diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 5bd9acc200..fedeaa734b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -310,7 +310,7 @@ jobs: ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./selfdrive/ui/replay/tests/test_replay && \ - ./selfdrive/camerad/test/ae_gray_test && \ + ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 diff --git a/Jenkinsfile b/Jenkinsfile index ebc26a5920..dba1f257d6 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -88,8 +88,8 @@ pipeline { steps { sh "git config --global --add safe.directory ${WORKSPACE}" sh "git lfs pull" - sh "${WORKSPACE}/tools/sim/build_container.sh" lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) { + sh "${WORKSPACE}/tools/sim/build_container.sh" sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh" sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh" } @@ -139,8 +139,8 @@ pipeline { steps { phone_steps("tici-party", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test camerad", "python selfdrive/camerad/test/test_camerad.py"], - ["test exposure", "python selfdrive/camerad/test/test_exposure.py"], + ["test camerad", "python system/camerad/test/test_camerad.py"], + ["test exposure", "python system/camerad/test/test_exposure.py"], ]) } } diff --git a/RELEASES.md b/RELEASES.md index 7f365e5cef..5d81b43085 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -13,6 +13,7 @@ Version 0.8.15 (2022-XX-XX) * Display speed limit while navigating * Reduced power usage: device runs cooler and fan spins less * AGNOS 5 +* Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! diff --git a/SConstruct b/SConstruct index b5c4edc99b..b243a4dc45 100644 --- a/SConstruct +++ b/SConstruct @@ -94,7 +94,7 @@ if arch == "larch64": "/usr/lib/aarch64-linux-gnu" ] cpppath += [ - "#selfdrive/camerad/include", + "#system/camerad/include", ] cflags = ["-DQCOM2", "-mcpu=cortex-a57"] cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"] @@ -379,6 +379,7 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ + 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', ]) @@ -396,7 +397,6 @@ SConscript(['third_party/SConscript']) SConscript(['common/kalman/SConscript']) SConscript(['common/transformations/SConscript']) -SConscript(['selfdrive/camerad/SConscript']) SConscript(['selfdrive/modeld/SConscript']) SConscript(['selfdrive/controls/lib/cluster/SConscript']) diff --git a/docs/CARS.md b/docs/CARS.md index f1ed8ec17c..c175d4e7a3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -149,7 +149,7 @@ How We Rate The Cars |Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance|||||| |Volkswagen|Touran 2017|Driver Assistance|||||| -# Bronze - 71 cars +# Bronze - 72 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -163,13 +163,14 @@ How We Rate The Cars |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica 2020|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|||||| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| |Honda|Accord 2018-21|All|||||| |Honda|Accord Hybrid 2018-21|All|||||| |Honda|Civic 2016-18|Honda Sensing|||||| |Honda|Civic 2019-20|All|||[3](#footnotes)||| +|Honda|Civic 2022|All|||||| |Honda|Civic Hatchback 2017-21|Honda Sensing|||||| |Honda|CR-V 2015-16|Touring|||||| |Honda|CR-V 2017-21|Honda Sensing|||||| diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 218cd5a7d9..4e1e8a247a 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -28,11 +28,11 @@ selfdrive camerad ^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_camerad_cameras + :project: system_camerad_cameras .. autodoxygenindex:: - :project: selfdrive_camerad_transforms + :project: system_camerad_transforms .. autodoxygenindex:: - :project: selfdrive_camerad_imgproc + :project: system_camerad_imgproc locationd ^^^^^^^^^ diff --git a/release/files_common b/release/files_common index b6cd4fa797..ecb71b4e69 100644 --- a/release/files_common +++ b/release/files_common @@ -182,6 +182,7 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* +selfdrive/hardware system/hardware/__init__.py system/hardware/base.h system/hardware/base.py @@ -298,24 +299,24 @@ selfdrive/ui/replay/*.h selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h -selfdrive/camerad/SConscript -selfdrive/camerad/main.cc +system/camerad/SConscript +system/camerad/main.cc -selfdrive/camerad/snapshot/* -selfdrive/camerad/include/* -selfdrive/camerad/cameras/camera_common.h -selfdrive/camerad/cameras/camera_common.cc -selfdrive/camerad/cameras/sensor2_i2c.h +system/camerad/snapshot/* +system/camerad/include/* +system/camerad/cameras/camera_common.h +system/camerad/cameras/camera_common.cc +system/camerad/cameras/sensor2_i2c.h -selfdrive/camerad/transforms/rgb_to_yuv.cc -selfdrive/camerad/transforms/rgb_to_yuv.h -selfdrive/camerad/transforms/rgb_to_yuv.cl -selfdrive/camerad/transforms/rgb_to_yuv_test.cc +system/camerad/transforms/rgb_to_yuv.cc +system/camerad/transforms/rgb_to_yuv.h +system/camerad/transforms/rgb_to_yuv.cl +system/camerad/transforms/rgb_to_yuv_test.cc -selfdrive/camerad/imgproc/conv.cl -selfdrive/camerad/imgproc/pool.cl -selfdrive/camerad/imgproc/utils.cc -selfdrive/camerad/imgproc/utils.h +system/camerad/imgproc/conv.cl +system/camerad/imgproc/pool.cl +system/camerad/imgproc/utils.cc +system/camerad/imgproc/utils.h selfdrive/manager/__init__.py selfdrive/manager/build.py @@ -495,6 +496,7 @@ opendbc/honda_odyssey_exl_2018_generated.dbc opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc opendbc/honda_insight_ex_2019_can_generated.dbc opendbc/acura_ilx_2016_nidec.dbc +opendbc/honda_civic_ex_2022_can_generated.dbc opendbc/kia_ev6.dbc opendbc/hyundai_kia_generic.dbc diff --git a/release/files_tici b/release/files_tici index 485a898799..f8c0a27959 100644 --- a/release/files_tici +++ b/release/files_tici @@ -7,9 +7,9 @@ system/timezoned.py selfdrive/assets/navigation/* selfdrive/assets/training_wide/* -selfdrive/camerad/cameras/camera_qcom2.cc -selfdrive/camerad/cameras/camera_qcom2.h -selfdrive/camerad/cameras/real_debayer.cl +system/camerad/cameras/camera_qcom2.cc +system/camerad/cameras/camera_qcom2.h +system/camerad/cameras/real_debayer.cl selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 26220dfa99..b0e138c495 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -493,7 +493,7 @@ def getNetworks(): @dispatcher.add_method def takeSnapshot(): - from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot + from system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: def b64jpeg(x): diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index a0d4225d9a..bdd80757f4 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -37,7 +37,7 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"), + CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 9e013d70ac..5b6eb1664d 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -123,7 +123,8 @@ class CarInfo: class Harness(Enum): nidec = "Honda Nidec" - bosch = "Honda Bosch A" + bosch_a = "Honda Bosch A" + bosch_b = "Honda Bosch B" toyota = "Toyota" subaru = "Subaru" fca = "FCA" diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index a6aa84adf6..4d04927b2f 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -7,7 +7,7 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import create_gas_interceptor_command from selfdrive.car.honda import hondacan -from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from selfdrive.controls.lib.drive_helpers import rate_limit VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -189,7 +189,7 @@ class CarController: pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6) if not self.CP.openpilotLongitudinalControl: - if self.frame % 2 == 0: + if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message idx = self.frame // 2 can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx)) # If using stock ACC, spam cancel command to kill gas when OP disengages. @@ -241,7 +241,7 @@ class CarController: idx = (self.frame // 10) % 4 hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index f5cdc838c4..5358ce249a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -5,8 +5,9 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser +from selfdrive.car.honda.hondacan import get_pt_bus +from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL TransmissionType = car.CarParams.TransmissionType @@ -80,7 +81,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): checks.append(("EPB_STATUS", 50)) if CP.carFingerprint in HONDA_BOSCH: - if not CP.openpilotLongitudinalControl: + # these messages are on camera bus on radarless cars + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: signals += [ ("CRUISE_CONTROL_LABEL", "ACC_HUD"), ("CRUISE_SPEED", "ACC_HUD"), @@ -100,23 +102,16 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) - elif CP.carFingerprint == CAR.ODYSSEY_CHN: + elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) - elif CP.carFingerprint in (CAR.FREED, CAR.HRV): - signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"), - ("WHEELS_MOVING", "STANDSTILL")] else: signals += [("DOOR_OPEN_FL", "DOORS_STATUS"), ("DOOR_OPEN_FR", "DOORS_STATUS"), ("DOOR_OPEN_RL", "DOORS_STATUS"), - ("DOOR_OPEN_RR", "DOORS_STATUS"), - ("WHEELS_MOVING", "STANDSTILL")] - checks += [ - ("DOORS_STATUS", 3), - ("STANDSTILL", 50), - ] + ("DOOR_OPEN_RR", "DOORS_STATUS")] + checks.append(("DOORS_STATUS", 3)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: @@ -175,7 +170,8 @@ class CarState(CarStateBase): # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + # TODO: find a common signal across all cars + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -235,11 +231,15 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH: if not self.CP.openpilotLongitudinalControl: - ret.cruiseState.nonAdaptive = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0 - ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252. + # ACC_HUD is on camera bus on radarless cars + acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"] + ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 + ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. - ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS + ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor self.v_cruise_pcm_prev = ret.cruiseState.speed else: ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS @@ -269,14 +269,14 @@ class CarState(CarStateBase): ret.brakePressed = True if self.CP.carFingerprint in HONDA_BOSCH: - ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) + # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts + if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: + ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) else: ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5) - if self.CP.carFingerprint in HONDA_BOSCH: - self.stock_hud = False - ret.stockFcw = False - else: + self.stock_hud = False + if self.CP.carFingerprint not in HONDA_BOSCH: ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0 self.stock_hud = cp_cam.vl["ACC_HUD"] self.stock_brake = cp_cam.vl["BRAKE_COMMAND"] @@ -291,8 +291,7 @@ class CarState(CarStateBase): def get_can_parser(self, CP): signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg) - bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0 - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint)) @staticmethod def get_cam_can_parser(CP): @@ -301,7 +300,14 @@ class CarState(CarStateBase): ("STEERING_CONTROL", 100), ] - if CP.carFingerprint not in HONDA_BOSCH: + if CP.carFingerprint in HONDA_BOSCH_RADARLESS and not CP.openpilotLongitudinalControl: + signals += [ + ("CRUISE_SPEED", "ACC_HUD"), + ("CRUISE_CONTROL_LABEL", "ACC_HUD"), + ] + checks.append(("ACC_HUD", 10)) + + elif CP.carFingerprint not in HONDA_BOSCH: signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"), ("AEB_REQ_1", "BRAKE_COMMAND"), ("FCW", "BRAKE_COMMAND"), diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 3d8c79c809..6a1fb2e459 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ from common.conversions import Conversions as CV -from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControllerParams +from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams # CAN bus layout with relay # 0 = ACC-CAN - radar side @@ -7,8 +7,9 @@ from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, CAR, CarControll # 2 = ACC-CAN - camera side # 3 = F-CAN A - OBDII port + def get_pt_bus(car_fingerprint): - return 1 if car_fingerprint in HONDA_BOSCH else 0 + return 1 if car_fingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) else 0 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): @@ -18,6 +19,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): # normally steering commands are sent to radar, which forwards them to powertrain bus return 0 + def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 @@ -78,6 +80,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_ return commands + def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled): values = { "STEER_TORQUE": apply_steer if lkas_active else 0, @@ -98,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx) -def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud): +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl @@ -135,6 +138,12 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc 'BEEP': 0, } + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + lkas_hud_values['LANE_LINES'] = 3 + lkas_hud_values['DASHED_LANES'] = hud.lanes_visible + # TODO: understand this better, does car need to see it fall after start up? + lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1 + if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): lkas_hud_values['SET_ME_X48'] = 0x48 @@ -162,5 +171,6 @@ def spam_buttons_command(packer, button_val, idx, car_fingerprint): 'CRUISE_BUTTONS': button_val, 'CRUISE_SETTING': 0, } - bus = get_pt_bus(car_fingerprint) + # send buttons to camera on radarless cars + bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint) return packer.make_can_msg("SCM_BUTTONS", bus, values, idx) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 994152608e..a78189b697 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -3,7 +3,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV from common.numpy_fast import interp -from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL +from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -37,9 +37,10 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.radarOffCan = True - # Disable the radar and let openpilot control longitudinal - # WARNING: THIS DISABLES AEB! - ret.openpilotLongitudinalControl = disable_radar + if candidate not in HONDA_BOSCH_RADARLESS: + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + ret.openpilotLongitudinalControl = disable_radar ret.pcmCruise = not ret.openpilotLongitudinalControl else: @@ -104,7 +105,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. - elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): + elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE @@ -304,6 +305,9 @@ class CarInterface(CarInterfaceBase): if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + if candidate in HONDA_BOSCH_RADARLESS: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS + # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc @@ -325,7 +329,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def init(CP, logcan, sendcan): - if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl: + if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl: disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03') # returns a car.CarState diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 152f71e98a..0bdb8ccd91 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -75,6 +75,7 @@ class CAR: CIVIC = "HONDA CIVIC 2016" CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" + CIVIC_2022 = "HONDA CIVIC 2022" ACURA_ILX = "ACURA ILX 2016" CRV = "HONDA CR-V 2016" CRV_5G = "HONDA CR-V 2017" @@ -108,33 +109,34 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), - HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], - CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch), - HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch), + HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform + CAR.CIVIC_2022: HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch), + CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec), CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), - CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec), CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), - CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), - CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch), + CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), } @@ -1392,6 +1394,40 @@ FW_VERSIONS = { b'57114-TYF-E030\x00\x00' ], }, + CAR.CIVIC_2022: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-T39-A130\x00\x00', + b'39990-T43-J020\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-T20-A020\x00\x00', + b'38897-T20-A510\x00\x00', + b'38897-T21-A010\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-T20-A970\x00\x00', + b'77959-T47-A940\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-T21-A220\x00\x00', + b'78108-T21-A620\x00\x00', + b'78108-T23-A110\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-T20-AB40\x00\x00', + b'57114-T43-JB30\x00\x00', + ], + (Ecu.transmission, 0x18da1ef1, None): [ + b'28101-65D-A020\x00\x00', + b'28101-65D-A120\x00\x00', + b'28101-65H-A020\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18da10f1, None): [ + b'37805-64L-A540\x00\x00', + b'37805-64S-A540\x00\x00', + b'37805-64S-A720\x00\x00', + ], + }, } DBC = { @@ -1417,6 +1453,7 @@ DBC = { CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None), + CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None), } STEER_THRESHOLD = { @@ -1429,5 +1466,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E} + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index a9d36f9eab..19b1a05c23 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -71,6 +71,7 @@ routes = [ TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE), TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), + TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), diff --git a/selfdrive/loggerd/encoder/encoder.h b/selfdrive/loggerd/encoder/encoder.h index 312b68ba19..21ef65cf12 100644 --- a/selfdrive/loggerd/encoder/encoder.h +++ b/selfdrive/loggerd/encoder/encoder.h @@ -8,7 +8,7 @@ #include "cereal/visionipc/visionipc.h" #include "common/queue.h" #include "selfdrive/loggerd/video_writer.