diff --git a/.gitattributes b/.gitattributes index 8781a7371f..eda2505d0e 100644 --- a/.gitattributes +++ b/.gitattributes @@ -2,7 +2,6 @@ # to move existing files into LFS: # git add --renormalize . -*.dlc filter=lfs diff=lfs merge=lfs -text *.onnx filter=lfs diff=lfs merge=lfs -text *.svg filter=lfs diff=lfs merge=lfs -text *.png filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b2831118f6..b47d06f06d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -60,7 +60,7 @@ jobs: run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car" + MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager" - name: Static analysis timeout-minutes: 1 run: | @@ -337,7 +337,6 @@ jobs: # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml name: Create UI Report runs-on: ubuntu-latest - if: github.event_name == 'pull_request' steps: - uses: actions/checkout@v4 with: @@ -353,5 +352,5 @@ jobs: - name: Upload Test Report uses: actions/upload-artifact@v4 with: - name: report-${{ github.event.number }} + name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} path: selfdrive/ui/tests/test_ui/report_1/screenshots diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index f7f92a0387..d0dead5126 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -21,7 +21,7 @@ jobs: close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' stale-pr-label: stale delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo - exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale + exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 271e4bda17..c1c3552472 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -43,40 +43,10 @@ jobs: source selfdrive/test/setup_vsound.sh && \ CI=1 pytest tools/sim/tests/test_metadrive_bridge.py" - test_compatibility: - name: test 20.04 + 3.11 - runs-on: ubuntu-20.04 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - name: Installing ubuntu dependencies - run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh - - name: Installing python - uses: actions/setup-python@v5 - with: - python-version: '3.11.4' - - name: Installing pip - run: pip install pip==24.0 - - name: Installing uv - run: pip install uv - - name: git LFS - run: git lfs pull - - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - - name: Getting scons cache - uses: 'actions/cache@v4' - with: - path: /tmp/scons_cache - key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} - restore-keys: | - scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }} - scons-${{ runner.arch }}-ubuntu2004 - - name: Building openpilot - run: uv run scons -u -j$(nproc) - devcontainer: name: devcontainer runs-on: ubuntu-latest + if: false # we can re-enable once this is faster steps: - uses: actions/checkout@v4 with: diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index c6d70e9ceb..13337bacbe 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -1,5 +1,8 @@ name: "ui preview" on: + push: + branches: + - master pull_request_target: types: [assigned, opened, synchronize, reopened, edited] branches: @@ -10,6 +13,9 @@ on: env: UI_JOB_NAME: "Create UI Report" + REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} + SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }} + BRANCH_NAME: "openpilot/pr-${{ github.event.number }}" jobs: preview: @@ -22,87 +28,143 @@ jobs: pull-requests: write actions: read steps: - - name: Waiting for ui test to start + - name: Waiting for ui generation to start run: sleep 30 - - name: Wait for ui report + - name: Waiting for ui generation to end uses: lewagon/wait-on-check-action@v1.3.4 with: - ref: ${{ github.event.pull_request.head.sha }} + ref: ${{ env.SHA }} check-name: ${{ env.UI_JOB_NAME }} repo-token: ${{ secrets.GITHUB_TOKEN }} allowed-conclusions: success wait-interval: 20 - - name: Get workflow run ID + - name: Getting workflow run ID id: get_run_id run: | - echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT - - - name: Checkout ci-artifacts - uses: actions/checkout@v4 - with: - repository: commaai/ci-artifacts - ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} - path: ${{ github.workspace }}/ci-artifacts - ref: master + echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT - - name: Download artifact + - name: Getting proposed ui id: download-artifact uses: dawidd6/action-download-artifact@v6 with: github_token: ${{ secrets.GITHUB_TOKEN }} run_id: ${{ steps.get_run_id.outputs.run_id }} search_artifacts: true - name: report-${{ github.event.number }} - path: ${{ github.workspace }}/ci-artifacts + name: report-${{ env.REPORT_NAME }} + path: ${{ github.workspace }}/pr_ui + + - name: Getting master ui + uses: actions/checkout@v4 + with: + repository: commaai/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/master_ui + ref: openpilot_master_ui + + - name: Saving new master ui + if: github.ref == 'refs/heads/master' && github.event_name == 'push' + working-directory: ${{ github.workspace }}/master_ui + run: | + git checkout --orphan=new_master_ui + git rm -rf * + git branch -D openpilot_master_ui + git branch -m openpilot_master_ui + git config user.name "GitHub Actions Bot" + git config user.email "<>" + mv ${{ github.workspace }}/pr_ui/*.png . + git add . + git commit -m "screenshots for commit ${{ env.SHA }}" + git push origin openpilot_master_ui --force + + - name: Finding diff + if: github.event_name == 'pull_request_target' + id: find_diff + run: >- + sudo apt-get install -y imagemagick + + scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard" + A=($scenes) + + DIFF="" + open=false + TABLE="All Screenshots" + TABLE="${TABLE}" + + for ((i=0; i<${#A[*]}; i=i+1)); + do + + if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then + open=true + convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png + composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png + convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif + + mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png + + DIFF="${DIFF}
" + DIFF="${DIFF}${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$" + DIFF="${DIFF}
" + + DIFF="${DIFF}" + DIFF="${DIFF} " + DIFF="${DIFF} " + DIFF="${DIFF}" + + DIFF="${DIFF}" + DIFF="${DIFF} " + DIFF="${DIFF} " + DIFF="${DIFF}" + + DIFF="${DIFF}
master proposed
diff composite diff
" + DIFF="${DIFF}" + else + rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png + fi + + INDEX=$(($i % 2)) + if [[ $INDEX -eq 0 ]]; then + TABLE="${TABLE}" + fi + TABLE="${TABLE} " + if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then + TABLE="${TABLE}" + fi + done + + TABLE="${TABLE}" + TABLE="${TABLE}" + + if $open; then + TABLE="
${TABLE}" + else + TABLE="
${TABLE}" + fi + + echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT" - - name: Push Screenshots - working-directory: ${{ github.workspace }}/ci-artifacts + - name: Saving proposed ui + if: github.event_name == 'pull_request_target' + working-directory: ${{ github.workspace }}/master_ui run: | - git checkout -b openpilot/pr-${{ github.event.number }} git config user.name "GitHub Actions Bot" git config user.email "<>" - git add ${{ github.workspace }}/ci-artifacts/* + git checkout --orphan=${{ env.BRANCH_NAME }} + git rm -rf * + mv ${{ github.workspace }}/pr_ui/* . + git add . git commit -m "screenshots for PR #${{ github.event.number }}" - git push origin openpilot/pr-${{ github.event.number }} --force + git push origin ${{ env.BRANCH_NAME }} --force - name: Comment Screenshots on PR + if: github.event_name == 'pull_request_target' uses: thollander/actions-comment-pull-request@v2 with: message: | - ## UI Screenshots - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+ ## UI Preview + ${{ steps.find_diff.outputs.DIFF }} comment_tag: run_id_screenshots pr_number: ${{ github.event.number }} GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.gitignore b/.gitignore index d66823bb50..919e011fe3 100644 --- a/.gitignore +++ b/.gitignore @@ -55,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out selfdrive/car/tests/cars_dump system/camerad/camerad system/camerad/test/ae_gray_test -selfdrive/modeld/_modeld -selfdrive/modeld/_dmonitoringmodeld -/src/ notebooks hyperthneed diff --git a/.gitmodules b/.gitmodules index ad6530de9a..54c7393986 100644 --- a/.gitmodules +++ b/.gitmodules @@ -15,4 +15,4 @@ url = ../../commaai/teleoprtc [submodule "tinygrad"] path = tinygrad_repo - url = https://github.com/tinygrad/tinygrad.git + url = https://github.com/commaai/tinygrad.git diff --git a/Jenkinsfile b/Jenkinsfile index 799b4fbbeb..7137b8bf36 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -84,6 +84,8 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { timeout(time: 35, unit: 'MINUTES') { retry (3) { + def date = sh(script: 'date', returnStdout: true).trim(); + device(device_ip, "set time", "date -s '" + date + "'") device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) } steps.each { item -> @@ -147,7 +149,7 @@ node { ["build openpilot", "cd system/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], + //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { diff --git a/RELEASES.md b/RELEASES.md index 57f6979117..1435809d84 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,12 @@ Version 0.9.8 (2024-XX-XX) ======================== +* New driving model + * Trained in brand new ML simulator + * Model now gates applying positive accel in Chill mode +* New driving monitoring model + * Reduced false positives related to passengers * Added toggle to enable driver monitoring even when openpilot is not engaged +* New Toyota TSS2 longitudinal tune Version 0.9.7 (2024-06-13) ======================== diff --git a/SConstruct b/SConstruct index fea47440cf..8aa46b9359 100644 --- a/SConstruct +++ b/SConstruct @@ -64,6 +64,10 @@ AddOption('--pc-thneed', dest='pc_thneed', help='use thneed on pc') +AddOption('--mutation', + action='store_true', + help='generate mutation-ready code') + AddOption('--minimal', action='store_false', dest='extras', diff --git a/cereal/car.capnp b/cereal/car.capnp deleted file mode 100644 index 9f72e31637..0000000000 --- a/cereal/car.capnp +++ /dev/null @@ -1,715 +0,0 @@ -using Cxx = import "./include/c++.capnp"; -$Cxx.namespace("cereal"); - -@0x8e2af1e708af8b8d; - -# ******* events causing controls state machine transition ******* - -# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately -# move due to being referenced by structs in this file -struct OnroadEvent @0x9b1657f34caf3ad3 { - name @0 :EventName; - - # event types - enable @1 :Bool; - noEntry @2 :Bool; - warning @3 :Bool; # alerts presented only when enabled or soft disabling - userDisable @4 :Bool; - softDisable @5 :Bool; - immediateDisable @6 :Bool; - preEnable @7 :Bool; - permanent @8 :Bool; # alerts presented regardless of openpilot state - overrideLateral @10 :Bool; - overrideLongitudinal @9 :Bool; - - enum EventName @0xbaa8c5d505f727de { - canError @0; - steerUnavailable @1; - wrongGear @4; - doorOpen @5; - seatbeltNotLatched @6; - espDisabled @7; - wrongCarMode @8; - steerTempUnavailable @9; - reverseGear @10; - buttonCancel @11; - buttonEnable @12; - pedalPressed @13; # exits active state - preEnableStandstill @73; # added during pre-enable state with brake - gasPressedOverride @108; # added when user is pressing gas with no disengage on gas - steerOverride @114; - cruiseDisabled @14; - speedTooLow @17; - outOfSpace @18; - overheat @19; - calibrationIncomplete @20; - calibrationInvalid @21; - calibrationRecalibrating @117; - controlsMismatch @22; - pcmEnable @23; - pcmDisable @24; - radarFault @26; - brakeHold @28; - parkBrake @29; - manualRestart @30; - lowSpeedLockout @31; - joystickDebug @34; - steerTempUnavailableSilent @35; - resumeRequired @36; - preDriverDistracted @37; - promptDriverDistracted @38; - driverDistracted @39; - preDriverUnresponsive @43; - promptDriverUnresponsive @44; - driverUnresponsive @45; - belowSteerSpeed @46; - lowBattery @48; - accFaulted @51; - sensorDataInvalid @52; - commIssue @53; - commIssueAvgFreq @109; - tooDistracted @54; - posenetInvalid @55; - soundsUnavailable @56; - preLaneChangeLeft @57; - preLaneChangeRight @58; - laneChange @59; - lowMemory @63; - stockAeb @64; - ldw @65; - carUnrecognized @66; - invalidLkasSetting @69; - speedTooHigh @70; - laneChangeBlocked @71; - relayMalfunction @72; - stockFcw @74; - startup @75; - startupNoCar @76; - startupNoControl @77; - startupMaster @78; - startupNoFw @104; - fcw @79; - steerSaturated @80; - belowEngageSpeed @84; - noGps @85; - wrongCruiseMode @87; - modeldLagging @89; - deviceFalling @90; - fanMalfunction @91; - cameraMalfunction @92; - cameraFrameRate @110; - processNotRunning @95; - dashcamMode @96; - controlsInitializing @98; - usbError @99; - roadCameraError @100; - driverCameraError @101; - wideRoadCameraError @102; - highCpuUsage @105; - cruiseMismatch @106; - lkasDisabled @107; - canBusMissing @111; - controlsdLagging @112; - resumeBlocked @113; - steerTimeLimit @115; - vehicleSensorsInvalid @116; - locationdTemporaryError @103; - locationdPermanentError @118; - paramsdTemporaryError @50; - paramsdPermanentError @119; - actuatorsApiUnavailable @120; - espActive @121; - personalityChanged @122; - - radarCanErrorDEPRECATED @15; - communityFeatureDisallowedDEPRECATED @62; - radarCommIssueDEPRECATED @67; - driverMonitorLowAccDEPRECATED @68; - gasUnavailableDEPRECATED @3; - dataNeededDEPRECATED @16; - modelCommIssueDEPRECATED @27; - ipasOverrideDEPRECATED @33; - geofenceDEPRECATED @40; - driverMonitorOnDEPRECATED @41; - driverMonitorOffDEPRECATED @42; - calibrationProgressDEPRECATED @47; - invalidGiraffeHondaDEPRECATED @49; - invalidGiraffeToyotaDEPRECATED @60; - internetConnectivityNeededDEPRECATED @61; - whitePandaUnsupportedDEPRECATED @81; - commIssueWarningDEPRECATED @83; - focusRecoverActiveDEPRECATED @86; - neosUpdateRequiredDEPRECATED @88; - modelLagWarningDEPRECATED @93; - startupOneplusDEPRECATED @82; - startupFuzzyFingerprintDEPRECATED @97; - noTargetDEPRECATED @25; - brakeUnavailableDEPRECATED @2; - plannerErrorDEPRECATED @32; - gpsMalfunctionDEPRECATED @94; - } -} - -# ******* main car state @ 100hz ******* -# all speeds in m/s - -struct CarState { - events @13 :List(OnroadEvent); - - # CAN health - canValid @26 :Bool; # invalid counter/checksums - canTimeout @40 :Bool; # CAN bus dropped out - canErrorCounter @48 :UInt32; - - # car speed - vEgo @1 :Float32; # best estimate of speed - aEgo @16 :Float32; # best estimate of aCAN cceleration - vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors - vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI - - vCruise @53 :Float32; # actual set speed - vCruiseCluster @54 :Float32; # set speed to display in the UI - - yawRate @22 :Float32; # best estimate of yaw rate - standstill @18 :Bool; - wheelSpeeds @2 :WheelSpeeds; - - # gas pedal, 0.0-1.0 - gas @3 :Float32; # this is user pedal only - gasPressed @4 :Bool; # this is user pedal only - - engineRpm @46 :Float32; - - # brake pedal, 0.0-1.0 - brake @5 :Float32; # this is user pedal only - brakePressed @6 :Bool; # this is user pedal only - regenBraking @45 :Bool; # this is user pedal only - parkingBrake @39 :Bool; - brakeHoldActive @38 :Bool; - - # steering wheel - steeringAngleDeg @7 :Float32; - steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple - steeringRateDeg @15 :Float32; - steeringTorque @8 :Float32; # TODO: standardize units - steeringTorqueEps @27 :Float32; # TODO: standardize units - steeringPressed @9 :Bool; # if the user is using the steering wheel - steerFaultTemporary @35 :Bool; # temporary EPS fault - steerFaultPermanent @36 :Bool; # permanent EPS fault - stockAeb @30 :Bool; - stockFcw @31 :Bool; - espDisabled @32 :Bool; - accFaulted @42 :Bool; - carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable - espActive @51 :Bool; - vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc. - - # cruise state - cruiseState @10 :CruiseState; - - # gear - gearShifter @14 :GearShifter; - - # button presses - buttonEvents @11 :List(ButtonEvent); - leftBlinker @20 :Bool; - rightBlinker @21 :Bool; - genericToggle @23 :Bool; - - # lock info - doorOpen @24 :Bool; - seatbeltUnlatched @25 :Bool; - - # clutch (manual transmission only) - clutchPressed @28 :Bool; - - # blindspot sensors - leftBlindspot @33 :Bool; # Is there something blocking the left lane change - rightBlindspot @34 :Bool; # Is there something blocking the right lane change - - fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 - charging @43 :Bool; - - # process meta - cumLagMs @50 :Float32; - - struct WheelSpeeds { - # optional wheel speeds - fl @0 :Float32; - fr @1 :Float32; - rl @2 :Float32; - rr @3 :Float32; - } - - struct CruiseState { - enabled @0 :Bool; - speed @1 :Float32; - speedCluster @6 :Float32; # Set speed as shown on instrument cluster - available @2 :Bool; - speedOffset @3 :Float32; - standstill @4 :Bool; - nonAdaptive @5 :Bool; - } - - enum GearShifter { - unknown @0; - park @1; - drive @2; - neutral @3; - reverse @4; - sport @5; - low @6; - brake @7; - eco @8; - manumatic @9; - } - - # send on change - struct ButtonEvent { - pressed @0 :Bool; - type @1 :Type; - - enum Type { - unknown @0; - leftBlinker @1; - rightBlinker @2; - accelCruise @3; - decelCruise @4; - cancel @5; - altButton1 @6; - altButton2 @7; - altButton3 @8; - setCruise @9; - resumeCruise @10; - gapAdjustCruise @11; - } - } - - # deprecated - errorsDEPRECATED @0 :List(OnroadEvent.EventName); - brakeLightsDEPRECATED @19 :Bool; - steeringRateLimitedDEPRECATED @29 :Bool; - canMonoTimesDEPRECATED @12: List(UInt64); - canRcvTimeoutDEPRECATED @49 :Bool; -} - -# ******* radar state @ 20hz ******* - -struct RadarData @0x888ad6581cf0aacb { - errors @0 :List(Error); - points @1 :List(RadarPoint); - - enum Error { - canError @0; - fault @1; - wrongConfig @2; - } - - # similar to LiveTracks - # is one timestamp valid for all? I think so - struct RadarPoint { - trackId @0 :UInt64; # no trackId reuse - - # these 3 are the minimum required - dRel @1 :Float32; # m from the front bumper of the car - yRel @2 :Float32; # m - vRel @3 :Float32; # m/s - - # these are optional and valid if they are not NaN - aRel @4 :Float32; # m/s^2 - yvRel @5 :Float32; # m/s - - # some radars flag measurements VS estimates - measured @6 :Bool; - } - - # deprecated - canMonoTimesDEPRECATED @2 :List(UInt64); -} - -# ******* car controls @ 100hz ******* - -struct CarControl { - # must be true for any actuator commands to work - enabled @0 :Bool; - latActive @11: Bool; - longActive @12: Bool; - - # Actuator commands as computed by controlsd - actuators @6 :Actuators; - - # moved to CarOutput - actuatorsOutputDEPRECATED @10 :Actuators; - - leftBlinker @15: Bool; - rightBlinker @16: Bool; - - orientationNED @13 :List(Float32); - angularVelocity @14 :List(Float32); - - cruiseControl @4 :CruiseControl; - hudControl @5 :HUDControl; - - struct Actuators { - # range from 0.0 - 1.0 - gas @0: Float32; - brake @1: Float32; - # range from -1.0 - 1.0 - steer @2: Float32; - # value sent over can to the car - steerOutputCan @8: Float32; - steeringAngleDeg @3: Float32; - - curvature @7: Float32; - - speed @6: Float32; # m/s - accel @4: Float32; # m/s^2 - longControlState @5: LongControlState; - - enum LongControlState @0xe40f3a917d908282{ - off @0; - pid @1; - stopping @2; - starting @3; - } - } - - struct CruiseControl { - cancel @0: Bool; - resume @1: Bool; - override @4: Bool; - speedOverrideDEPRECATED @2: Float32; - accelOverrideDEPRECATED @3: Float32; - } - - struct HUDControl { - speedVisible @0: Bool; - setSpeed @1: Float32; - lanesVisible @2: Bool; - leadVisible @3: Bool; - visualAlert @4: VisualAlert; - audibleAlert @5: AudibleAlert; - rightLaneVisible @6: Bool; - leftLaneVisible @7: Bool; - rightLaneDepart @8: Bool; - leftLaneDepart @9: Bool; - leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead - - enum VisualAlert { - # these are the choices from the Honda - # map as good as you can for your car - none @0; - fcw @1; - steerRequired @2; - brakePressed @3; - wrongGear @4; - seatbeltUnbuckled @5; - speedTooHigh @6; - ldw @7; - } - - enum AudibleAlert { - none @0; - - engage @1; - disengage @2; - refuse @3; - - warningSoft @4; - warningImmediate @5; - - prompt @6; - promptRepeat @7; - promptDistracted @8; - } - } - - gasDEPRECATED @1 :Float32; - brakeDEPRECATED @2 :Float32; - steeringTorqueDEPRECATED @3 :Float32; - activeDEPRECATED @7 :Bool; - rollDEPRECATED @8 :Float32; - pitchDEPRECATED @9 :Float32; -} - -struct CarOutput { - # Any car specific rate limits or quirks applied by - # the CarController are reflected in actuatorsOutput - # and matches what is sent to the car - actuatorsOutput @0 :CarControl.Actuators; -} - -# ****** car param ****** - -struct CarParams { - carName @0 :Text; - carFingerprint @1 :Text; - fuzzyFingerprint @55 :Bool; - - notCar @66 :Bool; # flag for non-car robotics platforms - - pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? - enableDsu @5 :Bool; # driving support unit - enableBsm @56 :Bool; # blind spot monitoring - flags @64 :UInt32; # flags for car specific quirks - experimentalLongitudinalAvailable @71 :Bool; - - minEnableSpeed @7 :Float32; - minSteerSpeed @8 :Float32; - safetyConfigs @62 :List(SafetyConfig); - alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas - - # Car docs fields - maxLateralAccel @68 :Float32; - autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically - - # things about the car in the manual - mass @17 :Float32; # [kg] curb weight: all fluids no cargo - wheelbase @18 :Float32; # [m] distance from rear axle to front axle - centerToFront @19 :Float32; # [m] distance from center of mass to front axle - steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle - steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0) - - # things we can derive - rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia - tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear] - tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff - tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff - - longitudinalTuning @25 :LongitudinalPIDTuning; - lateralParams @48 :LateralParams; - lateralTuning :union { - pid @26 :LateralPIDTuning; - indiDEPRECATED @27 :LateralINDITuning; - lqrDEPRECATED @40 :LateralLQRTuning; - torque @67 :LateralTorqueTuning; - } - - steerLimitAlert @28 :Bool; - steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued - - vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state - vEgoStarting @59 :Float32; # Speed at which the car goes into starting state - stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping - steerControlType @34 :SteerControlType; - radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out - stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary - stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop - startAccel @32 :Float32; # Required acceleration to get car moving - startingState @70 :Bool; # Does this car make use of special starting state - - steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds - longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds - openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? - carVin @38 :Text; # VIN number queried during fingerprinting - dashcamOnly @41: Bool; - passive @73: Bool; # is openpilot in control? - transmissionType @43 :TransmissionType; - carFw @44 :List(CarFw); - - radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard - fingerprintSource @49: FingerprintSource; - networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network - - wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds - - struct SafetyConfig { - safetyModel @0 :SafetyModel; - safetyParam @3 :UInt16; - safetyParamDEPRECATED @1 :Int16; - safetyParam2DEPRECATED @2 :UInt32; - } - - struct LateralParams { - torqueBP @0 :List(Int32); - torqueV @1 :List(Int32); - } - - struct LateralPIDTuning { - kpBP @0 :List(Float32); - kpV @1 :List(Float32); - kiBP @2 :List(Float32); - kiV @3 :List(Float32); - kf @4 :Float32; - } - - struct LateralTorqueTuning { - useSteeringAngle @0 :Bool; - kp @1 :Float32; - ki @2 :Float32; - friction @3 :Float32; - kf @4 :Float32; - steeringAngleDeadzoneDeg @5 :Float32; - latAccelFactor @6 :Float32; - latAccelOffset @7 :Float32; - } - - struct LongitudinalPIDTuning { - kpBP @0 :List(Float32); - kpV @1 :List(Float32); - kiBP @2 :List(Float32); - kiV @3 :List(Float32); - kf @6 :Float32; - deadzoneBPDEPRECATED @4 :List(Float32); - deadzoneVDEPRECATED @5 :List(Float32); - } - - struct LateralINDITuning { - outerLoopGainBP @4 :List(Float32); - outerLoopGainV @5 :List(Float32); - innerLoopGainBP @6 :List(Float32); - innerLoopGainV @7 :List(Float32); - timeConstantBP @8 :List(Float32); - timeConstantV @9 :List(Float32); - actuatorEffectivenessBP @10 :List(Float32); - actuatorEffectivenessV @11 :List(Float32); - - outerLoopGainDEPRECATED @0 :Float32; - innerLoopGainDEPRECATED @1 :Float32; - timeConstantDEPRECATED @2 :Float32; - actuatorEffectivenessDEPRECATED @3 :Float32; - } - - struct LateralLQRTuning { - scale @0 :Float32; - ki @1 :Float32; - dcGain @2 :Float32; - - # State space system - a @3 :List(Float32); - b @4 :List(Float32); - c @5 :List(Float32); - - k @6 :List(Float32); # LQR gain - l @7 :List(Float32); # Kalman gain - } - - enum SafetyModel { - silent @0; - hondaNidec @1; - toyota @2; - elm327 @3; - gm @4; - hondaBoschGiraffe @5; - ford @6; - cadillac @7; - hyundai @8; - chrysler @9; - tesla @10; - subaru @11; - gmPassive @12; - mazda @13; - nissan @14; - volkswagen @15; - toyotaIpas @16; - allOutput @17; - gmAscm @18; - noOutput @19; # like silent but without silent CAN TXs - hondaBosch @20; - volkswagenPq @21; - subaruPreglobal @22; # pre-Global platform - hyundaiLegacy @23; - hyundaiCommunity @24; - volkswagenMlb @25; - hongqi @26; - body @27; - hyundaiCanfd @28; - volkswagenMqbEvo @29; - chryslerCusw @30; - psa @31; - } - - enum SteerControlType { - torque @0; - angle @1; - - curvatureDEPRECATED @2; - } - - enum TransmissionType { - unknown @0; - automatic @1; # Traditional auto, including DSG - manual @2; # True "stick shift" only - direct @3; # Electric vehicle or other direct drive - cvt @4; - } - - struct CarFw { - ecu @0 :Ecu; - fwVersion @1 :Data; - address @2 :UInt32; - subAddress @3 :UInt8; - responseAddress @4 :UInt32; - request @5 :List(Data); - brand @6 :Text; - bus @7 :UInt8; - logging @8 :Bool; - obdMultiplexing @9 :Bool; - } - - enum Ecu { - eps @0; - abs @1; - fwdRadar @2; - fwdCamera @3; - engine @4; - unknown @5; - transmission @8; # Transmission Control Module - hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer - srs @9; # airbag - gateway @10; # can gateway - hud @11; # heads up display - combinationMeter @12; # instrument cluster - electricBrakeBooster @15; - shiftByWire @16; - adas @19; - cornerRadar @21; - hvac @20; - parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. - epb @22; # electronic parking brake - telematics @23; - body @24; # body control module - - # Toyota only - dsu @6; - - # Honda only - vsa @13; # Vehicle Stability Assist - programmedFuelInjection @14; - - debug @17; - } - - enum FingerprintSource { - can @0; - fw @1; - fixed @2; - } - - enum NetworkLocation { - fwdCamera @0; # Standard/default integration at LKAS camera - gateway @1; # Integration at vehicle's CAN gateway - } - - enableGasInterceptorDEPRECATED @2 :Bool; - enableCameraDEPRECATED @4 :Bool; - enableApgsDEPRECATED @6 :Bool; - steerRateCostDEPRECATED @33 :Float32; - isPandaBlackDEPRECATED @39 :Bool; - hasStockCameraDEPRECATED @57 :Bool; - safetyParamDEPRECATED @10 :Int16; - safetyModelDEPRECATED @9 :SafetyModel; - safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; - minSpeedCanDEPRECATED @51 :Float32; - communityFeatureDEPRECATED @46: Bool; - startingAccelRateDEPRECATED @53 :Float32; - steerMaxBPDEPRECATED @11 :List(Float32); - steerMaxVDEPRECATED @12 :List(Float32); - gasMaxBPDEPRECATED @13 :List(Float32); - gasMaxVDEPRECATED @14 :List(Float32); - brakeMaxBPDEPRECATED @15 :List(Float32); - brakeMaxVDEPRECATED @16 :List(Float32); - directAccelControlDEPRECATED @30 :Bool; - maxSteeringAngleDegDEPRECATED @54 :Float32; - longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32; -} diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 120000 index 0000000000..4bc7f89b1f --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1 @@ +../opendbc_repo/opendbc/car/car.capnp \ No newline at end of file diff --git a/cereal/log.capnp b/cereal/log.capnp index 079b62e209..c35219b3ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -17,6 +17,118 @@ struct Map(Key, Value) { } } +struct OnroadEvent @0xc4fa6047f024e718 { + name @0 :EventName; + + # event types + enable @1 :Bool; + noEntry @2 :Bool; + warning @3 :Bool; # alerts presented only when enabled or soft disabling + userDisable @4 :Bool; + softDisable @5 :Bool; + immediateDisable @6 :Bool; + preEnable @7 :Bool; + permanent @8 :Bool; # alerts presented regardless of openpilot state + overrideLateral @10 :Bool; + overrideLongitudinal @9 :Bool; + + enum EventName @0x91f1992a1f77fb03 { + canError @0; + steerUnavailable @1; + wrongGear @2; + doorOpen @3; + seatbeltNotLatched @4; + espDisabled @5; + wrongCarMode @6; + steerTempUnavailable @7; + reverseGear @8; + buttonCancel @9; + buttonEnable @10; + pedalPressed @11; # exits active state + preEnableStandstill @12; # added during pre-enable state with brake + gasPressedOverride @13; # added when user is pressing gas with no disengage on gas + steerOverride @14; + cruiseDisabled @15; + speedTooLow @16; + outOfSpace @17; + overheat @18; + calibrationIncomplete @19; + calibrationInvalid @20; + calibrationRecalibrating @21; + controlsMismatch @22; + pcmEnable @23; + pcmDisable @24; + radarFault @25; + brakeHold @26; + parkBrake @27; + manualRestart @28; + joystickDebug @29; + longitudinalManeuver @30; + steerTempUnavailableSilent @31; + resumeRequired @32; + preDriverDistracted @33; + promptDriverDistracted @34; + driverDistracted @35; + preDriverUnresponsive @36; + promptDriverUnresponsive @37; + driverUnresponsive @38; + belowSteerSpeed @39; + lowBattery @40; + accFaulted @41; + sensorDataInvalid @42; + commIssue @43; + commIssueAvgFreq @44; + tooDistracted @45; + posenetInvalid @46; + soundsUnavailable @47; + preLaneChangeLeft @48; + preLaneChangeRight @49; + laneChange @50; + lowMemory @51; + stockAeb @52; + ldw @53; + carUnrecognized @54; + invalidLkasSetting @55; + speedTooHigh @56; + laneChangeBlocked @57; + relayMalfunction @58; + stockFcw @59; + startup @60; + startupNoCar @61; + startupNoControl @62; + startupNoSecOcKey @63; + startupMaster @64; + fcw @65; + steerSaturated @66; + belowEngageSpeed @67; + noGps @68; + wrongCruiseMode @69; + modeldLagging @70; + deviceFalling @71; + fanMalfunction @72; + cameraMalfunction @73; + cameraFrameRate @74; + processNotRunning @75; + dashcamMode @76; + selfdriveInitializing @77; + usbError @78; + cruiseMismatch @79; + canBusMissing @80; + selfdrivedLagging @81; + resumeBlocked @82; + steerTimeLimit @83; + vehicleSensorsInvalid @84; + locationdTemporaryError @85; + locationdPermanentError @86; + paramsdTemporaryError @87; + paramsdPermanentError @88; + actuatorsApiUnavailable @89; + espActive @90; + personalityChanged @91; + aeb @92; + } +} + enum LongitudinalPersonality { aggressive @0; standard @1; @@ -611,7 +723,6 @@ struct RadarState @0x9a185389d6fdd05f { leadOne @3 :LeadData; leadTwo @4 :LeadData; - cumLagMs @5 :Float32; struct LeadData { dRel @0 :Float32; @@ -641,6 +752,7 @@ struct RadarState @0x9a185389d6fdd05f { calCycleDEPRECATED @8 :Int32; calPercDEPRECATED @9 :Int8; canMonoTimesDEPRECATED @10 :List(UInt64); + cumLagMsDEPRECATED @5 :Float32; } struct LiveCalibrationData { @@ -671,7 +783,7 @@ struct LiveCalibrationData { } } -struct LiveTracks { +struct LiveTracksDEPRECATED { trackId @0 :Int32; dRel @1 :Float32; yRel @2 :Float32; @@ -698,6 +810,7 @@ struct SelfdriveState { alertSize @6 :AlertSize; alertType @7 :Text; alertSound @8 :Car.CarControl.HUDControl.AudibleAlert; + alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert; # configurable driving settings experimentalMode @10 :Bool; @@ -726,7 +839,6 @@ struct SelfdriveState { } struct ControlsState @0x97ff69c53601abf1 { - cumLagMs @15 :Float32; longitudinalPlanMonoTime @28 :UInt64; lateralPlanMonoTime @50 :UInt64; @@ -735,7 +847,6 @@ struct ControlsState @0x97ff69c53601abf1 { upAccelCmd @4 :Float32; uiAccelCmd @5 :Float32; ufAccelCmd @33 :Float32; - aTarget @35 :Float32; curvature @37 :Float32; # path curvature from vehicle model desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers forceDecel @51 :Bool; @@ -880,12 +991,15 @@ struct ControlsState @0x97ff69c53601abf1 { vCruiseDEPRECATED @22 :Float32; # actual set speed vCruiseClusterDEPRECATED @63 :Float32; # set speed to display in the UI startMonoTimeDEPRECATED @48 :UInt64; + cumLagMsDEPRECATED @15 :Float32; + aTargetDEPRECATED @35 :Float32; } struct DrivingModelData { frameId @0 :UInt32; frameIdExtra @1 :UInt32; frameDropPerc @6 :Float32; + modelExecutionTime @7 :Float32; action @2 :ModelDataV2.Action; @@ -931,7 +1045,6 @@ struct ModelDataV2 { frameDropPerc @2 :Float32; timestampEof @3 :UInt64; modelExecutionTime @15 :Float32; - gpuExecutionTime @17 :Float32; rawPredictions @16 :Data; # predicted future position, orientation, etc.. @@ -958,12 +1071,13 @@ struct ModelDataV2 { # Model perceived motion temporalPose @21 :Pose; + # e2e lateral planner + action @26: Action; + + gpuExecutionTimeDEPRECATED @17 :Float32; navEnabledDEPRECATED @22 :Bool; locationMonoTimeDEPRECATED @24 :UInt64; - - # e2e lateral planner lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; - action @26: Action; struct LeadDataV2 { prob @0 :Float32; # probability that car is your lead at time t @@ -1096,6 +1210,14 @@ struct AndroidLogEntry { message @6 :Text; } +struct DriverAssistance { + # Lane Departure Warnings + leftLaneDeparture @0 :Bool; + rightLaneDeparture @1 :Bool; + + # FCW, AEB, etc. will go here +} + struct LongitudinalPlan @0xe00b5b3eba12876c { modelMonoTime @9 :UInt64; hasLead @7 :Bool; @@ -1147,7 +1269,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { radarValidDEPRECATED @28 :Bool; radarCanErrorDEPRECATED @30 :Bool; commIssueDEPRECATED @31 :Bool; - eventsDEPRECATED @13 :List(Car.OnroadEvent); + eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED); gpsTrajectoryDEPRECATED @12 :GpsTrajectory; gpsPlannerActiveDEPRECATED @19 :Bool; personalityDEPRECATED @36 :LongitudinalPersonality; @@ -2002,7 +2124,8 @@ struct Joystick { struct DriverStateV2 { frameId @0 :UInt32; modelExecutionTime @1 :Float32; - dspExecutionTime @2 :Float32; + dspExecutionTimeDEPRECATED @2 :Float32; + gpuExecutionTime @8 :Float32; rawPredictions @3 :Data; poorVisionProb @4 :Float32; @@ -2061,7 +2184,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { } struct DriverMonitoringState @0xb83cda094a1da284 { - events @0 :List(Car.OnroadEvent); + events @18 :List(OnroadEvent); faceDetected @1 :Bool; isDistracted @2 :Bool; distractedType @17 :UInt32; @@ -2080,6 +2203,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; + eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); } struct Boot { @@ -2295,6 +2419,11 @@ struct EncodeData { height @5 :UInt32; } +struct DebugAlert { + alertText1 @0 :Text; + alertText2 @1 :Text; +} + struct UserFlag { } @@ -2335,13 +2464,14 @@ struct Event { pandaStates @81 :List(PandaState); peripheralState @80 :PeripheralState; radarState @13 :RadarState; - liveTracks @16 :List(LiveTracks); + liveTracks @131 :Car.RadarData; sendcan @17 :List(CanData); liveCalibration @19 :LiveCalibrationData; carState @22 :Car.CarState; carControl @23 :Car.CarControl; carOutput @127 :Car.CarOutput; longitudinalPlan @24 :LongitudinalPlan; + driverAssistance @132 :DriverAssistance; ubloxGnss @34 :UbloxGnss; ubloxRaw @39 :Data; qcomGnss @31 :QcomGnss; @@ -2352,7 +2482,7 @@ struct Event { liveTorqueParameters @94 :LiveTorqueParametersData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; - onroadEvents @68: List(Car.OnroadEvent); + onroadEvents @134: List(OnroadEvent); carParams @69: Car.CarParams; driverMonitoringState @71: DriverMonitoringState; livePose @129 :LivePose; @@ -2402,6 +2532,7 @@ struct Event { driverEncodeData @87 :EncodeData; wideRoadEncodeData @88 :EncodeData; qRoadEncodeData @89 :EncodeData; + alertDebug @133 :DebugAlert; livestreamRoadEncodeData @120 :EncodeData; livestreamWideRoadEncodeData @121 :EncodeData; @@ -2465,5 +2596,7 @@ struct Event { navModelDEPRECATED @104 :NavModelData; uiPlanDEPRECATED @106 :UiPlan; liveLocationKalmanDEPRECATED @72 :LiveLocationKalman; + liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED); + onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED); } } diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 32b7a6553f..2466f6e9c0 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -109,12 +109,26 @@ class FrequencyTracker: self.min_freq = min_freq * 0.8 self.max_freq = max_freq * 1.2 self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq)) + self.recv_dts_sum = 0.0 + self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq)) + self.recent_recv_dts_sum = 0.0 self.prev_time = 0.0 def record_recv_time(self, cur_time: float) -> None: # TODO: Handle case where cur_time is less than prev_time if self.prev_time > 1e-5: - self.recv_dts.append(cur_time - self.prev_time) + dt = cur_time - self.prev_time + + if len(self.recv_dts) == self.recv_dts.maxlen: + self.recv_dts_sum -= self.recv_dts[0] + self.recv_dts.append(dt) + self.recv_dts_sum += dt + + if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen: + self.recent_recv_dts_sum -= self.recent_recv_dts[0] + self.recent_recv_dts.append(dt) + self.recent_recv_dts_sum += dt + self.prev_time = cur_time @property @@ -122,12 +136,11 @@ class FrequencyTracker: if not self.recv_dts: return False - avg_freq = len(self.recv_dts) / sum(self.recv_dts) + avg_freq = len(self.recv_dts) / self.recv_dts_sum if self.min_freq <= avg_freq <= self.max_freq: return True - recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):] - avg_freq_recent = len(recent_dts) / sum(recent_dts) + avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum return self.min_freq <= avg_freq_recent <= self.max_freq @@ -174,7 +187,7 @@ class SubMaster: self.data[s] = getattr(data.as_reader(), s) self.logMonoTime[s] = 0 - self.valid[s] = True # FIXME: this should default to False + 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: diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc index 38b9842414..1a7a48980e 100644 --- a/cereal/messaging/socketmaster.cc +++ b/cereal/messaging/socketmaster.cc @@ -34,7 +34,7 @@ struct SubMaster::SubMessage { std::string name; SubSocket *socket = nullptr; int freq = 0; - bool updated = false, alive = false, valid = true, ignore_alive; + bool updated = false, alive = false, valid = false, ignore_alive; uint64_t rcv_time = 0, rcv_frame = 0; void *allocated_msg_reader = nullptr; bool is_polled = false; diff --git a/cereal/services.py b/cereal/services.py index b50e47be60..771338f507 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -40,6 +40,7 @@ _services: dict[str, tuple] = { "carControl": (True, 100., 10), "carOutput": (True, 100., 10), "longitudinalPlan": (True, 20., 10), + "driverAssistance": (True, 20., 20), "procLog": (True, 0.5, 15), "gpsLocationExternal": (True, 10., 10), "gpsLocation": (True, 1., 1), @@ -75,6 +76,7 @@ _services: dict[str, tuple] = { # debug "uiDebug": (True, 0., 1), "testJoystick": (True, 0.), + "alertDebug": (True, 20., 5), "roadEncodeData": (False, 20.), "driverEncodeData": (False, 20.), "wideRoadEncodeData": (False, 20.), diff --git a/common/params.cc b/common/params.cc index 0932acd54d..9e62ed582c 100644 --- a/common/params.cc +++ b/common/params.cc @@ -158,6 +158,7 @@ std::unordered_map keys = { {"LiveParameters", PERSISTENT}, {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"LocationFilterInitialState", PERSISTENT}, + {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"LongitudinalPersonality", PERSISTENT}, {"NetworkMetered", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, @@ -181,6 +182,7 @@ std::unordered_map keys = { {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet + {"SecOCKey", PERSISTENT | DONT_LOG}, {"RouteCount", PERSISTENT}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc index 5b00b53a4f..f3f10e547f 100644 --- a/common/transformations/coordinates.cc +++ b/common/transformations/coordinates.cc @@ -25,8 +25,8 @@ static Geodetic to_radians(Geodetic geodetic){ } -ECEF geodetic2ecef(Geodetic g){ - g = to_radians(g); +ECEF geodetic2ecef(const Geodetic &geodetic) { + auto g = to_radians(geodetic); double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2)); double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon); double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon); @@ -34,7 +34,7 @@ ECEF geodetic2ecef(Geodetic g){ return {x, y, z}; } -Geodetic ecef2geodetic(ECEF e){ +Geodetic ecef2geodetic(const ECEF &e) { // Convert from ECEF to geodetic using Ferrari's methods // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution double x = e.x; @@ -61,10 +61,10 @@ Geodetic ecef2geodetic(ECEF e){ return to_degrees({lat, lon, h}); } -LocalCoord::LocalCoord(Geodetic g, ECEF e){ +LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) { init_ecef << e.x, e.y, e.z; - g = to_radians(g); + auto g = to_radians(geodetic); ned2ecef_matrix << -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon), @@ -73,7 +73,7 @@ LocalCoord::LocalCoord(Geodetic g, ECEF e){ ecef2ned_matrix = ned2ecef_matrix.transpose(); } -NED LocalCoord::ecef2ned(ECEF e) { +NED LocalCoord::ecef2ned(const ECEF &e) { Eigen::Vector3d ecef; ecef << e.x, e.y, e.z; @@ -81,7 +81,7 @@ NED LocalCoord::ecef2ned(ECEF e) { return {ned[0], ned[1], ned[2]}; } -ECEF LocalCoord::ned2ecef(NED n) { +ECEF LocalCoord::ned2ecef(const NED &n) { Eigen::Vector3d ned; ned << n.n, n.e, n.d; @@ -89,12 +89,12 @@ ECEF LocalCoord::ned2ecef(NED n) { return {ecef[0], ecef[1], ecef[2]}; } -NED LocalCoord::geodetic2ned(Geodetic g) { +NED LocalCoord::geodetic2ned(const Geodetic &g) { ECEF e = ::geodetic2ecef(g); return ecef2ned(e); } -Geodetic LocalCoord::ned2geodetic(NED n){ +Geodetic LocalCoord::ned2geodetic(const NED &n) { ECEF e = ned2ecef(n); return ::ecef2geodetic(e); } diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp index 32ec2ff66e..dc8ff7a4b6 100644 --- a/common/transformations/coordinates.hpp +++ b/common/transformations/coordinates.hpp @@ -7,14 +7,14 @@ struct ECEF { double x, y, z; - Eigen::Vector3d to_vector(){ + Eigen::Vector3d to_vector() const { return Eigen::Vector3d(x, y, z); } }; struct NED { double n, e, d; - Eigen::Vector3d to_vector(){ + Eigen::Vector3d to_vector() const { return Eigen::Vector3d(n, e, d); } }; @@ -24,20 +24,20 @@ struct Geodetic { bool radians=false; }; -ECEF geodetic2ecef(Geodetic g); -Geodetic ecef2geodetic(ECEF e); +ECEF geodetic2ecef(const Geodetic &g); +Geodetic ecef2geodetic(const ECEF &e); class LocalCoord { public: Eigen::Matrix3d ned2ecef_matrix; Eigen::Matrix3d ecef2ned_matrix; Eigen::Vector3d init_ecef; - LocalCoord(Geodetic g, ECEF e); - LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {} - LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {} - - NED ecef2ned(ECEF e); - ECEF ned2ecef(NED n); - NED geodetic2ned(Geodetic g); - Geodetic ned2geodetic(NED n); + LocalCoord(const Geodetic &g, const ECEF &e); + LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {} + LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {} + + NED ecef2ned(const ECEF &e); + ECEF ned2ecef(const NED &n); + NED geodetic2ned(const Geodetic &g); + Geodetic ned2geodetic(const NED &n); }; diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc index 00888c3a92..fb5e47a86a 100644 --- a/common/transformations/orientation.cc +++ b/common/transformations/orientation.cc @@ -7,7 +7,7 @@ #include "common/transformations/orientation.hpp" #include "common/transformations/coordinates.hpp" -Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){ +Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) { if (quat.w() > 0){ return quat; } else { @@ -15,7 +15,7 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){ } } -Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){ +Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) { Eigen::Quaterniond q; q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ()) @@ -25,7 +25,7 @@ Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){ } -Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){ +Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) { // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0); // return {euler(2), euler(1), euler(0)}; @@ -36,34 +36,34 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){ return {gamma, theta, psi}; } -Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){ +Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) { return quat.toRotationMatrix(); } -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){ +Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) { return ensure_unique(Eigen::Quaterniond(rot)); } -Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){ +Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) { return quat2rot(euler2quat(euler)); } -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){ +Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) { return quat2euler(rot2quat(rot)); } -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){ +Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) { return euler2rot({roll, pitch, yaw}); } -Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){ +Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) { Eigen::Quaterniond q; q = Eigen::AngleAxisd(angle, axis); return q.toRotationMatrix(); } -Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) { +Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) { /* Using Rotations to Build Aerospace Coordinate Systems Don Koks @@ -103,7 +103,7 @@ Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) { return {phi, theta, psi}; } -Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){ +Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) { /* Using Rotations to Build Aerospace Coordinate Systems Don Koks diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp index 150b12cade..0874a0a814 100644 --- a/common/transformations/orientation.hpp +++ b/common/transformations/orientation.hpp @@ -3,15 +3,15 @@ #include "common/transformations/coordinates.hpp" -Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat); +Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat); -Eigen::Quaterniond euler2quat(Eigen::Vector3d euler); -Eigen::Vector3d quat2euler(Eigen::Quaterniond quat); -Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat); +Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler); +Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat); +Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat); Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot); -Eigen::Matrix3d euler2rot(Eigen::Vector3d euler); +Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler); Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot); Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw); -Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle); -Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose); -Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose); +Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle); +Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose); +Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose); diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd index 964adf06ec..fe32e18dea 100644 --- a/common/transformations/transformations.pxd +++ b/common/transformations/transformations.pxd @@ -24,15 +24,15 @@ cdef extern from "orientation.hpp": double operator()(int, int) - Quaternion euler2quat(Vector3) - Vector3 quat2euler(Quaternion) - Matrix3 quat2rot(Quaternion) - Quaternion rot2quat(Matrix3) - Vector3 rot2euler(Matrix3) - Matrix3 euler2rot(Vector3) + Quaternion euler2quat(const Vector3 &) + Vector3 quat2euler(const Quaternion &) + Matrix3 quat2rot(const Quaternion &) + Quaternion rot2quat(const Matrix3 &) + Vector3 rot2euler(const Matrix3 &) + Matrix3 euler2rot(const Vector3 &) Matrix3 rot_matrix(double, double, double) - Vector3 ecef_euler_from_ned(ECEF, Vector3) - Vector3 ned_euler_from_ecef(ECEF, Vector3) + Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &) + Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &) cdef extern from "coordinates.cc": @@ -52,21 +52,21 @@ cdef extern from "coordinates.cc": double alt bool radians - ECEF geodetic2ecef(Geodetic) - Geodetic ecef2geodetic(ECEF) + ECEF geodetic2ecef(const Geodetic &) + Geodetic ecef2geodetic(const ECEF &) cdef cppclass LocalCoord_c "LocalCoord": Matrix3 ned2ecef_matrix Matrix3 ecef2ned_matrix - LocalCoord_c(Geodetic, ECEF) - LocalCoord_c(Geodetic) - LocalCoord_c(ECEF) + LocalCoord_c(const Geodetic &, const ECEF &) + LocalCoord_c(const Geodetic &) + LocalCoord_c(const ECEF &) - NED ecef2ned(ECEF) - ECEF ned2ecef(NED) - NED geodetic2ned(Geodetic) - Geodetic ned2geodetic(NED) + NED ecef2ned(const ECEF &) + ECEF ned2ecef(const NED &) + NED geodetic2ned(const Geodetic &) + Geodetic ned2geodetic(const NED &) cdef extern from "coordinates.hpp": pass diff --git a/common/util.h b/common/util.h index 186873ac21..7cfa008509 100644 --- a/common/util.h +++ b/common/util.h @@ -37,6 +37,8 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE; const double METER_TO_MILE = KM_TO_MILE / 1000.0; const double METER_TO_FOOT = 3.28084; +#define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1)) + namespace util { void set_thread_name(const char* name); diff --git a/conftest.py b/conftest.py index fc4931fb54..7ee0c78943 100644 --- a/conftest.py +++ b/conftest.py @@ -8,6 +8,19 @@ from openpilot.common.prefix import OpenpilotPrefix from openpilot.system.manager import manager from openpilot.system.hardware import TICI, HARDWARE +# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart +# pending https://github.com/pytest-dev/pytest-cpp/pull/147 +collect_ignore = [ + "selfdrive/ui/tests/test_translations", + "selfdrive/test/process_replay/test_processes.py", + "selfdrive/test/process_replay/test_regen.py", + "selfdrive/test/test_time_to_onroad.py", +] +collect_ignore_glob = [ + "selfdrive/debug/*.py", + "selfdrive/modeld/*.py", +] + def pytest_sessionstart(session): # TODO: fix tests and enable test order randomization diff --git a/docs/CARS.md b/docs/CARS.md index e4813eb1d9..43bd18cdcd 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 287 Supported Cars +# 289 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -50,11 +50,13 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Performance Trim) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 Electrified (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 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)
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|| |Honda|Accord 2018-22|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 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| @@ -126,7 +128,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Non-US only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -279,8 +281,8 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#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
- 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[1,12](#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
- 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[1,12](#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
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#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
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#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
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#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
- 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[1,12](#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
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#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
- 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[1,12](#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
- 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[1,12](#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
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index c66b20c88e..d455fa6fd3 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -39,7 +39,7 @@ All of these are examples of good PRs: ### First contribution -[Bounties](https://comma.ai/bounties) are the best place to get started. +[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty. There's lot of bounties that don't require a comma 3/3X or a car. ## Pull Requests diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md index 622fe9e75e..55cce94da1 100644 --- a/docs/car-porting/what-is-a-car-port.md +++ b/docs/car-porting/what-is-a-car-port.md @@ -1,22 +1,39 @@ # What is a car port? -A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/car_specific.py` and `opendbc_repo/opendbc/car`. +A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including: -The complexity of a car port varies depending on many factors including: * existing openpilot support for similar cars * architecture and APIs available in the car # Structure of a car port + +Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda). + +## opendbc + +Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`: + * `interface.py`: Interface for the car, defines the CarInterface class -* `carstate.py`: Reads CAN from car and builds openpilot CarState message -* `carcontroller.py`: Builds CAN messages to send to car +* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages +* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car +* `[brand]can.py`: Composes CAN messages for carcontroller to send * `values.py`: Limits for actuation, general constants for cars, and supported car documentation -* `radar_interface.py`: Interface for parsing radar points from the car +* `radar_interface.py`: Interface for parsing radar points from the car, if applicable + +## panda + +* `board/safety/safety_[brand].h`: Brand-specific safety logic +* `tests/safety/test_[brand].py`: Brand-specific safety CI tests + +## openpilot + +For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed. +* `selfdrive/car/car_specific.py`: Brand-specific event logic -# Overiew +# Overview [Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube: -https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM +https://www.youtube.com/watch?v=XxPS5TpTUnI diff --git a/opendbc_repo b/opendbc_repo index ff198e9af1..739117d561 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ff198e9af1cea1ab93d24b01beeb04ab3f2de742 +Subproject commit 739117d561b265de5caf843c3f117490a9de57e6 diff --git a/panda b/panda index aac60b8a79..08c95bf47b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit aac60b8a7938d4d32c0c02608058022e4d876156 +Subproject commit 08c95bf47ba6d0c5d11a7616e42e10b8dbde19eb diff --git a/pyproject.toml b/pyproject.toml index b42eb67141..00b9ecf3e5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -55,6 +55,9 @@ dependencies = [ "casadi >=3.6.6", # 3.12 fixed in 3.6.6 "future-fstrings", + # joystickd + "inputs", + # these should be removed "psutil", "pycryptodome", # used in updated/casync, panda, body, and a test @@ -96,10 +99,8 @@ dev = [ "azure-storage-blob", "dictdiffer", "flaky", - "inputs", "lru-dict", "matplotlib", - "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')", "parameterized >=0.8, <0.9", #"pprofile", "pyautogui", @@ -107,7 +108,6 @@ dev = [ "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version "pywinctl", "pyprof2calltree", - "rerun-sdk >= 0.18", "tabulate", "types-requests", "types-tabulate", @@ -116,6 +116,11 @@ dev = [ "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux ] +tools = [ + "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')", + "rerun-sdk >= 0.18", +] + [project.urls] Homepage = "https://comma.ai" @@ -143,14 +148,7 @@ markers = [ ] testpaths = [ "common", - "selfdrive/pandad", - "selfdrive/car", - "selfdrive/opcar", - "selfdrive/controls", - "selfdrive/locationd", - "selfdrive/monitoring", - "selfdrive/test/longitudinal_maneuvers", - "selfdrive/test/process_replay/test_fuzzy.py", + "selfdrive", "system/updated", "system/athena", "system/camerad", diff --git a/release/release_files.py b/release/release_files.py index 5e9371c6fc..afd0d468b6 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -52,6 +52,8 @@ blacklist = [ whitelist = [ "tools/lib/", "tools/bodyteleop/", + "tools/joystick/", + "tools/longitudinal_maneuvers/", "tinygrad_repo/openpilot/compile2.py", "tinygrad_repo/extra/onnx.py", diff --git a/selfdrive/assets/offroad/icon_openpilot.png b/selfdrive/assets/offroad/icon_openpilot.png deleted file mode 100644 index ae6faa45ea..0000000000 --- a/selfdrive/assets/offroad/icon_openpilot.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a3cd3b91673eded1282e2082be0efa8e54ed477b5feb3580e521d08078e18ed1 -size 42640 diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md deleted file mode 100644 index 2c49cf2051..0000000000 --- a/selfdrive/car/README.md +++ /dev/null @@ -1,19 +0,0 @@ -## Car port structure - -### interface.py -Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) - -### fingerprints.py -Fingerprints for matching to a specific car - -### carcontroller.py -Builds CAN messages to send to car - -##### carstate.py -Reads CAN from car and builds openpilot CarState message - -##### values.py -Limits for actuation, general constants for cars, and supported car documentation - -##### radar_interface.py -Interface for parsing radar points from the car diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 25a7defbbd..94afec50e2 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,15 +1,17 @@ -from cereal import car +from collections import deque +from cereal import car, log import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs -from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase +from opendbc.car.interfaces import MAX_CTRL_SPEED from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS +from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES -from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.selfdrived.events import Events ButtonType = structs.CarState.ButtonEvent.Type GearShifter = structs.CarState.GearShifter -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName NetworkLocation = structs.CarParams.NetworkLocation @@ -37,132 +39,121 @@ class CarSpecificEvents: self.no_steer_warning = False self.silent_steer_warning = True - def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl): + self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES) + + def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl): if self.CP.carName in ('body', 'mock'): events = Events() - elif self.CP.carName == 'subaru': - events = self.create_common_events(CS.out, CS_prev) + elif self.CP.carName in ('subaru', 'mazda'): + events = self.create_common_events(CS, CS_prev) elif self.CP.carName == 'ford': - events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic]) + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic]) elif self.CP.carName == 'nissan': - events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake]) - - if CS.lkas_enabled: # type: ignore[attr-defined] - events.add(EventName.invalidLkasSetting) - - elif self.CP.carName == 'mazda': - events = self.create_common_events(CS.out, CS_prev) - - if CS.lkas_disabled: # type: ignore[attr-defined] - events.add(EventName.lkasDisabled) - elif CS.low_speed_alert: # type: ignore[attr-defined] - events.add(EventName.belowSteerSpeed) + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake]) elif self.CP.carName == 'chrysler': - events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low]) + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low]) # Low speed steer alert hysteresis logic - if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5): + if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5): self.low_speed_alert = True - elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.): + elif CS.vEgo > (self.CP.minSteerSpeed + 1.): self.low_speed_alert = False if self.low_speed_alert: events.add(EventName.belowSteerSpeed) elif self.CP.carName == 'honda': - events = self.create_common_events(CS.out, CS_prev, pcm_enable=False) + events = self.create_common_events(CS, CS_prev, pcm_enable=False) - if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed: + if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) if self.CP.pcmCruise: # we engage when pcm is active (rising edge) - if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled: + if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: events.add(EventName.pcmEnable) - elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl): + elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl): # it can happen that car cruise disables while comma system is enabled: need to # keep braking if needed or if the speed is very low - if CS.out.vEgo < self.CP.minEnableSpeed + 2.: + if CS.vEgo < self.CP.minEnableSpeed + 2.: # non loud alert if cruise disables below 25mph as expected (+ a little margin) events.add(EventName.speedTooLow) else: events.add(EventName.cruiseDisabled) - if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001: + if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001: events.add(EventName.manualRestart) elif self.CP.carName == 'toyota': - events = self.create_common_events(CS.out, CS_prev) + events = self.create_common_events(CS, CS_prev) if self.CP.openpilotLongitudinalControl: - if CS.out.cruiseState.standstill and not CS.out.brakePressed: + if CS.cruiseState.standstill and not CS.brakePressed: events.add(EventName.resumeRequired) - if CS.low_speed_lockout: # type: ignore[attr-defined] - events.add(EventName.lowSpeedLockout) - if CS.out.vEgo < self.CP.minEnableSpeed: + if CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) - if CC_prev.actuators.accel > 0.3: + if CC.actuators.accel > 0.3: # some margin on the actuator to not false trigger cancellation while stopping events.add(EventName.speedTooLow) - if CS.out.vEgo < 0.001: + if CS.vEgo < 0.001: # while in standstill, send a user alert events.add(EventName.manualRestart) elif self.CP.carName == 'gm': # The ECM allows enabling on falling edge of set, but only rising edge of resume - events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low, - GearShifter.eco, GearShifter.manumatic], + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low, + GearShifter.eco, GearShifter.manumatic], pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,)) if not self.CP.pcmCruise: - if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents): + if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents): events.add(EventName.buttonEnable) # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs - below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward # type: ignore[attr-defined] - if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and - self.CP.networkLocation == NetworkLocation.fwdCamera): + if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and + self.CP.networkLocation == NetworkLocation.fwdCamera): events.add(EventName.belowEngageSpeed) - if CS.out.cruiseState.standstill: + if CS.cruiseState.standstill: events.add(EventName.resumeRequired) - if CS.out.vEgo < self.CP.minSteerSpeed: + if CS.vEgo < self.CP.minSteerSpeed: events.add(EventName.belowSteerSpeed) elif self.CP.carName == 'volkswagen': - events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], + events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], pcm_enable=not self.CP.openpilotLongitudinalControl, enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) # Low speed steer alert hysteresis logic - if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.): + if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.): self.low_speed_alert = True - elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.): + elif CS.vEgo > (self.CP.minSteerSpeed + 2.): self.low_speed_alert = False if self.low_speed_alert: events.add(EventName.belowSteerSpeed) if self.CP.openpilotLongitudinalControl: - if CS.out.vEgo < self.CP.minEnableSpeed + 0.5: + if CS.vEgo < self.CP.minEnableSpeed + 0.5: events.add(EventName.belowEngageSpeed) - if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed: + if CC.enabled and CS.vEgo < self.CP.minEnableSpeed: events.add(EventName.speedTooLow) - if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined] - events.add(EventName.steerTimeLimit) + # TODO: this needs to be implemented generically in carState struct + # if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined] + # events.add(EventName.steerTimeLimit) elif self.CP.carName == 'hyundai': # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons # Main button also can trigger an engagement on these cars - allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons) # type: ignore[attr-defined] - events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable) + self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents)) + events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons)) # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) - if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: + if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: self.low_speed_alert = True - if CS.out.vEgo > (self.CP.minSteerSpeed + 4.): + if CS.vEgo > (self.CP.minSteerSpeed + 4.): self.low_speed_alert = False if self.low_speed_alert: events.add(EventName.belowSteerSpeed) @@ -213,6 +204,10 @@ class CarSpecificEvents: events.add(EventName.gasPressedOverride) if CS.vehicleSensorsInvalid: events.add(EventName.vehicleSensorsInvalid) + if CS.invalidLkasSetting: + events.add(EventName.invalidLkasSetting) + if CS.lowSpeedAlert: + events.add(EventName.belowSteerSpeed) # Handle button presses for b in CS.buttonEvents: diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 57b41a5cf5..a83d5bb989 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -5,7 +5,7 @@ import threading import cereal.messaging as messaging -from cereal import car +from cereal import car, log from panda import ALTERNATIVE_EXPERIENCE @@ -16,17 +16,15 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler from opendbc.car import DT_CTRL, carlog, structs from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable from opendbc.car.fw_versions import ObdCallback -from opendbc.car.car_helpers import get_car -from opendbc.car.interfaces import CarInterfaceBase +from opendbc.car.car_helpers import get_car, get_radar_interface +from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase 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 CarSpecificEvents, MockCarState -from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp -from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.car.car_specific import MockCarState REPLAY = "REPLAY" in os.environ -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName # forward carlog.addHandler(ForwardingHandler(cloudlog)) @@ -63,13 +61,13 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket class Car: CI: CarInterfaceBase - CP: structs.CarParams - CP_capnp: car.CarParams + RI: RadarInterfaceBase + CP: car.CarParams - def __init__(self, CI=None) -> None: + def __init__(self, CI=None, RI=None) -> None: self.can_sock = messaging.sub_sock('can', timeout=20) self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) - self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks']) self.can_rcv_cum_timeout_counter = 0 @@ -98,20 +96,22 @@ class Car: cached_params_raw = self.params.get("CarParamsCache") if cached_params_raw is not None: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: - cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin) + cached_params = _cached_params self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params) + self.RI = get_radar_interface(self.CI.CP) self.CP = self.CI.CP # continue onto next fingerprinting step in pandad self.params.put_bool("FirmwareQueryDone", True) else: self.CI, self.CP = CI, CI.CP + self.RI = RI # set alternative experiences from parameters - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 - if not self.disengage_on_accelerator: + if not disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") @@ -124,22 +124,29 @@ class Car: safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] + if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"): + secoc_key = self.params.get("SecOCKey", encoding='utf8') + if secoc_key is not None: + saved_secoc_key = bytes.fromhex(secoc_key.strip()) + if len(saved_secoc_key) == 16: + self.CP.secOcKeyAvailable = True + self.CI.CS.secoc_key = saved_secoc_key + if controller_available: + self.CI.CC.secoc_key = saved_secoc_key + else: + cloudlog.warning("Saved SecOC key is invalid") + # Write previous route's CarParams prev_cp = self.params.get("CarParamsPersistent") if prev_cp is not None: self.params.put("CarParamsPrevRoute", prev_cp) # Write CarParams for controls and radard - # convert to pycapnp representation for caching and logging - self.CP_capnp = convert_to_capnp(self.CP) - cp_bytes = self.CP_capnp.to_bytes() + cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.events = Events() - - self.car_events = CarSpecificEvents(self.CP) self.mock_carstate = MockCarState() self.v_cruise_helper = VCruiseHelper(self.CP) @@ -149,16 +156,20 @@ class Car: # card is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) - def state_update(self) -> car.CarState: + def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]: """carState update loop, driven by can""" - # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - CS = convert_to_capnp(self.CI.update(can_capnp_to_list(can_strs))) + can_list = can_capnp_to_list(can_strs) + # Update carState from CAN + CS = self.CI.update(can_list) if self.CP.carName == 'mock': CS = self.mock_carstate.update(CS) + # Update radar tracks from CAN + RD: structs.RadarDataT | None = self.RI.update(can_list) + self.sm.update(0) can_rcv_valid = len(can_strs) > 0 @@ -175,43 +186,22 @@ class Car: CS.vCruise = float(self.v_cruise_helper.v_cruise_kph) CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) - return CS - - def update_events(self, CS: car.CarState): - self.events.clear() - - CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg() + return CS, RD - self.events.add_from_msg(CS.events) - - if self.CP.notCar: - # wait for everything to init first - if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev: - # body always wants to enable - self.events.add(EventName.pcmEnable) - - # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 - if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ - (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ - (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): - self.events.add(EventName.pedalPressed) - - CS.events = self.events.to_msg() - - def state_publish(self, CS: car.CarState): + def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None): """carState and carParams publish loop""" # carParams - logged every 50 seconds (> 1 per segment) if self.sm.frame % int(50. / DT_CTRL) == 0: cp_send = messaging.new_message('carParams') cp_send.valid = True - cp_send.carParams = self.CP_capnp + cp_send.carParams = self.CP self.pm.send('carParams', cp_send) # publish new carOutput co_send = messaging.new_message('carOutput') co_send.valid = self.sm.all_checks(['carControl']) - co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output) + co_send.carOutput.actuatorsOutput = self.last_actuators_output self.pm.send('carOutput', co_send) # kick off controlsd step while we actuate the latest carControl packet @@ -222,6 +212,12 @@ class Car: cs_send.carState.cumLagMs = -self.rk.remaining * 1000. self.pm.send('carState', cs_send) + if RD is not None: + tracks_msg = messaging.new_message('liveTracks') + tracks_msg.valid = len(RD.errors) == 0 + tracks_msg.liveTracks = RD + self.pm.send('liveTracks', tracks_msg) + def controls_update(self, CS: car.CarState, CC: car.CarControl): """control update loop, driven by carControl""" @@ -235,22 +231,20 @@ class Car: if self.sm.all_alive(['carControl']): # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos) + self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) self.CC_prev = CC def step(self): - CS = self.state_update() - - self.update_events(CS) + CS, RD = self.state_update() - if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE): + if self.sm['carControl'].enabled and not self.CC_prev.enabled: self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode) - self.state_publish(CS) + self.state_publish(CS, RD) - initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and + initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and self.sm.seen['onroadEvents']) if not self.CP.passive and initialized: self.controls_update(CS, self.sm['carControl']) diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py index e2d83033d6..b92d0c7465 100644 --- a/selfdrive/car/cruise.py +++ b/selfdrive/car/cruise.py @@ -53,6 +53,9 @@ class VCruiseHelper: else: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + if CS.cruiseState.speed == 0: + self.v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_cluster_kph = V_CRUISE_UNSET else: self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py deleted file mode 100644 index f4d8993468..0000000000 --- a/selfdrive/car/helpers.py +++ /dev/null @@ -1,72 +0,0 @@ -import capnp -from typing import Any - -from cereal import car -from opendbc.car import structs - -_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS - - -def is_dataclass(obj): - """Similar to dataclasses.is_dataclass without instance type check checking""" - return hasattr(obj, _FIELDS) - - -def _asdictref_inner(obj) -> dict[str, Any] | Any: - if is_dataclass(obj): - ret = {} - for field in getattr(obj, _FIELDS): # similar to dataclasses.fields() - ret[field] = _asdictref_inner(getattr(obj, field)) - return ret - elif isinstance(obj, (tuple, list)): - return type(obj)(_asdictref_inner(v) for v in obj) - else: - return obj - - -def asdictref(obj) -> dict[str, Any]: - """ - Similar to dataclasses.asdict without recursive type checking and copy.deepcopy - Note that the resulting dict will contain references to the original struct as a result - """ - if not is_dataclass(obj): - raise TypeError("asdictref() should be called on dataclass instances") - - return _asdictref_inner(obj) - - -def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder: - struct_dict = asdictref(struct) - - if isinstance(struct, structs.CarParams): - del struct_dict['lateralTuning'] - struct_capnp = car.CarParams.new_message(**struct_dict) - - # this is the only union, special handling - which = struct.lateralTuning.which() - struct_capnp.lateralTuning.init(which) - lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which)) - setattr(struct_capnp.lateralTuning, which, lateralTuning_dict) - elif isinstance(struct, structs.CarState): - struct_capnp = car.CarState.new_message(**struct_dict) - elif isinstance(struct, structs.CarControl.Actuators): - struct_capnp = car.CarControl.Actuators.new_message(**struct_dict) - else: - raise ValueError(f"Unsupported struct type: {type(struct)}") - - return struct_capnp - - -def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl: - # TODO: recursively handle any car struct as needed - def remove_deprecated(s: dict) -> dict: - return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')} - - struct_dict = struct.to_dict() - struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)})) - - struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {}))) - struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {}))) - struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {}))) - - return struct_dataclass diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh index 8b0e96d980..863b8bead0 100755 --- a/selfdrive/car/tests/big_cars_test.sh +++ b/selfdrive/car/tests/big_cars_test.sh @@ -4,9 +4,9 @@ SCRIPT_DIR=$(dirname "$0") BASEDIR=$(realpath "$SCRIPT_DIR/../../../") cd $BASEDIR -MAX_EXAMPLES=300 -INTERNAL_SEG_CNT=300 -FILEREADER_CACHE=1 -INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt +export MAX_EXAMPLES=300 +export INTERNAL_SEG_CNT=300 +export FILEREADER_CACHE=1 +export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 66cf0dc696..4370ea141b 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args from opendbc.car.fingerprints import all_known_cars from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS from opendbc.car.mock.values import CAR as MOCK -from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque @@ -41,6 +40,7 @@ class TestCarInterfaces: car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], experimental_long=args['experimental_long'], docs=False) + car_params = car_params.as_reader() car_interface = CarInterface(car_params, CarController, CarState) assert car_params assert car_interface @@ -72,7 +72,7 @@ class TestCarInterfaces: # Run car interface now_nanos = 0 CC = car.CarControl.new_message(**cc_msg) - CC = convert_carControl(CC.as_reader()) + CC = CC.as_reader() for _ in range(10): car_interface.update([]) car_interface.apply(CC, now_nanos) @@ -80,7 +80,7 @@ class TestCarInterfaces: CC = car.CarControl.new_message(**cc_msg) CC.enabled = True - CC = convert_carControl(CC.as_reader()) + CC = CC.as_reader() for _ in range(10): car_interface.update([]) car_interface.apply(CC, now_nanos) @@ -89,11 +89,10 @@ class TestCarInterfaces: # Test controller initialization # TODO: wait until card refactor is merged to run controller a few times, # hypothesis also slows down significantly with just one more message draw - car_params_capnp = convert_to_capnp(car_params).as_reader() - LongControl(car_params_capnp) + LongControl(car_params) if car_params.steerControlType == CarParams.SteerControlType.angle: - LatControlAngle(car_params_capnp, car_interface) + LatControlAngle(car_params, car_interface) elif car_params.lateralTuning.which() == 'pid': - LatControlPID(car_params_capnp, car_interface) + LatControlPID(car_params, car_interface) elif car_params.lateralTuning.which() == 'torque': - LatControlTorque(car_params_capnp, car_interface) + LatControlTorque(car_params, car_interface) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index e8df0a8310..72f511b7ce 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,6 +1,4 @@ import capnp -import copy -import dataclasses import os import pytest import random @@ -20,7 +18,8 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces from opendbc.car.honda.values import CAR as HONDA, HondaFlags from opendbc.car.values import Platform from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute -from openpilot.selfdrive.car.card import Car, convert_to_capnp +from openpilot.selfdrive.selfdrived.events import ET +from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT @@ -29,7 +28,7 @@ from openpilot.tools.lib.route import SegmentName from panda.tests.libpanda import libpanda_py -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel @@ -57,6 +56,7 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]: segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) for platform, segment in segment_list: + platform = MIGRATION.get(platform, platform) segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) @@ -184,7 +184,7 @@ class TestCarModelBase(unittest.TestCase): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState) + self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) assert self.CI Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) @@ -192,7 +192,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda - cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1])) + cfg = self.CP.safetyConfigs[-1] set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") self.safety.init_tests() @@ -217,7 +217,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 can_valid = False - CC = structs.CarControl() + CC = structs.CarControl().as_reader() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) @@ -309,17 +309,17 @@ class TestCarModelBase(unittest.TestCase): # Make sure we can send all messages while inactive CC = structs.CarControl() - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) self.safety.set_cruise_engaged_prev(True) CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True)) - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Test resume + general messages (controls_allowed=True & cruise_engaged=True) self.safety.set_controls_allowed(True) CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True)) - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Skip stdout/stderr capture with pytest, causes elevated memory usage @pytest.mark.nocapture @@ -403,9 +403,10 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) - card = Car(CI=self.CI) + selfdrived = SelfdriveD(CP=self.CP) + selfdrived.initialized = True for idx, can in enumerate(self.can_msgs): - CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))) + CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() for msg in filter(lambda m: m.src in range(64), can.can): to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) ret = self.safety.safety_rx_hook(to_send) @@ -448,10 +449,10 @@ class TestCarModelBase(unittest.TestCase): checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for enable events on rising edge of controls allowed - card.update_events(CS) - card.CS_prev = CS - button_enable = (any(evt.enable for evt in CS.events) and - not any(evt == EventName.pedalPressed for evt in card.events.names)) + selfdrived.update_events(CS) + selfdrived.CS_prev = CS + button_enable = (selfdrived.events.contains(ET.ENABLE) and + EventName.pedalPressed not in selfdrived.events.names) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 99c54702ae..c97a06a0cf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,28 +1,16 @@ #!