == 'linux' and not PC: + if not PC: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/launch_env.sh b/launch_env.sh index 9ce5013240..aff451e541 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12" + export AGNOS_VERSION="11.13" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/athena/athenad.py b/system/athena/athenad.py index fb546fa40f..5813bc90a5 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -776,11 +776,8 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s # offroad, we can expect to time out in 30 + (10 * 3) = 60s # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused - if sys.platform == 'linux': - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - elif sys.platform == 'darwin': - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 9d56c95fb4..1a3cd382a9 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,29 +56,29 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", - "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", - "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", + "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" + "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img.xz", - "hash": "9b2b6df2ebc381404eef4a1765bf2657fb69b995d270d0c577bdaa5932e846fb", - "hash_raw": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", - "size": 5368709120, + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", + "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", + "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", + "size": 4404019200, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "3ff6c83006a739c11fea2c78347f2206f6050a7587ee355f4935846fdfdb5385", + "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", "alt": { - "hash": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", - "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img", - "size": 5368709120 + "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", + "size": 4404019200 } } ] \ No newline at end of file diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 15d41cc8ab..4e24b229d4 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", - "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", - "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", + "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" + "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img.xz", - "hash": "9b2b6df2ebc381404eef4a1765bf2657fb69b995d270d0c577bdaa5932e846fb", - "hash_raw": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", - "size": 5368709120, + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", + "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", + "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", + "size": 4404019200, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "3ff6c83006a739c11fea2c78347f2206f6050a7587ee355f4935846fdfdb5385", + "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", "alt": { - "hash": "95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5", - "url": "https://commadist.azureedge.net/agnosupdate/system-95177f5f90649586750bbea7d1b8f5e7db694f95966ac041e43716469011d1f5.img", - "size": 5368709120 + "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", + "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", + "size": 4404019200 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-f349c0b41915abc6526b4de7e9f2e1a4909fc3256ea91b597cc6512ffa3d31f0.img.xz", - "hash": "0510c16927f81cbfb30cb51a1adec3eeeac4c6c7fbf5ac0ba2b87909ef4d1363", - "hash_raw": "f349c0b41915abc6526b4de7e9f2e1a4909fc3256ea91b597cc6512ffa3d31f0", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108.img.xz", + "hash": "ff01a0ca5a2ea6661f836248043a211cd8d71c3269c139cb574b56855fabc3f4", + "hash_raw": "175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "5afb1b7859f210a250ea40e894aaa158dc7c72824565312a0f8381b1ec7d03c0" + "ondevice_hash": "2f3d69e5015a45a18c3553f2edc5706aacd6d84a4b3d5010a3d76a1a3aa910b0" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-19287b0f0e3efc5dce1b1b686b2be02bb9ba1d80d896bbff605671afe389651c.img.xz", - "hash": "f9e949b03e224a507bcaae2b37790b2ec9c2941afdff5ffca9f5f1aeec81713a", - "hash_raw": "19287b0f0e3efc5dce1b1b686b2be02bb9ba1d80d896bbff605671afe389651c", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz", + "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec", + "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "ae80936894bd134cc23cca12aa325f24b2a217163d34c4fab65ef8f0c5448418" + "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93.img.xz", - "hash": "e25657872471bd6a7e2c71eda2306d365098b458ebd5a834d002b84c5654bb7b", - "hash_raw": "6d0e28b0945a7b4e284c06393199692ca258383d912419012f835bb20ece3d93", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz", + "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2", + "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "2d24d20e9fbdcc8b098990970738465a5f537611559d69fa81095d03ac44ac51" + "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e" } -] \ No newline at end of file +] diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index 39bb172059..d3220118ac 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,17 +1,16 @@ +import os import errno -import xattr - _cached_attributes: dict[tuple, bytes | None] = {} def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: - response = xattr.getxattr(path, attr_name) + response = os.getxattr(path, attr_name) except OSError as e: - # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set - if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR): + # ENODATA means attribute hasn't been set + if e.errno == errno.ENODATA: response = None else: raise @@ -20,4 +19,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None: def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: _cached_attributes.pop((path, attr_name), None) - xattr.setxattr(path, attr_name, attr_value) + return os.setxattr(path, attr_name, attr_value) From 7c16e653470d099fd674682f8d49e50a8522492c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 7 May 2025 23:39:05 +0800 Subject: [PATCH 076/135] loggerd: remove redundant Params Construction (#35138) remove redundant Params Construction --- system/loggerd/loggerd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 953ae1df32..2d2d4640ed 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -203,7 +203,7 @@ void handle_user_flag(LoggerdState *s) { // mark route for uploading Params params; - std::string routes = Params().get("AthenadRecentlyViewedRoutes"); + std::string routes = params.get("AthenadRecentlyViewedRoutes"); params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName()); prev_segment = s->logger.segment(); From 433e7268f5356b9cb08be0a95ccbf54bcafaec25 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 7 May 2025 18:12:01 +0200 Subject: [PATCH 077/135] Log register errors as errors (#35141) log register errors as errors --- selfdrive/pandad/pandad.cc | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index db7dd387e0..fbf4e206ae 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -456,7 +456,12 @@ void pandad_run(std::vector &pandas) { for (auto *panda : pandas) { std::string log = panda->serial_read(); if (!log.empty()) { - LOGD("%s", log.c_str()); + if (log.find("Register 0x") != std::string::npos) { + // Log register divergent faults as errors + LOGE("%s", log.c_str()); + } else { + LOGD("%s", log.c_str()); + } } } From dcca094ad83664b7ff8e01f7d0d1ed40e315a8e3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 May 2025 15:29:41 -0700 Subject: [PATCH 078/135] Tesla: forward stock LKAS while disengaged (#35150) * bump * update docs * bump --- docs/CARS.md | 15 ++++++++++----- opendbc_repo | 2 +- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 75917241d6..55871eba2f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,13 +4,13 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 306 Supported Cars +# 311 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Acura|RDX 2019-21|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,16](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -33,17 +33,22 @@ A supported vehicle is one that just works when you install a comma device. All |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 right angle OBD-C cable (1.5 ft)
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Parts- 1 Ford Q4 connector
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Parts- 1 Ford Q3 connector
- 1 comma 3X
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Parts- 1 Ford Q3 connector
- 1 comma 3X
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Parts- 1 Ford Q3 connector
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Parts- 1 Ford Q3 connector
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|| -|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
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- 1 harness box
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Parts- 1 Ford Q3 connector
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Parts- 1 Ford Q3 connector
- 1 comma 3X
- 1 comma power v3
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Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Parts- 1 Ford Q3 connector
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- 1 harness box
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Parts- 1 Ford Q4 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
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Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v3
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Parts- 1 Ford Q3 connector
- 1 angled mount (8 degrees)
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|| diff --git a/opendbc_repo b/opendbc_repo index 1754a76924..03b74b1f56 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 1754a769240f170b9033d802be549bd69e16b6c0 +Subproject commit 03b74b1f56830a18de91d5380d2508ce8c803eb8 From 2e0fa3f82720154a9078802653673124be9eb30a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 May 2025 16:26:20 -0700 Subject: [PATCH 079/135] Tesla: allow enabling in tight curves (#35147) * bump * revert steer limit timer * alert for stock lkas * add enum * same as ldw * bump * draft * bump * bump * rm * why here?1 * bump to master --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 03b74b1f56..c856a2c0bd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 03b74b1f56830a18de91d5380d2508ce8c803eb8 +Subproject commit c856a2c0bd2b3c75f86a73b051c0c4cc7159559e diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index bbecc6e688..dc37519be1 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -191,7 +191,7 @@ class CarSpecificEvents: events.add(EventName.accFaulted) if CS.steeringPressed: events.add(EventName.steerOverride) - if CS.steeringDisengage: + if CS.steeringDisengage and not CS_prev.steeringDisengage: events.add(EventName.steerDisengage) if CS.brakePressed and CS.standstill: events.add(EventName.preEnableStandstill) From 36ff474bc812474b1fd15b1c5c58252563034fea Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 16:44:20 -0700 Subject: [PATCH 080/135] remove `numpy.core` usage (#35152) fix --- system/hardware/tici/tests/test_power_draw.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 669889a2ae..fd65ecd5cd 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -56,10 +56,10 @@ class TestPowerDraw: def valid_msg_count(self, proc, msg_counts): msgs_received = sum(msg_counts[msg] for msg in proc.msgs) msgs_expected = self.get_expected_messages(proc) - return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2) + return np.isclose(msgs_expected, msgs_received, rtol=.02, atol=2) def valid_power_draw(self, proc, used): - return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol) + return np.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol) def tabulate_msg_counts(self, msgs_and_power): msg_counts = defaultdict(int) From 0fb4aafa35896e831bd58a636a9a1bb4a1442743 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 7 May 2025 18:06:41 -0700 Subject: [PATCH 081/135] Tomb Raider 7 (#35114) * Revert "Revert TR (#35110)" This reverts commit df4f2955dc16325472322522b12a8db5347f52fa. * eb5f884a-10ad-49fd-ae5c-e2818c26e568/400 * 1cc828ab-95e5-4620-aa07-b98918b4268d/400 * 5790a2c1-b487-4bef-a3c3-db1fcd5a756d/400 * raw plan --- selfdrive/controls/lib/longitudinal_planner.py | 15 ++++++++++++--- selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 14 +++++++++----- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 ++++++------- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 37 insertions(+), 25 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9d71faeca2..4219e80f33 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mpc.mode == 'acc': + if self.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -160,8 +160,17 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) + output_a_target_e2e = sm['modelV2'].action.desiredAcceleration + output_should_stop_e2e = sm['modelV2'].action.shouldStop + + if self.mode == 'acc': + output_a_target = output_a_target_mpc + self.output_should_stop = output_should_stop_mpc + else: + output_a_target = min(output_a_target_mpc, output_a_target_e2e) + self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a91c6395c7..36bd724d01 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose = modelV2.temporalPose + #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 5e1acdea0e..84d7760dce 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -41,8 +41,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.0 -LONG_SMOOTH_SECONDS = 0.0 +LAT_SMOOTH_SECONDS = 0.1 +LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 @@ -55,7 +55,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2], + plan[:,Plan.ORIENTATION_RATE][:,2], + ModelConstants.T_IDXS, + v_ego, + lat_action_t) if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: @@ -172,7 +176,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 3601bbb5da..5bd77bb958 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 -size 15966721 +oid sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18 +size 15588463 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index aee6d8f1bf..0a7b4a803d 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 -size 34882971 +oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e +size 46265585 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 810c44ccb9..783572d436 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,6 +88,12 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -95,17 +101,10 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1ae4c4a1a8..3dd3eab25f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file From 380f383e2e46cecfe491d559fe7656ad0b0bee9e Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 7 May 2025 18:13:53 -0700 Subject: [PATCH 082/135] ci: enable cache by default (#35121) * enable cache for Mac brew and scons * bump * save cache by default, explicitly opt-out * Delete bump-ci --------- Co-authored-by: Maxime Desroches --- .github/workflows/auto-cache/action.