7c112341c3
Reapply "update to new opendbc API ( #32009 )" ( #33151 )
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This reverts commit ac130001cc
1 year ago
ac130001cc
Revert "update to new opendbc API ( #32009 )"
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This reverts commit 0dddc97dca
1 year ago
0dddc97dca
update to new opendbc API ( #32009 )
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* use new opendbc api
* export pandad_python
* merge master
* merge master
* bump opendbc
* bump opendbc
* improve func
* keep interface unchanged
* fix test_car_interfaces
* bump opendbc
* bump opendbc
* fix test_models
* the interface now has to convert from can capnp to list, so we should include this time
* goes from ~210 to ~240 mean ms real time
* remoe busTime
* lowercase sendcan
* consistent msgtype
* bump
* bump
* not used in lat_mpc
* space
* bump to master
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
1 year ago
9536dd07c6
unpin numpy ( #33132 )
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* unlock numpy
* remove old cache
* sheel
* lock
* remove temp
* depends
* export
* put this back
* use __version__
* move this
---------
Co-authored-by: quebec <quebec@quebec.attlocal.net>
1 year ago
1b2bd205b8
MSGQ refactor: cleanup outstanding issues ( #32685 )
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* Rm sim dockerfile from bad merge
* Add watch back
* Fix watch3 compilation
1 year ago
e70dc90a45
Restructure msgq ( #32652 )
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* Update ref
* Compiles
* compiles
* Refactor rest of libs
* import all
* small fiex
* cleanup import
* Need msgq simlink too
* Add to openpilot docker too
* try repo
* Updates
* Fix lint
* fix docs
* Try blank slate
* Revert "Try blank slate"
This reverts commit f078ce04acacfe115c19e23e86038b01e2b84a6d.
* Maybe scons needs this to clear cache
* fix tests
* Disable test for now
* Update SConstruct
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Fix whitespace
* Write skip normal
* small fixes
* add test path
* Revert repo
* linting
* whitespace
* Bump msgq
---------
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
1 year ago
6ecb710305
LongitudinalMpc: use DT_MDL ( #32532 )
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bad magic number
1 year ago
7cf2b28b78
scons: fix race condition with opendbc ( #31621 )
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* fix race condition
* add to release
* fix for now
* bump
2 years ago
35f819c823
swaglog.py goes in common/ ( #30631 )
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* swaglog.py goes in common/
* all of these go in release
* we'll even include the pyx
2 years ago
4e69937d0d
Precommit: ensure executable bit is set ( #29784 )
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* precommit ensure executable
* exclude tinygrad
* bump submodules
* exclude tinygrad globally
2 years ago
9719b22761
Update Python packages and pre-commit hooks ( #29739 )
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* Update Python packages and pre-commit hooks
* fix linter
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Co-authored-by: adeebshihadeh <adeebshihadeh@users.noreply.github.com>
2 years ago
d138a358eb
scons: fix multithreaded builds ( #29716 )
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* common_python export
* Single scons call
* transformations_python
2 years ago
517499294a
mpc_lib: fix dependencies ( #29621 )
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* Remove common dependency of lateral mpc
* Replace cereal dir dependency with cereal lib in long mpc
* Add missing files to generated sources
* Typo fix
* messaging_python dep
2 years ago
55cca6ed26
scons: remove missing MPC headers ( #29485 )
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* remove invalid files
* Update selfdrive/controls/lib/lateral_mpc_lib/SConscript
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Apply suggestions from code review
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
2 years ago
a9626f95b6
add openpilot prefix to imports ( #29498 )
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* add openpilot prefix to imports
* more
* more
* fix docs
* fix linter
* bump submodules
* fix patched tests
* update dynamic imports
* debug
* Revert "debug"
This reverts commit db5e13b991
2 years ago
d61f86d339
replace custom clock helpers with time module ( #29499 )
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* replace custom clock stuff wtih time module
* fix double
* fix release
* bump cereal
* update type
* fix one more
2 years ago
62c1e65924
Ruff: enable most of bugbear ( #29320 )
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* added mutable default args
* most of the Bs
* add comment about lrucache
2 years ago
7fdd9fc37c
CI: Pylint to ruff ( #29294 )
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* pylint to riff