/usr/bin/env python3 -import os import math -import time -import threading from typing import SupportsFloat -import cereal.messaging as messaging - from cereal import car, log -from msgq.visionipc import VisionIpcClient, VisionStreamType - - +import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.git import get_short_branch -from openpilot.common.numpy_fast import clip from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog -from openpilot.common.gps import get_gps_location_service from opendbc.car.car_helpers import get_car_interface -from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert -from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature, get_startup_event -from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD @@ -31,107 +19,35 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose -from openpilot.system.hardware import HARDWARE - -SOFT_DISABLE_TIME = 3 # seconds -LDW_MIN_SPEED = 31 * CV.MPH_TO_MS -LANE_DEPARTURE_THRESHOLD = 0.1 -CAMERA_OFFSET = 0.04 - -JOYSTICK_MAX_LAT_ACCEL = 2.5 # m/s^2 - -REPLAY = "REPLAY" in os.environ -SIMULATION = "SIMULATION" in os.environ -TESTING_CLOSET = "TESTING_CLOSET" in os.environ -IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} -ThermalStatus = log.DeviceState.ThermalStatus State = log.SelfdriveState.OpenpilotState -PandaType = log.PandaState.PandaType -Desire = log.Desire LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection -EventName = car.OnroadEvent.EventName -ButtonType = car.CarState.ButtonEvent.Type -SafetyModel = car.CarParams.SafetyModel -IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) -CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError} ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) -ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding) -ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) - class Controls: - def __init__(self, CI=None): + def __init__(self) -> None: self.params = Params() + cloudlog.info("controlsd is waiting for CarParams") + self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) + cloudlog.info("controlsd got CarParams") - if CI is None: - cloudlog.info("controlsd is waiting for CarParams") - self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) - cloudlog.info("controlsd got CarParams") - - # Uses car interface helper functions, altering state won't be considered by card for actuation - self.CI = get_car_interface(self.CP) - else: - self.CI, self.CP = CI, CI.CP - - # Ensure the current branch is cached, otherwise the first iteration of controlsd lags - self.branch = get_short_branch() - - # Setup sockets - self.pm = messaging.PubMaster(['selfdriveState', 'controlsState', 'carControl', 'onroadEvents']) - - self.gps_location_service = get_gps_location_service(self.params) - self.gps_packets = [self.gps_location_service] - self.sensor_packets = ["accelerometer", "gyroscope"] - self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] - - self.log_sock = messaging.sub_sock('androidLog') - - # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches - self.car_state_sock = messaging.sub_sock('carState', timeout=20) + self.CI = get_car_interface(self.CP) - ignore = self.sensor_packets + self.gps_packets + ['testJoystick'] - if SIMULATION: - ignore += ['driverCameraState', 'managerState'] - if REPLAY: - # no vipc in replay will make them ignored anyways - ignore += ['roadCameraState', 'wideRoadCameraState'] - self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', - 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'testJoystick'] + self.camera_packets + self.sensor_packets + self.gps_packets, - ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ], - frequency=int(1/DT_CTRL)) + self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState', + 'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput', + 'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState') + self.pm = messaging.PubMaster(['carControl', 'controlsState']) - self.joystick_mode = False # self.params.get_bool("JoystickDebugMode") - - # read params - self.is_metric = self.params.get_bool("IsMetric") - self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") - - # detect sound card presence and ensure successful init - sounds_available = HARDWARE.get_sound_card_online() - - car_recognized = self.CP.carName != 'mock' - - # cleanup old params - if not self.CP.experimentalLongitudinalAvailable: - self.params.remove("ExperimentalLongitudinalEnabled") - if not self.CP.openpilotLongitudinalControl: - self.params.remove("ExperimentalMode") - - self.CS_prev = car.CarState.new_message() - self.AM = AlertManager() - self.events = Events() + self.steer_limited = False + self.desired_curvature = 0.0 self.pose_calibrator = PoseCalibrator() self.calibrated_pose: Pose|None = None self.LoC = LongControl(self.CP) self.VM = VehicleModel(self.CP) - self.LaC: LatControl if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.LaC = LatControlAngle(self.CP, self.CI) @@ -140,390 +56,16 @@ class Controls: elif self.CP.lateralTuning.which() == 'torque': self.LaC = LatControlTorque(self.CP, self.CI) - self.initialized = False - self.state = State.disabled - self.enabled = False - self.active = False - self.soft_disable_timer = 0 - self.mismatch_counter = 0 - self.cruise_mismatch_counter = 0 - self.last_blinker_frame = 0 - self.last_steering_pressed_frame = 0 - self.distance_traveled = 0 - self.last_functional_fan_frame = 0 - self.events_prev = [] - self.current_alert_types = [ET.PERMANENT] - self.logged_comm_issue = None - self.not_running_prev = None - self.steer_limited = False - self.desired_curvature = 0.0 - self.experimental_mode = False - self.personality = self.read_personality_param() - self.recalibrating_seen = False - - self.can_log_mono_time = 0 - - self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0) - - if not sounds_available: - self.events.add(EventName.soundsUnavailable, static=True) - if not car_recognized: - self.events.add(EventName.carUnrecognized, static=True) - if len(self.CP.carFw) > 0: - set_offroad_alert("Offroad_CarUnrecognized", True) - else: - set_offroad_alert("Offroad_NoFirmware", True) - elif self.CP.passive: - self.events.add(EventName.dashcamMode, static=True) - - # controlsd is driven by carState, expected at 100Hz - self.rk = Ratekeeper(100, print_delay_threshold=None) - - def set_initial_state(self): - if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']): - self.state = State.enabled - - def update_events(self, CS): - """Compute onroadEvents from carState""" - - self.events.clear() - - # Add joystick event, static on cars, dynamic on nonCars - if self.joystick_mode: - self.events.add(EventName.joystickDebug) - self.startup_event = None - - # Add startup event - if self.startup_event is not None: - self.events.add(self.startup_event) - self.startup_event = None - - # Don't add any more events if not initialized - if not self.initialized: - self.events.add(EventName.controlsInitializing) - return - - # no more events while in dashcam mode - if self.CP.passive: - return - - # Block resume if cruise never previously enabled - resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) - if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed: - self.events.add(EventName.resumeBlocked) - - if not self.CP.notCar: - self.events.add_from_msg(self.sm['driverMonitoringState'].events) - - # Add car events, ignore if CAN isn't valid - if CS.canValid: - self.events.add_from_msg(CS.events) - - # Create events for temperature, disk space, and memory - if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: - self.events.add(EventName.overheat) - if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: - # under 7% of space free no enable allowed - self.events.add(EventName.outOfSpace) - if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: - self.events.add(EventName.lowMemory) - - # TODO: enable this once loggerd CPU usage is more reasonable - #cpus = list(self.sm['deviceState'].cpuUsagePercent) - #if max(cpus, default=0) > 95 and not SIMULATION: - # self.events.add(EventName.highCpuUsage) - - # Alert if fan isn't spinning for 5 seconds - if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: - if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - # allow enough time for the fan controller in the panda to recover from stalls - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: - self.events.add(EventName.fanMalfunction) - else: - self.last_functional_fan_frame = self.sm.frame - - # Handle calibration status - cal_status = self.sm['liveCalibration'].calStatus - if cal_status != log.LiveCalibrationData.Status.calibrated: - if cal_status == log.LiveCalibrationData.Status.uncalibrated: - self.events.add(EventName.calibrationIncomplete) - elif cal_status == log.LiveCalibrationData.Status.recalibrating: - if not self.recalibrating_seen: - set_offroad_alert("Offroad_Recalibration", True) - self.recalibrating_seen = True - self.events.add(EventName.calibrationRecalibrating) - else: - self.events.add(EventName.calibrationInvalid) - - # Handle lane change - if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: - direction = self.sm['modelV2'].meta.laneChangeDirection - if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ - (CS.rightBlindspot and direction == LaneChangeDirection.right): - self.events.add(EventName.laneChangeBlocked) - else: - if direction == LaneChangeDirection.left: - self.events.add(EventName.preLaneChangeLeft) - else: - self.events.add(EventName.preLaneChangeRight) - elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, - LaneChangeState.laneChangeFinishing): - self.events.add(EventName.laneChange) - - for i, pandaState in enumerate(self.sm['pandaStates']): - # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput - if i < len(self.CP.safetyConfigs): - safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \ - pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \ - pandaState.alternativeExperience != self.CP.alternativeExperience - else: - safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES - - # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda - if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: - self.events.add(EventName.controlsMismatch) - - if log.PandaState.FaultType.relayMalfunction in pandaState.faults: - self.events.add(EventName.relayMalfunction) - - # Handle HW and system malfunctions - # Order is very intentional here. Be careful when modifying this. - # All events here should at least have NO_ENTRY and SOFT_DISABLE. - num_events = len(self.events) - - not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} - if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): - self.events.add(EventName.processNotRunning) - if not_running != self.not_running_prev: - cloudlog.event("process_not_running", not_running=not_running, error=True) - self.not_running_prev = not_running - else: - if not SIMULATION and not self.rk.lagging: - if not self.sm.all_alive(self.camera_packets): - self.events.add(EventName.cameraMalfunction) - elif not self.sm.all_freq_ok(self.camera_packets): - self.events.add(EventName.cameraFrameRate) - if not REPLAY and self.rk.lagging: - self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): - self.events.add(EventName.radarFault) - if not self.sm.valid['pandaStates']: - self.events.add(EventName.usbError) - if CS.canTimeout: - self.events.add(EventName.canBusMissing) - elif not CS.canValid: - self.events.add(EventName.canError) - - # generic catch-all. ideally, a more specific event should be added above instead - has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) - no_system_errors = (not has_disable_events) or (len(self.events) == num_events) - if not self.sm.all_checks() and no_system_errors: - if not self.sm.all_alive(): - self.events.add(EventName.commIssue) - elif not self.sm.all_freq_ok(): - self.events.add(EventName.commIssueAvgFreq) - else: - self.events.add(EventName.commIssue) - - logs = { - 'invalid': [s for s, valid in self.sm.valid.items() if not valid], - 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], - 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - } - if logs != self.logged_comm_issue: - cloudlog.event("commIssue", error=True, **logs) - self.logged_comm_issue = logs - else: - self.logged_comm_issue = None - - if not (self.CP.notCar and self.joystick_mode): - if not self.sm['livePose'].posenetOK: - self.events.add(EventName.posenetInvalid) - if not self.sm['livePose'].inputsOK: - self.events.add(EventName.locationdTemporaryError) - if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): - self.events.add(EventName.paramsdTemporaryError) - - # conservative HW alert. if the data or frequency are off, locationd will throw an error - if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets): - self.events.add(EventName.sensorDataInvalid) - - if not REPLAY: - # Check for mismatch between openpilot and car's PCM - cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) - self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 - if self.cruise_mismatch_counter > int(6. / DT_CTRL): - self.events.add(EventName.cruiseMismatch) - - # Check for FCW - stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 - model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking - planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled - if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode): - self.events.add(EventName.fcw) - - for m in messaging.drain_sock(self.log_sock, wait_for_one=False): - try: - msg = m.androidLog.message - if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")): - csid = msg.split("CSID:")[-1].split(" ")[0] - evt = CSID_MAP.get(csid, None) - if evt is not None: - self.events.add(evt) - except UnicodeDecodeError: - pass - - # TODO: fix simulator - if not SIMULATION or REPLAY: - # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes - gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 - if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): - self.events.add(EventName.noGps) - if gps_ok: - self.distance_traveled = 0 - self.distance_traveled += CS.vEgo * DT_CTRL - - if self.sm['modelV2'].frameDropPerc > 20: - self.events.add(EventName.modeldLagging) - - def data_sample(self): - """Receive data from sockets""" - - car_state = messaging.recv_one(self.car_state_sock) - CS = car_state.carState if car_state else self.CS_prev - - self.sm.update(0) - - if not self.initialized: - all_valid = CS.canValid and self.sm.all_checks() - timed_out = self.sm.frame * DT_CTRL > 6. - if all_valid or timed_out or (SIMULATION and not REPLAY): - available_streams = VisionIpcClient.available_streams("camerad", block=False) - if VisionStreamType.VISION_STREAM_ROAD not in available_streams: - self.sm.ignore_alive.append('roadCameraState') - if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: - self.sm.ignore_alive.append('wideRoadCameraState') - - self.initialized = True - self.set_initial_state() - - cloudlog.event( - "controlsd.initialized", - dt=self.sm.frame*DT_CTRL, - timeout=timed_out, - canValid=CS.canValid, - invalid=[s for s, valid in self.sm.valid.items() if not valid], - not_alive=[s for s, alive in self.sm.alive.items() if not alive], - not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - error=True, - ) - - # When the panda and controlsd do not agree on controls_allowed - # we want to disengage openpilot. However the status from the panda goes through - # another socket other than the CAN messages and one can arrive earlier than the other. - # Therefore we allow a mismatch for two samples, then we trigger the disengagement. - if not self.enabled: - self.mismatch_counter = 0 - - # All pandas not in silent mode must have controlsAllowed when openpilot is enabled - if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates'] - if ps.safetyModel not in IGNORED_SAFETY_MODES): - self.mismatch_counter += 1 - - # calibrate the live pose and save it for later use + def update(self): + self.sm.update(15) if self.sm.updated["liveCalibration"]: self.pose_calibrator.feed_live_calib(self.sm['liveCalibration']) if self.sm.updated["livePose"]: device_pose = Pose.from_live_pose(self.sm['livePose']) self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose) - return CS - - def state_transition(self, CS): - """Compute conditional state transitions and execute actions on state transitions""" - - # decrement the soft disable timer at every step, as it's reset on - # entrance in SOFT_DISABLING state - self.soft_disable_timer = max(0, self.soft_disable_timer - 1) - - self.current_alert_types = [ET.PERMANENT] - - # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING - if self.state != State.disabled: - # user and immediate disable always have priority in a non-disabled state - if self.events.contains(ET.USER_DISABLE): - self.state = State.disabled - self.current_alert_types.append(ET.USER_DISABLE) - - elif self.events.contains(ET.IMMEDIATE_DISABLE): - self.state = State.disabled - self.current_alert_types.append(ET.IMMEDIATE_DISABLE) - - else: - # ENABLED - if self.state == State.enabled: - if self.events.contains(ET.SOFT_DISABLE): - self.state = State.softDisabling - self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) - self.current_alert_types.append(ET.SOFT_DISABLE) - - elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): - self.state = State.overriding - self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] - - # SOFT DISABLING - elif self.state == State.softDisabling: - if not self.events.contains(ET.SOFT_DISABLE): - # no more soft disabling condition, so go back to ENABLED - self.state = State.enabled - - elif self.soft_disable_timer > 0: - self.current_alert_types.append(ET.SOFT_DISABLE) - - elif self.soft_disable_timer <= 0: - self.state = State.disabled - - # PRE ENABLING - elif self.state == State.preEnabled: - if not self.events.contains(ET.PRE_ENABLE): - self.state = State.enabled - else: - self.current_alert_types.append(ET.PRE_ENABLE) - - # OVERRIDING - elif self.state == State.overriding: - if self.events.contains(ET.SOFT_DISABLE): - self.state = State.softDisabling - self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) - self.current_alert_types.append(ET.SOFT_DISABLE) - elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)): - self.state = State.enabled - else: - self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] - - # DISABLED - elif self.state == State.disabled: - if self.events.contains(ET.ENABLE): - if self.events.contains(ET.NO_ENTRY): - self.current_alert_types.append(ET.NO_ENTRY) - - else: - if self.events.contains(ET.PRE_ENABLE): - self.state = State.preEnabled - elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): - self.state = State.overriding - else: - self.state = State.enabled - self.current_alert_types.append(ET.ENABLE) - - # Check if openpilot is engaged and actuators are enabled - self.enabled = self.state in ENABLED_STATES - self.active = self.state in ACTIVE_STATES - if self.active: - self.current_alert_types.append(ET.WARNING) - - def state_control(self, CS): - """Given the state, this function returns a CarControl packet""" + def state_control(self): + CS = self.sm['carState'] # Update VehicleModel lp = self.sm['liveParameters'] @@ -542,13 +84,12 @@ class Controls: model_v2 = self.sm['modelV2'] CC = car.CarControl.new_message() - CC.enabled = self.enabled + CC.enabled = self.sm['selfdriveState'].enabled # Check which actuators can be enabled - standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill - CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ - (not standstill or self.joystick_mode) - CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl + standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill + CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill + CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state @@ -558,81 +99,21 @@ class Controls: CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right - if CS.leftBlinker or CS.rightBlinker: - self.last_blinker_frame = self.sm.frame - - # State specific actions - if not CC.latActive: self.LaC.reset() if not CC.longActive: self.LoC.reset() - if not self.joystick_mode: - # accel PID loop - pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS) - actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits) - - # Steering PID loop and lateral MPC - self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) - actuators.curvature = self.desired_curvature - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, - self.steer_limited, self.desired_curvature, - self.calibrated_pose) # TODO what if not available - else: - lac_log = log.ControlsState.LateralDebugState.new_message() - if self.sm.recv_frame['testJoystick'] > 0: - # reset joystick if it hasn't been received in a while - should_reset_joystick = (self.sm.frame - self.sm.recv_frame['testJoystick'])*DT_CTRL > 0.2 - if not should_reset_joystick: - joystick_axes = self.sm['testJoystick'].axes - else: - joystick_axes = [0.0, 0.0] - - if CC.longActive: - actuators.accel = 4.0*clip(joystick_axes[0], -1, 1) - - if CC.latActive: - max_curvature = JOYSTICK_MAX_LAT_ACCEL / max(CS.vEgo ** 2, 1) - max_angle = math.degrees(self.VM.get_steer_from_curvature(max_curvature, CS.vEgo, lp.roll)) - - steer = clip(joystick_axes[1], -1, 1) - actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * max_angle, steer * -max_curvature - - lac_log.active = self.active - lac_log.steeringAngleDeg = CS.steeringAngleDeg - lac_log.output = actuators.steer - lac_log.saturated = abs(actuators.steer) >= 0.9 - - if CS.steeringPressed: - self.last_steering_pressed_frame = self.sm.frame - recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0 - - # Send a "steering required alert" if saturation count has reached the limit - if lac_log.active and not recent_steer_pressed and not self.CP.notCar: - if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: - undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 - turning = abs(lac_log.desiredLateralAccel) > 1.0 - good_speed = CS.vEgo > 5 - max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99 - if undershooting and turning and good_speed and max_torque: - lac_log.active and self.events.add(EventName.steerSaturated) - elif lac_log.saturated: - # TODO probably should not use dpath_points but curvature - dpath_points = model_v2.position.y - if len(dpath_points): - # Check if we deviated from the path - # TODO use desired vs actual curvature - if self.CP.steerControlType == car.CarParams.SteerControlType.angle: - steering_value = actuators.steeringAngleDeg - else: - steering_value = actuators.steer - - left_deviation = steering_value > 0 and dpath_points[0] < -0.20 - right_deviation = steering_value < 0 and dpath_points[0] > 0.20 - - if left_deviation or right_deviation: - self.events.add(EventName.steerSaturated) + # accel PID loop + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS) + actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits) + + # Steering PID loop and lateral MPC + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) + actuators.curvature = self.desired_curvature + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, + self.steer_limited, self.desired_curvature, + self.calibrated_pose) # TODO what if not available # Ensure no NaNs/Infs for p in ACTUATOR_FIELDS: @@ -644,17 +125,10 @@ class Controls: cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}") setattr(actuators, p, 0.0) - # 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 - self.params.put_nonblocking('LongitudinalPersonality', str(self.personality)) - self.events.add(EventName.personalityChanged) - return CC, lac_log - def publish_logs(self, CS, CC, lac_log): - """Send actuators and hud commands to the car, send controlsstate and MPC logging""" + def publish(self, CC, lac_log): + CS = self.sm['carState'] # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller @@ -662,61 +136,28 @@ class Controls: CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist() CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist() - CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl - CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) - if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: - CC.cruiseControl.cancel = True + CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl + CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise) speeds = self.sm['longitudinalPlan'].speeds if len(speeds): - CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 + CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 hudControl = CC.hudControl hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS) - hudControl.speedVisible = self.enabled - hudControl.lanesVisible = self.enabled + hudControl.speedVisible = CC.enabled + hudControl.lanesVisible = CC.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead - hudControl.leadDistanceBars = self.personality + 1 + hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1 + hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual hudControl.rightLaneVisible = True hudControl.leftLaneVisible = True + if self.sm.valid['driverAssistance']: + hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture + hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture - recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown - ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ - and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated - - model_v2 = self.sm['modelV2'] - desire_prediction = model_v2.meta.desirePrediction - if len(desire_prediction) and ldw_allowed: - right_lane_visible = model_v2.laneLineProbs[2] > 0.5 - left_lane_visible = model_v2.laneLineProbs[1] > 0.5 - l_lane_change_prob = desire_prediction[Desire.laneChangeLeft] - r_lane_change_prob = desire_prediction[Desire.laneChangeRight] - - lane_lines = model_v2.laneLines - l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) - r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET)) - - hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close) - hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close) - - if hudControl.rightLaneDepart or hudControl.leftLaneDepart: - self.events.add(EventName.ldw) - - clear_event_types = set() - if ET.WARNING not in self.current_alert_types: - clear_event_types.add(ET.WARNING) - if self.enabled: - clear_event_types.add(ET.NO_ENTRY) - - pers = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}[self.personality] - alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer, pers]) - self.AM.add_many(self.sm.frame, alerts) - current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types) - if current_alert: - hudControl.visualAlert = current_alert.visual_alert - - if not self.CP.passive and self.initialized: + if self.sm['selfdriveState'].active: CO = self.sm['carOutput'] if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ @@ -724,127 +165,56 @@ class Controls: else: self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2 - force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ - (self.state == State.softDisabling) - - # Curvature & Steering angle - lp = self.sm['liveParameters'] - - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) - curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) + # TODO: both controlsState and carControl valids should be set by + # sm.all_checks(), but this creates a circular dependency # controlsState dat = messaging.new_message('controlsState') dat.valid = CS.canValid - controlsState = dat.controlsState - controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] - controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2'] - controlsState.curvature = curvature - controlsState.desiredCurvature = self.desired_curvature - controlsState.longControlState = self.LoC.long_control_state - controlsState.upAccelCmd = float(self.LoC.pid.p) - controlsState.uiAccelCmd = float(self.LoC.pid.i) - controlsState.ufAccelCmd = float(self.LoC.pid.f) - controlsState.cumLagMs = -self.rk.remaining * 1000. - controlsState.forceDecel = bool(force_decel) + cs = dat.controlsState + + lp = self.sm['liveParameters'] + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) + cs.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) + + cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] + cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2'] + cs.desiredCurvature = self.desired_curvature + cs.longControlState = self.LoC.long_control_state + cs.upAccelCmd = float(self.LoC.pid.p) + cs.uiAccelCmd = float(self.LoC.pid.i) + cs.ufAccelCmd = float(self.LoC.pid.f) + cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or + (self.sm['selfdriveState'].state == State.softDisabling)) lat_tuning = self.CP.lateralTuning.which() - if self.joystick_mode: - controlsState.lateralControlState.debugState = lac_log - elif self.CP.steerControlType == car.CarParams.SteerControlType.angle: - controlsState.lateralControlState.angleState = lac_log + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + cs.lateralControlState.angleState = lac_log elif lat_tuning == 'pid': - controlsState.lateralControlState.pidState = lac_log + cs.lateralControlState.pidState = lac_log elif lat_tuning == 'torque': - controlsState.lateralControlState.torqueState = lac_log + cs.lateralControlState.torqueState = lac_log self.pm.send('controlsState', dat) - # selfdriveState - ss_msg = messaging.new_message('selfdriveState') - ss_msg.valid = CS.canValid - ss = ss_msg.selfdriveState - if current_alert: - ss.alertText1 = current_alert.alert_text_1 - ss.alertText2 = current_alert.alert_text_2 - ss.alertSize = current_alert.alert_size - ss.alertStatus = current_alert.alert_status - ss.alertType = current_alert.alert_type - ss.alertSound = current_alert.audible_alert - ss.enabled = self.enabled - ss.active = self.active - ss.state = self.state - ss.engageable = not self.events.contains(ET.NO_ENTRY) - ss.experimentalMode = self.experimental_mode - ss.personality = self.personality - self.pm.send('selfdriveState', ss_msg) - - # onroadEvents - logged every second or on change - if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): - ce_send = messaging.new_message('onroadEvents', len(self.events)) - ce_send.valid = True - ce_send.onroadEvents = self.events.to_msg() - self.pm.send('onroadEvents', ce_send) - self.events_prev = self.events.names.copy() - # carControl cc_send = messaging.new_message('carControl') cc_send.valid = CS.canValid cc_send.carControl = CC self.pm.send('carControl', cc_send) - def step(self): - # Sample data from sockets and get a carState - CS = self.data_sample() - cloudlog.timestamp("Data sampled") - - self.update_events(CS) - cloudlog.timestamp("Events updated") - - if not self.CP.passive and self.initialized: - # Update control state - self.state_transition(CS) - - # Compute actuators (runs PID loops and lateral MPC) - CC, lac_log = self.state_control(CS) - - # Publish data - self.publish_logs(CS, CC, lac_log) - - self.CS_prev = CS - - def read_personality_param(self): - try: - return int(self.params.get('LongitudinalPersonality')) - except (ValueError, TypeError): - return log.LongitudinalPersonality.standard - - def params_thread(self, evt): - while not evt.is_set(): - self.is_metric = self.params.get_bool("IsMetric") - self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl - self.personality = self.read_personality_param() - if self.CP.notCar: - self.joystick_mode = self.params.get_bool("JoystickDebugMode") - time.sleep(0.1) - - def controlsd_thread(self): - e = threading.Event() - t = threading.Thread(target=self.params_thread, args=(e, )) - try: - t.start() - while True: - self.step() - self.rk.monitor_time() - finally: - e.set() - t.join() - + def run(self): + rk = Ratekeeper(100, print_delay_threshold=None) + while True: + self.update() + CC, lac_log = self.state_control() + self.publish(CC, lac_log) + rk.keep_time() def main(): config_realtime_process(4, Priority.CTRL_HIGH) controls = Controls() - controls.controlsd_thread() + controls.run() if __name__ == "__main__": diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 35810c4832..64cbf473d6 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,9 +1,6 @@ -from cereal import car, log +from cereal import log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL -from openpilot.system.version import get_build_metadata - -EventName = car.OnroadEvent.EventName MIN_SPEED = 1.0 CONTROL_N = 17 @@ -29,20 +26,3 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) return float(vel_err) return 0.0 - - -def get_startup_event(car_recognized, controller_available, fw_seen): - build_metadata = get_build_metadata() - if build_metadata.openpilot.comma_remote and build_metadata.tested_channel: - event = EventName.startup - else: - event = EventName.startupMaster - - if not car_recognized: - if fw_seen: - event = EventName.startupNoCar - else: - event = EventName.startupNoFw - elif car_recognized and not controller_available: - event = EventName.startupNoControl - return event diff --git a/selfdrive/controls/lib/ldw.py b/selfdrive/controls/lib/ldw.py new file mode 100644 index 0000000000..caf03fec73 --- /dev/null +++ b/selfdrive/controls/lib/ldw.py @@ -0,0 +1,41 @@ +from cereal import log +from openpilot.common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV + + +CAMERA_OFFSET = 0.04 +LDW_MIN_SPEED = 31 * CV.MPH_TO_MS +LANE_DEPARTURE_THRESHOLD = 0.1 + +class LaneDepartureWarning: + def __init__(self): + self.left = False + self.right = False + self.last_blinker_frame = 0 + + def update(self, frame, modelV2, CS, CC): + if CS.leftBlinker or CS.rightBlinker: + self.last_blinker_frame = frame + + recent_blinker = (frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown + ldw_allowed = CS.vEgo > LDW_MIN_SPEED and not recent_blinker and not CC.latActive + + desire_prediction = modelV2.meta.desirePrediction + if len(desire_prediction) and ldw_allowed: + right_lane_visible = modelV2.laneLineProbs[2] > 0.5 + left_lane_visible = modelV2.laneLineProbs[1] > 0.5 + l_lane_change_prob = desire_prediction[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_prediction[log.Desire.laneChangeRight] + + lane_lines = modelV2.laneLines + l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET)) + r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET)) + + self.left = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close) + self.right = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close) + else: + self.left, self.right = False, False + + @property + def warning(self) -> bool: + return bool(self.left or self.right) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 103d3f7047..54838924be 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -13,7 +13,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error -from openpilot.selfdrive.car.cruise import V_CRUISE_MAX +from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET from openpilot.common.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s @@ -21,6 +21,8 @@ A_CRUISE_MIN = -1.2 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] +ALLOW_THROTTLE_THRESHOLD = 0.5 +ACCEL_LIMIT_MARGIN = 0.05 # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] @@ -30,6 +32,9 @@ _A_TOTAL_MAX_BP = [20., 40.] def get_max_accel(v_ego): return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) +def get_coast_accel(pitch): + return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py + def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): """ @@ -69,6 +74,7 @@ class LongitudinalPlanner: self.mpc = LongitudinalMpc(dt=dt) self.fcw = False self.dt = dt + self.allow_throttle = True self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) @@ -93,20 +99,32 @@ class LongitudinalPlanner: v = np.zeros(len(T_IDXS_MPC)) a = np.zeros(len(T_IDXS_MPC)) j = np.zeros(len(T_IDXS_MPC)) - return x, v, a, j + if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1: + throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1] + else: + throttle_prob = 1.0 + return x, v, a, j, throttle_prob def update(self, sm): 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]) + else: + accel_coast = ACCEL_MAX + 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 long_control_off = sm['controlsState'].longControlState == LongCtrlState.off force_slow_decel = sm['controlsState'].forceDecel # Reset current state when not engaged, or user is controlling the speed reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled + # PCM cruise speed may be updated a few cycles later, check if initialized + reset_state = reset_state or not v_cruise_initialized # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) @@ -127,6 +145,13 @@ 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'], self.v_model_error) + self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD + + if not self.allow_throttle and v_ego > 5.0: # Don't clip at low speeds since throttle_prob doesn't account for creep + # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin + clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN) + accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast) if force_slow_decel: v_cruise = 0.0 @@ -137,7 +162,6 @@ class LongitudinalPlanner: self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality) self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution) @@ -176,6 +200,6 @@ class LongitudinalPlanner: longitudinalPlan.aTarget = a_target longitudinalPlan.shouldStop = should_stop longitudinalPlan.allowBrake = True - longitudinalPlan.allowThrottle = True + longitudinalPlan.allowThrottle = self.allow_throttle pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index c8c8d02751..ba4bd0faec 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces from opendbc.car.honda.values import CAR as HONDA from opendbc.car.toyota.values import CAR as TOYOTA from opendbc.car.nissan.values import CAR as NISSAN -from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle @@ -21,7 +20,6 @@ class TestLatControl: CarInterface, CarController, CarState, RadarInterface = interfaces[car_name] CP = CarInterface.get_non_essential_params(car_name) CI = CarInterface(CP, CarController, CarState) - CP = convert_to_capnp(CP) VM = VehicleModel(CP) controller = controller(CP.as_reader(), CI) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index b58bdbe522..d15519a866 100644 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -5,14 +5,13 @@ import numpy as np from opendbc.car.honda.interface import CarInterface from opendbc.car.honda.values import CAR -from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices class TestVehicleModel: def setup_method(self): CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC) - self.VM = VehicleModel(convert_to_capnp(CP)) + self.VM = VehicleModel(CP) def test_round_trip_yaw_rate(self): # TODO: fix VM to work at zero speed diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 9de70c767a..ae8301871d 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -3,11 +3,12 @@ from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import Priority, config_realtime_process from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner import cereal.messaging as messaging -def plannerd_thread(): +def main(): config_realtime_process(5, Priority.CTRL_LOW) cloudlog.info("plannerd is waiting for CarParams") @@ -15,8 +16,9 @@ def plannerd_thread(): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("plannerd got CarParams: %s", CP.carName) + ldw = LaneDepartureWarning() longitudinal_planner = LongitudinalPlanner(CP) - pm = messaging.PubMaster(['longitudinalPlan']) + pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'], poll='modelV2', ignore_avg_freq=['radarState']) @@ -26,9 +28,12 @@ def plannerd_thread(): longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - -def main(): - plannerd_thread() + ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl']) + msg = messaging.new_message('driverAssistance') + msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2']) + msg.driverAssistance.leftLaneDeparture = ldw.left + msg.driverAssistance.rightLaneDeparture = ldw.right + pm.send('driverAssistance', msg) if __name__ == "__main__": diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index f3aa099bfb..a5987b4bcc 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -1,18 +1,15 @@ #!/usr/bin/env python3 -import importlib import math from collections import deque from typing import Any import capnp from cereal import messaging, log, car -from opendbc.car import structs from openpilot.common.numpy_fast import interp from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process +from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog from openpilot.common.simple_kalman import KF1D -from openpilot.selfdrive.pandad import can_capnp_to_list # Default lead acceleration decay set to 50% at 1s @@ -194,14 +191,14 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn class RadarD: - def __init__(self, radar_ts: float, delay: int = 0): + def __init__(self, delay: float = 0.0): self.current_time = 0.0 self.tracks: dict[int, Track] = {} - self.kalman_params = KalmanParams(radar_ts) + self.kalman_params = KalmanParams(DT_MDL) self.v_ego = 0.0 - self.v_ego_hist = deque([0.0], maxlen=delay+1) + self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1) self.last_v_ego_frame = -1 self.radar_state: capnp._DynamicStructBuilder | None = None @@ -209,7 +206,7 @@ class RadarD: self.ready = False - def update(self, sm: messaging.SubMaster, rr: structs.RadarData): + def update(self, sm: messaging.SubMaster, rr: car.RadarData): self.ready = sm.seen['modelV2'] self.current_time = 1e-9*max(sm.logMonoTime.values()) @@ -246,8 +243,8 @@ class RadarD: self.radar_state.radarErrors = list(rr.errors) self.radar_state.carStateMonoTime = sm.logMonoTime['carState'] - if len(sm['modelV2'].temporalPose.trans): - model_v_ego = sm['modelV2'].temporalPose.trans[0] + if len(sm['modelV2'].velocity.x): + model_v_ego = sm['modelV2'].velocity.x[0] else: model_v_ego = self.v_ego leads_v3 = sm['modelV2'].leadsV3 @@ -255,27 +252,14 @@ class RadarD: self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True) self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False) - def publish(self, pm: messaging.PubMaster, lag_ms: float): + def publish(self, pm: messaging.PubMaster): assert self.radar_state is not None radar_msg = messaging.new_message("radarState") radar_msg.valid = self.radar_state_valid radar_msg.radarState = self.radar_state - radar_msg.radarState.cumLagMs = lag_ms pm.send("radarState", radar_msg) - # publish tracks for UI debugging (keep last) - tracks_msg = messaging.new_message('liveTracks', len(self.tracks)) - tracks_msg.valid = self.radar_state_valid - for index, tid in enumerate(sorted(self.tracks.keys())): - tracks_msg.liveTracks[index] = { - "trackId": tid, - "dRel": float(self.tracks[tid].dRel), - "yRel": float(self.tracks[tid].yRel), - "vRel": float(self.tracks[tid].vRel), - } - pm.send('liveTracks', tracks_msg) - # fuses camera and radar data for best lead detection def main() -> None: @@ -286,31 +270,17 @@ def main() -> None: CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams) cloudlog.info("radard got CarParams") - # import the radar from the fingerprint - cloudlog.info("radard is importing %s", CP.carName) - RadarInterface = importlib.import_module(f'opendbc.car.{CP.carName}.radar_interface').RadarInterface - # *** setup messaging - can_sock = messaging.sub_sock('can') - sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL)) - pm = messaging.PubMaster(['radarState', 'liveTracks']) + sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2') + pm = messaging.PubMaster(['radarState']) - RI = RadarInterface(CP) - - rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) - RD = RadarD(CP.radarTimeStep, RI.delay) + RD = RadarD(CP.radarDelay) while 1: - can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) - rr: structs.RadarData | None = RI.update(can_capnp_to_list(can_strings)) - sm.update(0) - if rr is None: - continue - - RD.update(sm, rr) - RD.publish(pm, -rk.remaining*1000.0) + sm.update() - rk.monitor_time() + RD.update(sm, sm['liveTracks']) + RD.publish(pm) if __name__ == "__main__": diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py index 4b98628bf6..89582d1e64 100644 --- a/selfdrive/controls/tests/test_leads.py +++ b/selfdrive/controls/tests/test_leads.py @@ -11,19 +11,21 @@ class TestLeads: def single_iter_pkg(): # single iter package, with meaningless cans and empty carState/modelV2 msgs = [] - for _ in range(5): + for _ in range(500): can = messaging.new_message("can", 1) cs = messaging.new_message("carState") + cp = messaging.new_message("carParams") msgs.append(can.as_reader()) msgs.append(cs.as_reader()) + msgs.append(cp.as_reader()) model = messaging.new_message("modelV2") msgs.append(model.as_reader()) return msgs msgs = [m for _ in range(3) for m in single_iter_pkg()] - out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2) - states = [m for m in out if m.which() == "radarState"] - failures = [not state.valid and len(state.radarState.radarErrors) for state in states] + out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2) + states = [m for m in out if m.which() == "liveTracks"] + failures = [not state.valid and len(state.liveTracks.errors) for state in states] assert len(states) == 0 or all(failures) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py deleted file mode 100644 index 077d4ae93a..0000000000 --- a/selfdrive/controls/tests/test_startup.py +++ /dev/null @@ -1,121 +0,0 @@ -import os -from parameterized import parameterized - -from cereal import log, car -import cereal.messaging as messaging -from opendbc.car.fingerprints import _FINGERPRINTS -from opendbc.car.toyota.values import CAR as TOYOTA -from opendbc.car.mazda.values import CAR as MAZDA -from openpilot.common.params import Params -from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp -from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.system.manager.process_config import managed_processes - -EventName = car.OnroadEvent.EventName -Ecu = car.CarParams.Ecu - -COROLLA_FW_VERSIONS = [ - (Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'), - (Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'), - (Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'), - (Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'), - (Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'), -] -COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')] -COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1] - -CX5_FW_VERSIONS = [ - (Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), -] - - -@parameterized.expand([ - # TODO: test EventName.startup for release branches - - # officially supported car - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"), - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"), - - # dashcamOnly car - (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"), - (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"), - - # unrecognized car with no fw - (EventName.startupNoFw, None, None, ""), - (EventName.startupNoFw, None, None, ""), - - # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - - # fuzzy match - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), -]) -def test_startup_alert(expected_event, car_model, fw_versions, brand): - controls_sock = messaging.sub_sock("selfdriveState") - pm = messaging.PubMaster(['can', 'pandaStates']) - - params = Params() - params.put_bool("OpenpilotEnabledToggle", True) - - # Build capnn version of FW array - if fw_versions is not None: - car_fw = [] - cp = car.CarParams.new_message() - for ecu, addr, subaddress, version in fw_versions: - f = car.CarParams.CarFw.new_message() - f.ecu = ecu - f.address = addr - f.fwVersion = version - f.brand = brand - - if subaddress is not None: - f.subAddress = subaddress - - car_fw.append(f) - cp.carVin = "1" * 17 - cp.carFw = car_fw - params.put("CarParamsCache", cp.to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = '1' - - managed_processes['controlsd'].start() - managed_processes['card'].start() - - assert pm.wait_for_readers_to_update('can', 5) - pm.send('can', can_list_to_can_capnp([[0, b"", 0]])) - - assert pm.wait_for_readers_to_update('pandaStates', 5) - msg = messaging.new_message('pandaStates', 1) - msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno - pm.send('pandaStates', msg) - - # fingerprint - if (car_model is None) or (fw_versions is not None): - finger = {addr: 1 for addr in range(1, 100)} - else: - finger = _FINGERPRINTS[car_model][0] - - msgs = [[addr, b'\x00'*length, 0] for addr, length in finger.items()] - for _ in range(1000): - # card waits for pandad to echo back that it has changed the multiplexing mode - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - - pm.send('can', can_list_to_can_capnp(msgs)) - assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}" - - ctrls = messaging.drain_sock(controls_sock) - if len(ctrls): - event_name = ctrls[0].selfdriveState.alertType.split("/")[0] - assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}" - break - else: - raise Exception(f"failed to fingerprint {car_model}") diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py deleted file mode 100644 index a42cd6056b..0000000000 --- a/selfdrive/controls/tests/test_state_machine.py +++ /dev/null @@ -1,102 +0,0 @@ -from cereal import car, log -from opendbc.car.car_helpers import interfaces -from opendbc.car.mock.values import CAR as MOCK -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME -from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ - AudibleAlert, EVENTS - -State = log.SelfdriveState.OpenpilotState - -# The event types that maintain the current state -MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,), - State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)} -ALL_STATES = tuple(State.schema.enumerants.values()) -# The event types checked in DISABLED section of state machine -ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL) - - -def make_event(event_types): - event = {} - for ev in event_types: - event[ev] = Alert("", "", AlertStatus.normal, AlertSize.small, Priority.LOW, - VisualAlert.none, AudibleAlert.none, 1.) - EVENTS[0] = event - return 0 - - -class TestStateMachine: - - def setup_method(self): - CarInterface, CarController, CarState, RadarInterface = interfaces[MOCK.MOCK] - CP = CarInterface.get_non_essential_params(MOCK.MOCK) - CI = CarInterface(CP, CarController, CarState) - - self.controlsd = Controls(CI=CI) - self.controlsd.events = Events() - self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) - self.CS = car.CarState() - - def test_immediate_disable(self): - for state in ALL_STATES: - for et in MAINTAIN_STATES[state]: - self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - assert State.disabled == self.controlsd.state - self.controlsd.events.clear() - - def test_user_disable(self): - for state in ALL_STATES: - for et in MAINTAIN_STATES[state]: - self.controlsd.events.add(make_event([et, ET.USER_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - assert State.disabled == self.controlsd.state - self.controlsd.events.clear() - - def test_soft_disable(self): - for state in ALL_STATES: - if state == State.preEnabled: # preEnabled considers NO_ENTRY instead - continue - for et in MAINTAIN_STATES[state]: - self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling - self.controlsd.events.clear() - - def test_soft_disable_timer(self): - self.controlsd.state = State.enabled - self.controlsd.events.add(make_event([ET.SOFT_DISABLE])) - self.controlsd.state_transition(self.CS) - for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)): - assert self.controlsd.state == State.softDisabling - self.controlsd.state_transition(self.CS) - - assert self.controlsd.state == State.disabled - - def test_no_entry(self): - # Make sure noEntry keeps us disabled - for et in ENABLE_EVENT_TYPES: - self.controlsd.events.add(make_event([ET.NO_ENTRY, et])) - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == State.disabled - self.controlsd.events.clear() - - def test_no_entry_pre_enable(self): - # preEnabled with noEntry event - self.controlsd.state = State.preEnabled - self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE])) - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == State.preEnabled - - def test_maintain_states(self): - # Given current state's event type, we should maintain state - for state in ALL_STATES: - for et in MAINTAIN_STATES[state]: - self.controlsd.state = state - self.controlsd.events.add(make_event([et])) - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == state - self.controlsd.events.clear() diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 5942054757..4095ae3fc1 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -33,8 +33,8 @@ if __name__ == "__main__": if len(events) == 0 or ae != events[-1][1]: events.append((t, ae)) - elif msg.which() == 'controlsState': - at = msg.controlsState.alertType + elif msg.which() == 'selfdriveState': + at = msg.selfdriveState.alertType if "/override" not in at or "lanechange" in at.lower(): if len(alerts) == 0 or alerts[-1][1] != at: alerts.append((t, at)) diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index fbac65cac1..11e75a7a8e 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -6,11 +6,11 @@ from cereal import car, log import cereal.messaging as messaging from opendbc.car.honda.interface import CarInterface from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.controls.lib.events import ET, Events -from openpilot.selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.selfdrived.events import ET, Events +from openpilot.selfdrive.selfdrived.alertmanager import AlertManager from openpilot.system.manager.process_config import managed_processes -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName def randperc() -> float: return 100. * random.random() diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index ae1ed06b75..7207bd1ef1 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -2,12 +2,16 @@ import jinja2 import os +from cereal import car from openpilot.common.basedir import BASEDIR from opendbc.car.interfaces import get_interface_attr +Ecu = car.CarParams.Ecu + CARS = get_interface_attr('CAR') FW_VERSIONS = get_interface_attr('FW_VERSIONS') FINGERPRINTS = get_interface_attr('FINGERPRINTS') +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" {%- if FINGERPRINTS[brand] %} @@ -45,7 +49,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{ {% for car, _ in FW_VERSIONS[brand].items() %} CAR.{{car.name}}: { {% for key, fw_versions in FW_VERSIONS[brand][car].items() %} - (Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \ + (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ {% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} {{fw_version}}, @@ -67,8 +71,9 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] with open(fingerprints_file, "w") as f: - f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS, - FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions)) + f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, + FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, + extra_fw_versions=extra_fw_versions)) if __name__ == "__main__": diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index 14a315da85..7f5541b8c2 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -31,9 +31,8 @@ POSENET_STD_HIST_HALF = 20 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool): assert len(values) == len(stds) == 3 - for i, d in enumerate(("x", "y", "z")): - setattr(measurement, d, float(values[i])) - setattr(measurement, f"{d}Std", float(stds[i])) + measurement.x, measurement.y, measurement.z = map(float, values) + measurement.xStd, measurement.yStd, measurement.zStd = map(float, stds) measurement.valid = valid @@ -50,7 +49,7 @@ class LocationEstimator: self.debug = debug - self.posenet_stds = [POSENET_STD_INITIAL_VALUE] * (POSENET_STD_HIST_HALF * 2) + self.posenet_stds = np.array([POSENET_STD_INITIAL_VALUE] * (POSENET_STD_HIST_HALF * 2)) self.car_speed = 0.0 self.camodo_yawrate_distribution = np.array([0.0, 10.0]) # mean, std self.device_from_calib = np.eye(3) @@ -169,8 +168,8 @@ class LocationEstimator: if np.linalg.norm(rot_calib_std) > 10 * ROTATION_SANITY_CHECK or np.linalg.norm(trans_calib_std) > 10 * TRANS_SANITY_CHECK: return HandleLogResult.INPUT_INVALID - self.posenet_stds.pop(0) - self.posenet_stds.append(trans_calib_std[0]) + self.posenet_stds = np.roll(self.posenet_stds, -1) + self.posenet_stds[-1] = trans_calib_std[0] # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise rot_calib_std *= 10 diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index d572915c72..d472998416 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -69,6 +69,10 @@ if arch == "larch64" or GetOption('pc_thneed'): lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) + fn_dm = File("models/dmonitoring_model").abspath + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn_dm}.onnx {fn_dm}.thneed" + lenv.Command(fn_dm + ".thneed", [fn_dm + ".onnx"] + tinygrad_files, cmd) + thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl']) thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL']) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 4d2888d231..bf74c2d1a0 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -15,7 +15,8 @@ class ModelConstants: # model inputs constants MODEL_FREQ = 20 FEATURE_LEN = 512 - HISTORY_BUFFER_LEN = 99 + FULL_HISTORY_BUFFER_LEN = 99 + HISTORY_BUFFER_LEN = 24 DESIRE_LEN = 8 TRAFFIC_CONVENTION_LEN = 2 LAT_PLANNER_STATE_LEN = 4 @@ -72,14 +73,14 @@ class Plan: class Meta: ENGAGED = slice(0, 1) # next 2, 4, 6, 8, 10 seconds - GAS_DISENGAGE = slice(1, 41, 8) - BRAKE_DISENGAGE = slice(2, 41, 8) - STEER_OVERRIDE = slice(3, 41, 8) - HARD_BRAKE_3 = slice(4, 41, 8) - HARD_BRAKE_4 = slice(5, 41, 8) - HARD_BRAKE_5 = slice(6, 41, 8) - GAS_PRESS = slice(7, 41, 8) - BRAKE_PRESS = slice(8, 41, 8) + GAS_DISENGAGE = slice(1, 31, 6) + BRAKE_DISENGAGE = slice(2, 31, 6) + STEER_OVERRIDE = slice(3, 31, 6) + HARD_BRAKE_3 = slice(4, 31, 6) + HARD_BRAKE_4 = slice(5, 31, 6) + HARD_BRAKE_5 = slice(6, 31, 6) # next 0, 2, 4, 6, 8, 10 seconds - LEFT_BLINKER = slice(41, 53, 2) - RIGHT_BLINKER = slice(42, 53, 2) + GAS_PRESS = slice(31, 55, 4) + BRAKE_PRESS = slice(32, 55, 4) + LEFT_BLINKER = slice(33, 55, 4) + RIGHT_BLINKER = slice(34, 55, 4) diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld new file mode 100755 index 0000000000..80157e1751 --- /dev/null +++ b/selfdrive/modeld/dmonitoringmodeld @@ -0,0 +1,10 @@ +#!