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml index fadd422b6e..377b1eedcd 100644 --- a/.github/workflows/auto-cache/action.yaml +++ b/.github/workflows/auto-cache/action.yaml @@ -12,7 +12,7 @@ inputs: required: true save: description: 'whether to save the cache' - default: 'false' + default: 'true' required: false outputs: cache-hit: From 2451d70408a8e289be69acfe4b1a155800a0cd4e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 18:21:53 -0700 Subject: [PATCH 083/135] AGNOS 12 (#35151) agnos 12 --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 24 ++++++------ system/hardware/tici/all-partitions.json | 50 ++++++++++++------------ 3 files changed, 38 insertions(+), 38 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index aff451e541..9ce5013240 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.13" + export AGNOS_VERSION="12" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 1a3cd382a9..06f4d47be8 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,29 +56,29 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", - "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", - "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", + "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" + "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", - "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", - "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "size": 4404019200, + "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img.xz", + "hash": "92c2694de1c10aa7445f3b3a2f687f4a24f46c33202b1250e7909d1cb55c5c04", + "hash_raw": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", + "ondevice_hash": "e88bece575f5515327b522f6fea8689842a62af8deace08bce8a640cc1ea8837", "alt": { - "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", - "size": 4404019200 + "hash": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img", + "size": 5368709120 } } ] \ No newline at end of file diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 4e24b229d4..cee5e7142f 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz", - "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", - "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz", + "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", + "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425", "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf" + "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz", - "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824", - "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "size": 4404019200, + "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img.xz", + "hash": "92c2694de1c10aa7445f3b3a2f687f4a24f46c33202b1250e7909d1cb55c5c04", + "hash_raw": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533", + "ondevice_hash": "e88bece575f5515327b522f6fea8689842a62af8deace08bce8a640cc1ea8837", "alt": { - "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde", - "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img", - "size": 4404019200 + "hash": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img", + "size": 5368709120 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108.img.xz", - "hash": "ff01a0ca5a2ea6661f836248043a211cd8d71c3269c139cb574b56855fabc3f4", - "hash_raw": "175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-8fc0fe410610acffb6b5cdeeb7af88950707bf0680b461e65a2ac5efc9ffecaa.img.xz", + "hash": "6520033c2b2529adf244a2da87e590250c532e6e1d5d7ff43df277a60c02ac10", + "hash_raw": "8fc0fe410610acffb6b5cdeeb7af88950707bf0680b461e65a2ac5efc9ffecaa", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "2f3d69e5015a45a18c3553f2edc5706aacd6d84a4b3d5010a3d76a1a3aa910b0" + "ondevice_hash": "82cdab812656e9cbb4a5016524c0227ab892bfcdc70a15a455678e524a7e723e" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz", - "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec", - "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-681d3e40ac46c6331c004d22d3272ce2726a8dd51e12777c809d0c532d00cc6e.img.xz", + "hash": "3d73688e6f9f07d90b58a8357b9c94b952526bd2afa16a364b303096f57fa0ca", + "hash_raw": "681d3e40ac46c6331c004d22d3272ce2726a8dd51e12777c809d0c532d00cc6e", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76" + "ondevice_hash": "358079b4f340a7ecd74001dbbec06898b76df380ddb70b8ea0860efaf6786aa1" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz", - "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2", - "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fbcc9d296d63ac675f310b7785d94b44f5ef22c0304a3a0f7c2441f4bb910ca7.img.xz", + "hash": "44c3bab2ea45ac565bfd39cc64156a802c98b2dcb737bb2e7b0db2004b2872ca", + "hash_raw": "fbcc9d296d63ac675f310b7785d94b44f5ef22c0304a3a0f7c2441f4bb910ca7", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e" + "ondevice_hash": "fdfcf6bbca51faf601ec4da1dea1e4c21094d2db5d76945814fe5101716cbae1" } -] +] \ No newline at end of file From 47ed90c6cfe0147b35354dd9a1a07050060163a2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 19:11:37 -0700 Subject: [PATCH 084/135] Reapply "Mypy: Got passing on macos (#34591)" (#35126) (#35153) * Mypy: Got passing on macos (#34591) * Mypy: Got mypy passing on macos * common/realtime.py refactor * Mypy: mypy passing on darwin * Refactor: Removed else: pass statement * Refactor: Removed unnecessary check * added xattr to pyproject * loggerd: switched to xatter module * loggerd: removed unused module in xattr_cache.py * UV: update uv.lock * Update system/athena/athenad.py * athenad: fixed blank lines * loggerd: refactor of xattr_cache * cleanup --------- * fix getxattr no attribute on macOS * try fixing missing ENOATTR on Linux --------- Co-authored-by: Andrei Radulescu Co-authored-by: BrainLess <116778989+BrainLessPea@users.noreply.github.com> --- common/realtime.py | 5 +++-- system/athena/athenad.py | 7 +++++-- system/loggerd/xattr_cache.py | 11 ++++++----- 3 files changed, 14 insertions(+), 9 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 82176a00a6..57926b4c4f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -1,6 +1,7 @@ """Utilities for reading real time clocks and keeping soft real time constraints.""" import gc import os +import sys import time from setproctitle import getproctitle @@ -28,13 +29,13 @@ class Priority: def set_core_affinity(cores: list[int]) -> None: - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setaffinity(0, cores) def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - if not PC: + if sys.platform == 'linux' and not PC: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 5813bc90a5..fb546fa40f 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -776,8 +776,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s # offroad, we can expect to time out in 30 + (10 * 3) = 60s # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + if sys.platform == 'linux': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + elif sys.platform == 'darwin': + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index d3220118ac..39bb172059 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,16 +1,17 @@ -import os import errno +import xattr + _cached_attributes: dict[tuple, bytes | None] = {} def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: - response = os.getxattr(path, attr_name) + response = xattr.getxattr(path, attr_name) except OSError as e: - # ENODATA means attribute hasn't been set - if e.errno == errno.ENODATA: + # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set + if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR): response = None else: raise @@ -19,4 +20,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None: def setxattr(path: str, attr_name: str, attr_value: bytes) -> None: _cached_attributes.pop((path, attr_name), None) - return os.setxattr(path, attr_name, attr_value) + xattr.setxattr(path, attr_name, attr_value) From 52669b6ad2ff025b73b4a10bc45f3066e0adefb8 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 7 May 2025 20:34:08 -0700 Subject: [PATCH 085/135] AGNOS 12.1 (#35154) 12.1 --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++---- system/hardware/tici/all-partitions.json | 36 ++++++++++++------------ 3 files changed, 25 insertions(+), 25 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 9ce5013240..73a7a89789 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12" + export AGNOS_VERSION="12.1" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 06f4d47be8..a415851a10 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,17 +67,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img.xz", - "hash": "92c2694de1c10aa7445f3b3a2f687f4a24f46c33202b1250e7909d1cb55c5c04", - "hash_raw": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz", + "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939", + "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "e88bece575f5515327b522f6fea8689842a62af8deace08bce8a640cc1ea8837", + "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc", "alt": { - "hash": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img", + "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img", "size": 5368709120 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index cee5e7142f..be303b7f90 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -350,51 +350,51 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img.xz", - "hash": "92c2694de1c10aa7445f3b3a2f687f4a24f46c33202b1250e7909d1cb55c5c04", - "hash_raw": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz", + "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939", + "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", "size": 5368709120, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "e88bece575f5515327b522f6fea8689842a62af8deace08bce8a640cc1ea8837", + "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc", "alt": { - "hash": "1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90", - "url": "https://commadist.azureedge.net/agnosupdate/system-1f9bab24bdc3a15dcf9feefa59b0e5e77c9a8db78950eb12f95eb2de56ebff90.img", + "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7", + "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img", "size": 5368709120 } }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-8fc0fe410610acffb6b5cdeeb7af88950707bf0680b461e65a2ac5efc9ffecaa.img.xz", - "hash": "6520033c2b2529adf244a2da87e590250c532e6e1d5d7ff43df277a60c02ac10", - "hash_raw": "8fc0fe410610acffb6b5cdeeb7af88950707bf0680b461e65a2ac5efc9ffecaa", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-4bb7239f7e82c846e4d2584c0c433f03c582a80950de4094e6c190563d6d84ac.img.xz", + "hash": "b18001a2a87caa070fabf6321f8215ac353d6444564e3f86329b4dccc039ce54", + "hash_raw": "4bb7239f7e82c846e4d2584c0c433f03c582a80950de4094e6c190563d6d84ac", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "82cdab812656e9cbb4a5016524c0227ab892bfcdc70a15a455678e524a7e723e" + "ondevice_hash": "15ce16f2349d5b4d5fec6ad1e36222b1ae744ed10b8930bc9af75bd244dccb3c" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-681d3e40ac46c6331c004d22d3272ce2726a8dd51e12777c809d0c532d00cc6e.img.xz", - "hash": "3d73688e6f9f07d90b58a8357b9c94b952526bd2afa16a364b303096f57fa0ca", - "hash_raw": "681d3e40ac46c6331c004d22d3272ce2726a8dd51e12777c809d0c532d00cc6e", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-e36b59bf9ff755b6ca488df2ba1e20da8f7dab6b8843129f3fdcccd7ff2ff7d8.img.xz", + "hash": "12682cf54596ab1bd1c2464c4ca85888e4e06b47af5ff7d0432399e9907e2f64", + "hash_raw": "e36b59bf9ff755b6ca488df2ba1e20da8f7dab6b8843129f3fdcccd7ff2ff7d8", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "358079b4f340a7ecd74001dbbec06898b76df380ddb70b8ea0860efaf6786aa1" + "ondevice_hash": "e4df9dea47ff04967d971263d50c17460ef240457e8d814e7c4f409f7493eb8a" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fbcc9d296d63ac675f310b7785d94b44f5ef22c0304a3a0f7c2441f4bb910ca7.img.xz", - "hash": "44c3bab2ea45ac565bfd39cc64156a802c98b2dcb737bb2e7b0db2004b2872ca", - "hash_raw": "fbcc9d296d63ac675f310b7785d94b44f5ef22c0304a3a0f7c2441f4bb910ca7", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282.img.xz", + "hash": "fa471703be0f0647617d183312d5209d23407f1628e4ab0934e6ec54b1a6b263", + "hash_raw": "fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "fdfcf6bbca51faf601ec4da1dea1e4c21094d2db5d76945814fe5101716cbae1" + "ondevice_hash": "0b5b2402c9caa1ed7b832818e66580c974251e735bda91f2f226c41499d5616e" } ] \ No newline at end of file From f123e7ed7572355ebca588f5d506bd5ee52e9614 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 8 May 2025 22:19:28 +0800 Subject: [PATCH 086/135] CI: add system/ui to UI labeler (#35157) add system/ui to UI labeler --- .github/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index db1f976da8..861c2efdbd 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -12,7 +12,7 @@ simulation: ui: - changed-files: - - any-glob-to-all-files: 'selfdrive/ui/**' + - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}' tools: - changed-files: From e7f7675458baceeb20074f5ded16fc94d473cbf8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 8 May 2025 23:09:44 +0800 Subject: [PATCH 087/135] micd: fix thread safety by adding locking for shared state (#35148) * fix thread safety by adding locking for shared state * Update system/micd.py --------- Co-authored-by: Cameron Clough --- system/micd.py | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/system/micd.py b/system/micd.py index af1aa31360..38f3225f55 100755 --- a/system/micd.py +++ b/system/micd.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import numpy as np from functools import cache +import threading from cereal import messaging from openpilot.common.realtime import Ratekeeper @@ -52,12 +53,18 @@ class Mic: self.sound_pressure_weighted = 0 self.sound_pressure_level_weighted = 0 + self.lock = threading.Lock() + def update(self): - msg = messaging.new_message('microphone', valid=True) - msg.microphone.soundPressure = float(self.sound_pressure) - msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted) + with self.lock: + sound_pressure = self.sound_pressure + sound_pressure_weighted = self.sound_pressure_weighted + sound_pressure_level_weighted = self.sound_pressure_level_weighted - msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted) + msg = messaging.new_message('microphone', valid=True) + msg.microphone.soundPressure = float(sound_pressure) + msg.microphone.soundPressureWeighted = float(sound_pressure_weighted) + msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted) self.pm.send('microphone', msg) self.rk.keep_time() @@ -69,17 +76,17 @@ class Mic: Logged A-weighted equivalents are rough approximations of the human-perceived loudness. """ + with self.lock: + self.measurements = np.concatenate((self.measurements, indata[:, 0])) - self.measurements = np.concatenate((self.measurements, indata[:, 0])) - - while self.measurements.size >= FFT_SAMPLES: - measurements = self.measurements[:FFT_SAMPLES] + while self.measurements.size >= FFT_SAMPLES: + measurements = self.measurements[:FFT_SAMPLES] - self.sound_pressure, _ = calculate_spl(measurements) - measurements_weighted = apply_a_weighting(measurements) - self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) + self.sound_pressure, _ = calculate_spl(measurements) + measurements_weighted = apply_a_weighting(measurements) + self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) - self.measurements = self.measurements[FFT_SAMPLES:] + self.measurements = self.measurements[FFT_SAMPLES:] @retry(attempts=7, delay=3) def get_stream(self, sd): From 73ee0c022f240eb30f28578620a09459c0ae3afc Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 May 2025 16:18:01 +0100 Subject: [PATCH 088/135] Reapply "ui(raylib): create BaseWindow (#35074)" (#35077) * Reapply "ui(raylib): create BaseWindow (#35074)" This reverts commit 83b84a5bec719c3e8cc1501d56344d95d4a9c4f4. * correct title * error msg * cloudlog --- system/ui/lib/window.py | 58 +++++++++++++++++++++++++++++++++++++++++ system/ui/spinner.py | 42 ++++------------------------- system/ui/text.py | 45 ++++---------------------------- 3 files changed, 68 insertions(+), 77 deletions(-) create mode 100644 system/ui/lib/window.py diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py new file mode 100644 index 0000000000..989a3b0284 --- /dev/null +++ b/system/ui/lib/window.py @@ -0,0 +1,58 @@ +import threading +import time +import os +from typing import Generic, Protocol, TypeVar +from openpilot.common.swaglog import cloudlog +from openpilot.system.ui.lib.application import gui_app + + +class RendererProtocol(Protocol): + def render(self): ... + + +R = TypeVar("R", bound=RendererProtocol) + + +class BaseWindow(Generic[R]): + def __init__(self, title: str): + self._title = title + self._renderer: R | None = None + self._stop_event = threading.Event() + self._thread = threading.Thread(target=self._run) + self._thread.start() + + # wait for the renderer to be initialized + while self._renderer is None and self._thread.is_alive(): + time.sleep(0.01) + + def _create_renderer(self) -> R: + raise NotImplementedError() + + def _run(self): + if os.getenv("CI") is not None: + return + gui_app.init_window(self._title) + self._renderer = self._create_renderer() + try: + for _ in gui_app.render(): + if self._stop_event.is_set(): + break + self._renderer.render() + finally: + gui_app.close() + + def __enter__(self): + return self + + def close(self): + if self._thread.is_alive(): + self._stop_event.set() + self._thread.join(timeout=2.0) + if self._thread.is_alive(): + cloudlog.warning(f"Failed to join {self._title} thread") + + def __del__(self): + self.close() + + def __exit__(self, exc_type, exc_val, exc_tb): + self.close() diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 5da96c73f9..119bdba3e7 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -6,6 +6,7 @@ import time from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow from openpilot.system.ui.text import wrap_text # Constants @@ -85,16 +86,12 @@ class SpinnerRenderer: FONT_SIZE, 0.0, rl.WHITE) -class Spinner: +class Spinner(BaseWindow[SpinnerRenderer]): def __init__(self): - self._renderer: SpinnerRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() + super().