diff --git a/SConstruct b/SConstruct index 57831647cd..0f25a4253d 100644 --- a/SConstruct +++ b/SConstruct @@ -107,7 +107,6 @@ if arch == "larch64": ] libpath += [ - "#third_party/snpe/larch64", "#third_party/libyuv/larch64/lib", "/usr/lib/aarch64-linux-gnu" ] @@ -146,14 +145,6 @@ else: "/usr/local/lib", ] - if arch == "x86_64": - libpath += [ - f"#third_party/snpe/{arch}" - ] - rpath += [ - Dir(f"#third_party/snpe/{arch}").abspath, - ] - if GetOption('asan'): ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"] ldflags = ["-fsanitize=address"] @@ -197,7 +188,6 @@ env = Environment( "#third_party/libyuv/include", "#third_party/json11", "#third_party/linux/include", - "#third_party/snpe/include", "#third_party", "#msgq", ], @@ -350,7 +340,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog}) SConscript(['cereal/SConscript']) Import('socketmaster', 'msgq') -messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',] +messaging = [socketmaster, msgq, 'capnp', 'kj',] Export('messaging') diff --git a/docs/CARS.md b/docs/CARS.md index 0cc23e138f..da65858b8f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -184,7 +184,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/launch_env.sh b/launch_env.sh index c1cdb6708f..4e731d0211 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.6" + export AGNOS_VERSION="11.7" fi export STAGING_ROOT="/data/safe_staging" diff --git a/opendbc_repo b/opendbc_repo index a5a1f7a086..bdc2fe3a9a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a5a1f7a0861c51f93a743bcfd0cc02ba761b613c +Subproject commit bdc2fe3a9aa692bcf46c6ab052405564f6d8e379 diff --git a/panda b/panda index d75e4ee3ed..3ff97305c5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d75e4ee3ed5e5bb61f5949bc315d9d684e2eff49 +Subproject commit 3ff97305c565d5e43931052b9ec4747b2f617401 diff --git a/pyproject.toml b/pyproject.toml index 00ee3790b2..2bfc49bba1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -111,6 +111,8 @@ dev = [ "tabulate", "types-requests", "types-tabulate", + "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp312-cp312-linux_x86_64.whl ; (platform_machine == 'x86_64' and platform_system == 'Linux' and python_version == '3.12')", + "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp311-cp311-linux_x86_64.whl ; (platform_machine == 'x86_64' and platform_system == 'Linux' and python_version == '3.11')", ] tools = [ diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 47a48cee6e..2d69d3d590 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -45,9 +45,6 @@ class CarSpecificEvents: if self.CP.brand in ('body', 'mock'): events = Events() - elif self.CP.brand in ('subaru', 'mazda', 'tesla'): - events = self.create_common_events(CS, CS_prev) - elif self.CP.brand == 'ford': events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic]) @@ -102,13 +99,9 @@ class CarSpecificEvents: events.add(EventName.manualRestart) elif self.CP.brand == 'gm': - # The ECM allows enabling on falling edge of set, but only rising edge of resume events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,)) - if not self.CP.pcmCruise: - if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents): - events.add(EventName.buttonEnable) + pcm_enable=self.CP.pcmCruise) # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs @@ -122,8 +115,7 @@ class CarSpecificEvents: elif self.CP.brand == 'volkswagen': events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise, - enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) + pcm_enable=self.CP.pcmCruise) # Low speed steer alert hysteresis logic if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.): @@ -160,12 +152,12 @@ class CarSpecificEvents: events.add(EventName.belowSteerSpeed) else: - raise ValueError(f"Unsupported car: {self.CP.brand}") + events = self.create_common_events(CS, CS_prev) return events def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True, - allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)): + allow_enable=True, allow_button_cancel=True): events = Events() if CS.doorOpen: @@ -209,12 +201,11 @@ class CarSpecificEvents: events.add(EventName.invalidLkasSetting) if CS.lowSpeedAlert: events.add(EventName.belowSteerSpeed) + if CS.buttonEnable: + events.add(EventName.buttonEnable) - # Handle button presses + # Handle cancel button presses for b in CS.buttonEvents: - # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) - if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed): - events.add(EventName.buttonEnable) # Disable on rising and falling edge of cancel for both stock and OP long # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise): diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 78cd19e78b..b8735359e1 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -13,8 +13,9 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog, ForwardingHandler -from opendbc.car import DT_CTRL, carlog, structs +from opendbc.car import DT_CTRL, structs from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable +from opendbc.car.carlog import carlog from opendbc.car.fw_versions import ObdCallback from opendbc.car.car_helpers import get_car, get_radar_interface from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 45358542de..c20677c05d 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,3 +1,4 @@ +import time import capnp import os import pytest @@ -9,17 +10,15 @@ import hypothesis.strategies as st from hypothesis import Phase, given, settings from parameterized import parameterized_class -from cereal import messaging, log, car -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs -from opendbc.car.fingerprints import all_known_cars, MIGRATION +from opendbc.car.can_definitions import CanData from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces +from opendbc.car.fingerprints import all_known_cars, MIGRATION from opendbc.car.honda.values import CAR as HONDA, HondaFlags -from opendbc.car.values import Platform +from opendbc.car.structs import car from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute -from openpilot.selfdrive.selfdrived.events import ET -from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD +from opendbc.car.values import Platform +from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT @@ -29,8 +28,6 @@ from openpilot.tools.lib.route import SegmentName from panda.tests.libpanda import libpanda_py -EventName = log.OnroadEvent.EventName -PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) @@ -171,8 +168,6 @@ class TestCarModelBase(unittest.TestCase): self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) assert self.CI - Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) - # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda @@ -339,10 +334,8 @@ class TestCarModelBase(unittest.TestCase): to_send = libpanda_py.make_CANPacket(address, bus, dat) self.safety.safety_rx_hook(to_send) - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=address, dat=dat, src=bus)] - - CS = self.CI.update(can_capnp_to_list((can.to_bytes(),))) + can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])] + CS = self.CI.update(can) if self.safety.get_gas_pressed_prev() != prev_panda_gas: self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) @@ -387,8 +380,6 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) - selfdrived = SelfdriveD(CP=self.CP) - selfdrived.initialized = True for idx, can in enumerate(self.can_msgs): CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() for msg in filter(lambda m: m.src in range(64), can.can): @@ -432,11 +423,8 @@ class TestCarModelBase(unittest.TestCase): if not self.CP.notCar: checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: - # Check for enable events on rising edge of controls allowed - selfdrived.update_events(CS) - selfdrived.CS_prev = CS - button_enable = (selfdrived.events.contains(ET.ENABLE) and - EventName.pedalPressed not in selfdrived.events.names) + # Check for user button enable on rising edge of controls allowed + button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() diff --git a/selfdrive/debug/car/disable_ecu.py b/selfdrive/debug/car/disable_ecu.py index 185139324d..14d0cbb9cf 100755 --- a/selfdrive/debug/car/disable_ecu.py +++ b/selfdrive/debug/car/disable_ecu.py @@ -11,5 +11,5 @@ if __name__ == "__main__": time.sleep(1) # honda bosch radar disable - disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False) + disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5) print(f"disabled: {disabled}") diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py index 58781222dc..584c930ebf 100755 --- a/selfdrive/debug/car/ecu_addrs.py +++ b/selfdrive/debug/car/ecu_addrs.py @@ -2,6 +2,7 @@ import argparse import time import cereal.messaging as messaging +from opendbc.car.carlog import carlog from opendbc.car.ecu_addrs import get_all_ecu_addrs from openpilot.common.params import Params from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback @@ -15,6 +16,9 @@ if __name__ == "__main__": parser.add_argument('--timeout', type=float, default=1.0) args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + logcan = messaging.sub_sock('can') sendcan = messaging.pub_sock('sendcan') can_callbacks = can_comm_callbacks(logcan, sendcan) @@ -29,7 +33,7 @@ if __name__ == "__main__": obd_callback(params)(not args.no_obd) print("Getting ECU addresses ...") - ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug) + ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout) print() print("Found ECUs on rx addresses:") diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py index 18a287b38e..03d066cdcb 100755 --- a/selfdrive/debug/car/fw_versions.py +++ b/selfdrive/debug/car/fw_versions.py @@ -3,6 +3,7 @@ import time import argparse import cereal.messaging as messaging from cereal import car +from opendbc.car.carlog import carlog from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car from opendbc.car.vin import get_vin from openpilot.common.params import Params @@ -18,6 +19,9 @@ if __name__ == "__main__": parser.add_argument('--brand', help='Only query addresses/with requests for this brand') args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + logcan = messaging.sub_sock('can') pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') @@ -46,13 +50,13 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") set_obd_multiplexing(True) - vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1)) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() t = time.time() - fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True) + fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True) _, candidates = match_fw_to_car(fw_vers, vin) print() diff --git a/selfdrive/debug/car/vin.py b/selfdrive/debug/car/vin.py index 7946b429e4..9b1d6528cc 100755 --- a/selfdrive/debug/car/vin.py +++ b/selfdrive/debug/car/vin.py @@ -2,6 +2,7 @@ import argparse import time import cereal.messaging as messaging +from opendbc.car.carlog import carlog from opendbc.car.vin import get_vin from openpilot.selfdrive.car.card import can_comm_callbacks @@ -13,10 +14,13 @@ if __name__ == "__main__": parser.add_argument('--retry', type=int, default=5) args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + sendcan = messaging.pub_sock('sendcan') logcan = messaging.sub_sock('can') can_callbacks = can_comm_callbacks(logcan, sendcan) time.sleep(1) - vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index 55e2bb47de..2c7f525d80 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -2,6 +2,7 @@ import sys import argparse from subprocess import check_output, CalledProcessError +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE from panda import Panda @@ -11,6 +12,9 @@ parser.add_argument("--bus", type=int, default=0) parser.add_argument('--debug', action='store_true') args = parser.parse_args() +if args.debug: + carlog.setLevel('DEBUG') + try: check_output(["pidof", "pandad"]) print("pandad is running, please kill openpilot before running this script! (aborted)") @@ -21,7 +25,7 @@ except CalledProcessError as e: panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) -uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) +uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") try: uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 298a719e86..27e6c68c0e 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -16,6 +16,7 @@ import argparse from typing import NamedTuple from subprocess import check_output, CalledProcessError +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE from panda.python import Panda @@ -78,6 +79,9 @@ if __name__ == "__main__": parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)') args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + try: check_output(["pidof", "pandad"]) print("pandad is running, please kill openpilot before running this script! (aborted)") @@ -93,7 +97,7 @@ if __name__ == "__main__": panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) - uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) + uds_client = UdsClient(panda, 0x7D0, bus=args.bus) print("\n[START DIAGNOSTIC SESSION]") session_type : SESSION_TYPE = 0x07 # type: ignore diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py index 80f7ef0cd0..4ae471aefa 100755 --- a/selfdrive/debug/read_dtc_status.py +++ b/selfdrive/debug/read_dtc_status.py @@ -2,6 +2,7 @@ import sys import argparse from subprocess import check_output, CalledProcessError +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names from panda import Panda @@ -11,6 +12,9 @@ parser.add_argument("--bus", type=int, default=0) parser.add_argument('--debug', action='store_true') args = parser.parse_args() +if args.debug: + carlog.setLevel('DEBUG') + try: check_output(["pidof", "pandad"]) print("pandad is running, please kill openpilot before running this script! (aborted)") @@ -21,7 +25,7 @@ except CalledProcessError as e: panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) -uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) +uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) print("read diagnostic codes ...") diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 0cd9534d0e..69d2951941 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -3,6 +3,7 @@ import argparse import struct from enum import IntEnum +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ DATA_IDENTIFIER_TYPE, ACCESS_TYPE from panda import Panda @@ -33,10 +34,13 @@ if __name__ == "__main__": parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config") args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) bus = 1 if panda.has_obd() else 0 - uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug) + uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2) try: uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index 21f4b87529..0216b69767 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -12,6 +12,7 @@ from cereal.services import SERVICE_LIST from openpilot.common.transformations.orientation import rot_from_euler from openpilot.common.realtime import config_realtime_process from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.locationd.helpers import rotate_std from openpilot.selfdrive.locationd.models.pose_kf import PoseKalman, States from openpilot.selfdrive.locationd.models.constants import ObservationKind, GENERATED_DIR @@ -78,20 +79,20 @@ class LocationEstimator: # sensor time and log time should be close sensor_time_invalid = abs(sensor_time - t) > MAX_SENSOR_TIME_DIFF