diff --git a/.gitattributes b/.gitattributes
index d00208ba84..8781a7371f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,18 +1,24 @@
* text=auto
+# 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
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.ttf filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+
selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text
-selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text
system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text
third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index cf7a70a3f5..47d0d480a9 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,69 +1,79 @@
CI / testing:
- - all:
- - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']
+ - changed-files:
+ - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
-car:
- - all:
- - changed-files: ['selfdrive/car/**']
+car:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/**'
body:
- - all:
- - changed-files: ['selfdrive/car/body/*']
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/body/*'
+
chrysler:
- - all:
- - changed-files: ['selfdrive/car/chrysler/*']
-ford:
- - all:
- - changed-files: ['selfdrive/car/ford/*']
-gm:
- - all:
- - changed-files: ['selfdrive/car/gm/*']
-honda:
- - all:
- - changed-files: ['selfdrive/car/honda/*']
-hyundai:
- - all:
- - changed-files: ['selfdrive/car/hyundai/*']
-mazda:
- - all:
- - changed-files: ['selfdrive/car/mazda/*']
-nissan:
- - all:
- - changed-files: ['selfdrive/car/nissan/*']
-subaru:
- - all:
- - changed-files: ['selfdrive/car/subaru/*']
-tesla:
- - all:
- - changed-files: ['selfdrive/car/tesla/*']
-toyota:
- - all:
- - changed-files: ['selfdrive/car/toyota/*']
-volkswagen:
- - all:
- - changed-files: ['selfdrive/car/volkswagen/*']
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/chrysler/*'
+
+ford:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/ford/*'
+
+gm:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/gm/*'
+
+honda:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/honda/*'
+
+hyundai:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/hyundai/*'
+
+mazda:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/mazda/*'
+
+nissan:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/nissan/*'
+
+subaru:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/subaru/*'
+
+tesla:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+
+toyota:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/toyota/*'
+
+volkswagen:
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
fingerprint:
- - all:
- - changed-files: ['selfdrive/car/*/fingerprints.py']
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
simulation:
- - all:
- - changed-files: ['tools/sim/**']
+ - changed-files:
+ - any-glob-to-all-files: 'tools/sim/**'
+
ui:
- - all:
- - changed-files: ['selfdrive/ui/**']
-tools:
- - all:
- - changed-files: ['tools/**']
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/ui/**'
+
+tools:
+ - changed-files:
+ - any-glob-to-all-files: 'tools/**'
multilanguage:
- - all:
- - changed-files: ['selfdrive/ui/translations/**']
+ - changed-files:
+ - any-glob-to-all-files: 'selfdrive/ui/translations/**'
research:
- - all:
- - changed-files: [
- 'selfdrive/modeld/models/**',
- 'selfdrive/test/process_replay/model_replay_ref_commit',
- ]
+ - changed-files:
+ - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index fd95592e91..0b748063bc 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -13,7 +13,7 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: false
- - uses: actions/labeler@v5.0.0-alpha.1
+ - uses: actions/labeler@v5.0.0
with:
dot: true
configuration-path: .github/labeler.yaml
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index f5b0b8c558..58095cf19c 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -18,7 +18,7 @@ jobs:
steps:
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
- uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
+ uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
with:
ref: master
wait-interval: 30
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 7c36410b32..cd2ebd9f82 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -21,7 +21,7 @@ jobs:
sudo apt-get install -y libyaml-dev
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
- uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
+ uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
with:
ref: master
wait-interval: 30
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d037011701..3c95d8055b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -20,11 +20,11 @@ env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
BUILD: selfdrive/test/docker_build.sh base
- RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+ RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
BUILD_CL: selfdrive/test/docker_build.sh cl
- RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
+ RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/bash -c
PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
@@ -51,7 +51,7 @@ jobs:
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
run: |
cd $STRIPPED_DIR
- ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
+ ${{ env.RUN }} "python selfdrive/manager/build.py"