__init__("Spinner") - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return SpinnerRenderer() def update(self, spinner_text: str): if self._renderer is not None: @@ -103,35 +100,6 @@ class Spinner: def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Spinner") - self._renderer = renderer = SpinnerRenderer() - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join spinner thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with Spinner() as s: diff --git a/system/ui/text.py b/system/ui/text.py index e57ae45d9a..33e8167c64 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 -import os import re -import threading import time import pyray as rl from openpilot.system.hardware import HARDWARE, PC from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.application import gui_app +from openpilot.system.ui.lib.window import BaseWindow MARGIN = 50 SPACING = 40 @@ -74,52 +73,18 @@ class TextWindowRenderer: return ret -class TextWindow: +class TextWindow(BaseWindow[TextWindowRenderer]): def __init__(self, text: str): self._text = text + super().__init__("Text") - self._renderer: TextWindowRenderer | None = None - self._stop_event = threading.Event() - self._thread = threading.Thread(target=self._run) - self._thread.start() - - # wait for the renderer to be initialized - while self._renderer is None and self._thread.is_alive(): - time.sleep(0.01) + def _create_renderer(self): + return TextWindowRenderer(self._text) def wait_for_exit(self): while self._thread.is_alive(): time.sleep(0.01) - def _run(self): - if os.getenv("CI") is not None: - return - gui_app.init_window("Text") - self._renderer = renderer = TextWindowRenderer(self._text) - try: - for _ in gui_app.render(): - if self._stop_event.is_set(): - break - renderer.render() - finally: - gui_app.close() - - def __enter__(self): - return self - - def close(self): - if self._thread.is_alive(): - self._stop_event.set() - self._thread.join(timeout=2.0) - if self._thread.is_alive(): - print("WARNING: failed to join text window thread") - - def __del__(self): - self.close() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - if __name__ == "__main__": with TextWindow(DEMO_TEXT): From 33849245d8025786c97881a8c132989023bb62b7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 8 May 2025 23:31:06 +0800 Subject: [PATCH 089/135] uploader.py: fix empty string handing in AthenadRecentlyViewedRoutes parameter (#35139) Fix empty strings in AthenadRecentlyViewedRoutes parameter --- system/loggerd/uploader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index c1bf804880..6e6df6114e 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -89,7 +89,7 @@ class Uploader: def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]: r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") - requested_routes = [] if r is None else r.split(",") + requested_routes = [] if r is None else [route for route in r.split(",") if route] for logdir in listdir_by_creation(self.root): path = os.path.join(self.root, logdir) From 4bbbe3d2d1ff67eb6f16adb15115c554389d8f12 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 May 2025 22:22:53 +0100 Subject: [PATCH 090/135] ui(raylib): revert fps to 60 (#35163) bump default fps --- system/ui/lib/application.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index a3e209c394..eae5962277 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -7,7 +7,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -DEFAULT_FPS = 30 +DEFAULT_FPS = 60 FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions From dde9c703f35509e6ebd46cee92fc75b955b1f252 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 May 2025 05:31:00 +0800 Subject: [PATCH 091/135] cabana: optimize get_raw_value() function for CAN signal extraction (#35137) optimize get_raw_value() for CAN signal extraction --- tools/cabana/dbc/dbc.cc | 41 ++++++++++++++++++++++++++--------------- 1 file changed, 26 insertions(+), 15 deletions(-) diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index ba979f258c..e9c869fce7 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -180,25 +180,36 @@ bool cabana::Signal::operator==(const cabana::Signal &other) const { // helper functions double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) { - int64_t val = 0; + const int msb_byte = sig.msb / 8; + if (msb_byte >= (int)data_size) return 0; - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; + const int lsb_byte = sig.lsb / 8; + uint64_t val = 0; - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - val |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; + // Fast path: signal fits in a single byte + if (msb_byte == lsb_byte) { + val = (data[msb_byte] >> (sig.lsb & 7)) & ((1ULL << sig.size) - 1); + } else { + // Multi-byte case: signal spans across multiple bytes + int bits = sig.size; + int i = msb_byte; + const int step = sig.is_little_endian ? -1 : 1; + while (i >= 0 && i < (int)data_size && bits > 0) { + const int msb = (i == msb_byte) ? sig.msb & 7 : 7; + const int lsb = (i == lsb_byte) ? sig.lsb & 7 : 0; + const int nbits = msb - lsb + 1; + val = (val << nbits) | ((data[i] >> lsb) & ((1ULL << nbits) - 1)); + bits -= nbits; + i += step; + } } - if (sig.is_signed) { - val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + + // Sign extension (if needed) + if (sig.is_signed && (val & (1ULL << (sig.size - 1)))) { + val |= ~((1ULL << sig.size) - 1); } - return val * sig.factor + sig.offset; + + return static_cast(val) * sig.factor + sig.offset; } void updateMsbLsb(cabana::Signal &s) { From 908ea361264a85e8feda127133023996cce75bb3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 May 2025 23:23:37 +0800 Subject: [PATCH 092/135] ui(raylib): add thread-safe property access to WifiManagerWrapper (#35162) * Add thread-safe property access to WifiManagerWrapper * cleanup * type-safe manager, always specify default * import --------- Co-authored-by: Cameron Clough --- system/ui/lib/wifi_manager.py | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index af533e9a2a..990e1d14a1 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,10 +1,12 @@ import asyncio +import concurrent.futures import threading import time import uuid from collections.abc import Callable from dataclasses import dataclass from enum import IntEnum +from typing import TypeVar from dbus_next.aio import MessageBus from dbus_next import BusType, Variant, Message @@ -12,6 +14,8 @@ from dbus_next.errors import DBusError from dbus_next.constants import MessageType from openpilot.common.swaglog import cloudlog +T = TypeVar("T") + # NetworkManager constants NM = "org.freedesktop.NetworkManager" NM_PATH = '/org/freedesktop/NetworkManager' @@ -437,11 +441,11 @@ class WifiManagerWrapper: @property def networks(self) -> list[NetworkInfo]: """Get the current list of networks.""" - return self._manager.networks if self._manager else [] + return self._run_coroutine_sync(lambda manager: manager.networks.copy(), default=[]) def is_saved(self, ssid: str) -> bool: """Check if a network is saved.""" - return self._manager.is_saved(ssid) if self._manager else False + return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) def connect(self): """Connect to DBus and start Wi-Fi scanning.""" @@ -479,3 +483,22 @@ class WifiManagerWrapper: cloudlog.error("WifiManager thread is not running") return asyncio.run_coroutine_threadsafe(coro, self._loop) + + def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T: + """Run a function synchronously in the async thread.""" + if not self._running or not self._loop or not self._manager: + return default + future = concurrent.futures.Future[T]() + + def wrapper(manager: WifiManager) -> None: + try: + future.set_result(func(manager)) + except Exception as e: + future.set_exception(e) + + try: + self._loop.call_soon_threadsafe(wrapper, self._manager) + return future.result(timeout=1.0) + except Exception as e: + cloudlog.error(f"WifiManagerWrapper property access failed: {e}") + return default From 1f312e16d492473a4d252c603f04ec7aff71cfd4 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 9 May 2025 15:13:52 -0400 Subject: [PATCH 093/135] messaging: cleanup zero-frequency service initialization (#35145) * messaging: fix bug with relaxed checks under simulation * refactor * cleanup * fix bug * Revert "fix bug" This reverts commit ea31f3ee83676c5b8ffe57500881557f7586998c. * that did need to be different * fix bug, add test coverage * retry CI --- cereal/messaging/__init__.py | 26 +++++++++---------- cereal/messaging/tests/test_pub_sub_master.py | 6 ++++- 2 files changed, 17 insertions(+), 15 deletions(-) diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 8ad956b61b..b03285f80a 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -145,12 +145,16 @@ class SubMaster: self.updated = {s: False for s in services} self.recv_time = {s: 0. for s in services} self.recv_frame = {s: 0 for s in services} - self.alive = {s: False for s in services} - self.freq_ok = {s: False for s in services} self.sock = {} self.data = {} - self.valid = {} - self.logMonoTime = {} + self.logMonoTime = {s: 0 for s in services} + + # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks + on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services} + self.static_freq_services = set(s for s in services if not on_demand[s]) + self.alive = {s: on_demand[s] for s in services} + self.freq_ok = {s: on_demand[s] for s in services} + self.valid = {s: on_demand[s] for s in services} self.freq_tracker: Dict[str, FrequencyTracker] = {} self.poller = Poller() @@ -177,8 +181,6 @@ class SubMaster: data = new_message(s, 0) # lists self.data[s] = getattr(data.as_reader(), s) - self.logMonoTime[s] = 0 - self.valid[s] = False self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll) def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader: @@ -215,14 +217,10 @@ class SubMaster: self.logMonoTime[s] = msg.logMonoTime self.valid[s] = msg.valid - for s in self.services: - if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation: - # alive if delay is within 10x the expected frequency - self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) - self.freq_ok[s] = self.freq_tracker[s].valid - else: - self.freq_ok[s] = True - self.alive[s] = self.seen[s] if self.simulation else True + for s in self.static_freq_services: + # alive if delay is within 10x the expected frequency; checks relaxed in simulator + self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation) + self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation def all_alive(self, service_list: Optional[List[str]] = None) -> bool: return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive) diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py index e9bc7a85cb..e47e713393 100644 --- a/cereal/messaging/tests/test_pub_sub_master.py +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -6,6 +6,7 @@ import cereal.messaging as messaging from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \ random_bytes, random_carstate, assert_carstate, \ zmq_sleep +from cereal.services import SERVICE_LIST class TestSubMaster: @@ -26,7 +27,9 @@ class TestSubMaster: sm = messaging.SubMaster(socks) assert sm.frame == -1 assert not any(sm.updated.values()) - assert not any(sm.alive.values()) + assert not any(sm.seen.values()) + on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services} + assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services) assert all(t == 0. for t in sm.recv_time.values()) assert all(f == 0 for f in sm.recv_frame.values()) assert all(t == 0 for t in sm.logMonoTime.values()) @@ -83,6 +86,7 @@ class TestSubMaster: "cameraOdometry": (20, 10), "liveCalibration": (4, 4), "carParams": (None, None), + "userFlag": (None, None), } for service, (max_freq, min_freq) in checks.items(): From 32167e02c0f9a3d6910061d453bfb0c5a63add2d Mon Sep 17 00:00:00 2001 From: David <49467229+TheSecurityDev@users.noreply.github.com> Date: Fri, 9 May 2025 14:57:00 -0500 Subject: [PATCH 094/135] ui: show alert when user flag (bookmark) pressed (#34920) * feat: Show alert on user flag event * feat: Temporarily update border status on user flag to match connect timeline * Revert "feat: Temporarily update border status on user flag to match connect timeline" This reverts commit f1da6a4f5f555d4db50b47fb68ce74ae7737b8af. * feat: Increase alert duration to 1.5 seconds * remove audible alert for bookmark event * refactor: Use NormalPermamentAlert for user flag alert * fix: Update userFlag enum value in OnroadEvent struct * fix: Handle userFlag event even in dashcam mode * don't need to ignore that anymore * remove 'userFlag' from ignore list --------- Co-authored-by: Jason Young --- cereal/log.capnp | 1 + selfdrive/selfdrived/events.py | 5 ++++- selfdrive/selfdrived/selfdrived.py | 10 +++++++--- 3 files changed, 12 insertions(+), 4 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 6b5398405c..5c5ceb5635 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -127,6 +127,7 @@ struct OnroadEvent @0xc4fa6047f024e718 { espActive @90; personalityChanged @91; aeb @92; + userFlag @95; soundsUnavailableDEPRECATED @47; } diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index c187ed474a..6293deb2af 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -894,7 +894,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # causing the connection to the panda to be lost EventName.usbError: { ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"), - ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""), + ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"), ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"), }, @@ -982,6 +982,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.WARNING: personality_changed_alert, }, + EventName.userFlag: { + ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5), + }, } diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index face7dab29..c888551777 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -77,7 +77,7 @@ class SelfdriveD: self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \ + 'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, ignore_alive=ignore, ignore_avg_freq=ignore, ignore_valid=ignore, frequency=int(1/DT_CTRL)) @@ -159,7 +159,11 @@ class SelfdriveD: self.events.add(EventName.selfdriveInitializing) return - # no more events while in dashcam mode + # Check for user flag (bookmark) press + if self.sm.updated['userFlag']: + self.events.add(EventName.userFlag) + + # Don't add any more events while in dashcam mode if self.CP.passive: return @@ -365,7 +369,7 @@ class SelfdriveD: if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) - # decrement personality on distance button press + # Decrement personality on distance button press if self.CP.openpilotLongitudinalControl: if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents): self.personality = (self.personality - 1) % 3 From db855d56d307d0eb935e96c87254771955ed86b0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 May 2025 15:18:52 -0700 Subject: [PATCH 095/135] Log Hexagon DSP temperature (#35166) * add hexagon dsp temp * log * whoops --- cereal/log.capnp | 1 + system/hardware/base.py | 1 + system/hardware/tici/hardware.py | 1 + 3 files changed, 3 insertions(+) diff --git a/cereal/log.capnp b/cereal/log.capnp index 5c5ceb5635..9ab51e0b77 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -490,6 +490,7 @@ struct DeviceState @0xa4d8b5af2aa492eb { # device thermals cpuTempC @26 :List(Float32); gpuTempC @27 :List(Float32); + dspTempC @49 :Float32; memoryTempC @28 :Float32; nvmeTempC @35 :List(Float32); modemTempC @36 :List(Float32); diff --git a/system/hardware/base.py b/system/hardware/base.py index 1e3b94e44e..90b42b2f1f 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -33,6 +33,7 @@ class ThermalZone: class ThermalConfig: cpu: list[ThermalZone] | None = None gpu: list[ThermalZone] | None = None + dsp: ThermalZone | None = None pmic: list[ThermalZone] | None = None memory: ThermalZone | None = None intake: ThermalZone | None = None diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index ffa852403f..694d42f4d6 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -335,6 +335,7 @@ class Tici(HardwareBase): return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] + [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)], gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")], + dsp=ThermalZone("compute-hvx-usr"), memory=ThermalZone("ddr-usr"), pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")], intake=intake, From 13965bdf0bda5ad1ef0b7faa6011bc8e3274fc17 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Fri, 9 May 2025 19:59:44 -0700 Subject: [PATCH 096/135] docs: clarify process to connect to 3/3X over ADB (#35090) * three * codespell being smart with me --------- Co-authored-by: Maxime Desroches --- docs/assets/three-back.svg | 3 +++ docs/how-to/connect-to-comma.md | 6 +++++- pyproject.toml | 2 +- 3 files changed, 9 insertions(+), 2 deletions(-) create mode 100644 docs/assets/three-back.svg diff --git a/docs/assets/three-back.svg b/docs/assets/three-back.svg new file mode 100644 index 0000000000..4dfeeeb46a --- /dev/null +++ b/docs/assets/three-back.