if sensor_time_invalid: - print("Sensor reading ignored, sensor timestamp more than 100ms off from log time") + cloudlog.warning("Sensor reading ignored, sensor timestamp more than 100ms off from log time") return not sensor_time_invalid def _validate_timestamp(self, t: float): kf_t = self.kf.t invalid = not np.isnan(kf_t) and (kf_t - t) > MAX_FILTER_REWIND_TIME if invalid: - print("Observation timestamp is older than the max rewind threshold of the filter") + cloudlog.warning("Observation timestamp is older than the max rewind threshold of the filter") return not invalid def _finite_check(self, t: float, new_x: np.ndarray, new_P: np.ndarray): all_finite = np.isfinite(new_x).all() and np.isfinite(new_P).all() if not all_finite: - print("Non-finite values detected, kalman reset") + cloudlog.error("Non-finite values detected, kalman reset") self.reset(t) def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> HandleLogResult: @@ -308,13 +309,12 @@ def main(): continue if res == HandleLogResult.TIMING_INVALID: - print(f"Observation {which} ignored due to failed timing check") + cloudlog.warning(f"Observation {which} ignored due to failed timing check") observation_input_invalid[which] += 1 - print(observation_input_invalid[which]) elif res == HandleLogResult.INPUT_INVALID: - print(f"Observation {which} ignored due to failed sanity check") + cloudlog.warning(f"Observation {which} ignored due to failed sanity check") observation_input_invalid[which] += 1 - else: + elif res == HandleLogResult.SUCCESS: observation_input_invalid[which] *= input_invalid_decay[which] else: filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION) diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index b72c8ccb57..cc680e1676 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -2,10 +2,3 @@ from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list assert can_list_to_can_capnp assert can_capnp_to_list - -def can_capnp_to_can_list(can, src_filter=None): - ret = [] - for msg in can: - if src_filter is None or msg.src in src_filter: - ret.append((msg.address, msg.dat, msg.src)) - return ret diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc index ad2393b986..6ad999da91 100644 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,8 +1,7 @@ #include "cereal/messaging/messaging.h" -#include "selfdrive/pandad/panda.h" #include "opendbc/can/common.h" -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { MessageBuilder msg; auto event = msg.initEvent(valid); diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx index 787968f53e..e571c4aa58 100644 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ b/selfdrive/pandad/pandad_api_impl.pyx @@ -6,12 +6,6 @@ from libcpp.string cimport string from libcpp cimport bool from libc.stdint cimport uint8_t, uint32_t, uint64_t -cdef extern from "panda.h": - cdef struct can_frame: - long address - string dat - long src - cdef extern from "opendbc/can/common.h": cdef struct CanFrame: long src @@ -23,12 +17,12 @@ cdef extern from "opendbc/can/common.h": vector[CanFrame] frames cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid) + void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): - cdef can_frame *f - cdef vector[can_frame] can_list + cdef CanFrame *f + cdef vector[CanFrame] can_list can_list.reserve(len(can_msgs)) for can_msg in can_msgs: diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index d4bfebde0c..50027574ba 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -33,7 +33,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.03, 0.025), + ("modelV2", 0.035, 0.025), ("driverStateV2", 0.02, 0.015), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index be67e8d0ff..3b5f5f3466 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -75d173b064b84808485ae0ffd90bd0ecf52e765c \ No newline at end of file +95f1384edc0dc00959b0e804de1aaafc35d2f15f \ No newline at end of file diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc index b1288fb35c..365aec09c4 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.cc +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -1,10 +1,6 @@ -#include -#include - #include "selfdrive/ui/qt/offroad/developer_panel.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/controls.h" -#include "common/util.h" DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) { adbToggle = new ParamControl("AdbEnabled", tr("Enable ADB"), @@ -89,6 +85,7 @@ void DeveloperPanel::updateToggles(bool _offroad) { longManeuverToggle->setEnabled(false); experimentalLongitudinalToggle->setVisible(false); } + experimentalLongitudinalToggle->refresh(); offroad = _offroad; } diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h index 1aab71e63a..c73421b185 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.h +++ b/selfdrive/ui/qt/offroad/developer_panel.h @@ -15,7 +15,7 @@ private: ParamControl* longManeuverToggle; ParamControl* experimentalLongitudinalToggle; bool is_release; - bool offroad; + bool offroad = false; private slots: void updateToggles(bool _offroad); diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index c8c18daef6..e09d8be80f 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -137,11 +137,11 @@ Enable ADB - + ADBを有効にする ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。 @@ -1047,7 +1047,7 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - openpilotのアクセル制御は将来のアップデートで提供される可能性があります。 + openpilotのアクセル制御は将来のアップデートで利用できる可能性があります。 An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. @@ -1075,11 +1075,11 @@ This may take up to a minute. FIREHOSE Mode - + FIREHOSEモード Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + <b>FIREHOSEモード</b>を有効にすると、あなたの運転が公式のトレーニングデータに追加されます。<br><br>次の手順でデバイスを準備してください:<br> 1. デバイスを屋内に持ち込み、適切なUSB-Cアダプターに接続する<br> 2. Wi-Fiに接続する<br> 3. このスイッチを有効にする<br> 4. 少なくとも30分間接続したままにする<br><br>このスイッチはデバイスを再起動すると無効になります。効果を最大化するためには毎週実行するのが望ましいです。 @@ -1121,11 +1121,11 @@ This may take up to a minute. WiFiPromptWidget Setup Wi-Fi - Wi-Fiセットアップ + Wi-Fi設定 Connect to Wi-Fi to upload driving data and help improve openpilot - ドライブデータをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください + 走行データをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください Open Settings @@ -1137,7 +1137,7 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi - デバイスがWi-Fiに接続されている間、トレーニングデータが定期的に送信されます + デバイスがWi-Fiに接続中は、トレーニングデータが定期的に送信されます diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index c5f966141e..5400ffdf06 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -137,11 +137,11 @@ Enable ADB - + Habilitar ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações. @@ -1079,11 +1079,11 @@ Isso pode levar até um minuto. FIREHOSE Mode - + Modo FIREHOSE Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + Habilite o <b>Modo FIREHOSE</b> para obter seus dados de direção no conjunto de treinamento.<br><br>Siga estas etapas para preparar seu dispositivo:<br> 1. Leve seu dispositivo para dentro e conecte-o a um bom adaptador USB-C<br> 2. Conecte-se ao Wi-Fi<br> 3. Habilite este toggle<br> 4. Deixe-o conectado por pelo menos 30 minutos.<br><br>Este botão desativa após reiniciar o dispositivo. Repita uma vez por semana para obter a máxima eficácia. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 879f053cf8..b241b8a034 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -117,31 +117,31 @@ DeveloperPanel Joystick Debug Mode - + 摇杆调试模式 Longitudinal Maneuver Mode - + 纵向机动模式 openpilot Longitudinal Control (Alpha) - openpilot纵向控制（Alpha 版） + openpilot纵向控制（Alpha 版） WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 + 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 + 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 Enable ADB - + 启用 ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 @@ -477,7 +477,7 @@ Please connect to Wi-Fi to complete initial pairing - + 请连接 Wi-Fi 以完成初始配对 @@ -635,7 +635,7 @@ This may take up to a minute. Developer - + 开发人员 @@ -1075,11 +1075,11 @@ This may take up to a minute. FIREHOSE Mode - + FIREHOSE 模式 Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + 启用 <b>FIREHOSE 模式</b> 以将您的驾驶数据纳入训练集。