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Merge branch 'master' of github.com:commaai/openpilot into ui_accel_gradient

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Adeeb Shihadeh 3 years ago
parent af3e4aa700 e2f4a82c03
commit f09b0c6d5d
188 changed files with 1009 additions and 711 deletions
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  1. 7
      .github/workflows/selfdrive_tests.yaml
  2. 3
      .gitignore
  3. 11
      Jenkinsfile
  4. 7
      README.md
  5. 1
      RELEASES.md
  6. 5
      SConstruct
  7. 2
      cereal
  8. 1
      common/params.cc
  9. 5
      docs/CARS.md
  10. 2
      docs/c_docs.rst
  11. 2
      docs/overview.rst
  12. 2
      opendbc
  13. 2
      panda
  14. 30
      poetry.lock
  15. 1
      pyproject.toml
  16. 81
      release/files_common
  17. 2
      release/files_tici
  18. 4
      selfdrive/athena/athenad.py
  19. 6
      selfdrive/boardd/pandad.py
  20. 48
      selfdrive/boardd/tests/test_pandad.py
  21. 2
      selfdrive/car/car_helpers.py
  22. 2
      selfdrive/car/chrysler/values.py
  23. 2
      selfdrive/car/ford/values.py
  24. 1
      selfdrive/car/tests/routes.py
  25. 1
      selfdrive/car/torque_data/substitute.yaml
  26. 1
      selfdrive/car/toyota/values.py
  27. 10
      selfdrive/car/volkswagen/carstate.py
  28. 4
      selfdrive/car/volkswagen/interface.py
  29. 2
      selfdrive/car/volkswagen/pqcan.py
  30. 27
      selfdrive/car/volkswagen/values.py
  31. 3
      selfdrive/controls/controlsd.py
  32. 1
      selfdrive/controls/plannerd.py
  33. 3
      selfdrive/locationd/.gitignore
  34. 19
      selfdrive/locationd/SConscript
  35. 2
      selfdrive/locationd/locationd.h
  36. 2
      selfdrive/manager/manager.py
  37. 24
      selfdrive/manager/process_config.py
  38. 2
      selfdrive/modeld/SConscript
  39. 8
      selfdrive/modeld/models/README.md
  40. 2
      selfdrive/statsd.py
  41. 2
      selfdrive/test/process_replay/model_replay_ref_commit
  42. 3
      selfdrive/test/process_replay/process_replay.py
  43. 2
      selfdrive/test/process_replay/ref_commit
  44. 3
      selfdrive/test/process_replay/test_processes.py
  45. 2
      selfdrive/test/test_onroad.py
  46. 2
      selfdrive/test/test_valgrind_replay.py
  47. 2
      selfdrive/thermald/thermald.py
  48. 2
      selfdrive/tombstoned.py
  49. 38
      selfdrive/ui/qt/maps/map.cc
  50. 20
      selfdrive/ui/qt/onroad.cc
  51. 15
      selfdrive/ui/qt/widgets/cameraview.cc
  52. 5
      selfdrive/ui/qt/widgets/cameraview.h
  53. 11
      selfdrive/ui/translations/main_pt-BR.ts
  54. 16
      selfdrive/ui/translations/main_zh-CHT.ts
  55. 5
      selfdrive/ui/ui.cc
  56. 1
      selfdrive/ui/ui.h
  57. 25
      system/hardware/tici/amplifier.py
  58. 12
      system/hardware/tici/test_power_draw.py
  59. 0
      system/loggerd/.gitignore
  60. 0
      system/loggerd/README.md
  61. 0
      system/loggerd/SConscript
  62. 0
      system/loggerd/__init__.py
  63. 2
      system/loggerd/bootlog.cc
  64. 0
      system/loggerd/config.py
  65. 4
      system/loggerd/deleter.py
  66. 2
      system/loggerd/encoder/encoder.cc
  67. 2
      system/loggerd/encoder/encoder.h
  68. 2
      system/loggerd/encoder/ffmpeg_encoder.cc
  69. 4
      system/loggerd/encoder/ffmpeg_encoder.h
  70. 2
      system/loggerd/encoder/v4l_encoder.cc
  71. 2
      system/loggerd/encoder/v4l_encoder.h
  72. 2
      system/loggerd/encoderd.cc
  73. 2
      system/loggerd/logger.cc
  74. 0
      system/loggerd/logger.h
  75. 4
      system/loggerd/loggerd.cc
  76. 8
      system/loggerd/loggerd.h
  77. 0
      system/loggerd/tests/__init__.py
  78. 4
      system/loggerd/tests/fill_eon.py
  79. 2
      system/loggerd/tests/loggerd_tests_common.py
  80. 4
      system/loggerd/tests/test_deleter.py
  81. 2
      system/loggerd/tests/test_encoder.py
  82. 2
      system/loggerd/tests/test_logger.cc
  83. 4
      system/loggerd/tests/test_loggerd.py
  84. 0
      system/loggerd/tests/test_runner.cc
  85. 4
      system/loggerd/tests/test_uploader.py
  86. 4
      system/loggerd/tools/mark_all_uploaded.py
  87. 2
      system/loggerd/tools/mark_unuploaded.py
  88. 4
      system/loggerd/uploader.py
  89. 2
      system/loggerd/video_writer.cc
  90. 0
      system/loggerd/video_writer.h
  91. 0
      system/loggerd/xattr_cache.py
  92. 1
      system/sensord/.gitignore
  93. 0
      system/sensord/SConscript
  94. 0
      system/sensord/__init__.py
  95. 1
      system/sensord/pigeond.py
  96. 0
      system/sensord/rawgps/compare.py
  97. 0
      system/sensord/rawgps/modemdiag.py
  98. 4
      system/sensord/rawgps/rawgpsd.py
  99. 0
      system/sensord/rawgps/structs.py
  100. 0
      system/sensord/rawgps/test_rawgps.py
  101. Some files were not shown because too many files have changed in this diff Show More

7
.github/workflows/selfdrive_tests.yaml
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@ -204,11 +204,12 @@ jobs:
$UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/boardd && \
$UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/controls && \
$UNIT_TEST selfdrive/monitoring && \ $UNIT_TEST selfdrive/monitoring && \
$UNIT_TEST selfdrive/loggerd && \ $UNIT_TEST system/loggerd && \
$UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/car && \
$UNIT_TEST selfdrive/locationd && \ $UNIT_TEST selfdrive/locationd && \
$UNIT_TEST system/ubloxd && \
selfdrive/locationd/test/_test_locationd_lib.py && \ selfdrive/locationd/test/_test_locationd_lib.py && \
./selfdrive/locationd/test/test_glonass_runner && \ ./system/ubloxd/tests/test_glonass_runner && \
$UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/athena && \
$UNIT_TEST selfdrive/thermald && \ $UNIT_TEST selfdrive/thermald && \
$UNIT_TEST system/hardware/tici && \ $UNIT_TEST system/hardware/tici && \
@ -219,7 +220,7 @@ jobs:
./common/tests/test_util && \ ./common/tests/test_util && \
./common/tests/test_swaglog && \ ./common/tests/test_swaglog && \
./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
./selfdrive/loggerd/tests/test_logger &&\ ./system/loggerd/tests/test_logger &&\
./system/proclogd/tests/test_proclog && \ ./system/proclogd/tests/test_proclog && \
./tools/replay/tests/test_replay && \ ./tools/replay/tests/test_replay && \
./tools/cabana/tests/test_cabana && \ ./tools/cabana/tests/test_cabana && \