- name: Run tests
timeout-minutes: 3
run: |
@@ -213,7 +213,7 @@ jobs:
- name: Run replay
timeout-minutes: 30
run: |
- ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+ ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
chmod -R 777 /tmp/comma_download_cache && \
coverage combine && \
coverage xml"
@@ -230,7 +230,7 @@ jobs:
- name: Upload reference logs
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
- ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+ ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
with:
@@ -286,7 +286,7 @@ jobs:
timeout-minutes: 4
run: |
${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
- ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+ ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
coverage combine && \
coverage xml"
- name: Run unit tests
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 342b05bfc0..9f1ba1ab97 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,8 +19,9 @@ repos:
- id: check-executables-have-shebangs
- id: check-shebang-scripts-are-executable
- id: check-added-large-files
+ exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
args:
- - --maxkb=500
+ - --maxkb=120
- --enforce-all
- repo: https://github.com/codespell-project/codespell
rev: v2.2.6
@@ -95,4 +96,4 @@ repos:
# name: format-fingerprints
# entry: selfdrive/debug/format_fingerprints.py
# language: system
-# types: [python]
\ No newline at end of file
+# types: [python]
diff --git a/Jenkinsfile b/Jenkinsfile
index 9868777dfb..0ae5f5076d 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -110,18 +110,20 @@ def pcStage(String stageName, Closure body) {
return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
}
- openpilot_base.inside(dockerArgs) {
- timeout(time: 20, unit: 'MINUTES') {
- try {
- retryWithDelay (3, 15) {
- sh "git config --global --add safe.directory '*'"
- sh "git submodule update --init --recursive"
- sh "git lfs pull"
- }
- body()
- } finally {
- sh "rm -rf ${env.WORKSPACE}/* || true"
- sh "rm -rf .* || true"
+ lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
+ openpilot_base.inside(dockerArgs) {
+ timeout(time: 20, unit: 'MINUTES') {
+ try {
+ retryWithDelay (3, 15) {
+ sh "git config --global --add safe.directory '*'"
+ sh "git submodule update --init --recursive"
+ sh "git lfs pull"
+ }
+ body()
+ } finally {
+ sh "rm -rf ${env.WORKSPACE}/* || true"
+ sh "rm -rf .* || true"
+ }
}
}
}
@@ -241,7 +243,7 @@ node {
'replay': {
deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
- ["model replay", "selfdrive/test/process_replay/model_replay.py", ["tinygrad/", "selfdrive/modeld/"]],
+ ["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
diff --git a/RELEASES.md b/RELEASES.md
index 226a272824..b12f22d280 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -8,7 +8,7 @@ Version 0.9.6 (20XX-XX-XX)
* Hyundai Staria 2023 support thanks to sunnyhaibin!
* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Toyota RAV4 2023 support
-* Toyota RAV4 Hybrid 2023 support
+* Toyota RAV4 Hybrid 2023-24 support
Version 0.9.5 (2023-11-17)
========================
diff --git a/SConstruct b/SConstruct
index 8790221315..e1a9b82c7f 100644
--- a/SConstruct
+++ b/SConstruct
@@ -14,6 +14,8 @@ AGNOS = TICI
Decider('MD5-timestamp')
+SetOption('num_jobs', int(os.cpu_count()/2))
+
AddOption('--kaitai',
action='store_true',
help='Regenerate kaitai struct parsers')
@@ -37,7 +39,7 @@ AddOption('--clazy',
AddOption('--compile_db',
action='store_true',
help='build clang compilation database')
-
+
AddOption('--ccflags',
action='store',
type='string',
diff --git a/body b/body
index cad7ef43ad..3aa61382b7 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit cad7ef43ad5daf40b44d4792d47671c397cca376
+Subproject commit 3aa61382b7ea9328cab7f1a2fe1ec701dffd018f
diff --git a/cereal b/cereal
index 8ae5c51a65..e29625c30b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 8ae5c51a6515c171f3a82c9511a18d79a9e55c07
+Subproject commit e29625c30bb2a4a34ce21134d0e5a91b2d4fa1b1
diff --git a/common/realtime.py b/common/realtime.py
index 05e19e770f..a398146166 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -78,7 +78,7 @@ class Ratekeeper:
time.sleep(self._remaining)
return lagged
- # this only monitor the cumulative lag, but does not enforce a rate
+ # Monitors the cumulative lag, but does not enforce a rate
def monitor_time(self) -> bool:
prev = self._last_monitor_time
self._last_monitor_time = time.monotonic()
diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md
index 9d6f8bc97b..a927a33b89 100644
--- a/docs/BOUNTIES.md
+++ b/docs/BOUNTIES.md
@@ -10,11 +10,11 @@ Get paid to improve openpilot!
* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit
-New bounties can be proposed in the **#contributing** channel in Discord.
+New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.
## Issue bounties
-We've tagged bounty eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
+We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot
* **$300** - a day of work for an experienced openpilot developer
* **$500** - a few days of work for an experienced openpilot developer
diff --git a/docs/CARS.md b/docs/CARS.md
index e48f4765bb..bb2484e816 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.
