Merge remote-tracking branch 'upstream/master' into hkg-fuzzy

panda

@@ -1 +1 @@
-Subproject commit bf2c0071036bae4e0c00c37ae43237fce6063e31
+Subproject commit 1a9a94c519cb74e9e0f57bea4d316a54c27ea8aa

selfdrive/boardd/tests/test_pandad.py

@@ -1,16 +1,19 @@
 #!/usr/bin/env python3
+import os
 import time
 import unittest
 
 import cereal.messaging as messaging
 from cereal import log
 from common.gpio import gpio_set, gpio_init
-from panda import Panda
+from panda import Panda, PandaDFU
 from selfdrive.test.helpers import phone_only
 from selfdrive.manager.process_config import managed_processes
 from system.hardware import HARDWARE
 from system.hardware.tici.pins import GPIO
 
+HERE = os.path.dirname(os.path.realpath(__file__))
+
 
 class TestPandad(unittest.TestCase):
 
@@ -27,11 +30,13 @@ class TestPandad(unittest.TestCase):
     if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+  def _go_to_dfu(self):
+    HARDWARE.recover_internal_panda()
+    assert Panda.wait_for_dfu(None, 10)
+
   @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    time.sleep(1)
-
     managed_processes['pandad'].start()
     self._wait_for_boardd(60)
 
@@ -66,9 +71,25 @@ class TestPandad(unittest.TestCase):
     managed_processes['pandad'].start()
     self._wait_for_boardd(8)
 
+  @phone_only
+  def test_release_to_devel_bootstub(self):
+    if HARDWARE.get_device_type() != 'tici':
+      self.skipTest("TODO: fix reset timeout")
+
+    # flash release bootstub
+    self._go_to_dfu()
+    pd = PandaDFU(None)
+    fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
+    with open(fn, "rb") as f:
+      pd.program_bootstub(f.read())
+    pd.reset()
+
+    assert Panda.wait_for_panda(None, 20)
+    with Panda() as p:
+      assert p.bootstub
 
-  #def test_out_of_date_fw(self):
-  #  pass
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(60)
 
 
 if __name__ == "__main__":

selfdrive/manager/process_config.py

@@ -47,7 +47,7 @@ procs = [
   NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
   NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),

selfdrive/test/process_replay/process_replay.py

@@ -6,6 +6,7 @@ import platform
 from collections import OrderedDict
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Callable
+from tqdm import tqdm
 
 import cereal.messaging as messaging
 from cereal import car
@@ -77,9 +78,9 @@ class ReplayContext:
   def wait_for_recv_called(self):
     messaging.wait_for_one_event(self.all_recv_called_events)
 
-  def wait_for_next_recv(self, end_of_cycle):
+  def wait_for_next_recv(self, trigger_empty_recv):
     index = messaging.wait_for_one_event(self.all_recv_called_events)
-    if self.drained_pub is not None and end_of_cycle:
+    if self.drained_pub is not None and trigger_empty_recv:
       self.all_recv_called_events[index].clear()
       self.all_recv_ready_events[index].set()
       self.all_recv_called_events[index].wait()
@@ -147,6 +148,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     sendcan = DummySocket()
 
     canmsgs = [msg for msg in msgs if msg.which() == "can"]
+    assert len(canmsgs) != 0, "CAN messages are required for carParams initialization"
+
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
@@ -256,7 +259,7 @@ CONFIGS = [
     subs=["liveCalibration"],
     ignore=["logMonoTime", "valid"],
     config_callback=None,
-    init_callback=get_car_params_callback,
+    init_callback=None,
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(
@@ -265,7 +268,7 @@ CONFIGS = [
     subs=["driverMonitoringState"],
     ignore=["logMonoTime", "valid"],
     config_callback=None,
-    init_callback=get_car_params_callback,
+    init_callback=None,
     should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
@@ -278,7 +281,7 @@ CONFIGS = [
     subs=["liveLocationKalman"],
     ignore=["logMonoTime", "valid"],
     config_callback=locationd_config_pubsub_callback,
-    init_callback=get_car_params_callback,
+    init_callback=None,
     should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
   ),
@@ -307,7 +310,7 @@ CONFIGS = [
     subs=["gnssMeasurements"],
     ignore=["logMonoTime"],
     config_callback=laikad_config_pubsub_callback,
-    init_callback=get_car_params_callback,
+    init_callback=None,
     should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
     timeout=60*10,  # first messages are blocked on internet assistance
@@ -338,9 +341,9 @@ def replay_process_with_name(name, lr, *args, **kwargs):
   return replay_process(cfg, lr, *args, **kwargs)
 