3
.gitignore vendored
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@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd system/proclogd/proclogd
selfdrive/ui/_ui selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
system/camerad/camerad system/camerad/camerad
system/camerad/test/ae_gray_test system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld selfdrive/modeld/_modeld

11
Jenkinsfile vendored
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@ -157,10 +157,11 @@ pipeline {
phone_steps("tici-common", [ phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["test power draw", "python system/hardware/tici/test_power_draw.py"], ["test power draw", "python system/hardware/tici/test_power_draw.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
]) ])
} }
} }
@ -192,11 +193,11 @@ pipeline {
steps { steps {
phone_steps("tici-lsmc", [ phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
]) ])
phone_steps("tici-bmx-lsm", [ phone_steps("tici-bmx-lsm", [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
]) ])
} }
} }

7
README.md
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@ -108,7 +108,10 @@ Directory Structure
├── clocksd # Broadcasts current time ├── clocksd # Broadcasts current time
├── hardware # Hardware abstraction classes ├── hardware # Hardware abstraction classes
├── logcatd # systemd journal as a service ├── logcatd # systemd journal as a service
└── proclogd # Logs information from /proc ├── loggerd # Logger and uploader of car data
├── proclogd # Logs information from /proc
├── sensord # IMU interface code
└── ubloxd # u-blox GNSS module interface code
└── selfdrive # Code needed to drive the car └── selfdrive # Code needed to drive the car
├── assets # Fonts, images, and sounds for UI ├── assets # Fonts, images, and sounds for UI
├── athena # Allows communication with the app ├── athena # Allows communication with the app
@ -117,12 +120,10 @@ Directory Structure
├── controls # Planning and controls ├── controls # Planning and controls
├── debug # Tools to help you debug and do car ports ├── debug # Tools to help you debug and do car ports
├── locationd # Precise localization and vehicle parameter estimation ├── locationd # Precise localization and vehicle parameter estimation
├── loggerd # Logger and uploader of car data
├── manager # Daemon that starts/stops all other daemons as needed ├── manager # Daemon that starts/stops all other daemons as needed
├── modeld # Driving and monitoring model runners ├── modeld # Driving and monitoring model runners
├── monitoring # Daemon to determine driver attention ├── monitoring # Daemon to determine driver attention
├── navd # Turn-by-turn navigation ├── navd # Turn-by-turn navigation
├── sensord # IMU interface code
├── test # Unit tests, system tests, and a car simulator ├── test # Unit tests, system tests, and a car simulator
└── ui # The UI └── ui # The UI

1
RELEASES.md
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@ -1,6 +1,7 @@
Version 0.9.2 (2023-03-XX) Version 0.9.2 (2023-03-XX)
======================== ========================
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28) Version 0.9.1 (2023-02-28)
======================== ========================

5
SConstruct
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@ -398,6 +398,7 @@ SConscript([
'system/camerad/SConscript', 'system/camerad/SConscript',
'system/clocksd/SConscript', 'system/clocksd/SConscript',
'system/proclogd/SConscript', 'system/proclogd/SConscript',
'system/ubloxd/SConscript',
]) ])
if arch != "Darwin": if arch != "Darwin":
SConscript(['system/logcatd/SConscript']) SConscript(['system/logcatd/SConscript'])
@ -424,10 +425,10 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript']) SConscript(['system/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript']) SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript']) SConscript(['system/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/navd/SConscript']) SConscript(['selfdrive/navd/SConscript'])

2
cereal

@ -1 +1 @@
Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e Subproject commit 9888e0476c05069d46f273569467e4371b2d8690

1
common/params.cc
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@ -99,7 +99,6 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CompletedTrainingVersion", PERSISTENT}, {"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DashcamOverride", PERSISTENT},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT}, {"DisablePowerDown", PERSISTENT},
{"ExperimentalMode", PERSISTENT}, {"ExperimentalMode", PERSISTENT},

5
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 237 Supported Cars # 238 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -161,9 +161,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>|| |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>|| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)|| |Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>|| |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>|| |Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>|| |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>|| |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)|| |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||

2
docs/c_docs.rst
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@ -83,7 +83,7 @@ common
sensorsd sensorsd
^^^^^^^^ ^^^^^^^^
.. autodoxygenindex:: .. autodoxygenindex::
:project: selfdrive_sensord_sensors :project: system_sensord_sensors
boardd boardd
^^^^^^ ^^^^^^

2
docs/overview.rst
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@ -5,7 +5,7 @@ openpilot
:maxdepth: 4 :maxdepth: 4
Debugging <selfdrive/debug/README.md> Debugging <selfdrive/debug/README.md>
selfdrive/loggerd/README.md system/loggerd/README.md
Driver Monitoring <selfdrive/monitoring/README.md> Driver Monitoring <selfdrive/monitoring/README.md>
Process Replay <selfdrive/test/process_replay/README.md> Process Replay <selfdrive/test/process_replay/README.md>

2
opendbc

@ -1 +1 @@
Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71 Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf

2
panda

@ -1 +1 @@
Subproject commit e0e754de2c7fdbf943dd02db203b7bb40bf3e9b5 Subproject commit b231281c8b2c79c46892576dee4c8a56d5e0b2d2

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poetry.lock generated
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@ -4355,6 +4355,14 @@ python-versions = "*"
[package.dependencies] [package.dependencies]
types-urllib3 = "<1.27" types-urllib3 = "<1.27"
[[package]]
name = "types-tabulate"
version = "0.9.0.1"
description = "Typing stubs for tabulate"
category = "main"
optional = false
python-versions = "*"
[[package]] [[package]]
name = "types-urllib3" name = "types-urllib3"
version = "1.26.25.1" version = "1.26.25.1"
@ -4567,7 +4575,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
[metadata] [metadata]
lock-version = "1.1" lock-version = "1.1"
python-versions = "~3.8" python-versions = "~3.8"
content-hash = "9e9495c896e6fd0855803aeaf46513c6c22424b86be820759a8baf27d44e73ee" content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde"
[metadata.files] [metadata.files]
adal = [ adal = [
@ -6616,7 +6624,6 @@ onnx = [
] ]
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@ -7010,14 +7016,12 @@ pycryptodome = [
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@ -7659,18 +7663,6 @@ setproctitle = [
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@ -8066,6 +8058,10 @@ types-requests = [
{file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"}, {file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"},
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] ]
types-tabulate = [
{file = "types-tabulate-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"},
{file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"},
]
types-urllib3 = [ types-urllib3 = [
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1
pyproject.toml
Unescape View File

@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
utm = "^0.7.0" utm = "^0.7.0"
websocket_client = "^1.3.3" websocket_client = "^1.3.3"
polyline = "^1.4.0" polyline = "^1.4.0"
types-tabulate = "^0.9.0.1"
[tool.poetry.group.dev.dependencies] [tool.poetry.group.dev.dependencies]