-# 273 Supported Cars
+# 274 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Hardware Needed
|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -132,7 +132,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|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)
Buy Here
|
|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|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)
Buy HereParts
- 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 HereParts
- 1 Hyundai F 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 HereParts
- 1 Hyundai D 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 HereParts
- 1 Hyundai F 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 HereParts
- 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 HereParts
- 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)
Buy HereParts
- 1 Hyundai D 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 HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
'
-VIDEO_ICON = '\
- 
'
+STAR_ICON = '![]()
'
+VIDEO_ICON = '' + \
+ '
'
COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
ARROW_SYMBOL = "➡️"
diff --git a/selfdrive/debug/profiling/clpeak/clpeak3 b/selfdrive/debug/profiling/clpeak/clpeak3
deleted file mode 100755
index 4b3c4c130e..0000000000
Binary files a/selfdrive/debug/profiling/clpeak/clpeak3 and /dev/null differ
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
index 3b0961537e..93edb593cc 100644
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048
-size 14138061
+oid sha256:4971931accb5ba2e534bb3e0c591826ee507e2988df2eccf1fe862c303ddf9c5
+size 14221074
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
index e878ec25af..cb6e55b75f 100644
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132
+oid sha256:fa346ada6f8c6326a5ee5fcd27e45e3e710049358079413c6a4624b20c6e1e47
size 3630942
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 9697c01793..ca8642093d 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:cf6133c5bff295a3ee69eeb01297ba77adb6b83dbc1d774442a48117dbaf4626
-size 48457192
+oid sha256:ae44fe832fe48b89998f09cebb1bcd129864a8f51497b636cd38e66e46d69a89
+size 48457850
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index bb111e22e2..1be0aaf8c3 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-91cd2bf71771c2770c0effc26c0bb23d27208138
+ad64b6f38c1362e9d184f3fc95299284eacb56d4
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index df9bb24651..08f6f10642 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) : CameraView("camerad", VISION_STREAM_DRIVER, true, 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]() {
@@ -20,22 +20,20 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VI
void DriverViewWindow::showEvent(QShowEvent* event) {
params.putBool("IsDriverViewEnabled", true);
device()->resetInteractiveTimeout(60);
- CameraWidget::showEvent(event);
+ CameraView::showEvent(event);
}
void DriverViewWindow::hideEvent(QHideEvent* event) {
params.putBool("IsDriverViewEnabled", false);
- stopVipcThread();
- CameraWidget::hideEvent(event);
+ CameraView::hideEvent(event);
}
void DriverViewWindow::paintGL() {
- CameraWidget::paintGL();
+ CameraView::paintGL();
- std::lock_guard lk(frame_lock);
QPainter p(this);
// startup msg
- if (frames.empty()) {
+ if (!frame) {
p.setPen(Qt::white);
p.setRenderHint(QPainter::TextAntialiasing);
p.setFont(InterFont(100, QFont::Bold));
@@ -47,7 +45,6 @@ void DriverViewWindow::paintGL() {
cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
-
bool face_detected = driver_data.getFaceProb() > 0.7;
if (face_detected) {
auto fxy_list = driver_data.getFacePosition();
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 155e4ede32..97dd2faa78 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -2,7 +2,7 @@
#include "selfdrive/ui/qt/widgets/cameraview.h"
-class DriverViewWindow : public CameraWidget {
+class DriverViewWindow : public CameraView {
Q_OBJECT
public:
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 4df0ed81cb..ed4bdc15fb 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -44,12 +44,12 @@ 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 CameraView("camerad", VISION_STREAM_ROAD, true, this);
split->insertWidget(0, arCam);
}
if (getenv("MAP_RENDER_VIEW")) {
- CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
+ CameraWidget *map_render = new CameraView("navd", VISION_STREAM_MAP, false, this);
split->insertWidget(0, map_render);
}
@@ -126,6 +126,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
#endif
alerts->updateAlert({});
+ nvg->disconnectVipc();
}
void OnroadWindow::primeChanged(bool prime) {
@@ -328,6 +329,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
map_settings_btn->setVisible(!hideBottomIcons);
