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Merge remote-tracking branch 'origin/master' into revert-34974-revert-34531-online-lag

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pull/34975/head
Kacper Rączy 3 weeks ago
parent dc08b32380 fc65a8ea8f
commit fd150eb95e
14 changed files with 332 additions and 309 deletions
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  1. 1
      common/params_keys.h
  2. 2
      docs/CARS.md
  3. 2
      launch_env.sh
  4. 2
      opendbc_repo
  5. 2
      panda
  6. 32
      selfdrive/locationd/paramsd.py
  7. 13
      selfdrive/locationd/test/test_paramsd.py
  8. 2
      selfdrive/ui/translations/main_ja.ts
  9. 2
      selfdrive/ui/translations/main_pt-BR.ts
  10. 4
      selfdrive/ui/translations/main_zh-CHS.ts
  11. 4
      selfdrive/ui/translations/main_zh-CHT.ts
  12. 20
      system/hardware/tici/agnos.json
  13. 44
      system/hardware/tici/all-partitions.json
  14. 511
      uv.lock

1
common/params_keys.h
Unescape View File

@ -73,6 +73,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"LastUpdateTime", PERSISTENT},
{"LiveLag", PERSISTENT},
{"LiveParameters", PERSISTENT},
{"LiveParametersV2", PERSISTENT},
{"LiveTorqueParameters", PERSISTENT | DONT_LOG},
{"LocationFilterInitialState", PERSISTENT},
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

2
docs/CARS.md
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@ -226,7 +226,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
|Tesla|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
|Tesla|Model 3 (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>||
|Tesla|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
|Tesla|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
|Tesla|Model Y (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||

2
launch_env.sh
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@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="11.11"
export AGNOS_VERSION="11.13"
fi
export STAGING_ROOT="/data/safe_staging"

2
opendbc_repo

@ -1 +1 @@
Subproject commit 2c5600f88f16edcf5fedf46922414ad9b1c0feda
Subproject commit 4179672dae72e29b8ff9072d9be154515312e350

2
panda

@ -1 +1 @@
Subproject commit 97e91d6feefc3e96178e72fff743a8a36132b445
Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81

32
selfdrive/locationd/paramsd.py
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@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
# TODO: Remove this function after few releases (added in 0.9.9)
def migrate_cached_vehicle_params_if_needed(params_reader: Params):
last_parameters_data = params_reader.get("LiveParameters")
if last_parameters_data is None:
def migrate_cached_vehicle_params_if_needed(params: Params):
last_parameters_data_old = params.get("LiveParameters")
last_parameters_data = params.get("LiveParametersV2")
if last_parameters_data_old is None or last_parameters_data is not None:
return
try:
last_parameters_dict = json.loads(last_parameters_data)
last_parameters_dict = json.loads(last_parameters_data_old)
last_parameters_msg = messaging.new_message('liveParameters')
last_parameters_msg.liveParameters.valid = True
last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
except Exception:
pass
params.put("LiveParametersV2", last_parameters_msg.to_bytes())
except Exception as e:
cloudlog.error(f"Failed to perform parameter migration: {e}")
params.remove("LiveParameters")
def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
last_parameters_data = params_reader.get("LiveParameters")
last_carparams_data = params_reader.get("CarParamsPrevRoute")
def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
last_parameters_data = params.get("LiveParametersV2")
last_carparams_data = params.get("CarParamsPrevRoute")
steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
@ -267,12 +269,12 @@ def main():
pm = messaging.PubMaster(['liveParameters'])
sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
params_reader = Params()
CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
params = Params()
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
migrate_cached_vehicle_params_if_needed(params_reader)
migrate_cached_vehicle_params_if_needed(params)
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
while True:
@ -288,7 +290,7 @@ def main():
msg_dat = msg.to_bytes()
if sm.frame % 1200 == 0: # once a minute
params_reader.put_nonblocking("LiveParameters", msg_dat)
params.put_nonblocking("LiveParametersV2", msg_dat)
pm.send('liveParameters', msg_dat)

13
selfdrive/locationd/test/test_paramsd.py
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@ -28,7 +28,7 @@ class TestParamsd:
CP = next(m for m in lr if m.which() == "carParams").carParams
msg = get_random_live_parameters(CP)
params.put("LiveParameters", msg.to_bytes())
params.put("LiveParametersV2", msg.to_bytes())
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
@ -49,9 +49,20 @@ class TestParamsd:
msg = get_random_live_parameters(CP)
params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
params.remove("LiveParametersV2")
migrate_cached_vehicle_params_if_needed(params)
sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
assert params.get("LiveParametersV2") is not None
def test_read_saved_params_corrupted_old_format(self):
params = Params()
params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
params.remove("LiveParametersV2")
migrate_cached_vehicle_params_if_needed(params)
assert params.get("LiveParameters") is None
assert params.get("LiveParametersV2") is None

2
selfdrive/ui/translations/main_ja.ts
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@ -339,7 +339,7 @@ Firehoseモードを有効にすると、学習データを最大限アップロ
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
<translation type="unfinished"></translation>
<translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作停止&lt;/span&gt;: 大容量のネットワークに接続してください</translation>
</message>
</context>
<context>

2
selfdrive/ui/translations/main_pt-BR.ts
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@ -340,7 +340,7 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
<translation type="unfinished"></translation>
<translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
</message>
</context>
<context>

4
selfdrive/ui/translations/main_zh-CHS.ts
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@ -121,7 +121,7 @@
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation>纵向机动模式</translation>
<translation>纵向操控测试模式</translation>
</message>
<message>
<source>openpilot Longitudinal Control (Alpha)</source>
@ -339,7 +339,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
<translation type="unfinished"></translation>
<translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到不限流量的网络</translation>
</message>
</context>
<context>

4
selfdrive/ui/translations/main_zh-CHT.ts
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@ -121,7 +121,7 @@
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation>縱向機動模式</translation>
<translation>縱向操控測試模式</translation>
</message>
<message>
<source>openpilot Longitudinal Control (Alpha)</source>
@ -339,7 +339,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
<translation type="unfinished"></translation>
<translation type="unfinished">&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到不按流量計費的網絡</translation>
</message>
</context>
<context>

20
system/hardware/tici/agnos.json
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@ -56,28 +56,28 @@
},
{
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz",
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"hash_raw": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
"url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
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"ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
},
{
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"size": 4404019200
}
}

44
system/hardware/tici/all-partitions.json
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@ -339,62 +339,62 @@
},
{
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz",
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[[package]]

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