81
release/files_common
Unescape View File

@ -219,14 +219,15 @@ system/hardware/pc/__init__.py
system/hardware/pc/hardware.h system/hardware/pc/hardware.h
system/hardware/pc/hardware.py system/hardware/pc/hardware.py
system/ubloxd/.gitignore
system/ubloxd/SConscript
system/ubloxd/generated/*
system/ubloxd/*.h
system/ubloxd/*.cc
selfdrive/locationd/__init__.py selfdrive/locationd/__init__.py
selfdrive/locationd/.gitignore
selfdrive/locationd/SConscript selfdrive/locationd/SConscript
selfdrive/locationd/ubloxd.cc selfdrive/locationd/.gitignore
selfdrive/locationd/ublox_msg.cc
selfdrive/locationd/ublox_msg.h
selfdrive/locationd/generated/*
selfdrive/locationd/laikad.py selfdrive/locationd/laikad.py
selfdrive/locationd/locationd.h selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc selfdrive/locationd/locationd.cc
@ -253,35 +254,36 @@ system/proclogd/main.cc
system/proclogd/proclog.cc system/proclogd/proclog.cc
system/proclogd/proclog.h system/proclogd/proclog.h
selfdrive/loggerd/.gitignore system/loggerd/.gitignore
selfdrive/loggerd/SConscript system/loggerd/SConscript
selfdrive/loggerd/encoder/encoder.cc system/loggerd/encoder/encoder.cc
selfdrive/loggerd/encoder/encoder.h system/loggerd/encoder/encoder.h
selfdrive/loggerd/encoder/v4l_encoder.cc system/loggerd/encoder/v4l_encoder.cc
selfdrive/loggerd/encoder/v4l_encoder.h system/loggerd/encoder/v4l_encoder.h
selfdrive/loggerd/video_writer.cc system/loggerd/video_writer.cc
selfdrive/loggerd/video_writer.h system/loggerd/video_writer.h
selfdrive/loggerd/logger.cc system/loggerd/logger.cc
selfdrive/loggerd/logger.h system/loggerd/logger.h
selfdrive/loggerd/loggerd.cc system/loggerd/loggerd.cc
selfdrive/loggerd/loggerd.h system/loggerd/loggerd.h
selfdrive/loggerd/encoderd.cc system/loggerd/encoderd.cc
selfdrive/loggerd/bootlog.cc system/loggerd/bootlog.cc
selfdrive/loggerd/encoder/ffmpeg_encoder.cc system/loggerd/encoder/ffmpeg_encoder.cc
selfdrive/loggerd/encoder/ffmpeg_encoder.h system/loggerd/encoder/ffmpeg_encoder.h
selfdrive/loggerd/__init__.py system/loggerd/__init__.py
selfdrive/loggerd/config.py system/loggerd/config.py
selfdrive/loggerd/uploader.py system/loggerd/uploader.py
selfdrive/loggerd/deleter.py system/loggerd/deleter.py
selfdrive/loggerd/xattr_cache.py system/loggerd/xattr_cache.py
selfdrive/sensord/SConscript system/sensord/.gitignore
selfdrive/sensord/sensors_qcom2.cc system/sensord/SConscript
selfdrive/sensord/sensors/*.cc system/sensord/sensors_qcom2.cc
selfdrive/sensord/sensors/*.h system/sensord/sensors/*.cc
selfdrive/sensord/sensord system/sensord/sensors/*.h
selfdrive/sensord/pigeond.py system/sensord/sensord
system/sensord/pigeond.py
selfdrive/thermald/thermald.py selfdrive/thermald/thermald.py
selfdrive/thermald/power_monitoring.py selfdrive/thermald/power_monitoring.py
@ -577,13 +579,14 @@ opendbc/tesla_can.dbc
opendbc/tesla_radar.dbc opendbc/tesla_radar.dbc
opendbc/tesla_powertrain.dbc opendbc/tesla_powertrain.dbc
tinygrad_repo/accel/opencl/*
tinygrad_repo/tinygrad/llops/ops_opencl.py
tinygrad_repo/openpilot/compile.py tinygrad_repo/openpilot/compile.py
tinygrad_repo/extra/onnx.py tinygrad_repo/extra/onnx.py
tinygrad_repo/extra/onnx_ops.py
tinygrad_repo/extra/thneed.py tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/llops/ops_gpu.py tinygrad_repo/tinygrad/codegen/ast.py
tinygrad_repo/tinygrad/shape/* tinygrad_repo/tinygrad/codegen/gpu.py
tinygrad_repo/tinygrad/nn/* tinygrad_repo/tinygrad/nn/*
tinygrad_repo/tinygrad/runtime/ops_gpu.py
tinygrad_repo/tinygrad/shape/*
tinygrad_repo/tinygrad/*.py tinygrad_repo/tinygrad/*.py

2
release/files_tici
Unescape View File

@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
system/camerad/cameras/camera_util.h system/camerad/cameras/camera_util.h
system/camerad/cameras/real_debayer.cl system/camerad/cameras/real_debayer.cl
selfdrive/sensord/rawgps/* system/sensord/rawgps/*
selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/spinner_larch64
selfdrive/ui/qt/text_larch64 selfdrive/ui/qt/text_larch64

4
selfdrive/athena/athenad.py
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@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader
from common.params import Params from common.params import Params
from common.realtime import sec_since_boot, set_core_affinity from common.realtime import sec_since_boot, set_core_affinity
from system.hardware import HARDWARE, PC, AGNOS from system.hardware import HARDWARE, PC, AGNOS
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr from system.loggerd.xattr_cache import getxattr, setxattr
from selfdrive.statsd import STATS_DIR from selfdrive.statsd import STATS_DIR
from system.swaglog import SWAGLOG_DIR, cloudlog from system.swaglog import SWAGLOG_DIR, cloudlog
from system.version import get_commit, get_origin, get_short_branch, get_version from system.version import get_commit, get_origin, get_short_branch, get_version

6
selfdrive/boardd/pandad.py
Unescape View File

@ -84,9 +84,9 @@ def main() -> NoReturn:
params.remove("PandaSignatures") params.remove("PandaSignatures")
# Flash all Pandas in DFU mode # Flash all Pandas in DFU mode
for p in PandaDFU.list(): for serial in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
PandaDFU(p).recover() PandaDFU(serial).recover()
time.sleep(1) time.sleep(1)
panda_serials = Panda.list() panda_serials = Panda.list()

48
selfdrive/boardd/tests/test_pandad.py
Unescape View File

@ -0,0 +1,48 @@
#!/usr/bin/env python3
import time
import unittest
import cereal.messaging as messaging
from panda import Panda
from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE
class TestPandad(unittest.TestCase):
def tearDown(self):
managed_processes['pandad'].stop()
def _wait_for_boardd(self):
sm = messaging.SubMaster(['peripheralState'])
for _ in range(30):
sm.update(1000)
if sm.updated['peripheralState']:
break
if not sm.updated['peripheralState']:
raise Exception("boardd failed to start")
@phone_only
def test_in_dfu(self):
HARDWARE.recover_internal_panda()
time.sleep(1)
managed_processes['pandad'].start()
self._wait_for_boardd()
@phone_only
def test_in_bootstub(self):
with Panda() as p:
p.reset(enter_bootstub=True)
assert p.bootstub
managed_processes['pandad'].start()
self._wait_for_boardd()
#def test_out_of_date_fw(self):
# pass
if __name__ == "__main__":
unittest.main()

2
selfdrive/car/car_helpers.py
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@ -180,7 +180,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
if candidate is None: if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
candidate = "mock" candidate = "mock"
CarInterface, CarController, CarState = interfaces[candidate] CarInterface, CarController, CarState = interfaces[candidate]

2
selfdrive/car/chrysler/values.py
Unescape View File

@ -99,7 +99,7 @@ FINGERPRINTS = {
55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
}, },
{ {
55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
}], }],
CAR.PACIFICA_2020: [{ CAR.PACIFICA_2020: [{
55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8 55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8