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a5245f9458982b608fee67fc689d899ca638a405ff62bf9db5e4978b177ef3e +size 121394 diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index 469ef81672..cbaccaae6a 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -32,9 +32,13 @@ For doing development work on device, it's recommended to use [SSH agent forward ## ADB -In order to use ADB on your device, you'll need to enable it in the device's settings. +In order to use ADB on your device, you'll need to perform the following steps using the image below for reference: +![comma 3/3x back](../assets/three-back.svg) + +* Plug your device into constant power using port 2, letting the device boot up * Enable ADB in your device's settings +* Plug in your device to your PC using port 1 * Connect to your device * `adb shell` over USB * `adb connect` over WiFi diff --git a/pyproject.toml b/pyproject.toml index bf43840d71..20bfebd938 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -171,7 +171,7 @@ quiet-level = 3 # if you've got a short variable name that's getting flagged, add it here ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl" builtin = "clear,rare,informal,code,names,en-GB_to_en-US" -skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*" +skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*" [tool.mypy] python_version = "3.11" From 3b94e6f92f922135d05d3d72c150f5d3b65819b0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 00:59:42 +0800 Subject: [PATCH 097/135] system/ui: add tethering support to WifiManager (#35167) add tethering support to WifiManager --- system/ui/lib/wifi_manager.py | 160 ++++++++++++++++++++++++++++++++++ 1 file changed, 160 insertions(+) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 990e1d14a1..ff18092364 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -12,6 +12,7 @@ from dbus_next.aio import MessageBus from dbus_next import BusType, Variant, Message from dbus_next.errors import DBusError from dbus_next.constants import MessageType +from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog T = TypeVar("T") @@ -29,6 +30,9 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 +TETHERING_IP_ADDRESS = "192.168.43.1" +DEFAULT_TETHERING_PASSWORD = "12345678" + # NetworkManager device states class NMDeviceState(IntEnum): DISCONNECTED = 30 @@ -72,6 +76,7 @@ class WifiManager: self.saved_connections: dict[str, str] = {} self.active_ap_path: str = "" self.scan_task: asyncio.Task | None = None + self._tethering_ssid = "weedle-" + Params().get("DongleId", encoding="utf-8") self.running: bool = True async def connect(self) -> None: @@ -83,6 +88,7 @@ class WifiManager: await self._setup_signals(self.device_path) self.active_ap_path = await self.get_active_access_point() + await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD) self.saved_connections = await self._get_saved_connections() self.scan_task = asyncio.create_task(self._periodic_scan()) except DBusError as e: @@ -199,6 +205,160 @@ class WifiManager: return False + async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool: + """Create a WiFi tethering connection.""" + if len(password) < 8: + print("Tethering password must be at least 8 characters") + return False + + try: + # First, check if a hotspot connection already exists + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + connection_paths = await settings_iface.call_list_connections() + + # Look for an existing hotspot connection + for path in connection_paths: + try: + settings = await self._get_connection_settings(path) + conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value + wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value + + if conn_type == '802-11-wireless' and wifi_mode == 'ap': + # Extract the SSID to check + connection_ssid = self._extract_ssid(settings) + if connection_ssid == ssid: + return True + except DBusError: + continue + + connection = { + 'connection': { + 'id': Variant('s', 'Hotspot'), + 'uuid': Variant('s', str(uuid.uuid4())), + 'type': Variant('s', '802-11-wireless'), + 'interface-name': Variant('s', 'wlan0'), + 'autoconnect': Variant('b', False), + }, + '802-11-wireless': { + 'band': Variant('s', 'bg'), + 'mode': Variant('s', 'ap'), + 'ssid': Variant('ay', ssid.encode('utf-8')), + }, + '802-11-wireless-security': { + 'group': Variant('as', ['ccmp']), + 'key-mgmt': Variant('s', 'wpa-psk'), + 'pairwise': Variant('as', ['ccmp']), + 'proto': Variant('as', ['rsn']), + 'psk': Variant('s', password), + }, + 'ipv4': { + 'method': Variant('s', 'shared'), + 'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]), + 'gateway': Variant('s', TETHERING_IP_ADDRESS), + 'never-default': Variant('b', True), + }, + 'ipv6': { + 'method': Variant('s', 'ignore'), + }, + } + + settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) + new_connection = await settings_iface.call_add_connection(connection) + print(f"Added tethering connection with path: {new_connection}") + return True + except DBusError as e: + print(f"Failed to add tethering connection: {e}") + return False + except Exception as e: + print(f"Unexpected error adding tethering connection: {e}") + return False + + async def get_tethering_password(self) -> str: + """Get the current tethering password.""" + try: + hotspot_path = self.saved_connections.get(self._tethering_ssid) + if hotspot_path: + conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) + secrets = await conn_iface.call_get_secrets('802-11-wireless-security') + if secrets and '802-11-wireless-security' in secrets: + psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value + return str(psk) if psk is not None else "" + return "" + except DBusError as e: + print(f"Failed to get tethering password: {e}") + return "" + except Exception as e: + print(f"Unexpected error getting tethering password: {e}") + return "" + + async def set_tethering_password(self, password: str) -> bool: + """Set the tethering password.""" + if len(password) < 8: + cloudlog.error("Tethering password must be at least 8 characters") + return False + + try: + hotspot_path = self.saved_connections.get(self._tethering_ssid) + if not hotspot_path: + print("No hotspot connection found") + return False + + # Update the connection settings with new password + settings = await self._get_connection_settings(hotspot_path) + if '802-11-wireless-security' not in settings: + settings['802-11-wireless-security'] = {} + settings['802-11-wireless-security']['psk'] = Variant('s', password) + + # Apply changes + conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) + await conn_iface.call_update(settings) + + # Check if connection is active and restart if needed + is_active = False + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + active_connections = await nm_iface.get_active_connections() + + for conn_path in active_connections: + props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) + conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') + if conn_id_path.value == hotspot_path: + is_active = True + await nm_iface.call_deactivate_connection(conn_path) + break + + if is_active: + await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/") + + print("Tethering password updated successfully") + return True + except DBusError as e: + print(f"Failed to set tethering password: {e}") + return False + except Exception as e: + print(f"Unexpected error setting tethering password: {e}") + return False + + async def is_tethering_active(self) -> bool: + """Check if tethering is active for the specified SSID.""" + try: + hotspot_path = self.saved_connections.get(self._tethering_ssid) + if not hotspot_path: + return False + + nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) + active_connections = await nm_iface.get_active_connections() + + for conn_path in active_connections: + props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) + conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') + + if conn_id_path.value == hotspot_path: + return True + + return False + except Exception: + return False + async def _periodic_scan(self): while self.running: try: From 7147c2695447492a6b456674a4dd1b30b344084e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 01:00:28 +0800 Subject: [PATCH 098/135] system/ui: fix WIFI authentication callback and connection tracking (#35169) fix authentication callback and state handling --- system/ui/lib/wifi_manager.py | 22 +++++++++++++++++++--- system/ui/widgets/network.py | 11 ++++++++--- 2 files changed, 27 insertions(+), 6 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index ff18092364..d3d9bb4414 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -61,7 +61,7 @@ class NetworkInfo: @dataclass class WifiManagerCallbacks: - need_auth: Callable[[], None] | None = None + need_auth: Callable[[str], None] | None = None activated: Callable[[], None] | None = None forgotten: Callable[[], None] | None = None @@ -78,6 +78,7 @@ class WifiManager: self.scan_task: asyncio.Task | None = None self._tethering_ssid = "weedle-" + Params().get("DongleId", encoding="utf-8") self.running: bool = True + self._current_connection_ssid: str | None = None async def connect(self) -> None: """Connect to the DBus system bus.""" @@ -133,6 +134,9 @@ class WifiManager: try: nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) await nm_iface.call_delete() + if self._current_connection_ssid == ssid: + self._current_connection_ssid = None + del self.saved_connections[ssid] return True except DBusError as e: cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") @@ -153,6 +157,7 @@ class WifiManager: async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: """Connect to a selected Wi-Fi network.""" try: + self._current_connection_ssid = ssid connection = { 'connection': { 'type': Variant('s', '802-11-wireless'), @@ -182,8 +187,8 @@ class WifiManager: nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/") await self._update_connection_status() - except DBusError as e: + self._current_connection_ssid = None cloudlog.error(f"Error connecting to network: {e}") def is_saved(self, ssid: str) -> bool: @@ -403,11 +408,22 @@ class WifiManager: if self.callbacks.activated: self.callbacks.activated() asyncio.create_task(self._update_connection_status()) + self._current_connection_ssid = None elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): for network in self.networks: network.is_connected = False if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: - self.callbacks.need_auth() + if self._current_connection_ssid: + self.callbacks.need_auth(self._current_connection_ssid) + else: + # Try to find the network from active_ap_path + for network in self.networks: + if network.path == self.active_ap_path: + self.callbacks.need_auth(network.ssid) + break + else: + # Couldn't identify the network that needs auth + cloudlog.error("Network needs authentication but couldn't identify which one") def _on_new_connection(self, path: str) -> None: """Callback for NewConnection signal.""" diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 59427b57b8..0e9ad349b6 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -142,10 +142,15 @@ class WifiManagerUI: self.state = StateForgetting(network) self.wifi_manager.forget_connection(network.ssid) - def _on_need_auth(self): + def _on_need_auth(self, ssid): match self.state: - case StateConnecting(network): - self.state = StateNeedsAuth(network) + case StateConnecting(ssid): + self.state = StateNeedsAuth(ssid) + case _: + # Find network by SSID + network = next((n for n in self.wifi_manager.networks if n.ssid == ssid), None) + if network: + self.state = StateNeedsAuth(network) def _on_activated(self): if isinstance(self.state, StateConnecting): From eaa595958c15f958cb248fb9287672e201cbd369 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 05:22:06 +0800 Subject: [PATCH 099/135] system/ui: prevent duplicate WiFi connections when retrying with new password (#35174) Prevent duplicate WiFi connections when retrying with new password --- system/ui/lib/wifi_manager.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index d3d9bb4414..29d3231d5f 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -136,7 +136,10 @@ class WifiManager: await nm_iface.call_delete() if self._current_connection_ssid == ssid: self._current_connection_ssid = None - del self.saved_connections[ssid] + + if ssid in self.saved_connections: + del self.saved_connections[ssid] + return True except DBusError as e: cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") @@ -158,6 +161,17 @@ class WifiManager: """Connect to a selected Wi-Fi network.""" try: self._current_connection_ssid = ssid + + if ssid in self.saved_connections: + # Forget old connection if new password provided + if password: + await self.forget_connection(ssid) + await asyncio.sleep(0.2) # NetworkManager delay + else: + # Just activate existing connection + await self.activate_connection(ssid) + return + connection = { 'connection': { 'type': Variant('s', '802-11-wireless'), From f1760e63d39d1be2ed470364e435b2cd981c8e45 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 15:26:25 +0800 Subject: [PATCH 100/135] system/ui: performance optimizations for WiFi Manager with cached network data (#35170) Performance optimizations for WiFi Manager with cached network data --- system/ui/lib/wifi_manager.py | 15 ++++++++++----- system/ui/widgets/network.py | 22 ++++++++++++++-------- 2 files changed, 24 insertions(+), 13 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 29d3231d5f..00649b146b 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,5 +1,6 @@ import asyncio import concurrent.futures +import copy import threading import time import uuid @@ -56,6 +57,7 @@ class NetworkInfo: security_type: SecurityType path: str bssid: str + is_saved: bool = False # saved_path: str @@ -64,6 +66,7 @@ class WifiManagerCallbacks: need_auth: Callable[[str], None] | None = None activated: Callable[[], None] | None = None forgotten: Callable[[], None] | None = None + networks_updated: Callable[[list[NetworkInfo]], None] | None = None class WifiManager: @@ -452,6 +455,8 @@ class WifiManager: del self.saved_connections[ssid] if self.callbacks.forgotten: self.callbacks.forgotten() + # Update network list to reflect the removed saved connection + asyncio.create_task(self._update_connection_status()) break async def _add_saved_connection(self, path: str) -> None: @@ -460,6 +465,7 @@ class WifiManager: settings = await self._get_connection_settings(path) if ssid := self._extract_ssid(settings): self.saved_connections[ssid] = path + await self._update_connection_status() except DBusError as e: cloudlog.error(f"Failed to add connection {path}: {e}") @@ -517,6 +523,7 @@ class WifiManager: path=ap_path, bssid=bssid, is_connected=self.active_ap_path == ap_path, + is_saved=ssid in self.saved_connections ) except DBusError as e: @@ -533,6 +540,9 @@ class WifiManager: ), ) + if self.callbacks.networks_updated: + self.callbacks.networks_updated(copy.deepcopy(self.networks)) + async def _get_connection_settings(self, path): """Fetch connection settings for a specific connection path.""" try: @@ -628,11 +638,6 @@ class WifiManagerWrapper: self._thread.join(timeout=2.0) self._running = False - @property - def networks(self) -> list[NetworkInfo]: - """Get the current list of networks.""" - return self._run_coroutine_sync(lambda manager: manager.networks.copy(), default=[]) - def is_saved(self, ssid: str) -> bool: """Check if a network is saved.""" return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0e9ad349b6..14f4017925 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -48,13 +48,15 @@ class WifiManagerUI: self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard() + self._networks: list[NetworkInfo] = [] + self.wifi_manager = wifi_manager - self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten)) + self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten, self._on_network_updated)) self.wifi_manager.start() self.wifi_manager.connect() def render(self, rect: rl.Rectangle): - if not self.wifi_manager.networks: + if not self._networks: gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) return @@ -77,19 +79,19 @@ class WifiManagerUI: self._draw_network_list(rect) def _draw_network_list(self, rect: rl.Rectangle): - content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self.wifi_manager.networks) * ITEM_HEIGHT) + content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) offset = self.scroll_panel.handle_scroll(rect, content_rect) clicked = self.scroll_panel.is_click_valid() rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height)) - for i, network in enumerate(self.wifi_manager.networks): + for i, network in enumerate(self._networks): y_offset = rect.y + i * ITEM_HEIGHT + offset.y item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT) if not rl.check_collision_recs(item_rect, rect): continue self._draw_network_item(item_rect, network, clicked) - if i < len(self.wifi_manager.networks) - 1: + if i < len(self._networks) - 1: line_y = int(item_rect.y + item_rect.height - 1) rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY) @@ -115,7 +117,7 @@ class WifiManagerUI: rl.gui_label(state_rect, status_text) # If the network is saved, show the "Forget" button - if self.wifi_manager.is_saved(network.ssid): + if network.is_saved: forget_btn_rect = rl.Rectangle( rect.x + rect.width - self.btn_width, rect.y + (ITEM_HEIGHT - 80) / 2, @@ -126,22 +128,26 @@ class WifiManagerUI: self.state = StateShowForgetConfirm(network) if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked: - if not self.wifi_manager.is_saved(network.ssid): + if not network.is_saved: self.state = StateNeedsAuth(network) else: self.connect_to_network(network) def connect_to_network(self, network: NetworkInfo, password=''): self.state = StateConnecting(network) - if self.wifi_manager.is_saved(network.ssid) and not password: + if network.is_saved and not password: self.wifi_manager.activate_connection(network.ssid) else: self.wifi_manager.connect_to_network(network.ssid, password) def forget_network(self, network: NetworkInfo): self.state = StateForgetting(network) + network.is_saved = False self.wifi_manager.forget_connection(network.ssid) + def _on_network_updated(self, networks: list[NetworkInfo]): + self._networks = networks + def _on_need_auth(self, ssid): match self.state: case StateConnecting(ssid): From bbeb37d7266a98ba88abda27e869e8178a41aafb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 15:43:23 +0800 Subject: [PATCH 101/135] system/ui: add MultiOptionDialog for selection from scrollable lists (#35176) * add MultiOptionDialog for selection from scrollable lists * mv --------- Co-authored-by: Cameron Clough --- system/ui/lib/button.py | 21 ++++++-- system/ui/widgets/option_dialog.py | 81 ++++++++++++++++++++++++++++++ 2 files changed, 98 insertions(+), 4 deletions(-) create mode 100644 system/ui/widgets/option_dialog.py diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 034189275f..1857fd21cc 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -10,6 +10,12 @@ class ButtonStyle(IntEnum): TRANSPARENT = 3 # For buttons with transparent background and border +class TextAlignment(IntEnum): + LEFT = 0 + CENTER = 1 + RIGHT = 2 + + DEFAULT_BUTTON_FONT_SIZE = 60 BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255) BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51) @@ -38,6 +44,8 @@ def gui_button( button_style: ButtonStyle = ButtonStyle.NORMAL, is_enabled: bool = True, border_radius: int = 10, # Corner rounding in pixels + text_alignment: TextAlignment = TextAlignment.CENTER, + text_padding: int = 20, # Padding for left/right alignment ) -> int: result = 0 @@ -58,11 +66,16 @@ def gui_button( rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE) font = gui_app.font(font_weight) - # Center text in the button text_size = rl.measure_text_ex(font, text, font_size, 0) - text_pos = rl.Vector2( - rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2 - ) + text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2) # Vertical centering + + # Horizontal alignment + if text_alignment == TextAlignment.LEFT: + text_pos.x = rect.x + text_padding + elif text_alignment == TextAlignment.CENTER: + text_pos.x = rect.x + (rect.width - text_size.x) // 2 + elif text_alignment == TextAlignment.RIGHT: + text_pos.x = rect.x + rect.width - text_size.x - text_padding # Draw the button text text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py new file mode 100644 index 0000000000..c25c5c6e6c --- /dev/null +++ b/system/ui/widgets/option_dialog.py @@ -0,0 +1,81 @@ +import pyray as rl + +from openpilot.system.ui.lib.button import gui_button, ButtonStyle, TextAlignment +from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel + + +class MultiOptionDialog: + def __init__(self, title, options, current=""): + self._title = title + self._options = options + self._current = current if current in options else "" + self._selection = self._current + self._option_height = 80 + self._padding = 20 + self.scroll_panel = GuiScrollPanel() + + @property + def selection(self): + return self._selection + + def render(self, rect): + title_rect = rl.Rectangle(rect.x + self._padding, rect.y + self._padding, rect.width - 2 * self._padding, 70) + gui_label(title_rect, self._title, 70) + + options_y_start = rect.y + 120 + options_height = len(self._options) * (self._option_height + 10) + options_rect = rl.Rectangle(rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, options_height) + + view_rect = rl.Rectangle( + rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, rect.height - 200 - 2 * self._padding + ) + + offset = self.scroll_panel.handle_scroll(view_rect, options_rect) + is_click_valid = self.scroll_panel.is_click_valid() + + rl.begin_scissor_mode(int(view_rect.x), int(view_rect.y), int(view_rect.width), int(view_rect.height)) + + for i, option in enumerate(self._options): + y_pos = view_rect.y + i * (self._option_height + 10) + offset.y + item_rect = rl.Rectangle(view_rect.x, y_pos, view_rect.width, self._option_height) + + if not rl.check_collision_recs(item_rect, view_rect): + continue + + is_selected = option == self._selection + button_style = ButtonStyle.PRIMARY if is_selected else ButtonStyle.NORMAL + + if gui_button(item_rect, option, button_style=button_style, text_alignment=TextAlignment.LEFT) and is_click_valid: + self._selection = option + + rl.end_scissor_mode() + + button_y = rect.y + rect.height - 80 - self._padding + button_width = (rect.width - 3 * self._padding) / 2 + + cancel_rect = rl.Rectangle(rect.x + self._padding, button_y, button_width, 80) + if gui_button(cancel_rect, "Cancel"): + return 0 # Canceled + + select_rect = rl.Rectangle(rect.x + 2 * self._padding + button_width, button_y, button_width, 80) + has_new_selection = self._selection != "" and self._selection != self._current + + if gui_button(select_rect, "Select", is_enabled=has_new_selection, button_style=ButtonStyle.PRIMARY): + return 1 # Selected + + return -1 # Still active + + +if __name__ == "__main__": + from openpilot.system.ui.lib.application import gui_app + + gui_app.init_window("Multi Option Dialog Example") + options = [f"Option {i}" for i in range(1, 11)] + dialog = MultiOptionDialog("Choose an option", options, options[0]) + + for _ in gui_app.render(): + result = dialog.render(rl.Rectangle(100, 100, 1024, 800)) + if result >= 0: + print(f"Selected: {dialog.selection}" if result > 0 else "Canceled") + break From 01867f1b2b59e817f185b6f3f7427080b1a43de1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 May 2025 21:40:06 +0800 Subject: [PATCH 102/135] system/ui: integrate WifiManagerUI into Updater (#35177) integrate WifiManagerUI into Updater --- system/ui/updater.py | 51 +++++++++++--------------------------------- 1 file changed, 12 insertions(+), 39 deletions(-) diff --git a/system/ui/updater.py b/system/ui/updater.py index eb9d766a16..42acaf5675 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -9,6 +9,9 @@ from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_text_box, gui_label +from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.widgets.network import WifiManagerUI + # Constants MARGIN = 50 @@ -39,6 +42,8 @@ class Updater: self.show_reboot_button = False self.process = None self.update_thread = None + self.wifi_manager = WifiManagerWrapper() + self.wifi_manager_ui = WifiManagerUI(self.wifi_manager) def install_update(self): self.current_screen = Screen.PROGRESS @@ -79,8 +84,9 @@ class Updater: gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD) # Description - desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \ - The download size is approximately 1GB." + desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " + + "The download size is approximately 1GB.") + desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3) gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE) @@ -101,49 +107,16 @@ class Updater: return # Return to avoid further processing after action def render_wifi_screen(self): - # Title and back button - title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60) - gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD) + # Draw the Wi-Fi manager UI + wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20) + self.wifi_manager_ui.render(wifi_rect) + back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) if gui_button(back_button_rect, "Back"): self.current_screen = Screen.PROMPT return # Return to avoid processing other interactions after screen change - # Draw placeholder for WiFi implementation - placeholder_rect = rl.Rectangle( - MARGIN, - title_rect.y + title_rect.height + MARGIN, - gui_app.width - MARGIN * 2, - gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT - ) - - # Draw rounded rectangle background - rl.draw_rectangle_rounded( - placeholder_rect, - 0.1, - 10, - rl.Color(41, 41, 41, 255) - ) - - # Draw placeholder text - placeholder_text = "WiFi Implementation Placeholder" - text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1) - text_pos = rl.Vector2( - placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2, - placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2 - ) - rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE) - - # Draw instructions - instructions_text = "Real WiFi functionality would be implemented here" - instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1) - instructions_pos = rl.Vector2( - placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2, - text_pos.y + text_size.y + 20 - ) - rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY) - def render_progress_screen(self): title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100) gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD) From e9cea3ae5cdd9b6cdfa1ca4e745224f5a7a560a1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 11 May 2025 08:24:46 -0700 Subject: [PATCH 103/135] Revert TR again (#35179) Revert "Tomb Raider 7 (#35114)" This reverts commit 0fb4aafa35896e831bd58a636a9a1bb4a1442743. --- selfdrive/controls/lib/longitudinal_planner.py | 15 +++------------ selfdrive/modeld/fill_model_msg.py | 10 +++++----- selfdrive/modeld/modeld.py | 14 +++++--------- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 +++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 25 insertions(+), 37 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4219e80f33..9d71faeca2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -90,7 +90,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +113,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mode == 'acc': + if self.mpc.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -160,17 +160,8 @@ class LongitudinalPlanner: self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 action_t = self.CP.longitudinalActuatorDelay + DT_MDL - output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) - output_a_target_e2e = sm['modelV2'].action.desiredAcceleration - output_should_stop_e2e = sm['modelV2'].action.shouldStop - - if self.mode == 'acc': - output_a_target = output_a_target_mpc - self.output_should_stop = output_should_stop_mpc - else: - output_a_target = min(output_a_target_mpc, output_a_target_e2e) - self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc for idx in range(2): accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 36bd724d01..a91c6395c7 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) # temporal pose - #temporal_pose = modelV2.temporalPose - #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() - #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() - #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 84d7760dce..5e1acdea0e 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -41,8 +41,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.1 -LONG_SMOOTH_SECONDS = 0.3 +LAT_SMOOTH_SECONDS = 0.0 +LONG_SMOOTH_SECONDS = 0.0 MIN_LAT_CONTROL_SPEED = 0.3 @@ -55,11 +55,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2], - plan[:,Plan.ORIENTATION_RATE][:,2], - ModelConstants.T_IDXS, - v_ego, - lat_action_t) + desired_curvature = model_output['desired_curvature'][0, 0] if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: @@ -176,7 +172,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 5bd77bb958..3601bbb5da 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18 -size 15588463 +oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 +size 15966721 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 0a7b4a803d..aee6d8f1bf 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e -size 46265585 +oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 +size 34882971 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 783572d436..810c44ccb9 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,12 +88,6 @@ class Parser: self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -101,10 +95,17 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3dd3eab25f..1ae4c4a1a8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 \ No newline at end of file +7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 From bfadab078e01bb0058de3c58069e4ea5d493198d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 02:05:59 +0800 Subject: [PATCH 104/135] system/ui: set log level to WARNING to reduce noise (#35180) * set log level to WARNING to reduce noise * custom callback handling for raylib logs --- system/ui/lib/application.py | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index eae5962277..3f3595e8f5 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -40,6 +40,7 @@ class GuiApplication: self._target_fps: int = DEFAULT_FPS self._last_fps_log_time: float = time.monotonic() self._window_close_requested = False + self._trace_log_callback = None def request_close(self): self._window_close_requested = True @@ -50,6 +51,9 @@ class GuiApplication: HARDWARE.set_display_power(True) HARDWARE.set_screen_brightness(65) + self._set_log_callback() + + rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING) rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) @@ -137,6 +141,29 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR)) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) + def _set_log_callback(self): + @rl.ffi.callback("void(int, char *, void *)") + def trace_log_callback(log_level, text, args): + try: + text_str = rl.ffi.string(text).decode('utf-8') + except (TypeError, UnicodeDecodeError): + text_str = str(text) + + if log_level == rl.TraceLogLevel.LOG_ERROR: + cloudlog.error(f"raylib: {text_str}") + elif log_level == rl.TraceLogLevel.LOG_WARNING: + cloudlog.warning(f"raylib: {text_str}") + elif log_level == rl.TraceLogLevel.LOG_INFO: + cloudlog.info(f"raylib: {text_str}") + elif log_level == rl.TraceLogLevel.LOG_DEBUG: + cloudlog.debug(f"raylib: {text_str}") + else: + cloudlog.debug(f"raylib: Unknown level {log_level}: {text_str}") + + # Store callback reference + self._trace_log_callback = trace_log_callback + rl.set_trace_log_callback(self._trace_log_callback) + def _monitor_fps(self): fps = rl.get_fps() From e62b6a38e9cf6431321dafefc78ea86c9a1ccf13 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 02:06:04 +0800 Subject: [PATCH 105/135] system/ui: set keyboard to use full window area (#35181) set keyboard to use full window area --- system/ui/widgets/keyboard.py | 5 ++++- system/ui/widgets/network.py | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index 13fdb912b5..d496c5f749 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,8 +1,10 @@ import pyray as rl +from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button from openpilot.system.ui.lib.label import gui_label # Constants for special keys +CONTENT_MARGIN = 50 BACKSPACE_KEY = "<-" ENTER_KEY = "Enter" SPACE_KEY = " " @@ -55,7 +57,8 @@ class Keyboard: self._clear() return result - def render(self, rect, title, sub_title): + def render(self, title, sub_title): + rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 14f4017925..49e2dd8296 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -62,7 +62,7 @@ class WifiManagerUI: match self.state: case StateNeedsAuth(network): - result = self.keyboard.render(rect, "Enter password", f"for {network.ssid}") + result = self.keyboard.render("Enter password", f"for {network.ssid}") if result == 1: self.connect_to_network(network, self.keyboard.text) elif result == 0: From 35dbdf912478da5db58aa88a1b8e64e59f27ad3c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 11 May 2025 11:08:50 -0700 Subject: [PATCH 106/135] raylib: fwd everything to cloudlog --- system/ui/lib/application.