 
-def replay_process(cfg, lr, fingerprint=None, return_all_logs=False):
+def replay_process(cfg, lr, fingerprint=None, return_all_logs=False, disable_progress=False):
   all_msgs = list(lr)
-  process_logs = _replay_single_process(cfg, all_msgs, fingerprint)
+  process_logs = _replay_single_process(cfg, all_msgs, fingerprint, disable_progress)
 
   if return_all_logs:
     keys = set(cfg.subs)
@@ -354,7 +357,7 @@ def replay_process(cfg, lr, fingerprint=None, return_all_logs=False):
   return log_msgs
 
 
-def _replay_single_process(cfg, lr, fingerprint):
+def _replay_single_process(cfg, lr, fingerprint, disable_progress):
   with OpenpilotPrefix():
     controlsState = None
     initialized = False
@@ -402,7 +405,7 @@ def _replay_single_process(cfg, lr, fingerprint):
 
         # Do the replay
         cnt = 0
-        for msg in pub_msgs:
+        for msg in tqdm(pub_msgs, disable=disable_progress):
           with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
             resp_sockets, end_of_cycle = cfg.subs, True
             if cfg.should_recv_callback is not None:
@@ -417,12 +420,17 @@ def _replay_single_process(cfg, lr, fingerprint):
                 for s in sockets.values():
                   messaging.recv_one_or_none(s)
 
+              # empty recv on drained pub indicates the end of messages, only do that if there're any
+              trigger_empty_recv = False
+              if cfg.drained_pub:
+                trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.drained_pub), False)
+
               for m in msg_queue:
                 pm.send(m.which(), m.as_builder())
               msg_queue = []
 
               rc.unlock_sockets()
-              rc.wait_for_next_recv(True)
+              rc.wait_for_next_recv(trigger_empty_recv)
 
               for s in resp_sockets:
                 ms = messaging.drain_sock(sockets[s])  

selfdrive/test/process_replay/test_processes.py

@@ -99,7 +99,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   ref_log_msgs = list(LogReader(ref_log_path))
 
   try:
-    log_msgs = replay_process(cfg, lr)
+    log_msgs = replay_process(cfg, lr, disable_progress=True)
   except Exception as e:
     raise Exception("failed on segment: " + segment) from e
 

selfdrive/ui/translations/main_pt-BR.ts

@@ -1057,7 +1057,7 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Aggressive</source>
-        <translation>Disputador</translation>
+        <translation>Disputa</translation>
     </message>
     <message>
         <source>Standard</source>
@@ -1069,11 +1069,11 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>Driving Personality</source>
-        <translation>Personalidade de Condução</translation>
+        <translation>Temperamento de Direção</translation>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
-        <translation>Neutro é o recomendado. No modo disputador o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
+        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
     </message>
 </context>
 <context>

system/hardware/tici/tests/test_power_draw.py

@@ -5,29 +5,33 @@ import math
 import threading
 from dataclasses import dataclass
 from tabulate import tabulate
+from typing import List
 
 import cereal.messaging as messaging
+from cereal.services import service_list
 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
 
+SAMPLE_TIME = 8   # seconds to sample power
 
 @dataclass
 class Proc:
   name: str
   power: float
+  msgs: List[str]
   rtol: float = 0.05
   atol: float = 0.12
   warmup: float = 6.
 
 PROCS = [
-  Proc('camerad', 2.1),
-  Proc('modeld', 0.93, atol=0.2),
-  Proc('dmonitoringmodeld', 0.4),
-  Proc('encoderd', 0.23),
-  Proc('mapsd', 0.05),
-  Proc('navmodeld', 0.05),
+  Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
+  Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
+  Proc('encoderd', 0.23, msgs=[]),
+  Proc('mapsd', 0.05, msgs=['mapRenderState']),
+  Proc('navmodeld', 0.05, msgs=['navModel']),
 ]
 
 def send_llk_msg(done):
@@ -39,6 +43,7 @@ def send_llk_msg(done):
 
   # Send liveLocationKalman at 20hz
   while not done.is_set():
+    msg.clear_write_flag()
     pm.send('liveLocationKalman', msg)
     time.sleep(1/20)
 
@@ -68,25 +73,33 @@ class TestPowerDraw(unittest.TestCase):
 
     prev = baseline
     used = {}
+    msg_counts = {}
     for proc in PROCS:
+      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
       managed_processes[proc.name].start()
       time.sleep(proc.warmup)
+      for sock in socks.values():
+        messaging.drain_sock_raw(sock)
 
-      now = get_power(8)
+      now = get_power(SAMPLE_TIME)
       used[proc.name] = now - prev
       prev = now
+      for msg,sock in socks.items():
+        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
 
     done.set()
     manager_cleanup()
 
-    tab = []
-    tab.append(['process', 'expected (W)', 'measured (W)'])
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
     for proc in PROCS:
       cur = used[proc.name]
       expected = proc.power
-      tab.append([proc.name, round(expected, 2), round(cur, 2)])
+      msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
         self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
+        self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")