2
selfdrive/car/ford/values.py
Unescape View File

@ -165,6 +165,7 @@ FW_VERSIONS = {
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [
b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -178,6 +179,7 @@ FW_VERSIONS = {
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.engine, 0x7E0, None): [ (Ecu.engine, 0x7E0, None): [
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

1
selfdrive/car/tests/routes.py
Unescape View File

@ -206,6 +206,7 @@ routes = [
CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),

1
selfdrive/car/torque_data/substitute.yaml
Unescape View File

@ -56,6 +56,7 @@ CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN

1
selfdrive/car/toyota/values.py
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@ -1637,6 +1637,7 @@ FW_VERSIONS = {
b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00',
b'\x01896633T58000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00',

10
selfdrive/car/volkswagen/carstate.py
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@ -228,13 +228,13 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
if self.CP.pcmCruise: if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
else: else:
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
# Update ACC setpoint. When the setpoint reads as 255, the driver has not # Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero. # yet established an ACC setpoint, so treat it as zero.
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0 ret.cruiseState.speed = 0
@ -516,12 +516,12 @@ class PqExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers # Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [ fwd_radar_signals = [
("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ)
("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed
] ]
fwd_radar_checks = [ fwd_radar_checks = [
("ACC_System", 50), # From J428 ACC radar control module ("ACC_System", 50), # From J428 ACC radar control module
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module
] ]
bsm_radar_signals = [ bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left

4
selfdrive/car/volkswagen/interface.py
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@ -187,6 +187,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1227 + STD_CARGO_KG ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64 ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266 + STD_CARGO_KG
ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1: elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG ret.mass = 1265 + STD_CARGO_KG
ret.wheelbase = 2.66 ret.wheelbase = 2.66

2
selfdrive/car/volkswagen/pqcan.py
Unescape View File

@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
# kmh_mph handling probably needed to resolve rounding errors in displayed setpoint # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
} }
return packer.make_can_msg("ACC_GRA_Anziege", bus, values) return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)

27
selfdrive/car/volkswagen/values.py
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@ -36,7 +36,7 @@ class CarControllerParams:
if CP.carFingerprint in PQ_CARS: if CP.carFingerprint in PQ_CARS:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
@ -129,6 +129,7 @@ class CAR:
AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants
SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia
SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq
SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
@ -239,9 +240,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
CAR.SKODA_OCTAVIA_MK3: [ CAR.SKODA_OCTAVIA_MK3: [
@ -1009,6 +1011,23 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572P \xf1\x890682',
], ],
}, },
CAR.SKODA_FABIA_MK4: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906018CF\xf1\x891905',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300051M \xf1\x891936',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x872Q1909144S \xf1\x896042',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
],
},
CAR.SKODA_KAMIQ_MK1: { CAR.SKODA_KAMIQ_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8705C906032M \xf1\x891333', b'\xf1\x8705C906032M \xf1\x891333',
@ -1052,17 +1071,20 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027DD\xf1\x893123', b'\xf1\x8704E906027DD\xf1\x893123',
b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026DE\xf1\x895418',
b'\xf1\x8704L906026EJ\xf1\x893661',
b'\xf1\x8704L906026HT\xf1\x893617', b'\xf1\x8704L906026HT\xf1\x893617',
b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890003',
b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x875NA907115E \xf1\x890005',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870D9300043 \xf1\x895202', b'\xf1\x870D9300043 \xf1\x895202',
b'\xf1\x870DL300011N \xf1\x892014',
b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012M \xf1\x892107',
b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300012N \xf1\x892110',
b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892119',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
@ -1077,6 +1099,7 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572Q \xf1\x890342',
b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572R \xf1\x890372',
b'\xf1\x872Q0907572T \xf1\x890383',
b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572AA\xf1\x890396',
], ],
}, },

3
selfdrive/controls/controlsd.py
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@ -112,9 +112,6 @@ class Controls:
if not self.disengage_on_accelerator: if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
self.CP.dashcamOnly = False
# read params # read params
self.is_metric = self.params.get_bool("IsMetric") self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")

1
selfdrive/controls/plannerd.py
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@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
ui_send = messaging.new_message('uiPlan') ui_send = messaging.new_message('uiPlan')
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
uiPlan = ui_send.uiPlan uiPlan = ui_send.uiPlan
uiPlan.frameId = sm['modelV2'].frameId
uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()

3
selfdrive/locationd/.gitignore vendored
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@ -1,6 +1,3 @@
ubloxd
ubloxd_test
params_learner params_learner
paramsd paramsd
locationd locationd
test/test_glonass_runner

19
selfdrive/locationd/SConscript
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@ -1,20 +1,6 @@
Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']
if GetOption('kaitai'):
generated = Dir('generated').srcnode().abspath
cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
# kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
env.Depends(patch, glonass)
glonass_obj = env.Object('generated/glonass.cpp')
env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs)
ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
@ -26,6 +12,3 @@ lenv.Depends(locationd, libkf)
if File("liblocationd.cc").exists(): if File("liblocationd.cc").exists():
liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
lenv.Depends(liblocationd, libkf) lenv.Depends(liblocationd, libkf)
if GetOption('test'):
env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])

2
selfdrive/locationd/locationd.h
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@ -14,7 +14,7 @@
#include "common/timing.h" #include "common/timing.h"
#include "common/util.h" #include "common/util.h"
#include "selfdrive/sensord/sensors/constants.h" #include "system/sensord/sensors/constants.h"
#define VISION_DECIMATION 2 #define VISION_DECIMATION 2
#define SENSOR_DECIMATION 10 #define SENSOR_DECIMATION 10
#include "selfdrive/locationd/models/live_kf.h" #include "selfdrive/locationd/models/live_kf.h"

2
selfdrive/manager/manager.py
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@ -29,7 +29,7 @@ def manager_init() -> None:
set_time(cloudlog) set_time(cloudlog)
# save boot log # save boot log
subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))
params = Params() params = Params()
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)

24
selfdrive/manager/process_config.py
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@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool:
run = (not CP.notCar) or not params.get_bool("DisableLogging") run = (not CP.notCar) or not params.get_bool("DisableLogging")
return started and run return started and run
def ublox_available() -> bool:
return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
def ublox(started, params, CP: car.CarParams) -> bool: def ublox(started, params, CP: car.CarParams) -> bool:
use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') use_ublox = ublox_available()
params.put_bool("UbloxAvailable", use_ublox) params.put_bool("UbloxAvailable", use_ublox)
return started and use_ublox return started and use_ublox
def qcomgps(started, params, CP: car.CarParams) -> bool:
return started and not ublox_available()
procs = [ procs = [
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
@ -34,12 +40,12 @@ procs = [
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), 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("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"], offroad=True),
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@ -47,21 +53,21 @@ procs = [
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("torqued", "selfdrive.locationd.torqued"),
PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("controlsd", "selfdrive.controls.controlsd"),
PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
PythonProcess("laikad", "selfdrive.locationd.laikad"), PythonProcess("laikad", "selfdrive.locationd.laikad"),
PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI), PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("navd", "selfdrive.navd.navd"),
PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
PythonProcess("paramsd", "selfdrive.locationd.paramsd"), PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("plannerd", "selfdrive.controls.plannerd"),
PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("radard", "selfdrive.controls.radard"),
PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
PythonProcess("statsd", "selfdrive.statsd", offroad=True), PythonProcess("statsd", "selfdrive.statsd", offroad=True),
# debug procs # debug procs