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 7e13e90e63..2c4990086a 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -15,7 +15,7 @@ #include "cereal/services.h" #include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_client.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "common/params.h" #include "common/swaglog.h" #include "common/timing.h" diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index a9a5c78a7f..7e4029664d 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -18,6 +18,8 @@ def logging(started, params, CP: car.CarParams) -> bool: return started and run procs = [ + # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption + NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), @@ -25,8 +27,6 @@ procs = [ PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), - # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption - NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index eff77fc479..1b3e0f112e 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -10,7 +10,7 @@ from system.hardware import PC, TICI from common.basedir import BASEDIR from selfdrive.test.openpilotci import BASE_URL, get_url from system.version import get_commit -from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb +from system.camerad.snapshot.snapshot import yuv_to_rgb from tools.lib.logreader import LogReader from tools.lib.filereader import FileReader @@ -62,7 +62,7 @@ def unbzip_frames(url): def init_kernels(frame_offset=0): ctx = cl.create_some_context(interactive=False) - with open(os.path.join(BASEDIR, 'selfdrive/camerad/cameras/real_debayer.cl')) as f: + with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f: build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \ f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0' if PC: diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index ddc3fc253b..42e9043602 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -17,7 +17,7 @@ #endif #include "cereal/visionipc/visionipc_client.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/ui.h" const int FRAME_BUFFER_SIZE = 5; diff --git a/selfdrive/ui/replay/logreader.h b/selfdrive/ui/replay/logreader.h index 7ada20605e..b4a38a5721 100644 --- a/selfdrive/ui/replay/logreader.h +++ b/selfdrive/ui/replay/logreader.h @@ -6,7 +6,7 @@ #endif #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; diff --git a/selfdrive/camerad/SConscript b/system/camerad/SConscript similarity index 100% rename from selfdrive/camerad/SConscript rename to system/camerad/SConscript diff --git a/selfdrive/camerad/__init__.py b/system/camerad/__init__.py similarity index 100% rename from selfdrive/camerad/__init__.py rename to system/camerad/__init__.py diff --git a/selfdrive/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc similarity index 98% rename from selfdrive/camerad/cameras/camera_common.cc rename to system/camerad/cameras/camera_common.cc index a94cfedf1a..34dde9389c 100644 --- a/selfdrive/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include @@ -10,7 +10,7 @@ #include "libyuv.h" #include -#include "selfdrive/camerad/imgproc/utils.h" +#include "system/camerad/imgproc/utils.h" #include "common/clutil.h" #include "common/modeldata.h" #include "common/swaglog.h" @@ -20,9 +20,9 @@ #ifdef QCOM2 #include "CL/cl_ext_qcom.h" -#include "selfdrive/camerad/cameras/camera_qcom2.h" +#include "system/camerad/cameras/camera_qcom2.h" #else -#include "selfdrive/camerad/test/camera_test.h" +#include "system/camerad/test/camera_test.h" #endif ExitHandler do_exit; diff --git a/selfdrive/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h similarity index 98% rename from selfdrive/camerad/cameras/camera_common.h rename to system/camerad/cameras/camera_common.h index e9c7ccd757..6b483372bb 100644 --- a/selfdrive/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -9,7 +9,7 @@ #include "cereal/visionipc/visionbuf.h" #include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" -#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "system/camerad/transforms/rgb_to_yuv.h" #include "common/mat.h" #include "common/queue.h" #include "common/swaglog.h" diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc similarity index 99% rename from selfdrive/camerad/cameras/camera_qcom2.cc rename to system/camerad/cameras/camera_qcom2.cc index c1ffc1275a..f001009b9a 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/cameras/camera_qcom2.h" +#include "system/camerad/cameras/camera_qcom2.h" #include #include @@ -20,7 +20,7 @@ #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" #include "common/swaglog.h" -#include "selfdrive/camerad/cameras/sensor2_i2c.h" +#include "system/camerad/cameras/sensor2_i2c.h" // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h similarity index 98% rename from selfdrive/camerad/cameras/camera_qcom2.h rename to system/camerad/cameras/camera_qcom2.h index 88766a68e9..57fef8d49a 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -6,7 +6,7 @@ #include -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl similarity index 100% rename from selfdrive/camerad/cameras/real_debayer.cl rename to system/camerad/cameras/real_debayer.cl diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h similarity index 100% rename from selfdrive/camerad/cameras/sensor2_i2c.h rename to system/camerad/cameras/sensor2_i2c.h diff --git a/selfdrive/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl similarity index 100% rename from selfdrive/camerad/imgproc/conv.cl rename to system/camerad/imgproc/conv.cl diff --git a/selfdrive/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl similarity index 100% rename from selfdrive/camerad/imgproc/pool.cl rename to system/camerad/imgproc/pool.cl diff --git a/selfdrive/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc similarity index 98% rename from selfdrive/camerad/imgproc/utils.cc rename to system/camerad/imgproc/utils.cc index a88b8f4bb1..a7bbeb9e86 100644 --- a/selfdrive/camerad/imgproc/utils.cc +++ b/system/camerad/imgproc/utils.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/imgproc/utils.h" +#include "system/camerad/imgproc/utils.h" #include #include diff --git a/selfdrive/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h similarity index 100% rename from selfdrive/camerad/imgproc/utils.h rename to system/camerad/imgproc/utils.h diff --git a/selfdrive/camerad/include/media/cam_cpas.h b/system/camerad/include/media/cam_cpas.h similarity index 100% rename from selfdrive/camerad/include/media/cam_cpas.h rename to system/camerad/include/media/cam_cpas.h diff --git a/selfdrive/camerad/include/media/cam_defs.h b/system/camerad/include/media/cam_defs.h similarity index 100% rename from selfdrive/camerad/include/media/cam_defs.h rename to system/camerad/include/media/cam_defs.h diff --git a/selfdrive/camerad/include/media/cam_fd.h b/system/camerad/include/media/cam_fd.h similarity index 100% rename from selfdrive/camerad/include/media/cam_fd.h rename to system/camerad/include/media/cam_fd.h diff --git a/selfdrive/camerad/include/media/cam_icp.h b/system/camerad/include/media/cam_icp.h similarity index 100% rename from selfdrive/camerad/include/media/cam_icp.h rename to system/camerad/include/media/cam_icp.h diff --git a/selfdrive/camerad/include/media/cam_isp.h b/system/camerad/include/media/cam_isp.h similarity index 100% rename from selfdrive/camerad/include/media/cam_isp.h rename to system/camerad/include/media/cam_isp.h diff --git a/selfdrive/camerad/include/media/cam_isp_ife.h b/system/camerad/include/media/cam_isp_ife.h similarity index 100% rename from selfdrive/camerad/include/media/cam_isp_ife.h rename to system/camerad/include/media/cam_isp_ife.h diff --git a/selfdrive/camerad/include/media/cam_isp_vfe.h b/system/camerad/include/media/cam_isp_vfe.h similarity index 100% rename from selfdrive/camerad/include/media/cam_isp_vfe.h rename to system/camerad/include/media/cam_isp_vfe.h diff --git a/selfdrive/camerad/include/media/cam_jpeg.h b/system/camerad/include/media/cam_jpeg.h similarity index 100% rename from selfdrive/camerad/include/media/cam_jpeg.h rename to system/camerad/include/media/cam_jpeg.h diff --git a/selfdrive/camerad/include/media/cam_lrme.h b/system/camerad/include/media/cam_lrme.h similarity index 100% rename from selfdrive/camerad/include/media/cam_lrme.h rename to system/camerad/include/media/cam_lrme.h diff --git a/selfdrive/camerad/include/media/cam_req_mgr.h b/system/camerad/include/media/cam_req_mgr.h similarity index 100% rename from selfdrive/camerad/include/media/cam_req_mgr.h rename to