/usr/bin/env bash + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd "$DIR/../../" + +if [ -f "$DIR/libthneed.so" ]; then + export LD_PRELOAD="$DIR/libthneed.so" +fi + +exec "$DIR/dmonitoringmodeld.py" "$@" diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index a388bf089c..3030b31a0c 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -6,6 +6,7 @@ import time import ctypes import numpy as np from pathlib import Path +from setproctitle import setproctitle from cereal import messaging from cereal.messaging import PubMaster, SubMaster @@ -14,16 +15,19 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime -from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid +from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext +from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid CALIB_LEN = 3 -REG_SCALE = 0.25 MODEL_WIDTH = 1440 MODEL_HEIGHT = 960 -OUTPUT_SIZE = 84 +FEATURE_LEN = 512 +OUTPUT_SIZE = 84 + FEATURE_LEN + +PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PATHS = { - ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc', + ModelRunner.THNEED: Path(__file__).parent / 'models/dmonitoring_model.thneed', ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'} class DriverStateResult(ctypes.Structure): @@ -49,21 +53,22 @@ class DMonitoringModelResult(ctypes.Structure): ("driver_state_lhd", DriverStateResult), ("driver_state_rhd", DriverStateResult), ("poor_vision_prob", ctypes.c_float), - ("wheel_on_right_prob", ctypes.c_float)] + ("wheel_on_right_prob", ctypes.c_float), + ("features", ctypes.c_float*FEATURE_LEN)] class ModelState: inputs: dict[str, np.ndarray] output: np.ndarray model: ModelRunner - def __init__(self): + def __init__(self, cl_ctx): assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32) self.inputs = { 'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), 'calib': np.zeros(CALIB_LEN, dtype=np.float32)} - self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, cl_ctx) self.model.addInput("input_img", None) self.model.addInput("calib", self.inputs['calib']) @@ -76,37 +81,37 @@ class ModelState: input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] - t1 = time.perf_counter() self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + t1 = time.perf_counter() self.model.execute() t2 = time.perf_counter() return self.output, t2 - t1 def fill_driver_state(msg, ds_result: DriverStateResult): - msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation] + msg.faceOrientation = list(ds_result.face_orientation) msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] - msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] + msg.facePosition = list(ds_result.face_position[:2]) msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] - msg.faceProb = sigmoid(ds_result.face_prob) - msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) - msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) - msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) - msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) - msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) - msg.occludedProb = sigmoid(ds_result.occluded_prob) - msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] - msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] - -def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + msg.faceProb = float(sigmoid(ds_result.face_prob)) + msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob)) + msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob)) + msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob)) + msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob)) + msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob)) + msg.occludedProb = float(sigmoid(ds_result.occluded_prob)) + msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob] + msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob] + +def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float): model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents msg = messaging.new_message('driverStateV2', valid=True) ds = msg.driverStateV2 ds.frameId = frame_id ds.modelExecutionTime = execution_time - ds.dspExecutionTime = dsp_execution_time - ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) - ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.gpuExecutionTime = gpu_execution_time + ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob)) + ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob)) ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) @@ -115,14 +120,16 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: def main(): gc.disable() + setproctitle(PROCESS_NAME) set_realtime_priority(1) - model = ModelState() + cl_context = CLContext() + model = ModelState(cl_context) cloudlog.warning("models loaded, dmonitoringmodeld starting") Params().put_bool("DmModelInitialized", True) cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) while not vipc_client.connect(False): time.sleep(0.1) assert vipc_client.is_connected() @@ -144,10 +151,10 @@ def main(): calib[:] = np.array(sm["liveCalibration"].rpyCalib) t1 = time.perf_counter() - model_output, dsp_execution_time = model.run(buf, calib) + model_output, gpu_execution_time = model.run(buf, calib) t2 = time.perf_counter() - pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time)) # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last)) # last = t1 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 1c7ae49580..115ec94f88 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -48,6 +48,12 @@ def fill_xyz_poly(builder, degree, x, y, z): builder.yCoefficients = coeffs[:, 1].tolist() builder.zCoefficients = coeffs[:, 2].tolist() +def fill_lane_line_meta(builder, lane_lines, lane_line_probs): + builder.leftY = lane_lines[1].y[0] + builder.leftProb = lane_line_probs[1] + builder.rightY = lane_lines[2].y[0] + builder.rightProb = lane_line_probs[2] + def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, @@ -62,6 +68,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D driving_model_data.frameId = vipc_frame_id driving_model_data.frameIdExtra = vipc_frame_id_extra driving_model_data.frameDropPerc = frame_drop_perc + driving_model_data.modelExecutionTime = model_execution_time action = driving_model_data.action action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) @@ -86,6 +93,13 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D orientation_rate = modelV2.orientationRate fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) + # temporal pose + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist() + temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist() + temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist() + temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist() + # poly path poly_path = driving_model_data.path fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) @@ -122,10 +136,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() lane_line_meta = driving_model_data.laneLineMeta - lane_line_meta.leftY = modelV2.laneLines[1].y[0] - lane_line_meta.leftProb = modelV2.laneLineProbs[1] - lane_line_meta.rightY = modelV2.laneLines[2].y[0] - lane_line_meta.rightProb = modelV2.laneLineProbs[2] + fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs) # road edges modelV2.init('roadEdges', 2) @@ -167,13 +178,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() meta.hardBrakePredicted = hard_brake_predicted.item() - # temporal pose - temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist() - # confidence if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: # any disengage prob diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 86813fcb8e..4e91d32400 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -17,7 +17,6 @@ from openpilot.common.realtime import config_realtime_process 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.car.card import convert_to_capnp from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.parse_model_outputs import Parser @@ -34,6 +33,7 @@ MODEL_PATHS = { METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' + class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -55,6 +55,11 @@ class ModelState: self.frame = ModelFrame(context) self.wide_frame = ModelFrame(context) self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) + self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) + self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32) + + # img buffers are managed in openCL transform code self.inputs = { 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), @@ -87,17 +92,18 @@ class ModelState: inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge inputs['desire'][0] = 0 - self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] - self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) + new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) self.prev_desire[:] = inputs['desire'] + self.desire_20Hz[:-1] = self.desire_20Hz[1:] + self.desire_20Hz[-1] = new_desire + self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten() + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] - # if getCLBuffer is not None, frame will be None self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) - if wbuf is not None: - self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) if prepare_only: return None @@ -105,10 +111,16 @@ class ModelState: self.model.execute() outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) - self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] - self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] - self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] + self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] + self.full_features_20Hz[-1] = outputs['hidden_state'][0, :] + + self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:] + self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :] + + idxs = np.arange(-4,-100,-4)[::-1] + self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten() + # TODO model only uses last value now, once that changes we need to input strided action history buffer + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :] return outputs @@ -171,10 +183,9 @@ def main(demo=False): if demo: - CP = convert_to_capnp(get_demo_car_params()) + CP = get_demo_car_params() else: CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) - cloudlog.info("modeld got CarParams: %s", CP.carName) # TODO this needs more thought, use .2s extra for now to estimate other delays @@ -219,7 +230,8 @@ def main(demo=False): desire = DH.desire is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId - lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) + v_ego = max(sm["carState"].vEgo, 0.) + lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 523ce00e43..e8a5a7ed52 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -7,32 +7,39 @@ #include "common/clutil.h" ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) { - input_frames = std::make_unique(buf_size); + input_frames = std::make_unique(buf_size); q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err)); u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); - net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err)); + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err)); + region.origin = 4 * frame_size_bytes; + region.size = frame_size_bytes; + last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); transform_init(&transform, context, device_id); loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); } -float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { +uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { transform_queue(&this->transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); + yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, + y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); + for (int i = 0; i < 4; i++) { + CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); + } + loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); if (output == NULL) { - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl); - - std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE); - CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); + CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr)); + CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); clFinish(q); return &input_frames[0]; } else { - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true); + copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes); + copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes); + // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. clFinish(q); return NULL; @@ -42,13 +49,10 @@ float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int ModelFrame::~ModelFrame() { transform_destroy(&transform); loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(net_input_cl)); + CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); + CL_CHECK(clReleaseMemObject(last_img_cl)); CL_CHECK(clReleaseMemObject(v_cl)); CL_CHECK(clReleaseMemObject(u_cl)); CL_CHECK(clReleaseMemObject(y_cl)); CL_CHECK(clReleaseCommandQueue(q)); -} - -float sigmoid(float input) { - return 1 / (1 + expf(-input)); -} +} \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 2cf79094a6..1c7360f159 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -16,23 +16,23 @@ #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -float sigmoid(float input); - class ModelFrame { public: ModelFrame(cl_device_id device_id, cl_context context); ~ModelFrame(); - float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); + uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); const int MODEL_WIDTH = 512; const int MODEL_HEIGHT = 256; const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; const int buf_size = MODEL_FRAME_SIZE * 2; + const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); private: Transform transform; LoadYUVState loadyuv; cl_command_queue q; - cl_mem y_cl, u_cl, v_cl, net_input_cl; - std::unique_ptr input_frames; -}; + cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl; + cl_buffer_region region; + std::unique_ptr input_frames; +}; \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index 7c3eb0b3d7..3348af3f17 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -12,9 +12,7 @@ cdef extern from "common/clutil.h": cl_context cl_create_context(cl_device_id) cdef extern from "selfdrive/modeld/models/commonmodel.h": - float sigmoid(float) - cppclass ModelFrame: int buf_size ModelFrame(cl_device_id, cl_context) - float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) + unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index ecbe644e09..99f9c5dc17 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -8,10 +8,8 @@ from libc.string cimport memcpy from msgq.visionipc.visionipc cimport cl_mem from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame +from .commonmodel cimport mat3, ModelFrame as cppModelFrame -def sigmoid(x): - return cppSigmoid(x) cdef class CLContext(BaseCLContext): def __cinit__(self): @@ -37,11 +35,11 @@ cdef class ModelFrame: def prepare(self, VisionBuf buf, float[:] projection, CLMem output): cdef mat3 cprojection memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef float * data + cdef unsigned char * data if output is None: data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) else: data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) if not data: return None - return np.asarray( data) + return np.asarray( data) diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index f935ab06b3..121871ef2b 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -5ec97a39-0095-4cea-adfa-6d72b1966cc1 -26cac7a9757a27c783a365403040a1bd27ccdaea \ No newline at end of file +fa69be01-b430-4504-9d72-7dcb058eb6dd +d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6 diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index dd3a6aba2e..dcc727510e 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683 -size 16132780 +oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb +size 7196502 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc deleted file mode 100644 index fc285954d4..0000000000 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46 -size 4488449 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 2e1a60a23e..89042dbe47 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4 -size 51453312 +oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95 +size 50309976 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 03d03c5e1c..4367e9db8a 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -1,15 +1,19 @@ import numpy as np from openpilot.selfdrive.modeld.constants import ModelConstants +def safe_exp(x, out=None): + # -11 is around 10**14, more causes float16 overflow + return np.exp(np.clip(x, -np.inf, 11), out=out) + def sigmoid(x): - return 1. / (1. + np.exp(-x)) + return 1. / (1. + safe_exp(-x)) def softmax(x, axis=-1): x -= np.max(x, axis=axis, keepdims=True) if x.dtype == np.float32 or x.dtype == np.float64: - np.exp(x, out=x) + safe_exp(x, out=x) else: - x = np.exp(x) + x = safe_exp(x) x /= np.sum(x, axis=axis, keepdims=True) return x @@ -44,7 +48,7 @@ class Parser: n_values = (raw.shape[2] - out_N)//2 pred_mu = raw[:,:,:n_values] - pred_std = np.exp(raw[:,:,n_values: 2*n_values]) + pred_std = safe_exp(raw[:,:,n_values: 2*n_values]) if in_N > 1: weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) @@ -87,7 +91,6 @@ class Parser: 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('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) - self.parse_mdn('sim_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('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py index 69b44a5a97..2b17422740 100644 --- a/selfdrive/modeld/runners/onnxmodel.py +++ b/selfdrive/modeld/runners/onnxmodel.py @@ -14,8 +14,12 @@ def attributeproto_fp16_to_fp32(attr): attr.data_type = 1 attr.raw_data = float32_list.astype(np.float32).tobytes() -def convert_fp16_to_fp32(path): - model = onnx.load(path) +def convert_fp16_to_fp32(onnx_path_or_bytes): + if isinstance(onnx_path_or_bytes, bytes): + model = onnx.load_from_string(onnx_path_or_bytes) + elif isinstance(onnx_path_or_bytes, str): + model = onnx.load(onnx_path_or_bytes) + for i in model.graph.initializer: if i.data_type == 10: attributeproto_fp16_to_fp32(i) @@ -23,6 +27,8 @@ def convert_fp16_to_fp32(path): if i.type.tensor_type.elem_type == 10: i.type.tensor_type.elem_type = 1 for i in model.graph.node: + if i.op_type == 'Cast' and i.attribute[0].i == 10: + i.attribute[0].i = 1 for a in i.attribute: if hasattr(a, 't'): if a.t.data_type == 10: @@ -61,7 +67,6 @@ class ONNXModel(RunModel): def __init__(self, path, output, runtime, use_tf8, cl_context): self.inputs = {} self.output = output - self.use_tf8 = use_tf8 self.session = create_ort_session(path, fp16_to_fp32=True) self.input_names = [x.name for x in self.session.get_inputs()] @@ -85,7 +90,7 @@ class ONNXModel(RunModel): return None def execute(self): - inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()} inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} outputs = self.session.run(None, inputs) assert len(outputs) == 1, "Only single model outputs are supported" diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 1bf2977a91..145ba31ade 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,7 +7,6 @@ from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.params import Params from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.realtime import DT_MDL -from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state @@ -24,7 +23,7 @@ class TestModeld: self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height) self.vipc_server.start_listener() - Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) + Params().put("CarParams", get_demo_car_params().to_bytes()) self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc index c7ce7b0830..c93f5cd038 100644 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) { void loadyuv_queue(LoadYUVState* s, cl_command_queue q, cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl, bool do_shift) { + cl_mem out_cl) { cl_int global_out_off = 0; - if (do_shift) { - // shift the image in slot 1 to slot 0, then place the new image in slot 1 - global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2; - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off)); - const size_t copy_work_size = global_out_off/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); - } CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); @@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q, CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, &loaduv_work_size, NULL, 0, 0, NULL)); } + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size) { + CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); + const size_t copy_work_size = size/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, + ©_work_size, NULL, 0, 0, NULL)); +} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl index 7dd3d973a3..970187a6d7 100644 --- a/selfdrive/modeld/transforms/loadyuv.cl +++ b/selfdrive/modeld/transforms/loadyuv.cl @@ -1,7 +1,7 @@ #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) __kernel void loadys(__global uchar8 const * const Y, - __global float * out, + __global uchar * out, int out_offset) { const int gid = get_global_id(0); @@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y, const int ox = ois % TRANSFORMED_WIDTH; const uchar8 ys = Y[gid]; - const float8 ysf = convert_float8(ys); // 02 // 13 - __global float* outy0; - __global float* outy1; + __global uchar* outy0; + __global uchar* outy1; if ((oy & 1) == 0) { outy0 = out + out_offset; //y0 outy1 = out + out_offset + UV_SIZE*2; //y2 @@ -25,23 +24,24 @@ __kernel void loadys(__global uchar8 const * const Y, outy1 = out + out_offset + UV_SIZE*3; //y3 } - vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); - vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); } __kernel void loaduv(__global uchar8 const * const in, - __global float8 * out, + __global uchar8 * out, int out_offset) { const int gid = get_global_id(0); const uchar8 inv = in[gid]; - const float8 outv = convert_float8(inv); - out[gid + out_offset / 8] = outv; + out[gid + out_offset / 8] = inv; } -__kernel void copy(__global float8 * inout, - int in_offset) +__kernel void copy(__global uchar8 * in, + __global uchar8 * out, + int in_offset, + int out_offset) { const int gid = get_global_id(0); - inout[gid] = inout[gid + in_offset / 8]; + out[gid + out_offset / 8] = in[gid + in_offset / 8]; } diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h index 7d27ef5d46..659059cd25 100644 --- a/selfdrive/modeld/transforms/loadyuv.h +++ b/selfdrive/modeld/transforms/loadyuv.h @@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s); void loadyuv_queue(LoadYUVState* s, cl_command_queue q, cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl, bool do_shift = false); + cl_mem out_cl); + + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index f3dbbd5306..88665778a2 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -1,15 +1,15 @@ from math import atan2 -from cereal import car +from cereal import car, log import cereal.messaging as messaging -from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.selfdrived.events import Events from openpilot.common.numpy_fast import interp from openpilot.common.realtime import DT_DMON from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.stat_live import RunningStatFilter from openpilot.common.transformations.camera import DEVICE_CAMERAS -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName # ****************************************************************************************** # NOTE: To fork maintainers. @@ -33,8 +33,8 @@ class DRIVER_MONITOR_SETTINGS: self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 - self._EE_THRESH11 = 0.25 - self._EE_THRESH12 = 7.5 + self._EE_THRESH11 = 0.4 + self._EE_THRESH12 = 15.0 self._EE_MAX_OFFSET1 = 0.06 self._EE_MIN_OFFSET1 = 0.025 self._EE_THRESH21 = 0.01 @@ -57,7 +57,7 @@ class DRIVER_MONITOR_SETTINGS: self._POSESTD_THRESHOLD = 0.3 self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz - self._ALWAYS_ON_ALERT_MIN_SPEED = 7 + self._ALWAYS_ON_ALERT_MIN_SPEED = 11 self._POSE_CALIB_MIN_SPEED = 13 # 30 mph self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative @@ -337,9 +337,9 @@ class DriverMonitoring: _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt _reaching_terminal = self.awareness - self.step_change <= 0 - standstill_exemption = standstill and _reaching_audible + standstill_orange_exemption = standstill and _reaching_audible always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal - always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible + always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected @@ -347,7 +347,7 @@ class DriverMonitoring: if certainly_distracted or maybe_distracted: # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange # also will not be reaching 0 if DM is active when not engaged - if not (standstill_exemption or always_on_red_exemption or always_on_lowspeed_exemption): + if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)): self.awareness = max(self.awareness - self.step_change, -0.1) alert = None @@ -360,7 +360,7 @@ class DriverMonitoring: elif self.awareness <= self.threshold_prompt: # prompt orange alert alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive - elif self.awareness <= self.threshold_pre: + elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption: # pre green alert alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 31ae98c638..2a20b20dc1 100644 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -1,10 +1,10 @@ import numpy as np -from cereal import car, log +from cereal import log from openpilot.common.realtime import DT_DMON from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() TEST_TIMESPAN = 120 # seconds diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc index bc81d7de91..5372e54aef 100644 --- a/selfdrive/pandad/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -47,7 +47,7 @@ std::vector Panda::list(bool usb_only) { #ifndef __APPLE__ if (!usb_only) { - for (auto s : PandaSpiHandle::list()) { + for (const auto &s : PandaSpiHandle::list()) { if (std::find(serials.begin(), serials.end(), s) == serials.end()) { serials.push_back(s); } @@ -169,7 +169,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data int32_t pos = 0; uint8_t send_buf[2 * USB_TX_SOFT_LIMIT]; - for (auto cmsg : can_data_list) { + for (const auto &cmsg : can_data_list) { // check if the message is intended for this panda uint8_t bus = cmsg.getSrc(); if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) { @@ -206,7 +206,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data if (pos > 0) write_func(send_buf, pos); } -void Panda::can_send(capnp::List::Reader can_data_list) { +void Panda::can_send(const capnp::List::Reader &can_data_list) { pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) { handle->bulk_write(3, data, size, 5); }); diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h index 26ad4dc32c..2491f2eb74 100644 --- a/selfdrive/pandad/panda.h +++ b/selfdrive/pandad/panda.h @@ -12,7 +12,7 @@ #include "cereal/gen/cpp/car.capnp.h" #include "cereal/gen/cpp/log.capnp.h" #include "panda/board/health.h" -#include "panda/board/can_definitions.h" +#include "panda/board/can.h" #include "selfdrive/pandad/panda_comms.h" #define USB_TX_SOFT_LIMIT (0x100U) @@ -79,7 +79,7 @@ public: void set_can_speed_kbps(uint16_t bus, uint16_t speed); void set_data_speed_kbps(uint16_t bus, uint16_t speed); void set_canfd_non_iso(uint16_t bus, bool non_iso); - void can_send(capnp::List::Reader can_data_list); + void can_send(const capnp::List::Reader &can_data_list); bool can_receive(std::vector& out_vec); void can_reset_communications(); diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc index 1d0f72f223..0a14894677 100644 --- a/selfdrive/pandad/panda_safety.cc +++ b/selfdrive/pandad/panda_safety.cc @@ -17,6 +17,7 @@ void PandaSafety::configureSafetyMode() { } else if (!is_onroad) { initialized_ = false; safety_configured_ = false; + log_once_ = false; } } @@ -46,9 +47,12 @@ std::string PandaSafety::fetchCarParams() { if (!params_.getBool("FirmwareQueryDone")) { return {}; } - LOGW("Finished FW query"); - LOGW("Waiting for params to set safety model"); + if (!log_once_) { + LOGW("Finished FW query, Waiting for params to set safety model"); + log_once_ = true; + } + if (!params_.getBool("ControlsReady")) { return {}; } diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h index 14d97551f4..dedd8ae79a 100644 --- a/selfdrive/pandad/pandad.h +++ b/selfdrive/pandad/pandad.h @@ -19,6 +19,7 @@ private: void setSafetyMode(const std::string ¶ms_string); bool initialized_ = false; + bool log_once_ = false; bool safety_configured_ = false; bool prev_obd_multiplexing_ = false; std::vector pandas_; diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/selfdrived/alertmanager.py similarity index 76% rename from selfdrive/controls/lib/alertmanager.py rename to selfdrive/selfdrived/alertmanager.py index f711a8688b..507f9f7d57 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/selfdrived/alertmanager.py @@ -6,10 +6,10 @@ from dataclasses import dataclass from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.events import Alert +from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert -with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: +with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f: OFFROAD_ALERTS = json.load(f) @@ -38,6 +38,7 @@ class AlertEntry: class AlertManager: def __init__(self): self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry) + self.current_alert = EmptyAlert def add_many(self, frame: int, alerts: list[Alert]) -> None: for alert in alerts: @@ -49,8 +50,8 @@ class AlertManager: entry.end_frame = max(frame + 1, min_end_frame) entry.last_frame = frame - def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None: - current_alert = AlertEntry() + def process_alerts(self, frame: int, clear_event_types: set): + ae = AlertEntry() for v in self.alerts.values(): if not v.alert: continue @@ -59,8 +60,8 @@ class AlertManager: v.end_frame = -1 # sort by priority first and then by start_frame - greater = current_alert.alert is None or (v.alert.priority, v.start_frame) > (current_alert.alert.priority, current_alert.start_frame) + greater = ae.alert is None or (v.alert.priority, v.start_frame) > (ae.alert.priority, ae.start_frame) if v.active(frame) and greater: - current_alert = v + ae = v - return current_alert.alert + self.current_alert = ae.alert if ae.alert is not None else EmptyAlert diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json similarity index 88% rename from selfdrive/controls/lib/alerts_offroad.json rename to selfdrive/selfdrived/alerts_offroad.json index 6fb6c569b0..86e07d3213 100644 --- a/selfdrive/controls/lib/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -41,10 +41,6 @@ "text": "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.", "severity": 0 }, - "Offroad_NoFirmware": { - "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.", - "severity": 0 - }, "Offroad_Recalibration": { "text": "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.", "severity": 0 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/selfdrived/events.py similarity index 94% rename from selfdrive/controls/lib/events.py rename to selfdrive/selfdrived/events.py index d27f02794b..7be514e350 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/selfdrived/events.py @@ -16,7 +16,7 @@ AlertSize = log.SelfdriveState.AlertSize AlertStatus = log.SelfdriveState.AlertStatus VisualAlert = car.CarControl.HUDControl.VisualAlert AudibleAlert = car.CarControl.HUDControl.AudibleAlert -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName # Alert priorities @@ -98,7 +98,7 @@ class Events: def to_msg(self): ret = [] for event_name in self.events: - event = car.OnroadEvent.new_message() + event = log.OnroadEvent.new_message() event.name = event_name for event_type in EVENTS.get(event_name, {}): setattr(event, event_type, True) @@ -141,6 +141,8 @@ class Alert: return False return self.priority > alert2.priority +EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST, + VisualAlert.none, AudibleAlert.none, 0) class NoEntryAlert(Alert): def __init__(self, alert_text_2: str, @@ -318,11 +320,22 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: - axes = sm['testJoystick'].axes - gb, steer = list(axes)[:2] if len(axes) else (0., 0.) + gb = sm['carControl'].actuators.accel / 4. + steer = sm['carControl'].actuators.steer vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" return NormalPermanentAlert("Joystick Mode", vals) + +def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: + ad = sm['alertDebug'] + audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none + alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal + alert_size = AlertSize.mid if ad.alertText2 else AlertSize.small + return Alert(ad.alertText1, ad.alertText2, + alert_status, alert_size, + Priority.LOW, VisualAlert.none, audible_alert, 0.2) + + def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert: personality = str(personality).title() return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5) @@ -342,7 +355,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.PERMANENT: NormalPermanentAlert("Joystick Mode"), }, - EventName.controlsInitializing: { + EventName.longitudinalManeuver: { + ET.WARNING: longitudinal_maneuver_alert, + ET.PERMANENT: NormalPermanentAlert("Longitudinal Maneuver Mode", + "Ensure road ahead is clear"), + }, + + EventName.selfdriveInitializing: { ET.NO_ENTRY: NoEntryAlert("System Initializing"), }, @@ -354,21 +373,19 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.PERMANENT: startup_master_alert, }, - # Car is recognized, but marked as dashcam only EventName.startupNoControl: { ET.PERMANENT: StartupAlert("Dashcam mode"), ET.NO_ENTRY: NoEntryAlert("Dashcam mode"), }, - # Car is not recognized EventName.startupNoCar: { ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"), }, - EventName.startupNoFw: { - ET.PERMANENT: StartupAlert("Car Unrecognized", - "Check comma power connections", - alert_status=AlertStatus.userPrompt), + EventName.startupNoSecOcKey: { + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + "Security Key Not Available", + priority=Priority.HIGH), }, EventName.dashcamMode: { @@ -377,8 +394,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.invalidLkasSetting: { - ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on", - "Turn off stock LKAS to engage"), + ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting", + "Toggle stock LKAS on or off to engage"), + ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"), }, EventName.cruiseMismatch: { @@ -394,6 +412,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { priority=Priority.LOWEST), }, + EventName.aeb: { + ET.PERMANENT: Alert( + "BRAKE!", + "Emergency Braking: Risk of Collision", + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.), + ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"), + }, + EventName.stockAeb: { ET.PERMANENT: Alert( "BRAKE!", @@ -773,9 +800,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"), }, - EventName.controlsdLagging: { - ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"), - ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"), + EventName.selfdrivedLagging: { + ET.SOFT_DISABLE: soft_disable_alert("System Lagging"), + ET.NO_ENTRY: NoEntryAlert("Selfdrive Process Lagging: Reboot Your Device"), }, # Thrown when manager detects a service exited unexpectedly while driving @@ -821,12 +848,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"), }, - EventName.highCpuUsage: { - #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"), - #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"), - ET.NO_ENTRY: high_cpu_usage_alert, - }, - EventName.accFaulted: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), @@ -843,24 +864,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"), }, - EventName.roadCameraError: { - ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road", - duration=1., - creation_delay=30.), - }, - - EventName.wideRoadCameraError: { - ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Road Fisheye", - duration=1., - creation_delay=30.), - }, - - EventName.driverCameraError: { - ET.PERMANENT: NormalPermanentAlert("Camera CRC Error - Driver", - duration=1., - creation_delay=30.), - }, - # Sometimes the USB stack on the device can get into a bad state # causing the connection to the panda to be lost EventName.usbError: { @@ -943,16 +946,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Slow down to engage"), }, - EventName.lowSpeedLockout: { - ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), - ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), - }, - - EventName.lkasDisabled: { - ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"), - ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"), - }, - EventName.vehicleSensorsInvalid: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"), ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"), diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py new file mode 100755 index 0000000000..8b7575d35d --- /dev/null +++ b/selfdrive/selfdrived/selfdrived.py @@ -0,0 +1,502 @@ +#!/usr/bin/env python3 +import os +import time +import threading + +import cereal.messaging as messaging + +from cereal import car, log +from msgq.visionipc import VisionIpcClient, VisionStreamType +from panda import ALTERNATIVE_EXPERIENCE + + +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.swaglog import cloudlog +from openpilot.common.gps import get_gps_location_service + +from openpilot.selfdrive.car.car_specific import CarSpecificEvents +from openpilot.selfdrive.selfdrived.events import Events, ET +from openpilot.selfdrive.selfdrived.state import StateMachine +from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert +from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED + +from openpilot.system.hardware import HARDWARE +from openpilot.system.version import get_build_metadata + +REPLAY = "REPLAY" in os.environ +SIMULATION = "SIMULATION" in os.environ +TESTING_CLOSET = "TESTING_CLOSET" in os.environ +IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} +LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} + +ThermalStatus = log.DeviceState.ThermalStatus +State = log.SelfdriveState.OpenpilotState +PandaType = log.PandaState.PandaType +LaneChangeState = log.LaneChangeState +LaneChangeDirection = log.LaneChangeDirection +EventName = log.OnroadEvent.EventName +ButtonType = car.CarState.ButtonEvent.Type +SafetyModel = car.CarParams.SafetyModel + +IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) + + +class SelfdriveD: + def __init__(self, CP=None): + self.params = Params() + + # Ensure the current branch is cached, otherwise the first cycle lags + build_metadata = get_build_metadata() + + if CP is None: + cloudlog.info("selfdrived is waiting for CarParams") + self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) + cloudlog.info("selfdrived got CarParams") + else: + 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']) + + self.gps_location_service = get_gps_location_service(self.params) + self.gps_packets = [self.gps_location_service] + self.sensor_packets = ["accelerometer", "gyroscope"] + self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] + + # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches + self.car_state_sock = messaging.sub_sock('carState', timeout=20) + + ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + if SIMULATION: + ignore += ['driverCameraState', 'managerState'] + if REPLAY: + # no vipc in replay will make them ignored anyways + ignore += ['roadCameraState', 'wideRoadCameraState'] + self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', + 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', + 'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \ + self.camera_packets + self.sensor_packets + self.gps_packets, + ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',], + ignore_valid=ignore, frequency=int(1/DT_CTRL)) + + # read params + self.is_metric = self.params.get_bool("IsMetric") + self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") + + # detect sound card presence and ensure successful init + sounds_available = HARDWARE.get_sound_card_online() + + car_recognized = self.CP.carName != 'mock' + + # cleanup old params + if not self.CP.experimentalLongitudinalAvailable: + self.params.remove("ExperimentalLongitudinalEnabled") + if not self.CP.openpilotLongitudinalControl: + self.params.remove("ExperimentalMode") + + self.CS_prev = car.CarState.new_message() + self.AM = AlertManager() + self.events = Events() + + self.initialized = False + self.enabled = False + self.active = False + self.mismatch_counter = 0 + self.cruise_mismatch_counter = 0 + self.last_steering_pressed_frame = 0 + self.distance_traveled = 0 + self.last_functional_fan_frame = 0 + self.events_prev = [] + self.logged_comm_issue = None + self.not_running_prev = None + self.experimental_mode = False + self.personality = self.read_personality_param() + self.recalibrating_seen = False + self.state_machine = StateMachine() + self.rk = Ratekeeper(100, print_delay_threshold=None) + + # Determine startup event + self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster + if not car_recognized: + self.startup_event = EventName.startupNoCar + elif car_recognized and self.CP.passive: + self.startup_event = EventName.startupNoControl + elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable: + self.startup_event = EventName.startupNoSecOcKey + + if not sounds_available: + self.events.add(EventName.soundsUnavailable, static=True) + if not car_recognized: + self.events.add(EventName.carUnrecognized, static=True) + set_offroad_alert("Offroad_CarUnrecognized", True) + elif self.CP.passive: + self.events.add(EventName.dashcamMode, static=True) + + def update_events(self, CS): + """Compute onroadEvents from carState""" + + self.events.clear() + + if self.sm['controlsState'].lateralControlState.which() == 'debugState': + self.events.add(EventName.joystickDebug) + self.startup_event = None + + if self.sm.recv_frame['alertDebug'] > 0: + self.events.add(EventName.longitudinalManeuver) + self.startup_event = None + + # Add startup event + if self.startup_event is not None: + self.events.add(self.startup_event) + self.startup_event = None + + # Don't add any more events if not initialized + if not self.initialized: + self.events.add(EventName.selfdriveInitializing) + return + + # no more events while in dashcam mode + if self.CP.passive: + return + + # Block resume if cruise never previously enabled + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed: + self.events.add(EventName.resumeBlocked) + + if not self.CP.notCar: + self.events.add_from_msg(self.sm['driverMonitoringState'].events) + + # Add car events, ignore if CAN isn't valid + if CS.canValid: + car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg() + self.events.add_from_msg(car_events) + + if self.CP.notCar: + # wait for everything to init first + if self.sm.frame > int(5. / DT_CTRL) and self.initialized: + # body always wants to enable + self.events.add(EventName.pcmEnable) + + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 + if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): + self.events.add(EventName.pedalPressed) + + # Create events for temperature, disk space, and memory + if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: + self.events.add(EventName.overheat) + if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: + self.events.add(EventName.outOfSpace) + if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: + self.events.add(EventName.lowMemory) + + # Alert if fan isn't spinning for 5 seconds + if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + # allow enough time for the fan controller in the panda to recover from stalls + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: + self.events.add(EventName.fanMalfunction) + else: + self.last_functional_fan_frame = self.sm.frame + + # Handle calibration status + cal_status = self.sm['liveCalibration'].calStatus + if cal_status != log.LiveCalibrationData.Status.calibrated: + if cal_status == log.LiveCalibrationData.Status.uncalibrated: + self.events.add(EventName.calibrationIncomplete) + elif cal_status == log.LiveCalibrationData.Status.recalibrating: + if not self.recalibrating_seen: + set_offroad_alert("Offroad_Recalibration", True) + self.recalibrating_seen = True + self.events.add(EventName.calibrationRecalibrating) + else: + self.events.add(EventName.calibrationInvalid) + + # Lane departure warning + if self.is_ldw_enabled and self.sm.valid['driverAssistance']: + if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture: + self.events.add(EventName.ldw) + + # Handle lane change + if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: + direction = self.sm['modelV2'].meta.laneChangeDirection + if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ + (CS.rightBlindspot and direction == LaneChangeDirection.right): + self.events.add(EventName.laneChangeBlocked) + else: + if direction == LaneChangeDirection.left: + self.events.add(EventName.preLaneChangeLeft) + else: + self.events.add(EventName.preLaneChangeRight) + elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, + LaneChangeState.laneChangeFinishing): + self.events.add(EventName.laneChange) + + for i, pandaState in enumerate(self.sm['pandaStates']): + # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput + if i < len(self.CP.safetyConfigs): + safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \ + pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \ + pandaState.alternativeExperience != self.CP.alternativeExperience + else: + safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES + + # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda + if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: + self.events.add(EventName.controlsMismatch) + + if log.PandaState.FaultType.relayMalfunction in pandaState.faults: + self.events.add(EventName.relayMalfunction) + + # Handle HW and system malfunctions + # Order is very intentional here. Be careful when modifying this. + # All events here should at least have NO_ENTRY and SOFT_DISABLE. + num_events = len(self.events) + + not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} + if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): + self.events.add(EventName.processNotRunning) + if not_running != self.not_running_prev: + cloudlog.event("process_not_running", not_running=not_running, error=True) + self.not_running_prev = not_running + else: + if not SIMULATION and not self.rk.lagging: + if not self.sm.all_alive(self.camera_packets): + self.events.add(EventName.cameraMalfunction) + elif not self.sm.all_freq_ok(self.camera_packets): + self.events.add(EventName.cameraFrameRate) + if not REPLAY and self.rk.lagging: + self.events.add(EventName.selfdrivedLagging) + if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): + self.events.add(EventName.radarFault) + if not self.sm.valid['pandaStates']: + self.events.add(EventName.usbError) + if CS.canTimeout: + self.events.add(EventName.canBusMissing) + elif not CS.canValid: + self.events.add(EventName.canError) + + # generic catch-all. ideally, a more specific event should be added above instead + has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) + no_system_errors = (not has_disable_events) or (len(self.events) == num_events) + if not self.sm.all_checks() and no_system_errors: + if not self.sm.all_alive(): + self.events.add(EventName.commIssue) + elif not self.sm.all_freq_ok(): + self.events.add(EventName.commIssueAvgFreq) + else: + self.events.add(EventName.commIssue) + + logs = { + 'invalid': [s for s, valid in self.sm.valid.items() if not valid], + 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], + 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], + } + if logs != self.logged_comm_issue: + cloudlog.event("commIssue", error=True, **logs) + self.logged_comm_issue = logs + else: + self.logged_comm_issue = None + + if not self.CP.notCar: + if not self.sm['livePose'].posenetOK: + self.events.add(EventName.posenetInvalid) + if not self.sm['livePose'].inputsOK: + self.events.add(EventName.locationdTemporaryError) + if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): + self.events.add(EventName.paramsdTemporaryError) + + # conservative HW alert. if the data or frequency are off, locationd will throw an error + if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets): + self.events.add(EventName.sensorDataInvalid) + + if not REPLAY: + # Check for mismatch between openpilot and car's PCM + cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) + self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 + if self.cruise_mismatch_counter > int(6. / DT_CTRL): + self.events.add(EventName.cruiseMismatch) + + # Send a "steering required alert" if saturation count has reached the limit + if CS.steeringPressed: + self.last_steering_pressed_frame = self.sm.frame + recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0 + controlstate = self.sm['controlsState'] + lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which()) + if lac.active and not recent_steer_pressed and not self.CP.notCar: + clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED) + actual_lateral_accel = controlstate.curvature * (clipped_speed**2) + desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2) + undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2 + turning = abs(desired_lateral_accel) > 1.0 + good_speed = CS.vEgo > 5 + if undershooting and turning and good_speed and lac.saturated: + self.events.add(EventName.steerSaturated) + + # Check for FCW + stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 + model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking + planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled + if (planner_fcw or model_fcw) and not self.CP.notCar: + self.events.add(EventName.fcw) + + # TODO: fix simulator + if not SIMULATION or REPLAY: + # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes + gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 + if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): + self.events.add(EventName.noGps) + if gps_ok: + self.distance_traveled = 0 + self.distance_traveled += abs(CS.vEgo) * DT_CTRL + + if self.sm['modelV2'].frameDropPerc > 20: + self.events.add(EventName.modeldLagging) + + # 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 + self.params.put_nonblocking('LongitudinalPersonality', str(self.personality)) + self.events.add(EventName.personalityChanged) + + def data_sample(self): + car_state = messaging.recv_one(self.car_state_sock) + CS = car_state.carState if car_state else self.CS_prev + + self.sm.update(0) + + if not self.initialized: + all_valid = CS.canValid and self.sm.all_checks() + timed_out = self.sm.frame * DT_CTRL > 6. + if all_valid or timed_out or (SIMULATION and not REPLAY): + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if VisionStreamType.VISION_STREAM_ROAD not in available_streams: + self.sm.ignore_alive.append('roadCameraState') + self.sm.ignore_valid.append('roadCameraState') + if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: + self.sm.ignore_alive.append('wideRoadCameraState') + self.sm.ignore_valid.append('wideRoadCameraState') + + if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']): + self.state_machine.state = State.enabled + + self.initialized = True + cloudlog.event( + "selfdrived.initialized", + dt=self.sm.frame*DT_CTRL, + timeout=timed_out, + canValid=CS.canValid, + invalid=[s for s, valid in self.sm.valid.items() if not valid], + not_alive=[s for s, alive in self.sm.alive.items() if not alive], + not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], + error=True, + ) + + # When the panda and selfdrived do not agree on controls_allowed + # we want to disengage openpilot. However the status from the panda goes through + # another socket other than the CAN messages and one can arrive earlier than the other. + # Therefore we allow a mismatch for two samples, then we trigger the disengagement. + if not self.enabled: + self.mismatch_counter = 0 + + # All pandas not in silent mode must have controlsAllowed when openpilot is enabled + if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates'] + if ps.safetyModel not in IGNORED_SAFETY_MODES): + self.mismatch_counter += 1 + + return CS + + def update_alerts(self, CS): + clear_event_types = set() + if ET.WARNING not in self.state_machine.current_alert_types: + clear_event_types.add(ET.WARNING) + if self.enabled: + clear_event_types.add(ET.NO_ENTRY) + + pers = LONGITUDINAL_PERSONALITY_MAP[self.personality] + alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric, + self.state_machine.soft_disable_timer, pers]) + self.AM.add_many(self.sm.frame, alerts) + self.AM.process_alerts(self.sm.frame, clear_event_types) + + def publish_selfdriveState(self, CS): + # selfdriveState + ss_msg = messaging.new_message('selfdriveState') + ss_msg.valid = True + ss = ss_msg.selfdriveState + ss.enabled = self.enabled + ss.active = self.active + ss.state = self.state_machine.state + ss.engageable = not self.events.contains(ET.NO_ENTRY) + ss.experimentalMode = self.experimental_mode + ss.personality = self.personality + + ss.alertText1 = self.AM.current_alert.alert_text_1 + ss.alertText2 = self.AM.current_alert.alert_text_2 + ss.alertSize = self.AM.current_alert.alert_size + ss.alertStatus = self.AM.current_alert.alert_status + ss.alertType = self.AM.current_alert.alert_type + ss.alertSound = self.AM.current_alert.audible_alert + + self.pm.send('selfdriveState', ss_msg) + + # onroadEvents - logged every second or on change + if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): + ce_send = messaging.new_message('onroadEvents', len(self.events)) + ce_send.valid = True + ce_send.onroadEvents = self.events.to_msg() + self.pm.send('onroadEvents', ce_send) + self.events_prev = self.events.names.copy() + + def step(self): + CS = self.data_sample() + self.update_events(CS) + if not self.CP.passive and self.initialized: + self.enabled, self.active = self.state_machine.update(self.events) + self.update_alerts(CS) + + self.publish_selfdriveState(CS) + + self.CS_prev = CS + + def read_personality_param(self): + try: + return int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): + return log.LongitudinalPersonality.standard + + def params_thread(self, evt): + while not evt.is_set(): + self.is_metric = self.params.get_bool("IsMetric") + self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl + self.personality = self.read_personality_param() + time.sleep(0.1) + + def run(self): + e = threading.Event() + t = threading.Thread(target=self.params_thread, args=(e, )) + try: + t.start() + while True: + self.step() + self.rk.monitor_time() + finally: + e.set() + t.join() + + +def main(): + config_realtime_process(4, Priority.CTRL_HIGH) + s = SelfdriveD() + s.run() + +if __name__ == "__main__": + main() diff --git a/selfdrive/selfdrived/state.py b/selfdrive/selfdrived/state.py new file mode 100644 index 0000000000..073ddb56eb --- /dev/null +++ b/selfdrive/selfdrived/state.py @@ -0,0 +1,98 @@ +from cereal import log +from openpilot.selfdrive.selfdrived.events import Events, ET +from openpilot.common.realtime import DT_CTRL + +State = log.SelfdriveState.OpenpilotState + +SOFT_DISABLE_TIME = 3 # seconds +ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding) +ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) + +class StateMachine: + def __init__(self): + self.current_alert_types = [ET.PERMANENT] + self.state = State.disabled + self.soft_disable_timer = 0 + + def update(self, events: Events): + # decrement the soft disable timer at every step, as it's reset on + # entrance in SOFT_DISABLING state + self.soft_disable_timer = max(0, self.soft_disable_timer - 1) + + self.current_alert_types = [ET.PERMANENT] + + # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING + if self.state != State.disabled: + # user and immediate disable always have priority in a non-disabled state + if events.contains(ET.USER_DISABLE): + self.state = State.disabled + self.current_alert_types.append(ET.USER_DISABLE) + + elif events.contains(ET.IMMEDIATE_DISABLE): + self.state = State.disabled + self.current_alert_types.append(ET.IMMEDIATE_DISABLE) + + else: + # ENABLED + if self.state == State.enabled: + if events.contains(ET.SOFT_DISABLE): + self.state = State.softDisabling + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + self.current_alert_types.append(ET.SOFT_DISABLE) + + elif events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL): + self.state = State.overriding + self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] + + # SOFT DISABLING + elif self.state == State.softDisabling: + if not events.contains(ET.SOFT_DISABLE): + # no more soft disabling condition, so go back to ENABLED + self.state = State.enabled + + elif self.soft_disable_timer > 0: + self.current_alert_types.append(ET.SOFT_DISABLE) + + elif self.soft_disable_timer <= 0: + self.state = State.disabled + + # PRE ENABLING + elif self.state == State.preEnabled: + if not events.contains(ET.PRE_ENABLE): + self.state = State.enabled + else: + self.current_alert_types.append(ET.PRE_ENABLE) + + # OVERRIDING + elif self.state == State.overriding: + if events.contains(ET.SOFT_DISABLE): + self.state = State.softDisabling + self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + self.current_alert_types.append(ET.SOFT_DISABLE) + elif not (events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL)): + self.state = State.enabled + else: + self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] + + # DISABLED + elif self.state == State.disabled: + if events.contains(ET.ENABLE): + if events.contains(ET.NO_ENTRY): + self.current_alert_types.append(ET.NO_ENTRY) + + else: + if events.contains(ET.PRE_ENABLE): + self.state = State.preEnabled + elif events.contains(ET.OVERRIDE_LATERAL) or events.contains(ET.OVERRIDE_LONGITUDINAL): + self.state = State.overriding + else: + self.state = State.enabled + self.current_alert_types.append(ET.ENABLE) + + # Check if openpilot is engaged and actuators are enabled + enabled = self.state in ENABLED_STATES + active = self.state in ACTIVE_STATES + if active: + self.current_alert_types.append(ET.WARNING) + return enabled, active + diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py similarity index 81% rename from selfdrive/controls/lib/tests/test_alertmanager.py rename to selfdrive/selfdrived/tests/test_alertmanager.py index 8b9c18a9d4..b75a4d1cbe 100644 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/selfdrived/tests/test_alertmanager.py @@ -1,7 +1,7 @@ import random -from openpilot.selfdrive.controls.lib.events import Alert, EVENTS -from openpilot.selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS +from openpilot.selfdrive.selfdrived.alertmanager import AlertManager class TestAlertManager: @@ -32,8 +32,8 @@ class TestAlertManager: for frame in range(duration+10): if frame < add_duration: AM.add_many(frame, [alert, ]) - current_alert = AM.process_alerts(frame, {}) + AM.process_alerts(frame, {}) - shown = current_alert is not None + shown = AM.current_alert != EmptyAlert should_show = frame <= show_duration assert shown == should_show, f"{frame=} {add_duration=} {duration=}" diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py similarity index 92% rename from selfdrive/controls/tests/test_alerts.py rename to selfdrive/selfdrived/tests/test_alerts.py index 52d71dc22d..f6a0e365fc 100644 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/selfdrived/tests/test_alerts.py @@ -8,13 +8,13 @@ from cereal import log, car from cereal.messaging import SubMaster from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS AlertSize = log.SelfdriveState.AlertSize -OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json") +OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json") # TODO: add callback alerts ALERTS = [] @@ -33,12 +33,12 @@ class TestAlerts: # Create fake objects for callback cls.CS = car.CarState.new_message() cls.CP = car.CarParams.new_message() - cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0] + cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0] cls.sm = SubMaster(cfg.pubs) def test_events_defined(self): # Ensure all events in capnp schema are defined in events.py - events = car.OnroadEvent.EventName.schema.enumerants + events = log.OnroadEvent.EventName.schema.enumerants for name, e in events.items(): if not name.endswith("DEPRECATED"): diff --git a/selfdrive/selfdrived/tests/test_state_machine.py b/selfdrive/selfdrived/tests/test_state_machine.py new file mode 100644 index 0000000000..b720f48f1e --- /dev/null +++ b/selfdrive/selfdrived/tests/test_state_machine.py @@ -0,0 +1,92 @@ +from cereal import log +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME +from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert + +State = log.SelfdriveState.OpenpilotState + +# The event types that maintain the current state +MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,), + State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)} +ALL_STATES = tuple(State.schema.enumerants.values()) +# The event types checked in DISABLED section of state machine +ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL) + + +def make_event(event_types): + event = {} + for ev in event_types: + event[ev] = NormalPermanentAlert("alert") + EVENTS[0] = event + return 0 + + +class TestStateMachine: + def setup_method(self): + self.events = Events() + self.state_machine = StateMachine() + self.state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) + + def test_immediate_disable(self): + for state in ALL_STATES: + for et in MAINTAIN_STATES[state]: + self.events.add(make_event([et, ET.IMMEDIATE_DISABLE])) + self.state_machine.state = state + self.state_machine.update(self.events) + assert State.disabled == self.state_machine.state + self.events.clear() + + def test_user_disable(self): + for state in ALL_STATES: + for et in MAINTAIN_STATES[state]: + self.events.add(make_event([et, ET.USER_DISABLE])) + self.state_machine.state = state + self.state_machine.update(self.events) + assert State.disabled == self.state_machine.state + self.events.clear() + + def test_soft_disable(self): + for state in ALL_STATES: + if state == State.preEnabled: # preEnabled considers NO_ENTRY instead + continue + for et in MAINTAIN_STATES[state]: + self.events.add(make_event([et, ET.SOFT_DISABLE])) + self.state_machine.state = state + self.state_machine.update(self.events) + assert self.state_machine.state == State.disabled if state == State.disabled else State.softDisabling + self.events.clear() + + def test_soft_disable_timer(self): + self.state_machine.state = State.enabled + self.events.add(make_event([ET.SOFT_DISABLE])) + self.state_machine.update(self.events) + for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)): + assert self.state_machine.state == State.softDisabling + self.state_machine.update(self.events) + + assert self.state_machine.state == State.disabled + + def test_no_entry(self): + # Make sure noEntry keeps us disabled + for et in ENABLE_EVENT_TYPES: + self.events.add(make_event([ET.NO_ENTRY, et])) + self.state_machine.update(self.events) + assert self.state_machine.state == State.disabled + self.events.clear() + + def test_no_entry_pre_enable(self): + # preEnabled with noEntry event + self.state_machine.state = State.preEnabled + self.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE])) + self.state_machine.update(self.events) + assert self.state_machine.state == State.preEnabled + + def test_maintain_states(self): + # Given current state's event type, we should maintain state + for state in ALL_STATES: + for et in MAINTAIN_STATES[state]: + self.state_machine.state = state + self.events.add(make_event([et])) + self.state_machine.update(self.events) + assert self.state_machine.state == state + self.events.clear() diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py index f9d3e681a5..f9f425102b 100755 --- a/selfdrive/test/cpp_harness.py +++ b/selfdrive/test/cpp_harness.py @@ -4,8 +4,7 @@ import sys from openpilot.common.prefix import OpenpilotPrefix - with OpenpilotPrefix(): ret = subprocess.call(sys.argv[1:]) -exit(ret) +sys.exit(ret) diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 6c8495cc3b..301f99dd56 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -12,11 +12,14 @@ class Maneuver: self.breakpoints = kwargs.get("breakpoints", [0.0, duration]) self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))]) self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))]) + self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))]) self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))]) + self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))]) self.only_lead2 = kwargs.get("only_lead2", False) self.only_radar = kwargs.get("only_radar", False) self.ensure_start = kwargs.get("ensure_start", False) + self.ensure_slowdown = kwargs.get("ensure_slowdown", False) self.enabled = kwargs.get("enabled", True) self.e2e = kwargs.get("e2e", False) self.personality = kwargs.get("personality", 0) @@ -42,9 +45,11 @@ class Maneuver: logs = [] while plant.current_time < self.duration: speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values) - prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) + prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values) - log = plant.step(speed_lead, prob, cruise) + pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values) + prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values) + log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle) d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200. v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0. @@ -57,13 +62,18 @@ class Maneuver: speed_lead, log['acceleration']])) - if d_rel < .4 and (self.only_radar or prob > 0.5): + if d_rel < .4 and (self.only_radar or prob_lead > 0.5): print("Crashed!!!!") valid = False if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: print('LongitudinalPlanner not starting!') valid = False + + if self.ensure_slowdown and log['speed'] > 5.5: + print('LongitudinalPlanner not slowing down!') + valid = False + if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04: print('Not stopping with force decel') valid = False diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 85e2ddf8df..3c8c09d6be 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -57,13 +57,14 @@ class Plant: def current_time(self): return float(self.rk.frame) / self.rate - def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): + def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0): # ******** publish a fake model going straight and fake calibration ******** # note that this is worst case for MPC, since model will delay long mpc by one time step radar = messaging.new_message('radarState') control = messaging.new_message('controlsState') ss = messaging.new_message('selfdriveState') car_state = messaging.new_message('carState') + car_control = messaging.new_message('carControl') model = messaging.new_message('modelV2') a_lead = (v_lead - self.v_lead_prev)/self.ts self.v_lead_prev = v_lead @@ -73,14 +74,14 @@ class Plant: v_rel = v_lead - self.speed if self.only_radar: status = True - elif prob > .5: + elif prob_lead > .5: status = True else: status = False else: d_rel = 200. v_rel = 0. - prob = 0.0 + prob_lead = 0.0 status = False lead = log.RadarState.LeadData.new_message() @@ -94,7 +95,7 @@ class Plant: # TODO use real radard logic for this lead.aLeadTau = float(_LEAD_ACCEL_TAU) lead.status = status - lead.modelProb = float(prob) + lead.modelProb = float(prob_lead) if not self.only_lead2: radar.radarState.leadOne = lead radar.radarState.leadTwo = lead @@ -107,10 +108,12 @@ class Plant: model.modelV2.position = position velocity = log.XYZTData.new_message() velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)] + velocity.x[0] = float(self.speed) # always start at current speed model.modelV2.velocity = velocity acceleration = log.XYZTData.new_message() acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)] model.modelV2.acceleration = acceleration + model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)] control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off ss.selfdriveState.experimentalMode = self.e2e @@ -119,10 +122,12 @@ class Plant: car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 car_state.carState.vCruise = float(v_cruise * 3.6) + car_control.carControl.orientationNED = [0., float(pitch), 0.] # ******** get controlsState messages for plotting *** sm = {'radarState': radar.radarState, 'carState': car_state.carState, + 'carControl': car_control.carControl, 'controlsState': control.controlsState, 'selfdriveState': ss.selfdriveState, 'modelV2': model.modelV2} diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 62a95babeb..7eea44aae6 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -82,6 +82,44 @@ def create_maneuvers(kwargs): breakpoints=[0.0, 2., 2.01], **kwargs, ), + Maneuver( + "approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., -0.1, -0.1], + breakpoints=[0.0, 2., 2.01], + **kwargs, + ), + Maneuver( + "approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., 0.1, 0.1], + breakpoints=[0.0, 2., 2.01], + **kwargs, + ), + Maneuver( + "slow to 5m/s with allow_throttle = False and pitch = +0.1", + duration=25., + initial_speed=20., + lead_relevancy=False, + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., 0.1, 0.1], + breakpoints=[0.0, 2., 2.01], + ensure_slowdown=True, + **kwargs, + ), Maneuver( "approach slower cut-in car at 20m/s", duration=20., diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 008a901010..381e4dcb7f 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -30,7 +30,7 @@ optional arguments: --whitelist-cars WHITELIST_CARS Whitelist given cars from the test (e.g. HONDA) --blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd) --blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA) - --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events) + --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. driverMonitoringState.events) --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents) --update-refs Updates reference logs using current commit --upload-only Skips testing processes and uploads logs from previous test run diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index 14af9672d0..13d51a636f 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -141,7 +141,7 @@ def format_diff(results, log_paths, ref_commit): if __name__ == "__main__": log1 = list(LogReader(sys.argv[1])) log2 = list(LogReader(sys.argv[2])) - ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.cumLagMs"] + ignore_fields = sys.argv[3:] or ["logMonoTime"] results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}} log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}} diff_short, diff_long, failed = format_diff(results, log_paths, None) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 07979a06cc..a90825cbd0 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,150 +1,249 @@ from collections import defaultdict +from collections.abc import Callable +import functools +import capnp -from cereal import messaging +from cereal import messaging, car, log from opendbc.car.fingerprints import MIGRATION from opendbc.car.toyota.values import EPS_SCALE +from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index from openpilot.system.manager.process_config import managed_processes +from openpilot.tools.lib.logreader import LogIterable from panda import Panda - -# TODO: message migration should happen in-place -def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False): - msgs = migrate_sensorEvents(lr) - msgs = migrate_carParams(msgs) - msgs = migrate_gpsLocation(msgs) - msgs = migrate_deviceState(msgs) - msgs = migrate_carOutput(msgs) - msgs = migrate_controlsState(msgs) - msgs = migrate_liveLocationKalman(msgs) +MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader] +MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]] +MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps] + + +## rules for migration functions +## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature +## 2. it only gets the messages that are in the inputs list +## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr +## 4. it must return a list of operations to be applied to the logreader (replace, add, delete) +## 5. all migration functions must be independent of each other +def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False): + migrations = [ + migrate_sensorEvents, + migrate_carParams, + migrate_gpsLocation, + migrate_deviceState, + migrate_carOutput, + migrate_controlsState, + migrate_carState, + migrate_liveLocationKalman, + migrate_liveTracks, + migrate_driverAssistance, + migrate_drivingModelData, + migrate_onroadEvents, + migrate_driverMonitoringState, + ] if manager_states: - msgs = migrate_managerState(msgs) + migrations.append(migrate_managerState) if panda_states: - msgs = migrate_pandaStates(msgs) - msgs = migrate_peripheralState(msgs) + migrations.extend([migrate_pandaStates, migrate_peripheralState]) if camera_states: - msgs = migrate_cameraStates(msgs) + migrations.append(migrate_cameraStates) - return msgs + return migrate(lr, migrations) -def migrate_liveLocationKalman(lr): - # migration needed only for routes before livePose - if any(msg.which() == 'livePose' for msg in lr): - return lr +def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]): + lr = list(lr) + grouped = defaultdict(list) + for i, msg in enumerate(lr): + grouped[msg.which()].append(i) - all_msgs = [] - for msg in lr: - if msg.which() != 'liveLocationKalmanDEPRECATED': - all_msgs.append(msg) + replace_ops, add_ops, del_ops = [], [], [] + for migration in migration_funcs: + assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator" + if migration.product in grouped: # skip if product already exists continue + sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i]) + msg_gen = [(i, lr[i]) for i in sorted_indices] + r_ops, a_ops, d_ops = migration(msg_gen) + replace_ops.extend(r_ops) + add_ops.extend(a_ops) + del_ops.extend(d_ops) + + for index, msg in replace_ops: + lr[index] = msg + for index in sorted(del_ops, reverse=True): + del lr[index] + for msg in add_ops: + lr.append(msg) + lr = sorted(lr, key=lambda x: x.logMonoTime) + + return lr + + +def migration(inputs: list[str], product: str|None=None): + def decorator(func): + @functools.wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + wrapper.inputs = inputs + wrapper.product = product + return wrapper + return decorator + + +@migration(inputs=["longitudinalPlan"], product="driverAssistance") +def migrate_driverAssistance(msgs): + add_ops = [] + for _, msg in msgs: + new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime) + add_ops.append(new_msg.as_reader()) + return [], add_ops, [] + + +@migration(inputs=["modelV2"], product="drivingModelData") +def migrate_drivingModelData(msgs): + add_ops = [] + for _, msg in msgs: + dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime) + for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]: + setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field)) + for meta_field in ["laneChangeState", "laneChangeState"]: + setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field)) + if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs): + fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs) + if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]): + fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z) + add_ops.append( dmd.as_reader()) + return [], add_ops, [] + + +@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks") +def migrate_liveTracks(msgs): + ops = [] + for index, msg in msgs: + new_msg = messaging.new_message('liveTracks') + new_msg.valid = msg.valid + new_msg.logMonoTime = msg.logMonoTime + + pts = [] + for track in msg.liveTracksDEPRECATED: + pt = car.RadarData.RadarPoint() + pt.trackId = track.trackId + + pt.dRel = track.dRel + pt.yRel = track.yRel + pt.vRel = track.vRel + pt.aRel = track.aRel + pt.measured = True + pts.append(pt) + + new_msg.liveTracks.points = pts + ops.append((index, new_msg.as_reader())) + return ops, [], [] + + +@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose") +def migrate_liveLocationKalman(msgs): + nans = [float('nan')] * 3 + ops = [] + for index, msg in msgs: m = messaging.new_message('livePose') m.valid = msg.valid m.logMonoTime = msg.logMonoTime for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]: lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field) - lp_field.x, lp_field.y, lp_field.z = llk_field.value - lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std + lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans + lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans lp_field.valid = llk_field.valid for flag in ["inputsOK", "posenetOK", "sensorsOK"]: setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag)) - - all_msgs.append(m.as_reader()) - - return all_msgs + ops.append((index, m.as_reader())) + return ops, [], [] -def migrate_controlsState(lr): - ret = [] +@migration(inputs=["controlsState"], product="selfdriveState") +def migrate_controlsState(msgs): + add_ops = [] + for _, msg in msgs: + m = messaging.new_message('selfdriveState') + m.valid = msg.valid + m.logMonoTime = msg.logMonoTime + ss = m.selfdriveState + for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2", + "alertStatus", "alertSize", "alertType", "experimentalMode", + "personality"): + setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED")) + add_ops.append(m.as_reader()) + return [], add_ops, [] + + +@migration(inputs=["carState", "controlsState"]) +def migrate_carState(msgs): + ops = [] last_cs = None - for msg in lr: + for index, msg in msgs: if msg.which() == 'controlsState': last_cs = msg - - m = messaging.new_message('selfdriveState') - m.valid = msg.valid - m.logMonoTime = msg.logMonoTime - ss = m.selfdriveState - for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2", - "alertStatus", "alertSize", "alertType", "experimentalMode", - "personality"): - setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED")) - ret.append(m.as_reader()) elif msg.which() == 'carState' and last_cs is not None: if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1: msg = msg.as_builder() msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED - msg = msg.as_reader() - - ret.append(msg) - return ret + ops.append((index, msg.as_reader())) + return ops, [], [] -def migrate_managerState(lr): - all_msgs = [] - for msg in lr: - if msg.which() != "managerState": - all_msgs.append(msg) - continue - +@migration(inputs=["managerState"]) +def migrate_managerState(msgs): + ops = [] + for index, msg in msgs: new_msg = msg.as_builder() new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes] - all_msgs.append(new_msg.as_reader()) - - return all_msgs + ops.append((index, new_msg.as_reader())) + return ops, [], [] -def migrate_gpsLocation(lr): - all_msgs = [] - for msg in lr: - if msg.which() in ('gpsLocation', 'gpsLocationExternal'): - new_msg = msg.as_builder() - g = getattr(new_msg, new_msg.which()) - # hasFix is a newer field - if not g.hasFix and g.flags == 1: - g.hasFix = True - all_msgs.append(new_msg.as_reader()) - else: - all_msgs.append(msg) - return all_msgs +@migration(inputs=["gpsLocation", "gpsLocationExternal"]) +def migrate_gpsLocation(msgs): + ops = [] + for index, msg in msgs: + new_msg = msg.as_builder() + g = getattr(new_msg, new_msg.which()) + # hasFix is a newer field + if not g.hasFix and g.flags == 1: + g.hasFix = True + ops.append((index, new_msg.as_reader())) + return ops, [], [] -def migrate_deviceState(lr): - all_msgs = [] +@migration(inputs=["deviceState", "initData"]) +def migrate_deviceState(msgs): + ops = [] dt = None - for msg in lr: + for i, msg in msgs: if msg.which() == 'initData': dt = msg.initData.deviceType if msg.which() == 'deviceState': n = msg.as_builder() n.deviceState.deviceType = dt - all_msgs.append(n.as_reader()) - else: - all_msgs.append(msg) - return all_msgs - + ops.append((i, n.as_reader())) + return ops, [], [] -def migrate_carOutput(lr): - # migration needed only for routes before carOutput - if any(msg.which() == 'carOutput' for msg in lr): - return lr - all_msgs = [] - for msg in lr: - if msg.which() == 'carControl': - co = messaging.new_message('carOutput') - co.valid = msg.valid - co.logMonoTime = msg.logMonoTime - co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED - all_msgs.append(co.as_reader()) - all_msgs.append(msg) - return all_msgs +@migration(inputs=["carControl"], product="carOutput") +def migrate_carOutput(msgs): + add_ops = [] + for _, msg in msgs: + co = messaging.new_message('carOutput') + co.valid = msg.valid + co.logMonoTime = msg.logMonoTime + co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED + add_ops.append(co.as_reader()) + return [], add_ops, [] -def migrate_pandaStates(lr): - all_msgs = [] +@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"]) +def migrate_pandaStates(msgs): # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, @@ -152,11 +251,12 @@ def migrate_pandaStates(lr): "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } - # Migrate safety param base on carState - CP = next((m.carParams for m in lr if m.which() == 'carParams'), None) + # Migrate safety param base on carParams + CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None) assert CP is not None, "carParams message not found" - if CP.carFingerprint in safety_param_migration: - safety_param = safety_param_migration[CP.carFingerprint] + fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint) + if fingerprint in safety_param_migration: + safety_param = safety_param_migration[fingerprint] elif len(CP.safetyConfigs): safety_param = CP.safetyConfigs[0].safetyParam if CP.safetyConfigs[0].safetyParamDEPRECATED != 0: @@ -164,49 +264,45 @@ def migrate_pandaStates(lr): else: safety_param = CP.safetyParamDEPRECATED - for msg in lr: + ops = [] + for index, msg in msgs: if msg.which() == 'pandaStateDEPRECATED': new_msg = messaging.new_message('pandaStates', 1) new_msg.valid = msg.valid new_msg.logMonoTime = msg.logMonoTime new_msg.pandaStates[0] = msg.pandaStateDEPRECATED new_msg.pandaStates[0].safetyParam = safety_param - all_msgs.append(new_msg.as_reader()) + ops.append((index, new_msg.as_reader())) elif msg.which() == 'pandaStates': new_msg = msg.as_builder() new_msg.pandaStates[-1].safetyParam = safety_param - all_msgs.append(new_msg.as_reader()) - else: - all_msgs.append(msg) - - return all_msgs + ops.append((index, new_msg.as_reader())) + return ops, [], [] -def migrate_peripheralState(lr): - if any(msg.which() == "peripheralState" for msg in lr): - return lr +@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState") +def migrate_peripheralState(msgs): + add_ops = [] - all_msg = [] - for msg in lr: - all_msg.append(msg) - if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]: + which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED" + for _, msg in msgs: + if msg.which() != which: continue - new_msg = messaging.new_message("peripheralState") new_msg.valid = msg.valid new_msg.logMonoTime = msg.logMonoTime - all_msg.append(new_msg.as_reader()) - - return all_msg + add_ops.append(new_msg.as_reader()) + return [], add_ops, [] -def migrate_cameraStates(lr): - all_msgs = [] +@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"]) +def migrate_cameraStates(msgs): + add_ops, del_ops = [], [] frame_to_encode_id = defaultdict(dict) # just for encodeId fallback mechanism min_frame_id = defaultdict(lambda: float('inf')) - for msg in lr: + for _, msg in msgs: if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]: continue @@ -216,9 +312,8 @@ def migrate_cameraStates(lr): assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}" frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId - for msg in lr: + for index, msg in msgs: if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]: - all_msgs.append(msg) continue camera_state = getattr(msg, msg.which()) @@ -228,6 +323,7 @@ def migrate_cameraStates(lr): if encode_id is None: print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}") if len(frame_to_encode_id[msg.which()]) != 0: + del_ops.append(index) continue # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled) @@ -248,33 +344,27 @@ def migrate_cameraStates(lr): new_msg.logMonoTime = msg.logMonoTime new_msg.valid = msg.valid - all_msgs.append(new_msg.as_reader()) - - return all_msgs + del_ops.append(index) + add_ops.append(new_msg.as_reader()) + return [], add_ops, del_ops -def migrate_carParams(lr): - all_msgs = [] - for msg in lr: - if msg.which() == 'carParams': - CP = msg.as_builder() - CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint) - for car_fw in CP.carParams.carFw: - car_fw.brand = CP.carParams.carName - CP.logMonoTime = msg.logMonoTime - msg = CP.as_reader() - all_msgs.append(msg) +@migration(inputs=["carParams"]) +def migrate_carParams(msgs): + ops = [] + for index, msg in msgs: + CP = msg.as_builder() + CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint) + for car_fw in CP.carParams.carFw: + car_fw.brand = CP.carParams.carName + ops.append((index, CP.as_reader())) + return ops, [], [] - return all_msgs - - -def migrate_sensorEvents(lr): - all_msgs = [] - for msg in lr: - if msg.which() != 'sensorEventsDEPRECATED': - all_msgs.append(msg) - continue +@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents") +def migrate_sensorEvents(msgs): + add_ops, del_ops = [], [] + for index, msg in msgs: # migrate to split sensor events for evt in msg.sensorEventsDEPRECATED: # build new message for each sensor type @@ -302,6 +392,34 @@ def migrate_sensorEvents(lr): m_dat.timestamp = evt.timestamp setattr(m_dat, evt.which(), getattr(evt, evt.which())) - all_msgs.append(m.as_reader()) + add_ops.append(m.as_reader()) + del_ops.append(index) + return [], add_ops, del_ops + + +@migration(inputs=["onroadEventsDEPRECATED"], product="onroadEvents") +def migrate_onroadEvents(msgs): + ops = [] + for index, msg in msgs: + new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED)) + new_msg.valid = msg.valid + new_msg.logMonoTime = msg.logMonoTime + + # dict converts name enum into string representation + new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED] + ops.append((index, new_msg.as_reader())) + + return ops, [], [] + + +@migration(inputs=["driverMonitoringState"]) +def migrate_driverMonitoringState(msgs): + ops = [] + for index, msg in msgs: + msg = msg.as_builder() + # dict converts name enum into string representation + msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in + msg.driverMonitoringState.eventsDEPRECATED] + ops.append((index, msg.as_reader())) - return all_msgs + return ops, [], [] diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 4402ca31d6..9ee1b6be4e 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -105,22 +105,34 @@ if __name__ == "__main__": ignore = [ 'logMonoTime', 'drivingModelData.frameDropPerc', + 'drivingModelData.modelExecutionTime', 'modelV2.frameDropPerc', 'modelV2.modelExecutionTime', 'driverStateV2.modelExecutionTime', - 'driverStateV2.dspExecutionTime' + 'driverStateV2.gpuExecutionTime' ] if PC: - ignore += [ - 'modelV2.laneLines.0.t', - 'modelV2.laneLines.1.t', - 'modelV2.laneLines.2.t', - 'modelV2.laneLines.3.t', - 'modelV2.roadEdges.0.t', - 'modelV2.roadEdges.1.t', - ] - # TODO this tolerance is absurdly large - tolerance = 2.0 if PC else None + # TODO We ignore whole bunch so we can compare important stuff + # like posenet with reasonable tolerance + ignore += ['modelV2.acceleration.x', + 'modelV2.position.x', + 'modelV2.position.xStd', + 'modelV2.position.y', + 'modelV2.position.yStd', + 'modelV2.position.z', + 'modelV2.position.zStd', + 'drivingModelData.path.xCoefficients',] + for i in range(3): + for field in ('x', 'y', 'v', 'a'): + ignore.append(f'modelV2.leadsV3.