2
selfdrive/modeld/SConscript
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@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [
if use_thneed and arch == "larch64" or GetOption('pc_thneed'): if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath fn = File("models/supercombo").abspath
tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"] tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
if not GetOption('pc_thneed'): if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space # use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]

8
selfdrive/modeld/models/README.md
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@ -2,7 +2,7 @@
To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
## Supercombo ## Supercombo
### Supercombo input format (Full size: 393738 x float32) ### Supercombo input format (Full size: 799906 x float32)
* **image stream** * **image stream**
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
* Channel 4 represents the half-res U channel * Channel 4 represents the half-res U channel
* Channel 5 represents the half-res V channel * Channel 5 represents the half-res V channel
* **desire** * **desire**
* one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8 * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
* **traffic convention** * **traffic convention**
* one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
* **recurrent state** * **feature buffer**
* The recurrent state vector that is fed back into the GRU for temporal context : 512 * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128
### Supercombo output format (Full size: XXX x float32) ### Supercombo output format (Full size: XXX x float32)

2
selfdrive/statsd.py
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@ -13,7 +13,7 @@ from system.swaglog import cloudlog
from system.hardware import HARDWARE from system.hardware import HARDWARE
from common.file_helpers import atomic_write_in_dir from common.file_helpers import atomic_write_in_dir
from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
class METRIC_TYPE: class METRIC_TYPE:

2
selfdrive/test/process_replay/model_replay_ref_commit
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@ -1 +1 @@
ba947edbb131a2a36ced7c490dfcf3280ad5b167 ab64afd1abd1059c14f50c67b51e5ef89029f216

3
selfdrive/test/process_replay/process_replay.py
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@ -449,9 +449,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
if CP.openpilotLongitudinalControl: if CP.openpilotLongitudinalControl:
params.put_bool("ExperimentalLongitudinalEnabled", True) params.put_bool("ExperimentalLongitudinalEnabled", True)
# controlsd process configuration assume all routes are out of dashcam
params.put_bool("DashcamOverride", True)
def python_replay_process(cfg, lr, fingerprint=None): def python_replay_process(cfg, lr, fingerprint=None):
sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
f9c7e05b836c4bff364978752e82d64b90f9d6e6 3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f

3
selfdrive/test/process_replay/test_processes.py
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@ -29,12 +29,12 @@ source_segments = [
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021
# Enable when port is tested and dashcamOnly is no longer set # Enable when port is tested and dashcamOnly is no longer set
#("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS
] ]
@ -53,7 +53,6 @@ segments = [
("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),
("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),

2
selfdrive/test/test_onroad.py
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@ -15,7 +15,7 @@ from common.basedir import BASEDIR
from common.timeout import Timeout from common.timeout import Timeout
from common.params import Params from common.params import Params
from selfdrive.controls.lib.events import EVENTS, ET from selfdrive.controls.lib.events import EVENTS, ET
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
from selfdrive.test.helpers import set_params_enabled, release_only from selfdrive.test.helpers import set_params_enabled, release_only
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader

2
selfdrive/test/test_valgrind_replay.py
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@ -28,7 +28,7 @@ CONFIGS = [
}, },
ignore=[], ignore=[],
command="./ubloxd", command="./ubloxd",
path="selfdrive/locationd/", path="system/ubloxd",
segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
wait_for_response=True wait_for_response=True
), ),

2
selfdrive/thermald/thermald.py
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@ -18,7 +18,7 @@ from common.params import Params
from common.realtime import DT_TRML, sec_since_boot from common.realtime import DT_TRML, sec_since_boot
from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.controls.lib.alertmanager import set_offroad_alert
from system.hardware import HARDWARE, TICI, AGNOS from system.hardware import HARDWARE, TICI, AGNOS
from selfdrive.loggerd.config import get_available_percent from system.loggerd.config import get_available_percent
from selfdrive.statsd import statlog from selfdrive.statsd import statlog
from system.swaglog import cloudlog from system.swaglog import cloudlog
from selfdrive.thermald.power_monitoring import PowerMonitoring from selfdrive.thermald.power_monitoring import PowerMonitoring

2
selfdrive/tombstoned.py
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@ -10,7 +10,7 @@ import glob
from typing import NoReturn from typing import NoReturn
from common.file_helpers import mkdirs_exists_ok from common.file_helpers import mkdirs_exists_ok
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
import selfdrive.sentry as sentry import selfdrive.sentry as sentry
from system.swaglog import cloudlog from system.swaglog import cloudlog
from system.version import get_commit from system.version import get_commit

38
selfdrive/ui/qt/maps/map.cc
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@ -24,8 +24,6 @@ const float MAX_PITCH = 50;
const float MIN_PITCH = 0; const float MIN_PITCH = 0;
const float MAP_SCALE = 2; const float MAP_SCALE = 2;
const float VALID_POS_STD = 50.0; // m
const QString ICON_SUFFIX = ".png"; const QString ICON_SUFFIX = ".png";
MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) {
} }
} }
// TODO should check a valid/status flag
if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){
auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
auto laikad_pos = laikad_location.getPositionECEF();
auto laikad_pos_ecef = laikad_pos.getValue();
auto laikad_pos_std = laikad_pos.getStd();
auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
if (laikad_valid && !locationd_valid) {
ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
// Compute NED velocity
LocalCoord converter(ecef);
ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
float velocity = ned_vel.norm();
velocity_filter.update(velocity);
// Convert NED velocity to angle
if (velocity > 1.0) {
float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
if (last_bearing) {
float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
} else {
last_bearing = new_bearing;
}
}
}
}
if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) { if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
qWarning() << "Got new navRoute from navd. Opening map:" << allow_open; qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;

20
selfdrive/ui/qt/onroad.cc
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@ -669,16 +669,18 @@ void AnnotatedCameraWidget::paintGL() {
} }
// Wide or narrow cam dependent on speed // Wide or narrow cam dependent on speed
float v_ego = sm["carState"].getCarState().getVEgo(); bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
if ((v_ego < 10) || s->wide_cam_only) { if (has_wide_cam) {
wide_cam_requested = true; float v_ego = sm["carState"].getCarState().getVEgo();
} else if (v_ego > 15) { if ((v_ego < 10) || available_streams.size() == 1) {
wide_cam_requested = false; wide_cam_requested = true;
} else if (v_ego > 15) {
wide_cam_requested = false;
}
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
} }
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode() && false;
// TODO: also detect when ecam vision stream isn't available
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); 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::getStreamType() == VISION_STREAM_WIDE_ROAD;

15
selfdrive/ui/qt/widgets/cameraview.cc
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@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : 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) { stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
setAttribute(Qt::WA_OpaquePaintEvent); setAttribute(Qt::WA_OpaquePaintEvent);
qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
} }
CameraWidget::~CameraWidget() { CameraWidget::~CameraWidget() {
@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() {
} }
} }
void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
available_streams = streams;
}
void CameraWidget::updateFrameMat() { void CameraWidget::updateFrameMat() {
int w = width(), h = height(); int w = width(), h = height();
@ -366,6 +372,14 @@ void CameraWidget::vipcThread() {
if (!vipc_client->connected) { if (!vipc_client->connected) {
clearFrames(); clearFrames();
auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
if (streams.empty()) {
qWarning() << "VisionIPC connected, but no streams available";
QThread::msleep(100);
continue;
}
emit vipcAvailableStreamsUpdated(streams);
if (!vipc_client->connect(false)) { if (!vipc_client->connect(false)) {
QThread::msleep(100); QThread::msleep(100);
continue; continue;
@ -400,4 +414,5 @@ void CameraWidget::vipcThread() {
void CameraWidget::clearFrames() { void CameraWidget::clearFrames() {
std::lock_guard lk(frame_lock); std::lock_guard lk(frame_lock);
frames.clear(); frames.clear();
available_streams.clear();
} }