<br><br>按照以下步骤准备您的设备：<br> 1. 将设备带入室内并连接到良好的 USB-C 适配器<br> 2. 连接到 Wi-Fi<br> 3. 启用此开关<br> 4. 保持连接至少 30 分钟<br><br>此开关在您重新启动设备后会关闭。每周重复一次以达到最佳效果。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 3315515fbc..b205b23e0a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -117,31 +117,31 @@ DeveloperPanel Joystick Debug Mode - + 搖桿調試模式 Longitudinal Maneuver Mode - + 縱向機動模式 openpilot Longitudinal Control (Alpha) - openpilot 縱向控制 (Alpha 版) + openpilot 縱向控制 (Alpha 版) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 + 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 Enable ADB - + 啟用 ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 @@ -477,7 +477,7 @@ Please connect to Wi-Fi to complete initial pairing - + 請連接 Wi-Fi 以完成初始配對 @@ -635,7 +635,7 @@ This may take up to a minute. Developer - + 開發人員 @@ -1075,11 +1075,11 @@ This may take up to a minute. FIREHOSE Mode - + FIREHOSE 模式 Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + 啟用<b>Firehose 模式</b>，將您的駕駛數據加入訓練集。<br><br>請按照以下步驟準備您的裝置：<br> 1. 將裝置帶到室內並連接到穩定的 USB-C 充電器<br> 2. 連接 Wi-Fi<br> 3. 開啟此切換開關<br> 4. 保持連接至少 30 分鐘<br><br>此切換開關在裝置重新啟動後會自動關閉。為確保最佳效果，請每週重複一次。 diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 8b1ed14b15..c926de9784 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -145,6 +145,9 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'), threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'), threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler2'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler3'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler4'), threading.Thread(target=log_handler, args=(end_event,), name='log_handler'), threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'), ] + [ diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h new file mode 100644 index 0000000000..1f094c8a38 --- /dev/null +++ b/system/camerad/cameras/bps_blobs.h @@ -0,0 +1,30 @@ +#include +#include + + +/* ********************************************************** + THIS FILE IS AUTO-GENERATED, DO NOT EDIT DIRECTLY! + ********************************************************** */ + + +unsigned char bps_cfg[4][768] = { +{ /* placeholder */ }, + {0x3, 0x0, 0x0, 0x0, 0x88, 0x7, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x2, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x50, 0xB, 0x0, 0x0, 0xB8, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 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0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0}, +}; + diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 366feae0b2..2a218affa8 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -64,11 +64,11 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const SensorInfo *sensor = cam->sensor.get(); - is_raw = cam->is_raw; + is_raw = cam->output_type == ISP_RAW_OUTPUT; frame_metadata = std::make_unique(frame_buf_count); // RAW frames from ISP - if (is_raw) { + if (cam->output_type != ISP_IFE_PROCESSED) { camera_bufs_raw = std::make_unique(frame_buf_count); const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index dc388f1e36..4c22ad527c 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -263,10 +263,6 @@ void CameraState::run() { framed.setImage(get_raw_frame_image(&camera.buf)); } - // Process camera registers and set camera exposure - if (camera.is_raw) { - camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed); - } set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4)); // Send the message diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 267159107e..2b3767c105 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -17,10 +17,9 @@ #include "common/swaglog.h" #include "system/camerad/cameras/ife.h" #include "system/camerad/cameras/spectra.h" +#include "system/camerad/cameras/bps_blobs.h" #include "third_party/linux/include/msm_media_info.h" -// For debugging: -// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl // ************** low level camera helpers **************** @@ -234,14 +233,14 @@ void SpectraMaster::init() { // *** SpectraCamera *** -SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw) +SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out) : m(master), enabled(config.enabled), cc(config), - is_raw(raw) { + output_type(out) { mm.init(m->video0_fd); - ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT; + ife_buf_depth = (out != ISP_IFE_PROCESSED) ? 4 : VIPC_BUFFER_COUNT; assert(ife_buf_depth < MAX_IFE_BUFS); } @@ -257,7 +256,7 @@ int SpectraCamera::clear_req_queue() { req_mgr_flush_request.link_hdl = link_handle; req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); - // LOGD("flushed all req: %d", ret); + LOGD("flushed all req: %d", ret); for (int i = 0; i < MAX_IFE_BUFS; ++i) { destroySyncObjectAt(i); @@ -279,7 +278,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; - if (!is_raw) { + if (output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } @@ -288,7 +287,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c open = true; configISP(); - //configICP(); // needs the new AGNOS kernel + if (output_type == ISP_BPS_PROCESSED) configICP(); configCSIPHY(); linkDevices(); @@ -454,22 +453,226 @@ int SpectraCamera::sensors_init() { return ret; } +void add_patch(struct cam_packet *pkt, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) { + void *ptr = (char*)&pkt->payload + pkt->patch_offset; + struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*pkt->num_patches); + p->dst_buf_hdl = dst_hdl; + p->src_buf_hdl = src_hdl; + p->dst_offset = dst_offset; + p->src_offset = src_offset; + pkt->num_patches++; +}; + void SpectraCamera::config_bps(int idx, int request_id) { /* Handles per-frame BPS config. * BPS = Bayer Processing Segment */ - (void)idx; - (void)request_id; -} -void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) { - struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n); - p->dst_buf_hdl = dst_hdl; - p->src_buf_hdl = src_hdl; - p->dst_offset = dst_offset; - p->src_offset = src_offset; -}; + int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2; + size += sizeof(struct cam_patch_desc)*8; + + uint32_t cam_packet_handle = 0; + auto pkt = mm.alloc(size, &cam_packet_handle); + + pkt->header.op_code = CSLDeviceTypeBPS | CAM_ICP_OPCODE_BPS_UPDATE; + pkt->header.request_id = request_id; + pkt->header.size = size; + + typedef struct { + struct { + uint32_t ptr[2]; + uint32_t unknown[2]; + } frames[9]; + + uint32_t unknown1; + uint32_t unknown2; + uint32_t unknown3; + uint32_t unknown4; + + uint32_t cdm_addr; + uint32_t cdm_size; + uint32_t settings_addr; + uint32_t striping_addr; + uint32_t cdm_addr2; + + uint32_t req_id; + uint64_t handle; + } bps_tmp; + + typedef struct { + uint32_t a; + uint32_t n; + unsigned base : 32; + unsigned unused : 12; + unsigned length : 20; + uint32_t p; + uint32_t u; + uint32_t h; + uint32_t b; + } cdm_tmp; + + // *** cmd buf *** + struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; + { + pkt->num_cmd_buf = 2; + pkt->kmd_cmd_buf_index = -1; + pkt->kmd_cmd_buf_offset = 0; + + buf_desc[0].meta_data = 0; + buf_desc[0].mem_handle = bps_cmd.handle; + buf_desc[0].type = CAM_CMD_BUF_FW; + buf_desc[0].offset = bps_cmd.aligned_size()*idx; + + buf_desc[0].length = sizeof(bps_tmp) + sizeof(cdm_tmp); + buf_desc[0].size = buf_desc[0].length; + + // rest gets patched in + bps_tmp *fp = (bps_tmp *)((unsigned char *)bps_cmd.ptr + buf_desc[0].offset); + memset(fp, 0, buf_desc[0].length); + fp->handle = (uint64_t)icp_dev_handle; + fp->cdm_size = bps_cdm_striping_bl.size; // this comes from the striping lib create call + fp->req_id = 0; // why always 0? + + cdm_tmp *pa = (cdm_tmp *)((unsigned char *)fp + sizeof(bps_tmp)); + pa->a = 0; + pa->n = 1; + pa->p = 20; // GENERIC + pa->u = 0; + pa->h = 0; + pa->b = 0; + pa->unused = 0; + pa->base = 0; // this gets patched + + int cdm_len = 0; + + // debayer params + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2868, { + 0x06900400, + 0x000006a6, + 0x00000000, + 0x00000000, + }); + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2878, { + 0x00000080, + 0x00800066, + }); + + // YUV color xform + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x3468, { + 0x00680208, + 0x00000108, + 0x00400000, + 0x03ff0000, + 0x01c01ed8, + 0x00001f68, + 0x02000000, + 0x03ff0000, + 0x1fb81e88, + 0x000001c0, + 0x02000000, + 0x03ff0000, + }); + + pa->length = cdm_len - 1; + + // *** second command *** + // parsed by cam_icp_packet_generic_blob_handler + struct isp_packet { + uint32_t header; + struct cam_icp_clk_bw_request clk; + } __attribute__((packed)) tmp; + tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK; + tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8; + tmp.clk.budget_ns = 0x1fca058; + tmp.clk.frame_cycles = 2329024; // comes from the striping lib + tmp.clk.rt_flag = 0x0; + tmp.clk.uncompressed_bw = 0x38512180; + tmp.clk.compressed_bw = 0x38512180; + + buf_desc[1].size = sizeof(tmp); + buf_desc[1].offset = 0; + buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; + buf_desc[1].type = CAM_CMD_BUF_GENERIC; + buf_desc[1].meta_data = CAM_ICP_CMD_META_GENERIC_BLOB; + auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memcpy(buf2.get(), &tmp, sizeof(tmp)); + } + + // *** io config *** + pkt->num_io_configs = 2; + pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; + struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); + { + // input frame + io_cfg[0].offsets[0] = 0; + io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; + + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, + .plane_stride = sensor->frame_stride, + .slice_height = sensor->frame_height + sensor->extra_height, + }; + io_cfg[0].format = sensor->mipi_format; + io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; + io_cfg[0].color_pattern = 0x5; + io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); + io_cfg[0].resource_type = CAM_ICP_BPS_INPUT_IMAGE; + io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].direction = CAM_BUF_INPUT; + io_cfg[0].subsample_pattern = 0x1; + io_cfg[0].framedrop_pattern = 0x1; + + // output frame + io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; + io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; + io_cfg[1].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height, + .plane_stride = stride, + .slice_height = y_height, + }; + io_cfg[1].planes[1] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height/2, + .plane_stride = stride, + .slice_height = uv_height, + }; + io_cfg[1].offsets[1] = ALIGNED_SIZE(io_cfg[1].planes[0].plane_stride*io_cfg[1].planes[0].slice_height, 0x1000); + assert(io_cfg[1].offsets[1] == uv_offset); + + io_cfg[1].format = CAM_FORMAT_NV12; // TODO: why is this 21 in the dump? should be 12 + io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL; + io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL; + io_cfg[1].fence = sync_objs_bps_out[idx]; + io_cfg[1].direction = CAM_BUF_OUTPUT; + io_cfg[1].subsample_pattern = 0x1; + io_cfg[1].framedrop_pattern = 0x1; + } + + // *** patches *** + { + pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; + + // input frame + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0); + + // output frame + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]); + + // rest of buffers + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, cdm_addr2), bps_cmd.handle, sizeof(bps_tmp)); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + 0xc8, bps_cdm_program_array.handle, 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, striping_addr), bps_striping.handle, 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, cdm_addr), bps_cdm_striping_bl.handle, 0); + } + + int ret = device_config(m->icp_fd, session_handle, icp_dev_handle, cam_packet_handle); + assert(ret == 0); +} void SpectraCamera::config_ife(int idx, int request_id, bool init) { /* @@ -509,6 +712,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { buf_desc[0].offset = ife_cmd.aligned_size()*idx; // stream of IFE register writes + bool is_raw = output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num); @@ -597,8 +801,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); - - if (is_raw) { + if (output_type != ISP_IFE_PROCESSED) { io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ .width = sensor->frame_width, @@ -649,21 +852,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { // order here corresponds to the one in build_initial_config assert(patches.size() == 6 || patches.size() == 0); - pkt->num_patches = patches.size(); pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; - if (pkt->num_patches > 0) { - void *p = (char*)&pkt->payload + pkt->patch_offset; - + if (patches.size() > 0) { // linearization LUT - add_patch(p, 0, ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0); + add_patch(pkt.get(), ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0); // vignetting correction LUTs - add_patch(p, 1, ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0); - add_patch(p, 2, ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size); + add_patch(pkt.get(), ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0); + add_patch(pkt.get(), ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size); // gamma LUTs for (int i = 0; i < 3; i++) { - add_patch(p, i+3, ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i); + add_patch(pkt.get(), ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i); } } } @@ -679,17 +879,31 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { if (sync_objs[i]) { // SOF has come in, wait until readout is complete struct cam_sync_wait sync_wait = {0}; + + // wait for ife sync_wait.sync_obj = sync_objs[i]; + // TODO: write a test to stress test w/ a low timeout and check camera frame ids match sync_wait.timeout_ms = 100; ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { - // TODO: handle frame drop cleanly - // when this happens, it messes up future frames + clear_req_queue(); LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); } + + if (ret == 0 && output_type == ISP_BPS_PROCESSED) { + // wait for bps + sync_wait.sync_obj = sync_objs_bps_out[i]; + sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 + ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); + if (ret != 0) { + clear_req_queue(); + LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); + } + } + buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns; - if (dp) { + if (dp && ret == 0) { buf.queue(i); } @@ -728,7 +942,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // submit request to IFE and BPS config_ife(i, request_id); - config_bps(i, request_id); + if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id); } void SpectraCamera::destroySyncObjectAt(int index) { @@ -751,7 +965,7 @@ void SpectraCamera::destroySyncObjectAt(int index) { void SpectraCamera::camera_map_bufs() { int ret; for (int i = 0; i < ife_buf_depth; i++) { - // configure ISP to put the image in place + // map our VisionIPC bufs into ISP memory struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu; @@ -761,14 +975,16 @@ void SpectraCamera::camera_map_bufs() { mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu; } - if (is_raw) { + if (output_type != ISP_IFE_PROCESSED) { // RAW bayer images mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd; ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); assert(ret == 0); LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle; - } else { + } + + if (output_type != ISP_RAW_OUTPUT) { // final processed images VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i); mem_mgr_map_cmd.fd = vb->fd; @@ -865,7 +1081,7 @@ void SpectraCamera::configISP() { }, }; - if (is_raw) { + if (output_type != ISP_IFE_PROCESSED) { in_port_info.line_start = 0; in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1; in_port_info.height = sensor->frame_height + sensor->extra_height; @@ -890,7 +1106,7 @@ void SpectraCamera::configISP() { ife_cmd.init(m, 67984, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu, ife_buf_depth); - if (!is_raw) { + if (output_type == ISP_IFE_PROCESSED) { assert(sensor->gamma_lut_rgb.size() == 64); ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, @@ -920,11 +1136,19 @@ void SpectraCamera::configICP() { Configures both the ICP and BPS. */ + int cfg_handle; + + uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]); + void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + memcpy(cfg, bps_cfg[sensor->num()], cfg_size); + struct cam_icp_acquire_dev_info icp_info = { .scratch_mem_size = 0x0, - .dev_type = 0x1, // BPS - .io_config_cmd_size = 0, - .io_config_cmd_handle = 0, + .dev_type = CAM_ICP_RES_TYPE_BPS, + .io_config_cmd_size = cfg_size, + .io_config_cmd_handle = cfg_handle, .secure_mode = 0, .num_out_res = 1, .in_res = (struct cam_icp_res_info){ @@ -945,24 +1169,35 @@ void SpectraCamera::configICP() { icp_dev_handle = *h; LOGD("acquire icp dev"); - // BPS CMD buffer - unsigned char striping_out[] = "\x00"; - bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20, + release(m->video0_fd, cfg_handle); + + // BPS has a lot of buffers to init + bps_cmd.init(m, 464, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + m->icp_device_iommu, 0, ife_buf_depth); - bps_iq.init(m, 560, 0x20, + // BPSIQSettings struct + uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]); + bps_iq.init(m, settings_size, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); - bps_cdm_program_array.init(m, 0x40, 0x20, + memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size); + + // for cdm register writes, just make it bigger than you need + bps_cdm_program_array.init(m, 0x1000, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); - bps_striping.init(m, sizeof(striping_out), 0x20, + + // striping lib output + uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]); + bps_striping.init(m, striping_size, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); - memcpy(bps_striping.ptr, striping_out, sizeof(striping_out)); + memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size); - bps_cdm_striping_bl.init(m, 65216, 0x20, + // used internally by the BPS, we just allocate it. + // size comes from the BPSStripingLib + bps_cdm_striping_bl.init(m, 0xa100, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); } @@ -1028,9 +1263,15 @@ void SpectraCamera::linkDevices() { ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle); LOGD("start csiphy: %d", ret); + assert(ret == 0); ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); LOGD("start isp: %d", ret); assert(ret == 0); + if (output_type == ISP_BPS_PROCESSED) { + ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle); + LOGD("start icp: %d", ret); + assert(ret == 0); + } } void SpectraCamera::camera_close() { @@ -1041,8 +1282,13 @@ void SpectraCamera::camera_close() { // LOGD("stop sensor: %d", ret); int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle); LOGD("stop isp: %d", ret); + if (output_type == ISP_BPS_PROCESSED) { + ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle); + LOGD("stop icp: %d", ret); + } ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle); LOGD("stop csiphy: %d", ret); + // link control stop LOG("-- Stop link control"); struct cam_req_mgr_link_control req_mgr_link_control = {0}; @@ -1069,11 +1315,20 @@ void SpectraCamera::camera_close() { } ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle); LOGD("release isp: %d", ret); + if (output_type == ISP_BPS_PROCESSED) { + ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle); + LOGD("release icp: %d", ret); + } ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle); LOGD("release csiphy: %d", ret); for (int i = 0; i < ife_buf_depth; i++) { - release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]); + if (buf_handle_raw[i]) { + release(m->video0_fd, buf_handle_raw[i]); + } + if (buf_handle_yuv[i]) { + release(m->video0_fd, buf_handle_yuv[i]); + } } LOGD("released buffers"); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index fd68a4f995..7759f60798 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -29,6 +29,12 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py #define OpcodesIFEInitialConfig 0x0 #define OpcodesIFEUpdate 0x1 +typedef enum { + ISP_RAW_OUTPUT, // raw frame from sensor + ISP_IFE_PROCESSED, // fully processed image through the IFE + ISP_BPS_PROCESSED, // fully processed image through the BPS +} SpectraOutputType; + std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); int device_control(int fd, int op_code, int session_handle, int dev_handle); @@ -103,7 +109,7 @@ public: class SpectraCamera { public: - SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw); + SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out); ~SpectraCamera(); void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); @@ -177,7 +183,7 @@ public: uint64_t idx_offset = 0; bool skipped = true; - bool is_raw; + SpectraOutputType output_type; CameraBuf buf; MemoryManager mm; diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 48c7f9a082..e4ae29f079 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -1,7 +1,6 @@ #include #include -#include "common/swaglog.h" #include "system/camerad/sensors/sensor.h" namespace { @@ -16,64 +15,6 @@ const float sensor_analog_gains_AR0231[] = { 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass -std::map> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) { - // This function builds a lookup table from register address, to a pair of indices in the - // buffer where to read this address. The buffer contains padding bytes, - // as well as markers to indicate the type of the next byte. - // - // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. - // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional - // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. - - int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; - auto get_next_idx = [](int cur_idx) { - return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding - }; - - std::map> registers; - for (int register_row = 0; register_row < 2; register_row++) { - uint8_t *registers_raw = data + s->frame_stride * register_row; - assert(registers_raw[0] == 0x0a); // Start of line - - int value_tag_count = 0; - int first_val_idx = 0; - uint16_t cur_addr = 0; - - for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { - int val_idx = get_next_idx(i); - - uint8_t tag = registers_raw[i]; - uint16_t val = registers_raw[val_idx]; - - if (tag == 0xAA) { // Register MSB tag - cur_addr = val << 8; - } else if (tag == 0xA5) { // Register LSB tag - cur_addr |= val; - cur_addr -= 2; // Next value tag will increment address again - } else if (tag == 0x5A) { // Value tag - - // First tag - if (value_tag_count % 2 == 0) { - cur_addr += 2; - first_val_idx = val_idx; - } else { - registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row); - } - - value_tag_count++; - } - } - } - return