* now alpha long
* fix
* rename param
* thought i did this
* debug
* debug
* more
* more
* moar
* Revert "moar"
This reverts commit e347106246.
* Revert "more"
This reverts commit 0746e6d2e4.
* Revert "more"
This reverts commit 0db5a8792c.
* Revert "debug"
This reverts commit 72f235b137.
* Revert "debug"
This reverts commit 7871b69f8c.
* Online lateral lag learning (#34974)
This reverts commit b4cc9e68d1.
* pad to the best size for fft
* Fix static analysis
* Add typing
* Fix typing
* MAX_LAG
* Calculate cross correlation regardless if the points are valid
* Back to lagd
* Add lagd to process_config
* Lagd in test onroad
* Move lag estimator for lagd
* Remove duplicate entry from test_onroad
* Update process replay
* pre-fill the data
* Update cpu usage
* 25sec window
* Change the meaning of lateralDelayEstimate
* No newline
* Fix typing
* Prefill
* Update ref commit
* Add a unit test
* Fix static issues
* Time limit
* Or timeout
* Use mocker
* Update estimate every time
* empty test
* DT const
* enable RIVIAN again
* Update ref commit
* Update that again
* Improve the tests
* Fix static
* Add masking test
* Increase timeout
* Add liveDelay to selfdrived
* Add liveDelay to selfdrived in process_replay
* Fix block_avg restore after num_blocks
* regen most
* Update bolt
* Update ref commit
* Change the key name
* Add assert
* True weighted average
* Add struct and services
* Proof of concept
* Use vego
* Process replay support
* Fix issues
* Max not min
* Remove print
* Make lag positive
* Points and updates
* Sliding cross corr
* Stuff
* Remove redundant param
* Move to lagd
* Update alert
* Something that works
* Report isEstimated
* Corr field
* Use skimage masked corr
* Fixes
* Move to lat_accel_loc
* Use the delay it in the model
* Mark as executable
* Add 0.2 to initial
* add install line
* Back to 5m window
* Move the import up
* corr window 120
* Show is estimated
* Sort messages
* New impl
* Fix
* Params
* Set initial_lag elsewhere
* Add param
* Rename Param
* Fix type isues
* More blocks
* Masked fft NCC implementation
* Remove package installation
* Use 20hz data and interp the correlation peak
* Move ncc code to separate function
* steering_saturated support
* Constants
* Add recovery buffer
* Fix static
* min_valid_block_count nad liveDelay
* lateralDelayEstimate
* Fix comm issues. Do estimations at 4hz
* Fix
* Display the estimate
* Increase the block size
* Cache every minute
* DEBUG flag
* Add progress to the alert
* Fix crash
* points only in debug
* Fix BlockAverage restoration
* Comment
* Move estimators into estimator directory
* Remove lagd
* Feed only relevant messages
* Rewrite as a set literal
* np.diag with P_initial
* Fix static
* Struct renames
* Update ref commit
* Make it nicer
* Some renames
* Refactor ParamsLearner
* Make it VehicleParamsLearner
* Fix
* Use capnp serialization instead of json
* Fix speed
* Remove redundant comments
* Monitor observed_roll
* Just use init_state
* Comment
* Improve reset
* Set globals api
* Typing for return value
* Redo reset messaging
* Remove usages of math
* Fix process_replay custom_params
* Type ignores for rednose fields
* Remove import
* Reset previous values too
* Update ref_commit
* Revert it
* Bring it back
* Remove more
* Add migration for cached params
* No /dev/shm on MacOS so we go to tmp instead given that the /dev/shm makes tests not really work fine on mac
* Cleanups
Fix cereal messaging tests
* keep msgq stock
More shm updates for macos
* typo
* fix return
* Semicolon...
* long planner: use vehicle model w/ avg steer offset for limit accel in turns
* remove unused CP in limit_accel_in_turns
* revert use of vehicle model, keeping angle offset in limit accel in turns
* only the offset fix, check valid, and fix process replay
* update refs (valid two frames later)
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* test selfdrived!
* exit() is for interactive sessions
* fix
* comments
* more
* test all of selfdrive/
* ignore what we used to
* fix test_alerts
* fix test_alertmanager.py
* Reapply "move car.capnp to opendbc" (#33725)
This reverts commit 9d52a5b485.
* why can't i repro?!
* Revert "why can't i repro?!"
This reverts commit 0435d218f7.
* does this cause card to try and read it?
* better place
* wtf
* Reapply "why can't i repro?!"
This reverts commit d24fd5a0ab.
* also here
* Add model execution time to DrivingModelData
* Update model replay ref commit
* Update ref commit again
* Ignore this field in model replay
* Back to original ref commit
* Bring back
---------
Co-authored-by: Comma Device <device@comma.ai>
* interfaces returns radarinterface
old-commit-hash: 9ad1f096bf
* bump
old-commit-hash: 20334a8b25
* get RI from opendbc
old-commit-hash: b5f6d0c48c90927926e9dd557130075aeec5edee
* stash so far
old-commit-hash: 5aa2c842eb152316434c17a661df05bb8af61f47
* new liveTracks message (radard expects and needs RadarData)
* this should just work?