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 3f3595e8f5..c359b1e578 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -53,7 +53,7 @@ class GuiApplication: self._set_log_callback() - rl.set_trace_log_level(rl.TraceLogLevel.LOG_WARNING) + rl.set_trace_log_level(rl.TraceLogLevel.LOG_ALL) rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) rl.init_window(self._width, self._height, title) rl.set_target_fps(fps) @@ -158,7 +158,7 @@ class GuiApplication: elif log_level == rl.TraceLogLevel.LOG_DEBUG: cloudlog.debug(f"raylib: {text_str}") else: - cloudlog.debug(f"raylib: Unknown level {log_level}: {text_str}") + cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}") # Store callback reference self._trace_log_callback = trace_log_callback From 2b32325be1c32445f3e069f1536f14d4c6affc6b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 22:21:12 +0800 Subject: [PATCH 107/135] system/ui: Full-Featured InputBox Component (#35178) custom input box component --- system/ui/lib/inputbox.py | 157 ++++++++++++++++++++++++++++++++++ system/ui/widgets/keyboard.py | 37 +++----- system/ui/widgets/network.py | 4 +- 3 files changed, 172 insertions(+), 26 deletions(-) create mode 100644 system/ui/lib/inputbox.py diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py new file mode 100644 index 0000000000..9bac5251aa --- /dev/null +++ b/system/ui/lib/inputbox.py @@ -0,0 +1,157 @@ +import pyray as rl +from openpilot.system.ui.lib.application import gui_app + + +class InputBox: + def __init__(self, max_text_size=255, password_mode=False): + self._max_text_size = max_text_size + self._input_text = "" + self._cursor_position = 0 + self._password_mode = password_mode + self._blink_counter = 0 + self._show_cursor = False + self._last_key_pressed = 0 + self._key_press_time = 0 + self._repeat_delay = 30 + self._repeat_rate = 5 + + @property + def text(self): + return self._input_text + + @text.setter + def text(self, value): + self._input_text = value[: self._max_text_size] + self._cursor_position = len(self._input_text) + + def set_password_mode(self, password_mode): + self._password_mode = password_mode + + def clear(self): + self._input_text = '' + self._cursor_position = 0 + + def set_cursor_position(self, position): + """Set the cursor position and reset the blink counter.""" + if 0 <= position <= len(self._input_text): + self._cursor_position = position + self._blink_counter = 0 + self._show_cursor = True + + def add_char_at_cursor(self, char): + """Add a character at the current cursor position.""" + if len(self._input_text) < self._max_text_size: + self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position :] + self.set_cursor_position(self._cursor_position + 1) + return True + return False + + def delete_char_before_cursor(self): + """Delete the character before the cursor position (backspace).""" + if self._cursor_position > 0: + self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position :] + self.set_cursor_position(self._cursor_position - 1) + return True + return False + + def delete_char_at_cursor(self): + """Delete the character at the cursor position (delete).""" + if self._cursor_position < len(self._input_text): + self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1 :] + self.set_cursor_position(self._cursor_position) + return True + return False + + def render(self, rect, color=rl.LIGHTGRAY, border_color=rl.DARKGRAY, text_color=rl.BLACK, font_size=80): + # Handle mouse input + self._handle_mouse_input(rect, font_size) + + # Draw input box + rl.draw_rectangle_rec(rect, color) + rl.draw_rectangle_lines_ex(rect, 1, border_color) + + # Process keyboard input + self._handle_keyboard_input() + + # Update cursor blink + self._blink_counter += 1 + if self._blink_counter >= 30: + self._show_cursor = not self._show_cursor + self._blink_counter = 0 + + # Display text + font = gui_app.font() + display_text = "•" * len(self._input_text) if self._password_mode else self._input_text + padding = 10 + rl.draw_text_ex( + font, + display_text, + rl.Vector2(int(rect.x + padding), int(rect.y + rect.height / 2 - font_size / 2)), + font_size, + 0, + text_color, + ) + + # Draw cursor + if self._show_cursor: + cursor_x = rect.x + padding + if len(display_text) > 0 and self._cursor_position > 0: + cursor_x += rl.measure_text_ex(font, display_text[: self._cursor_position], font_size, 0).x + + cursor_height = font_size + 4 + cursor_y = rect.y + rect.height / 2 - cursor_height / 2 + rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.BLACK) + + def _handle_mouse_input(self, rect, font_size): + """Handle mouse clicks to position cursor.""" + mouse_pos = rl.get_mouse_position() + if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect): + # Calculate cursor position from click + if len(self._input_text) > 0: + text_width = rl.measure_text(self._input_text, font_size) + text_pos_x = rect.x + 10 + + if mouse_pos.x - text_pos_x > text_width: + self.set_cursor_position(len(self._input_text)) + else: + click_ratio = (mouse_pos.x - text_pos_x) / text_width + self.set_cursor_position(int(len(self._input_text) * click_ratio)) + + self.set_cursor_position(0) + + def _handle_keyboard_input(self): + """Process keyboard input.""" + key = rl.get_key_pressed() + + # Handle key repeats + if key == self._last_key_pressed and key != 0: + self._key_press_time += 1 + if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0: + # Process repeated key + pass + else: + return # Skip processing until repeat triggers + else: + self._last_key_pressed = key + self._key_press_time = 0 + + # Handle navigation keys + if key == rl.KEY_LEFT: + if self._cursor_position > 0: + self.set_cursor_position(self._cursor_position - 1) + elif key == rl.KEY_RIGHT: + if self._cursor_position < len(self._input_text): + self.set_cursor_position(self._cursor_position + 1) + elif key == rl.KEY_BACKSPACE: + self.delete_char_before_cursor() + elif key == rl.KEY_DELETE: + self.delete_char_at_cursor() + elif key == rl.KEY_HOME: + self.set_cursor_position(0) + elif key == rl.KEY_END: + self.set_cursor_position(len(self._input_text)) + + # Handle text input + char = rl.get_char_pressed() + if char != 0 and char >= 32: # Filter out control characters + self.add_char_at_cursor(chr(char)) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index d496c5f749..d81bf3090e 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -1,6 +1,7 @@ import pyray as rl from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.inputbox import InputBox from openpilot.system.ui.lib.label import gui_label # Constants for special keys @@ -47,28 +48,25 @@ class Keyboard: def __init__(self, max_text_size: int = 255): self._layout = keyboard_layouts["lowercase"] self._max_text_size = max_text_size - self._string_pointer = rl.ffi.new("char[]", max_text_size) - self._input_text = "" - self._clear() + self._input_box = InputBox(max_text_size) @property def text(self): - result = rl.ffi.string(self._string_pointer).decode("utf-8") - self._clear() - return result + return self._input_box.text + + def clear(self): + self._input_box.clear() def render(self, title, sub_title): rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): - self._clear() + self.clear() return 0 # Text box for input - self._sync_string_pointer() - rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._string_pointer, self._max_text_size, True) - self._input_text = rl.ffi.string(self._string_pointer).decode("utf-8") + self._input_box.render(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100)) h_space, v_space = 15, 15 row_y_start = rect.y + 300 # Starting Y position for the first row key_height = (rect.height - 300 - 3 * v_space) / 4 @@ -104,18 +102,7 @@ class Keyboard: self._layout = keyboard_layouts["numbers"] elif key == SYMBOL_KEY: self._layout = keyboard_layouts["specials"] - elif key == BACKSPACE_KEY and len(self._input_text) > 0: - self._input_text = self._input_text[:-1] - elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size: - self._input_text += key - - def _clear(self): - self._input_text = '' - self._string_pointer[0] = b'\0' - - def _sync_string_pointer(self): - """Sync the C-string pointer with the internal Python string.""" - encoded = self._input_text.encode("utf-8")[:self._max_text_size - 1] # Leave room for the null terminator - buffer = rl.ffi.buffer(self._string_pointer) - buffer[:len(encoded)] = encoded - self._string_pointer[len(encoded)] = b'\0' # Null terminator + elif key == BACKSPACE_KEY: + self._input_box.delete_char_before_cursor() + else: + self._input_box.add_char_at_cursor(key) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 49e2dd8296..a265111a46 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -64,7 +64,9 @@ class WifiManagerUI: case StateNeedsAuth(network): result = self.keyboard.render("Enter password", f"for {network.ssid}") if result == 1: - self.connect_to_network(network, self.keyboard.text) + password = self.keyboard.text + self.keyboard.clear() + self.connect_to_network(network, password) elif result == 0: self.state = StateIdle() From 59fbeb60707e3a3cb16064dda308260193e00a95 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 12 May 2025 15:28:36 +0100 Subject: [PATCH 108/135] system/ui: keyboard demo script --- system/ui/widgets/keyboard.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py index d81bf3090e..0723e65a16 100644 --- a/system/ui/widgets/keyboard.py +++ b/system/ui/widgets/keyboard.py @@ -57,7 +57,7 @@ class Keyboard: def clear(self): self._input_box.clear() - def render(self, title, sub_title): + def render(self, title: str, sub_title: str): rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN) gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) @@ -106,3 +106,17 @@ class Keyboard: self._input_box.delete_char_before_cursor() else: self._input_box.add_char_at_cursor(key) + + +if __name__ == "__main__": + gui_app.init_window("Keyboard") + keyboard = Keyboard() + for _ in gui_app.render(): + result = keyboard.render("Keyboard", "Type here") + if result == 1: + print(f"You typed: {keyboard.text}") + gui_app.request_close() + elif result == 0: + print("Canceled") + gui_app.request_close() + gui_app.close() From 43054a56c263ad84978e9cfb6cc05d92e0a212ee Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 12 May 2025 15:39:48 +0100 Subject: [PATCH 109/135] system/ui: fix tethering ssid (#35188) system/ui: fix tethering ssid when no params --- system/ui/lib/wifi_manager.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 00649b146b..e08e4cbb62 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -79,7 +79,11 @@ class WifiManager: self.saved_connections: dict[str, str] = {} self.active_ap_path: str = "" self.scan_task: asyncio.Task | None = None - self._tethering_ssid = "weedle-" + Params().get("DongleId", encoding="utf-8") + # Set tethering ssid as "weedle" + first 4 characters of a dongle id + self._tethering_ssid = "weedle" + dongle_id = Params().get("DongleId", encoding="utf-8") + if dongle_id: + self._tethering_ssid += "-" + dongle_id[:4] self.running: bool = True self._current_connection_ssid: str | None = None From 02125f68629153f2cd7827fab64c011821d0ea10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 May 2025 23:59:00 +0800 Subject: [PATCH 110/135] system/ui: fix cursor position in inputBox mouse click handler (#35189) fix cursor position in inputBox mouse click handler --- system/ui/lib/inputbox.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py index 9bac5251aa..d933d42476 100644 --- a/system/ui/lib/inputbox.py +++ b/system/ui/lib/inputbox.py @@ -108,7 +108,7 @@ class InputBox: if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect): # Calculate cursor position from click if len(self._input_text) > 0: - text_width = rl.measure_text(self._input_text, font_size) + text_width = rl.measure_text_ex(gui_app.font(), self._input_text, font_size, 0).x text_pos_x = rect.x + 10 if mouse_pos.x - text_pos_x > text_width: @@ -116,7 +116,7 @@ class InputBox: else: click_ratio = (mouse_pos.x - text_pos_x) / text_width self.set_cursor_position(int(len(self._input_text) * click_ratio)) - + else: self.set_cursor_position(0) def _handle_keyboard_input(self): From 98dba943b2519c322e28a0d636cbbbf67c930d51 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 12 May 2025 09:30:01 -0700 Subject: [PATCH 111/135] feat(clip): add timestamp onto clip (#35182) * feat(clip): add timestamp onto clip * same font size as title * revert * just declare it here, and add comments --- tools/clip/run.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 33c98a0213..12ac879baa 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -165,12 +165,16 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision display = f':{randint(99, 999)}' + box_style = 'box=1:boxcolor=black@0.33:boxborderw=7' meta_text = get_meta_text(route) overlays = [ - f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:box=1:boxcolor=black@0.33:boxborderw=7:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'" + # metadata overlay + f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", + # route time overlay + f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile=Inter.tff:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" ] if title: - overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:box=1:boxcolor=black@0.33:boxborderw=10:x=(w-text_w)/2:y=53") + overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") ffmpeg_cmd = [ 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', From 8c995ab26dbdba821b5fad17cd4d29dec676d314 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 00:32:20 +0800 Subject: [PATCH 112/135] system/ui: implement CameraView widget (#35185) * initial commit * run at 60hz, nonblock * graceful cleanup * re-position * rename --------- Co-authored-by: Cameron Clough --- system/ui/widgets/cameraview.py | 87 +++++++++++++++++++++++++++++++++ 1 file changed, 87 insertions(+) create mode 100644 system/ui/widgets/cameraview.py diff --git a/system/ui/widgets/cameraview.py b/system/ui/widgets/cameraview.py new file mode 100644 index 0000000000..841440ae3a --- /dev/null +++ b/system/ui/widgets/cameraview.py @@ -0,0 +1,87 @@ +import pyray as rl +from msgq.visionipc import VisionIpcClient, VisionStreamType +from openpilot.system.ui.lib.application import gui_app + +FRAME_FRAGMENT_SHADER = """ +#version 330 core +in vec2 fragTexCoord; uniform sampler2D texture0, texture1; out vec4 fragColor; +void main() { + float y = texture(texture0, fragTexCoord).r; + vec2 uv = texture(texture1, fragTexCoord).ra - 0.5; + fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0); +}""" + + +class CameraView: + def __init__(self, name: str, stream_type: VisionStreamType): + self.client = VisionIpcClient(name, stream_type, False) + self.shader = rl.load_shader_from_memory(rl.ffi.NULL, FRAME_FRAGMENT_SHADER) + self.texture_y: rl.Texture | None = None + self.texture_uv: rl.Texture | None = None + self.frame = None + + def close(self): + self._clear_textures() + if self.shader and self.shader.id: + rl.unload_shader(self.shader) + + def render(self, rect: rl.Rectangle): + if not self._ensure_connection(): + return + + buffer = self.client.recv(timeout_ms=0) + self.frame = buffer if buffer else self.frame + if not self.frame or not self.texture_y or not self.texture_uv: + return + + y_data = self.frame.data[: self.frame.uv_offset] + uv_data = self.frame.data[self.frame.uv_offset :] + + rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data)) + rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data)) + + # Calculate scaling to maintain aspect ratio + scale = min(rect.width / self.frame.width, rect.height / self.frame.height) + x_offset = rect.x + (rect.width - (self.frame.width * scale)) / 2 + y_offset = rect.y + (rect.height - (self.frame.height * scale)) / 2 + src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height)) + dst_rect = rl.Rectangle(x_offset, y_offset, self.frame.width * scale, self.frame.height * scale) + + rl.begin_shader_mode(self.shader) + rl.set_shader_value_texture(self.shader, rl.get_shader_location(self.shader, "texture1"), self.texture_uv) + rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE) + rl.end_shader_mode() + + def _ensure_connection(self) -> bool: + if not self.client.is_connected(): + self.frame = None + if not self.client.connect(False) or not self.client.num_buffers: + return False + + self._clear_textures() + self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride), + int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE)) + self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2), + int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA)) + return True + + def _clear_textures(self): + if self.texture_y and self.texture_y.id: + rl.unload_texture(self.texture_y) + if self.texture_uv and self.texture_uv.id: + rl.unload_texture(self.texture_uv) + +if __name__ == "__main__": + gui_app.init_window("watch3") + road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER) + wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD) + try: + for _ in gui_app.render(): + road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2)) + driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) + wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2)) + finally: + road_camera_view.close() + driver_camera_view.close() + wide_road_camera_view.close() From ce4fda1f92cd4d1cccfe4e9ec123ce3a5068d96e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 02:01:25 +0800 Subject: [PATCH 113/135] system/ui: add minimum WIFI password length validation (#35190) * add minimum WIFI password length validation * add min text size to keyboard * disable enter if text size= self._min_text_size + if gui_button(key_rect, key, is_enabled=is_enabled): if key == ENTER_KEY: return 1 else: @@ -110,7 +112,7 @@ class Keyboard: if __name__ == "__main__": gui_app.init_window("Keyboard") - keyboard = Keyboard() + keyboard = Keyboard(min_text_size=8) for _ in gui_app.render(): result = keyboard.render("Keyboard", "Type here") if result == 1: diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index a265111a46..06448483aa 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -11,6 +11,8 @@ from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog NM_DEVICE_STATE_NEED_AUTH = 60 +MIN_PASSWORD_LENGTH = 8 +MAX_PASSWORD_LENGTH = 64 ITEM_HEIGHT = 160 @@ -46,7 +48,7 @@ class WifiManagerUI: self.state: UIState = StateIdle() self.btn_width = 200 self.scroll_panel = GuiScrollPanel() - self.keyboard = Keyboard() + self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH) self._networks: list[NetworkInfo] = [] @@ -66,7 +68,9 @@ class WifiManagerUI: if result == 1: password = self.keyboard.text self.keyboard.clear() - self.connect_to_network(network, password) + + if len(password) >= MIN_PASSWORD_LENGTH: + self.connect_to_network(network, password) elif result == 0: self.state = StateIdle() From b2d414cc8ba3db7d534d676084704a40e735aa26 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 12 May 2025 13:01:29 -0700 Subject: [PATCH 114/135] [bot] Update Python packages (#35187) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 1316 +++++++++++++++++++++++++------------------------- 2 files changed, 661 insertions(+), 657 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index c856a2c0bd..b922517802 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c856a2c0bd2b3c75f86a73b051c0c4cc7159559e +Subproject commit b9225178021be2b606dab89bf941440562f4cc6c diff --git a/uv.lock b/uv.lock index fbeda4d552..60e0e521c5 100644 --- a/uv.lock +++ b/uv.lock @@ -163,7 +163,7 @@ wheels = [ [[package]] name = "azure-identity" -version = "1.21.0" +version = "1.22.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "azure-core" }, @@ -172,9 +172,9 @@ dependencies = [ { name = "msal-extensions" }, { name = "typing-extensions" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/b5/a1/f1a683672e7a88ea0e3119f57b6c7843ed52650fdcac8bfa66ed84e86e40/azure_identity-1.21.0.tar.gz", hash = "sha256:ea22ce6e6b0f429bc1b8d9212d5b9f9877bd4c82f1724bfa910760612c07a9a6", size = 266445, upload-time = "2025-03-11T20:53:07.463Z" } +sdist = { url = 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a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py index e5ca002ecf..7a25682e27 100644 --- a/system/ui/widgets/confirm_dialog.py +++ b/system/ui/widgets/confirm_dialog.py @@ -1,4 +1,5 @@ import pyray as rl +from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.label import gui_text_box @@ -11,10 +12,9 @@ TEXT_AREA_HEIGHT_REDUCTION = 200 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) -def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: - # Calculate dialog position and size, centered within the parent rectangle - dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2 - dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2 +def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: + dialog_x = (gui_app.width - DIALOG_WIDTH) / 2 + dialog_y = (gui_app.height - DIALOG_HEIGHT) / 2 dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT) # Calculate button positions at the bottom of the dialog @@ -27,13 +27,7 @@ def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_t yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT) # Draw the dialog background - rl.draw_rectangle( - int(dialog_rect.x), - int(dialog_rect.y), - int(dialog_rect.width), - int(dialog_rect.height), - BACKGROUND_COLOR, - ) + rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR) # Draw the message in the dialog, centered text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 06448483aa..d94a3facb1 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -75,7 +75,7 @@ class WifiManagerUI: self.state = StateIdle() case StateShowForgetConfirm(network): - result = confirm_dialog(rect, f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") + result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget") if result == 1: self.forget_network(network) elif result == 0: From 2e5014d793f347254efe21c47532db3e6194dae6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 May 2025 17:23:58 -0700 Subject: [PATCH 116/135] Tesla: check counters and checksums in car interface (#35195) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index b922517802..e484515ec7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b9225178021be2b606dab89bf941440562f4cc6c +Subproject commit e484515ec7e329064b923869c1d2f15cf8c443a6 From 51ab7ec8f572dc5490c9d10dd6889d52cc1f427b Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 12 May 2025 18:56:13 -0700 Subject: [PATCH 117/135] feat(clip): ffmpeg improvements to reduce frame skips (#35196) * test * no benefit with two pass * rm * typo, testing * re-add --- tools/clip/run.py | 22 +++++++++++++++++++--- 1 file changed, 19 insertions(+), 3 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 12ac879baa..34efcdb5a8 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -177,9 +177,25 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") ffmpeg_cmd = [ - 'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0', - '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23', - '-filter:v', ','.join(overlays), '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), out + 'ffmpeg', '-y', + '-video_size', RESOLUTION, + '-framerate', str(FRAMERATE), + '-f', 'x11grab', + '-rtbufsize', '100M', + '-draw_mouse', '0', + '-i', display, + '-c:v', 'libx264', + '-maxrate', f'{bit_rate_kbps}k', + '-bufsize', f'{bit_rate_kbps*2}k', + '-crf', '23', + '-filter:v', ','.join(overlays), + '-preset', 'ultrafast', + '-tune', 'zerolatency', + '-pix_fmt', 'yuv420p', + '-movflags', '+faststart', + '-f', 'mp4', + '-t', str(duration), + out, ] replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix] From 6b4436b9804e4149043bae81dbadd6f57680397c Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Mon, 12 May 2025 19:49:37 -0700 Subject: [PATCH 118/135] feat(clip): font from `selfdrive/assets` (#35194) * feat(clip): find font dynamically * check font path as part of validating environment * from testing * use font from assets * no mas --- tools/clip/run.py | 7 ++++--- tools/install_ubuntu_dependencies.sh | 1 - 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 34efcdb5a8..5fa3c0ae69 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -28,6 +28,7 @@ RESOLUTION = '2160x1080' SECONDS_TO_WARM = 2 PROC_WAIT_SECONDS = 30 +OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve()) REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve()) UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve()) @@ -169,12 +170,12 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou meta_text = get_meta_text(route) overlays = [ # metadata overlay - f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", + f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=15:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'", # route time overlay - f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile=Inter.tff:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" + f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38" ] if title: - overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") + overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53") ffmpeg_cmd = [ 'ffmpeg', '-y', diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 3d6fd2e7a9..f33569704a 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -33,7 +33,6 @@ function install_ubuntu_common_requirements() { git \ git-lfs \ ffmpeg \ - fonts-inter \ libavformat-dev \ libavcodec-dev \ libavdevice-dev \ From 3f724400c58fb50d8c657ce0177d275ecaae788f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 May 2025 21:15:43 -0700 Subject: [PATCH 119/135] Tesla: check checksums in safety (#35198) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index e484515ec7..95ee4edd17 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit e484515ec7e329064b923869c1d2f15cf8c443a6 +Subproject commit 95ee4edd17ecc6700eac12f2074de6b5478b9477 From 8473774b6581ff2567e9ca3904589aa41432a1dd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 May 2025 21:18:51 -0700 Subject: [PATCH 120/135] process replay: add Tesla route (#35199) * add tesla * update refs * run tesla on more procs * update refs --- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1ae4c4a1a8..f5cd05b16e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0 +b31b7c5c29e6d30ccee2fa5105af778810fcd02e \ 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 d479369693..a82eab27dd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -35,6 +35,7 @@ source_segments = [ ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021 ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1 ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1 + ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"), # TESLA.TESLA_MODEL_Y # Enable when port is tested and dashcamOnly is no longer set #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS @@ -58,6 +59,7 @@ segments = [ ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"), ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"), ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"), + ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -195,7 +197,7 @@ if __name__ == "__main__": continue # to speed things up, we only test all segments on card - if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'): + if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'): continue cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") From 15a567ffee778c749433325747a60d16dd6f2dd2 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 13 May 2025 13:03:31 +0200 Subject: [PATCH 121/135] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index b4773f96b3..7eb5dba3dc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b4773f96b38a56089b28bf70b8073a9ddce6d847 +Subproject commit 7eb5dba3dc9960373128244c10fac99bba91f630 From 896dabb1905213bb8192de5c0d9045ecc860380c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 21:31:50 +0800 Subject: [PATCH 122/135] system/ui: add right-side text eliding to gui_label (#35201) add optional right-side text eliding to gui_label --- system/ui/lib/label.py | 24 +++++++++++++++++++----- 1 file changed, 19 insertions(+), 5 deletions(-) diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index ccfd89a2ec..5244c6baf2 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -10,13 +10,27 @@ def gui_label( color: rl.Color = DEFAULT_TEXT_COLOR, font_weight: FontWeight = FontWeight.NORMAL, alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, - alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE + alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + elide_right: bool = True ): - # Set font based on the provided weight font = gui_app.font(font_weight) - - # Measure text size text_size = rl.measure_text_ex(font, text, font_size, 0) + display_text = text + + # Elide text to fit within the rectangle + if elide_right and text_size.x > rect.width: + ellipsis = "..." + left, right = 0, len(text) + while left < right: + mid = (left + right) // 2 + candidate = text[:mid] + ellipsis + candidate_size = rl.measure_text_ex(font, candidate, font_size, 0) + if candidate_size.x <= rect.width: + left = mid + 1 + else: + right = mid + display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis + text_size = rl.measure_text_ex(font, display_text, font_size, 0) # Calculate horizontal position based on alignment text_x = rect.x + { @@ -33,7 +47,7 @@ def gui_label( }.get(alignment_vertical, 0) # Draw the text in the specified rectangle - rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color) + rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color) def gui_text_box( From 73ff9dc944f05941729fa979db32ddacd573e5df Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 May 2025 21:34:17 +0800 Subject: [PATCH 123/135] system/ui: add require_full_screen to WifiManagerUI (#35191) add require_full_screen to WifiManagerUI --- system/ui/updater.py | 3 ++- system/ui/widgets/network.py | 5 +++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/system/ui/updater.py b/system/ui/updater.py index 42acaf5675..3ee02ce97c 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -110,7 +110,8 @@ class Updater: # Draw the Wi-Fi manager UI wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20) self.wifi_manager_ui.render(wifi_rect) - + if self.wifi_manager_ui.require_full_screen: + return back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT) if gui_button(back_button_rect, "Back"): diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index d94a3facb1..d34ad44f55 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -84,6 +84,11 @@ class WifiManagerUI: case _: self._draw_network_list(rect) + @property + def require_full_screen(self) -> bool: + """Check if the WiFi UI requires exclusive full-screen rendering.""" + return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm)) + def _draw_network_list(self, rect: rl.Rectangle): content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT) offset = self.scroll_panel.handle_scroll(rect, content_rect) From 480cc57da38358a54de2718c5f28d0d3722c4b39 Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Tue, 13 May 2025 10:32:33 -0600 Subject: [PATCH 124/135] Pass args to op auth (#35202) --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index 93e774a2ac..a7ed964812 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -254,7 +254,7 @@ function op_setup() { function op_auth() { op_before_cmd - op_run_command tools/lib/auth.py + op_run_command tools/lib/auth.py "$@" } function op_activate_venv() { From 3d696c0f90df5985ac0ff88df2afef8c39512e7f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 13 May 2025 13:34:54 -0700 Subject: [PATCH 125/135] jenkins: remove logs during setup --- selfdrive/test/setup_device_ci.sh | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 69555b19f7..d717698514 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -18,6 +18,9 @@ if [ -z "$TEST_DIR" ]; then exit 1 fi +# prevent storage from filling up +rm -rf /data/media/0/realdata/* + rm -rf /data/safe_staging/ || true if [ -d /data/safe_staging/ ]; then sudo umount /data/safe_staging/merged/ || true From 313ede3d1ed9b646ff5e94a83aaafe91ba5b6029 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 14:48:40 -0700 Subject: [PATCH 126/135] Update NDOG live (#35205) * no alt exp * live * fix * update res --- opendbc_repo | 2 +- selfdrive/car/card.py | 8 -------- selfdrive/selfdrived/selfdrived.