5
selfdrive/ui/qt/widgets/cameraview.h
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@ -41,6 +41,7 @@ signals:
void clicked(); void clicked();
void vipcThreadConnected(VisionIpcClient *); void vipcThreadConnected(VisionIpcClient *);
void vipcThreadFrameReceived(); void vipcThreadFrameReceived();
void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
protected: protected:
void paintGL() override; void paintGL() override;
@ -71,6 +72,7 @@ protected:
int stream_stride = 0; int stream_stride = 0;
std::atomic<VisionStreamType> active_stream_type; std::atomic<VisionStreamType> active_stream_type;
std::atomic<VisionStreamType> requested_stream_type; std::atomic<VisionStreamType> requested_stream_type;
std::set<VisionStreamType> available_streams;
QThread *vipc_thread = nullptr; QThread *vipc_thread = nullptr;
// Calibration // Calibration
@ -88,4 +90,7 @@ protected:
protected slots: protected slots:
void vipcConnected(VisionIpcClient *vipc_client); void vipcConnected(VisionIpcClient *vipc_client);
void vipcFrameReceived(); void vipcFrameReceived();
void availableStreamsUpdated(std::set<VisionStreamType> streams);
}; };
Q_DECLARE_METATYPE(std::set<VisionStreamType>);

11
selfdrive/ui/translations/main_pt-BR.ts
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@ -596,16 +596,17 @@ trabalho definido</translation>
</message> </message>
<message> <message>
<source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source> <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
<translation type="unfinished"></translation> <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
</message> </message>
<message> <message>
<source>Press confirm to erase all content and settings. Press cancel to resume boot.</source> <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
<translation type="unfinished"></translation> <translation>Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar.</translation>
</message> </message>
<message> <message>
<source>Resetting device... <source>Resetting device...
This may take up to a minute.</source> This may take up to a minute.</source>
<translation type="unfinished"></translation> <translation>Redefinindo o dispositivo
Isso pode levar até um minuto.</translation>
</message> </message>
</context> </context>
<context> <context>
@ -707,11 +708,11 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>No custom software found at this URL.</source> <source>No custom software found at this URL.</source>
<translation type="unfinished"></translation> <translation>Não há software personalizado nesta URL.</translation>
</message> </message>
<message> <message>
<source>Something went wrong. Reboot the device.</source> <source>Something went wrong. Reboot the device.</source>
<translation type="unfinished"></translation> <translation>Algo deu errado. Reinicie o dispositivo.</translation>
</message> </message>
</context> </context>
<context> <context>

16
selfdrive/ui/translations/main_zh-CHT.ts
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@ -200,7 +200,7 @@
</message> </message>
<message> <message>
<source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source> <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
<translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation> <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
</message> </message>
<message> <message>
<source> Your device is pointed %1° %2 and %3° %4.</source> <source> Your device is pointed %1° %2 and %3° %4.</source>
@ -592,16 +592,16 @@ location set</source>
</message> </message>
<message> <message>
<source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source> <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
<translation type="unfinished"></translation> <translation>無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定</translation>
</message> </message>
<message> <message>
<source>Press confirm to erase all content and settings. Press cancel to resume boot.</source> <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
<translation type="unfinished"></translation> <translation>按下確認以刪除所有內容及設定 按下取消來繼續開機</translation>
</message> </message>
<message> <message>
<source>Resetting device... <source>Resetting device...
This may take up to a minute.</source> This may take up to a minute.</source>
<translation type="unfinished"></translation> <translation>設備重置中 此過程可能需要幾分鐘</translation>
</message> </message>
</context> </context>
<context> <context>
@ -703,11 +703,11 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>No custom software found at this URL.</source> <source>No custom software found at this URL.</source>
<translation type="unfinished"></translation> <translation>無法在此URL找到定制的軟體</translation>
</message> </message>
<message> <message>
<source>Something went wrong. Reboot the device.</source> <source>Something went wrong. Reboot the device.</source>
<translation type="unfinished"></translation> <translation>發生了一些錯誤 請重新啟動您的設備</translation>
</message> </message>
</context> </context>
<context> <context>
@ -1028,11 +1028,11 @@ This may take up to a minute.</source>
</message> </message>
<message> <message>
<source>openpilot longitudinal control may come in a future update.</source> <source>openpilot longitudinal control may come in a future update.</source>
<translation type="unfinished"></translation> <translation>未來可能會推出openpilot縱向控制</translation>
</message> </message>
<message> <message>
<source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source> <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
<translation type="unfinished"></translation> <translation>在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本</translation>
</message> </message>
<message> <message>
<source>Enable experimental longitudinal control to allow Experimental mode.</source> <source>Enable experimental longitudinal control to allow Experimental mode.</source>

5
selfdrive/ui/ui.cc
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@ -234,7 +234,6 @@ void UIState::updateStatus() {
if (scene.started) { if (scene.started) {
status = STATUS_DISENGAGED; status = STATUS_DISENGAGED;
scene.started_frame = sm->frame; scene.started_frame = sm->frame;
wide_cam_only = Params().getBool("WideCameraOnly");
} }
started_prev = scene.started; started_prev = scene.started;
emit offroadTransition(!scene.started); emit offroadTransition(!scene.started);
@ -252,12 +251,10 @@ UIState::UIState(QObject *parent) : QObject(parent) {
sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({ sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
"wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
"uiPlan",
}); });
Params params; Params params;
wide_cam_only = params.getBool("WideCameraOnly");
prime_type = std::atoi(params.get("PrimeType").c_str()); prime_type = std::atoi(params.get("PrimeType").c_str());
language = QString::fromStdString(params.get("LanguageSetting")); language = QString::fromStdString(params.get("LanguageSetting"));

1
selfdrive/ui/ui.h
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@ -150,7 +150,6 @@ public:
QString language; QString language;
QTransform car_space_transform; QTransform car_space_transform;
bool wide_cam_only;
signals: signals:
void uiUpdate(const UIState &s); void uiUpdate(const UIState &s);

25
system/hardware/tici/amplifier.py
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@ -24,13 +24,10 @@ BASE_CONFIG = [
AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
@ -41,7 +38,6 @@ BASE_CONFIG = [
AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
@ -64,6 +60,11 @@ BASE_CONFIG = [
CONFIGS = { CONFIGS = {
"tici": [ "tici": [
AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
*configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
*configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
*configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
@ -72,11 +73,13 @@ CONFIGS = {
], ],
"tizi": [ "tizi": [
AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111), AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111), AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111), AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111),
AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
@ -91,12 +94,6 @@ CONFIGS = {
AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
*configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)),
*configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)),
*configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)),
*configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)),
*configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)),
], ],
} }