main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
}
+
+ update();
}
void AnnotatedCameraWidget::drawHud(QPainter &p) {
@@ -609,21 +612,6 @@ void AnnotatedCameraWidget::paintGL() {
// draw camera frame
{
- std::lock_guard lk(frame_lock);
-
- if (frames.empty()) {
- if (skip_frame_count > 0) {
- skip_frame_count--;
- qDebug() << "skipping frame, not ready";
- return;
- }
- } else {
- // skip drawing up to this many frames if we're
- // missing camera frames. this smooths out the
- // transitions from the narrow and wide cameras
- skip_frame_count = 5;
- }
-
// Wide or narrow cam dependent on speed
bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
if (has_wide_cam) {
@@ -639,14 +627,18 @@ void AnnotatedCameraWidget::paintGL() {
}
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
- s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
+ s->scene.wide_cam = CameraWidget::streamType() == 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());
+
+ if (!CameraWidget::receiveFrame(sm["uiPlan"].getUiPlan().getFrameId())) {
+ qDebug() << "skipping frame, not ready";
+ return;
+ }
CameraWidget::paintGL();
}
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index b3ba411453..f6b80a75de 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -93,8 +93,6 @@ private:
bool v_ego_cluster_seen = false;
int status = STATUS_DISENGAGED;
std::unique_ptr pm;
-
- int skip_frame_count = 0;
bool wide_cam_requested = false;
protected:
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 3b3666b19a..67f1c136d2 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -34,6 +34,11 @@ bool is_elf(char *fname) {
}
void Setup::download(QString url) {
+ // autocomplete incomplete urls
+ if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
+ url.prepend("https://installer.comma.ai/");
+ }
+
CURL *curl = curl_easy_init();
if (!curl) {
emit finished(url, tr("Something went wrong. Reboot the device."));
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 7b1f2f1d24..4d370b8cc5 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -6,14 +6,6 @@
#include
#endif
-#include
-#include
-#include
-#include
-
-#include
-#include
-
namespace {
const char frame_vertex_shader[] =
@@ -95,24 +87,25 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
} // namespace
-CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
- stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
- setAttribute(Qt::WA_OpaquePaintEvent);
- qRegisterMetaType>("availableStreams");
- QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
- QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
- QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent)
+ : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
}
CameraWidget::~CameraWidget() {
makeCurrent();
- stopVipcThread();
if (isValid()) {
glDeleteVertexArrays(1, &frame_vao);
glDeleteBuffers(1, &frame_vbo);
glDeleteBuffers(1, &frame_ibo);
glDeleteBuffers(2, textures);
}
+#ifdef QCOM2
+ EGLDisplay egl_display = eglGetCurrentDisplay();
+ for (auto &pair : egl_images) {
+ eglDestroyImageKHR(egl_display, pair.second);
+ }
+ egl_images.clear();
+#endif
doneCurrent();
}
@@ -176,45 +169,11 @@ void CameraWidget::initializeGL() {
#endif
}
-void CameraWidget::showEvent(QShowEvent *event) {
- if (!vipc_thread) {
- clearFrames();
- vipc_thread = new QThread();
- connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
- connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
- vipc_thread->start();
- }
-}
-
-void CameraWidget::stopVipcThread() {
- makeCurrent();
- if (vipc_thread) {
- vipc_thread->requestInterruption();
- vipc_thread->quit();
- vipc_thread->wait();
- vipc_thread = nullptr;
- }
-
-#ifdef QCOM2
- EGLDisplay egl_display = eglGetCurrentDisplay();
- assert(egl_display != EGL_NO_DISPLAY);
- for (auto &pair : egl_images) {
- eglDestroyImageKHR(egl_display, pair.second);
- assert(eglGetError() == EGL_SUCCESS);
- }
- egl_images.clear();
-#endif
-}
-
-void CameraWidget::availableStreamsUpdated(std::set streams) {
- available_streams = streams;
-}
-
void CameraWidget::updateFrameMat() {
int w = glWidth(), h = glHeight();
if (zoomed_view) {
- if (active_stream_type == VISION_STREAM_DRIVER) {
+ if (streamType() == VISION_STREAM_DRIVER) {
if (stream_width > 0 && stream_height > 0) {
frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
}
@@ -223,7 +182,7 @@ void CameraWidget::updateFrameMat() {
// 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) {
+ if (streamType() == VISION_STREAM_WIDE_ROAD) {
intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
zoom = 2.0;
} else {
@@ -269,25 +228,15 @@ void CameraWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
- std::lock_guard lk(frame_lock);