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 7 ------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 4 insertions(+), 19 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 95ee4edd17..a633eeb65c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 95ee4edd17ecc6700eac12f2074de6b5478b9477 +Subproject commit a633eeb65c0807746cd9cf5cb1bb1dc227779f3f diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 378543164c..502daaa015 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -17,7 +17,6 @@ from opendbc.car.carlog import carlog from opendbc.car.fw_versions import ObdCallback from opendbc.car.car_helpers import get_car, interfaces from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase -from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp from openpilot.selfdrive.car.cruise import VCruiseHelper from openpilot.selfdrive.car.car_specific import MockCarState @@ -108,16 +107,9 @@ class Car: self.CI, self.CP = CI, CI.CP self.RI = RI - # set alternative experiences from parameters - disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 - if not disengage_on_accelerator: - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly - self.CP.passive = not controller_available or self.CP.dashcamOnly if self.CP.passive: safety_config = structs.CarParams.SafetyConfig() diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index c888551777..98c03acf1e 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -7,7 +7,6 @@ import cereal.messaging as messaging from cereal import car, log from msgq.visionipc import VisionIpcClient, VisionStreamType -from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params @@ -55,7 +54,6 @@ class SelfdriveD: self.CP = CP self.car_events = CarSpecificEvents(self.CP) - self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS) # Setup sockets self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents']) @@ -85,6 +83,7 @@ class SelfdriveD: # read params self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") car_recognized = self.CP.brand != 'mock' @@ -486,6 +485,7 @@ class SelfdriveD: def params_thread(self, evt): while not evt.is_set(): self.is_metric = self.params.get_bool("IsMetric") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl self.personality = self.read_personality_param() time.sleep(0.1) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3183db0c3a..8de2e60055 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,7 +17,6 @@ from cereal import car from cereal.services import SERVICE_LIST from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from opendbc.car.car_helpers import get_car, interfaces -from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout @@ -365,9 +364,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP - if not params.get_bool("DisengageOnAccelerator"): - CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - params.put("CarParams", CP.to_bytes()) @@ -769,9 +765,6 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non params_dict["IsRhdDetected"] = is_rhd if CP is not None: - if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: - params_dict["DisengageOnAccelerator"] = False - if fingerprint is None: if CP.fingerprintSource == "fw": params_dict["CarParamsCache"] = CP.as_builder().to_bytes() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f5cd05b16e..ab602d4726 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b31b7c5c29e6d30ccee2fa5105af778810fcd02e \ No newline at end of file +61bfff810e45b7a1577cfbb572a7b3c233f8551b \ No newline at end of file From 67486ff92d9f78bcd14865a8bb81de0b94ded075 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 16:59:35 -0700 Subject: [PATCH 127/135] bump tinygrad (#35208) * bump tinygrad * fix * why is mac different? * fix sim * relax that --- .gitmodules | 2 +- selfdrive/modeld/SConscript | 4 ++-- selfdrive/modeld/modeld.py | 5 +++-- selfdrive/test/test_onroad.py | 2 +- tinygrad_repo | 2 +- 5 files changed, 8 insertions(+), 7 deletions(-) diff --git a/.gitmodules b/.gitmodules index 54c7393986..ad6530de9a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -15,4 +15,4 @@ url = ../../commaai/teleoprtc [submodule "tinygrad"] path = tinygrad_repo - url = https://github.com/commaai/tinygrad.git + url = https://github.com/tinygrad/tinygrad.git diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index cecebfa18b..0704dd4704 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -43,9 +43,9 @@ pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abs if arch == 'larch64': device_string = 'QCOM=1' elif arch == 'Darwin': - device_string = 'CLANG=1 IMAGE=0' + device_string = 'CLANG=1 IMAGE=0 JIT=2' else: - device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0' + device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2' for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 5e1acdea0e..814bc7a999 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,13 +1,14 @@ #!/usr/bin/env python3 import os from openpilot.system.hardware import TICI -from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes if TICI: from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address os.environ['QCOM'] = '1' else: os.environ['LLVM'] = '1' + os.environ['JIT'] = '2' +from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes import time import pickle import numpy as np diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 4cd952219c..d0c725cacb 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -398,7 +398,7 @@ class TestOnroad: ("modelV2", 0.06, 0.040), # can miss cycles here and there, just important the avg frequency is 20Hz - ("driverStateV2", 0.2, 0.05), + ("driverStateV2", 0.3, 0.05), ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]] diff --git a/tinygrad_repo b/tinygrad_repo index 0e34f9082e..ddff9857b8 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b +Subproject commit ddff9857b8527c16e5917eeec2dc55da69fa74d2 From 478015e7888424d255188e2a608e8d78ec95e740 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 May 2025 17:04:16 -0700 Subject: [PATCH 128/135] typo --- tools/scripts/setup_ssh_keys.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 699765eee1..45dc0aa977 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -18,6 +18,6 @@ if __name__ == "__main__": params.put_bool("SshEnabled", True) params.put("GithubSshKeys", keys.text) params.put("GithubUsername", username) - print("Setup ssh keys successfully") + print("Set up ssh keys successfully") else: print("Error getting public keys from github") From d0bf2be6f04e5035a21f1b5fa1a7f4d2f0217f8b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 17:12:32 -0700 Subject: [PATCH 129/135] External GPU support for big models (#35172) * usb gpu * cleanup --------- Co-authored-by: Comma Device --- selfdrive/modeld/SConscript | 19 ++++++++++--------- selfdrive/modeld/modeld.py | 12 +++++++++--- 2 files changed, 19 insertions(+), 12 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 0704dd4704..28d60b9e00 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,3 +1,4 @@ +import os import glob Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') @@ -13,7 +14,6 @@ common_src = [ "transforms/transform.cc", ] - # OpenCL is a framework on Mac if arch == "Darwin": frameworks += ['OpenCL'] @@ -40,15 +40,16 @@ for model_name in ['driving_vision', 'driving_policy']: # Compile tinygrad model pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' -if arch == 'larch64': - device_string = 'QCOM=1' -elif arch == 'Darwin': - device_string = 'CLANG=1 IMAGE=0 JIT=2' -else: - device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2' - for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: + if "USBGPU" in os.environ and not model_name.startswith("dmon"): + device_string = "AMD=1 AMD_LLVM=1 NOLOCALS=0 IMAGE=0" + elif arch == 'larch64': + device_string = 'QCOM=1' + elif arch == 'Darwin': + device_string = 'CLANG=1 IMAGE=0 JIT=2' + else: + device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2' + fn = File(f"models/{model_name}").abspath cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd) - diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 814bc7a999..cdb16a6f63 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,7 +1,10 @@ #!/usr/bin/env python3 import os from openpilot.system.hardware import TICI -if TICI: +USBGPU = "USBGPU" in os.environ +if USBGPU: + os.environ['AMD'] = '1' +elif TICI: from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address os.environ['QCOM'] = '1' else: @@ -147,7 +150,7 @@ class ModelState: imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()), 'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())} - if TICI: + if TICI and not USBGPU: # The imgs tensors are backed by opencl memory, only need init once for key in imgs_cl: if key not in self.vision_inputs: @@ -188,7 +191,10 @@ def main(demo=False): sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) - config_realtime_process(7, 54) + if not USBGPU: + # USB GPU currently saturates a core so can't do this yet, + # also need to move the aux USB interrupts for good timings + config_realtime_process(7, 54) cloudlog.warning("setting up CL context") cl_context = CLContext() From 9d7fce8dd1e29a4e8e80eee843b05d4ba7411be9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 May 2025 18:48:21 -0700 Subject: [PATCH 130/135] CI: bump tinygrad in cronjob --- .github/workflows/repo-maintenance.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 3bcb143825..e041b07ec8 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -50,7 +50,7 @@ jobs: - name: bump submodules run: | git config --global --add safe.directory '*' - git -c submodule."tinygrad".update=none submodule update --remote + git submodule update --remote git add . - name: update car docs run: | From 77c35f8e5dd9bc952b63a754eb9ed810983094c7 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Tue, 13 May 2025 18:55:58 -0700 Subject: [PATCH 131/135] [bot] Update Python packages (#35214) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- uv.lock | 39 +++++++++++++++++++++------------------ 4 files changed, 24 insertions(+), 21 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index a633eeb65c..7faa3a0811 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a633eeb65c0807746cd9cf5cb1bb1dc227779f3f +Subproject commit 7faa3a0811ddc7bf7ba38f1c8e2d1b6c17342a30 diff --git a/panda b/panda index 7eb5dba3dc..6adac802b5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 7eb5dba3dc9960373128244c10fac99bba91f630 +Subproject commit 6adac802b5dce739e35b734b81b8d20fca4bf700 diff --git a/tinygrad_repo b/tinygrad_repo index ddff9857b8..f726f79a9e 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit ddff9857b8527c16e5917eeec2dc55da69fa74d2 +Subproject commit f726f79a9e1b3ab6dafb3dc012feb7901afdf721 diff --git a/uv.lock b/uv.lock index 60e0e521c5..5eafe7b636 100644 --- a/uv.lock +++ b/uv.lock @@ -163,7 +163,7 @@ wheels = [ [[package]] name = "azure-identity" -version = "1.22.0" +version = "1.23.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "azure-core" }, @@ -172,9 +172,9 @@ dependencies = [ { name = "msal-extensions" }, { name = "typing-extensions" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/58/8e/1b5916f5e1696bf05b009cf7d41383cea54aa8536d4a4f6f88cca15eb6a4/azure_identity-1.22.0.tar.gz", hash = "sha256:c8f5ef23e5295c2fa300c984dd9f5e1fe43503fc25c121c37ff6a15e39b800b9", size = 263346, upload-time = "2025-05-06T20:22:24.13Z" } +sdist = { url = "https://files.pythonhosted.org/packages/41/52/458c1be17a5d3796570ae2ed3c6b7b55b134b22d5ef8132b4f97046a9051/azure_identity-1.23.0.tar.gz", hash = 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target_mb: int, title: str | None): +def clip( + data_dir: str | None, + quality: Literal['low', 'high'], + prefix: str, + route: Route, + out: str, + start: int, + end: int, + target_mb: int, + title: str | None, +): logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') begin_at = max(start - SECONDS_TO_WARM, 0) @@ -256,7 +266,17 @@ def main(): p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: - clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size, args.title) + clip( + data_dir=args.data_dir, + quality=args.quality, + prefix=args.prefix, + route=args.route, + out=args.output, + start=args.start, + end=args.end, + target_mb=args.file_size, + title=args.title, + ) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) except Exception as e: From 1a3e3423035112b287a8fd0f73ef4222e4dd58ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 14 May 2025 04:22:44 +0200 Subject: [PATCH 133/135] ui: reset live parameters and delay when reset calibration pressed (#35211) * Reset params and lag too * Old param too --- selfdrive/ui/qt/offroad/settings.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 7a79413e2d..2057f1223e 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -194,6 +194,9 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { params.remove("CalibrationParams"); params.remove("LiveTorqueParameters"); + params.remove("LiveParameters"); + params.remove("LiveParametersV2"); + params.remove("LiveDelay"); } }); addItem(resetCalibBtn); @@ -326,7 +329,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { if (param.endsWith("Panel")) { QString panelName = param; panelName.chop(5); // Remove "Panel" suffix - + // Find the panel by name for (int i = 0; i < nav_btns->buttons().size(); i++) { if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) { @@ -338,7 +341,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { emit expandToggleDescription(param); } } - + panel_widget->setCurrentIndex(index); nav_btns->buttons()[index]->setChecked(true); } From bdffd3408855b167e394199d4550d48aa566c225 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Tue, 13 May 2025 19:23:36 -0700 Subject: [PATCH 134/135] feat(clip): support metric units if requested (#35213) --- tools/clip/run.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tools/clip/run.py b/tools/clip/run.py index 9414f8fba7..d6b75566b1 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -15,6 +15,7 @@ from typing import Literal from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.tools.lib.route import Route @@ -166,6 +167,7 @@ def clip( end: int, target_mb: int, title: str | None, + use_metric: bool = False, ): logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB') @@ -225,8 +227,11 @@ def clip( xvfb_proc = start_proc(xvfb_cmd, env) atexit.register(lambda: xvfb_proc.terminate()) + ui_proc = start_proc(ui_cmd, env) atexit.register(lambda: ui_proc.terminate()) + Params().put('IsMetric', '1' if use_metric else '0') + replay_proc = start_proc(replay_cmd, env) atexit.register(lambda: replay_proc.terminate()) procs = [replay_proc, ui_proc, xvfb_proc] @@ -263,6 +268,7 @@ def main(): p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}') p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high') p.add_argument('-s', '--start', help='start clipping at seconds', type=int) + p.add_argument('-m', '--metric', help='use metric units in ui (e.g. kph)', action='store_true') p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title) args = parse_args(p) try: @@ -276,6 +282,7 @@ def main(): end=args.end, target_mb=args.file_size, title=args.title, + use_metric=args.metric, ) except KeyboardInterrupt as e: logger.exception('interrupted by user', exc_info=e) From cbec1886e7e17e5ab4d8ab80409c39492ac21917 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 14 May 2025 04:26:28 +0200 Subject: [PATCH 135/135] paramsd: remove saved param if mismatch (#35215) remove LiveParametersV2 --- selfdrive/locationd/paramsd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index a7712ba1d9..ec15f501ae 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -248,6 +248,7 @@ def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: b retrieve_success = True except Exception as e: cloudlog.error(f"Failed to retrieve initial values: {e}") + params.remove("LiveParametersV2") if not replay: # When driving in wet conditions the stiffness can go down, and then be too low on the next drive