{i}.{field}') + ignore.append(f'modelV2.leadsV3.{i}.{field}Std') + for i in range(4): + for field in ('x', 'y', 'z', 't'): + ignore.append(f'modelV2.laneLines.{i}.{field}') + for i in range(2): + for field in ('x', 'y', 'z', 't'): + ignore.append(f'modelV2.roadEdges.{i}.{field}') + tolerance = .3 if PC else None results: Any = {TEST_ROUTE: {}} log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}} results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 237713622b..f14eef06b9 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -8726813f978d6baf519055f3105350cd071741f3 \ No newline at end of file +c4d60dfe4b677f9230eebb47614501ea8d0b99a3 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3a933fefc9..a5008931c8 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,14 +17,13 @@ import cereal.messaging as messaging 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 import structs from opendbc.car.car_helpers import get_car, interfaces from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE -from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp +from openpilot.selfdrive.car.card import can_comm_callbacks from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all @@ -363,17 +362,17 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): cached_params = None if has_cached_cp: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: - cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin) + cached_params = _cached_params CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP if not params.get_bool("DisengageOnAccelerator"): CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - params.put("CarParams", convert_to_capnp(CP).to_bytes()) + params.put("CarParams", CP.to_bytes()) -def controlsd_rcv_callback(msg, cfg, frame): +def selfdrived_rcv_callback(msg, cfg, frame): return (frame - 1) == 0 or msg.which() == 'carState' @@ -452,7 +451,7 @@ class FrequencyBasedRcvCallback: return bool(len(resp_sockets)) -def controlsd_config_callback(params, cfg, lr): +def selfdrived_config_callback(params, cfg, lr): ublox = params.get_bool("UbloxAvailable") sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) @@ -461,26 +460,37 @@ def controlsd_config_callback(params, cfg, lr): CONFIGS = [ ProcessConfig( - proc_name="controlsd", + proc_name="selfdrived", pubs=[ "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", "longitudinalPlan", "livePose", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", - "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput", - "gpsLocationExternal", "gpsLocation", + "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput", + "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug", ], - subs=["selfdriveState", "controlsState", "carControl", "onroadEvents"], - ignore=["logMonoTime", "controlsState.cumLagMs"], - config_callback=controlsd_config_callback, + subs=["selfdriveState", "onroadEvents"], + ignore=["logMonoTime"], + config_callback=selfdrived_config_callback, init_callback=get_car_params_callback, - should_recv_callback=controlsd_rcv_callback, + should_recv_callback=selfdrived_rcv_callback, tolerance=NUMPY_TOLERANCE, processing_time=0.004, ), + ProcessConfig( + proc_name="controlsd", + pubs=["liveParameters", "liveTorqueParameters", "modelV2", "selfdriveState", + "liveCalibration", "livePose", "longitudinalPlan", "carState", "carOutput", + "driverMonitoringState", "onroadEvents", "driverAssistance"], + subs=["carControl", "controlsState"], + ignore=["logMonoTime", ], + init_callback=get_car_params_callback, + should_recv_callback=MessageBasedRcvCallback("selfdriveState"), + tolerance=NUMPY_TOLERANCE, + ), ProcessConfig( proc_name="card", pubs=["pandaStates", "carControl", "onroadEvents", "can"], - subs=["sendcan", "carState", "carParams", "carOutput"], + subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"], ignore=["logMonoTime", "carState.cumLagMs"], init_callback=card_fingerprint_callback, should_recv_callback=card_rcv_callback, @@ -490,17 +500,16 @@ CONFIGS = [ ), ProcessConfig( proc_name="radard", - pubs=["can", "carState", "modelV2"], - subs=["radarState", "liveTracks"], - ignore=["logMonoTime", "radarState.cumLagMs"], + pubs=["liveTracks", "carState", "modelV2"], + subs=["radarState"], + ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("can"), - main_pub="can", + should_recv_callback=FrequencyBasedRcvCallback("modelV2"), ), ProcessConfig( proc_name="plannerd", pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"], - subs=["longitudinalPlan"], + subs=["longitudinalPlan", "driverAssistance"], ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("modelV2"), @@ -559,9 +568,9 @@ CONFIGS = [ ), ProcessConfig( proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], + pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"], subs=["modelV2", "drivingModelData", "cameraOdometry"], - ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], + ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), tolerance=NUMPY_TOLERANCE, processing_time=0.020, @@ -575,7 +584,7 @@ CONFIGS = [ proc_name="dmonitoringmodeld", pubs=["liveCalibration", "driverCameraState"], subs=["driverStateV2"], - ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"], + ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"], should_recv_callback=dmonitoringmodeld_rcv_callback, tolerance=NUMPY_TOLERANCE, processing_time=0.020, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4942a6920a..0ec17758ac 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c2022c388da6eb2e26bb23ad6009be9d5314c0be +bfbdd4706abcf5757790526d99d0000644017b1e \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index d938839039..39e3bfb94a 100644 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -11,7 +11,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable -NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] +NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 702de4f7d1..ec84f37d1f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -12,7 +12,7 @@ from openpilot.common.git import get_commit from openpilot.tools.lib.openpilotci import get_url, upload_file from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ - check_openpilot_enabled, check_most_messages_valid + check_most_messages_valid from openpilot.tools.lib.filereader import FileReader from openpilot.tools.lib.logreader import LogReader, save_log @@ -42,7 +42,7 @@ source_segments = [ segments = [ ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"), ("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"), - ("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"), + ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"), ("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"), ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"), ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"), @@ -60,7 +60,7 @@ segments = [ ] # dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock"] +excluded_interfaces = ["mock", "tesla"] BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") @@ -103,10 +103,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non except Exception as e: raise Exception("failed on segment: " + segment) from e - # check to make sure openpilot is engaged in the route - if cfg.proc_name == "controlsd": - if not check_openpilot_enabled(log_msgs): - return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs if not check_most_messages_valid(log_msgs): return f"Route did not have enough valid messages: {new_log_path}", log_msgs @@ -139,7 +135,7 @@ if __name__ == "__main__": parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[], help="Blacklist given cars from the test (e.g. HONDA)") parser.add_argument("--ignore-fields", type=str, nargs="*", default=[], - help="Extra fields or msgs to ignore (e.g. carState.events)") + help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)") parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[], help="Msgs to ignore (e.g. carEvents)") parser.add_argument("--update-refs", action="store_true", diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index fdc222e7e7..fff01d260b 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -1,6 +1,7 @@ #!/usr/bin/env bash set -e +set -x if [ -z "$SOURCE_DIR" ]; then echo "SOURCE_DIR must be set" @@ -17,9 +18,11 @@ if [ -z "$TEST_DIR" ]; then exit 1 fi -umount /data/safe_staging/merged/ || true -sudo umount /data/safe_staging/merged/ || true -rm -rf /data/safe_staging/* || true +rm -rf /data/safe_staging/ || true +if [ -d /data/safe_staging/ ]; then + sudo umount /data/safe_staging/merged/ || true + rm -rf /data/safe_staging/ || true +fi CONTINUE_PATH="/data/continue.sh" tee $CONTINUE_PATH << EOF diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 9dd781e89d..8a5f770636 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -13,13 +13,13 @@ from collections import Counter, defaultdict from functools import cached_property from pathlib import Path -from cereal import car +from cereal import car, log import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.events import EVENTS, ET +from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.selfdrive.test.helpers import set_params_enabled, release_only from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths @@ -32,26 +32,28 @@ CPU usage budget * total CPU usage of openpilot (sum(PROCS.values()) should not exceed MAX_TOTAL_CPU """ -MAX_TOTAL_CPU = 260. # total for all 8 cores + +MAX_TOTAL_CPU = 265. # total for all 8 cores PROCS = { # Baseline CPU usage by process - "selfdrive.controls.controlsd": 32.0, - "selfdrive.car.card": 26.0, + "selfdrive.controls.controlsd": 16.0, + "selfdrive.selfdrived.selfdrived": 16.0, + "selfdrive.car.card": 30.0, "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, - "selfdrive.controls.plannerd": 11.0, + "selfdrive.controls.plannerd": 9.0, "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, "./sensord": 7.0, - "selfdrive.controls.radard": 7.0, - "selfdrive.modeld.modeld": 13.0, - "selfdrive.modeld.dmonitoringmodeld": 8.0, + "selfdrive.controls.radard": 2.0, + "selfdrive.modeld.modeld": 17.0, + "selfdrive.modeld.dmonitoringmodeld": 11.0, "system.hardware.hardwared": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.locationd.locationd": 25.0, - "selfdrive.ui.soundd": 3.5, + "selfdrive.ui.soundd": 3.38, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, @@ -87,6 +89,7 @@ TIMINGS = { "carControl": [2.5, 0.35], "controlsState": [2.5, 0.35], "longitudinalPlan": [2.5, 0.5], + "driverAssistance": [2.5, 0.5], "roadCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35], "modelV2": [2.5, 0.35], @@ -140,6 +143,9 @@ class TestOnroad: route = params.get("CurrentRoute", encoding="utf-8") time.sleep(0.1) + # test car params caching + params.put("CarParamsCache", car.CarParams().to_bytes()) + while len(cls.segments) < 3: segs = set() if Path(Paths.log_root()).exists(): @@ -205,13 +211,13 @@ class TestOnroad: def test_log_sizes(self): for f, sz in self.log_sizes.items(): if f.name == "qcamera.ts": - assert 2.15 < sz < 2.35 + assert 2.15 < sz < 2.6 elif f.name == "qlog": assert 0.4 < sz < 0.55 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): - assert 70 < sz < 77 + assert 70 < sz < 80 else: raise NotImplementedError @@ -310,7 +316,7 @@ class TestOnroad: assert max(mems) - min(mems) <= 3.0 def test_gpu_usage(self): - assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} + assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"} def test_camera_processing_time(self): result = "\n" @@ -419,7 +425,7 @@ class TestOnroad: if msg.which() == "selfdriveState": startup_alert = msg.selfdriveState.alertText1 break - expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1 + expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1 assert startup_alert == expected, "wrong startup alert" def test_engagable(self): diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index 58e6cc3ccf..e68386bb58 100644 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -3,13 +3,13 @@ import pytest import time import subprocess -from cereal import car +from cereal import log import cereal.messaging as messaging from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout from openpilot.selfdrive.test.helpers import set_params_enabled -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName @pytest.mark.tici @@ -20,7 +20,7 @@ def test_time_to_onroad(): proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() - sm = messaging.SubMaster(['selfdriveState', 'controlsState', 'deviceState', 'onroadEvents']) + sm = messaging.SubMaster(['selfdriveState', 'deviceState', 'onroadEvents']) try: # wait for onroad. timeout assumes panda is up to date with Timeout(10, "timed out waiting to go onroad"): @@ -34,7 +34,7 @@ def test_time_to_onroad(): while True: sm.update(100) - if sm.seen['onroadEvents'] and not any(EventName.controlsInitializing == e.name for e in sm['onroadEvents']): + if sm.seen['onroadEvents'] and not any(EventName.selfdriveInitializing == e.name for e in sm['onroadEvents']): initialized = True if initialized: @@ -51,7 +51,6 @@ def test_time_to_onroad(): sm.update(100) assert sm.all_alive(), sm.alive assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}" - assert sm['controlsState'].cumLagMs < 10. finally: proc.terminate() if proc.wait(20) is None: diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 319ca4547c..643951fff3 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -16,7 +16,7 @@ if arch == "Darwin": qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) -widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc", +widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", @@ -26,12 +26,12 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) Export('widgets') qt_libs = [widgets, qt_util] + base_libs -qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc", +qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", - "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", - "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc"] + "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc", + "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] # build translation files with open(File("translations/languages.json").abspath) as f: diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index af946c7987..648f3685c7 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -150,9 +150,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { left_widget->addWidget(new PrimeAdWidget); left_widget->setStyleSheet("border-radius: 10px;"); - left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : 1); - connect(uiState(), &UIState::primeChanged, [=](bool prime) { - left_widget->setCurrentIndex(prime ? 0 : 1); + connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() { + left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1); }); home_layout->addWidget(left_widget, 1); diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 250fa0fbf8..22d9c01efe 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -6,7 +6,6 @@ #include #include -#include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" @@ -73,6 +72,11 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { main_layout->setCurrentWidget(wifiScreen); } +void Networking::setPrimeType(PrimeState::Type type) { + an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE); + wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE); +} + void Networking::refresh() { wifiWidget->refresh(); an->refresh(); @@ -204,17 +208,16 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); - connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) { - bool gsmVisible = prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE; - roamingToggle->setVisible(gsmVisible); - editApnButton->setVisible(gsmVisible); - meteredToggle->setVisible(gsmVisible); - }); - main_layout->addWidget(new ScrollView(list, this)); main_layout->addStretch(1); } +void AdvancedNetworking::setGsmVisible(bool visible) { + roamingToggle->setVisible(visible); + editApnButton->setVisible(visible); + meteredToggle->setVisible(visible); +} + void AdvancedNetworking::refresh() { ipLabel->setText(wifi->ipv4_address); tetheringToggle->setEnabled(true); diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 9b6af005ea..4fd604039b 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -3,6 +3,7 @@ #include #include "selfdrive/ui/qt/network/wifi_manager.h" +#include "selfdrive/ui/qt/prime_state.h" #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/toggle.h" @@ -56,6 +57,7 @@ class AdvancedNetworking : public QWidget { Q_OBJECT public: explicit AdvancedNetworking(QWidget* parent = 0, WifiManager* wifi = 0); + void setGsmVisible(bool visible); private: LabelControl* ipLabel; @@ -81,6 +83,7 @@ class Networking : public QFrame { public: explicit Networking(QWidget* parent = 0, bool show_advanced = true); + void setPrimeType(PrimeState::Type type); WifiManager* wifi = nullptr; private: diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index b0c9535273..ddf13d26b7 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -2,10 +2,6 @@ #include -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/widgets/prime.h" - -#include "common/params.h" #include "common/swaglog.h" #include "selfdrive/ui/qt/util.h" @@ -445,9 +441,6 @@ void WifiManager::addTetheringConnection() { } void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) { - int prime_type = uiState()->primeType(); - int ipv4_forward = (prime_type == PrimeType::PRIME_TYPE_NONE || prime_type == PrimeType::PRIME_TYPE_LITE); - if (!ipv4_forward) { QTimer::singleShot(5000, this, [=] { qWarning() << "net.ipv4.ip_forward = 0"; diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h index 2f6a1829d7..5d18b87d86 100644 --- a/selfdrive/ui/qt/network/wifi_manager.h +++ b/selfdrive/ui/qt/network/wifi_manager.h @@ -42,6 +42,7 @@ public: QMap seenNetworks; QMap knownConnections; QString ipv4_address; + bool ipv4_forward = false; explicit WifiManager(QObject* parent); void start(); diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index df9bb24651..00f7415cba 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -7,7 +7,7 @@ const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { @@ -75,3 +75,15 @@ void DriverViewWindow::paintGL() { p.setOpacity(face_detected ? 1.0 : 0.2); p.drawPixmap(img_x, img_y, face_img); } + +mat4 DriverViewWindow::calcFrameMatrix() { + const float driver_view_ratio = 2.0; + const float yscale = stream_height * driver_view_ratio / stream_width; + const float xscale = yscale * glHeight() / glWidth() * stream_width / stream_height; + return mat4{{ + xscale, 0.0, 0.0, 0.0, + 0.0, yscale, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + }}; +} diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 155e4ede32..00acb68d29 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -12,6 +12,7 @@ signals: void done(); protected: + mat4 calcFrameMatrix() override; void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; void paintGL() override; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index fc92a471d6..a2b91534dd 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -22,7 +22,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "OpenpilotEnabledToggle", tr("Enable openpilot"), tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), - "../assets/offroad/icon_openpilot.png", + "../assets/img_chffr_wheel.png", }, { "ExperimentalLongitudinalEnabled", @@ -247,8 +247,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { }); addItem(translateBtn); - QObject::connect(uiState(), &UIState::primeTypeChanged, [this] (PrimeType type) { - pair_device->setVisible(type == PrimeType::PRIME_TYPE_UNPAIRED); + QObject::connect(uiState()->prime_state, &PrimeState::changed, [this] (PrimeState::Type type) { + pair_device->setVisible(type == PrimeState::PRIME_TYPE_UNPAIRED); }); QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { for (auto btn : findChildren()) { @@ -335,11 +335,6 @@ void DevicePanel::poweroff() { } } -void DevicePanel::showEvent(QShowEvent *event) { - pair_device->setVisible(uiState()->primeType() == PrimeType::PRIME_TYPE_UNPAIRED); - ListWidget::showEvent(event); -} - void SettingsWindow::showEvent(QShowEvent *event) { setCurrentPanel(0); } @@ -386,9 +381,12 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { TogglesPanel *toggles = new TogglesPanel(this); QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); + auto networking = new Networking(this); + QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType); + QList> panels = { {tr("Device"), device}, - {tr("Network"), new Networking(this)}, + {tr("Network"), networking}, {tr("Toggles"), toggles}, {tr("Software"), new SoftwarePanel(this)}, }; diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 35a044bdd2..68ba0d1898 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -42,7 +42,6 @@ class DevicePanel : public ListWidget { Q_OBJECT public: explicit DevicePanel(SettingsWindow *parent); - void showEvent(QShowEvent *event) override; signals: void reviewTrainingGuide(); diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc index d5d2e6c0de..0236e20f16 100644 --- a/selfdrive/ui/qt/onroad/alerts.cc +++ b/selfdrive/ui/qt/onroad/alerts.cc @@ -19,34 +19,34 @@ void OnroadAlerts::clear() { } OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) { - const cereal::SelfdriveState::Reader &cs = sm["selfdriveState"].getSelfdriveState(); - const uint64_t controls_frame = sm.rcv_frame("selfdriveState"); + const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState(); + const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState"); Alert a = {}; - if (controls_frame >= started_frame) { // Don't get old alert. - a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), - cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()}; + if (selfdrive_frame >= started_frame) { // Don't get old alert. + a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(), + ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()}; } if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) { - const int CONTROLS_TIMEOUT = 5; - const int controls_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9; + const int SELFDRIVE_STATE_TIMEOUT = 5; + const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9; - // Handle controls timeout - if (controls_frame < started_frame) { + // Handle selfdrive timeout + if (selfdrive_frame < started_frame) { // car is started, but selfdriveState hasn't been seen at all - a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"), - "controlsWaiting", cereal::SelfdriveState::AlertSize::MID, + a = {tr("openpilot Unavailable"), tr("Waiting to start"), + "selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID, cereal::SelfdriveState::AlertStatus::NORMAL}; - } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { - // car is started, but controls is lagging or died - if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { - a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"), - "controlsUnresponsive", cereal::SelfdriveState::AlertSize::FULL, + } else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) { + // car is started, but selfdrive is lagging or died + if (ss.getEnabled() && (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10) { + a = {tr("TAKE CONTROL IMMEDIATELY"), tr("System Unresponsive"), + "selfdriveUnresponsive", cereal::SelfdriveState::AlertSize::FULL, cereal::SelfdriveState::AlertStatus::CRITICAL}; } else { - a = {tr("Controls Unresponsive"), tr("Reboot Device"), - "controlsUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID, + a = {tr("System Unresponsive"), tr("Reboot Device"), + "selfdriveUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID, cereal::SelfdriveState::AlertStatus::NORMAL}; } } diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index cc9940f275..f504ad69f1 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -6,11 +6,11 @@ #include #include "common/swaglog.h" -#include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/util.h" // Window that shows camera view and variety of info drawn on top -AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent) + : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) { pm = std::make_unique(std::vector{"uiDebug"}); main_layout = new QVBoxLayout(this); @@ -22,98 +22,11 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par } void AnnotatedCameraWidget::updateState(const UIState &s) { - const int SET_SPEED_NA = 255; - const SubMaster &sm = *(s.sm); - - const bool cs_alive = sm.alive("controlsState"); - const auto cs = sm["controlsState"].getControlsState(); - const auto car_state = sm["carState"].getCarState(); - - is_metric = s.scene.is_metric; - - // Handle older routes where vCruiseCluster is not set - float v_cruise = car_state.getVCruiseCluster() == 0.0 ? cs.getVCruiseDEPRECATED() : car_state.getVCruiseCluster(); - setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; - is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; - if (is_cruise_set && !is_metric) { - setSpeed *= KM_TO_MILE; - } - - // Handle older routes where vEgoCluster is not set - v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; - float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); - speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - speed *= is_metric ? MS_TO_KPH : MS_TO_MPH; - - speedUnit = is_metric ? tr("km/h") : tr("mph"); - status = s.status; - // update engageability/experimental mode button experimental_btn->updateState(s); - - // update DM icon dmon.updateState(s); } -void AnnotatedCameraWidget::drawHud(QPainter &p) { - p.save(); - - // Header gradient - QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT); - bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45)); - bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); - p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg); - - QString speedStr = QString::number(std::nearbyint(speed)); - QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; - - // Draw outer box + border to contain set speed - const QSize default_size = {172, 204}; - QSize set_speed_size = default_size; - if (is_metric) set_speed_size.rwidth() = 200; - - QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); - p.setPen(QPen(whiteColor(75), 6)); - p.setBrush(blackColor(166)); - p.drawRoundedRect(set_speed_rect, 32, 32); - - // Draw MAX - QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff); - QColor set_speed_color = whiteColor(); - if (is_cruise_set) { - if (status == STATUS_DISENGAGED) { - max_color = whiteColor(); - } else if (status == STATUS_OVERRIDE) { - max_color = QColor(0x91, 0x9b, 0x95, 0xff); - } - } else { - max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); - set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); - } - p.setFont(InterFont(40, QFont::DemiBold)); - p.setPen(max_color); - p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); - p.setFont(InterFont(90, QFont::Bold)); - p.setPen(set_speed_color); - p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); - - // current speed - p.setFont(InterFont(176, QFont::Bold)); - drawText(p, rect().center().x(), 210, speedStr); - p.setFont(InterFont(66)); - drawText(p, rect().center().x(), 290, speedUnit, 200); - - p.restore(); -} - -void AnnotatedCameraWidget::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)); - p.drawText(real_rect.x(), real_rect.bottom(), text); -} - void AnnotatedCameraWidget::initializeGL() { CameraWidget::initializeGL(); qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION)); @@ -125,124 +38,59 @@ void AnnotatedCameraWidget::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void AnnotatedCameraWidget::updateFrameMat() { - CameraWidget::updateFrameMat(); - UIState *s = uiState(); +mat4 AnnotatedCameraWidget::calcFrameMatrix() { + // Project point at "infinity" to compute x and y offsets + // to ensure this ends up in the middle of the screen + // for narrow come and a little lower for wide cam. + // TODO: use proper perspective transform? + + // Select intrinsic matrix and calibration based on camera type + auto *s = uiState(); + bool wide_cam = active_stream_type == VISION_STREAM_WIDE_ROAD; + const auto &intrinsic_matrix = wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX; + const auto &calibration = wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; + + // Compute the calibration transformation matrix + const auto calib_transform = intrinsic_matrix * calibration; + + float zoom = wide_cam ? 2.0 : 1.1; + Eigen::Vector3f inf(1000., 0., 0.); + auto Kep = calib_transform * inf; + int w = width(), h = height(); + float center_x = intrinsic_matrix(0, 2); + float center_y = intrinsic_matrix(1, 2); - s->fb_w = w; - s->fb_h = h; + float max_x_offset = center_x * zoom - w / 2 - 5; + float max_y_offset = center_y * zoom - h / 2 - 5; + float x_offset = std::clamp((Kep.x() / Kep.z() - center_x) * zoom, -max_x_offset, max_x_offset); + float y_offset = std::clamp((Kep.y() / Kep.z() - center_y) * zoom, -max_y_offset, max_y_offset); // Apply transformation such that video pixel coordinates match video // 1) Put (0, 0) in the middle of the video // 2) Apply same scaling as video // 3) Put (0, 0) in top left corner of video - s->car_space_transform.reset(); - s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset) - .scale(zoom, zoom) - .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); -} - -void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { - painter.save(); - - const UIScene &scene = s->scene; - SubMaster &sm = *(s->sm); - - // lanelines - for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) { - painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); - painter.drawPolygon(scene.lane_line_vertices[i]); - } - - // road edges - for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) { - painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp(1.0 - scene.road_edge_stds[i], 0.0, 1.0))); - painter.drawPolygon(scene.road_edge_vertices[i]); - } - - // paint path - QLinearGradient bg(0, height(), 0, 0); - if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) { - // The first half of track_vertices are the points for the right side of the path - const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX(); - const int max_len = std::min(scene.track_vertices.length() / 2, acceleration.size()); - - for (int i = 0; i < max_len; ++i) { - // Some points are out of frame - int track_idx = max_len - i - 1; // flip idx to start from bottom right - if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue; - - // Flip so 0 is bottom of frame - float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height(); - - // speed up: 120, slow down: 0 - float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); - // FIXME: painter.drawPolygon can be slow if hue is not rounded - path_hue = int(path_hue * 100 + 0.5) / 100; - - float saturation = fmin(fabs(acceleration[i] * 1.5), 1); - float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey - float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade - bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); - - // Skip a point, unless next is last - i += (i + 2) < max_len ? 1 : 0; - } - - } else { - bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); - bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0)); - } - - painter.setBrush(bg); - painter.drawPolygon(scene.track_vertices); - - painter.restore(); -} - -void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) { - painter.save(); - - const float speedBuff = 10.; - const float leadBuff = 40.; - const float d_rel = lead_data.getDRel(); - const float v_rel = lead_data.getVRel(); - - float fillAlpha = 0; - if (d_rel < leadBuff) { - fillAlpha = 255 * (1.0 - (d_rel / leadBuff)); - if (v_rel < 0) { - fillAlpha += 255 * (-1 * (v_rel / speedBuff)); - } - fillAlpha = (int)(fmin(fillAlpha, 255)); - } - - float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; - float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2); - float y = std::fmin(height() - sz * .6, (float)vd.y()); - - float g_xo = sz / 5; - float g_yo = sz / 10; - - QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}}; - painter.setBrush(QColor(218, 202, 37, 255)); - painter.drawPolygon(glow, std::size(glow)); - - // chevron - QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}}; - painter.setBrush(redColor(fillAlpha)); - painter.drawPolygon(chevron, std::size(chevron)); - - painter.restore(); + Eigen::Matrix3f video_transform =(Eigen::Matrix3f() << + zoom, 0.0f, (w / 2 - x_offset) - (center_x * zoom), + 0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom), + 0.0f, 0.0f, 1.0f).finished(); + + model.setTransform(video_transform * calib_transform); + + float zx = zoom * 2 * center_x / w; + float zy = zoom * 2 * center_y / h; + return mat4{{ + zx, 0.0, 0.0, -x_offset / w * 2, + 0.0, zy, 0.0, y_offset / h * 2, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + }}; } void AnnotatedCameraWidget::paintGL() { UIState *s = uiState(); SubMaster &sm = *(s->sm); const double start_draw_t = millis_since_boot(); - const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); // draw camera frame { @@ -271,19 +119,9 @@ void AnnotatedCameraWidget::paintGL() { wide_cam_requested = false; } wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode(); - // for replay of old routes, never go to widecam - wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; } CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - - s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; - if (s->scene.calibration_valid) { - auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; - CameraWidget::updateCalibration(calib); - } else { - CameraWidget::updateCalibration(DEFAULT_CALIBRATION); - } - CameraWidget::setFrameId(model.getFrameId()); + CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId()); CameraWidget::paintGL(); } @@ -291,27 +129,10 @@ void AnnotatedCameraWidget::paintGL() { painter.setRenderHint(QPainter::Antialiasing); painter.setPen(Qt::NoPen); - if (s->scene.world_objects_visible) { - update_model(s, model); - drawLaneLines(painter, s); - - if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) { - auto radar_state = sm["radarState"].getRadarState(); - update_leads(s, radar_state, model.getPosition()); - auto lead_one = radar_state.getLeadOne(); - auto lead_two = radar_state.getLeadTwo(); - if (lead_one.getStatus()) { - drawLead(painter, lead_one, s->scene.lead_vertices[0]); - } - if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) { - drawLead(painter, lead_two, s->scene.lead_vertices[1]); - } - } - } - + model.draw(painter, rect()); dmon.draw(painter, rect()); - - drawHud(painter); + hud.updateState(*s); + hud.draw(painter, rect()); double cur_draw_t = millis_since_boot(); double dt = cur_draw_t - prev_draw_t; diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 4a4196b22c..d205579f6c 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -2,9 +2,10 @@ #include #include - +#include "selfdrive/ui/qt/onroad/hud.h" #include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/onroad/driver_monitoring.h" +#include "selfdrive/ui/qt/onroad/model.h" #include "selfdrive/ui/qt/widgets/cameraview.h" class AnnotatedCameraWidget : public CameraWidget { @@ -15,18 +16,11 @@ public: void updateState(const UIState &s); private: - void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); - QVBoxLayout *main_layout; ExperimentalButton *experimental_btn; DriverMonitorRenderer dmon; - float speed; - QString speedUnit; - float setSpeed; - bool is_cruise_set = false; - bool is_metric = false; - bool v_ego_cluster_seen = false; - int status = STATUS_DISENGAGED; + HudRenderer hud; + ModelRenderer model; std::unique_ptr pm; int skip_frame_count = 0; @@ -36,13 +30,7 @@ protected: void paintGL() override; void initializeGL() override; void showEvent(QShowEvent *event) override; - void updateFrameMat() override; - void drawLaneLines(QPainter &painter, const UIState *s); - void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd); - void drawHud(QPainter &p); - inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } - inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } - inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } + mat4 calcFrameMatrix() override; double prev_draw_t = 0; FirstOrderFilter fps_filter; diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc new file mode 100644 index 0000000000..50b563b228 --- /dev/null +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -0,0 +1,109 @@ +#include "selfdrive/ui/qt/onroad/hud.h" + +#include + +#include "selfdrive/ui/qt/util.h" + +constexpr int SET_SPEED_NA = 255; + +HudRenderer::HudRenderer() {} + +void HudRenderer::updateState(const UIState &s) { + is_metric = s.scene.is_metric; + status = s.status; + + const SubMaster &sm = *(s.sm); + if (!sm.alive("carState")) { + is_cruise_set = false; + set_speed = SET_SPEED_NA; + speed = 0.0; + return; + } + + const auto &controls_state = sm["controlsState"].getControlsState(); + const auto &car_state = sm["carState"].getCarState(); + + // Handle older routes where vCruiseCluster is not set + set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster(); + is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA; + + if (is_cruise_set && !is_metric) { + set_speed *= KM_TO_MILE; + } + + // Handle older routes where vEgoCluster is not set + v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; + float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); + speed = std::max(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH)); +} + +void HudRenderer::draw(QPainter &p, const QRect &surface_rect) { + p.save(); + + // Draw header gradient + QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT); + bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45)); + bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); + p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg); + + + drawSetSpeed(p, surface_rect); + drawCurrentSpeed(p, surface_rect); + + p.restore(); +} + +void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) { + // Draw outer box + border to contain set speed + const QSize default_size = {172, 204}; + QSize set_speed_size = is_metric ? QSize(200, 204) : default_size; + QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); + + // Draw set speed box + p.setPen(QPen(QColor(255, 255, 255, 75), 6)); + p.setBrush(QColor(0, 0, 0, 166)); + p.drawRoundedRect(set_speed_rect, 32, 32); + + // Colors based on status + QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); + QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); + if (is_cruise_set) { + set_speed_color = QColor(255, 255, 255); + if (status == STATUS_DISENGAGED) { + max_color = QColor(255, 255, 255); + } else if (status == STATUS_OVERRIDE) { + max_color = QColor(0x91, 0x9b, 0x95, 0xff); + } else { + max_color = QColor(0x80, 0xd8, 0xa6, 0xff); + } + } + + // Draw "MAX" text + p.setFont(InterFont(40, QFont::DemiBold)); + p.setPen(max_color); + p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); + + // Draw set speed + QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–"; + p.setFont(InterFont(90, QFont::Bold)); + p.setPen(set_speed_color); + p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); +} + +void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) { + QString speedStr = QString::number(std::nearbyint(speed)); + + p.setFont(InterFont(176, QFont::Bold)); + drawText(p, surface_rect.center().x(), 210, speedStr); + + p.setFont(InterFont(66)); + drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200); +} + +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)); + p.drawText(real_rect.x(), real_rect.bottom(), text); +} diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h new file mode 100644 index 0000000000..0b1220a27a --- /dev/null +++ b/selfdrive/ui/qt/onroad/hud.h @@ -0,0 +1,25 @@ +#pragma once + +#include +#include "selfdrive/ui/ui.h" + +class HudRenderer : public QObject { + Q_OBJECT + +public: + HudRenderer(); + void updateState(const UIState &s); + void draw(QPainter &p, const QRect &surface_rect); + +private: + void drawSetSpeed(QPainter &p, const QRect &surface_rect); + void drawCurrentSpeed(QPainter &p, const QRect &surface_rect); + void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); + + float speed = 0; + float set_speed = 0; + bool is_cruise_set = false; + bool is_metric = false; + bool v_ego_cluster_seen = false; + int status = STATUS_DISENGAGED; +}; diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc new file mode 100644 index 0000000000..9a2c989b26 --- /dev/null +++ b/selfdrive/ui/qt/onroad/model.cc @@ -0,0 +1,208 @@ +#include "selfdrive/ui/qt/onroad/model.h" + +constexpr int CLIP_MARGIN = 500; +constexpr float MIN_DRAW_DISTANCE = 10.0; +constexpr float MAX_DRAW_DISTANCE = 100.0; + +static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { + const auto &line_x = line.getX(); + int max_idx = 0; + for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { + max_idx = i; + } + return max_idx; +} + +void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { + auto &sm = *(uiState()->sm); + if (sm.updated("carParams")) { + longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); + } + + // Check if data is up-to-date + if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) { + return; + } + + clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN); + experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode(); + + painter.save(); + + const auto &model = sm["modelV2"].getModelV2(); + const auto &radar_state = sm["radarState"].getRadarState(); + const auto &lead_one = radar_state.getLeadOne(); + + update_model(model, lead_one); + drawLaneLines(painter); + drawPath(painter, model, surface_rect.height()); + + if (longitudinal_control && sm.alive("radarState")) { + update_leads(radar_state, model.getPosition()); + const auto &lead_two = radar_state.getLeadTwo(); + if (lead_one.getStatus()) { + drawLead(painter, lead_one, lead_vertices[0], surface_rect); + } + if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) { + drawLead(painter, lead_two, lead_vertices[1], surface_rect); + } + } + + painter.restore(); +} + +void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { + for (int i = 0; i < 2; ++i) { + const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); + if (lead_data.getStatus()) { + float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; + mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]); + } + } +} + +void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) { + const auto &model_position = model.getPosition(); + float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); + + // update lane lines + const auto &lane_lines = model.getLaneLines(); + const auto &line_probs = model.getLaneLineProbs(); + int max_idx = get_path_length_idx(lane_lines[0], max_distance); + for (int i = 0; i < std::size(lane_line_vertices); i++) { + lane_line_probs[i] = line_probs[i]; + mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx); + } + + // update road edges + const auto &road_edges = model.getRoadEdges(); + const auto &edge_stds = model.getRoadEdgeStds(); + for (int i = 0; i < std::size(road_edge_vertices); i++) { + road_edge_stds[i] = edge_stds[i]; + mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx); + } + + // update path + if (lead.getStatus()) { + const float lead_d = lead.getDRel() * 2.; + max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); + } + max_idx = get_path_length_idx(model_position, max_distance); + mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false); +} + +void ModelRenderer::drawLaneLines(QPainter &painter) { + // lanelines + for (int i = 0; i < std::size(lane_line_vertices); ++i) { + painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(lane_line_probs[i], 0.0, 0.7))); + painter.drawPolygon(lane_line_vertices[i]); + } + + // road edges + for (int i = 0; i < std::size(road_edge_vertices); ++i) { + painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp(1.0 - road_edge_stds[i], 0.0, 1.0))); + painter.drawPolygon(road_edge_vertices[i]); + } +} + +void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) { + QLinearGradient bg(0, height, 0, 0); + if (experimental_model) { + // The first half of track_vertices are the points for the right side of the path + const auto &acceleration = model.getAcceleration().getX(); + const int max_len = std::min(track_vertices.length() / 2, acceleration.size()); + + for (int i = 0; i < max_len; ++i) { + // Some points are out of frame + int track_idx = max_len - i - 1; // flip idx to start from bottom right + if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue; + + // Flip so 0 is bottom of frame + float lin_grad_point = (height - track_vertices[track_idx].y()) / height; + + // speed up: 120, slow down: 0 + float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); + // FIXME: painter.drawPolygon can be slow if hue is not rounded + path_hue = int(path_hue * 100 + 0.5) / 100; + + float saturation = fmin(fabs(acceleration[i] * 1.5), 1); + float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey + float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade + bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); + + // Skip a point, unless next is last + i += (i + 2) < max_len ? 1 : 0; + } + + } else { + bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); + bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0)); + } + + painter.setBrush(bg); + painter.drawPolygon(track_vertices); +} + +void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, + const QPointF &vd, const QRect &surface_rect) { + const float speedBuff = 10.; + const float leadBuff = 40.; + const float d_rel = lead_data.getDRel(); + const float v_rel = lead_data.getVRel(); + + float fillAlpha = 0; + if (d_rel < leadBuff) { + fillAlpha = 255 * (1.0 - (d_rel / leadBuff)); + if (v_rel < 0) { + fillAlpha += 255 * (-1 * (v_rel / speedBuff)); + } + fillAlpha = (int)(fmin(fillAlpha, 255)); + } + + float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; + float x = std::clamp(vd.x(), 0.f, surface_rect.width() - sz / 2); + float y = std::min(vd.y(), surface_rect.height() - sz * 0.6); + + float g_xo = sz / 5; + float g_yo = sz / 10; + + QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}}; + painter.setBrush(QColor(218, 202, 37, 255)); + painter.drawPolygon(glow, std::size(glow)); + + // chevron + QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}}; + painter.setBrush(QColor(201, 34, 49, fillAlpha)); + painter.drawPolygon(chevron, std::size(chevron)); +} + +// Projects a point in car to space to the corresponding point in full frame image space. +bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) { + Eigen::Vector3f input(in_x, in_y, in_z); + auto pt = car_space_transform * input; + *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z()); + return clip_region.contains(*out); +} + +void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, + QPolygonF *pvd, int max_idx, bool allow_invert) { + const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); + QPointF left, right; + pvd->clear(); + for (int i = 0; i <= max_idx; i++) { + // highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera + if (line_x[i] < 0) continue; + + bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); + bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); + if (l && r) { + // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts + if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) { + continue; + } + pvd->push_back(left); + pvd->push_front(right); + } + } +} diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h new file mode 100644 index 0000000000..358fce53f4 --- /dev/null +++ b/selfdrive/ui/qt/onroad/model.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include + +#include "selfdrive/ui/ui.h" + +class ModelRenderer { +public: + ModelRenderer() {} + void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; } + void draw(QPainter &painter, const QRect &surface_rect); + +private: + bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out); + void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, + QPolygonF *pvd, int max_idx, bool allow_invert = true); + void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect); + void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); + void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); + void drawLaneLines(QPainter &painter); + void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height); + + bool longitudinal_control = false; + bool experimental_model = false; + float lane_line_probs[4] = {}; + float road_edge_stds[2] = {}; + QPolygonF track_vertices; + QPolygonF lane_line_vertices[4] = {}; + QPolygonF road_edge_vertices[2] = {}; + QPointF lead_vertices[2] = {}; + Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero(); + QRectF clip_region; +}; diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc index 823e14bf3c..080f9bd50f 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/qt/onroad/onroad_home.cc @@ -21,7 +21,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, this); split->insertWidget(0, arCam); } diff --git a/selfdrive/ui/qt/prime_state.cc b/selfdrive/ui/qt/prime_state.cc new file mode 100644 index 0000000000..f12daf1e3c --- /dev/null +++ b/selfdrive/ui/qt/prime_state.cc @@ -0,0 +1,48 @@ +#include "selfdrive/ui/qt/prime_state.h" + +#include + +#include "selfdrive/ui/qt/api.h" +#include "selfdrive/ui/qt/request_repeater.h" +#include "selfdrive/ui/qt/util.h" + +PrimeState::PrimeState(QObject* parent) : QObject(parent) { + const char *env_prime_type = std::getenv("PRIME_TYPE"); + auto type = env_prime_type ? env_prime_type : Params().get("PrimeType"); + + if (!type.empty()) { + prime_type = static_cast(std::atoi(type.c_str())); + } + + if (auto dongleId = getDongleId()) { + QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/"; + RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5); + QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeState::handleReply); + } + + // Emit the initial state change + QTimer::singleShot(1, [this]() { emit changed(prime_type); }); +} + +void PrimeState::handleReply(const QString& response, bool success) { + if (!success) return; + + QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); + if (doc.isNull()) { + qDebug() << "JSON Parse failed on getting pairing and PrimeState status"; + return; + } + + QJsonObject json = doc.object(); + bool is_paired = json["is_paired"].toBool(); + auto type = static_cast(json["prime_type"].toInt()); + setType(is_paired ? type : PrimeState::PRIME_TYPE_UNPAIRED); +} + +void PrimeState::setType(PrimeState::Type type) { + if (type != prime_type) { + prime_type = type; + Params().put("PrimeType", std::to_string(prime_type)); + emit changed(prime_type); + } +} diff --git a/selfdrive/ui/qt/prime_state.h b/selfdrive/ui/qt/prime_state.h new file mode 100644 index 0000000000..0e2e3bb043 --- /dev/null +++ b/selfdrive/ui/qt/prime_state.h @@ -0,0 +1,33 @@ +#pragma once + +#include + +class PrimeState : public QObject { + Q_OBJECT + +public: + + enum Type { + PRIME_TYPE_UNKNOWN = -2, + PRIME_TYPE_UNPAIRED = -1, + PRIME_TYPE_NONE = 0, + PRIME_TYPE_MAGENTA = 1, + PRIME_TYPE_LITE = 2, + PRIME_TYPE_BLUE = 3, + PRIME_TYPE_MAGENTA_NEW = 4, + PRIME_TYPE_PURPLE = 5, + }; + + PrimeState(QObject *parent); + void setType(PrimeState::Type type); + inline PrimeState::Type currentType() const { return prime_type; } + inline bool isSubscribed() const { return prime_type > PrimeState::PRIME_TYPE_NONE; } + +signals: + void changed(PrimeState::Type prime_type); + +private: + void handleReply(const QString &response, bool success); + + PrimeState::Type prime_type = PrimeState::PRIME_TYPE_UNKNOWN; +}; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 914b04b654..674e5e999c 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -7,13 +7,7 @@ #endif #include -#include -#include -#include - #include -#include -#include namespace { @@ -66,40 +60,10 @@ const char frame_fragment_shader[] = "}\n"; #endif -mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { - const float driver_view_ratio = 2.0; - const float yscale = stream_height * driver_view_ratio / stream_width; - const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; - mat4 transform = (mat4){{ - xscale, 0.0, 0.0, 0.0, - 0.0, yscale, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - return transform; -} - -mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) { - float zx = 1, zy = 1; - if (frame_aspect_ratio > widget_aspect_ratio) { - zy = widget_aspect_ratio / frame_aspect_ratio; - } else { - zx = frame_aspect_ratio / widget_aspect_ratio; - } - - const mat4 frame_transform = {{ - zx, 0.0, 0.0, 0.0, - 0.0, zy, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - return frame_transform; -} - } // namespace -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : - stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) : + stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); qRegisterMetaType>("availableStreams"); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); @@ -115,7 +79,7 @@ CameraWidget::~CameraWidget() { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); - glDeleteBuffers(2, textures); + glDeleteTextures(2, textures); } doneCurrent(); } @@ -214,59 +178,19 @@ void CameraWidget::availableStreamsUpdated(std::set streams) { available_streams = streams; } -void CameraWidget::updateFrameMat() { - int w = glWidth(), h = glHeight(); +mat4 CameraWidget::calcFrameMatrix() { + // Scale the frame to fit the widget while maintaining the aspect ratio. + float widget_aspect_ratio = (float)width() / height(); + float frame_aspect_ratio = (float)stream_width / stream_height; + float zx = std::min(frame_aspect_ratio / widget_aspect_ratio, 1.0f); + float zy = std::min(widget_aspect_ratio / frame_aspect_ratio, 1.0f); - if (zoomed_view) { - if (active_stream_type == VISION_STREAM_DRIVER) { - if (stream_width > 0 && stream_height > 0) { - frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); - } - } else { - // Project point at "infinity" to compute x and y offsets - // to ensure this ends up in the middle of the screen - // for narrow come and a little lower for wide cam. - // TODO: use proper perspective transform? - if (active_stream_type == VISION_STREAM_WIDE_ROAD) { - intrinsic_matrix = ECAM_INTRINSIC_MATRIX; - zoom = 2.0; - } else { - intrinsic_matrix = FCAM_INTRINSIC_MATRIX; - zoom = 1.1; - } - const vec3 inf = {{1000., 0., 0.}}; - const vec3 Ep = matvecmul3(calibration, inf); - const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); - - float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom; - float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom; - - float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5; - float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5; - - x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset); - y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset); - - float zx = zoom * 2 * intrinsic_matrix.v[2] / w; - float zy = zoom * 2 * intrinsic_matrix.v[5] / h; - const mat4 frame_transform = {{ - zx, 0.0, 0.0, -x_offset / w * 2, - 0.0, zy, 0.0, y_offset / h * 2, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - frame_mat = frame_transform; - } - } else if (stream_width > 0 && stream_height > 0) { - // fit frame to widget size - float widget_aspect_ratio = (float)w / h; - float frame_aspect_ratio = (float)stream_width / stream_height; - frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio); - } -} - -void CameraWidget::updateCalibration(const mat3 &calib) { - calibration = calib; + return mat4{{ + zx, 0.0, 0.0, 0.0, + 0.0, zy, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + }}; } void CameraWidget::paintGL() { @@ -293,7 +217,7 @@ void CameraWidget::paintGL() { VisionBuf *frame = frames[frame_idx].second; assert(frame != nullptr); - updateFrameMat(); + auto frame_mat = calcFrameMatrix(); glViewport(0, 0, glWidth(), glHeight()); glBindVertexArray(frame_vao); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 85ec498735..29aa8493c7 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -23,18 +23,16 @@ #endif #include "msgq/visionipc/visionipc_client.h" -#include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/ui.h" const int FRAME_BUFFER_SIZE = 5; -static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: using QOpenGLWidget::QOpenGLWidget; - explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); + explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr); ~CameraWidget(); void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } @@ -51,21 +49,17 @@ signals: protected: void paintGL() override; void initializeGL() override; - void resizeGL(int w, int h) override { updateFrameMat(); } void showEvent(QShowEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } - virtual void updateFrameMat(); - void updateCalibration(const mat3 &calib); + virtual mat4 calcFrameMatrix(); void vipcThread(); void clearFrames(); int glWidth(); int glHeight(); - bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; GLuint textures[2]; - mat4 frame_mat = {}; std::unique_ptr program; QColor bg = QColor("#000000"); @@ -81,14 +75,6 @@ protected: std::atomic requested_stream_type; std::set available_streams; QThread *vipc_thread = nullptr; - - // Calibration - float x_offset = 0; - float y_offset = 0; - float zoom = 1.0; - mat3 calibration = DEFAULT_CALIBRATION; - mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; - std::recursive_mutex frame_lock; std::deque> frames; uint32_t draw_frame_id = 0; diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 370e9a53cc..629ea94f20 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -11,7 +11,7 @@ const QString BACKSPACE_KEY = "⌫"; const QString ENTER_KEY = "→"; -const QMap KEY_STRETCH = {{" ", 5}, {ENTER_KEY, 2}}; +const QMap KEY_STRETCH = {{" ", 3}, {ENTER_KEY, 2}}; const QStringList CONTROL_BUTTONS = {"↑", "↓", "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY}; @@ -107,7 +107,7 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) { {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"}, {"a", "s", "d", "f", "g", "h", "j", "k", "l"}, {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY}, - {"123", " ", ".", ENTER_KEY}, + {"123", "/", "-", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, lowercase)); diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 74ece36d15..f630875978 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -70,7 +70,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent int OffroadAlert::refresh() { // build widgets for each offroad alert on first refresh if (alerts.empty()) { - QString json = util::read_file("../controls/lib/alerts_offroad.json").c_str(); + QString json = util::read_file("../selfdrived/alerts_offroad.json").c_str(); QJsonObject obj = QJsonDocument::fromJson(json.toUtf8()).object(); // descending sort labels by severity diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index f86258ea4f..62f5c0ab50 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -180,20 +180,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { QFrame* finishRegistration = new QFrame; finishRegistration->setObjectName("primeWidget"); - QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration); - finishRegistationLayout->setSpacing(38); - finishRegistationLayout->setContentsMargins(64, 48, 64, 48); + QVBoxLayout* finishRegistrationLayout = new QVBoxLayout(finishRegistration); + finishRegistrationLayout->setSpacing(38); + finishRegistrationLayout->setContentsMargins(64, 48, 64, 48); QLabel* registrationTitle = new QLabel(tr("Finish Setup")); registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;"); - finishRegistationLayout->addWidget(registrationTitle); + finishRegistrationLayout->addWidget(registrationTitle); QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;"); - finishRegistationLayout->addWidget(registrationDescription); + finishRegistrationLayout->addWidget(registrationDescription); - finishRegistationLayout->addStretch(); + finishRegistrationLayout->addStretch(); QPushButton* pair = new QPushButton(tr("Pair device")); pair->setStyleSheet(R"( @@ -208,7 +208,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { background-color: #3049F4; } )"); - finishRegistationLayout->addWidget(pair); + finishRegistrationLayout->addWidget(pair); popup = new PairingPopup(this); QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec); @@ -246,33 +246,12 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { sp_retain.setRetainSizeWhenHidden(true); setSizePolicy(sp_retain); - // set up API requests - if (auto dongleId = getDongleId()) { - QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/"; - RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5); - - QObject::connect(repeater, &RequestRepeater::requestDone, this, &SetupWidget::replyFinished); - } -} - -void SetupWidget::replyFinished(const QString &response, bool success) { - if (!success) return; - - QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); - if (doc.isNull()) { - qDebug() << "JSON Parse failed on getting pairing and prime status"; - return; - } - - QJsonObject json = doc.object(); - bool is_paired = json["is_paired"].toBool(); - PrimeType prime_type = static_cast(json["prime_type"].toInt()); - uiState()->setPrimeType(is_paired ? prime_type : PrimeType::PRIME_TYPE_UNPAIRED); - - if (!is_paired) { - mainLayout->setCurrentIndex(0); - } else { - popup->reject(); - mainLayout->setCurrentIndex(1); - } + QObject::connect(uiState()->prime_state, &PrimeState::changed, [this](PrimeState::Type type) { + if (type == PrimeState::PRIME_TYPE_UNPAIRED) { + mainLayout->setCurrentIndex(0); // Display "Pair your device" widget + } else { + popup->reject(); + mainLayout->setCurrentIndex(1); // Display Wi-Fi prompt widget + } + }); } diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index eac71bcddb..d1ba334e81 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -66,7 +66,4 @@ signals: private: PairingPopup *popup; QStackedWidget *mainLayout; - -private slots: - void replyFinished(const QString &response, bool success); }; diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index 4055fcfd35..3cd6ae5820 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -17,7 +17,7 @@ SAMPLE_RATE = 48000 SAMPLE_BUFFER = 4096 # (approx 100ms) MAX_VOLUME = 1.0 MIN_VOLUME = 0.1 -CONTROLS_TIMEOUT = 5 # 5 seconds +SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES) AMBIENT_DB = 30 # DB where MIN_VOLUME is applied @@ -40,11 +40,11 @@ sound_list: dict[int, tuple[str, int | None, float]] = { AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), } -def check_controls_timeout_alert(sm): - controls_missing = time.monotonic() - sm.recv_time['selfdriveState'] +def check_selfdrive_timeout_alert(sm): + ss_missing = time.monotonic() - sm.recv_time['selfdriveState'] - if controls_missing > CONTROLS_TIMEOUT: - if sm['selfdriveState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10: + if ss_missing > SELFDRIVE_STATE_TIMEOUT: + if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10: return True return False @@ -58,7 +58,7 @@ class Soundd: self.current_volume = MIN_VOLUME self.current_sound_frame = 0 - self.controls_timeout_alert = False + self.selfdrive_timeout_alert = False self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) @@ -114,12 +114,12 @@ class Soundd: if sm.updated['selfdriveState']: new_alert = sm['selfdriveState'].alertSound.raw self.update_alert(new_alert) - elif check_controls_timeout_alert(sm): + elif check_selfdrive_timeout_alert(sm): self.update_alert(AudibleAlert.warningImmediate) - self.controls_timeout_alert = True - elif self.controls_timeout_alert: + self.selfdrive_timeout_alert = True + elif self.selfdrive_timeout_alert: self.update_alert(AudibleAlert.none) - self.controls_timeout_alert = False + self.selfdrive_timeout_alert = False def calculate_volume(self, weighted_db): volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index 75b19ceb90..e468d88e0e 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -6,12 +6,12 @@ import json from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert if __name__ == "__main__": params = Params() - with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: + with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f: offroad_alerts = json.load(f) t = 10 if len(sys.argv) < 2 else int(sys.argv[1]) diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc index ac63139d17..c8cc0d3e05 100644 --- a/selfdrive/ui/tests/test_runner.cc +++ b/selfdrive/ui/tests/test_runner.cc @@ -11,6 +11,7 @@ int main(int argc, char **argv) { QApplication app(argc, argv); QString language_file = "main_test_en"; + // FIXME: pytest-cpp considers this print as a test case qDebug() << "Loading language:" << language_file; QTranslator translator; diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index f40af8696a..a9da8455eb 100644 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -1,7 +1,7 @@ from cereal import car from cereal import messaging from cereal.messaging import SubMaster, PubMaster -from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert +from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert import time @@ -9,7 +9,7 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert class TestSoundd: - def test_check_controls_timeout_alert(self): + def test_check_selfdrive_timeout_alert(self): sm = SubMaster(['selfdriveState']) pm = PubMaster(['selfdriveState']) @@ -23,13 +23,13 @@ class TestSoundd: sm.update(0) - assert not check_controls_timeout_alert(sm) + assert not check_selfdrive_timeout_alert(sm) - for _ in range(CONTROLS_TIMEOUT * 110): + for _ in range(SELFDRIVE_STATE_TIMEOUT * 110): sm.update(0) time.sleep(0.01) - assert check_controls_timeout_alert(sm) + assert check_selfdrive_timeout_alert(sm) # TODO: add test with micd for checking that soundd actually outputs sounds diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 1a075b3c44..a918a57364 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -10,16 +10,16 @@ import os import pywinctl import time -from cereal import messaging, log +from cereal import log from msgq.visionipc import VisionIpcServer, VisionStreamType -from cereal.messaging import SubMaster, PubMaster +from cereal.messaging import PubMaster, log_from_bytes, sub_sock from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.selfdrive.test.helpers import with_processes -from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState +from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.route import Route @@ -34,39 +34,60 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys( "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState", "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None) -def setup_common(click, pm: PubMaster): - Params().put("DongleId", "123456789012345") - pm.send('deviceState', DATA['deviceState']) - def setup_homescreen(click, pm: PubMaster): - setup_common(click, pm) + pass def setup_settings_device(click, pm: PubMaster): - setup_common(click, pm) - click(100, 100) -def setup_onroad(click, pm: PubMaster): - setup_common(click, pm) +def setup_settings_toggles(click, pm: PubMaster): + setup_settings_device(click, pm) + click(278, 760) + time.sleep(UI_DELAY) +def setup_onroad(click, pm: PubMaster): vipc_server = VisionIpcServer("camerad") for stream_type, cam, _ in STREAMS: vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height) vipc_server.start_listener() + uidebug_received_cnt = 0 packet_id = 0 - for _ in range(20): + uidebug_sock = sub_sock('uiDebug') + + # Condition check for uiDebug processing + check_uidebug = DATA['deviceState'].deviceState.started and not DATA['carParams'].carParams.notCar + + # Loop until 20 'uiDebug' messages are received + while uidebug_received_cnt <= 20: for service, data in DATA.items(): if data: data.clear_write_flag() pm.send(service, data) - packet_id = packet_id + 1 for stream_type, _, image in STREAMS: vipc_server.send(stream_type, image, packet_id, packet_id, packet_id) + if check_uidebug: + while uidebug_sock.receive(non_blocking=True): + uidebug_received_cnt += 1 + else: + uidebug_received_cnt += 1 + + packet_id += 1 time.sleep(0.05) +def setup_onroad_disengaged(click, pm: PubMaster): + DATA['selfdriveState'].selfdriveState.enabled = False + setup_onroad(click, pm) + DATA['selfdriveState'].selfdriveState.enabled = True + +def setup_onroad_override(click, pm: PubMaster): + DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.overriding + setup_onroad(click, pm) + DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.enabled + + def setup_onroad_wide(click, pm: PubMaster): DATA['selfdriveState'].selfdriveState.experimentalMode = True DATA["carState"].carState.vEgo = 1 @@ -75,10 +96,12 @@ def setup_onroad_wide(click, pm: PubMaster): def setup_onroad_sidebar(click, pm: PubMaster): setup_onroad(click, pm) click(500, 500) + setup_onroad(click, pm) def setup_onroad_wide_sidebar(click, pm: PubMaster): setup_onroad_wide(click, pm) click(500, 500) + setup_onroad_wide(click, pm) def setup_body(click, pm: PubMaster): DATA['carParams'].carParams.carName = "BODY" @@ -87,6 +110,14 @@ def setup_body(click, pm: PubMaster): DATA['carState'].carState.fuelGauge = 50.0 setup_onroad(click, pm) +def setup_keyboard(click, pm: PubMaster): + setup_settings_device(click, pm) + click(250, 575) + click(2020, 218) + click(1830, 80) + click(2035, 808) + click(90, 480) + def setup_driver_camera(click, pm: PubMaster): setup_settings_device(click, pm) click(1950, 435) @@ -96,15 +127,16 @@ def setup_driver_camera(click, pm: PubMaster): def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.SelfdriveState.AlertStatus.normal): print(f'setup onroad alert, size: {size}') - setup_onroad(click, pm) - dat = messaging.new_message('selfdriveState') - cs = dat.selfdriveState + state = DATA['selfdriveState'] + origin_state_bytes = state.to_bytes() + cs = state.selfdriveState cs.alertText1 = text1 cs.alertText2 = text2 cs.alertSize = size cs.alertStatus = status cs.alertType = "test_onroad_alert" - pm.send('selfdriveState', dat) + setup_onroad(click, pm) + DATA['selfdriveState'] = log_from_bytes(origin_state_bytes).as_builder() def setup_onroad_alert_small(click, pm: PubMaster): setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small) @@ -116,7 +148,6 @@ def setup_onroad_alert_full(click, pm: PubMaster): setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full) def setup_offroad_alert(click, pm: PubMaster): - setup_common(click, pm) for alert in OFFROAD_ALERTS: set_offroad_alert(alert, True) @@ -125,7 +156,6 @@ def setup_offroad_alert(click, pm: PubMaster): click(240, 216) def setup_update_available(click, pm: PubMaster): - setup_common(click, pm) Params().put_bool("UpdateAvailable", True) release_notes_path = os.path.join(BASEDIR, "RELEASES.md") with open(release_notes_path) as file: @@ -135,11 +165,19 @@ def setup_update_available(click, pm: PubMaster): setup_settings_device(click, pm) click(240, 216) +def setup_pair_device(click, pm: PubMaster): + click(1950, 435) + click(1800, 900) CASES = { "homescreen": setup_homescreen, + "prime": setup_homescreen, + "pair_device": setup_pair_device, "settings_device": setup_settings_device, + "settings_toggles": setup_settings_toggles, "onroad": setup_onroad, + "onroad_disengaged": setup_onroad_disengaged, + "onroad_override": setup_onroad_override, "onroad_sidebar": setup_onroad_sidebar, "onroad_alert_small": setup_onroad_alert_small, "onroad_alert_mid": setup_onroad_alert_mid, @@ -149,7 +187,8 @@ CASES = { "driver_camera": setup_driver_camera, "body": setup_body, "offroad_alert": setup_offroad_alert, - "update_available": setup_update_available + "update_available": setup_update_available, + "keyboard": setup_keyboard } TEST_DIR = pathlib.Path(__file__).parent @@ -164,11 +203,13 @@ class TestUI: sys.modules["mouseinfo"] = False def setup(self): - self.sm = SubMaster(["uiDebug"]) self.pm = PubMaster(list(DATA.keys())) - while not self.sm.valid["uiDebug"]: - self.sm.update(1) - time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering + DATA['deviceState'].deviceState.networkType = log.DeviceState.NetworkType.wifi + DATA['deviceState'].deviceState.lastAthenaPingTime = 0 + for _ in range(10): + self.pm.send('deviceState', DATA['deviceState']) + DATA['deviceState'].clear_write_flag() + time.sleep(0.05) try: self.ui = pywinctl.getWindowsWithTitle("ui")[0] except Exception as e: @@ -195,8 +236,6 @@ class TestUI: setup_case(self.click, self.pm) - time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering - im = self.screenshot() plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) @@ -224,7 +263,7 @@ def create_screenshots(): segnum = 2 lr = LogReader(route.qlog_paths()[segnum]) DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None) - for event in migrate_controlsState(lr): + for event in migrate(lr, [migrate_controlsState, migrate_carState]): if event.which() in DATA: DATA[event.which()] = event.as_builder() @@ -243,8 +282,15 @@ def create_screenshots(): t = TestUI() - with OpenpilotPrefix(): - for name, setup in CASES.items(): + for name, setup in CASES.items(): + with OpenpilotPrefix(): + params = Params() + params.put("DongleId", "123456789012345") + if name == 'prime': + params.put('PrimeType', '1') + elif name == 'pair_device': + params.put('ApiCache_Device', '{"is_paired":0, "prime_type":-1}') + t.test_ui(name, setup) if __name__ == "__main__": diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index f56f894111..3e14c33255 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -31,7 +31,7 @@ if __name__ == "__main__": unfinished_translations += 1 percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) - color = "green" if percent_finished == 100 else "orange" if percent_finished > 90 else "red" + color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}" # Download badge badge_label = f"LANGUAGE {name}" diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 0116f3c152..5f254e9cd4 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -87,21 +87,6 @@ من أجل "%1" - - AnnotatedCameraWidget - - km/h - كم/س - - - mph - ميل/س - - - MAX - MAX - - ConfirmationDialog @@ -289,6 +274,21 @@ تشغيل وضع الراحة + + HudRenderer + + km/h + كم/س + + + mph + ميل/س + + + MAX + MAX + + InputDialog @@ -388,10 +388,6 @@ 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. لم يكن openpilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai. - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - لم يتمكن openpilot من تحديد سيارتك. تحقق من سلامة الكابلات وتأكد من تأمين جميع الوصلات، لا سيما أنه قد تم إدخال طاقة الفاصلة بالكامل في منفذ OBD-II في السيارة. هل تريد أي مساعدة؟ لا تتردد في الانضمام إلى 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. لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي. @@ -418,22 +414,22 @@ openpilot Unavailable openpilot غير متوفر - - Waiting for controls to start - في انتظار بدء عناصر التحكم - TAKE CONTROL IMMEDIATELY تحكم على الفور - - Controls Unresponsive - الضوابط غير مستجيبة - Reboot Device إعادة التشغيل + + Waiting to start + + + + System Unresponsive + + PairingPopup diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 48180eef92..4f5997228a 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -87,21 +87,6 @@ für "%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - MAX - - ConfirmationDialog @@ -289,6 +274,21 @@ ENTSPANNTER MODUS AN + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + MAX + + InputDialog @@ -379,10 +379,6 @@ 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 was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join 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. @@ -414,19 +410,19 @@ - Waiting for controls to start + TAKE CONTROL IMMEDIATELY - TAKE CONTROL IMMEDIATELY + Reboot Device - Controls Unresponsive + Waiting to start - Reboot Device + System Unresponsive diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 150c00d117..fa50f33f15 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -87,21 +87,6 @@ para "%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - MAX - - ConfirmationDialog @@ -289,6 +274,21 @@ MODO CHILL + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + MAX + + InputDialog @@ -384,10 +384,6 @@ 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 no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai. - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase 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 detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas. @@ -414,22 +410,22 @@ openpilot Unavailable openpilot no disponible - - Waiting for controls to start - Esperando que los controles inicien - TAKE CONTROL IMMEDIATELY TOME CONTROL INMEDIATAMENTE - - Controls Unresponsive - Controles no responden - Reboot Device Reiniciar Dispositivo + + Waiting to start + Esperando para iniciar + + + System Unresponsive + Systema no responde + PairingPopup diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index a678742f74..566ed32f11 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -87,21 +87,6 @@ pour "%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mi/h - - - MAX - MAX - - ConfirmationDialog @@ -289,6 +274,21 @@ MODE DÉTENTE ACTIVÉ + + HudRenderer + + km/h + km/h + + + mph + mi/h + + + MAX + MAX + + InputDialog @@ -384,10 +384,6 @@ 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 n'a pas pu identifier votre voiture. Votre voiture n'est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d'aide ? Rejoignez discord.comma.ai. - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot n'a pas pu identifier votre voiture. Vérifiez l'intégrité des câbles et assurez-vous que toutes les connexions sont correctes, en particulier l'alimentation du comma est totalement insérée dans le port OBD-II du véhicule. Besoin d'aide ? Rejoignez 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 a détecté un changement dans la position de montage de l'appareil. Assurez-vous que l'appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise. @@ -415,19 +411,19 @@ - Waiting for controls to start + TAKE CONTROL IMMEDIATELY - TAKE CONTROL IMMEDIATELY + Reboot Device - Controls Unresponsive + Waiting to start - Reboot Device + System Unresponsive diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 096fa95091..90c8aba00b 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -87,21 +87,6 @@ ﾈｯﾄﾜｰｸ名：%1 - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - 最高速度 - - ConfirmationDialog @@ -289,6 +274,21 @@ チルモード + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + 最高速度 + + InputDialog @@ -378,10 +378,6 @@ 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 was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join 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. @@ -413,19 +409,19 @@ - Waiting for controls to start + TAKE CONTROL IMMEDIATELY - TAKE CONTROL IMMEDIATELY + Reboot Device - Controls Unresponsive + Waiting to start - Reboot Device + System Unresponsive diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index df012d3e85..6d01b1289f 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -87,21 +87,6 @@ "%1"에 접속하려면 비밀번호가 필요합니다 - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - MAX - - ConfirmationDialog @@ -289,6 +274,21 @@ 안정 모드 사용 + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + MAX + + InputDialog @@ -379,10 +379,6 @@ 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. openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot이 차량을 식별할 수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 제대로 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. - 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 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. @@ -413,22 +409,22 @@ openpilot Unavailable 오픈파일럿을 사용할수없습니다 - - Waiting for controls to start - 프로세스가 준비중입니다 - TAKE CONTROL IMMEDIATELY 핸들을 잡아주세요 - - Controls Unresponsive - 프로세스가 응답하지않습니다 - Reboot Device 장치를 재부팅하세요 + + Waiting to start + 시작을 기다리는중 + + + System Unresponsive + 시스템이 응답하지않습니다 + PairingPopup @@ -488,7 +484,7 @@ Remote snapshots - + 원격 스냅샷 @@ -1040,15 +1036,15 @@ This may take up to a minute. 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. - + 운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 실험 모드 로고도 우측 상단에 표시됩니다. Always-On Driver Monitoring - + 상시 운전자 모니터링 Enable driver monitoring even when openpilot is not engaged. - + Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 1500f07e63..ba50e97141 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -87,21 +87,6 @@ para "%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - LIMITE - - ConfirmationDialog @@ -289,6 +274,21 @@ MODO CHILL ON + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + LIMITE + + InputDialog @@ -380,10 +380,6 @@ 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. O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai. - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - O openpilot não conseguiu identificar o seu carro. Verifique a integridade dos cabos e certifique-se de que todas as conexões estejam seguras, especialmente se o comma power está totalmente inserido na porta OBD-II do veículo. Precisa de ajuda? Junte-se 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. O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa. @@ -414,22 +410,22 @@ openpilot Unavailable openpilot Indisponível - - Waiting for controls to start - Aguardando controles para iniciar - TAKE CONTROL IMMEDIATELY ASSUMA IMEDIATAMENTE - - Controls Unresponsive - Controles Não Respondem - Reboot Device Reinicie o Dispositivo + + Waiting to start + Aguardando para iniciar + + + System Unresponsive + Sistema sem Resposta + PairingPopup diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index bae326d532..6d89c049b1 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -87,21 +87,6 @@ สำหรับ "%1" - - AnnotatedCameraWidget - - km/h - กม./ชม. - - - mph - ไมล์/ชม. - - - MAX - สูงสุด - - ConfirmationDialog @@ -289,6 +274,21 @@ คุณกำลังใช้โหมดชิล + + HudRenderer + + km/h + กม./ชม. + + + mph + ไมล์/ชม. + + + MAX + สูงสุด + + InputDialog @@ -383,10 +383,6 @@ 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 ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot ไม่สามารถระบุรถยนต์ของคุณได้ กรุณาตรวจสอบสายเคเบิ้ลและจุดเชื่อมต่อทั้งหมดว่าแน่นหนา โดยเฉพาะ comma power ว่าได้ดันเข้าไปยังพอร์ต OBD II ของรถยนต์จนสุด หากต้องการความช่วยเหลือให้เข้าร่วม 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 ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา @@ -413,22 +409,22 @@ openpilot Unavailable openpilot ไม่สามารถใช้งานได้ - - Waiting for controls to start - กำลังรอให้ controls เริ่มทำงาน - TAKE CONTROL IMMEDIATELY เข้าควบคุมรถเดี๋ยวนี้ - - Controls Unresponsive - Controls ไม่ตอบสนอง - Reboot Device รีบูตอุปกรณ์ + + Waiting to start + + + + System Unresponsive + + PairingPopup diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 72148807d4..663ad8c281 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -87,21 +87,6 @@ için "%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - MAX - - ConfirmationDialog @@ -289,6 +274,21 @@ + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + MAX + + InputDialog @@ -382,10 +382,6 @@ 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 was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join 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. @@ -413,19 +409,19 @@ - Waiting for controls to start + TAKE CONTROL IMMEDIATELY - TAKE CONTROL IMMEDIATELY + Reboot Device - Controls Unresponsive + Waiting to start - Reboot Device + System Unresponsive diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 976b58b31d..494b1bc170 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -87,21 +87,6 @@ 网络名称："%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - 最高定速 - - ConfirmationDialog @@ -289,6 +274,21 @@ 轻松模式运行 + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + 最高定速 + + InputDialog @@ -379,10 +379,6 @@ 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 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。 - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 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 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。 @@ -413,22 +409,22 @@ openpilot Unavailable 无法使用 openpilot - - Waiting for controls to start - 等待控制服务啟動 - TAKE CONTROL IMMEDIATELY 立即接管 - - Controls Unresponsive - 控制服务无响应 - Reboot Device 重启设备 + + Waiting to start + 等待开始 + + + System Unresponsive + 系统无响应 + PairingPopup @@ -480,7 +476,7 @@ 24/7 LTE connectivity - 全天候 LTE 連線 + 全天候 LTE 连接 1 year of drive storage @@ -488,7 +484,7 @@ Remote snapshots - + 远程快照 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index de8d3ff701..7ce6ac6d20 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -87,21 +87,6 @@ 給 "%1" - - AnnotatedCameraWidget - - km/h - km/h - - - mph - mph - - - MAX - 最高 - - ConfirmationDialog @@ -289,6 +274,21 @@ 輕鬆模式 ON + + HudRenderer + + km/h + km/h + + + mph + mph + + + MAX + 最高 + + InputDialog @@ -379,10 +379,6 @@ 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 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。 - - openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 介面。需要幫助嗎？請加入 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 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 @@ -413,22 +409,22 @@ openpilot Unavailable 無法使用 openpilot - - Waiting for controls to start - 等待操控服務開始 - TAKE CONTROL IMMEDIATELY 立即接管 - - Controls Unresponsive - 操控服務沒有反應 - Reboot Device 請重新啟裝置 + + Waiting to start + 等待開始 + + + System Unresponsive + 系統無回應 + PairingPopup @@ -488,7 +484,7 @@ Remote snapshots - + 遠端快照 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 1a3198c936..b11330a046 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -1,13 +1,11 @@ #include "selfdrive/ui/ui.h" #include -#include #include #include #include "common/transformations/orientation.hpp" -#include "common/params.h" #include "common/swaglog.h" #include "common/util.h" #include "common/watchdog.h" @@ -16,100 +14,6 @@ #define BACKLIGHT_DT 0.05 #define BACKLIGHT_TS 10.00 -// Projects a point in car to space to the corresponding point in full frame -// image space. -static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) { - const float margin = 500.0f; - const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin}; - - const vec3 pt = (vec3){{in_x, in_y, in_z}}; - const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt); - const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep); - - // Project. - QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); - if (clip_region.contains(point)) { - *out = point; - return true; - } - return false; -} - -int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { - const auto line_x = line.getX(); - int max_idx = 0; - for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { - max_idx = i; - } - return max_idx; -} - -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { - for (int i = 0; i < 2; ++i) { - auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); - if (lead_data.getStatus()) { - float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; - calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]); - } - } -} - -void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { - const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - QPointF left, right; - pvd->clear(); - for (int i = 0; i <= max_idx; i++) { - // highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera - if (line_x[i] < 0) continue; - - bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); - bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); - if (l && r) { - // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts - if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) { - continue; - } - pvd->push_back(left); - pvd->push_front(right); - } - } -} - -void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model) { - UIScene &scene = s->scene; - auto model_position = model.getPosition(); - float max_distance = std::clamp(*(model_position.getX().end() - 1), - MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); - - // update lane lines - const auto lane_lines = model.getLaneLines(); - const auto lane_line_probs = model.getLaneLineProbs(); - int max_idx = get_path_length_idx(lane_lines[0], max_distance); - for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { - scene.lane_line_probs[i] = lane_line_probs[i]; - update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); - } - - // update road edges - const auto road_edges = model.getRoadEdges(); - const auto road_edge_stds = model.getRoadEdgeStds(); - for (int i = 0; i < std::size(scene.road_edge_vertices); i++) { - scene.road_edge_stds[i] = road_edge_stds[i]; - update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx); - } - - // update path - auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); - if (lead_one.getStatus()) { - const float lead_d = lead_one.getDRel() * 2.; - max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); - } - max_idx = get_path_length_idx(model_position, max_distance); - update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); -} - static void update_sockets(UIState *s) { s->sm->update(0); } @@ -119,29 +23,19 @@ static void update_state(UIState *s) { UIScene &scene = s->scene; if (sm.updated("liveCalibration")) { + auto list2rot = [](const capnp::List::Reader &rpy_list) ->Eigen::Matrix3f { + return euler2rot({rpy_list[0], rpy_list[1], rpy_list[2]}).cast(); + }; + auto live_calib = sm["liveCalibration"].getLiveCalibration(); - auto rpy_list = live_calib.getRpyCalib(); - auto wfde_list = live_calib.getWideFromDeviceEuler(); - Eigen::Vector3d rpy; - Eigen::Vector3d wfde; - if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2]; - if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2]; - Eigen::Matrix3d device_from_calib = euler2rot(rpy); - Eigen::Matrix3d wide_from_device = euler2rot(wfde); - Eigen::Matrix3d view_from_device; - view_from_device << 0, 1, 0, - 0, 0, 1, - 1, 0, 0; - Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; - Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib; - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j); - scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j); - } + if (live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED) { + auto device_from_calib = list2rot(live_calib.getRpyCalib()); + auto wide_from_device = list2rot(live_calib.getWideFromDeviceEuler()); + s->scene.view_from_calib = VIEW_FROM_DEVICE * device_from_calib; + s->scene.view_from_wide_calib = VIEW_FROM_DEVICE * wide_from_device * device_from_calib; + } else { + s->scene.view_from_calib = s->scene.view_from_wide_calib = VIEW_FROM_DEVICE; } - scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; - scene.calibration_wide_valid = wfde_list.size() == 3; } if (sm.updated("pandaStates")) { auto pandaStates = sm["pandaStates"].getPandaStates(); @@ -158,9 +52,6 @@ static void update_state(UIState *s) { } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) { scene.pandaType = cereal::PandaState::PandaType::UNKNOWN; } - if (sm.updated("carParams")) { - scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); - } if (sm.updated("wideRoadCameraState")) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; @@ -169,11 +60,6 @@ static void update_state(UIState *s) { scene.light_sensor = -1; } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; - - scene.world_objects_visible = scene.world_objects_visible || - (scene.started && - sm.rcv_frame("liveCalibration") > scene.started_frame && - sm.rcv_frame("modelV2") > scene.started_frame); } void ui_update_params(UIState *s) { @@ -184,7 +70,7 @@ void ui_update_params(UIState *s) { void UIState::updateStatus() { if (scene.started && sm->updated("selfdriveState")) { auto ss = (*sm)["selfdriveState"].getSelfdriveState(); - auto state = ss .getState(); + auto state = ss.getState(); if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) { status = STATUS_OVERRIDE; } else { @@ -199,7 +85,6 @@ void UIState::updateStatus() { scene.started_frame = sm->frame; } started_prev = scene.started; - scene.world_objects_visible = false; emit offroadTransition(!scene.started); } } @@ -210,13 +95,8 @@ UIState::UIState(QObject *parent) : QObject(parent) { "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", "wideRoadCameraState", "managerState", "selfdriveState", }); - - Params params; - language = QString::fromStdString(params.get("LanguageSetting")); - auto prime_value = params.get("PrimeType"); - if (!prime_value.empty()) { - prime_type = static_cast(std::atoi(prime_value.c_str())); - } + prime_state = new PrimeState(this); + language = QString::fromStdString(Params().get("LanguageSetting")); // update timer timer = new QTimer(this); @@ -229,31 +109,12 @@ void UIState::update() { update_state(this); updateStatus(); - if (std::getenv("PRIME_TYPE")) { - setPrimeType((PrimeType)atoi(std::getenv("PRIME_TYPE"))); - } - if (sm->frame % UI_FREQ == 0) { watchdog_kick(nanos_since_boot()); } emit uiUpdate(*this); } -void UIState::setPrimeType(PrimeType type) { - if (type != prime_type) { - bool prev_prime = hasPrime(); - - prime_type = type; - Params().put("PrimeType", std::to_string(prime_type)); - emit primeTypeChanged(prime_type); - - bool prime = hasPrime(); - if (prev_prime != prime) { - emit primeChanged(prime); - } - } -} - Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) { setAwake(true); resetInteractiveTimeout(); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 73b8c5ddeb..6ff67cacde 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -1,20 +1,19 @@ #pragma once +#include #include #include -#include #include #include #include -#include -#include #include "cereal/messaging/messaging.h" #include "common/mat.h" #include "common/params.h" -#include "common/timing.h" +#include "common/util.h" #include "system/hardware/hw.h" +#include "selfdrive/ui/qt/prime_state.h" const int UI_BORDER_SIZE = 30; const int UI_HEADER_HEIGHT = 420; @@ -22,17 +21,22 @@ const int UI_HEADER_HEIGHT = 420; const int UI_FREQ = 20; // Hz const int BACKLIGHT_OFFROAD = 50; -const float MIN_DRAW_DISTANCE = 10.0; -const float MAX_DRAW_DISTANCE = 100.0; -constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; -constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, - 0.0, 2648.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; +const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() << + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0, + 1.0, 0.0, 0.0).finished(); + +const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() << + 2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0).finished(); + // tici ecam focal probably wrong? magnification is not consistent across frame // Need to retrain model before this can be changed -constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, - 0.0, 567.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; +const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() << + 567.0, 0.0, 1928.0 / 2, + 0.0, 567.0, 1208.0 / 2, + 0.0, 0.0, 1.0).finished(); typedef enum UIStatus { STATUS_DISENGAGED, @@ -40,47 +44,21 @@ typedef enum UIStatus { STATUS_ENGAGED, } UIStatus; -enum PrimeType { - PRIME_TYPE_UNKNOWN = -2, - PRIME_TYPE_UNPAIRED = -1, - PRIME_TYPE_NONE = 0, - PRIME_TYPE_MAGENTA = 1, - PRIME_TYPE_LITE = 2, - PRIME_TYPE_BLUE = 3, - PRIME_TYPE_MAGENTA_NEW = 4, - PRIME_TYPE_PURPLE = 5, -}; - const QColor bg_colors [] = { [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), }; - typedef struct UIScene { - bool calibration_valid = false; - bool calibration_wide_valid = false; - bool wide_cam = true; - mat3 view_from_calib = DEFAULT_CALIBRATION; - mat3 view_from_wide_calib = DEFAULT_CALIBRATION; + Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE; + Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE; cereal::PandaState::PandaType pandaType; - // modelV2 - float lane_line_probs[4]; - float road_edge_stds[2]; - QPolygonF track_vertices; - QPolygonF lane_line_vertices[4]; - QPolygonF road_edge_vertices[2]; - - // lead - QPointF lead_vertices[2]; - cereal::LongitudinalPersonality personality; float light_sensor = -1; - bool started, ignition, is_metric, longitudinal_control; - bool world_objects_visible = false; + bool started, ignition, is_metric; uint64_t started_frame; } UIScene; @@ -94,26 +72,15 @@ public: return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled(); } - void setPrimeType(PrimeType type); - inline PrimeType primeType() const { return prime_type; } - inline bool hasPrime() const { return prime_type > PrimeType::PRIME_TYPE_NONE; } - - int fb_w = 0, fb_h = 0; - std::unique_ptr sm; - UIStatus status; UIScene scene = {}; - QString language; - - QTransform car_space_transform; + PrimeState *prime_state; signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); - void primeChanged(bool prime); - void primeTypeChanged(PrimeType prime_type); private slots: void update(); @@ -121,7 +88,6 @@ private slots: private: QTimer *timer; bool started_prev = false; - PrimeType prime_type = PrimeType::PRIME_TYPE_UNKNOWN; }; UIState *uiState(); @@ -161,12 +127,4 @@ public slots: }; Device *device(); - void ui_update_params(UIState *s); -int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); -void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model); -void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); -void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index f13c65fdae..65880bdad9 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -16,7 +16,7 @@ def generate_translations_include(): # offroad alerts # TODO translate events from openpilot.selfdrive/controls/lib/events.py content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n" - with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: + with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f: for alert in json.load(f).values(): content += f'QT_TRANSLATE_NOOP("OffroadAlert", R"({alert["text"]})");\n' diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index c14e03aa6e..258e2a7bd6 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,14 +19,14 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD)); } return a.exec(); diff --git a/system/athena/registration.py b/system/athena/registration.py index 06ecd0b9d4..a1e8605a9d 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -8,7 +8,7 @@ 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.controls.lib.alertmanager import set_offroad_alert +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.common.swaglog import cloudlog diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 511664c275..1820d21b3d 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,8 +1,8 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic'] +libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon] -camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', +camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 6c745e1cde..769557d70b 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -3,31 +3,27 @@ #include #include -#include "third_party/libyuv/include/libyuv.h" #include #include "common/clutil.h" #include "common/swaglog.h" #include "third_party/linux/include/msm_media_info.h" -#include "system/camerad/cameras/camera_qcom2.h" -#ifdef QCOM2 -#include "CL/cl_ext_qcom.h" -#endif +#include "system/camerad/cameras/spectra.h" + class ImgProc { public: - ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) { + ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const SensorInfo *sensor, int camera_num, int buf_width, int uv_offset) { char args[4096]; - const SensorInfo *ci = s->ci.get(); snprintf(args, sizeof(args), "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ", - ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset, - b->rgb_width, b->rgb_height, buf_width, uv_offset, - static_cast(ci->image_sensor), ci->hdr_offset, s->camera_num == 1); + sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset, + b->out_img_width, b->out_img_height, buf_width, uv_offset, + static_cast(sensor->image_sensor), sensor->hdr_offset, camera_num == 1); const char *cl_file = "cameras/process_raw.cl"; cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err)); @@ -62,14 +58,15 @@ private: cl_command_queue queue; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; frame_buf_count = frame_cnt; - const SensorInfo *ci = s->ci.get(); + const SensorInfo *sensor = cam->sensor.get(); + // RAW frame - const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride; + const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; camera_bufs = std::make_unique(frame_buf_count); camera_bufs_metadata = std::make_unique(frame_buf_count); @@ -79,23 +76,23 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, } LOGD("allocated %d CL buffers", frame_buf_count); - rgb_width = ci->frame_width; - rgb_height = ci->hdr_offset > 0 ? (ci->frame_height - ci->hdr_offset) / 2 : ci->frame_height; + out_img_width = sensor->frame_width; + out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; - int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width); - int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width)); - assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height)); + int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, out_img_width); + int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, out_img_height); + assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, out_img_width)); + assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, out_img_height)); size_t nv12_uv_offset = nv12_width * nv12_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 = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width; + size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width; - vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); - imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset); + imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset); } CameraBuf::~CameraBuf() { @@ -105,7 +102,7 @@ CameraBuf::~CameraBuf() { if (imgproc) delete imgproc; } -bool CameraBuf::acquire() { +bool CameraBuf::acquire(int expo_time) { if (!safe_queue.try_pop(cur_buf_idx, 50)) return false; if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { @@ -118,7 +115,7 @@ bool CameraBuf::acquire() { cur_camera_buf = &camera_bufs[cur_buf_idx]; double start_time = millis_since_boot(); - imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines); + imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time); cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; VisionIpcBufExtra extra = { @@ -138,24 +135,6 @@ void CameraBuf::queue(size_t buf_idx) { // common functions -void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { - framed.setFrameId(frame_data.frame_id); - framed.setRequestId(frame_data.request_id); - framed.setTimestampEof(frame_data.timestamp_eof); - framed.setTimestampSof(frame_data.timestamp_sof); - framed.setIntegLines(frame_data.integ_lines); - framed.setGain(frame_data.gain); - framed.setHighConversionGain(frame_data.high_conversion_gain); - framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction); - framed.setTargetGreyFraction(frame_data.target_grey_fraction); - framed.setProcessingTime(frame_data.processing_time); - - const float ev = c->cur_ev[frame_data.frame_id % 3]; - const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f); - framed.setExposureValPercent(perc); - framed.setSensor(c->ci->image_sensor); -} - kj::Array get_raw_frame_image(const CameraBuf *b) { const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr; @@ -173,7 +152,7 @@ static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w int in_stride = b->cur_yuv_buf->stride; // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. - std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); + std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); uint8_t *y_plane = buf.get(); uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; @@ -244,7 +223,7 @@ static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w } void publish_thumbnail(PubMaster *pm, const CameraBuf *b) { - auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4); + auto thumbnail = yuv420_to_jpeg(b, b->out_img_width / 4, b->out_img_height / 4); if (thumbnail.size() == 0) return; MessageBuilder msg; @@ -264,7 +243,7 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk unsigned int lum_total = 0; for (int y = ae_xywh.y; y < ae_xywh.y + ae_xywh.h; y += y_skip) { for (int x = ae_xywh.x; x < ae_xywh.x + ae_xywh.w; x += x_skip) { - uint8_t lum = pix_ptr[(y * b->rgb_width) + x]; + uint8_t lum = pix_ptr[(y * b->out_img_width) + x]; lum_binning[lum]++; lum_total += 1; } @@ -283,30 +262,6 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk return lum_med / 256.0; } -void camerad_thread() { - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); -#ifdef QCOM2 - const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; - cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); -#else - cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -#endif - - { - MultiCameraState cameras; - VisionIpcServer vipc_server("camerad", device_id, context); - - cameras_open(&cameras); - cameras_init(&vipc_server, &cameras, device_id, context); - - vipc_server.start_listener(); - - cameras_run(&cameras); - } - - CL_CHECK(clReleaseContext(context)); -} - int open_v4l_by_name_and_index(const char name[], int index, int flags) { for (int v4l_index = 0; /**/; ++v4l_index) { std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index)); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 7c2fbaeec8..e0e16e18fc 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -1,6 +1,5 @@ #pragma once -#include #include #include "cereal/messaging/messaging.h" @@ -8,18 +7,8 @@ #include "common/queue.h" #include "common/util.h" -const int YUV_BUFFER_COUNT = 20; - -enum CameraType { - RoadCam = 0, - DriverCam, - WideRoadCam -}; -// for debugging -const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; -const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; -const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; +const int YUV_BUFFER_COUNT = 20; typedef struct FrameMetadata { uint32_t frame_id; @@ -29,17 +18,10 @@ typedef struct FrameMetadata { uint64_t timestamp_sof; uint64_t timestamp_eof; - // Exposure - unsigned int integ_lines; - bool high_conversion_gain; - float gain; - float measured_grey_fraction; - float target_grey_fraction; - float processing_time; } FrameMetadata; -struct MultiCameraState; +class SpectraCamera; class CameraState; class ImgProc; @@ -58,23 +40,17 @@ public: VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs; std::unique_ptr camera_bufs_metadata; - int rgb_width, rgb_height; + int out_img_width, out_img_height; CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type); - bool acquire(); + void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); + bool acquire(int expo_time); void queue(size_t buf_idx); }; -void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c); +void camerad_thread(); kj::Array get_raw_frame_image(const CameraBuf *b); float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip); void publish_thumbnail(PubMaster *pm, const CameraBuf *b); -void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx); -void cameras_open(MultiCameraState *s); -void cameras_run(MultiCameraState *s); -void cameras_close(MultiCameraState *s); -void camerad_thread(); - int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 0648ddf4de..3d5507add9 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1,4 +1,5 @@ -#include "system/camerad/cameras/camera_qcom2.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/spectra.h" #include #include @@ -11,407 +12,81 @@ #include #include -#include "media/cam_defs.h" -#include "media/cam_isp.h" -#include "media/cam_isp_ife.h" -#include "media/cam_req_mgr.h" +#include "CL/cl_ext_qcom.h" + #include "media/cam_sensor_cmn_header.h" -#include "media/cam_sync.h" -#include "common/swaglog.h" -const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py +#include "common/clutil.h" +#include "common/params.h" +#include "common/swaglog.h" -// For debugging: -// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl ExitHandler do_exit; -CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config) - : multi_cam_state(multi_camera_state), - camera_num(config.camera_num), - stream_type(config.stream_type), - focal_len(config.focal_len), - publish_name(config.publish_name), - init_camera_state(config.init_camera_state), - enabled(config.enabled) { -} - -int CameraState::clear_req_queue() { - struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; - req_mgr_flush_request.session_hdl = session_handle; - req_mgr_flush_request.link_hdl = link_handle; - req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); - // LOGD("flushed all req: %d", ret); - return ret; -} - -// ************** high level camera helpers **************** - -void CameraState::sensors_start() { - if (!enabled) return; - LOGD("starting sensor %d", camera_num); - sensors_i2c(ci->start_reg_array.data(), ci->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); -} - -void CameraState::sensors_poke(int request_id) { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet); - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 0; - pkt->kmd_cmd_buf_index = -1; - pkt->header.size = size; - pkt->header.op_code = CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP; - pkt->header.request_id = request_id; - - int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle); - if (ret != 0) { - LOGE("** sensor %d FAILED poke, disabling", camera_num); - enabled = false; - return; - } -} - -void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { - // LOGD("sensors_i2c: %d", len); - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 1; - pkt->kmd_cmd_buf_index = -1; - pkt->header.size = size; - pkt->header.op_code = op_code; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - - buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); - buf_desc[0].type = CAM_CMD_BUF_I2C; - - auto i2c_random_wr = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - i2c_random_wr->header.count = len; - i2c_random_wr->header.op_code = 1; - i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; - i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE; - i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; - memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload)); - - int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle); - if (ret != 0) { - LOGE("** sensor %d FAILED i2c, disabling", camera_num); - enabled = false; - return; - } -} - -static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { - cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings))); - unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT; - unconditional_wait->delay = delay_ms; - unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND; - return (struct cam_cmd_power *)(unconditional_wait + 1); -} - -int CameraState::sensors_init() { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 2; - pkt->kmd_cmd_buf_index = -1; - pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; - pkt->header.size = size; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - - buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); - buf_desc[0].type = CAM_CMD_BUF_LEGACY; - auto i2c_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); - - probe->camera_id = camera_num; - i2c_info->slave_addr = ci->getSlaveAddress(camera_num); - // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz - //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE; - i2c_info->i2c_freq_mode = I2C_FAST_MODE; - i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO; - - probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD; - probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; - probe->op_code = 3; // don't care? - probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE; - probe->reg_addr = ci->probe_reg_addr; - probe->expected_data = ci->probe_expected_data; - probe->data_mask = 0; - - //buf_desc[1].size = buf_desc[1].length = 148; - buf_desc[1].size = buf_desc[1].length = 196; - buf_desc[1].type = CAM_CMD_BUF_I2C; - auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - - // power on - struct cam_cmd_power *power = power_settings.get(); - power->count = 4; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; - power->power_settings[0].power_seq_type = 3; // clock?? - power->power_settings[1].power_seq_type = 1; // analog - power->power_settings[2].power_seq_type = 2; // digital - power->power_settings[3].power_seq_type = 8; // reset low - power = power_set_wait(power, 1); - - // set clock - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; - power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = ci->mclk_frequency; - power = power_set_wait(power, 1); - - // reset high - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; - power->power_settings[0].power_seq_type = 8; - power->power_settings[0].config_val_low = 1; - // wait 650000 cycles @ 19.2 mhz = 33.8 ms - power = power_set_wait(power, 34); - - // probe happens here - - // disable clock - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = 0; - power = power_set_wait(power, 1); - - // reset high - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 8; - power->power_settings[0].config_val_low = 1; - power = power_set_wait(power, 1); - - // reset low - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 8; - power->power_settings[0].config_val_low = 0; - power = power_set_wait(power, 1); - - // power off - power->count = 3; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 2; - power->power_settings[1].power_seq_type = 1; - power->power_settings[2].power_seq_type = 3; - - int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); - LOGD("probing the sensor: %d", ret); - return ret; -} - -void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - if (io_mem_handle != 0) { - size += sizeof(struct cam_buf_io_cfg); - } - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 2; - pkt->kmd_cmd_buf_index = 0; - // YUV has kmd_cmd_buf_offset = 1780 - // I guess this is the ISP command - // YUV also has patch_offset = 0x1030 and num_patches = 10 - - if (io_mem_handle != 0) { - pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; - pkt->num_io_configs = 1; - } - - if (io_mem_handle != 0) { - pkt->header.op_code = 0xf000001; - pkt->header.request_id = request_id; - } else { - pkt->header.op_code = 0xf000000; - } - pkt->header.size = size; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); - - // TODO: support MMU - buf_desc[0].size = 65624; - buf_desc[0].length = 0; - buf_desc[0].type = CAM_CMD_BUF_DIRECT; - buf_desc[0].meta_data = 3; - buf_desc[0].mem_handle = buf0_mem_handle; - buf_desc[0].offset = buf0_offset; - - // parsed by cam_isp_packet_generic_blob_handler - struct isp_packet { - uint32_t type_0; - cam_isp_resource_hfr_config resource_hfr; - - uint32_t type_1; - cam_isp_clock_config clock; - uint64_t extra_rdi_hz[3]; - - uint32_t type_2; - cam_isp_bw_config bw; - struct cam_isp_bw_vote extra_rdi_vote[6]; - } __attribute__((packed)) tmp; - memset(&tmp, 0, sizeof(tmp)); - - tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG; - tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8; - static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20); - tmp.resource_hfr = { - .num_ports = 1, // 10 for YUV (but I don't think we need them) - .port_hfr_config[0] = { - .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV - .subsample_pattern = 1, - .subsample_period = 0, - .framedrop_pattern = 1, - .framedrop_period = 0, - }}; - - tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG; - tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8; - static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38); - tmp.clock = { - .usage_type = 1, // dual mode - .num_rdi = 4, - .left_pix_hz = 404000000, - .right_pix_hz = 404000000, - .rdi_hz[0] = 404000000, - }; - - - tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG; - tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8; - static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0); - tmp.bw = { - .usage_type = 1, // dual mode - .num_rdi = 4, - .left_pix_vote = { - .resource_id = 0, - .cam_bw_bps = 450000000, - .ext_bw_bps = 450000000, - }, - .rdi_vote[0] = { - .resource_id = 0, - .cam_bw_bps = 8706200000, - .ext_bw_bps = 8706200000, - }, - }; - - static_assert(offsetof(struct isp_packet, type_2) == 0x60); - - buf_desc[1].size = sizeof(tmp); - buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0; - buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; - buf_desc[1].type = CAM_CMD_BUF_GENERIC; - buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; - auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memcpy(buf2.get(), &tmp, sizeof(tmp)); - - if (io_mem_handle != 0) { - io_cfg[0].mem_handle[0] = io_mem_handle; - io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = ci->frame_width, - .height = ci->frame_height + ci->extra_height, - .plane_stride = ci->frame_stride, - .slice_height = ci->frame_height + ci->extra_height, - .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) - .meta_size = 0x0, - .meta_offset = 0x0, - .packer_config = 0x0, // 0xb for YUV - .mode_config = 0x0, // 0x9ef for YUV - .tile_config = 0x0, - .h_init = 0x0, - .v_init = 0x0, - }; - io_cfg[0].format = ci->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV - io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV - io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel - io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV - io_cfg[0].fence = fence; - io_cfg[0].direction = CAM_BUF_OUTPUT; - io_cfg[0].subsample_pattern = 0x1; - io_cfg[0].framedrop_pattern = 0x1; +// for debugging +const bool env_debug_frames = getenv("DEBUG_FRAMES") != nullptr; +const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != nullptr; +const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr; + + +class CameraState { +public: + SpectraCamera camera; + std::thread thread; + int exposure_time = 5; + bool dc_gain_enabled = false; + int dc_gain_weight = 0; + int gain_idx = 0; + float analog_gain_frac = 0; + + float cur_ev[3] = {}; + float best_ev_score = 0; + int new_exp_g = 0; + int new_exp_t = 0; + + Rect ae_xywh = {}; + float measured_grey_fraction = 0; + float target_grey_fraction = 0.3; + + float fl_pix = 0; + + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; + ~CameraState(); + void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); + void set_camera_exposure(float grey_frac); + void set_exposure_rect(); + void run(); + + float get_gain_factor() const { + return (1 + dc_gain_weight * (camera.sensor->dc_gain_factor-1) / camera.sensor->dc_gain_max_weight); } +}; - int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle); - assert(ret == 0); - if (ret != 0) { - LOGE("isp config failed"); - } -} - -void CameraState::enqueue_buffer(int i, bool dp) { - int ret; - uint64_t request_id = request_ids[i]; - - if (buf_handle[i] && sync_objs[i]) { - // wait - struct cam_sync_wait sync_wait = {0}; - sync_wait.sync_obj = sync_objs[i]; - sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 - ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); - if (ret != 0) { - LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); - // TODO: handle frame drop cleanly - } - - buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof - if (dp) buf.queue(i); +void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { + camera.camera_open(v, device_id, ctx); - // destroy old output fence - struct cam_sync_info sync_destroy = {0}; - sync_destroy.sync_obj = sync_objs[i]; - ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); - if (ret != 0) { - LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj); - } - } - - // create output fence - struct cam_sync_info sync_create = {0}; - strcpy(sync_create.name, "NodeOutputPortFence"); - ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); - if (ret != 0) { - LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); - } - sync_objs[i] = sync_create.sync_obj; - - // schedule request with camera request manager - struct cam_req_mgr_sched_request req_mgr_sched_request = {0}; - req_mgr_sched_request.session_hdl = session_handle; - req_mgr_sched_request.link_hdl = link_handle; - req_mgr_sched_request.req_id = request_id; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request)); - if (ret != 0) { - LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id); - } + fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; + set_exposure_rect(); - // poke sensor, must happen after schedule - sensors_poke(request_id); + dc_gain_weight = camera.sensor->dc_gain_min_weight; + gain_idx = camera.sensor->analog_gain_rec_idx; + cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time; - // submit request to the ife - config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1)); + if (camera.enabled) thread = std::thread(&CameraState::run, this); } -void CameraState::enqueue_req_multi(uint64_t start, int n, bool dp) { - for (uint64_t i = start; i < start + n; ++i) { - request_ids[(i - 1) % FRAME_BUF_COUNT] = i; - enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp); - } +CameraState::~CameraState() { + if (thread.joinable()) thread.join(); } -// ******************* camera ******************* - void CameraState::set_exposure_rect() { // set areas for each camera, shouldn't be changed std::vector> ae_targets = { // (Rect, F) - std::make_pair((Rect){96, 250, 1734, 524}, 567.0), // wide + std::make_pair((Rect){96, 250, 1734, 524}, 567.0), // wide std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road - std::make_pair((Rect){96, 242, 1736, 906}, 567.0) // driver + std::make_pair((Rect){96, 242, 1736, 906}, 567.0) // driver }; int h_ref = 1208; /* @@ -422,418 +97,20 @@ void CameraState::set_exposure_rect() { [0, 0, 1] ] */ - auto ae_target = ae_targets[camera_num]; + auto ae_target = ae_targets[camera.cc.camera_num]; Rect xywh_ref = ae_target.first; float fl_ref = ae_target.second; ae_xywh = (Rect){ - std::max(0, buf.rgb_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, buf.rgb_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.rgb_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.rgb_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))) }; } -void CameraState::sensor_set_parameters() { - dc_gain_weight = ci->dc_gain_min_weight; - gain_idx = ci->analog_gain_rec_idx; - cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; -} - -void CameraState::camera_map_bufs() { - for (int i = 0; i < FRAME_BUF_COUNT; i++) { - // configure ISP to put the image in place - struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; - mem_mgr_map_cmd.num_hdl = 1; - mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; - mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); - LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); - buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; - } - enqueue_req_multi(1, FRAME_BUF_COUNT, 0); -} - -void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) { - if (!enabled) return; - - LOGD("camera init %d", camera_num); - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type); - camera_map_bufs(); - - fl_pix = focal_len / ci->pixel_size_mm; - set_exposure_rect(); -} - -void CameraState::camera_open() { - if (!enabled) return; - - if (!openSensor()) { - return; - } - - configISP(); - configCSIPHY(); - linkDevices(); -} - -bool CameraState::openSensor() { - sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); - assert(sensor_fd >= 0); - LOGD("opened sensor for %d", camera_num); - - // init memorymanager for this camera - mm.init(multi_cam_state->video0_fd); - - LOGD("-- Probing sensor %d", camera_num); - - auto init_sensor_lambda = [this](SensorInfo *sensor) { - ci.reset(sensor); - int ret = sensors_init(); - if (ret == 0) { - sensor_set_parameters(); - } - return ret == 0; - }; - - // Try different sensors one by one until it success. - if (!init_sensor_lambda(new AR0231) && - !init_sensor_lambda(new OX03C10) && - !init_sensor_lambda(new OS04C10)) { - LOGE("** sensor %d FAILED bringup, disabling", camera_num); - enabled = false; - return false; - } - LOGD("-- Probing sensor %d success", camera_num); - - // create session - struct cam_req_mgr_session_info session_info = {}; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info)); - LOGD("get session: %d 0x%X", ret, session_info.session_hdl); - session_handle = session_info.session_hdl; - - // access the sensor - LOGD("-- Accessing sensor"); - auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr); - assert(sensor_dev_handle_); - sensor_dev_handle = *sensor_dev_handle_; - LOGD("acquire sensor dev"); - - LOG("-- Configuring sensor"); - sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); - return true; -} - -void CameraState::configISP() { - // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c - // If you don't do this, the strobe GPIO is an output (even in reset it seems!) - if (!enabled) return; - - struct cam_isp_in_port_info in_port_info = { - .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num], - - .lane_type = CAM_ISP_LANE_TYPE_DPHY, - .lane_num = 4, - .lane_cfg = 0x3210, - - .vc = 0x0, - .dt = ci->frame_data_type, - .format = ci->mipi_format, - - .test_pattern = 0x2, // 0x3? - .usage_type = 0x0, - - .left_start = 0, - .left_stop = ci->frame_width - 1, - .left_width = ci->frame_width, - - .right_start = 0, - .right_stop = ci->frame_width - 1, - .right_width = ci->frame_width, - - .line_start = 0, - .line_stop = ci->frame_height + ci->extra_height - 1, - .height = ci->frame_height + ci->extra_height, - - .pixel_clk = 0x0, - .batch_size = 0x0, - .dsp_mode = CAM_ISP_DSP_MODE_NONE, - .hbi_cnt = 0x0, - .custom_csid = 0x0, - - .num_out_res = 0x1, - .data[0] = (struct cam_isp_out_port_info){ - .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = ci->mipi_format, - .width = ci->frame_width, - .height = ci->frame_height + ci->extra_height, - .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, - }, - }; - struct cam_isp_resource isp_resource = { - .resource_id = CAM_ISP_RES_ID_PORT, - .handle_type = CAM_HANDLE_USER_POINTER, - .res_hdl = (uint64_t)&in_port_info, - .length = sizeof(in_port_info), - }; - - auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource); - assert(isp_dev_handle_); - isp_dev_handle = *isp_dev_handle_; - LOGD("acquire isp dev"); - - // config ISP - alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | - CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); - config_isp(0, 0, 1, buf0_handle, 0); -} - -void CameraState::configCSIPHY() { - csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num); - assert(csiphy_fd >= 0); - LOGD("opened csiphy for %d", camera_num); - - struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0}; - auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info); - assert(csiphy_dev_handle_); - csiphy_dev_handle = *csiphy_dev_handle_; - LOGD("acquire csiphy dev"); - - // config csiphy - LOG("-- Config CSI PHY"); - { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 1; - pkt->kmd_cmd_buf_index = -1; - pkt->header.size = size; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - - buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); - buf_desc[0].type = CAM_CMD_BUF_GENERIC; - - auto csiphy_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - csiphy_info->lane_mask = 0x1f; - csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? - csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane - csiphy_info->combo_mode = 0x0; - csiphy_info->lane_cnt = 0x4; - csiphy_info->secure_mode = 0x0; - csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL; - csiphy_info->data_rate = 48000000; // Calculated by camera_freqs.py - - int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); - assert(ret_ == 0); - } -} - -void CameraState::linkDevices() { - LOG("-- Link devices"); - struct cam_req_mgr_link_info req_mgr_link_info = {0}; - req_mgr_link_info.session_hdl = session_handle; - req_mgr_link_info.num_devices = 2; - req_mgr_link_info.dev_hdls[0] = isp_dev_handle; - req_mgr_link_info.dev_hdls[1] = sensor_dev_handle; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info)); - link_handle = req_mgr_link_info.link_hdl; - LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle); - - struct cam_req_mgr_link_control req_mgr_link_control = {0}; - req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE; - req_mgr_link_control.session_hdl = session_handle; - req_mgr_link_control.num_links = 1; - req_mgr_link_control.link_hdls[0] = link_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control)); - LOGD("link control: %d", ret); - - ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle); - LOGD("start csiphy: %d", ret); - ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); - LOGD("start isp: %d", ret); - assert(ret == 0); - - // TODO: this is unneeded, should we be doing the start i2c in a different way? - //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle); - //LOGD("start sensor: %d", ret); -} - -void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(v, device_id, ctx); - s->road_cam.camera_init(v, device_id, ctx); - s->wide_road_cam.camera_init(v, device_id, ctx); - - s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); -} - -void cameras_open(MultiCameraState *s) { - LOG("-- Opening devices"); - // video0 is req_mgr, the target of many ioctls - s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK)); - assert(s->video0_fd >= 0); - LOGD("opened video0"); - - // video1 is cam_sync, the target of some ioctls - s->cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK)); - assert(s->cam_sync_fd >= 0); - LOGD("opened video1 (cam_sync)"); - - // looks like there's only one of these - s->isp_fd = open_v4l_by_name_and_index("cam-isp"); - assert(s->isp_fd >= 0); - LOGD("opened isp"); - - // query icp for MMU handles - LOG("-- Query ICP for MMU handles"); - struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; - struct cam_query_cap_cmd query_cap_cmd = {0}; - query_cap_cmd.handle_type = 1; - query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd; - query_cap_cmd.size = sizeof(isp_query_cap_cmd); - int ret = do_cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd)); - assert(ret == 0); - LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure); - LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure); - s->device_iommu = isp_query_cap_cmd.device_iommu.non_secure; - s->cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure; - - // subscribe - LOG("-- Subscribing"); - struct v4l2_event_subscription sub = {0}; - sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT; - sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS; - ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); - LOGD("req mgr subscribe: %d", ret); - - s->driver_cam.camera_open(); - LOGD("driver camera opened"); - s->road_cam.camera_open(); - LOGD("road camera opened"); - s->wide_road_cam.camera_open(); - LOGD("wide road camera opened"); -} - -void CameraState::camera_close() { - // stop devices - LOG("-- Stop devices %d", camera_num); - - if (enabled) { - // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle); - // LOGD("stop sensor: %d", ret); - int ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle); - LOGD("stop isp: %d", ret); - ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle); - LOGD("stop csiphy: %d", ret); - // link control stop - LOG("-- Stop link control"); - struct cam_req_mgr_link_control req_mgr_link_control = {0}; - req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE; - req_mgr_link_control.session_hdl = session_handle; - req_mgr_link_control.num_links = 1; - req_mgr_link_control.link_hdls[0] = link_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control)); - LOGD("link control stop: %d", ret); - - // unlink - LOG("-- Unlink"); - struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; - req_mgr_unlink_info.session_hdl = session_handle; - req_mgr_unlink_info.link_hdl = link_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info)); - LOGD("unlink: %d", ret); - - // release devices - LOGD("-- Release devices"); - ret = device_control(multi_cam_state->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle); - LOGD("release isp: %d", ret); - ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle); - LOGD("release csiphy: %d", ret); - - for (int i = 0; i < FRAME_BUF_COUNT; i++) { - release(multi_cam_state->video0_fd, buf_handle[i]); - } - LOGD("released buffers"); - } - - int ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle); - LOGD("release sensor: %d", ret); - - // destroyed session - struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle}; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info)); - LOGD("destroyed session %d: %d", camera_num, ret); -} - -void cameras_close(MultiCameraState *s) { - s->driver_cam.camera_close(); - s->road_cam.camera_close(); - s->wide_road_cam.camera_close(); - - delete s->pm; -} - -void CameraState::handle_camera_event(void *evdat) { - if (!enabled) return; - struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat; - assert(event_data->session_hdl == session_handle); - assert(event_data->u.frame_msg.link_hdl == link_handle); - - uint64_t timestamp = event_data->u.frame_msg.timestamp; - uint64_t main_id = event_data->u.frame_msg.frame_id; - uint64_t real_id = event_data->u.frame_msg.request_id; - - if (real_id != 0) { // next ready - if (real_id == 1) {idx_offset = main_id;} - int buf_idx = (real_id - 1) % FRAME_BUF_COUNT; - - // check for skipped frames - if (main_id > frame_id_last + 1 && !skipped) { - LOGE("camera %d realign", camera_num); - clear_req_queue(); - enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0); - skipped = true; - } else if (main_id == frame_id_last + 1) { - skipped = false; - } - - // check for dropped requests - if (real_id > request_id_last + 1) { - LOGE("camera %d dropped requests %ld %ld", camera_num, real_id, request_id_last); - enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0); - } - - // metas - frame_id_last = main_id; - request_id_last = real_id; - - auto &meta_data = buf.camera_bufs_metadata[buf_idx]; - meta_data.frame_id = main_id - idx_offset; - meta_data.request_id = real_id; - meta_data.timestamp_sof = timestamp; - exp_lock.lock(); - meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); - meta_data.high_conversion_gain = dc_gain_enabled; - meta_data.integ_lines = exposure_time; - meta_data.measured_grey_fraction = measured_grey_fraction; - meta_data.target_grey_fraction = target_grey_fraction; - exp_lock.unlock(); - - // dispatch - enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1); - } else { // not ready - if (main_id > frame_id_last + 10) { - LOGE("camera %d reset after half second of no response", camera_num); - clear_req_queue(); - enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0); - frame_id_last = main_id; - skipped = true; - } - } -} - void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) { - float score = ci->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx); + float score = camera.sensor->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx); if (score < best_ev_score) { new_exp_t = exp_t; new_exp_g = exp_g_idx; @@ -842,7 +119,7 @@ void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_i } void CameraState::set_camera_exposure(float grey_frac) { - if (!enabled) return; + if (!camera.enabled) return; const float dt = 0.05; const float ts_grey = 10.0; @@ -856,13 +133,14 @@ void CameraState::set_camera_exposure(float grey_frac) { // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action. // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete - const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; + const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3]; + const auto &sensor = camera.sensor; // Scale target grey between 0.1 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + ci->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); + float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey; - float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, ci->min_ev, ci->max_ev); + float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, sensor->min_ev, sensor->max_ev); float k = (1.0 - k_ev) / 3.0; desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev); @@ -873,19 +151,20 @@ void CameraState::set_camera_exposure(float grey_frac) { // Hysteresis around high conversion gain // We usually want this on since it results in lower noise, but turn off in very bright day scenes bool enable_dc_gain = dc_gain_enabled; - if (!enable_dc_gain && target_grey < ci->dc_gain_on_grey) { + if (!enable_dc_gain && target_grey < sensor->dc_gain_on_grey) { enable_dc_gain = true; - dc_gain_weight = ci->dc_gain_min_weight; - } else if (enable_dc_gain && target_grey > ci->dc_gain_off_grey) { + dc_gain_weight = sensor->dc_gain_min_weight; + } else if (enable_dc_gain && target_grey > sensor->dc_gain_off_grey) { enable_dc_gain = false; - dc_gain_weight = ci->dc_gain_max_weight; + dc_gain_weight = sensor->dc_gain_max_weight; } - if (enable_dc_gain && dc_gain_weight < ci->dc_gain_max_weight) {dc_gain_weight += 1;} - if (!enable_dc_gain && dc_gain_weight > ci->dc_gain_min_weight) {dc_gain_weight -= 1;} + if (enable_dc_gain && dc_gain_weight < sensor->dc_gain_max_weight) {dc_gain_weight += 1;} + if (!enable_dc_gain && dc_gain_weight > sensor->dc_gain_min_weight) {dc_gain_weight -= 1;} std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { + static Params params; gain_bytes = params.get("CameraDebugExpGain"); time_bytes = params.get("CameraDebugExpTime"); } @@ -899,16 +178,17 @@ void CameraState::set_camera_exposure(float grey_frac) { new_exp_t = exposure_time; enable_dc_gain = false; } else { - // Simple brute force optimizer to choose sensor parameters - // to reach desired EV - for (int g = std::max((int)ci->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)ci->analog_gain_max_idx, gain_idx + 1); g++) { - float gain = ci->sensor_analog_gains[g] * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); + // Simple brute force optimizer to choose sensor parameters to reach desired EV + int min_g = std::max(gain_idx - 1, sensor->analog_gain_min_idx); + int max_g = std::min(gain_idx + 1, sensor->analog_gain_max_idx); + for (int g = min_g; g <= max_g; g++) { + float gain = sensor->sensor_analog_gains[g] * get_gain_factor(); // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), ci->exposure_time_min, ci->exposure_time_max); + int t = std::clamp(int(std::round(desired_ev / gain)), sensor->exposure_time_min, sensor->exposure_time_max); // Only go below recommended gain when absolutely necessary to not overexpose - if (g < ci->analog_gain_rec_idx && t > 20 && g < gain_idx) { + if (g < sensor->analog_gain_rec_idx && t > 20 && g < gain_idx) { continue; } @@ -916,92 +196,107 @@ void CameraState::set_camera_exposure(float grey_frac) { } } - exp_lock.lock(); - measured_grey_fraction = grey_frac; target_grey_fraction = target_grey; - analog_gain_frac = ci->sensor_analog_gains[new_exp_g]; + analog_gain_frac = sensor->sensor_analog_gains[new_exp_g]; gain_idx = new_exp_g; exposure_time = new_exp_t; dc_gain_enabled = enable_dc_gain; - float gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); - cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain; - - exp_lock.unlock(); + float gain = analog_gain_frac * get_gain_factor(); + cur_ev[camera.buf.cur_frame_data.frame_id % 3] = exposure_time * gain; // Processing a frame takes right about 50ms, so we need to wait a few ms // so we don't send i2c commands around the frame start. - int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000; + int ms = (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof) / 1000000; if (ms < 60) { util::sleep_for(60 - ms); } - // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof)); + // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera.cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * camera.buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof)); - auto exp_reg_array = ci->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled); - sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); + auto exp_reg_array = sensor->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled); + camera.sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, camera.sensor->data_word); } void CameraState::run() { - util::set_thread_name(publish_name); + util::set_thread_name(camera.cc.publish_name); + + std::vector pubs = {camera.cc.publish_name}; + if (camera.cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail"); + PubMaster pm(pubs); for (uint32_t cnt = 0; !do_exit; ++cnt) { // Acquire the buffer; continue if acquisition fails - if (!buf.acquire()) continue; + if (!camera.buf.acquire(exposure_time)) continue; MessageBuilder msg; - auto framed = (msg.initEvent().*init_camera_state)(); - fill_frame_data(framed, buf.cur_frame_data, this); + auto framed = (msg.initEvent().*camera.cc.init_camera_state)(); + const FrameMetadata &meta = camera.buf.cur_frame_data; + framed.setFrameId(meta.frame_id); + framed.setRequestId(meta.request_id); + framed.setTimestampEof(meta.timestamp_eof); + framed.setTimestampSof(meta.timestamp_sof); + framed.setIntegLines(exposure_time); + framed.setGain(analog_gain_frac * get_gain_factor()); + framed.setHighConversionGain(dc_gain_enabled); + framed.setMeasuredGreyFraction(measured_grey_fraction); + framed.setTargetGreyFraction(target_grey_fraction); + framed.setProcessingTime(meta.processing_time); + + const float ev = cur_ev[meta.frame_id % 3]; + const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f); + framed.setExposureValPercent(perc); + framed.setSensor(camera.sensor->image_sensor); // Log raw frames for road camera - if (env_log_raw_frames && stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) { // no overlap with qlog decimation - framed.setImage(get_raw_frame_image(&buf)); - } - // Log frame id for road and wide road cameras - if (stream_type != VISION_STREAM_DRIVER) { - LOGT(buf.cur_frame_data.frame_id, "%s: Image set", publish_name); + if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) { // no overlap with qlog decimation + framed.setImage(get_raw_frame_image(&camera.buf)); } // Process camera registers and set camera exposure - ci->processRegisters(this, framed); - set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, stream_type != VISION_STREAM_DRIVER ? 