registers; -} - -float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { - // See AR0231 Developer Guide - page 36 - float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); - float t0 = 55.0 - slope * (float)calib2; - return t0 + slope * (float)data_reg; -} - } // namespace AR0231::AR0231() { @@ -169,33 +110,6 @@ AR0231::AR0231() { }; } -void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const { - const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; - uint8_t *data = cur_buf + registers_offset; - - if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { - LOGE("unexpected register data found"); - return; - } - - if (ar0231_register_lut.empty()) { - ar0231_register_lut = ar0231_build_register_lut(this, data); - } - std::map registers; - for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) { - auto offset = ar0231_register_lut[addr]; - registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; - } - - uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; - framed.setFrameIdSensor(frame_id); - - float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); - float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); - framed.setTemperaturesC({temp_0, temp_1}); -} - - std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; return { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index be2d70a5c1..c1131aafdf 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -22,7 +22,6 @@ public: virtual std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; } virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; } virtual int getSlaveAddress(int port) const { assert(0); } - virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {} cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN; float pixel_size_mm; @@ -82,6 +81,10 @@ public: std::vector linearization_lut; // length 36 std::vector linearization_pts; // length 4 std::vector vignetting_lut; // length 221 + + const int num() const { + return static_cast(image_sensor); + }; }; class AR0231 : public SensorInfo { @@ -90,7 +93,6 @@ public: std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; - void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override; private: mutable std::map> ar0231_register_lut; diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh index 8bd8d9d4f0..a031be6923 100755 --- a/system/camerad/test/debug.sh +++ b/system/camerad/test/debug.sh @@ -5,7 +5,7 @@ set -e # no CCI and UTIL, very spammy echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl -echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl +#echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl sudo dmesg -C scons -u -j8 --minimal . diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 15470a1634..5c9d746d09 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,24 +1,4 @@ [ - { - "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8.img.xz", - "hash": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8", - "hash_raw": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8", - "size": 16422912, - "sparse": false, - "full_check": true, - "has_ab": true - }, - { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29.img.xz", - "hash": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29", - "hash_raw": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29", - "size": 4404019200, - "sparse": false, - "full_check": false, - "has_ab": true - }, { "name": "xbl", "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz", @@ -27,7 +7,19 @@ "size": 3282256, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247" + }, + { + "name": "xbl_config", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz", + "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b", + "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b", + "size": 98124, + "sparse": false, + "full_check": true, + "has_ab": true, + "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419" }, { "name": "abl", @@ -37,17 +29,19 @@ "size": 274432, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6" }, { - "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz", - "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b", - "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b", - "size": 98124, + "name": "aop", + "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz", + "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5", + "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5", + "size": 184364, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d" }, { "name": "devcfg", @@ -57,16 +51,34 @@ "size": 40336, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "70f682b59ca0fe2f197d1486bd8be7b9b7e560798ad40ddef83b9f0a2f497938" }, { - "name": "aop", - "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz", - "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5", - "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5", - "size": 184364, + "name": "boot", + "url": "https://commadist.azureedge.net/agnosupdate/boot-69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316.img.xz", + "hash": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316", + "hash_raw": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316", + "size": 18475008, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "93161cec2f4dbb9e95b56b8f612c80577530e97993348dd68b06295c5a0be786" + }, + { + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img.xz", + "hash": "29720fbf9461c2ff7e7a064836b57202c2cc75e85f11acde0facaefe426860fb", + "hash_raw": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20", + "size": 4404019200, + "sparse": true, + "full_check": false, + "has_ab": true, + "ondevice_hash": "673046924131648b2ee0fe1b42fc9b9ee8f37112b26339ca479d9b0e5ca88288", + "alt": { + "hash": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20", + "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img", + "size": 4404019200 + } } ] \ No newline at end of file diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json new file mode 100644 index 0000000000..f9aa5ac52d --- /dev/null +++ b/system/hardware/tici/all-partitions.json @@ -0,0 +1,400 @@ +[ + { + "name": "gpt_main_0", + "url": 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a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -31,7 +31,7 @@ class Proc: PROCS = [ - Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index dc7854671d..3a9e3585ba 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -240,8 +240,11 @@ def main() -> NoReturn: cloudlog.warning("caught sig disabling quectel gps") gpio_set(GPIO.GNSS_PWR_EN, False) - teardown_quectel(diag) - cloudlog.warning("quectel cleanup done") + try: + teardown_quectel(diag) + cloudlog.warning("quectel cleanup done") + except NameError: + cloudlog.warning('quectel not yet setup') stop_download_event.set() assist_fetch_proc.kill() diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 79c5b4888f..fb93e565ff 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -131,11 +131,9 @@ class StreamSession: assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks" for cam in cameras: - track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack() - builder.add_video_stream(cam, track) + builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()) if config.expected_audio_track: - track = AudioInputStreamTrack() if not debug_mode else AudioStreamTrack() - builder.add_audio_stream(track) + builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack()) if config.incoming_audio_track: self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole builder.offer_to_receive_audio_stream() diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore index efe2c09437..c4afad9c38 100644 --- a/third_party/raylib/.gitignore +++ b/third_party/raylib/.gitignore @@ -1 +1,3 @@ /raylib_repo/ +/raylib_python_repo/ +/wheel/ diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh new file mode 100755 index 0000000000..19686be218 --- /dev/null +++ b/third_party/raylib/build.sh @@ -0,0 +1,69 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +RAYLIB_PLATFORM="PLATFORM_DESKTOP" + +ARCHNAME=$(uname -m) +if [ -f /TICI ]; then + ARCHNAME="larch64" + RAYLIB_PLATFORM="PLATFORM_COMMA" +fi + +if [[ "$OSTYPE" == "darwin"* ]]; then + ARCHNAME="Darwin" +fi + +INSTALL_DIR="$DIR/$ARCHNAME" +rm -rf $INSTALL_DIR +mkdir -p $INSTALL_DIR + +INSTALL_H_DIR="$DIR/include" +rm -rf $INSTALL_H_DIR +mkdir -p $INSTALL_H_DIR + +if [ ! -d raylib_repo ]; then + git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo +fi + +cd raylib_repo + +COMMIT="66030a7de62c9e1ee8ab30a1d657a740333bb4f2" +git fetch origin $COMMIT +git reset --hard $COMMIT +git clean -xdff . + +cd src + +make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM RAYLIB_RELEASE_PATH=$INSTALL_DIR +cp raylib.h raymath.h rlgl.h $INSTALL_H_DIR/ +echo "raylib development files installed/updated in $INSTALL_H_DIR" + +# this commit needs to be in line with raylib +set -x +RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827" +curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h + + +# Building the python bindings +cd $DIR + +if [ ! -d raylib_python_repo ]; then + git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo +fi + +cd raylib_python_repo + +BINDINGS_COMMIT="ef8141c7979d5fa630ef4108605fc221f07d8cb7" +git fetch origin $BINDINGS_COMMIT +git reset --hard $BINDINGS_COMMIT +git clean -xdff . + +RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel +cd $DIR + +rm -rf wheel +mkdir wheel +cp raylib_python_repo/dist/*.whl wheel/ diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a index ccf80f1108..e1c5c19307 100644 --- a/third_party/raylib/larch64/libraylib.a +++ b/third_party/raylib/larch64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2682a70d41ec1894e060fb1bc6795dd93bf51aeee1ad779b4b0f6e82f1ff6efc -size 3140268 +oid sha256:9c3125236db11e7bebcc6ad5868444ed0605c6343f98b212d39267c092b3b481 +size 3140628 diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh deleted file mode 100755 index de26735732..0000000000 --- a/third_party/raylib/setup.sh +++ /dev/null @@ -1,46 +0,0 @@ -#!/usr/bin/env bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR - -RAYLIB_PLATFORM="PLATFORM_DESKTOP" - -ARCHNAME=$(uname -m) -if [ -f /TICI ]; then - ARCHNAME="larch64" - RAYLIB_PLATFORM="PLATFORM_COMMA" -fi - -if [[ "$OSTYPE" == "darwin"* ]]; then - ARCHNAME="Darwin" -fi - -INSTALL_DIR="$DIR/$ARCHNAME" -rm -rf $INSTALL_DIR -mkdir -p $INSTALL_DIR - -INSTALL_H_DIR="$DIR/include" -rm -rf $INSTALL_H_DIR -mkdir -p $INSTALL_H_DIR - -if [ ! -d raylib_repo ]; then - git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo -fi - -cd raylib_repo - -COMMIT="f5b0a7237c6e45f0e8a6ff68322d19b49298d798" -git fetch origin $COMMIT -git reset --hard $COMMIT -git clean -xdff . - -cd src - -make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM -sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR - -# this commit needs to be in line with raylib -set -x -RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827" -wget -O $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a index b7994b4fe9..cf69482563 100644 --- a/third_party/raylib/x86_64/libraylib.a +++ b/third_party/raylib/x86_64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:76697e9a248b8af45e798137038fa5ec5d9e36c9b4565fa448aefbcd0d2ab113 -size 2769636 +oid sha256:f0b8f59758fe1291be82a8bda7a7ca05629c7addb0683936dd404ed08e19e143 +size 2769684 diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index b0bb835e64..8d4a8b6d90 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -8,22 +8,6 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" ROOT="$DIR"/../ cd "$ROOT" -# updating uv on macOS results in 403 sometimes -function update_uv() { - if ! uv self update --help >/dev/null 2>&1; then - return 0 - fi - - for i in $(seq 1 5); do - if uv self update; then - return 0 - else - sleep 2 - fi - done - echo "Failed to update uv 5 times!" -} - if ! command -v "uv" > /dev/null 2>&1; then echo "installing uv..." curl -LsSf https://astral.sh/uv/install.sh | sh @@ -32,7 +16,8 @@ if ! command -v "uv" > /dev/null 2>&1; then fi echo "updating uv..." -update_uv +# ok to fail, can also fail due to installing with brew +uv self update || true echo "installing python packages..." uv sync --frozen --all-extras diff --git a/tools/op.sh b/tools/op.sh index 12d998cb64..566a152bae 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -243,6 +243,11 @@ function op_setup() { op_check } +function op_auth() { + op_before_cmd + op_run_command tools/lib/auth.py +} + function op_activate_venv() { # bash 3.2 can't handle this without the 'set +e' set +e @@ -374,6 +379,7 @@ function op_default() { echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " echo "" echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}" + echo -e " ${BOLD}auth${NC} Authenticate yourself for API use" echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot" echo -e " ${BOLD}venv${NC} Activate the python virtual environment" echo -e " ${BOLD}setup${NC} Install openpilot dependencies" @@ -427,6 +433,7 @@ function _op() { # parse Commands case $1 in + auth ) shift 1; op_auth "$@" ;; venv ) shift 1; op_venv "$@" ;; check ) shift 1; op_check "$@" ;; setup ) shift 1; op_setup "$@" ;; diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index ff27b50067..d44c44e95b 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,7 +8,7 @@ import threading os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from openpilot.selfdrive.pandad import can_capnp_to_can_list +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.lib.logreader import LogReader from panda import PandaJungle @@ -80,17 +80,15 @@ def connect(): time.sleep(1) -def process(lr): - return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] def load_route(route_or_segment_name): print("Loading log...") - sr = LogReader(route_or_segment_name) - CP = sr.first("carParams") - print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'") - CAN_MSGS = sr.run_across_segments(24, process) - print("Finished loading...") - return CAN_MSGS + lr = LogReader(route_or_segment_name) + CP = lr.first("carParams") + print(f"carFingerprint: '{CP.carFingerprint}'") + mbytes = [m.as_builder().to_bytes() for m in lr if m.which() == 'can'] + return [m[1] for m in can_capnp_to_list(mbytes)] + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.", diff --git a/uv.lock b/uv.lock index 9d770c9daa..5d6d6e5500 100644 --- a/uv.lock +++ b/uv.lock @@ -1,12 +1,14 @@ version = 1 requires-python = ">=3.11, <3.13" resolution-markers = [ + "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", + "python_full_version < '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", "python_full_version >= '3.12' and sys_platform == 'darwin'", "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", "python_full_version < '3.12' and sys_platform == 'darwin'", "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", ] [[package]] @@ -80,7 +82,7 @@ wheels = [ [[package]] name = "aiortc" -version = "1.9.0" +version = "1.10.1" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aioice" }, @@ -92,15 +94,15 @@ dependencies = [ { name = "pylibsrtp" }, { name = "pyopenssl" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 } +sdist = { url = "https://files.pythonhosted.org/packages/8a/f8/408e092748521889c9d33dddcef920afd9891cf6db4615ba6b6bfe114ff8/aiortc-1.10.1.tar.gz", hash = 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