* pylint to riff
* pylint to riff
* revert more
* undo exclude removal
* exclude tinygrad
* set line length
* pylint exclusions to ruff
* same excludes as old linter
* fix tools QA
* remove unrequired check
* revert linting third_party
* ignore e402
2 years ago
cf64b27168
Linter: Fix >160 line length test ( #29287 )
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* test
* fix line length
* fix line length
* fix file size
* revert poetry
* cleanup for PR
2 years ago
c640429406
aarch64: ubuntu build support ( #29171 )
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* Add support for aarch64 pc linux
* Add new libyuv path to release files
* Add libyuv's x86_64 lib dir
* Move left-over platform specific dirs from files_common
* Remove libyuv/lib directory (duplicate)
* Fix mpc Sconscripts
* Remove acados lib path from mpc sources
* Fix typo
* Add watch3 exec on aarch64
2 years ago
a61df2bdde
controls: use common car interface acceleration limits ( #29184 )
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* Duplicate Accel param
using interfaces accel param
* revert brand accel value
* import error
* sort
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Co-authored-by: Shane Smiskol <shane@smiskol.com>
2 years ago
97eec45d42
Test scons multithreaded random build ( #29082 )
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* random build
* name
* 2 pass
* clean after
* fail on this
* fix deps
* format
* var
* try without lfs
2 years ago
ca699e3989
radard: no clustering ( #29010 )
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* First commit
* cleanup
* Update ref
* Doesnt deserve two files
* cleanup radard
2 years ago
7a5dbe6132
long_mpc: clean up get_T_FOLLOW() usage ( #29033 )
2 years ago
ae3681f2bb
Test and fix cruise speed all personalities ( #28658 )
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* Fix cruise speed in non-standard mode
* Test all personalities
* Test only critical speeds
* 35ms max
2 years ago
205c900742
Driving Personality setting (also changes follow distance) ( #24742 )
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* Skeleton
* Adjustable follow parameter
* fix rebase
* long planner
* typo
* Add ui toggle
* Fix icon
* Improve text
* Better toggle position
* Im a UX engineer now
* add param reader
* CHange jerk to have same crash test performance
* Try reading param
* Unused comment
* translate ui text
* std stoi
* Parametrized buttons
* Empty strings are ints
* Move to generic
* Update translations
* Fix translation diffs
* Release notes
* update refs
* tweaks
* Misc fixes
* No param is standard
2 years ago
04fe6c4ec7
Expand lateral MPC to 10s ( #27343 )
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* 10s lat
* Full length MPC
* redfine N
* Leave controls the same for now
* Updates
* use long plan in lat plan
* interp plan
* add new interp
* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/
* expand to 10s
* revert this
* fix linter
* Update sconscripts
* fix test
* fix test
* fix test
* Revert "Update sconscripts"
This reverts commit 6e23c69dce
3 years ago
b45dda2d0a
Longitudinal tests: test forceDecel ( #26765 )
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* test with forceDecel
* test all combos
* fix
* fix
* fix
* ...
* remove print
* clean up
* just set cruise to 0
* update ref commit
Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
3 years ago
cd8e03d53e
move all third party stuff into third_party/ ( #26853 )
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* mv fastcluster
* move msm_kgsl.h
* camerad include
* update path
* mv pyextra
* fix tici build
* add acados_template to release build
Co-authored-by: Comma Device <device@comma.ai>
3 years ago
ded66e6307
long_mpc: fix e2e source condition ( #26546 )
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* fix long_mpc source param
* rm print
* add back space for formatting
3 years ago
f23296bc87
Add force decel to e2e long ( #26448 )
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* add force decel to e2e
* Update longitudinal_planner.py
3 years ago
253e5d7f9d
FCW: less false positives ( #26366 )
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* Less FP for FCW
* enable fcw for e2e long
3 years ago
dcde942d9f
Long control: add a_change cost in e2e mode ( #26237 )
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Add e2e cost
3 years ago
cb0b7375b7
Rocket Launcher Model ( #25963 )
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* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300
* tinygrad: cleanup gather
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700
* empty commit for tests
* bump tinygrad
* dont use tinygrad matmul for now
* bump tinygrad
* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* increase steer rate cost
* Revert "increase steer rate cost"
This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.