system/camerad/include/media/cam_req_mgr.h diff --git a/selfdrive/camerad/include/media/cam_sensor.h b/system/camerad/include/media/cam_sensor.h similarity index 100% rename from selfdrive/camerad/include/media/cam_sensor.h rename to system/camerad/include/media/cam_sensor.h diff --git a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h b/system/camerad/include/media/cam_sensor_cmn_header.h similarity index 100% rename from selfdrive/camerad/include/media/cam_sensor_cmn_header.h rename to system/camerad/include/media/cam_sensor_cmn_header.h diff --git a/selfdrive/camerad/include/media/cam_sync.h b/system/camerad/include/media/cam_sync.h similarity index 100% rename from selfdrive/camerad/include/media/cam_sync.h rename to system/camerad/include/media/cam_sync.h diff --git a/selfdrive/camerad/include/msm_cam_sensor.h b/system/camerad/include/msm_cam_sensor.h similarity index 100% rename from selfdrive/camerad/include/msm_cam_sensor.h rename to system/camerad/include/msm_cam_sensor.h diff --git a/selfdrive/camerad/include/msm_camsensor_sdk.h b/system/camerad/include/msm_camsensor_sdk.h similarity index 100% rename from selfdrive/camerad/include/msm_camsensor_sdk.h rename to system/camerad/include/msm_camsensor_sdk.h diff --git a/selfdrive/camerad/include/msmb_camera.h b/system/camerad/include/msmb_camera.h similarity index 100% rename from selfdrive/camerad/include/msmb_camera.h rename to system/camerad/include/msmb_camera.h diff --git a/selfdrive/camerad/include/msmb_isp.h b/system/camerad/include/msmb_isp.h similarity index 100% rename from selfdrive/camerad/include/msmb_isp.h rename to system/camerad/include/msmb_isp.h diff --git a/selfdrive/camerad/include/msmb_ispif.h b/system/camerad/include/msmb_ispif.h similarity index 100% rename from selfdrive/camerad/include/msmb_ispif.h rename to system/camerad/include/msmb_ispif.h diff --git a/selfdrive/camerad/main.cc b/system/camerad/main.cc similarity index 89% rename from selfdrive/camerad/main.cc rename to system/camerad/main.cc index 32899a8547..c1f38f2224 100644 --- a/selfdrive/camerad/main.cc +++ b/system/camerad/main.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" #include diff --git a/selfdrive/camerad/snapshot/__init__.py b/system/camerad/snapshot/__init__.py similarity index 100% rename from selfdrive/camerad/snapshot/__init__.py rename to system/camerad/snapshot/__init__.py diff --git a/selfdrive/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py similarity index 98% rename from selfdrive/camerad/snapshot/snapshot.py rename to system/camerad/snapshot/snapshot.py index fa88849b69..9a81937eec 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -13,7 +13,7 @@ from system.hardware import PC from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.manager.process_config import managed_processes -LM_THRESH = 120 # defined in selfdrive/camerad/imgproc/utils.h +LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h VISION_STREAMS = { "roadCameraState": VisionStreamType.VISION_STREAM_ROAD, diff --git a/selfdrive/camerad/test/.gitignore b/system/camerad/test/.gitignore similarity index 100% rename from selfdrive/camerad/test/.gitignore rename to system/camerad/test/.gitignore diff --git a/selfdrive/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc similarity index 97% rename from selfdrive/camerad/test/ae_gray_test.cc rename to system/camerad/test/ae_gray_test.cc index 69ef2ac6de..aabd7534ee 100644 --- a/selfdrive/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/ae_gray_test.cc @@ -8,7 +8,7 @@ #include #include "common/util.h" -#include "selfdrive/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_common.h" int main() { // set up fake camerabuf diff --git a/selfdrive/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h similarity index 100% rename from selfdrive/camerad/test/ae_gray_test.h rename to system/camerad/test/ae_gray_test.h diff --git a/selfdrive/camerad/test/camera_test.h b/system/camerad/test/camera_test.h similarity index 100% rename from selfdrive/camerad/test/camera_test.h rename to system/camerad/test/camera_test.h diff --git a/selfdrive/camerad/test/check_skips.py b/system/camerad/test/check_skips.py similarity index 100% rename from selfdrive/camerad/test/check_skips.py rename to system/camerad/test/check_skips.py diff --git a/selfdrive/camerad/test/frame_test.py b/system/camerad/test/frame_test.py similarity index 100% rename from selfdrive/camerad/test/frame_test.py rename to system/camerad/test/frame_test.py diff --git