12
system/hardware/tici/test_power_draw.py
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@ -3,6 +3,7 @@ import unittest
import time import time
import math import math
from dataclasses import dataclass from dataclasses import dataclass
from tabulate import tabulate
from system.hardware import HARDWARE, TICI from system.hardware import HARDWARE, TICI
from system.hardware.tici.power_monitor import get_power from system.hardware.tici.power_monitor import get_power
@ -20,7 +21,7 @@ class Proc:
PROCS = [ PROCS = [
Proc('camerad', 2.15), Proc('camerad', 2.15),
Proc('modeld', 1.15, atol=0.2), Proc('modeld', 0.93, atol=0.2),
Proc('dmonitoringmodeld', 0.4), Proc('dmonitoringmodeld', 0.4),
Proc('encoderd', 0.23), Proc('encoderd', 0.23),
] ]
@ -58,15 +59,16 @@ class TestPowerDraw(unittest.TestCase):
manager_cleanup() manager_cleanup()
print("-"*35) tab = []
print(f"Baseline {baseline:.2f}W\n") tab.append(['process', 'expected (W)', 'current (W)'])
for proc in PROCS: for proc in PROCS:
cur = used[proc.name] cur = used[proc.name]
expected = proc.power expected = proc.power
print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W") tab.append([proc.name, round(expected, 2), round(cur, 2)])
with self.subTest(proc=proc.name): with self.subTest(proc=proc.name):
self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
print("-"*35) print(tabulate(tab))
print(f"Baseline {baseline:.2f}W\n")
if __name__ == "__main__": if __name__ == "__main__":

0
selfdrive/loggerd/.gitignore → system/loggerd/.gitignore vendored
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0
selfdrive/loggerd/README.md → system/loggerd/README.md
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0
selfdrive/loggerd/SConscript → system/loggerd/SConscript
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0
selfdrive/loggerd/__init__.py → system/loggerd/__init__.py
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2
selfdrive/loggerd/bootlog.cc → system/loggerd/bootlog.cc
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@ -3,7 +3,7 @@
#include "cereal/messaging/messaging.h" #include "cereal/messaging/messaging.h"
#include "common/swaglog.h" #include "common/swaglog.h"
#include "selfdrive/loggerd/logger.h" #include "system/loggerd/logger.h"
static kj::Array<capnp::word> build_boot_log() { static kj::Array<capnp::word> build_boot_log() {

0
selfdrive/loggerd/config.py → system/loggerd/config.py
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4
selfdrive/loggerd/deleter.py → system/loggerd/deleter.py
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@ -3,8 +3,8 @@ import os
import shutil import shutil
import threading import threading
from system.swaglog import cloudlog from system.swaglog import cloudlog
from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent from system.loggerd.config import ROOT, get_available_bytes, get_available_percent
from selfdrive.loggerd.uploader import listdir_by_creation from system.loggerd.uploader import listdir_by_creation
MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_BYTES = 5 * 1024 * 1024 * 1024
MIN_PERCENT = 10 MIN_PERCENT = 10

2
selfdrive/loggerd/encoder/encoder.cc → system/loggerd/encoder/encoder.cc
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@ -1,5 +1,5 @@
#include <cassert> #include <cassert>
#include "selfdrive/loggerd/encoder/encoder.h" #include "system/loggerd/encoder/encoder.h"
VideoEncoder::~VideoEncoder() {} VideoEncoder::~VideoEncoder() {}

2
selfdrive/loggerd/encoder/encoder.h → system/loggerd/encoder/encoder.h
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@ -7,7 +7,7 @@
#include "cereal/messaging/messaging.h" #include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc.h"
#include "common/queue.h" #include "common/queue.h"
#include "selfdrive/loggerd/video_writer.h" #include "system/loggerd/video_writer.h"
#include "system/camerad/cameras/camera_common.h" #include "system/camerad/cameras/camera_common.h"
#define V4L2_BUF_FLAG_KEYFRAME 8 #define V4L2_BUF_FLAG_KEYFRAME 8

2
selfdrive/loggerd/encoder/ffmpeg_encoder.cc → system/loggerd/encoder/ffmpeg_encoder.cc
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@ -1,6 +1,6 @@
#pragma clang diagnostic ignored "-Wdeprecated-declarations" #pragma clang diagnostic ignored "-Wdeprecated-declarations"
#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" #include "system/loggerd/encoder/ffmpeg_encoder.h"
#include <fcntl.h> #include <fcntl.h>
#include <unistd.h> #include <unistd.h>

4
selfdrive/loggerd/encoder/ffmpeg_encoder.h → system/loggerd/encoder/ffmpeg_encoder.h
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@ -11,8 +11,8 @@ extern "C" {
#include <libavutil/imgutils.h> #include <libavutil/imgutils.h>
} }
#include "selfdrive/loggerd/encoder/encoder.h" #include "system/loggerd/encoder/encoder.h"
#include "selfdrive/loggerd/loggerd.h" #include "system/loggerd/loggerd.h"
class FfmpegEncoder : public VideoEncoder { class FfmpegEncoder : public VideoEncoder {
public: public:

2
selfdrive/loggerd/encoder/v4l_encoder.cc → system/loggerd/encoder/v4l_encoder.cc
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@ -2,7 +2,7 @@
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <poll.h> #include <poll.h>
#include "selfdrive/loggerd/encoder/v4l_encoder.h" #include "system/loggerd/encoder/v4l_encoder.h"
#include "common/util.h" #include "common/util.h"
#include "common/timing.h" #include "common/timing.h"

2
selfdrive/loggerd/encoder/v4l_encoder.h → system/loggerd/encoder/v4l_encoder.h
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@ -1,7 +1,7 @@
#pragma once #pragma once
#include "common/queue.h" #include "common/queue.h"
#include "selfdrive/loggerd/encoder/encoder.h" #include "system/loggerd/encoder/encoder.h"
#define BUF_IN_COUNT 7 #define BUF_IN_COUNT 7
#define BUF_OUT_COUNT 6 #define BUF_OUT_COUNT 6

2
selfdrive/loggerd/encoderd.cc → system/loggerd/encoderd.cc
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@ -1,4 +1,4 @@
#include "selfdrive/loggerd/loggerd.h" #include "system/loggerd/loggerd.h"
ExitHandler do_exit; ExitHandler do_exit;

2
selfdrive/loggerd/logger.cc → system/loggerd/logger.cc
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@ -1,4 +1,4 @@
#include "selfdrive/loggerd/logger.h" #include "system/loggerd/logger.h"
#include <sys/stat.h> #include <sys/stat.h>
#include <unistd.h> #include <unistd.h>

0
selfdrive/loggerd/logger.h → system/loggerd/logger.h
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4
selfdrive/loggerd/loggerd.cc → system/loggerd/loggerd.cc
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@ -1,5 +1,5 @@
#include "selfdrive/loggerd/loggerd.h" #include "system/loggerd/loggerd.h"
#include "selfdrive/loggerd/video_writer.h" #include "system/loggerd/video_writer.h"
ExitHandler do_exit; ExitHandler do_exit;

8
selfdrive/loggerd/loggerd.h → system/loggerd/loggerd.h
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@ -23,13 +23,13 @@
#include "common/util.h" #include "common/util.h"
#include "system/hardware/hw.h" #include "system/hardware/hw.h"
#include "selfdrive/loggerd/encoder/encoder.h" #include "system/loggerd/encoder/encoder.h"
#include "selfdrive/loggerd/logger.h" #include "system/loggerd/logger.h"
#ifdef QCOM2 #ifdef QCOM2
#include "selfdrive/loggerd/encoder/v4l_encoder.h" #include "system/loggerd/encoder/v4l_encoder.h"
#define Encoder V4LEncoder #define Encoder V4LEncoder
#else #else
#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" #include "system/loggerd/encoder/ffmpeg_encoder.h"
#define Encoder FfmpegEncoder #define Encoder FfmpegEncoder
#endif #endif