- if (frames.empty()) return;
-
- int frame_idx = frames.size() - 1;
-
- // Always draw latest frame until sync logic is more stable
- // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
- // if (frames[frame_idx].first == draw_frame_id) break;
- // }
+ if (!frame) return;
// Log duplicate/dropped frames
- if (frames[frame_idx].first == prev_frame_id) {
- qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
- } else if (frames[frame_idx].first != prev_frame_id + 1) {
- qDebug() << "Skipped frame" << frames[frame_idx].first;
+ if (frame_id == prev_frame_id) {
+ qDebug() << "Drawing same frame twice" << frame_id;
+ } else if (frame_id != prev_frame_id + 1) {
+ qDebug() << "Skipped frame" << frame_id;
}
- prev_frame_id = frames[frame_idx].first;
- VisionBuf *frame = frames[frame_idx].second;
- assert(frame != nullptr);
+ prev_frame_id = frame_id;
updateFrameMat();
@@ -327,7 +276,7 @@ void CameraWidget::paintGL() {
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
}
-void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
+void CameraWidget::vipcConnected() {
makeCurrent();
stream_width = vipc_client->buffers[0].width;
stream_height = vipc_client->buffers[0].height;
@@ -377,59 +326,69 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
#endif
}
-void CameraWidget::vipcFrameReceived() {
- update();
-}
+bool CameraWidget::receiveFrame(uint64_t request_frame_id) {
+ if (!vipc_client || vipc_client->type != requested_stream_type) {
+ qDebug().nospace() << "connecting to stream" << requested_stream_type
+ << (vipc_client ? QString(", was connected to %1").arg(vipc_client->type) : "");
+ vipc_client.reset(new VisionIpcClient(stream_name, requested_stream_type, false));
+ }
-void CameraWidget::vipcThread() {
- VisionStreamType cur_stream = requested_stream_type;
- std::unique_ptr vipc_client;
- VisionIpcBufExtra meta_main = {0};
-
- while (!QThread::currentThread()->isInterruptionRequested()) {
- if (!vipc_client || cur_stream != requested_stream_type) {
- clearFrames();
- qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
- cur_stream = requested_stream_type;
- vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
+ if (!vipc_client->connected) {
+ frame = nullptr;
+ recent_frames.clear();
+ available_streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+ if (available_streams.empty() || !vipc_client->connect(false)) {
+ return false;
}
- active_stream_type = cur_stream;
-
- if (!vipc_client->connected) {
- clearFrames();
- auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
- if (streams.empty()) {
- QThread::msleep(100);
- continue;
- }
- emit vipcAvailableStreamsUpdated(streams);
+ emit vipcAvailableStreamsUpdated();
+ vipcConnected();
+ }
- if (!vipc_client->connect(false)) {
- QThread::msleep(100);
- continue;
- }
- emit vipcThreadConnected(vipc_client.get());
+ VisionIpcBufExtra meta_main = {};
+ while (auto buf = vipc_client->recv(&meta_main, 0)) {
+ if (recent_frames.size() > FRAME_BUFFER_SIZE) {
+ recent_frames.pop_front();
}
+ recent_frames.emplace_back(meta_main.frame_id, buf);
+ }
- if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) {
- {
- std::lock_guard lk(frame_lock);
- frames.push_back(std::make_pair(meta_main.frame_id, buf));
- while (frames.size() > FRAME_BUFFER_SIZE) {
- frames.pop_front();
- }
- }
- emit vipcThreadFrameReceived();
- } else {
- if (!isVisible()) {
- vipc_client->connected = false;
- }
+ frame = nullptr;
+ if (request_frame_id > 0) {
+ auto it = std::find_if(recent_frames.begin(), recent_frames.end(),
+ [request_frame_id](auto &f) { return f.first == request_frame_id; });
+ if (it != recent_frames.end()) {
+ std::tie(frame_id, frame) = *it;
}
+ } else if (!recent_frames.empty()) {
+ std::tie(frame_id, frame) = recent_frames.back();
+ }
+ return frame != nullptr;
+}
+
+void CameraWidget::disconnectVipc() {
+ recent_frames.clear();
+ frame = nullptr;
+ frame_id = 0;
+ prev_frame_id = 0;
+ if (vipc_client) {
+ vipc_client->connected = false;
}
}
-void CameraWidget::clearFrames() {
- std::lock_guard lk(frame_lock);
- frames.clear();
- available_streams.clear();
+// Cameraview
+
+CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent)
+ : CameraWidget(name, stream_type, zoom, parent) {
+ timer = new QTimer(this);
+ timer->setInterval(1000.0 / UI_FREQ);
+ timer->callOnTimeout(this, [this]() { if (receiveFrame()) update(); });
+}
+
+void CameraView::showEvent(QShowEvent *event) {
+ timer->start();
+}
+
+void CameraView::hideEvent(QHideEvent *event) {
+ timer->stop();
+ disconnectVipc();
}
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index c97038cf43..a862079f1a 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -3,7 +3,6 @@
#include
#include