* fork tinygrad
* empty commit for tests
* basics
* Kinda works
* new lat
* new tuning
* Move LATMPCN so scons compiles
* Update long weights
* Add tinygrad optim
* Update model ref
* update weights
* Update ref
* Try
* Error message for field ignore
* update model regf
* ref commit
* Fix onnx test
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
3 years ago
e5d2c3ce7a
Planner cleanup ( #25969 )
3 years ago
7df0e3efcf
remove blank whitespace ( #25921 )
3 years ago
1007df874f
Minor ACC fixes ( #25911 )
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* Change cruise accel limits
* Long tuning script looks good
* Cap cruise slowdown aggression in e2e mode
* Revert atau change
* Cleanup
* Update ref
* fix ref
3 years ago
7899fb79c1
More conservative lead policy in e2e long mode ( #25684 )
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* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
3 years ago
faff2b8950
Add e2e long toggle ( #25638 )
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* Add toggle
* Misc fixes
* Update translations
* pre alpha not great
3 years ago
e1b7a37a1f
Support e2e long in longitudinal planner ( #25636 )
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* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
3 years ago
2c877ce490
Long e2e planner: better xva weights ( #24893 )
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better long xva weights
3 years ago
0fce5d9045
Move a bunch of stuff to system/ part 3 ( #24829 )
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* move swaglog.py
* timezoned
* logmessaged
* version.py
* fix linter
3 years ago
1a9f5d29d4
longitudinal_mpc: Compute forward distance from velocity ( #24328 )
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* add vel integ as x in e2e long mpc
* add comment
4 years ago
5c48e7bc86
remove comma two support ( #24248 )
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* remove comma two support
* cleanup release files
* little more
* more libs
* no more gralloc
* add snpe back
4 years ago
a9bac5acf8
longitudinal MPC: use reset() function instead of recreating the solver in ( #24091 )
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* scons: add acados_template as dependency for lat and long mpc
* long MPC: use acados reset instead of recreating the solver
* long MPC: print timings and reset commented
* update acados x86_64
* update acados include folder
* update acados Python interface
* update acados reference commit to latest acados/master
* update x86 libs
* update comma two
* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
* update comma two
* update comma three
* update x86
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
f1aab78d08
longitudinal MPC: add MAX_T in T_IDXS_LST ( #23960 )
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* longitudinal MPC: add MAX_T in T_IDXS_LST
* update refs
Co-authored-by: KexianShen <shenkexian@gmail.com>
4 years ago
d653dd843a
Upstreamed and update acados ( #23927 )
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* change acados version to finalized PR https://github.com/acados/acados/pull/791
* acados: update include and x86_64 build
* acados: update pyextra
* adapt mpc files to updated acados
* acados buid: clear acados_template and include dir before updating
* update acados again
* acados MPC: only generate solver, building is done via scons
* update acados to latest acados/master
* c3 libs
* c2 libs
* acados scons files: add acados build script as a dependency
* acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common
* update acados
* adapts long & lat MPC file
* update acados reference commit to acados/master
Co-authored-by: Comma Device <device@comma.ai>
4 years ago
ab371f888a
Longitudinal MPC set qp tolerance to 1e-3 ( #23899 )
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* initialize solverExecutionTime longitudinal_planner
* test_onroad: improve timing evaluation
* longitudinal MPC: set qp_tol to 1e-3
* update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
1801baba68
remove trivial terminal constraint and associated CasADi generated functions ( #23898 )
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* remove trivial terminal constraint and associated CasADi generated functions
* Update refs
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
d09dffb7cd
Cython acados and minor ( #23835 )
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* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
4 years ago
Shane Smiskol
Dean Lee
Maxime Desroches
Harald Schäfer
Justin Newberry
Adeeb Shihadeh
Kacper Rączy
Lee Jong Mun
eFini
YassineYousfi
Vivek Aithal
Jonathan Frey
Jonathan Frey