0
selfdrive/loggerd/tests/__init__.py → system/loggerd/tests/__init__.py
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4
selfdrive/loggerd/tests/fill_eon.py → system/loggerd/tests/fill_eon.py
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@ -3,8 +3,8 @@
import os import os
from selfdrive.loggerd.config import ROOT, get_available_percent from system.loggerd.config import ROOT, get_available_percent
from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file from system.loggerd.tests.loggerd_tests_common import create_random_file
if __name__ == "__main__": if __name__ == "__main__":

2
selfdrive/loggerd/tests/loggerd_tests_common.py → system/loggerd/tests/loggerd_tests_common.py
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@ -5,7 +5,7 @@ import random
import tempfile import tempfile
import unittest import unittest
import selfdrive.loggerd.uploader as uploader import system.loggerd.uploader as uploader
def create_random_file(file_path, size_mb, lock=False): def create_random_file(file_path, size_mb, lock=False):
try: try:

4
selfdrive/loggerd/tests/test_deleter.py → system/loggerd/tests/test_deleter.py
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@ -6,8 +6,8 @@ import unittest
from collections import namedtuple from collections import namedtuple
from common.timeout import Timeout, TimeoutException from common.timeout import Timeout, TimeoutException
import selfdrive.loggerd.deleter as deleter import system.loggerd.deleter as deleter
from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase from system.loggerd.tests.loggerd_tests_common import UploaderTestCase
Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])

2
selfdrive/loggerd/tests/test_encoder.py → system/loggerd/tests/test_encoder.py
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@ -14,7 +14,7 @@ from tqdm import trange
from common.params import Params from common.params import Params
from common.timeout import Timeout from common.timeout import Timeout
from system.hardware import TICI from system.hardware import TICI
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader

2
selfdrive/loggerd/tests/test_logger.cc → system/loggerd/tests/test_logger.cc
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@ -9,7 +9,7 @@
#include "catch2/catch.hpp" #include "catch2/catch.hpp"
#include "cereal/messaging/messaging.h" #include "cereal/messaging/messaging.h"
#include "common/util.h" #include "common/util.h"
#include "selfdrive/loggerd/logger.h" #include "system/loggerd/logger.h"
#include "tools/replay/util.h" #include "tools/replay/util.h"
typedef cereal::Sentinel::SentinelType SentinelType; typedef cereal::Sentinel::SentinelType SentinelType;

4
selfdrive/loggerd/tests/test_loggerd.py → system/loggerd/tests/test_loggerd.py
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@ -15,7 +15,7 @@ from cereal.services import service_list
from common.basedir import BASEDIR from common.basedir import BASEDIR
from common.params import Params from common.params import Params
from common.timeout import Timeout from common.timeout import Timeout
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from system.version import get_version from system.version import get_version
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase):
def _gen_bootlog(self): def _gen_bootlog(self):
with Timeout(5): with Timeout(5):
out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8') out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
log_fn = self._get_log_fn(out) log_fn = self._get_log_fn(out)

0
selfdrive/loggerd/tests/test_runner.cc → system/loggerd/tests/test_runner.cc
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4
selfdrive/loggerd/tests/test_uploader.py → system/loggerd/tests/test_uploader.py
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@ -7,9 +7,9 @@ import logging
import json import json
from system.swaglog import cloudlog from system.swaglog import cloudlog
import selfdrive.loggerd.uploader as uploader import system.loggerd.uploader as uploader
from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase from system.loggerd.tests.loggerd_tests_common import UploaderTestCase
class TestLogHandler(logging.Handler): class TestLogHandler(logging.Handler):

4
selfdrive/loggerd/tools/mark_all_uploaded.py → system/loggerd/tools/mark_all_uploaded.py
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@ -1,7 +1,7 @@
import os import os
from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
for folder in os.walk(ROOT): for folder in os.walk(ROOT):
for file1 in folder[2]: for file1 in folder[2]:
full_path = os.path.join(folder[0], file1) full_path = os.path.join(folder[0], file1)

2
selfdrive/loggerd/tools/mark_unuploaded.py → system/loggerd/tools/mark_unuploaded.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import sys import sys
from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME from system.loggerd.uploader import UPLOAD_ATTR_NAME
for fn in sys.argv[1:]: for fn in sys.argv[1:]:
print(f"unmarking {fn}") print(f"unmarking {fn}")

4
selfdrive/loggerd/uploader.py → system/loggerd/uploader.py
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@ -16,8 +16,8 @@ from common.api import Api
from common.params import Params from common.params import Params
from common.realtime import set_core_affinity from common.realtime import set_core_affinity
from system.hardware import TICI from system.hardware import TICI
from selfdrive.loggerd.xattr_cache import getxattr, setxattr from system.loggerd.xattr_cache import getxattr, setxattr
from selfdrive.loggerd.config import ROOT from system.loggerd.config import ROOT
from system.swaglog import cloudlog from system.swaglog import cloudlog
NetworkType = log.DeviceState.NetworkType NetworkType = log.DeviceState.NetworkType

2
selfdrive/loggerd/video_writer.cc → system/loggerd/video_writer.cc
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@ -2,7 +2,7 @@
#include <cassert> #include <cassert>
#include <cstdlib> #include <cstdlib>
#include "selfdrive/loggerd/video_writer.h" #include "system/loggerd/video_writer.h"
#include "common/swaglog.h" #include "common/swaglog.h"
#include "common/util.h" #include "common/util.h"

0
selfdrive/loggerd/video_writer.h → system/loggerd/video_writer.h
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0
selfdrive/loggerd/xattr_cache.py → system/loggerd/xattr_cache.py
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1
system/sensord/.gitignore vendored
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@ -0,0 +1 @@
_sensord

0
selfdrive/sensord/SConscript → system/sensord/SConscript
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0
selfdrive/sensord/__init__.py → system/sensord/__init__.py
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1
selfdrive/sensord/pigeond.py → system/sensord/pigeond.py
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@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
cloudlog.debug("pigeon configured") cloudlog.debug("pigeon configured")
# try restoring almanac backup # try restoring almanac backup

0
selfdrive/sensord/rawgps/compare.py → system/sensord/rawgps/compare.py
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0
selfdrive/sensord/rawgps/modemdiag.py → system/sensord/rawgps/modemdiag.py
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4
selfdrive/sensord/rawgps/rawgpsd.py → system/sensord/rawgps/rawgpsd.py
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@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set
from laika.gps_time import GPSTime from laika.gps_time import GPSTime
from system.hardware.tici.pins import GPIO from system.hardware.tici.pins import GPIO
from system.swaglog import cloudlog from system.swaglog import cloudlog
from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
gps_measurement_report, gps_measurement_report_sv, gps_measurement_report, gps_measurement_report_sv,
glonass_measurement_report, glonass_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv,
oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,

0
selfdrive/sensord/rawgps/structs.py → system/sensord/rawgps/structs.py
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0
selfdrive/sensord/rawgps/test_rawgps.py → system/sensord/rawgps/test_rawgps.py
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