a/selfdrive/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py similarity index 100% rename from selfdrive/camerad/test/get_thumbnails_for_segment.py rename to system/camerad/test/get_thumbnails_for_segment.py diff --git a/selfdrive/camerad/test/stress_restart.sh b/system/camerad/test/stress_restart.sh similarity index 100% rename from selfdrive/camerad/test/stress_restart.sh rename to system/camerad/test/stress_restart.sh diff --git a/selfdrive/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py similarity index 100% rename from selfdrive/camerad/test/test_camerad.py rename to system/camerad/test/test_camerad.py diff --git a/selfdrive/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py similarity index 96% rename from selfdrive/camerad/test/test_exposure.py rename to system/camerad/test/test_exposure.py index f42d0bfbe3..8cce7e7ffa 100755 --- a/selfdrive/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -4,7 +4,7 @@ import unittest import numpy as np from selfdrive.test.helpers import with_processes -from selfdrive.camerad.snapshot.snapshot import get_snapshots +from system.camerad.snapshot.snapshot import get_snapshots from system.hardware import TICI diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc similarity index 96% rename from selfdrive/camerad/transforms/rgb_to_yuv.cc rename to system/camerad/transforms/rgb_to_yuv.cc index 63e032e2dc..5e51579cf9 100644 --- a/selfdrive/camerad/transforms/rgb_to_yuv.cc +++ b/system/camerad/transforms/rgb_to_yuv.cc @@ -1,4 +1,4 @@ -#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "system/camerad/transforms/rgb_to_yuv.h" #include #include diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cl b/system/camerad/transforms/rgb_to_yuv.cl similarity index 100% rename from selfdrive/camerad/transforms/rgb_to_yuv.cl rename to system/camerad/transforms/rgb_to_yuv.cl diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h similarity index 100% rename from selfdrive/camerad/transforms/rgb_to_yuv.h rename to system/camerad/transforms/rgb_to_yuv.h diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc similarity index 99% rename from selfdrive/camerad/transforms/rgb_to_yuv_test.cc rename to system/camerad/transforms/rgb_to_yuv_test.cc index c960d168de..2f909e3b73 100644 --- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc +++ b/system/camerad/transforms/rgb_to_yuv_test.cc @@ -30,7 +30,7 @@ #include #include "libyuv.h" -#include "selfdrive/camerad/transforms/rgb_to_yuv.h" +#include "system/camerad/transforms/rgb_to_yuv.h" #include "common/clutil.h" static inline double millis_since_boot() { diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index ae65e8deb8..faf67c3ef5 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -81,7 +81,7 @@ class Camerad: cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed - kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl") + kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl") with open(kernel_fn) as f: prg = cl.Program(self.ctx, f.read()).build(cl_arg) self.krnl = prg.rgb_to_yuv diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 48e5accb2a..1e07bdbbe6 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -23,14 +23,14 @@ git clone https://github.com/commaai/openpilot.git ``` cd ~/openpilot ``` -- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down +- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down ``` USE_WEBCAM=1 scons -j$(nproc) ``` ## Connect the hardware - Connect the road facing camera first, then the driver facing camera -- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc) +- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc) - Connect your computer to panda ## GO diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index d3bdd6679f..f88741813e 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import sys import time +import datetime from common.realtime import Ratekeeper from common.filter_simple import FirstOrderFilter @@ -19,12 +20,19 @@ if __name__ == "__main__": rk = Ratekeeper(rate, print_delay_threshold=None) fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False) + measurements = [] + start_time = time.monotonic() + try: - start_time = time.monotonic() while duration is None or time.monotonic() - start_time < duration: fltr.update(z.read_power()) if rk.frame % rate == 0: print(f"{fltr.x:.2f} W") + measurements.append(fltr.x) rk.keep_time() except KeyboardInterrupt: pass + + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"\nAverage power: {avg:.2f}W over {t}")