2 : 4)); + camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed); + set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4)); // Send the message - multi_cam_state->pm->send(publish_name, msg); - if (stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) { - publish_thumbnail(multi_cam_state->pm, &buf); // this takes 10ms??? + pm.send(camera.cc.publish_name, msg); + if (camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) { + publish_thumbnail(&pm, &camera.buf); // this takes 10ms??? } } } -MultiCameraState::MultiCameraState() - : driver_cam(this, DRIVER_CAMERA_CONFIG), - road_cam(this, ROAD_CAMERA_CONFIG), - wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) { -} +void camerad_thread() { + // TODO: centralize enabled handling -void cameras_run(MultiCameraState *s) { - LOG("-- Starting threads"); - std::vector threads; - if (s->driver_cam.enabled) threads.emplace_back(&CameraState::run, &s->driver_cam); - if (s->road_cam.enabled) threads.emplace_back(&CameraState::run, &s->road_cam); - if (s->wide_road_cam.enabled) threads.emplace_back(&CameraState::run, &s->wide_road_cam); + cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); + const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; + cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); + + VisionIpcServer v("camerad", device_id, ctx); + + // *** initial ISP init *** + SpectraMaster m; + m.init(); + + // *** per-cam init *** + std::vector> cams; + for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) { + auto cam = std::make_unique(&m, config); + cam->init(&v, device_id ,ctx); + cams.emplace_back(std::move(cam)); + } + + v.start_listener(); // start devices LOG("-- Starting devices"); - s->driver_cam.sensors_start(); - s->road_cam.sensors_start(); - s->wide_road_cam.sensors_start(); + for (auto &cam : cams) cam->camera.sensors_start(); // poll events LOG("-- Dequeueing Video events"); while (!do_exit) { - struct pollfd fds[1] = {{0}}; - - fds[0].fd = s->video0_fd; - fds[0].events = POLLPRI; - + struct pollfd fds[1] = {{.fd = m.video0_fd, .events = POLLPRI}}; int ret = poll(fds, std::size(fds), 1000); if (ret < 0) { if (errno == EINTR || errno == EAGAIN) continue; @@ -1009,7 +304,7 @@ void cameras_run(MultiCameraState *s) { break; } - if (!fds[0].revents) continue; + if (!(fds[0].revents & POLLPRI)) continue; struct v4l2_event ev = {0}; ret = HANDLE_EINTR(ioctl(fds[0].fd, VIDIOC_DQEVENT, &ev)); @@ -1019,20 +314,14 @@ void cameras_run(MultiCameraState *s) { if (env_debug_frames) { printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); + do_exit = do_exit || event_data->u.frame_msg.frame_id > (1*20); } - // for debugging - //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20); - - if (event_data->session_hdl == s->road_cam.session_handle) { - s->road_cam.handle_camera_event(event_data); - } else if (event_data->session_hdl == s->wide_road_cam.session_handle) { - s->wide_road_cam.handle_camera_event(event_data); - } else if (event_data->session_hdl == s->driver_cam.session_handle) { - s->driver_cam.handle_camera_event(event_data); - } else { - LOGE("Unknown vidioc event source"); - assert(false); + for (auto &cam : cams) { + if (event_data->session_hdl == cam->camera.session_handle) { + cam->camera.handle_camera_event(event_data); + break; + } } } else { LOGE("unhandled event %d\n", ev.type); @@ -1041,10 +330,4 @@ void cameras_run(MultiCameraState *s) { LOGE("VIDIOC_DQEVENT failed, errno=%d", errno); } } - - LOG(" ************** STOPPING **************"); - - for (auto &t : threads) t.join(); - - cameras_close(s); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h deleted file mode 100644 index 02ebeb71f3..0000000000 --- a/system/camerad/cameras/camera_qcom2.h +++ /dev/null @@ -1,151 +0,0 @@ -#pragma once - -#include -#include - -#include "system/camerad/cameras/camera_common.h" -#include "system/camerad/cameras/camera_util.h" -#include "system/camerad/sensors/sensor.h" -#include "common/params.h" -#include "common/util.h" - -#define FRAME_BUF_COUNT 4 - -struct CameraConfig { - int camera_num; - VisionStreamType stream_type; - float focal_len; // millimeters - const char *publish_name; - cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)(); - bool enabled; -}; - -const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { - .camera_num = 0, - .stream_type = VISION_STREAM_WIDE_ROAD, - .focal_len = 1.71, - .publish_name = "wideRoadCameraState", - .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState, - .enabled = !getenv("DISABLE_WIDE_ROAD"), -}; - -const CameraConfig ROAD_CAMERA_CONFIG = { - .camera_num = 1, - .stream_type = VISION_STREAM_ROAD, - .focal_len = 8.0, - .publish_name = "roadCameraState", - .init_camera_state = &cereal::Event::Builder::initRoadCameraState, - .enabled = !getenv("DISABLE_ROAD"), -}; - -const CameraConfig DRIVER_CAMERA_CONFIG = { - .camera_num = 2, - .stream_type = VISION_STREAM_DRIVER, - .focal_len = 1.71, - .publish_name = "driverCameraState", - .init_camera_state = &cereal::Event::Builder::initDriverCameraState, - .enabled = !getenv("DISABLE_DRIVER"), -}; - -class CameraState { -public: - MultiCameraState *multi_cam_state = nullptr; - std::unique_ptr ci; - bool enabled = true; - VisionStreamType stream_type; - const char *publish_name = nullptr; - cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)() = nullptr; - float focal_len = 0; - - std::mutex exp_lock; - - int exposure_time = 5; - bool dc_gain_enabled = false; - int dc_gain_weight = 0; - int gain_idx = 0; - float analog_gain_frac = 0; - - float cur_ev[3] = {}; - float best_ev_score = 0; - int new_exp_g = 0; - int new_exp_t = 0; - - Rect ae_xywh = {}; - float measured_grey_fraction = 0; - float target_grey_fraction = 0.3; - - unique_fd sensor_fd; - unique_fd csiphy_fd; - - int camera_num = 0; - float fl_pix = 0; - - CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config); - void handle_camera_event(void *evdat); - void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); - void set_camera_exposure(float grey_frac); - - void sensors_start(); - - void camera_open(); - void set_exposure_rect(); - void sensor_set_parameters(); - void camera_map_bufs(); - void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); - void camera_close(); - void run(); - - int32_t session_handle = -1; - int32_t sensor_dev_handle = -1; - int32_t isp_dev_handle = -1; - int32_t csiphy_dev_handle = -1; - - int32_t link_handle = -1; - - int buf0_handle = 0; - int buf_handle[FRAME_BUF_COUNT] = {}; - int sync_objs[FRAME_BUF_COUNT] = {}; - uint64_t request_ids[FRAME_BUF_COUNT] = {}; - uint64_t request_id_last = 0; - uint64_t frame_id_last = 0; - uint64_t idx_offset = 0; - bool skipped = true; - - CameraBuf buf; - MemoryManager mm; - - void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); - void enqueue_req_multi(uint64_t start, int n, bool dp); - void enqueue_buffer(int i, bool dp); - int clear_req_queue(); - - int sensors_init(); - void sensors_poke(int request_id); - void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); - -private: - bool openSensor(); - void configISP(); - void configCSIPHY(); - void linkDevices(); - - // for debugging - Params params; -}; - -class MultiCameraState { -public: - MultiCameraState(); - - unique_fd video0_fd; - unique_fd cam_sync_fd; - unique_fd isp_fd; - int device_iommu = -1; - int cdm_iommu = -1; - - CameraState road_cam; - CameraState wide_road_cam; - CameraState driver_cam; - - PubMaster *pm; -}; diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc deleted file mode 100644 index 7bd23fd9fe..0000000000 --- a/system/camerad/cameras/camera_util.cc +++ /dev/null @@ -1,137 +0,0 @@ -#include "system/camerad/cameras/camera_util.h" - -#include - -#include - -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -// ************** low level camera helpers **************** -int do_cam_control(int fd, int op_code, void *handle, int size) { - struct cam_control camcontrol = {0}; - camcontrol.op_code = op_code; - camcontrol.handle = (uint64_t)handle; - if (size == 0) { - camcontrol.size = 8; - camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; - } else { - camcontrol.size = size; - camcontrol.handle_type = CAM_HANDLE_USER_POINTER; - } - - int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); - if (ret == -1) { - LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); - } - return ret; -} - -std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { - struct cam_acquire_dev_cmd cmd = { - .session_handle = session_handle, - .handle_type = CAM_HANDLE_USER_POINTER, - .num_resources = (uint32_t)(data ? num_resources : 0), - .resource_hdl = (uint64_t)data, - }; - int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); - return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; -} - -int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { - struct cam_config_dev_cmd cmd = { - .session_handle = session_handle, - .dev_handle = dev_handle, - .packet_handle = packet_handle, - }; - return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); -} - -int device_control(int fd, int op_code, int session_handle, int dev_handle) { - // start stop and release are all the same - struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; - return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); -} - -void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) { - struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; - mem_mgr_alloc_cmd.len = len; - mem_mgr_alloc_cmd.align = align; - mem_mgr_alloc_cmd.flags = flags; - mem_mgr_alloc_cmd.num_hdl = 0; - if (mmu_hdl != 0) { - mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; - mem_mgr_alloc_cmd.num_hdl++; - } - if (mmu_hdl2 != 0) { - mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; - mem_mgr_alloc_cmd.num_hdl++; - } - - do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); - *handle = mem_mgr_alloc_cmd.out.buf_handle; - - void *ptr = NULL; - if (mem_mgr_alloc_cmd.out.fd > 0) { - ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); - assert(ptr != MAP_FAILED); - } - - // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); - - return ptr; -} - -void release(int video0_fd, uint32_t handle) { - struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; - mem_mgr_release_cmd.buf_handle = handle; - - int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); - assert(ret == 0); -} - -void release_fd(int video0_fd, uint32_t handle) { - // handle to fd - close(handle>>16); - release(video0_fd, handle); -} - -void *MemoryManager::alloc_buf(int size, uint32_t *handle) { - lock.lock(); - void *ptr; - if (!cached_allocations[size].empty()) { - ptr = cached_allocations[size].front(); - cached_allocations[size].pop(); - *handle = handle_lookup[ptr]; - } else { - ptr = alloc_w_mmu_hdl(video0_fd, size, handle); - handle_lookup[ptr] = *handle; - size_lookup[ptr] = size; - } - lock.unlock(); - memset(ptr, 0, size); - return ptr; -} - -void MemoryManager::free(void *ptr) { - lock.lock(); - cached_allocations[size_lookup[ptr]].push(ptr); - lock.unlock(); -} - -MemoryManager::~MemoryManager() { - for (auto& x : cached_allocations) { - while (!x.second.empty()) { - void *ptr = x.second.front(); - x.second.pop(); - LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); - munmap(ptr, size_lookup[ptr]); - release_fd(video0_fd, handle_lookup[ptr]); - handle_lookup.erase(ptr); - size_lookup.erase(ptr); - } - } -} diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h deleted file mode 100644 index 891ce3e793..0000000000 --- a/system/camerad/cameras/camera_util.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include - -std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); -int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); -int device_control(int fd, int op_code, int session_handle, int dev_handle); -int do_cam_control(int fd, int op_code, void *handle, int size); -void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - int mmu_hdl = 0, int mmu_hdl2 = 0); -void release(int video0_fd, uint32_t handle); - -class MemoryManager { - public: - void init(int _video0_fd) { video0_fd = _video0_fd; } - ~MemoryManager(); - - template - auto alloc(int len, uint32_t *handle) { - return std::unique_ptr>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); }); - } - - private: - void *alloc_buf(int len, uint32_t *handle); - void free(void *ptr); - - std::mutex lock; - std::map handle_lookup; - std::map size_lookup; - std::map > cached_allocations; - int video0_fd; -}; diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc new file mode 100644 index 0000000000..ef771a64b7 --- /dev/null +++ b/system/camerad/cameras/spectra.cc @@ -0,0 +1,887 @@ +#include +#include +#include +#include + +#include "media/cam_defs.h" +#include "media/cam_isp.h" +#include "media/cam_isp_ife.h" +#include "media/cam_sensor_cmn_header.h" +#include "media/cam_sync.h" + +#include "common/util.h" +#include "common/swaglog.h" +#include "system/camerad/cameras/spectra.h" + +// For debugging: +// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl + +// ************** low level camera helpers **************** + +int do_cam_control(int fd, int op_code, void *handle, int size) { + struct cam_control camcontrol = {0}; + camcontrol.op_code = op_code; + camcontrol.handle = (uint64_t)handle; + if (size == 0) { + camcontrol.size = 8; + camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; + } else { + camcontrol.size = size; + camcontrol.handle_type = CAM_HANDLE_USER_POINTER; + } + + int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); + if (ret == -1) { + LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); + } + return ret; +} + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { + struct cam_acquire_dev_cmd cmd = { + .session_handle = session_handle, + .handle_type = CAM_HANDLE_USER_POINTER, + .num_resources = (uint32_t)(data ? num_resources : 0), + .resource_hdl = (uint64_t)data, + }; + int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); + return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; +} + +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { + struct cam_config_dev_cmd cmd = { + .session_handle = session_handle, + .dev_handle = dev_handle, + .packet_handle = packet_handle, + }; + return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); +} + +int device_control(int fd, int op_code, int session_handle, int dev_handle) { + // start stop and release are all the same + struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; + return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); +} + +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) { + struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; + mem_mgr_alloc_cmd.len = len; + mem_mgr_alloc_cmd.align = align; + mem_mgr_alloc_cmd.flags = flags; + mem_mgr_alloc_cmd.num_hdl = 0; + if (mmu_hdl != 0) { + mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; + mem_mgr_alloc_cmd.num_hdl++; + } + if (mmu_hdl2 != 0) { + mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; + mem_mgr_alloc_cmd.num_hdl++; + } + + do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); + *handle = mem_mgr_alloc_cmd.out.buf_handle; + + void *ptr = NULL; + if (mem_mgr_alloc_cmd.out.fd > 0) { + ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); + assert(ptr != MAP_FAILED); + } + + // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); + + return ptr; +} + +void release(int video0_fd, uint32_t handle) { + struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; + mem_mgr_release_cmd.buf_handle = handle; + + int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); + assert(ret == 0); +} + +static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { + cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings))); + unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT; + unconditional_wait->delay = delay_ms; + unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND; + return (struct cam_cmd_power *)(unconditional_wait + 1); +} + +// *** MemoryManager *** + +void *MemoryManager::alloc_buf(int size, uint32_t *handle) { + lock.lock(); + void *ptr; + if (!cached_allocations[size].empty()) { + ptr = cached_allocations[size].front(); + cached_allocations[size].pop(); + *handle = handle_lookup[ptr]; + } else { + ptr = alloc_w_mmu_hdl(video0_fd, size, handle); + handle_lookup[ptr] = *handle; + size_lookup[ptr] = size; + } + lock.unlock(); + memset(ptr, 0, size); + return ptr; +} + +void MemoryManager::free(void *ptr) { + lock.lock(); + cached_allocations[size_lookup[ptr]].push(ptr); + lock.unlock(); +} + +MemoryManager::~MemoryManager() { + for (auto& x : cached_allocations) { + while (!x.second.empty()) { + void *ptr = x.second.front(); + x.second.pop(); + LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); + munmap(ptr, size_lookup[ptr]); + + // release fd + close(handle_lookup[ptr] >> 16); + release(video0_fd, handle_lookup[ptr]); + + handle_lookup.erase(ptr); + size_lookup.erase(ptr); + } + } +} + +// *** SpectraMaster *** + +void SpectraMaster::init() { + LOG("-- Opening devices"); + // video0 is req_mgr, the target of many ioctls + video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK)); + assert(video0_fd >= 0); + LOGD("opened video0"); + + // video1 is cam_sync, the target of some ioctls + cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK)); + assert(cam_sync_fd >= 0); + LOGD("opened video1 (cam_sync)"); + + // looks like there's only one of these + isp_fd = open_v4l_by_name_and_index("cam-isp"); + assert(isp_fd >= 0); + LOGD("opened isp"); + + // query icp for MMU handles + LOG("-- Query ICP for MMU handles"); + struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; + struct cam_query_cap_cmd query_cap_cmd = {0}; + query_cap_cmd.handle_type = 1; + query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd; + query_cap_cmd.size = sizeof(isp_query_cap_cmd); + int ret = do_cam_control(isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd)); + assert(ret == 0); + LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure); + LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure); + device_iommu = isp_query_cap_cmd.device_iommu.non_secure; + cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure; + + // subscribe + LOG("-- Subscribing"); + struct v4l2_event_subscription sub = {0}; + sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT; + sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS; + ret = HANDLE_EINTR(ioctl(video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); + LOGD("req mgr subscribe: %d", ret); +} + +// *** SpectraCamera *** + +SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config) + : m(master), + enabled(config.enabled) , + cc(config) { + mm.init(m->video0_fd); +} + +SpectraCamera::~SpectraCamera() { + if (open) { + camera_close(); + } +} + +int SpectraCamera::clear_req_queue() { + struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; + req_mgr_flush_request.session_hdl = session_handle; + req_mgr_flush_request.link_hdl = link_handle; + req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; + int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); + // LOGD("flushed all req: %d", ret); + return ret; +} + +void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { + if (!enabled) return; + + if (!openSensor()) { + return; + } + + open = true; + configISP(); + configCSIPHY(); + linkDevices(); + + LOGD("camera init %d", cc.camera_num); + buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type); + camera_map_bufs(); +} + +void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) { + for (uint64_t i = start; i < start + n; ++i) { + request_ids[(i - 1) % FRAME_BUF_COUNT] = i; + enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp); + } +} + +void SpectraCamera::sensors_start() { + if (!enabled) return; + LOGD("starting sensor %d", cc.camera_num); + sensors_i2c(sensor->start_reg_array.data(), sensor->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word); +} + +void SpectraCamera::sensors_poke(int request_id) { + uint32_t cam_packet_handle = 0; + int size = sizeof(struct cam_packet); + auto pkt = mm.alloc(size, &cam_packet_handle); + pkt->num_cmd_buf = 0; + pkt->kmd_cmd_buf_index = -1; + pkt->header.size = size; + pkt->header.op_code = CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP; + pkt->header.request_id = request_id; + + int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle); + if (ret != 0) { + LOGE("** sensor %d FAILED poke, disabling", cc.camera_num); + enabled = false; + return; + } +} + +void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { + // LOGD("sensors_i2c: %d", len); + uint32_t cam_packet_handle = 0; + int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; + auto pkt = mm.alloc(size, &cam_packet_handle); + pkt->num_cmd_buf = 1; + pkt->kmd_cmd_buf_index = -1; + pkt->header.size = size; + pkt->header.op_code = op_code; + struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; + + buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); + buf_desc[0].type = CAM_CMD_BUF_I2C; + + auto i2c_random_wr = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + i2c_random_wr->header.count = len; + i2c_random_wr->header.op_code = 1; + i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; + i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE; + i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; + memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload)); + + int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle); + if (ret != 0) { + LOGE("** sensor %d FAILED i2c, disabling", cc.camera_num); + enabled = false; + return; + } +} + +int SpectraCamera::sensors_init() { + uint32_t cam_packet_handle = 0; + int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; + auto pkt = mm.alloc(size, &cam_packet_handle); + pkt->num_cmd_buf = 2; + pkt->kmd_cmd_buf_index = -1; + pkt->header.op_code = CSLDeviceTypeImageSensor | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; + pkt->header.size = size; + struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; + + buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); + buf_desc[0].type = CAM_CMD_BUF_LEGACY; + auto i2c_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); + + probe->camera_id = cc.camera_num; + i2c_info->slave_addr = sensor->getSlaveAddress(cc.camera_num); + // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz + //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE; + i2c_info->i2c_freq_mode = I2C_FAST_MODE; + i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO; + + probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD; + probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; + probe->op_code = 3; // don't care? + probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE; + probe->reg_addr = sensor->probe_reg_addr; + probe->expected_data = sensor->probe_expected_data; + probe->data_mask = 0; + + //buf_desc[1].size = buf_desc[1].length = 148; + buf_desc[1].size = buf_desc[1].length = 196; + buf_desc[1].type = CAM_CMD_BUF_I2C; + auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + + // power on + struct cam_cmd_power *power = power_settings.get(); + power->count = 4; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; + power->power_settings[0].power_seq_type = 3; // clock?? + power->power_settings[1].power_seq_type = 1; // analog + power->power_settings[2].power_seq_type = 2; // digital + power->power_settings[3].power_seq_type = 8; // reset low + power = power_set_wait(power, 1); + + // set clock + power->count = 1; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; + power->power_settings[0].power_seq_type = 0; + power->power_settings[0].config_val_low = sensor->mclk_frequency; + power = power_set_wait(power, 1); + + // reset high + power->count = 1; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; + power->power_settings[0].power_seq_type = 8; + power->power_settings[0].config_val_low = 1; + // wait 650000 cycles @ 19.2 mhz = 33.8 ms + power = power_set_wait(power, 34); + + // probe happens here + + // disable clock + power->count = 1; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; + power->power_settings[0].power_seq_type = 0; + power->power_settings[0].config_val_low = 0; + power = power_set_wait(power, 1); + + // reset high + power->count = 1; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; + power->power_settings[0].power_seq_type = 8; + power->power_settings[0].config_val_low = 1; + power = power_set_wait(power, 1); + + // reset low + power->count = 1; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; + power->power_settings[0].power_seq_type = 8; + power->power_settings[0].config_val_low = 0; + power = power_set_wait(power, 1); + + // power off + power->count = 3; + power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; + power->power_settings[0].power_seq_type = 2; + power->power_settings[1].power_seq_type = 1; + power->power_settings[2].power_seq_type = 3; + + int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); + LOGD("probing the sensor: %d", ret); + return ret; +} + +void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx) { + /* + Handles initial + per-frame IFE config. + IFE = Image Front End + */ + int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2; + if (io_mem_handle != 0) { + size += sizeof(struct cam_buf_io_cfg); + } + + uint32_t cam_packet_handle = 0; + auto pkt = mm.alloc(size, &cam_packet_handle); + + if (io_mem_handle != 0) { + pkt->header.op_code = CSLDeviceTypeIFE | OpcodesIFEUpdate; // 0xf000001 + pkt->header.request_id = request_id; + } else { + pkt->header.op_code = CSLDeviceTypeIFE | OpcodesIFEInitialConfig; // 0xf000000 + pkt->header.request_id = 1; + } + pkt->header.size = size; + + // *** kmd cmd buf *** + { + pkt->kmd_cmd_buf_index = 0; + pkt->kmd_cmd_buf_offset = 0; + } + + // *** cmd buf *** + { + struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; + pkt->num_cmd_buf = 2; + + // *** first command *** + // TODO: support MMU + buf_desc[0].size = buf0_size; + buf_desc[0].length = 0; + buf_desc[0].type = CAM_CMD_BUF_DIRECT; + buf_desc[0].meta_data = 3; + buf_desc[0].mem_handle = buf0_handle; + buf_desc[0].offset = ALIGNED_SIZE(buf0_size, buf0_alignment)*buf0_idx; + + // *** second command *** + // parsed by cam_isp_packet_generic_blob_handler + struct isp_packet { + uint32_t type_0; + cam_isp_resource_hfr_config resource_hfr; + + uint32_t type_1; + cam_isp_clock_config clock; + uint64_t extra_rdi_hz[3]; + + uint32_t type_2; + cam_isp_bw_config bw; + struct cam_isp_bw_vote extra_rdi_vote[6]; + } __attribute__((packed)) tmp; + memset(&tmp, 0, sizeof(tmp)); + + tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG; + tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8; + static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20); + tmp.resource_hfr = { + .num_ports = 1, // 10 for YUV (but I don't think we need them) + .port_hfr_config[0] = { + .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV + .subsample_pattern = 1, + .subsample_period = 0, + .framedrop_pattern = 1, + .framedrop_period = 0, + }}; + + tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG; + tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8; + static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38); + tmp.clock = { + .usage_type = 1, // dual mode + .num_rdi = 4, + .left_pix_hz = 404000000, + .right_pix_hz = 404000000, + .rdi_hz[0] = 404000000, + }; + + tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG; + tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8; + static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0); + tmp.bw = { + .usage_type = 1, // dual mode + .num_rdi = 4, + .left_pix_vote = { + .resource_id = 0, + .cam_bw_bps = 450000000, + .ext_bw_bps = 450000000, + }, + .rdi_vote[0] = { + .resource_id = 0, + .cam_bw_bps = 8706200000, + .ext_bw_bps = 8706200000, + }, + }; + + static_assert(offsetof(struct isp_packet, type_2) == 0x60); + + buf_desc[1].size = sizeof(tmp); + buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0; + buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; + buf_desc[1].type = CAM_CMD_BUF_GENERIC; + buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; + auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memcpy(buf2.get(), &tmp, sizeof(tmp)); + } + + // *** io config *** + if (io_mem_handle != 0) { + // configure output frame + pkt->num_io_configs = 1; + pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; + + struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); + io_cfg[0].offsets[0] = 0; + io_cfg[0].mem_handle[0] = io_mem_handle; + + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, + .plane_stride = sensor->frame_stride, + .slice_height = sensor->frame_height + sensor->extra_height, + + // these are for UBWC, we'll want that eventually + .meta_stride = 0x0, + .meta_size = 0x0, + .meta_offset = 0x0, + .packer_config = 0x0, + .mode_config = 0x0, + .tile_config = 0x0, + .h_init = 0x0, + .v_init = 0x0, + }; + io_cfg[0].format = sensor->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV + io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV + io_cfg[0].color_pattern = 0x5; // 0x0 for YUV + io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel + io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV + io_cfg[0].fence = fence; + io_cfg[0].direction = CAM_BUF_OUTPUT; + io_cfg[0].subsample_pattern = 0x1; + io_cfg[0].framedrop_pattern = 0x1; + } + + // *** patches *** + { + pkt->num_patches = 0; + pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; + } + + int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle); + assert(ret == 0); +} + +void SpectraCamera::enqueue_buffer(int i, bool dp) { + int ret; + uint64_t request_id = request_ids[i]; + + if (buf_handle[i] && sync_objs[i]) { + // wait + struct cam_sync_wait sync_wait = {0}; + sync_wait.sync_obj = sync_objs[i]; + sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 + ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); + if (ret != 0) { + LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); + // TODO: handle frame drop cleanly + } + + buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof + if (dp) buf.queue(i); + + // destroy old output fence + struct cam_sync_info sync_destroy = {0}; + sync_destroy.sync_obj = sync_objs[i]; + ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); + if (ret != 0) { + LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj); + } + } + + // create output fence + struct cam_sync_info sync_create = {0}; + strcpy(sync_create.name, "NodeOutputPortFence"); + ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); + if (ret != 0) { + LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); + } + sync_objs[i] = sync_create.sync_obj; + + // schedule request with camera request manager + struct cam_req_mgr_sched_request req_mgr_sched_request = {0}; + req_mgr_sched_request.session_hdl = session_handle; + req_mgr_sched_request.link_hdl = link_handle; + req_mgr_sched_request.req_id = request_id; + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request)); + if (ret != 0) { + LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id); + } + + // poke sensor, must happen after schedule + sensors_poke(request_id); + + // submit request to the ife + config_ife(buf_handle[i], sync_objs[i], request_id, i); +} + +void SpectraCamera::camera_map_bufs() { + for (int i = 0; i < FRAME_BUF_COUNT; i++) { + // configure ISP to put the image in place + struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; + mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu; + mem_mgr_map_cmd.num_hdl = 1; + mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; + mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; + int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); + buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; + } + enqueue_req_multi(1, FRAME_BUF_COUNT, 0); +} + +bool SpectraCamera::openSensor() { + sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", cc.camera_num); + assert(sensor_fd >= 0); + LOGD("opened sensor for %d", cc.camera_num); + + LOGD("-- Probing sensor %d", cc.camera_num); + + auto init_sensor_lambda = [this](SensorInfo *s) { + sensor.reset(s); + return (sensors_init() == 0); + }; + + // Figure out which sensor we have + if (!init_sensor_lambda(new AR0231) && + !init_sensor_lambda(new OX03C10) && + !init_sensor_lambda(new OS04C10)) { + LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num); + enabled = false; + return false; + } + LOGD("-- Probing sensor %d success", cc.camera_num); + + // create session + struct cam_req_mgr_session_info session_info = {}; + int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info)); + LOGD("get session: %d 0x%X", ret, session_info.session_hdl); + session_handle = session_info.session_hdl; + + // access the sensor + LOGD("-- Accessing sensor"); + auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr); + assert(sensor_dev_handle_); + sensor_dev_handle = *sensor_dev_handle_; + LOGD("acquire sensor dev"); + + LOG("-- Configuring sensor"); + sensors_i2c(sensor->init_reg_array.data(), sensor->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, sensor->data_word); + return true; +} + +void SpectraCamera::configISP() { + if (!enabled) return; + + struct cam_isp_in_port_info in_port_info = { + // ISP input to the CSID + .res_type = cc.phy, + .lane_type = CAM_ISP_LANE_TYPE_DPHY, + .lane_num = 4, + .lane_cfg = 0x3210, + + .vc = 0x0, + .dt = sensor->frame_data_type, + .format = sensor->mipi_format, + + .test_pattern = 0x2, // 0x3? + .usage_type = 0x0, + + .left_start = 0, + .left_stop = sensor->frame_width - 1, + .left_width = sensor->frame_width, + + .right_start = 0, + .right_stop = sensor->frame_width - 1, + .right_width = sensor->frame_width, + + .line_start = 0, + .line_stop = sensor->frame_height + sensor->extra_height - 1, + .height = sensor->frame_height + sensor->extra_height, + + .pixel_clk = 0x0, + .batch_size = 0x0, + .dsp_mode = CAM_ISP_DSP_MODE_NONE, + .hbi_cnt = 0x0, + .custom_csid = 0x0, + + // ISP outputs + .num_out_res = 0x1, + .data[0] = (struct cam_isp_out_port_info){ + .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, + .format = sensor->mipi_format, + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, + .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, + }, + }; + struct cam_isp_resource isp_resource = { + .resource_id = CAM_ISP_RES_ID_PORT, + .handle_type = CAM_HANDLE_USER_POINTER, + .res_hdl = (uint64_t)&in_port_info, + .length = sizeof(in_port_info), + }; + + auto isp_dev_handle_ = device_acquire(m->isp_fd, session_handle, &isp_resource); + assert(isp_dev_handle_); + isp_dev_handle = *isp_dev_handle_; + LOGD("acquire isp dev"); + + // config IFE + alloc_w_mmu_hdl(m->video0_fd, FRAME_BUF_COUNT*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + m->device_iommu, m->cdm_iommu); + config_ife(0, 0, 1, 0); +} + +void SpectraCamera::configCSIPHY() { + csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", cc.camera_num); + assert(csiphy_fd >= 0); + LOGD("opened csiphy for %d", cc.camera_num); + + struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0}; + auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info); + assert(csiphy_dev_handle_); + csiphy_dev_handle = *csiphy_dev_handle_; + LOGD("acquire csiphy dev"); + + // config csiphy + LOG("-- Config CSI PHY"); + { + uint32_t cam_packet_handle = 0; + int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; + auto pkt = mm.alloc(size, &cam_packet_handle); + pkt->num_cmd_buf = 1; + pkt->kmd_cmd_buf_index = -1; + pkt->header.size = size; + struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; + + buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); + buf_desc[0].type = CAM_CMD_BUF_GENERIC; + + auto csiphy_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + csiphy_info->lane_mask = 0x1f; + csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? + csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane + csiphy_info->combo_mode = 0x0; + csiphy_info->lane_cnt = 0x4; + csiphy_info->secure_mode = 0x0; + csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL; + csiphy_info->data_rate = 48000000; // Calculated by camera_freqs.py + + int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); + assert(ret_ == 0); + } +} + +void SpectraCamera::linkDevices() { + LOG("-- Link devices"); + struct cam_req_mgr_link_info req_mgr_link_info = {0}; + req_mgr_link_info.session_hdl = session_handle; + req_mgr_link_info.num_devices = 2; + req_mgr_link_info.dev_hdls[0] = isp_dev_handle; + req_mgr_link_info.dev_hdls[1] = sensor_dev_handle; + int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info)); + link_handle = req_mgr_link_info.link_hdl; + LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle); + + struct cam_req_mgr_link_control req_mgr_link_control = {0}; + req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE; + req_mgr_link_control.session_hdl = session_handle; + req_mgr_link_control.num_links = 1; + req_mgr_link_control.link_hdls[0] = link_handle; + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control)); + LOGD("link control: %d", ret); + + ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle); + LOGD("start csiphy: %d", ret); + ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); + LOGD("start isp: %d", ret); + assert(ret == 0); +} + +void SpectraCamera::camera_close() { + LOG("-- Stop devices %d", cc.camera_num); + + if (enabled) { + // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle); + // LOGD("stop sensor: %d", ret); + int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle); + LOGD("stop isp: %d", ret); + ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle); + LOGD("stop csiphy: %d", ret); + // link control stop + LOG("-- Stop link control"); + struct cam_req_mgr_link_control req_mgr_link_control = {0}; + req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE; + req_mgr_link_control.session_hdl = session_handle; + req_mgr_link_control.num_links = 1; + req_mgr_link_control.link_hdls[0] = link_handle; + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control)); + LOGD("link control stop: %d", ret); + + // unlink + LOG("-- Unlink"); + struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; + req_mgr_unlink_info.session_hdl = session_handle; + req_mgr_unlink_info.link_hdl = link_handle; + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info)); + LOGD("unlink: %d", ret); + + // release devices + LOGD("-- Release devices"); + ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle); + LOGD("release isp: %d", ret); + ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle); + LOGD("release csiphy: %d", ret); + + for (int i = 0; i < FRAME_BUF_COUNT; i++) { + release(m->video0_fd, buf_handle[i]); + } + LOGD("released buffers"); + } + + int ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle); + LOGD("release sensor: %d", ret); + + // destroyed session + struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle}; + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info)); + LOGD("destroyed session %d: %d", cc.camera_num, ret); +} + +void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { + if (!enabled) return; + + uint64_t timestamp = event_data->u.frame_msg.timestamp; + uint64_t main_id = event_data->u.frame_msg.frame_id; + uint64_t real_id = event_data->u.frame_msg.request_id; + + if (real_id != 0) { // next ready + if (real_id == 1) {idx_offset = main_id;} + int buf_idx = (real_id - 1) % FRAME_BUF_COUNT; + + // check for skipped frames + if (main_id > frame_id_last + 1 && !skipped) { + LOGE("camera %d realign", cc.camera_num); + clear_req_queue(); + enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0); + skipped = true; + } else if (main_id == frame_id_last + 1) { + skipped = false; + } + + // check for dropped requests + if (real_id > request_id_last + 1) { + LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last); + enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0); + } + + // metas + frame_id_last = main_id; + request_id_last = real_id; + + auto &meta_data = buf.camera_bufs_metadata[buf_idx]; + meta_data.frame_id = main_id - idx_offset; + meta_data.request_id = real_id; + meta_data.timestamp_sof = timestamp; + + // dispatch + enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1); + } else { // not ready + if (main_id > frame_id_last + 10) { + LOGE("camera %d reset after half second of no response", cc.camera_num); + clear_req_queue(); + enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0); + frame_id_last = main_id; + skipped = true; + } + } +} diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h new file mode 100644 index 0000000000..5796f47098 --- /dev/null +++ b/system/camerad/cameras/spectra.h @@ -0,0 +1,127 @@ +#pragma once + +#include +#include +#include +#include + +#include "media/cam_req_mgr.h" + +#include "common/util.h" +#include "system/camerad/cameras/tici.h" +#include "system/camerad/cameras/camera_common.h" +#include "system/camerad/sensors/sensor.h" + +#define FRAME_BUF_COUNT 4 + +const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py + +// For use with the Titan 170 ISP in the SDM845 +// https://github.com/commaai/agnos-kernel-sdm845 + + +// CSLDeviceType/CSLPacketOpcodesIFE from camx +// cam_packet_header.op_code = (device << 24) | (opcode); +#define CSLDeviceTypeImageSensor (0x1 << 24) +#define CSLDeviceTypeIFE (0xF << 24) +#define OpcodesIFEInitialConfig 0x0 +#define OpcodesIFEUpdate 0x1 + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); +int device_control(int fd, int op_code, int session_handle, int dev_handle); +int do_cam_control(int fd, int op_code, void *handle, int size); +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + int mmu_hdl = 0, int mmu_hdl2 = 0); +void release(int video0_fd, uint32_t handle); + +class MemoryManager { +public: + void init(int _video0_fd) { video0_fd = _video0_fd; } + ~MemoryManager(); + + template + auto alloc(int len, uint32_t *handle) { + return std::unique_ptr>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); }); + } + +private: + void *alloc_buf(int len, uint32_t *handle); + void free(void *ptr); + + std::mutex lock; + std::map handle_lookup; + std::map size_lookup; + std::map > cached_allocations; + int video0_fd; +}; + +class SpectraMaster { +public: + void init(); + + unique_fd video0_fd; + unique_fd cam_sync_fd; + unique_fd isp_fd; + int device_iommu = -1; + int cdm_iommu = -1; +}; + +class SpectraCamera { +public: + SpectraCamera(SpectraMaster *master, const CameraConfig &config); + ~SpectraCamera(); + + void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void handle_camera_event(const cam_req_mgr_message *event_data); + void camera_close(); + void camera_map_bufs(); + void config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx); + + int clear_req_queue(); + void enqueue_buffer(int i, bool dp); + void enqueue_req_multi(uint64_t start, int n, bool dp); + + int sensors_init(); + void sensors_start(); + void sensors_poke(int request_id); + void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); + + bool openSensor(); + void configISP(); + void configCSIPHY(); + void linkDevices(); + + // *** state *** + + bool open = false; + bool enabled = true; + CameraConfig cc; + std::unique_ptr sensor; + + unique_fd sensor_fd; + unique_fd csiphy_fd; + + int32_t session_handle = -1; + int32_t sensor_dev_handle = -1; + int32_t isp_dev_handle = -1; + int32_t csiphy_dev_handle = -1; + + int32_t link_handle = -1; + + const int buf0_size = 65624; // unclear what this is and how it's determined, for internal ISP use? it's just copied from an ioctl dump + const int buf0_alignment = 0x20; + + int buf0_handle = 0; + int buf_handle[FRAME_BUF_COUNT] = {}; + int sync_objs[FRAME_BUF_COUNT] = {}; + uint64_t request_ids[FRAME_BUF_COUNT] = {}; + uint64_t request_id_last = 0; + uint64_t frame_id_last = 0; + uint64_t idx_offset = 0; + bool skipped = true; + + CameraBuf buf; + MemoryManager mm; + SpectraMaster *m; +}; diff --git a/system/camerad/cameras/tici.h b/system/camerad/cameras/tici.h new file mode 100644 index 0000000000..d0b2aece6d --- /dev/null +++ b/system/camerad/cameras/tici.h @@ -0,0 +1,51 @@ +#pragma once + +#include "common/util.h" +#include "cereal/gen/cpp/log.capnp.h" +#include "msgq/visionipc/visionipc_server.h" + +#include "media/cam_isp_ife.h" + +// For the comma 3/3X three camera platform + +struct CameraConfig { + int camera_num; + VisionStreamType stream_type; + float focal_len; // millimeters + const char *publish_name; + cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)(); + bool enabled; + uint32_t phy; +}; + +// NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c +// If you don't do this, the strobe GPIO is an output (even in reset it seems!) +const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { + .camera_num = 0, + .stream_type = VISION_STREAM_WIDE_ROAD, + .focal_len = 1.71, + .publish_name = "wideRoadCameraState", + .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState, + .enabled = !getenv("DISABLE_WIDE_ROAD"), + .phy = CAM_ISP_IFE_IN_RES_PHY_0, +}; + +const CameraConfig ROAD_CAMERA_CONFIG = { + .camera_num = 1, + .stream_type = VISION_STREAM_ROAD, + .focal_len = 8.0, + .publish_name = "roadCameraState", + .init_camera_state = &cereal::Event::Builder::initRoadCameraState, + .enabled = !getenv("DISABLE_ROAD"), + .phy = CAM_ISP_IFE_IN_RES_PHY_1, +}; + +const CameraConfig DRIVER_CAMERA_CONFIG = { + .camera_num = 2, + .stream_type = VISION_STREAM_DRIVER, + .focal_len = 1.71, + .publish_name = "driverCameraState", + .init_camera_state = &cereal::Event::Builder::initDriverCameraState, + .enabled = !getenv("DISABLE_DRIVER"), + .phy = CAM_ISP_IFE_IN_RES_PHY_2, +}; diff --git a/system/camerad/main.cc b/system/camerad/main.cc index b86b4f57ff..d55bd495ad 100644 --- a/system/camerad/main.cc +++ b/system/camerad/main.cc @@ -4,14 +4,8 @@ #include "common/params.h" #include "common/util.h" -#include "system/hardware/hw.h" int main(int argc, char *argv[]) { - if (Hardware::PC()) { - printf("exiting, camerad is not meant to run on PC\n"); - return 0; - } - int ret = util::set_realtime_priority(53); assert(ret == 0); ret = util::set_core_affinity({6}); diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 9b688389c4..db709e355a 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -1,8 +1,7 @@ #include +#include #include "common/swaglog.h" -#include "system/camerad/cameras/camera_common.h" -#include "system/camerad/cameras/camera_qcom2.h" #include "system/camerad/sensors/sensor.h" namespace { @@ -17,7 +16,7 @@ const float sensor_analog_gains_AR0231[] = { 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass -std::map> ar0231_build_register_lut(CameraState *c, uint8_t *data) { +std::map> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) { // This function builds a lookup table from register address, to a pair of indices in the // buffer where to read this address. The buffer contains padding bytes, // as well as markers to indicate the type of the next byte. @@ -33,7 +32,7 @@ std::map> ar0231_build_register_lut(CameraState *c std::map> registers; for (int register_row = 0; register_row < 2; register_row++) { - uint8_t *registers_raw = data + c->ci->frame_stride * register_row; + uint8_t *registers_raw = data + s->frame_stride * register_row; assert(registers_raw[0] == 0x0a); // Start of line int value_tag_count = 0; @@ -58,7 +57,7 @@ std::map> ar0231_build_register_lut(CameraState *c cur_addr += 2; first_val_idx = val_idx; } else { - registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row); + registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row); } value_tag_count++; @@ -119,9 +118,9 @@ AR0231::AR0231() { target_grey_factor = 1.0; } -void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const { +void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const { const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; - uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset; + uint8_t *data = cur_buf + registers_offset; if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { LOGE("unexpected register data found"); @@ -129,7 +128,7 @@ void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed } if (ar0231_register_lut.empty()) { - ar0231_register_lut = ar0231_build_register_lut(c, data); + ar0231_register_lut = ar0231_build_register_lut(this, data); } std::map registers; for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) { diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index e651d6ff7a..a741aaf4fe 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -1,3 +1,5 @@ +#include + #include "system/camerad/sensors/sensor.h" namespace { diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 94efa0ea24..80b9c79212 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -1,3 +1,5 @@ +#include + #include "system/camerad/sensors/sensor.h" namespace { diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h index 21441902fc..f1fbd16ccb 100644 --- a/system/camerad/sensors/ox03c10_cl.h +++ b/system/camerad/sensors/ox03c10_cl.h @@ -4,28 +4,31 @@ #define BLACK_LVL 64 #define VIGNETTE_RSZ 1.0f -constant float ox03c10_lut[] = { - 0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 1.3623e-05, 1.3682e-05, 1.3742e-05, 1.3801e-05, 1.3861e-05, 1.3920e-05, 1.3980e-05, 1.4039e-05, 1.4099e-05, 1.4158e-05, 1.4218e-05, 1.4277e-05, 1.4337e-05, 1.4396e-05, 1.4456e-05, 1.4515e-05, 1.4575e-05, 1.4634e-05, 1.4694e-05, 1.4753e-05, 1.4813e-05, 1.4872e-05, 1.4932e-05, 1.4991e-05, 1.5051e-05, 1.5110e-05, 1.5169e-05, // NOLINT - 1.5229e-05, 1.5288e-05, 1.5348e-05, 1.5407e-05, 1.5467e-05, 1.5526e-05, 1.5586e-05, 1.5645e-05, 1.5705e-05, 1.5764e-05, 1.5824e-05, 1.5883e-05, 1.5943e-05, 1.6002e-05, 1.6062e-05, 1.6121e-05, 1.6181e-05, 1.6240e-05, 1.6300e-05, 1.6359e-05, 1.6419e-05, 1.6478e-05, 1.6538e-05, 1.6597e-05, 1.6657e-05, 1.6716e-05, 1.6776e-05, 1.6835e-05, 1.6895e-05, 1.6954e-05, 1.7014e-05, 1.7073e-05, 1.7133e-05, 1.7192e-05, 1.7252e-05, 1.7311e-05, 1.7371e-05, 1.7430e-05, 1.7490e-05, 1.7549e-05, 1.7609e-05, 1.7668e-05, 1.7727e-05, 1.7787e-05, 1.7846e-05, 1.7906e-05, 1.7965e-05, 1.8025e-05, 1.8084e-05, 1.8144e-05, 1.8203e-05, 1.8263e-05, 1.8322e-05, 1.8382e-05, 1.8441e-05, 1.8501e-05, 1.8560e-05, 1.8620e-05, 1.8679e-05, 1.8739e-05, 1.8798e-05, 1.8858e-05, 1.8917e-05, 1.8977e-05, 1.9036e-05, 1.9096e-05, 1.9155e-05, 1.9215e-05, 1.9274e-05, 1.9334e-05, 1.9393e-05, 1.9453e-05, 1.9512e-05, 1.9572e-05, 1.9631e-05, 1.9691e-05, 1.9750e-05, 1.9810e-05, 1.9869e-05, 1.9929e-05, 1.9988e-05, 2.0048e-05, 2.0107e-05, 2.0167e-05, 2.0226e-05, 2.0285e-05, 2.0345e-05, 2.0404e-05, 2.0464e-05, 2.0523e-05, 2.0583e-05, 2.0642e-05, 2.0702e-05, 2.0761e-05, 2.0821e-05, 2.0880e-05, 2.0940e-05, 2.0999e-05, 2.1059e-05, 2.1118e-05, 2.1178e-05, 2.1237e-05, 2.1297e-05, 2.1356e-05, 2.1416e-05, 2.1475e-05, 2.1535e-05, 2.1594e-05, 2.1654e-05, 2.1713e-05, 2.1773e-05, 2.1832e-05, 2.1892e-05, 2.1951e-05, 2.2011e-05, 2.2070e-05, 2.2130e-05, 2.2189e-05, 2.2249e-05, 2.2308e-05, 2.2368e-05, 2.2427e-05, 2.2487e-05, 2.2546e-05, 2.2606e-05, 2.2665e-05, 2.2725e-05, 2.2784e-05, 2.2843e-05, 2.2903e-05, 2.2962e-05, 2.3022e-05, 2.3081e-05, 2.3141e-05, 2.3200e-05, 2.3260e-05, 2.3319e-05, 2.3379e-05, 2.3438e-05, 2.3498e-05, 2.3557e-05, 2.3617e-05, 2.3676e-05, 2.3736e-05, 2.3795e-05, 2.3855e-05, 2.3914e-05, 2.3974e-05, 2.4033e-05, 2.4093e-05, 2.4152e-05, 2.4212e-05, 2.4271e-05, 2.4331e-05, 2.4390e-05, 2.4450e-05, 2.4509e-05, 2.4569e-05, 2.4628e-05, 2.4688e-05, 2.4747e-05, 2.4807e-05, 2.4866e-05, 2.4926e-05, 2.4985e-05, 2.5045e-05, 2.5104e-05, 2.5164e-05, 2.5223e-05, 2.5282e-05, 2.5342e-05, 2.5401e-05, 2.5461e-05, 2.5520e-05, 2.5580e-05, 2.5639e-05, 2.5699e-05, 2.5758e-05, 2.5818e-05, 2.5877e-05, 2.5937e-05, 2.5996e-05, 2.6056e-05, 2.6115e-05, 2.6175e-05, 2.6234e-05, 2.6294e-05, 2.6353e-05, 2.6413e-05, 2.6472e-05, 2.6532e-05, 2.6591e-05, 2.6651e-05, 2.6710e-05, 2.6770e-05, 2.6829e-05, 2.6889e-05, 2.6948e-05, 2.7008e-05, 2.7067e-05, 2.7127e-05, 2.7186e-05, 2.7246e-05, 2.7305e-05, 2.7365e-05, 2.7424e-05, 2.7484e-05, 2.7543e-05, 2.7603e-05, 2.7662e-05, 2.7722e-05, 2.7781e-05, 2.7840e-05, 2.7900e-05, 2.7959e-05, 2.8019e-05, 2.8078e-05, 2.8138e-05, 2.8197e-05, 2.8257e-05, 2.8316e-05, 2.8376e-05, 2.8435e-05, 2.8495e-05, 2.8554e-05, 2.8614e-05, 2.8673e-05, 2.8733e-05, 2.8792e-05, 2.8852e-05, 2.8911e-05, 2.8971e-05, 2.9030e-05, 2.9090e-05, 2.9149e-05, 2.9209e-05, 2.9268e-05, 2.9328e-05, 2.9387e-05, 2.9447e-05, 2.9506e-05, 2.9566e-05, 2.9625e-05, 2.9685e-05, 2.9744e-05, 2.9804e-05, 2.9863e-05, 2.9923e-05, 2.9982e-05, 3.0042e-05, 3.0101e-05, 3.0161e-05, 3.0220e-05, 3.0280e-05, 3.0339e-05, 3.0398e-05, // NOLINT - 3.0458e-05, 3.0577e-05, 3.0697e-05, 3.0816e-05, 3.0936e-05, 3.1055e-05, 3.1175e-05, 3.1294e-05, 3.1414e-05, 3.1533e-05, 3.1652e-05, 3.1772e-05, 3.1891e-05, 3.2011e-05, 3.2130e-05, 3.2250e-05, 3.2369e-05, 3.2489e-05, 3.2608e-05, 3.2727e-05, 3.2847e-05, 3.2966e-05, 3.3086e-05, 3.3205e-05, 3.3325e-05, 3.3444e-05, 3.3563e-05, 3.3683e-05, 3.3802e-05, 3.3922e-05, 3.4041e-05, 3.4161e-05, 3.4280e-05, 3.4400e-05, 3.4519e-05, 3.4638e-05, 3.4758e-05, 3.4877e-05, 3.4997e-05, 3.5116e-05, 3.5236e-05, 3.5355e-05, 3.5475e-05, 3.5594e-05, 3.5713e-05, 3.5833e-05, 3.5952e-05, 3.6072e-05, 3.6191e-05, 3.6311e-05, 3.6430e-05, 3.6550e-05, 3.6669e-05, 3.6788e-05, 3.6908e-05, 3.7027e-05, 3.7147e-05, 3.7266e-05, 3.7386e-05, 3.7505e-05, 3.7625e-05, 3.7744e-05, 3.7863e-05, 3.7983e-05, 3.8102e-05, 3.8222e-05, 3.8341e-05, 3.8461e-05, 3.8580e-05, 3.8700e-05, 3.8819e-05, 3.8938e-05, 3.9058e-05, 3.9177e-05, 3.9297e-05, 3.9416e-05, 3.9536e-05, 3.9655e-05, 3.9775e-05, 3.9894e-05, 4.0013e-05, 4.0133e-05, 4.0252e-05, 4.0372e-05, 4.0491e-05, 4.0611e-05, 4.0730e-05, 4.0850e-05, 4.0969e-05, 4.1088e-05, 4.1208e-05, 4.1327e-05, 4.1447e-05, 4.1566e-05, 4.1686e-05, 4.1805e-05, 4.1925e-05, 4.2044e-05, 4.2163e-05, 4.2283e-05, 4.2402e-05, 4.2522e-05, 4.2641e-05, 4.2761e-05, 4.2880e-05, 4.2999e-05, 4.3119e-05, 4.3238e-05, 4.3358e-05, 4.3477e-05, 4.3597e-05, 4.3716e-05, 4.3836e-05, 4.3955e-05, 4.4074e-05, 4.4194e-05, 4.4313e-05, 4.4433e-05, 4.4552e-05, 4.4672e-05, 4.4791e-05, 4.4911e-05, 4.5030e-05, 4.5149e-05, 4.5269e-05, 4.5388e-05, 4.5508e-05, 4.5627e-05, 4.5747e-05, 4.5866e-05, 4.5986e-05, 4.6105e-05, 4.6224e-05, 4.6344e-05, 4.6463e-05, 4.6583e-05, 4.6702e-05, 4.6822e-05, 4.6941e-05, 4.7061e-05, 4.7180e-05, 4.7299e-05, 4.7419e-05, 4.7538e-05, 4.7658e-05, 4.7777e-05, 4.7897e-05, 4.8016e-05, 4.8136e-05, 4.8255e-05, 4.8374e-05, 4.8494e-05, 4.8613e-05, 4.8733e-05, 4.8852e-05, 4.8972e-05, 4.9091e-05, 4.9211e-05, 4.9330e-05, 4.9449e-05, 4.9569e-05, 4.9688e-05, 4.9808e-05, 4.9927e-05, 5.0047e-05, 5.0166e-05, 5.0286e-05, 5.0405e-05, 5.0524e-05, 5.0644e-05, 5.0763e-05, 5.0883e-05, 5.1002e-05, 5.1122e-05, 5.1241e-05, 5.1361e-05, 5.1480e-05, 5.1599e-05, 5.1719e-05, 5.1838e-05, 5.1958e-05, 5.2077e-05, 5.2197e-05, 5.2316e-05, 5.2435e-05, 5.2555e-05, 5.2674e-05, 5.2794e-05, 5.2913e-05, 5.3033e-05, 5.3152e-05, 5.3272e-05, 5.3391e-05, 5.3510e-05, 5.3630e-05, 5.3749e-05, 5.3869e-05, 5.3988e-05, 5.4108e-05, 5.4227e-05, 5.4347e-05, 5.4466e-05, 5.4585e-05, 5.4705e-05, 5.4824e-05, 5.4944e-05, 5.5063e-05, 5.5183e-05, 5.5302e-05, 5.5422e-05, 5.5541e-05, 5.5660e-05, 5.5780e-05, 5.5899e-05, 5.6019e-05, 5.6138e-05, 5.6258e-05, 5.6377e-05, 5.6497e-05, 5.6616e-05, 5.6735e-05, 5.6855e-05, 5.6974e-05, 5.7094e-05, 5.7213e-05, 5.7333e-05, 5.7452e-05, 5.7572e-05, 5.7691e-05, 5.7810e-05, 5.7930e-05, 5.8049e-05, 5.8169e-05, 5.8288e-05, 5.8408e-05, 5.8527e-05, 5.8647e-05, 5.8766e-05, 5.8885e-05, 5.9005e-05, 5.9124e-05, 5.9244e-05, 5.9363e-05, 5.9483e-05, 5.9602e-05, 5.9722e-05, 5.9841e-05, 5.9960e-05, 6.0080e-05, 6.0199e-05, 6.0319e-05, 6.0438e-05, 6.0558e-05, 6.0677e-05, 6.0797e-05, 6.0916e-05, // NOLINT - 6.1154e-05, 6.1392e-05, 6.1631e-05, 6.1869e-05, 6.2107e-05, 6.2345e-05, 6.2583e-05, 6.2821e-05, 6.3060e-05, 6.3298e-05, 6.3536e-05, 6.3774e-05, 6.4012e-05, 6.4251e-05, 6.4489e-05, 6.4727e-05, 6.4965e-05, 6.5203e-05, 6.5441e-05, 6.5680e-05, 6.5918e-05, 6.6156e-05, 6.6394e-05, 6.6632e-05, 6.6871e-05, 6.7109e-05, 6.7347e-05, 6.7585e-05, 6.7823e-05, 6.8062e-05, 6.8300e-05, 6.8538e-05, 6.8776e-05, 6.9014e-05, 6.9252e-05, 6.9491e-05, 6.9729e-05, 6.9967e-05, 7.0205e-05, 7.0443e-05, 7.0682e-05, 7.0920e-05, 7.1158e-05, 7.1396e-05, 7.1634e-05, 7.1872e-05, 7.2111e-05, 7.2349e-05, 7.2587e-05, 7.2825e-05, 7.3063e-05, 7.3302e-05, 7.3540e-05, 7.3778e-05, 7.4016e-05, 7.4254e-05, 7.4493e-05, 7.4731e-05, 7.4969e-05, 7.5207e-05, 7.5445e-05, 7.5683e-05, 7.5922e-05, 7.6160e-05, 7.6398e-05, 7.6636e-05, 7.6874e-05, 7.7113e-05, 7.7351e-05, 7.7589e-05, 7.7827e-05, 7.8065e-05, 7.8304e-05, 7.8542e-05, 7.8780e-05, 7.9018e-05, 7.9256e-05, 7.9494e-05, 7.9733e-05, 7.9971e-05, 8.0209e-05, 8.0447e-05, 8.0685e-05, 8.0924e-05, 8.1162e-05, 8.1400e-05, 8.1638e-05, 8.1876e-05, 8.2114e-05, 8.2353e-05, 8.2591e-05, 8.2829e-05, 8.3067e-05, 8.3305e-05, 8.3544e-05, 8.3782e-05, 8.4020e-05, 8.4258e-05, 8.4496e-05, 8.4735e-05, 8.4973e-05, 8.5211e-05, 8.5449e-05, 8.5687e-05, 8.5925e-05, 8.6164e-05, 8.6402e-05, 8.6640e-05, 8.6878e-05, 8.7116e-05, 8.7355e-05, 8.7593e-05, 8.7831e-05, 8.8069e-05, 8.8307e-05, 8.8545e-05, 8.8784e-05, 8.9022e-05, 8.9260e-05, 8.9498e-05, 8.9736e-05, 8.9975e-05, 9.0213e-05, 9.0451e-05, 9.0689e-05, 9.0927e-05, 9.1166e-05, 9.1404e-05, 9.1642e-05, 9.1880e-05, 9.2118e-05, 9.2356e-05, 9.2595e-05, 9.2833e-05, 9.3071e-05, 9.3309e-05, 9.3547e-05, 9.3786e-05, 9.4024e-05, 9.4262e-05, 9.4500e-05, 9.4738e-05, 9.4977e-05, 9.5215e-05, 9.5453e-05, 9.5691e-05, 9.5929e-05, 9.6167e-05, 9.6406e-05, 9.6644e-05, 9.6882e-05, 9.7120e-05, 9.7358e-05, 9.7597e-05, 9.7835e-05, 9.8073e-05, 9.8311e-05, 9.8549e-05, 9.8787e-05, 9.9026e-05, 9.9264e-05, 9.9502e-05, 9.9740e-05, 9.9978e-05, 1.0022e-04, 1.0045e-04, 1.0069e-04, 1.0093e-04, 1.0117e-04, 1.0141e-04, 1.0165e-04, 1.0188e-04, 1.0212e-04, 1.0236e-04, 1.0260e-04, 1.0284e-04, 1.0307e-04, 1.0331e-04, 1.0355e-04, 1.0379e-04, 1.0403e-04, 1.0427e-04, 1.0450e-04, 1.0474e-04, 1.0498e-04, 1.0522e-04, 1.0546e-04, 1.0569e-04, 1.0593e-04, 1.0617e-04, 1.0641e-04, 1.0665e-04, 1.0689e-04, 1.0712e-04, 1.0736e-04, 1.0760e-04, 1.0784e-04, 1.0808e-04, 1.0831e-04, 1.0855e-04, 1.0879e-04, 1.0903e-04, 1.0927e-04, 1.0951e-04, 1.0974e-04, 1.0998e-04, 1.1022e-04, 1.1046e-04, 1.1070e-04, 1.1093e-04, 1.1117e-04, 1.1141e-04, 1.1165e-04, 1.1189e-04, 1.1213e-04, 1.1236e-04, 1.1260e-04, 1.1284e-04, 1.1308e-04, 1.1332e-04, 1.1355e-04, 1.1379e-04, 1.1403e-04, 1.1427e-04, 1.1451e-04, 1.1475e-04, 1.1498e-04, 1.1522e-04, 1.1546e-04, 1.1570e-04, 1.1594e-04, 1.1618e-04, 1.1641e-04, 1.1665e-04, 1.1689e-04, 1.1713e-04, 1.1737e-04, 1.1760e-04, 1.1784e-04, 1.1808e-04, 1.1832e-04, 1.1856e-04, 1.1880e-04, 1.1903e-04, 1.1927e-04, 1.1951e-04, 1.1975e-04, 1.1999e-04, 1.2022e-04, 1.2046e-04, 1.2070e-04, 1.2094e-04, 1.2118e-04, 1.2142e-04, 1.2165e-04, 1.2189e-04, // NOLINT - 1.2213e-04, 1.2237e-04, 1.2261e-04, 1.2284e-04, 1.2308e-04, 1.2332e-04, 1.2356e-04, 1.2380e-04, 1.2404e-04, 1.2427e-04, 1.2451e-04, 1.2475e-04, 1.2499e-04, 1.2523e-04, 1.2546e-04, 1.2570e-04, 1.2594e-04, 1.2618e-04, 1.2642e-04, 1.2666e-04, 1.2689e-04, 1.2713e-04, 1.2737e-04, 1.2761e-04, 1.2785e-04, 1.2808e-04, 1.2832e-04, 1.2856e-04, 1.2880e-04, 1.2904e-04, 1.2928e-04, 1.2951e-04, 1.2975e-04, 1.2999e-04, 1.3023e-04, 1.3047e-04, 1.3070e-04, 1.3094e-04, 1.3118e-04, 1.3142e-04, 1.3166e-04, 1.3190e-04, 1.3213e-04, 1.3237e-04, 1.3261e-04, 1.3285e-04, 1.3309e-04, 1.3332e-04, 1.3356e-04, 1.3380e-04, 1.3404e-04, 1.3428e-04, 1.3452e-04, 1.3475e-04, 1.3499e-04, 1.3523e-04, 1.3547e-04, 1.3571e-04, 1.3594e-04, 1.3618e-04, 1.3642e-04, 1.3666e-04, 1.3690e-04, 1.3714e-04, 1.3737e-04, 1.3761e-04, 1.3785e-04, 1.3809e-04, 1.3833e-04, 1.3856e-04, 1.3880e-04, 1.3904e-04, 1.3928e-04, 1.3952e-04, 1.3976e-04, 1.3999e-04, 1.4023e-04, 1.4047e-04, 1.4071e-04, 1.4095e-04, 1.4118e-04, 1.4142e-04, 1.4166e-04, 1.4190e-04, 1.4214e-04, 1.4238e-04, 1.4261e-04, 1.4285e-04, 1.4309e-04, 1.4333e-04, 1.4357e-04, 1.4380e-04, 1.4404e-04, 1.4428e-04, 1.4452e-04, 1.4476e-04, 1.4500e-04, 1.4523e-04, 1.4547e-04, 1.4571e-04, 1.4595e-04, 1.4619e-04, 1.4642e-04, 1.4666e-04, 1.4690e-04, 1.4714e-04, 1.4738e-04, 1.4762e-04, 1.4785e-04, 1.4809e-04, 1.4833e-04, 1.4857e-04, 1.4881e-04, 1.4904e-04, 1.4928e-04, 1.4952e-04, 1.4976e-04, 1.5000e-04, 1.5024e-04, 1.5047e-04, 1.5071e-04, 1.5095e-04, 1.5119e-04, 1.5143e-04, 1.5166e-04, 1.5190e-04, 1.5214e-04, 1.5238e-04, 1.5262e-04, 1.5286e-04, 1.5309e-04, 1.5333e-04, 1.5357e-04, 1.5381e-04, 1.5405e-04, 1.5428e-04, 1.5452e-04, 1.5476e-04, 1.5500e-04, 1.5524e-04, 1.5548e-04, 1.5571e-04, 1.5595e-04, 1.5619e-04, 1.5643e-04, 1.5667e-04, 1.5690e-04, 1.5714e-04, 1.5738e-04, 1.5762e-04, 1.5786e-04, 1.5810e-04, 1.5833e-04, 1.5857e-04, 1.5881e-04, 1.5905e-04, 1.5929e-04, 1.5952e-04, 1.5976e-04, 1.6000e-04, 1.6024e-04, 1.6048e-04, 1.6072e-04, 1.6095e-04, 1.6119e-04, 1.6143e-04, 1.6167e-04, 1.6191e-04, 1.6214e-04, 1.6238e-04, 1.6262e-04, 1.6286e-04, 1.6310e-04, 1.6334e-04, 1.6357e-04, 1.6381e-04, 1.6405e-04, 1.6429e-04, 1.6453e-04, 1.6476e-04, 1.6500e-04, 1.6524e-04, 1.6548e-04, 1.6572e-04, 1.6596e-04, 1.6619e-04, 1.6643e-04, 1.6667e-04, 1.6691e-04, 1.6715e-04, 1.6738e-04, 1.6762e-04, 1.6786e-04, 1.6810e-04, 1.6834e-04, 1.6858e-04, 1.6881e-04, 1.6905e-04, 1.6929e-04, 1.6953e-04, 1.6977e-04, 1.7001e-04, 1.7024e-04, 1.7048e-04, 1.7072e-04, 1.7096e-04, 1.7120e-04, 1.7143e-04, 1.7167e-04, 1.7191e-04, 1.7215e-04, 1.7239e-04, 1.7263e-04, 1.7286e-04, 1.7310e-04, 1.7334e-04, 1.7358e-04, 1.7382e-04, 1.7405e-04, 1.7429e-04, 1.7453e-04, 1.7477e-04, 1.7501e-04, 1.7525e-04, 1.7548e-04, 1.7572e-04, 1.7596e-04, 1.7620e-04, 1.7644e-04, 1.7667e-04, 1.7691e-04, 1.7715e-04, 1.7739e-04, 1.7763e-04, 1.7787e-04, 1.7810e-04, 1.7834e-04, 1.7858e-04, 1.7882e-04, 1.7906e-04, 1.7929e-04, 1.7953e-04, 1.7977e-04, 1.8001e-04, 1.8025e-04, 1.8049e-04, 1.8072e-04, 1.8096e-04, 1.8120e-04, 1.8144e-04, 1.8168e-04, 1.8191e-04, 1.8215e-04, 1.8239e-04, 1.8263e-04, 1.8287e-04, // NOLINT - 1.8311e-04, 1.8334e-04, 1.8358e-04, 1.8382e-04, 1.8406e-04, 1.8430e-04, 1.8453e-04, 1.8477e-04, 1.8501e-04, 1.8525e-04, 1.8549e-04, 1.8573e-04, 1.8596e-04, 1.8620e-04, 1.8644e-04, 1.8668e-04, 1.8692e-04, 1.8715e-04, 1.8739e-04, 1.8763e-04, 1.8787e-04, 1.8811e-04, 1.8835e-04, 1.8858e-04, 1.8882e-04, 1.8906e-04, 1.8930e-04, 1.8954e-04, 1.8977e-04, 1.9001e-04, 1.9025e-04, 1.9049e-04, 1.9073e-04, 1.9097e-04, 1.9120e-04, 1.9144e-04, 1.9168e-04, 1.9192e-04, 1.9216e-04, 1.9239e-04, 1.9263e-04, 1.9287e-04, 1.9311e-04, 1.9335e-04, 1.9359e-04, 1.9382e-04, 1.9406e-04, 1.9430e-04, 1.9454e-04, 1.9478e-04, 1.9501e-04, 1.9525e-04, 1.9549e-04, 1.9573e-04, 1.9597e-04, 1.9621e-04, 1.9644e-04, 1.9668e-04, 1.9692e-04, 1.9716e-04, 1.9740e-04, 1.9763e-04, 1.9787e-04, 1.9811e-04, 1.9835e-04, 1.9859e-04, 1.9883e-04, 1.9906e-04, 1.9930e-04, 1.9954e-04, 1.9978e-04, 2.0002e-04, 2.0025e-04, 2.0049e-04, 2.0073e-04, 2.0097e-04, 2.0121e-04, 2.0145e-04, 2.0168e-04, 2.0192e-04, 2.0216e-04, 2.0240e-04, 2.0264e-04, 2.0287e-04, 2.0311e-04, 2.0335e-04, 2.0359e-04, 2.0383e-04, 2.0407e-04, 2.0430e-04, 2.0454e-04, 2.0478e-04, 2.0502e-04, 2.0526e-04, 2.0549e-04, 2.0573e-04, 2.0597e-04, 2.0621e-04, 2.0645e-04, 2.0669e-04, 2.0692e-04, 2.0716e-04, 2.0740e-04, 2.0764e-04, 2.0788e-04, 2.0811e-04, 2.0835e-04, 2.0859e-04, 2.0883e-04, 2.0907e-04, 2.0931e-04, 2.0954e-04, 2.0978e-04, 2.1002e-04, 2.1026e-04, 2.1050e-04, 2.1073e-04, 2.1097e-04, 2.1121e-04, 2.1145e-04, 2.1169e-04, 2.1193e-04, 2.1216e-04, 2.1240e-04, 2.1264e-04, 2.1288e-04, 2.1312e-04, 2.1335e-04, 2.1359e-04, 2.1383e-04, 2.1407e-04, 2.1431e-04, 2.1455e-04, 2.1478e-04, 2.1502e-04, 2.1526e-04, 2.1550e-04, 2.1574e-04, 2.1597e-04, 2.1621e-04, 2.1645e-04, 2.1669e-04, 2.1693e-04, 2.1717e-04, 2.1740e-04, 2.1764e-04, 2.1788e-04, 2.1812e-04, 2.1836e-04, 2.1859e-04, 2.1883e-04, 2.1907e-04, 2.1931e-04, 2.1955e-04, 2.1979e-04, 2.2002e-04, 2.2026e-04, 2.2050e-04, 2.2074e-04, 2.2098e-04, 2.2121e-04, 2.2145e-04, 2.2169e-04, 2.2193e-04, 2.2217e-04, 2.2241e-04, 2.2264e-04, 2.2288e-04, 2.2312e-04, 2.2336e-04, 2.2360e-04, 2.2383e-04, 2.2407e-04, 2.2431e-04, 2.2455e-04, 2.2479e-04, 2.2503e-04, 2.2526e-04, 2.2550e-04, 2.2574e-04, 2.2598e-04, 2.2622e-04, 2.2646e-04, 2.2669e-04, 2.2693e-04, 2.2717e-04, 2.2741e-04, 2.2765e-04, 2.2788e-04, 2.2812e-04, 2.2836e-04, 2.2860e-04, 2.2884e-04, 2.2908e-04, 2.2931e-04, 2.2955e-04, 2.2979e-04, 2.3003e-04, 2.3027e-04, 2.3050e-04, 2.3074e-04, 2.3098e-04, 2.3122e-04, 2.3146e-04, 2.3170e-04, 2.3193e-04, 2.3217e-04, 2.3241e-04, 2.3265e-04, 2.3289e-04, 2.3312e-04, 2.3336e-04, 2.3360e-04, 2.3384e-04, 2.3408e-04, 2.3432e-04, 2.3455e-04, 2.3479e-04, 2.3503e-04, 2.3527e-04, 2.3551e-04, 2.3574e-04, 2.3598e-04, 2.3622e-04, 2.3646e-04, 2.3670e-04, 2.3694e-04, 2.3717e-04, 2.3741e-04, 2.3765e-04, 2.3789e-04, 2.3813e-04, 2.3836e-04, 2.3860e-04, 2.3884e-04, 2.3908e-04, 2.3932e-04, 2.3956e-04, 2.3979e-04, 2.4003e-04, 2.4027e-04, 2.4051e-04, 2.4075e-04, 2.4098e-04, 2.4122e-04, 2.4146e-04, 2.4170e-04, 2.4194e-04, 2.4218e-04, 2.4241e-04, 2.4265e-04, 2.4289e-04, 2.4313e-04, 2.4337e-04, 2.4360e-04, 2.4384e-04, // NOLINT - 2.4480e-04, 2.4575e-04, 2.4670e-04, 2.4766e-04, 2.4861e-04, 2.4956e-04, 2.5052e-04, 2.5147e-04, 2.5242e-04, 2.5337e-04, 2.5433e-04, 2.5528e-04, 2.5623e-04, 2.5719e-04, 2.5814e-04, 2.5909e-04, 2.6005e-04, 2.6100e-04, 2.6195e-04, 2.6291e-04, 2.6386e-04, 2.6481e-04, 2.6577e-04, 2.6672e-04, 2.6767e-04, 2.6863e-04, 2.6958e-04, 2.7053e-04, 2.7149e-04, 2.7244e-04, 2.7339e-04, 2.7435e-04, 2.7530e-04, 2.7625e-04, 2.7720e-04, 2.7816e-04, 2.7911e-04, 2.8006e-04, 2.8102e-04, 2.8197e-04, 2.8292e-04, 2.8388e-04, 2.8483e-04, 2.8578e-04, 2.8674e-04, 2.8769e-04, 2.8864e-04, 2.8960e-04, 2.9055e-04, 2.9150e-04, 2.9246e-04, 2.9341e-04, 2.9436e-04, 2.9532e-04, 2.9627e-04, 2.9722e-04, 2.9818e-04, 2.9913e-04, 3.0008e-04, 3.0104e-04, 3.0199e-04, 3.0294e-04, 3.0389e-04, 3.0485e-04, 3.0580e-04, 3.0675e-04, 3.0771e-04, 3.0866e-04, 3.0961e-04, 3.1057e-04, 3.1152e-04, 3.1247e-04, 3.1343e-04, 3.1438e-04, 3.1533e-04, 3.1629e-04, 3.1724e-04, 3.1819e-04, 3.1915e-04, 3.2010e-04, 3.2105e-04, 3.2201e-04, 3.2296e-04, 3.2391e-04, 3.2487e-04, 3.2582e-04, 3.2677e-04, 3.2772e-04, 3.2868e-04, 3.2963e-04, 3.3058e-04, 3.3154e-04, 3.3249e-04, 3.3344e-04, 3.3440e-04, 3.3535e-04, 3.3630e-04, 3.3726e-04, 3.3821e-04, 3.3916e-04, 3.4012e-04, 3.4107e-04, 3.4202e-04, 3.4298e-04, 3.4393e-04, 3.4488e-04, 3.4584e-04, 3.4679e-04, 3.4774e-04, 3.4870e-04, 3.4965e-04, 3.5060e-04, 3.5156e-04, 3.5251e-04, 3.5346e-04, 3.5441e-04, 3.5537e-04, 3.5632e-04, 3.5727e-04, 3.5823e-04, 3.5918e-04, 3.6013e-04, 3.6109e-04, 3.6204e-04, 3.6299e-04, 3.6395e-04, 3.6490e-04, 3.6585e-04, 3.6681e-04, 3.6776e-04, 3.6871e-04, 3.6967e-04, 3.7062e-04, 3.7157e-04, 3.7253e-04, 3.7348e-04, 3.7443e-04, 3.7539e-04, 3.7634e-04, 3.7729e-04, 3.7825e-04, 3.7920e-04, 3.8015e-04, 3.8110e-04, 3.8206e-04, 3.8301e-04, 3.8396e-04, 3.8492e-04, 3.8587e-04, 3.8682e-04, 3.8778e-04, 3.8873e-04, 3.8968e-04, 3.9064e-04, 3.9159e-04, 3.9254e-04, 3.9350e-04, 3.9445e-04, 3.9540e-04, 3.9636e-04, 3.9731e-04, 3.9826e-04, 3.9922e-04, 4.0017e-04, 4.0112e-04, 4.0208e-04, 4.0303e-04, 4.0398e-04, 4.0493e-04, 4.0589e-04, 4.0684e-04, 4.0779e-04, 4.0875e-04, 4.0970e-04, 4.1065e-04, 4.1161e-04, 4.1256e-04, 4.1351e-04, 4.1447e-04, 4.1542e-04, 4.1637e-04, 4.1733e-04, 4.1828e-04, 4.1923e-04, 4.2019e-04, 4.2114e-04, 4.2209e-04, 4.2305e-04, 4.2400e-04, 4.2495e-04, 4.2591e-04, 4.2686e-04, 4.2781e-04, 4.2877e-04, 4.2972e-04, 4.3067e-04, 4.3162e-04, 4.3258e-04, 4.3353e-04, 4.3448e-04, 4.3544e-04, 4.3639e-04, 4.3734e-04, 4.3830e-04, 4.3925e-04, 4.4020e-04, 4.4116e-04, 4.4211e-04, 4.4306e-04, 4.4402e-04, 4.4497e-04, 4.4592e-04, 4.4688e-04, 4.4783e-04, 4.4878e-04, 4.4974e-04, 4.5069e-04, 4.5164e-04, 4.5260e-04, 4.5355e-04, 4.5450e-04, 4.5545e-04, 4.5641e-04, 4.5736e-04, 4.5831e-04, 4.5927e-04, 4.6022e-04, 4.6117e-04, 4.6213e-04, 4.6308e-04, 4.6403e-04, 4.6499e-04, 4.6594e-04, 4.6689e-04, 4.6785e-04, 4.6880e-04, 4.6975e-04, 4.7071e-04, 4.7166e-04, 4.7261e-04, 4.7357e-04, 4.7452e-04, 4.7547e-04, 4.7643e-04, 4.7738e-04, 4.7833e-04, 4.7929e-04, 4.8024e-04, 4.8119e-04, 4.8214e-04, 4.8310e-04, 4.8405e-04, 4.8500e-04, 4.8596e-04, 4.8691e-04, 4.8786e-04, // NOLINT - 4.8977e-04, 4.9168e-04, 4.9358e-04, 4.9549e-04, 4.9740e-04, 4.9931e-04, 5.0121e-04, 5.0312e-04, 5.0503e-04, 5.0693e-04, 5.0884e-04, 5.1075e-04, 5.1265e-04, 5.1456e-04, 5.1647e-04, 5.1837e-04, 5.2028e-04, 5.2219e-04, 5.2409e-04, 5.2600e-04, 5.2791e-04, 5.2982e-04, 5.3172e-04, 5.3363e-04, 5.3554e-04, 5.3744e-04, 5.3935e-04, 5.4126e-04, 5.4316e-04, 5.4507e-04, 5.4698e-04, 5.4888e-04, 5.5079e-04, 5.5270e-04, 5.5460e-04, 5.5651e-04, 5.5842e-04, 5.6033e-04, 5.6223e-04, 5.6414e-04, 5.6605e-04, 5.6795e-04, 5.6986e-04, 5.7177e-04, 5.7367e-04, 5.7558e-04, 5.7749e-04, 5.7939e-04, 5.8130e-04, 5.8321e-04, 5.8512e-04, 5.8702e-04, 5.8893e-04, 5.9084e-04, 5.9274e-04, 5.9465e-04, 5.9656e-04, 5.9846e-04, 6.0037e-04, 6.0228e-04, 6.0418e-04, 6.0609e-04, 6.0800e-04, 6.0990e-04, 6.1181e-04, 6.1372e-04, 6.1563e-04, 6.1753e-04, 6.1944e-04, 6.2135e-04, 6.2325e-04, 6.2516e-04, 6.2707e-04, 6.2897e-04, 6.3088e-04, 6.3279e-04, 6.3469e-04, 6.3660e-04, 6.3851e-04, 6.4041e-04, 6.4232e-04, 6.4423e-04, 6.4614e-04, 6.4804e-04, 6.4995e-04, 6.5186e-04, 6.5376e-04, 6.5567e-04, 6.5758e-04, 6.5948e-04, 6.6139e-04, 6.6330e-04, 6.6520e-04, 6.6711e-04, 6.6902e-04, 6.7092e-04, 6.7283e-04, 6.7474e-04, 6.7665e-04, 6.7855e-04, 6.8046e-04, 6.8237e-04, 6.8427e-04, 6.8618e-04, 6.8809e-04, 6.8999e-04, 6.9190e-04, 6.9381e-04, 6.9571e-04, 6.9762e-04, 6.9953e-04, 7.0143e-04, 7.0334e-04, 7.0525e-04, 7.0716e-04, 7.0906e-04, 7.1097e-04, 7.1288e-04, 7.1478e-04, 7.1669e-04, 7.1860e-04, 7.2050e-04, 7.2241e-04, 7.2432e-04, 7.2622e-04, 7.2813e-04, 7.3004e-04, 7.3195e-04, 7.3385e-04, 7.3576e-04, 7.3767e-04, 7.3957e-04, 7.4148e-04, 7.4339e-04, 7.4529e-04, 7.4720e-04, 7.4911e-04, 7.5101e-04, 7.5292e-04, 7.5483e-04, 7.5673e-04, 7.5864e-04, 7.6055e-04, 7.6246e-04, 7.6436e-04, 7.6627e-04, 7.6818e-04, 7.7008e-04, 7.7199e-04, 7.7390e-04, 7.7580e-04, 7.7771e-04, 7.7962e-04, 7.8152e-04, 7.8343e-04, 7.8534e-04, 7.8724e-04, 7.8915e-04, 7.9106e-04, 7.9297e-04, 7.9487e-04, 7.9678e-04, 7.9869e-04, 8.0059e-04, 8.0250e-04, 8.0441e-04, 8.0631e-04, 8.0822e-04, 8.1013e-04, 8.1203e-04, 8.1394e-04, 8.1585e-04, 8.1775e-04, 8.1966e-04, 8.2157e-04, 8.2348e-04, 8.2538e-04, 8.2729e-04, 8.2920e-04, 8.3110e-04, 8.3301e-04, 8.3492e-04, 8.3682e-04, 8.3873e-04, 8.4064e-04, 8.4254e-04, 8.4445e-04, 8.4636e-04, 8.4826e-04, 8.5017e-04, 8.5208e-04, 8.5399e-04, 8.5589e-04, 8.5780e-04, 8.5971e-04, 8.6161e-04, 8.6352e-04, 8.6543e-04, 8.6733e-04, 8.6924e-04, 8.7115e-04, 8.7305e-04, 8.7496e-04, 8.7687e-04, 8.7878e-04, 8.8068e-04, 8.8259e-04, 8.8450e-04, 8.8640e-04, 8.8831e-04, 8.9022e-04, 8.9212e-04, 8.9403e-04, 8.9594e-04, 8.9784e-04, 8.9975e-04, 9.0166e-04, 9.0356e-04, 9.0547e-04, 9.0738e-04, 9.0929e-04, 9.1119e-04, 9.1310e-04, 9.1501e-04, 9.1691e-04, 9.1882e-04, 9.2073e-04, 9.2263e-04, 9.2454e-04, 9.2645e-04, 9.2835e-04, 9.3026e-04, 9.3217e-04, 9.3407e-04, 9.3598e-04, 9.3789e-04, 9.3980e-04, 9.4170e-04, 9.4361e-04, 9.4552e-04, 9.4742e-04, 9.4933e-04, 9.5124e-04, 9.5314e-04, 9.5505e-04, 9.5696e-04, 9.5886e-04, 9.6077e-04, 9.6268e-04, 9.6458e-04, 9.6649e-04, 9.6840e-04, 9.7031e-04, 9.7221e-04, 9.7412e-04, 9.7603e-04, // NOLINT - 9.7984e-04, 9.8365e-04, 9.8747e-04, 9.9128e-04, 9.9510e-04, 9.9891e-04, 1.0027e-03, 1.0065e-03, 1.0104e-03, 1.0142e-03, 1.0180e-03, 1.0218e-03, 1.0256e-03, 1.0294e-03, 1.0332e-03, 1.0371e-03, 1.0409e-03, 1.0447e-03, 1.0485e-03, 1.0523e-03, 1.0561e-03, 1.0599e-03, 1.0638e-03, 1.0676e-03, 1.0714e-03, 1.0752e-03, 1.0790e-03, 1.0828e-03, 1.0866e-03, 1.0905e-03, 1.0943e-03, 1.0981e-03, 1.1019e-03, 1.1057e-03, 1.1095e-03, 1.1133e-03, 1.1172e-03, 1.1210e-03, 1.1248e-03, 1.1286e-03, 1.1324e-03, 1.1362e-03, 1.1400e-03, 1.1439e-03, 1.1477e-03, 1.1515e-03, 1.1553e-03, 1.1591e-03, 1.1629e-03, 1.1667e-03, 1.1706e-03, 1.1744e-03, 1.1782e-03, 1.1820e-03, 1.1858e-03, 1.1896e-03, 1.1934e-03, 1.1973e-03, 1.2011e-03, 1.2049e-03, 1.2087e-03, 1.2125e-03, 1.2163e-03, 1.2201e-03, 1.2240e-03, 1.2278e-03, 1.2316e-03, 1.2354e-03, 1.2392e-03, 1.2430e-03, 1.2468e-03, 1.2507e-03, 1.2545e-03, 1.2583e-03, 1.2621e-03, 1.2659e-03, 1.2697e-03, 1.2735e-03, 1.2774e-03, 1.2812e-03, 1.2850e-03, 1.2888e-03, 1.2926e-03, 1.2964e-03, 1.3002e-03, 1.3040e-03, 1.3079e-03, 1.3117e-03, 1.3155e-03, 1.3193e-03, 1.3231e-03, 1.3269e-03, 1.3307e-03, 1.3346e-03, 1.3384e-03, 1.3422e-03, 1.3460e-03, 1.3498e-03, 1.3536e-03, 1.3574e-03, 1.3613e-03, 1.3651e-03, 1.3689e-03, 1.3727e-03, 1.3765e-03, 1.3803e-03, 1.3841e-03, 1.3880e-03, 1.3918e-03, 1.3956e-03, 1.3994e-03, 1.4032e-03, 1.4070e-03, 1.4108e-03, 1.4147e-03, 1.4185e-03, 1.4223e-03, 1.4261e-03, 1.4299e-03, 1.4337e-03, 1.4375e-03, 1.4414e-03, 1.4452e-03, 1.4490e-03, 1.4528e-03, 1.4566e-03, 1.4604e-03, 1.4642e-03, 1.4681e-03, 1.4719e-03, 1.4757e-03, 1.4795e-03, 1.4833e-03, 1.4871e-03, 1.4909e-03, 1.4948e-03, 1.4986e-03, 1.5024e-03, 1.5062e-03, 1.5100e-03, 1.5138e-03, 1.5176e-03, 1.5215e-03, 1.5253e-03, 1.5291e-03, 1.5329e-03, 1.5367e-03, 1.5405e-03, 1.5443e-03, 1.5482e-03, 1.5520e-03, 1.5558e-03, 1.5596e-03, 1.5634e-03, 1.5672e-03, 1.5710e-03, 1.5749e-03, 1.5787e-03, 1.5825e-03, 1.5863e-03, 1.5901e-03, 1.5939e-03, 1.5977e-03, 1.6016e-03, 1.6054e-03, 1.6092e-03, 1.6130e-03, 1.6168e-03, 1.6206e-03, 1.6244e-03, 1.6283e-03, 1.6321e-03, 1.6359e-03, 1.6397e-03, 1.6435e-03, 1.6473e-03, 1.6511e-03, 1.6550e-03, 1.6588e-03, 1.6626e-03, 1.6664e-03, 1.6702e-03, 1.6740e-03, 1.6778e-03, 1.6817e-03, 1.6855e-03, 1.6893e-03, 1.6931e-03, 1.6969e-03, 1.7007e-03, 1.7045e-03, 1.7084e-03, 1.7122e-03, 1.7160e-03, 1.7198e-03, 1.7236e-03, 1.7274e-03, 1.7312e-03, 1.7351e-03, 1.7389e-03, 1.7427e-03, 1.7465e-03, 1.7503e-03, 1.7541e-03, 1.7579e-03, 1.7618e-03, 1.7656e-03, 1.7694e-03, 1.7732e-03, 1.7770e-03, 1.7808e-03, 1.7846e-03, 1.7885e-03, 1.7923e-03, 1.7961e-03, 1.7999e-03, 1.8037e-03, 1.8075e-03, 1.8113e-03, 1.8152e-03, 1.8190e-03, 1.8228e-03, 1.8266e-03, 1.8304e-03, 1.8342e-03, 1.8380e-03, 1.8419e-03, 1.8457e-03, 1.8495e-03, 1.8533e-03, 1.8571e-03, 1.8609e-03, 1.8647e-03, 1.8686e-03, 1.8724e-03, 1.8762e-03, 1.8800e-03, 1.8838e-03, 1.8876e-03, 1.8914e-03, 1.8953e-03, 1.8991e-03, 1.9029e-03, 1.9067e-03, 1.9105e-03, 1.9143e-03, 1.9181e-03, 1.9220e-03, 1.9258e-03, 1.9296e-03, 1.9334e-03, 1.9372e-03, 1.9410e-03, 1.9448e-03, 1.9487e-03, 1.9525e-03, // NOLINT - 1.9601e-03, 1.9677e-03, 1.9754e-03, 1.9830e-03, 1.9906e-03, 1.9982e-03, 2.0059e-03, 2.0135e-03, 2.0211e-03, 2.0288e-03, 2.0364e-03, 2.0440e-03, 2.0516e-03, 2.0593e-03, 2.0669e-03, 2.0745e-03, 2.0822e-03, 2.0898e-03, 2.0974e-03, 2.1050e-03, 2.1127e-03, 2.1203e-03, 2.1279e-03, 2.1356e-03, 2.1432e-03, 2.1508e-03, 2.1585e-03, 2.1661e-03, 2.1737e-03, 2.1813e-03, 2.1890e-03, 2.1966e-03, 2.2042e-03, 2.2119e-03, 2.2195e-03, 2.2271e-03, 2.2347e-03, 2.2424e-03, 2.2500e-03, 2.2576e-03, 2.2653e-03, 2.2729e-03, 2.2805e-03, 2.2881e-03, 2.2958e-03, 2.3034e-03, 2.3110e-03, 2.3187e-03, 2.3263e-03, 2.3339e-03, 2.3415e-03, 2.3492e-03, 2.3568e-03, 2.3644e-03, 2.3721e-03, 2.3797e-03, 2.3873e-03, 2.3949e-03, 2.4026e-03, 2.4102e-03, 2.4178e-03, 2.4255e-03, 2.4331e-03, 2.4407e-03, 2.4483e-03, 2.4560e-03, 2.4636e-03, 2.4712e-03, 2.4789e-03, 2.4865e-03, 2.4941e-03, 2.5018e-03, 2.5094e-03, 2.5170e-03, 2.5246e-03, 2.5323e-03, 2.5399e-03, 2.5475e-03, 2.5552e-03, 2.5628e-03, 2.5704e-03, 2.5780e-03, 2.5857e-03, 2.5933e-03, 2.6009e-03, 2.6086e-03, 2.6162e-03, 2.6238e-03, 2.6314e-03, 2.6391e-03, 2.6467e-03, 2.6543e-03, 2.6620e-03, 2.6696e-03, 2.6772e-03, 2.6848e-03, 2.6925e-03, 2.7001e-03, 2.7077e-03, 2.7154e-03, 2.7230e-03, 2.7306e-03, 2.7382e-03, 2.7459e-03, 2.7535e-03, 2.7611e-03, 2.7688e-03, 2.7764e-03, 2.7840e-03, 2.7917e-03, 2.7993e-03, 2.8069e-03, 2.8145e-03, 2.8222e-03, 2.8298e-03, 2.8374e-03, 2.8451e-03, 2.8527e-03, 2.8603e-03, 2.8679e-03, 2.8756e-03, 2.8832e-03, 2.8908e-03, 2.8985e-03, 2.9061e-03, 2.9137e-03, 2.9213e-03, 2.9290e-03, 2.9366e-03, 2.9442e-03, 2.9519e-03, 2.9595e-03, 2.9671e-03, 2.9747e-03, 2.9824e-03, 2.9900e-03, 2.9976e-03, 3.0053e-03, 3.0129e-03, 3.0205e-03, 3.0281e-03, 3.0358e-03, 3.0434e-03, 3.0510e-03, 3.0587e-03, 3.0663e-03, 3.0739e-03, 3.0816e-03, 3.0892e-03, 3.0968e-03, 3.1044e-03, 3.1121e-03, 3.1197e-03, 3.1273e-03, 3.1350e-03, 3.1426e-03, 3.1502e-03, 3.1578e-03, 3.1655e-03, 3.1731e-03, 3.1807e-03, 3.1884e-03, 3.1960e-03, 3.2036e-03, 3.2112e-03, 3.2189e-03, 3.2265e-03, 3.2341e-03, 3.2418e-03, 3.2494e-03, 3.2570e-03, 3.2646e-03, 3.2723e-03, 3.2799e-03, 3.2875e-03, 3.2952e-03, 3.3028e-03, 3.3104e-03, 3.3180e-03, 3.3257e-03, 3.3333e-03, 3.3409e-03, 3.3486e-03, 3.3562e-03, 3.3638e-03, 3.3715e-03, 3.3791e-03, 3.3867e-03, 3.3943e-03, 3.4020e-03, 3.4096e-03, 3.4172e-03, 3.4249e-03, 3.4325e-03, 3.4401e-03, 3.4477e-03, 3.4554e-03, 3.4630e-03, 3.4706e-03, 3.4783e-03, 3.4859e-03, 3.4935e-03, 3.5011e-03, 3.5088e-03, 3.5164e-03, 3.5240e-03, 3.5317e-03, 3.5393e-03, 3.5469e-03, 3.5545e-03, 3.5622e-03, 3.5698e-03, 3.5774e-03, 3.5851e-03, 3.5927e-03, 3.6003e-03, 3.6079e-03, 3.6156e-03, 3.6232e-03, 3.6308e-03, 3.6385e-03, 3.6461e-03, 3.6537e-03, 3.6613e-03, 3.6690e-03, 3.6766e-03, 3.6842e-03, 3.6919e-03, 3.6995e-03, 3.7071e-03, 3.7148e-03, 3.7224e-03, 3.7300e-03, 3.7376e-03, 3.7453e-03, 3.7529e-03, 3.7605e-03, 3.7682e-03, 3.7758e-03, 3.7834e-03, 3.7910e-03, 3.7987e-03, 3.8063e-03, 3.8139e-03, 3.8216e-03, 3.8292e-03, 3.8368e-03, 3.8444e-03, 3.8521e-03, 3.8597e-03, 3.8673e-03, 3.8750e-03, 3.8826e-03, 3.8902e-03, 3.8978e-03, 3.9055e-03, // NOLINT - 3.9207e-03, 3.9360e-03, 3.9513e-03, 3.9665e-03, 3.9818e-03, 3.9970e-03, 4.0123e-03, 4.0275e-03, 4.0428e-03, 4.0581e-03, 4.0733e-03, 4.0886e-03, 4.1038e-03, 4.1191e-03, 4.1343e-03, 4.1496e-03, 4.1649e-03, 4.1801e-03, 4.1954e-03, 4.2106e-03, 4.2259e-03, 4.2412e-03, 4.2564e-03, 4.2717e-03, 4.2869e-03, 4.3022e-03, 4.3174e-03, 4.3327e-03, 4.3480e-03, 4.3632e-03, 4.3785e-03, 4.3937e-03, 4.4090e-03, 4.4243e-03, 4.4395e-03, 4.4548e-03, 4.4700e-03, 4.4853e-03, 4.5005e-03, 4.5158e-03, 4.5311e-03, 4.5463e-03, 4.5616e-03, 4.5768e-03, 4.5921e-03, 4.6074e-03, 4.6226e-03, 4.6379e-03, 4.6531e-03, 4.6684e-03, 4.6836e-03, 4.6989e-03, 4.7142e-03, 4.7294e-03, 4.7447e-03, 4.7599e-03, 4.7752e-03, 4.7905e-03, 4.8057e-03, 4.8210e-03, 4.8362e-03, 4.8515e-03, 4.8667e-03, 4.8820e-03, 4.8973e-03, 4.9125e-03, 4.9278e-03, 4.9430e-03, 4.9583e-03, 4.9736e-03, 4.9888e-03, 5.0041e-03, 5.0193e-03, 5.0346e-03, 5.0498e-03, 5.0651e-03, 5.0804e-03, 5.0956e-03, 5.1109e-03, 5.1261e-03, 5.1414e-03, 5.1567e-03, 5.1719e-03, 5.1872e-03, 5.2024e-03, 5.2177e-03, 5.2329e-03, 5.2482e-03, 5.2635e-03, 5.2787e-03, 5.2940e-03, 5.3092e-03, 5.3245e-03, 5.3398e-03, 5.3550e-03, 5.3703e-03, 5.3855e-03, 5.4008e-03, 5.4160e-03, 5.4313e-03, 5.4466e-03, 5.4618e-03, 5.4771e-03, 5.4923e-03, 5.5076e-03, 5.5229e-03, 5.5381e-03, 5.5534e-03, 5.5686e-03, 5.5839e-03, 5.5991e-03, 5.6144e-03, 5.6297e-03, 5.6449e-03, 5.6602e-03, 5.6754e-03, 5.6907e-03, 5.7060e-03, 5.7212e-03, 5.7365e-03, 5.7517e-03, 5.7670e-03, 5.7822e-03, 5.7975e-03, 5.8128e-03, 5.8280e-03, 5.8433e-03, 5.8585e-03, 5.8738e-03, 5.8891e-03, 5.9043e-03, 5.9196e-03, 5.9348e-03, 5.9501e-03, 5.9653e-03, 5.9806e-03, 5.9959e-03, 6.0111e-03, 6.0264e-03, 6.0416e-03, 6.0569e-03, 6.0722e-03, 6.0874e-03, 6.1027e-03, 6.1179e-03, 6.1332e-03, 6.1484e-03, 6.1637e-03, 6.1790e-03, 6.1942e-03, 6.2095e-03, 6.2247e-03, 6.2400e-03, 6.2553e-03, 6.2705e-03, 6.2858e-03, 6.3010e-03, 6.3163e-03, 6.3315e-03, 6.3468e-03, 6.3621e-03, 6.3773e-03, 6.3926e-03, 6.4078e-03, 6.4231e-03, 6.4384e-03, 6.4536e-03, 6.4689e-03, 6.4841e-03, 6.4994e-03, 6.5146e-03, 6.5299e-03, 6.5452e-03, 6.5604e-03, 6.5757e-03, 6.5909e-03, 6.6062e-03, 6.6215e-03, 6.6367e-03, 6.6520e-03, 6.6672e-03, 6.6825e-03, 6.6977e-03, 6.7130e-03, 6.7283e-03, 6.7435e-03, 6.7588e-03, 6.7740e-03, 6.7893e-03, 6.8046e-03, 6.8198e-03, 6.8351e-03, 6.8503e-03, 6.8656e-03, 6.8808e-03, 6.8961e-03, 6.9114e-03, 6.9266e-03, 6.9419e-03, 6.9571e-03, 6.9724e-03, 6.9877e-03, 7.0029e-03, 7.0182e-03, 7.0334e-03, 7.0487e-03, 7.0639e-03, 7.0792e-03, 7.0945e-03, 7.1097e-03, 7.1250e-03, 7.1402e-03, 7.1555e-03, 7.1708e-03, 7.1860e-03, 7.2013e-03, 7.2165e-03, 7.2318e-03, 7.2470e-03, 7.2623e-03, 7.2776e-03, 7.2928e-03, 7.3081e-03, 7.3233e-03, 7.3386e-03, 7.3539e-03, 7.3691e-03, 7.3844e-03, 7.3996e-03, 7.4149e-03, 7.4301e-03, 7.4454e-03, 7.4607e-03, 7.4759e-03, 7.4912e-03, 7.5064e-03, 7.5217e-03, 7.5370e-03, 7.5522e-03, 7.5675e-03, 7.5827e-03, 7.5980e-03, 7.6132e-03, 7.6285e-03, 7.6438e-03, 7.6590e-03, 7.6743e-03, 7.6895e-03, 7.7048e-03, 7.7201e-03, 7.7353e-03, 7.7506e-03, 7.7658e-03, 7.7811e-03, 7.7963e-03, 7.8116e-03, // NOLINT - 7.8421e-03, 7.8726e-03, 7.9032e-03, 7.9337e-03, 7.9642e-03, 7.9947e-03, 8.0252e-03, 8.0557e-03, 8.0863e-03, 8.1168e-03, 8.1473e-03, 8.1778e-03, 8.2083e-03, 8.2388e-03, 8.2694e-03, 8.2999e-03, 8.3304e-03, 8.3609e-03, 8.3914e-03, 8.4219e-03, 8.4525e-03, 8.4830e-03, 8.5135e-03, 8.5440e-03, 8.5745e-03, 8.6051e-03, 8.6356e-03, 8.6661e-03, 8.6966e-03, 8.7271e-03, 8.7576e-03, 8.7882e-03, 8.8187e-03, 8.8492e-03, 8.8797e-03, 8.9102e-03, 8.9407e-03, 8.9713e-03, 9.0018e-03, 9.0323e-03, 9.0628e-03, 9.0933e-03, 9.1238e-03, 9.1544e-03, 9.1849e-03, 9.2154e-03, 9.2459e-03, 9.2764e-03, 9.3069e-03, 9.3375e-03, 9.3680e-03, 9.3985e-03, 9.4290e-03, 9.4595e-03, 9.4900e-03, 9.5206e-03, 9.5511e-03, 9.5816e-03, 9.6121e-03, 9.6426e-03, 9.6731e-03, 9.7037e-03, 9.7342e-03, 9.7647e-03, 9.7952e-03, 9.8257e-03, 9.8563e-03, 9.8868e-03, 9.9173e-03, 9.9478e-03, 9.9783e-03, 1.0009e-02, 1.0039e-02, 1.0070e-02, 1.0100e-02, 1.0131e-02, 1.0161e-02, 1.0192e-02, 1.0222e-02, 1.0253e-02, 1.0283e-02, 1.0314e-02, 1.0345e-02, 1.0375e-02, 1.0406e-02, 1.0436e-02, 1.0467e-02, 1.0497e-02, 1.0528e-02, 1.0558e-02, 1.0589e-02, 1.0619e-02, 1.0650e-02, 1.0680e-02, 1.0711e-02, 1.0741e-02, 1.0772e-02, 1.0802e-02, 1.0833e-02, 1.0863e-02, 1.0894e-02, 1.0924e-02, 1.0955e-02, 1.0985e-02, 1.1016e-02, 1.1046e-02, 1.1077e-02, 1.1107e-02, 1.1138e-02, 1.1168e-02, 1.1199e-02, 1.1230e-02, 1.1260e-02, 1.1291e-02, 1.1321e-02, 1.1352e-02, 1.1382e-02, 1.1413e-02, 1.1443e-02, 1.1474e-02, 1.1504e-02, 1.1535e-02, 1.1565e-02, 1.1596e-02, 1.1626e-02, 1.1657e-02, 1.1687e-02, 1.1718e-02, 1.1748e-02, 1.1779e-02, 1.1809e-02, 1.1840e-02, 1.1870e-02, 1.1901e-02, 1.1931e-02, 1.1962e-02, 1.1992e-02, 1.2023e-02, 1.2053e-02, 1.2084e-02, 1.2115e-02, 1.2145e-02, 1.2176e-02, 1.2206e-02, 1.2237e-02, 1.2267e-02, 1.2298e-02, 1.2328e-02, 1.2359e-02, 1.2389e-02, 1.2420e-02, 1.2450e-02, 1.2481e-02, 1.2511e-02, 1.2542e-02, 1.2572e-02, 1.2603e-02, 1.2633e-02, 1.2664e-02, 1.2694e-02, 1.2725e-02, 1.2755e-02, 1.2786e-02, 1.2816e-02, 1.2847e-02, 1.2877e-02, 1.2908e-02, 1.2938e-02, 1.2969e-02, 1.3000e-02, 1.3030e-02, 1.3061e-02, 1.3091e-02, 1.3122e-02, 1.3152e-02, 1.3183e-02, 1.3213e-02, 1.3244e-02, 1.3274e-02, 1.3305e-02, 1.3335e-02, 1.3366e-02, 1.3396e-02, 1.3427e-02, 1.3457e-02, 1.3488e-02, 1.3518e-02, 1.3549e-02, 1.3579e-02, 1.3610e-02, 1.3640e-02, 1.3671e-02, 1.3701e-02, 1.3732e-02, 1.3762e-02, 1.3793e-02, 1.3823e-02, 1.3854e-02, 1.3885e-02, 1.3915e-02, 1.3946e-02, 1.3976e-02, 1.4007e-02, 1.4037e-02, 1.4068e-02, 1.4098e-02, 1.4129e-02, 1.4159e-02, 1.4190e-02, 1.4220e-02, 1.4251e-02, 1.4281e-02, 1.4312e-02, 1.4342e-02, 1.4373e-02, 1.4403e-02, 1.4434e-02, 1.4464e-02, 1.4495e-02, 1.4525e-02, 1.4556e-02, 1.4586e-02, 1.4617e-02, 1.4647e-02, 1.4678e-02, 1.4708e-02, 1.4739e-02, 1.4770e-02, 1.4800e-02, 1.4831e-02, 1.4861e-02, 1.4892e-02, 1.4922e-02, 1.4953e-02, 1.4983e-02, 1.5014e-02, 1.5044e-02, 1.5075e-02, 1.5105e-02, 1.5136e-02, 1.5166e-02, 1.5197e-02, 1.5227e-02, 1.5258e-02, 1.5288e-02, 1.5319e-02, 1.5349e-02, 1.5380e-02, 1.5410e-02, 1.5441e-02, 1.5471e-02, 1.5502e-02, 1.5532e-02, 1.5563e-02, 1.5593e-02, 1.5624e-02, // NOLINT - 1.5746e-02, 1.5868e-02, 1.5990e-02, 1.6112e-02, 1.6234e-02, 1.6356e-02, 1.6478e-02, 1.6601e-02, 1.6723e-02, 1.6845e-02, 1.6967e-02, 1.7089e-02, 1.7211e-02, 1.7333e-02, 1.7455e-02, 1.7577e-02, 1.7699e-02, 1.7821e-02, 1.7943e-02, 1.8065e-02, 1.8187e-02, 1.8310e-02, 1.8432e-02, 1.8554e-02, 1.8676e-02, 1.8798e-02, 1.8920e-02, 1.9042e-02, 1.9164e-02, 1.9286e-02, 1.9408e-02, 1.9530e-02, 1.9652e-02, 1.9774e-02, 1.9896e-02, 2.0018e-02, 2.0141e-02, 2.0263e-02, 2.0385e-02, 2.0507e-02, 2.0629e-02, 2.0751e-02, 2.0873e-02, 2.0995e-02, 2.1117e-02, 2.1239e-02, 2.1361e-02, 2.1483e-02, 2.1605e-02, 2.1727e-02, 2.1850e-02, 2.1972e-02, 2.2094e-02, 2.2216e-02, 2.2338e-02, 2.2460e-02, 2.2582e-02, 2.2704e-02, 2.2826e-02, 2.2948e-02, 2.3070e-02, 2.3192e-02, 2.3314e-02, 2.3436e-02, 2.3558e-02, 2.3681e-02, 2.3803e-02, 2.3925e-02, 2.4047e-02, 2.4169e-02, 2.4291e-02, 2.4413e-02, 2.4535e-02, 2.4657e-02, 2.4779e-02, 2.4901e-02, 2.5023e-02, 2.5145e-02, 2.5267e-02, 2.5390e-02, 2.5512e-02, 2.5634e-02, 2.5756e-02, 2.5878e-02, 2.6000e-02, 2.6122e-02, 2.6244e-02, 2.6366e-02, 2.6488e-02, 2.6610e-02, 2.6732e-02, 2.6854e-02, 2.6976e-02, 2.7099e-02, 2.7221e-02, 2.7343e-02, 2.7465e-02, 2.7587e-02, 2.7709e-02, 2.7831e-02, 2.7953e-02, 2.8075e-02, 2.8197e-02, 2.8319e-02, 2.8441e-02, 2.8563e-02, 2.8685e-02, 2.8807e-02, 2.8930e-02, 2.9052e-02, 2.9174e-02, 2.9296e-02, 2.9418e-02, 2.9540e-02, 2.9662e-02, 2.9784e-02, 2.9906e-02, 3.0028e-02, 3.0150e-02, 3.0272e-02, 3.0394e-02, 3.0516e-02, 3.0639e-02, 3.0761e-02, 3.0883e-02, 3.1005e-02, 3.1127e-02, 3.1249e-02, 3.1493e-02, 3.1737e-02, 3.1981e-02, 3.2225e-02, 3.2470e-02, 3.2714e-02, 3.2958e-02, 3.3202e-02, 3.3446e-02, 3.3690e-02, 3.3934e-02, 3.4179e-02, 3.4423e-02, 3.4667e-02, 3.4911e-02, 3.5155e-02, 3.5399e-02, 3.5643e-02, 3.5888e-02, 3.6132e-02, 3.6376e-02, 3.6620e-02, 3.6864e-02, 3.7108e-02, 3.7352e-02, 3.7596e-02, 3.7841e-02, 3.8085e-02, 3.8329e-02, 3.8573e-02, 3.8817e-02, 3.9061e-02, 3.9305e-02, 3.9550e-02, 3.9794e-02, 4.0038e-02, 4.0282e-02, 4.0526e-02, 4.0770e-02, 4.1014e-02, 4.1259e-02, 4.1503e-02, 4.1747e-02, 4.1991e-02, 4.2235e-02, 4.2479e-02, 4.2723e-02, 4.2968e-02, 4.3212e-02, 4.3456e-02, 4.3700e-02, 4.3944e-02, 4.4188e-02, 4.4432e-02, 4.4677e-02, 4.4921e-02, 4.5165e-02, 4.5409e-02, 4.5653e-02, 4.5897e-02, 4.6141e-02, 4.6386e-02, 4.6630e-02, 4.6874e-02, 4.7118e-02, 4.7362e-02, 4.7606e-02, 4.7850e-02, 4.8095e-02, 4.8339e-02, 4.8583e-02, 4.8827e-02, 4.9071e-02, 4.9315e-02, 4.9559e-02, 4.9803e-02, 5.0048e-02, 5.0292e-02, 5.0536e-02, 5.0780e-02, 5.1024e-02, 5.1268e-02, 5.1512e-02, 5.1757e-02, 5.2001e-02, 5.2245e-02, 5.2489e-02, 5.2733e-02, 5.2977e-02, 5.3221e-02, 5.3466e-02, 5.3710e-02, 5.3954e-02, 5.4198e-02, 5.4442e-02, 5.4686e-02, 5.4930e-02, 5.5175e-02, 5.5419e-02, 5.5663e-02, 5.5907e-02, 5.6151e-02, 5.6395e-02, 5.6639e-02, 5.6884e-02, 5.7128e-02, 5.7372e-02, 5.7616e-02, 5.7860e-02, 5.8104e-02, 5.8348e-02, 5.8593e-02, 5.8837e-02, 5.9081e-02, 5.9325e-02, 5.9569e-02, 5.9813e-02, 6.0057e-02, 6.0301e-02, 6.0546e-02, 6.0790e-02, 6.1034e-02, 6.1278e-02, 6.1522e-02, 6.1766e-02, 6.2010e-02, 6.2255e-02, 6.2499e-02, // NOLINT - 6.2743e-02, 6.2987e-02, 6.3231e-02, 6.3475e-02, 6.3719e-02, 6.3964e-02, 6.4208e-02, 6.4452e-02, 6.4696e-02, 6.4940e-02, 6.5184e-02, 6.5428e-02, 6.5673e-02, 6.5917e-02, 6.6161e-02, 6.6405e-02, 6.6649e-02, 6.6893e-02, 6.7137e-02, 6.7382e-02, 6.7626e-02, 6.7870e-02, 6.8114e-02, 6.8358e-02, 6.8602e-02, 6.8846e-02, 6.9091e-02, 6.9335e-02, 6.9579e-02, 6.9823e-02, 7.0067e-02, 7.0311e-02, 7.0555e-02, 7.0799e-02, 7.1044e-02, 7.1288e-02, 7.1532e-02, 7.1776e-02, 7.2020e-02, 7.2264e-02, 7.2508e-02, 7.2753e-02, 7.2997e-02, 7.3241e-02, 7.3485e-02, 7.3729e-02, 7.3973e-02, 7.4217e-02, 7.4462e-02, 7.4706e-02, 7.4950e-02, 7.5194e-02, 7.5438e-02, 7.5682e-02, 7.5926e-02, 7.6171e-02, 7.6415e-02, 7.6659e-02, 7.6903e-02, 7.7147e-02, 7.7391e-02, 7.7635e-02, 7.7880e-02, 7.8124e-02, 7.8368e-02, 7.8612e-02, 7.8856e-02, 7.9100e-02, 7.9344e-02, 7.9589e-02, 7.9833e-02, 8.0077e-02, 8.0321e-02, 8.0565e-02, 8.0809e-02, 8.1053e-02, 8.1298e-02, 8.1542e-02, 8.1786e-02, 8.2030e-02, 8.2274e-02, 8.2518e-02, 8.2762e-02, 8.3006e-02, 8.3251e-02, 8.3495e-02, 8.3739e-02, 8.3983e-02, 8.4227e-02, 8.4471e-02, 8.4715e-02, 8.4960e-02, 8.5204e-02, 8.5448e-02, 8.5692e-02, 8.5936e-02, 8.6180e-02, 8.6424e-02, 8.6669e-02, 8.6913e-02, 8.7157e-02, 8.7401e-02, 8.7645e-02, 8.7889e-02, 8.8133e-02, 8.8378e-02, 8.8622e-02, 8.8866e-02, 8.9110e-02, 8.9354e-02, 8.9598e-02, 8.9842e-02, 9.0087e-02, 9.0331e-02, 9.0575e-02, 9.0819e-02, 9.1063e-02, 9.1307e-02, 9.1551e-02, 9.1796e-02, 9.2040e-02, 9.2284e-02, 9.2528e-02, 9.2772e-02, 9.3016e-02, 9.3260e-02, 9.3504e-02, 9.3749e-02, 9.4237e-02, 9.4725e-02, 9.5213e-02, 9.5702e-02, 9.6190e-02, 9.6678e-02, 9.7167e-02, 9.7655e-02, 9.8143e-02, 9.8631e-02, 9.9120e-02, 9.9608e-02, 1.0010e-01, 1.0058e-01, 1.0107e-01, 1.0156e-01, 1.0205e-01, 1.0254e-01, 1.0303e-01, 1.0351e-01, 1.0400e-01, 1.0449e-01, 1.0498e-01, 1.0547e-01, 1.0596e-01, 1.0644e-01, 1.0693e-01, 1.0742e-01, 1.0791e-01, 1.0840e-01, 1.0889e-01, 1.0937e-01, 1.0986e-01, 1.1035e-01, 1.1084e-01, 1.1133e-01, 1.1182e-01, 1.1230e-01, 1.1279e-01, 1.1328e-01, 1.1377e-01, 1.1426e-01, 1.1474e-01, 1.1523e-01, 1.1572e-01, 1.1621e-01, 1.1670e-01, 1.1719e-01, 1.1767e-01, 1.1816e-01, 1.1865e-01, 1.1914e-01, 1.1963e-01, 1.2012e-01, 1.2060e-01, 1.2109e-01, 1.2158e-01, 1.2207e-01, 1.2256e-01, 1.2305e-01, 1.2353e-01, 1.2402e-01, 1.2451e-01, 1.2500e-01, 1.2549e-01, 1.2598e-01, 1.2646e-01, 1.2695e-01, 1.2744e-01, 1.2793e-01, 1.2842e-01, 1.2890e-01, 1.2939e-01, 1.2988e-01, 1.3037e-01, 1.3086e-01, 1.3135e-01, 1.3183e-01, 1.3232e-01, 1.3281e-01, 1.3330e-01, 1.3379e-01, 1.3428e-01, 1.3476e-01, 1.3525e-01, 1.3574e-01, 1.3623e-01, 1.3672e-01, 1.3721e-01, 1.3769e-01, 1.3818e-01, 1.3867e-01, 1.3916e-01, 1.3965e-01, 1.4014e-01, 1.4062e-01, 1.4111e-01, 1.4160e-01, 1.4209e-01, 1.4258e-01, 1.4306e-01, 1.4355e-01, 1.4404e-01, 1.4453e-01, 1.4502e-01, 1.4551e-01, 1.4599e-01, 1.4648e-01, 1.4697e-01, 1.4746e-01, 1.4795e-01, 1.4844e-01, 1.4892e-01, 1.4941e-01, 1.4990e-01, 1.5039e-01, 1.5088e-01, 1.5137e-01, 1.5185e-01, 1.5234e-01, 1.5283e-01, 1.5332e-01, 1.5381e-01, 1.5430e-01, 1.5478e-01, 1.5527e-01, 1.5576e-01, 1.5625e-01, // NOLINT - 1.5674e-01, 1.5723e-01, 1.5771e-01, 1.5820e-01, 1.5869e-01, 1.5918e-01, 1.5967e-01, 1.6015e-01, 1.6064e-01, 1.6113e-01, 1.6162e-01, 1.6211e-01, 1.6260e-01, 1.6308e-01, 1.6357e-01, 1.6406e-01, 1.6455e-01, 1.6504e-01, 1.6553e-01, 1.6601e-01, 1.6650e-01, 1.6699e-01, 1.6748e-01, 1.6797e-01, 1.6846e-01, 1.6894e-01, 1.6943e-01, 1.6992e-01, 1.7041e-01, 1.7090e-01, 1.7139e-01, 1.7187e-01, 1.7236e-01, 1.7285e-01, 1.7334e-01, 1.7383e-01, 1.7431e-01, 1.7480e-01, 1.7529e-01, 1.7578e-01, 1.7627e-01, 1.7676e-01, 1.7724e-01, 1.7773e-01, 1.7822e-01, 1.7871e-01, 1.7920e-01, 1.7969e-01, 1.8017e-01, 1.8066e-01, 1.8115e-01, 1.8164e-01, 1.8213e-01, 1.8262e-01, 1.8310e-01, 1.8359e-01, 1.8408e-01, 1.8457e-01, 1.8506e-01, 1.8555e-01, 1.8603e-01, 1.8652e-01, 1.8701e-01, 1.8750e-01, 1.8848e-01, 1.8945e-01, 1.9043e-01, 1.9140e-01, 1.9238e-01, 1.9336e-01, 1.9433e-01, 1.9531e-01, 1.9629e-01, 1.9726e-01, 1.9824e-01, 1.9922e-01, 2.0019e-01, 2.0117e-01, 2.0215e-01, 2.0312e-01, 2.0410e-01, 2.0508e-01, 2.0605e-01, 2.0703e-01, 2.0801e-01, 2.0898e-01, 2.0996e-01, 2.1094e-01, 2.1191e-01, 2.1289e-01, 2.1387e-01, 2.1484e-01, 2.1582e-01, 2.1680e-01, 2.1777e-01, 2.1875e-01, 2.1972e-01, 2.2070e-01, 2.2168e-01, 2.2265e-01, 2.2363e-01, 2.2461e-01, 2.2558e-01, 2.2656e-01, 2.2754e-01, 2.2851e-01, 2.2949e-01, 2.3047e-01, 2.3144e-01, 2.3242e-01, 2.3340e-01, 2.3437e-01, 2.3535e-01, 2.3633e-01, 2.3730e-01, 2.3828e-01, 2.3926e-01, 2.4023e-01, 2.4121e-01, 2.4219e-01, 2.4316e-01, 2.4414e-01, 2.4512e-01, 2.4609e-01, 2.4707e-01, 2.4805e-01, 2.4902e-01, 2.5000e-01, 2.5097e-01, 2.5195e-01, 2.5293e-01, 2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, // NOLINT - 3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 // NOLINT -}; +float ox_lut_func(int x) { + if (x < 512) { + return x * 5.94873e-8; + } else if (512 <= x && x < 768) { + return 3.0458e-05 + (x-512) * 1.19913e-7; + } else if (768 <= x && x < 1536) { + return 6.1154e-05 + (x-768) * 2.38493e-7; + } else if (1536 <= x && x < 1792) { + return 0.0002448 + (x-1536) * 9.56930e-7; + } else if (1792 <= x && x < 2048) { + return 0.00048977 + (x-1792) * 1.91441e-6; + } else if (2048 <= x && x < 2304) { + return 0.00097984 + (x-2048) * 3.82937e-6; + } else if (2304 <= x && x < 2560) { + return 0.0019601 + (x-2304) * 7.659055e-6; + } else if (2560 <= x && x < 2816) { + return 0.0039207 + (x-2560) * 1.525e-5; + } else { + return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421; + } +} float4 normalize_pv(int4 parsed, float vignette_factor) { // PWL - float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]}; + float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)}; return clamp(pv*vignette_factor*256.0, 0.0, 1.0); } @@ -40,4 +43,4 @@ float3 apply_gamma(float3 rgb, int expo_time) { return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089; } -#endif \ No newline at end of file +#endif diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index add514b117..4ab09a9fd2 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -6,7 +6,8 @@ #include #include #include "media/cam_sensor.h" -#include "system/camerad/cameras/camera_common.h" + +#include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/sensors/ar0231_registers.h" #include "system/camerad/sensors/ox03c10_registers.h" #include "system/camerad/sensors/os04c10_registers.h" @@ -19,7 +20,7 @@ public: virtual std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; } virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; } virtual int getSlaveAddress(int port) const { assert(0); } - virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {} + virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {} cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN; float pixel_size_mm; @@ -68,7 +69,7 @@ public: 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; - void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const override; + void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override; private: mutable std::map> ar0231_register_lut; diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 4ba38c1df4..b3369891d7 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -10,7 +10,7 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.system.hardware import PC -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.manager.process_config import managed_processes diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc index be9a0cc59f..0620551ec6 100644 --- a/system/camerad/test/test_ae_gray.cc +++ b/system/camerad/test/test_ae_gray.cc @@ -34,11 +34,11 @@ TEST_CASE("camera.test_set_exposure_target") { uint8_t * fb_y = new uint8_t[W*H]; vb.y = fb_y; cb.cur_yuv_buf = &vb; - cb.rgb_width = W; - cb.rgb_height = H; + cb.out_img_width = W; + cb.out_img_height = H; Rect rect = {0, 0, W-1, H-1}; - printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height); + printf("AE test patterns %dx%d\n", cb.out_img_width, cb.out_img_height); // mix of 5 tones uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 34e58315d0..9ebb9c9d54 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -16,7 +16,7 @@ from openpilot.common.dict_helpers import strip_deprecated_keys from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_HW -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.loggerd.config import get_available_percent from openpilot.system.statsd import statlog diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index eb524dbafa..03e973fd1a 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -431,8 +431,8 @@ class Tici(HardwareBase): # *** GPU config *** # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216 - sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") - sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel") + sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") + sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on") diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index eb3a515b76..0ef34549b5 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,7 +10,6 @@ from cereal.services import SERVICE_LIST from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.mock import mock_messages from openpilot.common.params import Params -from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.system.manager.process_config import managed_processes from openpilot.system.manager.manager import manager_cleanup @@ -34,7 +33,7 @@ class Proc: PROCS = [ Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']), + Proc(['dmonitoringmodeld'], 0.5, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] @@ -43,7 +42,7 @@ PROCS = [ class TestPowerDraw: def setup_method(self): - Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) + Params().put("CarParams", get_demo_car_params().to_bytes()) # wait a bit for power save to disable time.sleep(5) diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater index 11ce7809d0..23cdc140f4 100755 --- a/system/hardware/tici/updater +++ b/system/hardware/tici/updater @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8db3f973663e59921fcc9e5d5600a346c1e229a2e8481a874ef996d97303dc4e -size 16631712 +oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54 +size 10448792 diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 72848609ef..1296f78f61 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -1,5 +1,13 @@ #pragma once +// has to be in this order +#ifdef __linux__ +#include "third_party/linux/include/v4l2-controls.h" +#include +#else +#define V4L2_BUF_FLAG_KEYFRAME 8 +#endif + #include #include #include @@ -9,11 +17,8 @@ #include "cereal/messaging/messaging.h" #include "msgq/visionipc/visionipc.h" #include "common/queue.h" -#include "system/camerad/cameras/camera_common.h" #include "system/loggerd/loggerd.h" -#define V4L2_BUF_FLAG_KEYFRAME 8 - class VideoEncoder { public: VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 1b45df6827..feb9a921ec 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -18,12 +18,12 @@ struct EncoderdState { // Sync logic for startup std::atomic encoders_ready = 0; std::atomic start_frame_id = 0; - bool camera_ready[WideRoadCam + 1] = {}; - bool camera_synced[WideRoadCam + 1] = {}; + bool camera_ready[VISION_STREAM_WIDE_ROAD + 1] = {}; + bool camera_synced[VISION_STREAM_WIDE_ROAD + 1] = {}; }; // Handle initial encoder syncing by waiting for all encoders to reach the same frame id -bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { +bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_id) { if (s->camera_synced[cam_type]) return true; if (s->max_waiting > 1 && s->encoders_ready != s->max_waiting) { @@ -59,7 +59,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // init encoders if (encoders.empty()) { - VisionBuf buf_info = vipc_client.buffers[0]; + const VisionBuf &buf_info = vipc_client.buffers[0]; LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height); assert(buf_info.width > 0 && buf_info.height > 0); @@ -85,7 +85,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { } lagging = false; - if (!sync_encoders(s, cam_info.type, extra.frame_id)) { + if (!sync_encoders(s, cam_info.stream_type, extra.frame_id)) { continue; } if (do_exit) break; diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 8234cd84ad..213aa69d3e 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -40,7 +40,7 @@ kj::Array logger_build_init_data() { init.setOsVersion(util::read_file("/VERSION")); // log params - auto params = Params(util::getenv("PARAMS_COPY_PATH", "")); + Params params(util::getenv("PARAMS_COPY_PATH", "")); std::map params_map = params.readAll(); init.setGitCommit(params_map["GitCommit"]); diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 7c80ba51a2..e8cdadda06 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -5,7 +5,6 @@ #include "cereal/messaging/messaging.h" #include "cereal/services.h" #include "msgq/visionipc/visionipc_client.h" -#include "system/camerad/cameras/camera_common.h" #include "system/hardware/hw.h" #include "common/params.h" #include "common/swaglog.h" @@ -51,7 +50,6 @@ class LogCameraInfo { public: const char *thread_name; int fps = MAIN_FPS; - CameraType type; VisionStreamType stream_type; std::vector encoder_infos; }; @@ -112,42 +110,36 @@ const EncoderInfo qcam_encoder_info = { const LogCameraInfo road_camera_info{ .thread_name = "road_cam_encoder", - .type = RoadCam, .stream_type = VISION_STREAM_ROAD, .encoder_infos = {main_road_encoder_info, qcam_encoder_info} }; const LogCameraInfo wide_road_camera_info{ .thread_name = "wide_road_cam_encoder", - .type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD, .encoder_infos = {main_wide_road_encoder_info} }; const LogCameraInfo driver_camera_info{ .thread_name = "driver_cam_encoder", - .type = DriverCam, .stream_type = VISION_STREAM_DRIVER, .encoder_infos = {main_driver_encoder_info} }; const LogCameraInfo stream_road_camera_info{ .thread_name = "road_cam_encoder", - .type = RoadCam, .stream_type = VISION_STREAM_ROAD, .encoder_infos = {stream_road_encoder_info} }; const LogCameraInfo stream_wide_road_camera_info{ .thread_name = "wide_road_cam_encoder", - .type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD, .encoder_infos = {stream_wide_road_encoder_info} }; const LogCameraInfo stream_driver_camera_info{ .thread_name = "driver_cam_encoder", - .type = DriverCam, .stream_type = VISION_STREAM_DRIVER, .encoder_infos = {stream_driver_encoder_info} }; diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 4688951620..eca5184c92 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -1,4 +1,5 @@ import os +import operator from cereal import car from openpilot.common.params import Params @@ -29,6 +30,18 @@ def ublox(started, params, CP: car.CarParams) -> bool: params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox +def joystick(started: bool, params, CP: car.CarParams) -> bool: + return started and params.get_bool("JoystickDebugMode") + +def not_joystick(started: bool, params, CP: car.CarParams) -> bool: + return started and not params.get_bool("JoystickDebugMode") + +def long_maneuver(started: bool, params, CP: car.CarParams) -> bool: + return started and params.get_bool("LongitudinalManeuverMode") + +def not_long_maneuver(started: bool, params, CP: car.CarParams) -> bool: + return started and not params.get_bool("LongitudinalManeuverMode") + def qcomgps(started, params, CP: car.CarParams) -> bool: return started and not ublox_available() @@ -41,6 +54,12 @@ def only_onroad(started: bool, params, CP: car.CarParams) -> bool: def only_offroad(started, params, CP: car.CarParams) -> bool: return not started +def or_(*fns): + return lambda *args: operator.or_(*(fn(*args) for fn in fns)) + +def and_(*fns): + return lambda *args: operator.and_(*(fn(*args) for fn in fns)) + procs = [ DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), @@ -51,7 +70,7 @@ procs = [ PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), - PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), + NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), @@ -63,7 +82,9 @@ procs = [ NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), - PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), + PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)), + PythonProcess("joystickd", "tools.joystick.joystickd", or_(joystick, notcar)), + PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad), PythonProcess("card", "selfdrive.car.card", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), @@ -73,7 +94,8 @@ procs = [ PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), - PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), + PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver), + PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver), PythonProcess("radard", "selfdrive.controls.radard", only_onroad), PythonProcess("hardwared", "system.hardware.hardwared", always_run), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), @@ -85,6 +107,7 @@ procs = [ NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), + PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)), ] managed_processes = {p.name: p for p in procs} diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py index e5960d1113..497f4f8240 100644 --- a/system/manager/test/test_manager.py +++ b/system/manager/test/test_manager.py @@ -18,7 +18,6 @@ MAX_STARTUP_TIME = 3 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] -@pytest.mark.tici class TestManager: def setup_method(self): HARDWARE.set_power_save(False) diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc index 0459b6ad64..bb560edeab 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ b/system/sensord/sensors/lsm6ds3_gyro.cc @@ -110,7 +110,7 @@ int LSM6DS3_Gyro::init() { uint8_t value = 0; bool do_self_test = false; - const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); + const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { do_self_test = true; } diff --git a/system/updated/updated.py b/system/updated/updated.py index 005c52bc8b..6f9fe173d8 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -17,7 +17,7 @@ from openpilot.common.params import Params from openpilot.common.time import system_time_valid from openpilot.common.markdown import parse_markdown from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.system.hardware import AGNOS, HARDWARE from openpilot.system.version import get_build_metadata diff --git a/tinygrad_repo b/tinygrad_repo index ae5d1407ee..9dda6d260d 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit ae5d1407ee844a97a52ad3756835d38e7e2b9e1b +Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1 diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index d6c2fd0ea9..5c0c2eaba6 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -14,16 +14,18 @@ #include "tools/cabana/commands.h" static bool isMessageActive(const MessageId &id) { - if (auto dummy_stream = dynamic_cast(can)) { - return true; - } if (id.source == INVALID_SOURCE) { return false; } // Check if the message is active based on time difference and frequency const auto &m = can->lastMessage(id); float delta = can->currentSec() - m.ts; - return (m.freq == 0 && delta < 1.5) || (m.freq > 0 && ((delta - 1.0 / settings.fps) < (5.0 / m.freq))); + + if (m.freq < std::numeric_limits::epsilon()) { + return delta < 1.5; + } + + return delta < (5.0 / m.freq) + (1.0 / settings.fps); } MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) { @@ -215,8 +217,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors)); } else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) { return QVariant::fromValue((void*)(&can->lastMessage(item.id).dat)); - } else if (role == Qt::ForegroundRole && !item.active) { - return settings.theme == DARK_THEME ? QApplication::palette().color(QPalette::Text).darker(150) : QColor(Qt::gray); + } else if (role == Qt::ForegroundRole && !isMessageActive(item.id)) { + return QApplication::palette().color(QPalette::Disabled, QPalette::Text); } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) { auto msg = dbc()->msg(item.id); auto tooltip = item.name; @@ -335,11 +337,9 @@ bool MessageListModel::filterAndSort() { std::vector items; items.reserve(all_messages.size()); for (const auto &id : all_messages) { - bool active = isMessageActive(id); - if (active || show_inactive_messages) { + if (show_inactive_messages || isMessageActive(id)) { auto msg = dbc()->msg(id); Item item = {.id = id, - .active = active, .name = msg ? msg->name : UNTITLED, .node = msg ? msg->transmitter : QString()}; if (match(item)) @@ -364,9 +364,6 @@ void MessageListModel::msgsReceived(const std::set *new_msgs, bool ha if (filterAndSort()) return; } - for (auto &item : items_) { - item.active = isMessageActive(item.id); - } // Update viewport emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1)); } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 823fcb74e3..0fc09519a3 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -45,7 +45,6 @@ public: MessageId id; QString name; QString node; - bool active; bool operator==(const Item &other) const { return id == other.id && name == other.name && node == other.node; } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 48f768c819..07d283787f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -148,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -420,8 +420,8 @@ void InfoLabel::paintEvent(QPaintEvent *event) { } } -StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent) - : CameraWidget(stream_name, stream_type, zoom, parent) { +StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent) + : CameraWidget(stream_name, stream_type, parent) { fade_animation = new QPropertyAnimation(this, "overlayOpacity"); fade_animation->setDuration(500); fade_animation->setStartValue(0.2f); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 76364083a8..17bec78545 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -64,7 +64,7 @@ class StreamCameraView : public CameraWidget { Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity) public: - StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); + StreamCameraView(std::string stream_name, VisionStreamType stream_type, QWidget *parent = nullptr); void paintGL() override; void showPausedOverlay() { fade_animation->start(); } float overlayOpacity() const { return overlay_opacity; } diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb index 21d1cb62c0..7b0dd656da 100644 --- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb +++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb @@ -2,19 +2,32 @@ "cells": [ { "cell_type": "code", - "execution_count": 5, - "metadata": {}, - "outputs": [], + "execution_count": 12, + "metadata": { + "jupyter": { + "is_executing": true + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Got 9 Ford cars from opendbc\n" + ] + } + ], "source": [ "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n", "\n", "from openpilot.tools.lib.logreader import LogReader\n", "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", - "from openpilot.selfdrive.car.ford.values import CAR\n", + "from opendbc.car.ford.values import CAR\n", "\n", "database = get_comma_car_segments_database()\n", "\n", - "platforms = [c.value for c in CAR]" + "platforms = [c.value for c in CAR]\n", + "print(f\"Got {len(platforms)} Ford cars from opendbc\")" ] }, { @@ -54,21 +67,24 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 13, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Got 287 segments for platform FORD BRONCO SPORT 1ST GEN, sampling 5 segments\n", - "Got 137 segments for platform FORD ESCAPE 4TH GEN, sampling 5 segments\n", - "Got 1041 segments for platform FORD EXPLORER 6TH GEN, sampling 5 segments\n", - "Got 5 segments for platform FORD F-150 14TH GEN, sampling 5 segments\n", - "Got 56 segments for platform FORD FOCUS 4TH GEN, sampling 5 segments\n", - "Got 637 segments for platform FORD MAVERICK 1ST GEN, sampling 5 segments\n", - "Got 3 segments for platform FORD F-150 LIGHTNING 1ST GEN, sampling 3 segments\n", - "Got 3 segments for platform FORD MUSTANG MACH-E 1ST GEN, sampling 3 segments\n" + "Collecting segments from commaCarSegments dataset:\n", + "Got 287 segments for platform FORD_BRONCO_SPORT_MK1, sampling 5 segments\n", + "Got 137 segments for platform FORD_ESCAPE_MK4, sampling 5 segments\n", + "Got 1041 segments for platform FORD_EXPLORER_MK6, sampling 5 segments\n", + "Got 5 segments for platform FORD_F_150_MK14, sampling 5 segments\n", + "Got 3 segments for platform FORD_F_150_LIGHTNING_MK1, sampling 3 segments\n", + "Got 56 segments for platform FORD_FOCUS_MK4, sampling 5 segments\n", + "Got 637 segments for platform FORD_MAVERICK_MK1, sampling 5 segments\n", + "Got 3 segments for platform FORD_MUSTANG_MACH_E_MK1, sampling 3 segments\n", + "Skipping platform: FORD_RANGER_MK2, no data available\n", + "Segment collection finished\n" ] } ], @@ -79,6 +95,7 @@ "\n", "VINS_TO_CHECK = set()\n", "\n", + "print(\"Collecting segments from commaCarSegments dataset:\")\n", "for platform in platforms:\n", " if platform not in database:\n", " print(f\"Skipping platform: {platform}, no data available\")\n", @@ -97,31 +114,33 @@ " CP = lr.first(\"carParams\")\n", " if \"FORD\" not in CP.carFingerprint:\n", " print(segment, CP.carFingerprint)\n", - " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))" + " VINS_TO_CHECK.add((CP.carVin, CP.carFingerprint))\n", + "\n", + "print(\"Segment collection finished\")" ] }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 16, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "vin: 3FTTW8E34PRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", + "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", "vin: 00000000000XXXXXX real platform: FORD F-150 14TH GEN determined platform: mock correct: False\n", + "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", "vin: 3FMTK3SU0MMXXXXXX real platform: FORD MUSTANG MACH-E 1ST GEN determined platform: FORD MUSTANG MACH-E 1ST GEN correct: True\n", + "vin: 1FM5K8HC7MGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", "vin: 1FTVW1EL4NWXXXXXX real platform: FORD F-150 LIGHTNING 1ST GEN determined platform: FORD F-150 LIGHTNING 1ST GEN correct: True\n", "vin: WF0NXXGCHNJXXXXXX real platform: FORD FOCUS 4TH GEN determined platform: mock correct: False\n", - "vin: 1FMCU9J94MUXXXXXX real platform: FORD ESCAPE 4TH GEN determined platform: mock correct: False\n", - "vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 3FMCR9B69NRXXXXXX real platform: FORD BRONCO SPORT 1ST GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", "vin: 1FM5K8GC7LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 5LM5J7XC9LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", + "vin: 3FTTW8E33NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", "vin: 5LM5J7XC1LGXXXXXX real platform: FORD EXPLORER 6TH GEN determined platform: mock correct: False\n", - "vin: 3FTTW8F97NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n", - "vin: 3FTTW8E99NRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n" + "vin: 3FTTW8E3XPRXXXXXX real platform: FORD MAVERICK 1ST GEN determined platform: mock correct: False\n" ] } ], @@ -134,7 +153,7 @@ ], "metadata": { "kernelspec": { - "display_name": ".venv", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -148,9 +167,9 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.4" + "version": "3.12.3" } }, "nbformat": 4, - "nbformat_minor": 2 + "nbformat_minor": 4 } diff --git a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb new file mode 100644 index 0000000000..5fdbdda684 --- /dev/null +++ b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb @@ -0,0 +1,277 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 62, + "id": "228a6736-de31-4255-9d72-a6ff391b968d", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Found 6 qualifying vehicles:\n", + " KIA_EV6\n", + " HYUNDAI_KONA_EV_2ND_GEN\n", + " HYUNDAI_IONIQ_5\n", + " KIA_NIRO_EV_2ND_GEN\n", + " HYUNDAI_IONIQ_6\n", + " GENESIS_GV60_EV_1ST_GEN\n" + ] + } + ], + "source": [ + "from opendbc.car import structs\n", + "from opendbc.car.hyundai.values import CAR, HyundaiFlags\n", + "from opendbc.car.hyundai.fingerprints import FW_VERSIONS\n", + "\n", + "TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) & set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD electric vehicles only\n", + "#TEST_PLATFORMS = set(CAR.with_flags(HyundaiFlags.CANFD)) - set(CAR.with_flags(HyundaiFlags.EV)) # CAN-FD hybrid and ICE vehicles only\n", + "\n", + "print(f\"Found {len(TEST_PLATFORMS)} qualifying vehicles:\")\n", + "for platform in TEST_PLATFORMS:\n", + " print(f\" {platform}\")" + ] + }, + { + "cell_type": "code", + "execution_count": 63, + "id": "ed1c8aec-c274-4c61-b83d-711ea194bf86", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Collecting segments from commaCarSegments dataset:\n", + "Got 1300 segments for platform KIA_EV6, sampling 5 segments\n", + "Got 9 segments for platform HYUNDAI_KONA_EV_2ND_GEN, sampling 5 segments\n", + "Got 1570 segments for platform HYUNDAI_IONIQ_5, sampling 5 segments\n", + "Got 34 segments for platform KIA_NIRO_EV_2ND_GEN, sampling 5 segments\n", + "Got 974 segments for platform HYUNDAI_IONIQ_6, sampling 5 segments\n", + "Got 157 segments for platform GENESIS_GV60_EV_1ST_GEN, sampling 5 segments\n", + "Collected 30 segments for analysis\n" + ] + } + ], + "source": [ + "import random\n", + "\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n", + "from opendbc.car.hyundai.values import CAR\n", + "\n", + "database = get_comma_car_segments_database()\n", + "TEST_SEGMENTS = []\n", + "\n", + "MAX_SEGS_PER_PLATFORM = 5 # TODO: Increase this to search more segments\n", + "\n", + "print(\"Collecting segments from commaCarSegments dataset:\")\n", + "for platform in TEST_PLATFORMS:\n", + " assert(platform in database)\n", + " #if platform not in database:\n", + " # print(f\"Skipping platform: {platform}, no data available\")\n", + " # continue\n", + " \n", + " all_segments = database[platform]\n", + "\n", + " NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n", + "\n", + " print(f\"Got {len(all_segments)} segments for platform {platform}, sampling {NUM_SEGMENTS} segments\")\n", + "\n", + " TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n", + "\n", + "print(f\"Collected {len(TEST_SEGMENTS)} segments for analysis\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": 64, + "id": "0c75e8f2-4f5f-4f89-b8db-5223a6534a9f", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Analyzing segment ff2bd20623fcaeaa/2023-11-26--16-27-04/5/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 3f1a6480f940cf9a/2024-01-10--23-06-11/16/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b0a9998109ed0053/2023-12-15--11-10-18/12/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 6e14aa2ed85025df/2023-11-15--13-18-12/24/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment a43f21df3a1ca12d/2024-01-25--08-56-22/16/s for KIA EV6 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-12-05--13-49-24/11/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-11-26--12-31-18/17/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-12-05--11-51-44/3/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2023-08-27--09-32-14/13/s for HYUNDAI KONA 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 1618132d68afc876/2024-01-25--15-07-04/24/s for HYUNDAI KONA ELECTRIC 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 223780ed74116bc2/2023-11-16--09-44-56/15/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment ba9951252624f37d/2024-01-20--22-33-23/118/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 8379b28e51ceb3b1/2023-11-09--23-21-58/92/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 26fac43e27cd6091/2023-11-06--12-23-21/9/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=1.0\n", + " ACCELERATOR gear=0.0\n", + "Analyzing segment 5edb897a0ec7a477/2024-01-13--20-41-36/101/s for HYUNDAI IONIQ 5 2022\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 66cf8ea23b7c2789/2023-12-04--13-48-53/5/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-12-10--20-31-37/2/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-12-03--21-08-30/14/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-11-07--19-52-23/0/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment b153671049a867b3/2023-07-12--19-25-18/6/s for KIA NIRO EV 2ND GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 9ea4578ee2b1abcb/2023-11-18--07-59-26/11/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 0ad7facc77922c3e/2023-12-21--17-47-25/18/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 26968f888e7330d3/2024-01-02--11-18-37/8/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 9ea4578ee2b1abcb/2023-11-27--21-03-24/33/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment df7fdd56970d90fe/2024-01-07--01-04-39/26/s for HYUNDAI IONIQ 6 2023\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2023-12-11--14-45-44/0/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2023-12-11--20-57-09/8/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2024-01-03--12-52-38/5/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2024-01-19--19-57-52/47/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analyzing segment 94542b2d06f7a9a6/2024-01-03--13-01-23/1/s for GENESIS GV60 ELECTRIC 1ST GEN\n", + " GEAR_SHIFTER gear=4.0\n", + " ACCELERATOR gear=5.0\n", + "Analysis finished\n" + ] + } + ], + "source": [ + "import copy\n", + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "from opendbc.car.hyundai.values import DBC\n", + "from opendbc.car.hyundai.hyundaicanfd import CanBus\n", + "\n", + "from openpilot.selfdrive.pandad import can_capnp_to_list\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "\n", + "message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n", + "\n", + "for segment in TEST_SEGMENTS:\n", + " lr = LogReader(segment)\n", + " CP = lr.first(\"carParams\")\n", + " if CP is None:\n", + " continue\n", + "\n", + " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", + " parser_messages = []\n", + " for name in message_names:\n", + " parser_messages.append((name, 0))\n", + " cp = CANParser(DBC[platform][\"pt\"], parser_messages, CanBus(CP).ECAN)\n", + "\n", + " parsed_message_history = []\n", + " examples = []\n", + "\n", + " for msg in can_msgs:\n", + " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", + " parsed_message_history.append(copy.copy(cp.vl))\n", + "\n", + " print(f\"Analyzing segment {segment:<44} for {CP.carFingerprint}\")\n", + " for name in message_names:\n", + " if parsed_message_history[0][name][\"CHECKSUM\"] != 0: # Message is present for this segment\n", + " gear_prev = parsed_message_history[0][name][\"GEAR\"]\n", + " print(f\" {name:<15} gear={gear_prev}\")\n", + " for i, parsed_messages in enumerate(parsed_message_history):\n", + " gear = parsed_messages[name][\"GEAR\"]\n", + " if gear != gear_prev:\n", + " print(f\" *** Signal transition found! ***\")\n", + " examples.append(i)\n", + " gear_prev = gear\n", + "\n", + "print(f\"Analysis finished\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "7724dd97-f62e-4fd3-9f64-63d49be669d2", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "9f393e00-8efd-40fb-a41e-d312531a83e8", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.3" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb index 1048011c05..708e55865b 100644 --- a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb +++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb @@ -2,32 +2,24 @@ "cells": [ { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n" - ] - } - ], + "outputs": [], "source": [ - "from cereal import car\n", - "from openpilot.selfdrive.car.subaru.values import CAR, SubaruFlags\n", - "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n", + "from opendbc.car import structs\n", + "from opendbc.car.subaru.values import CAR, SubaruFlags\n", + "from opendbc.car.subaru.fingerprints import FW_VERSIONS\n", "\n", "TEST_PLATFORMS = set(CAR) - CAR.with_flags(SubaruFlags.PREGLOBAL)\n", "\n", - "Ecu = car.CarParams.Ecu\n", + "Ecu = structs.CarParams.Ecu\n", "\n", "FW_BY_ECU = {platform: {ecu: versions for (ecu, addr, sub_addr), versions in fw_versions.items()} for platform, fw_versions in FW_VERSIONS.items()}" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -59,7 +51,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -83,64 +75,66 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 9, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "SUBARU IMPREZA LIMITED 2019 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", - "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", - "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2019 years=[2020]\n", - "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2021 years=[2020]\n", - "correct_year=False platform=SUBARU FORESTER HYBRID 2020 year=2019 years=[2020]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2018 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023, 2024]\n", - "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023, 2024]\n", - "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023, 2024]\n", - "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023, 2024]\n", - "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", - "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU ASCENT 2023 year=2023 years=[2023]\n", - "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2019 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2021 years=[2019, 2020, 2021]\n", - "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", - "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n" + "SUBARU_IMPREZA 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU_IMPREZA 08 not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU_IMPREZA 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU_IMPREZA 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU_IMPREZA 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "SUBARU_IMPREZA 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", + "correct_year=False platform=SUBARU_FORESTER year=2018 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU_FORESTER year=2018 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_FORESTER year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_FORESTER year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_FORESTER year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_FORESTER year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_FORESTER year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2022 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_OUTBACK year=2022 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU_FORESTER_HYBRID year=2019 years=[2020]\n", + "correct_year=False platform=SUBARU_CROSSTREK_HYBRID year=2019 years=[2020]\n", + "correct_year=False platform=SUBARU_CROSSTREK_HYBRID year=2021 years=[2020]\n", + "correct_year=True platform=SUBARU_ASCENT_2023 year=2023 years=[2023]\n", + "correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU_IMPREZA year=2018 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU_IMPREZA year=2019 years=[2017, 2018, 2019]\n", + "correct_year=False platform=SUBARU_FORESTER_2022 year=2021 years=[2022, 2023, 2024]\n", + "correct_year=False platform=SUBARU_FORESTER_2022 year=2021 years=[2022, 2023, 2024]\n", + "correct_year=True platform=SUBARU_FORESTER_2022 year=2022 years=[2022, 2023, 2024]\n", + "correct_year=True platform=SUBARU_FORESTER_2022 year=2022 years=[2022, 2023, 2024]\n", + "correct_year=True platform=SUBARU_ASCENT year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_ASCENT year=2021 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU_OUTBACK_2023 year=2023 years=[2023]\n", + "correct_year=True platform=SUBARU_OUTBACK_2023 year=2023 years=[2023]\n", + "correct_year=False platform=SUBARU_IMPREZA_2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU_IMPREZA_2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_IMPREZA_2020 year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_IMPREZA_2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU_LEGACY year=2020 years=[2020, 2021, 2022]\n" ] } ], @@ -160,64 +154,66 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 10, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU FORESTER HYBRID 2020 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU ASCENT 2023 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", - "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", - "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n" + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER_HYBRID platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_CROSSTREK_HYBRID platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_CROSSTREK_HYBRID platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_ASCENT_2023 platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_FORESTER_2022 platforms=['SUBARU_FORESTER', 'SUBARU_FORESTER_HYBRID', 'SUBARU_FORESTER_2022']\n", + "in_possible_platforms=True platform=SUBARU_ASCENT platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n", + "in_possible_platforms=True platform=SUBARU_ASCENT platforms=['SUBARU_ASCENT', 'SUBARU_ASCENT_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK_2023 platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_OUTBACK_2023 platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_IMPREZA_2020 platforms=['SUBARU_IMPREZA', 'SUBARU_IMPREZA_2020', 'SUBARU_CROSSTREK_HYBRID']\n", + "in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n", + "in_possible_platforms=True platform=SUBARU_LEGACY platforms=['SUBARU_OUTBACK', 'SUBARU_LEGACY', 'SUBARU_OUTBACK_2023']\n" ] } ], @@ -231,11 +227,18 @@ "for platform, possible_platforms in codes:\n", " test_platform_code(platform, possible_platforms)" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { "kernelspec": { - "display_name": ".venv", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -249,9 +252,9 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.4" + "version": "3.12.3" } }, "nbformat": 4, - "nbformat_minor": 2 + "nbformat_minor": 4 } diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb index 35b92702a7..d4a4705d95 100644 --- a/tools/car_porting/examples/subaru_long_accel.ipynb +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -14,7 +14,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -22,8 +22,8 @@ "import numpy as np\n", "\n", "from opendbc.can.parser import CANParser\n", + "from opendbc.car.subaru.values import DBC\n", "\n", - "from openpilot.selfdrive.car.subaru.values import DBC\n", "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", @@ -64,7 +64,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -95,11 +95,18 @@ "ax.set_ylabel(\"Acceleration\")\n", "ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -113,9 +120,9 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.4" + "version": "3.12.3" } }, "nbformat": 4, - "nbformat_minor": 2 + "nbformat_minor": 4 } diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index 8b762fecb8..10abe8ed31 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -25,8 +25,8 @@ "import numpy as np\n", "\n", "from opendbc.can.parser import CANParser\n", + "from opendbc.car.subaru.values import CanBus, DBC\n", "\n", - "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", @@ -85,11 +85,18 @@ "\n", " plt.show()\n" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -103,9 +110,9 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.4" + "version": "3.12.3" } }, "nbformat": 4, - "nbformat_minor": 2 + "nbformat_minor": 4 } diff --git a/tools/joystick/README.md b/tools/joystick/README.md index aea93dad53..eb67060ca8 100644 --- a/tools/joystick/README.md +++ b/tools/joystick/README.md @@ -2,33 +2,33 @@ **Hardware needed**: device running openpilot, laptop, joystick (optional) -With joystickd, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard. -joystickd uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks. +With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard. +joystick_control uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks. ## Usage -The car must be off, and openpilot must be offroad before starting `joystickd`. +The car must be off, and openpilot must be offroad before starting `joystick_control`. ### Using a keyboard -SSH into your comma device and start joystickd with the following command: +SSH into your comma device and start joystick_control with the following command: ```shell -tools/joystick/joystickd.py --keyboard +tools/joystick/joystick_control.py --keyboard ``` The available buttons and axes will print showing their key mappings. In general, the WASD keys control gas and brakes and steering torque in 5% increments. ### Joystick on your comma three -Plug the joystick into your comma three aux USB-C port. Then, SSH into the device and start `joystickd.py`. +Plug the joystick into your comma three aux USB-C port. Then, SSH into the device and start `joystick_control.py`. ### Joystick on your laptop -In order to use a joystick over the network, we need to run joystickd locally from your laptop and have it send `testJoystick` packets over the network to the comma device. +In order to use a joystick over the network, we need to run joystick_control locally from your laptop and have it send `testJoystick` packets over the network to the comma device. 1. Connect a joystick to your PC. -2. Connect your laptop to your comma device's hotspot and open a new SSH shell. Since joystickd is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode: +2. Connect your laptop to your comma device's hotspot and open a new SSH shell. Since joystick_control is being run on your laptop, we need to write a parameter to let controlsd know to start in joystick debug mode: ```shell # on your comma device echo -n "1" > /data/params/d/JoystickDebugMode @@ -38,11 +38,11 @@ In order to use a joystick over the network, we need to run joystickd locally fr # on your comma device cereal/messaging/bridge {LAPTOP_IP} testJoystick ``` -4. Start joystickd on your laptop in ZMQ mode. +4. Start joystick_control on your laptop in ZMQ mode. ```shell # on your laptop export ZMQ=1 - tools/joystick/joystickd.py + tools/joystick/joystick_control.py ``` --- diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py new file mode 100755 index 0000000000..d31546e058 --- /dev/null +++ b/tools/joystick/joystick_control.py @@ -0,0 +1,147 @@ +#!/usr/bin/env python3 +import os +import argparse +import threading +from inputs import UnpluggedError, get_gamepad + +from cereal import messaging +from openpilot.common.numpy_fast import interp, clip +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper +from openpilot.system.hardware import HARDWARE +from openpilot.tools.lib.kbhit import KBHit + +EXPO = 0.4 + + +class Keyboard: + def __init__(self): + self.kb = KBHit() + self.axis_increment = 0.05 # 5% of full actuation each key press + self.axes_map = {'w': 'gb', 's': 'gb', + 'a': 'steer', 'd': 'steer'} + self.axes_values = {'gb': 0., 'steer': 0.} + self.axes_order = ['gb', 'steer'] + self.cancel = False + + def update(self): + key = self.kb.getch().lower() + self.cancel = False + if key == 'r': + self.axes_values = {ax: 0. for ax in self.axes_values} + elif key == 'c': + self.cancel = True + elif key in self.axes_map: + axis = self.axes_map[key] + incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment + self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1) + else: + return False + return True + + +class Joystick: + def __init__(self): + # This class supports a PlayStation 5 DualSense controller on the comma 3X + # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it + self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle + if HARDWARE.get_device_type() == 'pc': + accel_axis = 'ABS_Z' + steer_axis = 'ABS_RX' + # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering + self.flip_map = {'ABS_RZ': accel_axis} + else: + accel_axis = 'ABS_RX' + steer_axis = 'ABS_Z' + self.flip_map = {'ABS_RY': accel_axis} + + self.min_axis_value = {accel_axis: 0., steer_axis: 0.} + self.max_axis_value = {accel_axis: 255., steer_axis: 255.} + self.axes_values = {accel_axis: 0., steer_axis: 0.} + self.axes_order = [accel_axis, steer_axis] + self.cancel = False + + def update(self): + try: + joystick_event = get_gamepad()[0] + except (OSError, UnpluggedError): + self.axes_values = {ax: 0. for ax in self.axes_values} + return False + + event = (joystick_event.code, joystick_event.state) + + # flip left trigger to negative accel + if event[0] in self.flip_map: + event = (self.flip_map[event[0]], -event[1]) + + if event[0] == self.cancel_button: + if event[1] == 1: + self.cancel = True + elif event[1] == 0: # state 0 is falling edge + self.cancel = False + elif event[0] in self.axes_values: + self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]]) + self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]]) + + norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]) + norm = norm if abs(norm) > 0.03 else 0. # center can be noisy, deadzone of 3% + self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm # less action near center for fine control + else: + return False + return True + + +def send_thread(joystick): + pm = messaging.PubMaster(['testJoystick']) + + rk = Ratekeeper(100, print_delay_threshold=None) + + while True: + if rk.frame % 20 == 0: + print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items())) + + joystick_msg = messaging.new_message('testJoystick') + joystick_msg.valid = True + joystick_msg.testJoystick.axes = [joystick.axes_values[ax] for ax in joystick.axes_order] + + pm.send('testJoystick', joystick_msg) + + rk.keep_time() + + +def joystick_control_thread(joystick): + Params().put_bool('JoystickDebugMode', True) + threading.Thread(target=send_thread, args=(joystick,), daemon=True).start() + while True: + joystick.update() + + +def main(): + joystick_control_thread(Joystick()) + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' + + 'openpilot must be offroad before starting joystick_control. This tool supports ' + + 'a PlayStation 5 DualSense controller on the comma 3X.', + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick') + args = parser.parse_args() + + if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ: + print("The car must be off before running joystick_control.") + exit() + + print() + if args.keyboard: + print('Gas/brake control: `W` and `S` keys') + print('Steering control: `A` and `D` keys') + print('Buttons') + print('- `R`: Resets axes') + print('- `C`: Cancel cruise control') + else: + print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!') + print('If not running on a comma device, the mapping may need to be adjusted.') + + joystick = Keyboard() if args.keyboard else Joystick() + joystick_control_thread(joystick) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index 982af9767f..f8c000c259 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -1,126 +1,71 @@ #!/usr/bin/env python3 -import os -import argparse -import threading -from inputs import get_gamepad - -import cereal.messaging as messaging -from openpilot.common.realtime import Ratekeeper -from openpilot.common.numpy_fast import interp, clip + +import math + +from cereal import messaging, car +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL, Ratekeeper from openpilot.common.params import Params -from openpilot.tools.lib.kbhit import KBHit - -JS_EXPO = 0.4 - - -class Keyboard: - def __init__(self): - self.kb = KBHit() - self.axis_increment = 0.05 # 5% of full actuation each key press - self.axes_map = {'w': 'gb', 's': 'gb', - 'a': 'steer', 'd': 'steer'} - self.axes_values = {'gb': 0., 'steer': 0.} - self.axes_order = ['gb', 'steer'] - self.cancel = False - - def update(self): - key = self.kb.getch().lower() - self.cancel = False - if key == 'r': - self.axes_values = {ax: 0. for ax in self.axes_values} - elif key == 'c': - self.cancel = True - elif key in self.axes_map: - axis = self.axes_map[key] - incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment - self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1) - else: - return False - return True - - -class Joystick: - def __init__(self): - # This class supports a PlayStation 5 DualSense controller on the comma 3X - # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it - # TODO: the mapping can also be wrong on PC depending on the driver - self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle - accel_axis = 'ABS_RX' - steer_axis = 'ABS_Z' - # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering - self.flip_map = {'ABS_RY': accel_axis} - self.min_axis_value = {accel_axis: 0., steer_axis: 0.} - self.max_axis_value = {accel_axis: 255., steer_axis: 255.} - self.axes_values = {accel_axis: 0., steer_axis: 0.} - self.axes_order = [accel_axis, steer_axis] - self.cancel = False - - def update(self): - joystick_event = get_gamepad()[0] - event = (joystick_event.code, joystick_event.state) - - # flip left trigger to negative accel - if event[0] in self.flip_map: - event = (self.flip_map[event[0]], -event[1]) - - if event[0] == self.cancel_button: - if event[1] == 1: - self.cancel = True - elif event[1] == 0: # state 0 is falling edge - self.cancel = False - elif event[0] in self.axes_values: - self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]]) - self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]]) - - norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]) - norm = norm if abs(norm) > 0.03 else 0. # center can be noisy, deadzone of 3% - self.axes_values[event[0]] = JS_EXPO * norm ** 3 + (1 - JS_EXPO) * norm # less action near center for fine control - else: - return False - return True +from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel + +MAX_LAT_ACCEL = 2.5 -def send_thread(joystick): - joystick_sock = messaging.pub_sock('testJoystick') +def joystickd_thread(): + params = Params() + cloudlog.info("joystickd is waiting for CarParams") + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) + VM = VehicleModel(CP) + + sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL) + pm = messaging.PubMaster(['carControl', 'controlsState']) + rk = Ratekeeper(100, print_delay_threshold=None) while 1: - dat = messaging.new_message('testJoystick') - dat.testJoystick.axes = [joystick.axes_values[a] for a in joystick.axes_order] - dat.testJoystick.buttons = [joystick.cancel] - joystick_sock.send(dat.to_bytes()) - print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items())) + sm.update(0) + + cc_msg = messaging.new_message('carControl') + cc_msg.valid = True + CC = cc_msg.carControl + CC.enabled = sm['selfdriveState'].enabled + CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent + CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl + + actuators = CC.actuators + + # reset joystick if it hasn't been received in a while + should_reset_joystick = sm.recv_frame['testJoystick'] == 0 or (sm.frame - sm.recv_frame['testJoystick'])*DT_CTRL > 0.2 + + if not should_reset_joystick: + joystick_axes = sm['testJoystick'].axes + else: + joystick_axes = [0.0, 0.0] + + if CC.longActive: + actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1) + + if CC.latActive: + max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5) + max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll)) + + actuators.steer = clip(joystick_axes[1], -1, 1) + actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature + + pm.send('carControl', cc_msg) + + cs_msg = messaging.new_message('controlsState') + cs_msg.valid = True + controlsState = cs_msg.controlsState + controlsState.lateralControlState.init('debugState') + pm.send('controlsState', cs_msg) + rk.keep_time() -def joystick_thread(joystick): - Params().put_bool('JoystickDebugMode', True) - threading.Thread(target=send_thread, args=(joystick,), daemon=True).start() - while True: - joystick.update() - - -if __name__ == '__main__': - parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' + - 'openpilot must be offroad before starting joystickd. This tool supports ' + - 'a PlayStation 5 DualSense controller on the comma 3X.', - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick') - args = parser.parse_args() - - if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ: - print("The car must be off before running joystickd.") - exit() - - print() - if args.keyboard: - print('Gas/brake control: `W` and `S` keys') - print('Steering control: `A` and `D` keys') - print('Buttons') - print('- `R`: Resets axes') - print('- `C`: Cancel cruise control') - else: - print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!') - print('If not running on a comma device, the mapping may need to be adjusted.') - - joystick = Keyboard() if args.keyboard else Joystick() - joystick_thread(joystick) +def main(): + joystickd_thread() + + +if __name__ == "__main__": + main() diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md index 24169dfaef..110970308a 100644 --- a/tools/latencylogger/README.md +++ b/tools/latencylogger/README.md @@ -51,7 +51,7 @@ Frame ID: 1202 Execution finished 63.002552 modelV2 published 63.148747 modelV2.modelExecutionTime 23.62649142742157 - modelV2.gpuExecutionTime 0.0 + modelV2.gpuExecutionTimeDEPRECATED 0.0 plannerd longitudinalPlan published 69.715999 longitudinalPlan.solverExecutionTime 0.5619999719783664 diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index f145cc35e4..32df0da4b5 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -23,7 +23,7 @@ MSGQ_TO_SERVICE = { } SERVICE_TO_DURATIONS = { 'camerad': ['processingTime'], - 'modeld': ['modelExecutionTime', 'gpuExecutionTime'], + 'modeld': ['modelExecutionTime', 'gpuExecutionTimeDEPRECATED'], 'plannerd': ['solverExecutionTime'], } diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py index 3881ee7d18..c6365cdfec 100755 --- a/tools/lib/kbhit.py +++ b/tools/lib/kbhit.py @@ -4,13 +4,13 @@ import termios import atexit from select import select -STDIN_FD = sys.stdin.fileno() class KBHit: def __init__(self) -> None: ''' Creates a KBHit object that you can call to do various keyboard things. ''' + self.stdin_fd = sys.stdin.fileno() self.set_kbhit_terminal() def set_kbhit_terminal(self) -> None: @@ -18,12 +18,12 @@ class KBHit: ''' # Save the terminal settings - self.old_term = termios.tcgetattr(STDIN_FD) + self.old_term = termios.tcgetattr(self.stdin_fd) self.new_term = self.old_term.copy() # New terminal setting unbuffered self.new_term[3] &= ~(termios.ICANON | termios.ECHO) - termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term) + termios.tcsetattr(self.stdin_fd, termios.TCSAFLUSH, self.new_term) # Support normal-terminal reset at exit atexit.register(self.set_normal_term) @@ -32,7 +32,7 @@ class KBHit: ''' Resets to normal terminal. On Windows this is a no-op. ''' - termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term) + termios.tcsetattr(self.stdin_fd, termios.TCSAFLUSH, self.old_term) @staticmethod def getch() -> str: diff --git a/tools/longitudinal_maneuvers/.gitignore b/tools/longitudinal_maneuvers/.gitignore new file mode 100644 index 0000000000..e819fa6268 --- /dev/null +++ b/tools/longitudinal_maneuvers/.gitignore @@ -0,0 +1 @@ +/longitudinal_reports/ diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md new file mode 100644 index 0000000000..643af7fd82 --- /dev/null +++ b/tools/longitudinal_maneuvers/README.md @@ -0,0 +1,48 @@ +# Longitudinal Maneuvers Testing Tool + +Test your vehicle's longitudinal control tuning with this tool. The tool will test the vehicle's ability to follow a few longitudinal maneuvers and includes a tool to generate a report from the route. + +
Sample snapshot of a report.
+ +## Instructions + +1. Check out a development branch such as `master` on your comma device. +2. Locate either a large empty parking lot or road devoid of any car or foot traffic. Flat, straight road is preferred. The full maneuver suite can take 1 mile or more if left running, however it is recommended to disengage openpilot between maneuvers and turn around if there is not enough space. +3. Turn off the vehicle and set this parameter which will signal to openpilot to start the longitudinal maneuver daemon: + + ```sh + echo -n 1 > /data/params/d/LongitudinalManeuverMode + ``` + +4. Turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert: + + ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f) + +5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel. + + **Note:** For GM cars, it is recommended to hold down the resume button for all low-speed tests (starting, stopping and creep) to avoid the car entering standstill. + + ![cog-clip-00 01 11 250-00 01 22 250](https://github.com/user-attachments/assets/c312c1cc-76e8-46e1-a05e-bb9dfb58994f) + +6. When the testing is complete, you'll see an alert that says "Maneuvers Finished." Complete the route by pulling over and turning off the vehicle. + + ![fin2](https://github.com/user-attachments/assets/c06960ae-7cfb-44af-beaa-4dc28848e49d) + +7. Visit https://connect.comma.ai and locate the route(s). They will stand out with lots of orange intervals in their timeline. Ensure "All logs" show as "uploaded." + + ![image](https://github.com/user-attachments/assets/cfe4c6d9-752f-4b24-b421-4b90a01933dc) + +8. Gather the route ID and then run the report generator. The file will be exported to the same directory: + + ```sh + $ python tools/longitudinal_maneuvers/generate_report.py 57048cfce01d9625/0000010e--5b26bc3be7 'pcm accel compensation' + + processing report for LEXUS_ES_TSS2 + plotting maneuver: start from stop, runs: 4 + plotting maneuver: creep: alternate between +1m/s^2 and -1m/s^2, runs: 2 + plotting maneuver: gas step response: +1m/s^2 from 20mph, runs: 2 + + Report written to /home/batman/openpilot/tools/longitudinal_maneuvers/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_0000010e--5b26bc3be7.html + ``` + +You can reach out on [Discord](https://discord.comma.ai) if you have any questions about these instructions or the tool itself. diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py new file mode 100755 index 0000000000..eb8c13271a --- /dev/null +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python3 +import argparse +import base64 +import io +import os +import math +import pprint +from collections import defaultdict +from pathlib import Path +import matplotlib.pyplot as plt + +from openpilot.tools.lib.logreader import LogReader +from openpilot.system.hardware.hw import Paths + + +def format_car_params(CP): + return pprint.pformat({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2) + + +def report(platform, route, _description, CP, maneuvers): + output_path = Path(__file__).resolve().parent / "longitudinal_reports" + output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html" + output_path.mkdir(exist_ok=True) + target_cross_times = defaultdict(list) + with open(output_fn, "w") as f: + f.write("

Longitudinal maneuver report

\n") + f.write(f"

{platform}

\n") + f.write(f"

{route}

\n") + if _description is not None: + f.write(f"

Description: {_description}

\n") + f.write(f"

CarParams

{format_car_params(CP)}
\n") + for description, runs in maneuvers: + print(f'plotting maneuver: {description}, runs: {len(runs)}') + f.write("
\n") + f.write(f"

{description}

\n") + for run, msgs in enumerate(runs): + t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True) + t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True) + t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True) + t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True) + t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True) + + # make time relative seconds + t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl] + t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput] + t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState] + t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose] + t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan] + + # maneuver validity + longActive = [m.longActive for m in carControl] + maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState) + + _open = 'open' if maneuver_valid else '' + title = f'Run #{int(run)+1}' + (' (invalid maneuver!)' if not maneuver_valid else '') + + f.write(f"

{title}

\n") + + # get first acceleration target and first intersection + aTarget = longitudinalPlan[0].aTarget + target_cross_time = None + f.write(f'

Initial aTarget: {aTarget} m/s^2') + + # Localizer is noisy, require two consecutive 20Hz frames above threshold + prev_crossed = False + for t, lp in zip(t_livePose, livePose, strict=True): + crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x) + if crossed and prev_crossed: + f.write(f', crossed in {t:.3f}s') + target_cross_time = t + if maneuver_valid: + target_cross_times[description].append(t) + break + prev_crossed = crossed + else: + f.write(', not crossed') + f.write('

') + + pitches = [math.degrees(m.orientationNED[1]) for m in carControl] + f.write(f'

Average pitch: {sum(pitches) / len(pitches):0.2f} degrees

') + + plt.rcParams['font.size'] = 40 + fig = plt.figure(figsize=(30, 26)) + ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]}) + + ax[0].grid(linewidth=4) + ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6) + ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6) + ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6) + ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6) + ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6) + # TODO localizer accel + ax[0].set_ylabel('Acceleration (m/s^2)') + #ax[0].set_ylim(-6.5, 6.5) + ax[0].legend(prop={'size': 30}) + + if target_cross_time is not None: + ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None') + + ax[1].grid(linewidth=4) + ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6) + ax[1].set_ylabel('Velocity (m/s)') + ax[1].legend() + + ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6) + ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6) + ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6) + for i in (2, 3): + ax[i].set_yticks([0, 1], minor=False) + ax[i].set_ylim(-1, 2) + ax[i].legend() + + ax[-1].set_xlabel("Time (s)") + fig.tight_layout() + + buffer = io.BytesIO() + fig.savefig(buffer, format='png') + buffer.seek(0) + f.write(f"\n") + f.write("
\n") + + f.write("

Summary

\n") + for description, runs in maneuvers: + times = target_cross_times[description] + f.write(f"

{description}

\n") + f.write(f"

Target crossed {len(times)} out of {len(runs)} runs

\n") + if len(times): + f.write(f"

Mean time to cross: {sum(times) / len(times):.3f}s, min: {min(times):.3f}s, max: {max(times):.3f}s

\n") + + print(f"\nReport written to {output_fn}\n") + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='Generate longitudinal maneuver report from route') + parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)') + parser.add_argument('description', type=str, nargs='?') + + args = parser.parse_args() + + if '/' in args.route or '|' in args.route: + lr = LogReader(args.route) + else: + segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg] + lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs]) + + CP = lr.first('carParams') + platform = CP.carFingerprint + print('processing report for', platform) + + maneuvers: list[tuple[str, list[list]]] = [] + active_prev = False + description_prev = None + + for msg in lr: + if msg.which() == 'alertDebug': + active = 'Maneuver Active' in msg.alertDebug.alertText1 + if active and not active_prev: + if msg.alertDebug.alertText2 == description_prev: + maneuvers[-1][1].append([]) + else: + maneuvers.append((msg.alertDebug.alertText2, [[]])) + description_prev = maneuvers[-1][0] + active_prev = active + + if active_prev: + maneuvers[-1][1][-1].append(msg) + + report(platform, args.route, args.description, CP, maneuvers) diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py new file mode 100755 index 0000000000..07582c3e6c --- /dev/null +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python3 +from dataclasses import dataclass + +from cereal import messaging, car +from opendbc.car.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_MDL +from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog + + +@dataclass +class Action: + accel: float # m/s^2 + duration: float # seconds + + +@dataclass +class Maneuver: + description: str + actions: list[Action] + repeat: int = 0 + initial_speed: float = 0. # m/s + + _active: bool = False + _finished: bool = False + _action_index: int = 0 + _action_frames: int = 0 + _ready_cnt: int = 0 + _repeated: int = 0 + + def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float: + ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill + if self.initial_speed < 0.01: + ready = ready and standstill + self._ready_cnt = (self._ready_cnt + 1) if ready else 0 + + if self._ready_cnt > (3. / DT_MDL): + self._active = True + + if not self._active: + return min(max(self.initial_speed - v_ego, -2.), 2.) + + action = self.actions[self._action_index] + + self._action_frames += 1 + + # reached duration of action + if self._action_frames > (action.duration / DT_MDL): + # next action + if self._action_index < len(self.actions) - 1: + self._action_index += 1 + self._action_frames = 0 + # repeat maneuver + elif self._repeated < self.repeat: + self._repeated += 1 + self._action_index = 0 + self._action_frames = 0 + self._active = False + # finish maneuver + else: + self._finished = True + + return action.accel + + @property + def finished(self): + return self._finished + + @property + def active(self): + return self._active + + +MANEUVERS = [ + Maneuver( + "come to stop", + [Action(-0.5, 12)], + repeat=2, + initial_speed=5., + ), + Maneuver( + "start from stop", + [Action(1.5, 5)], + repeat=3, + initial_speed=0., + ), + Maneuver( + "creep: alternate between +1m/s^2 and -1m/s^2", + [ + Action(1, 3), Action(-1, 3), + Action(1, 3), Action(-1, 3), + Action(1, 3), Action(-1, 3), + ], + repeat=2, + initial_speed=0., + ), + Maneuver( + "brake step response: -1m/s^2 from 20mph", + [Action(-1, 3)], + repeat=2, + initial_speed=20. * CV.MPH_TO_MS, + ), + Maneuver( + "brake step response: -4m/s^2 from 20mph", + [Action(-4, 3)], + repeat=2, + initial_speed=20. * CV.MPH_TO_MS, + ), + Maneuver( + "gas step response: +1m/s^2 from 20mph", + [Action(1, 3)], + repeat=2, + initial_speed=20. * CV.MPH_TO_MS, + ), + Maneuver( + "gas step response: +4m/s^2 from 20mph", + [Action(4, 3)], + repeat=2, + initial_speed=20. * CV.MPH_TO_MS, + ), +] + + +def main(): + params = Params() + cloudlog.info("joystickd is waiting for CarParams") + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) + + sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2') + pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug']) + + maneuvers = iter(MANEUVERS) + maneuver = None + + while True: + sm.update() + + if maneuver is None: + maneuver = next(maneuvers, None) + + alert_msg = messaging.new_message('alertDebug') + alert_msg.valid = True + + plan_send = messaging.new_message('longitudinalPlan') + plan_send.valid = sm.all_checks() + + longitudinalPlan = plan_send.longitudinalPlan + accel = 0 + v_ego = max(sm['carState'].vEgo, 0) + + if maneuver is not None: + accel = maneuver.get_accel(v_ego, sm['carControl'].longActive, sm['carState'].standstill, sm['carState'].cruiseState.standstill) + + if maneuver.active: + alert_msg.alertDebug.alertText1 = f'Maneuver Active: {accel:0.2f} m/s^2' + else: + alert_msg.alertDebug.alertText1 = f'Setting up to {maneuver.initial_speed * CV.MS_TO_MPH:0.2f} mph' + alert_msg.alertDebug.alertText2 = f'{maneuver.description}' + else: + alert_msg.alertDebug.alertText1 = 'Maneuvers Finished' + + pm.send('alertDebug', alert_msg) + + longitudinalPlan.aTarget = accel + longitudinalPlan.shouldStop = v_ego < CP.vEgoStopping and accel < 1e-2 + + longitudinalPlan.allowBrake = True + longitudinalPlan.allowThrottle = True + longitudinalPlan.hasLead = True + + pm.send('longitudinalPlan', plan_send) + + assistance_send = messaging.new_message('driverAssistance') + assistance_send.valid = True + pm.send('driverAssistance', assistance_send) + + if maneuver is not None and maneuver.finished: + maneuver = None diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 82bd36622f..6f52e70006 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -16,6 +16,8 @@ from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log juggle_dir = os.path.dirname(os.path.realpath(__file__)) +os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/" + DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest" INSTALL_DIR = os.path.join(juggle_dir, "bin") diff --git a/tools/replay/README.md b/tools/replay/README.md index 67cfcd75a6..5e91aae943 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -1,31 +1,55 @@ # Replay -## Replay driving data +`replay` allows you to simulate a driving session by replaying all messages logged during the use of openpilot. This provides a way to analyze and visualize system behavior as if it were live. -`replay` replays all the messages logged while running openpilot. +## Setup + +Before starting a replay, you need to authenticate with your comma account using `auth.py`. This will allow you to access your routes from the server. ```bash -# Log in via browser to have access to routes from your comma account +# Authenticate to access routes from your comma account: python3 tools/lib/auth.py +``` -# Start a replay +## Replay a Remote Route +You can replay a route from your comma account by specifying the route name. + +```bash +# Start a replay with a specific route: tools/replay/replay # Example: tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19' -# or use --demo to replay the default demo route: + +# Replay the default demo route: tools/replay/replay --demo +``` -# watch the replay with the normal openpilot UI -cd selfdrive/ui && ./ui +## Replay a Local Route +To replay a route stored locally on your machine, specify the route name and provide the path to the directory where the route files are stored. -# or try out radar point visualization in Rerun: -python3 replay/rp_visualization.py +```bash +# Replay a local route +tools/replay/replay --data_dir="/path_to/route" + +# Example: +# If you have a local route stored at /path_to_routes with segments like: +# a2a0ccea32023010|2023-07-27--13-01-19--0 +# a2a0ccea32023010|2023-07-27--13-01-19--1 +# You can replay it like this: +tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes" +``` -# NOTE: To visualize radar points, make sure tools/replay/replay is running. +## Send Messages via ZMQ +By default, replay sends messages via MSGQ. To switch to ZMQ, set the ZMQ environment variable. + +```bash +# Start replay and send messages via ZMQ: +ZMQ=1 tools/replay/replay ``` -## usage +## Usage +For more information on available options and arguments, use the help command: ``` bash $ tools/replay/replay -h @@ -57,6 +81,30 @@ Arguments: connect.comma.ai ``` +## Visualize the Replay in the Openpilot UI +To visualize the replay within the openpilot UI, run the following commands: + +```bash +tools/replay/replay +cd selfdrive/ui && ./ui +``` + +## Try Radar Point Visualization with Rerun +To visualize radar points, run rp_visualization.py while tools/replay/replay is active. + +```bash +tools/replay/replay +python3 replay/rp_visualization.py +``` + +## Work with plotjuggler +If you want to use replay with plotjuggler, you can stream messages by running: + +```bash +tools/replay/replay +tools/plotjuggler/juggle.py --stream +``` + ## watch3 watch all three cameras simultaneously from your comma three routes with watch3 diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index ded966da6d..914c18e15f 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,7 +1,9 @@ #include "tools/replay/camera.h" -#include #include +#include + +#include #include "third_party/linux/include/msm_media_info.h" #include "tools/replay/util.h" diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index 7a4d024aa2..03ea5be8b2 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -4,8 +4,8 @@ #include #include "msgq/visionipc/visionbuf.h" -#include "system/camerad/cameras/camera_common.h" #include "tools/replay/filereader.h" +#include "tools/replay/util.h" extern "C" { #include diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index ab35954db6..f8d60ffadd 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -4,7 +4,6 @@ #include #include "cereal/gen/cpp/log.capnp.h" -#include "system/camerad/cameras/camera_common.h" #include "tools/replay/util.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 81e87b7dd3..0ae0c05f9b 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -329,8 +329,17 @@ std::string decompressZST(const std::byte *in, size_t in_size, std::atomic // Initialize input and output buffers ZSTD_inBuffer input = {in, in_size, 0}; + + // Estimate and reserve memory for decompressed data + size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in, in_size); + if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) { + estimatedDecompressedSize = in_size * 2; // Use a fallback size + } + std::string decompressedData; - const size_t bufferSize = ZSTD_DStreamOutSize(); // recommended output buffer size + decompressedData.reserve(estimatedDecompressedSize); + + const size_t bufferSize = ZSTD_DStreamOutSize(); // Recommended output buffer size std::string outputBuffer(bufferSize, '\0'); while (input.pos < input.size && !(abort && *abort)) { diff --git a/tools/replay/util.h b/tools/replay/util.h index c3b016c391..d6c26a3471 100644 --- a/tools/replay/util.h +++ b/tools/replay/util.h @@ -4,6 +4,13 @@ #include #include #include +#include "cereal/messaging/messaging.h" + +enum CameraType { + RoadCam = 0, + DriverCam, + WideRoadCam +}; enum class ReplyMsgType { Info, diff --git a/uv.lock b/uv.lock index 141cf78797..81c6fa00c2 100644 --- a/uv.lock +++ b/uv.lock @@ -11,16 +11,16 @@ resolution-markers = [ [[package]] name = "aiohappyeyeballs" -version = "2.4.0" +version = "2.4.2" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/2d/f7/22bba300a16fd1cad99da1a23793fe43963ee326d012fdf852d0b4035955/aiohappyeyeballs-2.4.0.tar.gz", hash = "sha256:55a1714f084e63d49639800f95716da97a1f173d46a16dfcfda0016abb93b6b2", size = 16786 } +sdist = { url = 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