* whoops
* fix that
* rm liveTracks from radard pm
* fix proceess replay
* lol fcw diff, something's not right
* actually there's fcw in original route. it's pretty close
* no tracks!
* fix test_leads
* CPU moved across procs
* fix not engageable from onroadEvents
* bump
* fixes
* bump to master
* radard publishes w/ modelV2 now, so it will always be sent. check valid which radard sets using liveTracks avg freq
* fix that (it works!)
* combine
join
* bump
* bump
* deprecate
* why
* fix incorrect args
* remove cumLagMs from process_replay
* update refs
* move most of /car
* move some car tests
move some car tests
* fix selfdrive/car/tests
* fix selfdrive/controls tests
* fix the rest of the selfdrive tests
* bump opendbc
* fix all tests
* few more non-test references
* remove opcar and move docs to car
fix these debugging scripts
fix docs
* bump opendbc and panda
forgot panda
old-commit-hash: e735a7f379
* ban cereal and msgq
* common too
* do toyota/values.py
* do all fingerprints
* example without builder
* this still works, but no type checking anymore
* stash
* wtf, how does this work
* okay actually not bad
* safe
* epic!
* stash data_structures.py
* some clean up
* hell yeah
* clean up old file
* add to delete
* delete
This reverts commit 90239b7797.
* switch more CarParams stuff over
remove unused
* fix car tests by removing cereal! mypy forgets about dataclass if we wrap it :(
* fix this too
* fix this too
* remove more cereal and add some good hyundai tests
* bunch more typing
* override default with 20hz radar
* temp capnp converter helper
* more lateralTuning
* small union replicator is better than what i was trying, and fixes mypy dynamic typing issues
* can keep all this the same now!
* type ret: CarParams, add more missing structs, revert lateralTuning changes (smaller diff!)
* revert more
* get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :(
would have been `CarParams.NetworkLocation()`
* Revert "get first enum automatically, but ofc mypy doesn't pick up the new metaclass so can't use :("
This reverts commit bb28b228be.
* remove cereal from car_helpers (TODO: caching)
* remove a bunch of temp lines
* use dataclass_transform!
* remove some car.CarParams from the interfaces
* remove rest of car.CarParams from the interfaces
* same which() API
* sort
* from cereal/cache from fingerprinting!
* more typing
* dataclass to capnp helper for CarParams, cached it since it's kinda slow
* (partial) fix process replay fingerprintig for new API
* latcontrollers take capnp
* forgot this
* fix test_models
* fix unit tests
* not here
* VehicleModel and controller still takes capnp CP since they get it from Params()
* fix modeld test
* more fix
* need to namespace to structs, since CarState is both class and struct
* this was never in the base class?!
* clean that up again
* fix import error
fix import error
* cmts and more structs
* remove some more cereal from toyota + convert CarState to capnp
* bruh this was wrong
* replace more cereal
* EventName is one of the last things...
* replace a bunch more cereal.car
* missing imports
* more
* can fix this typing now
* proper toyota+others CS typing!
* mypy can detect return type of CS.update() now
* fix redeclaration of cruise_buttons type
* mypy is only complaining about events now
* temp fix
* add carControl struct
* replace CarControl
i hope there's no circular imports in hyundai's CC
* fine now
* lol this was wrong too
* fix crash
* include my failed attempts at recursively converting to dataclass (doesn't implicitly convert types/recursively :( )
but attrs does, maybe will switch in the future
* clean up
* try out attr.s for its converter (doesn't work recursively yet, but interesting!)
* Revert "try out attr.s for its converter (doesn't work recursively yet, but interesting!)"
This reverts commit ff2434f7bb.
* test processes doesn't fail anymore (on toyota)!
* fix honda crash
* stash
* Revert "stash"
This reverts commit c1762af4e7.
* remove a bunch more cereal!
* LET'S GOOO
* fix these tests
* and these
* and that
* stash, something is wrong with hyundai enable
* Revert "stash, something is wrong with hyundai enable"
This reverts commit 39cf327def.
* forgot these
* remove cereal from fw_versions
* Revert "remove cereal from fw_versions"
This reverts commit 232b37cd40.
* remove rest of the cereal exceptions!
* fix that
* add typing to radard since I didn't realize RI.update() switched from cereal to structs
* and here too!
* add TODO for slots
* needed CS to be capnp, fix comparisons, and type hint car_specific so it's easier to catch type issues (capnp isn't detected by mypy :( )
* remove the struct converter
* save ~4-5% CPU at 100hz, we don't modify after so no need to deepcopy
btw pickle.loads(pickle.dumps()) is faster by ~1% CPU
* deepcopy -> copy: we can technically make a reference, but copy is almost free and less error-prone
saves ~1% CPU
* add non-copying asdict function
* should save ~3% CPU (still 4% above baseline)
* fix that, no dict support
* ~27% decrease in time for 20k iterations on 3X (3.37857 -> 2.4821s)
* give a better name
* fix
* dont support none, capitalize
* sheesh, this called type() on every field
* remove CS.events, clean up
* bump card %
* this was a bug on master!
* add a which enum
* default to pid
* revert
* update refs
* not needed, but consistent
* just Ecu
* don't need to do this in this pr
* clean up
* no cast
* consistent typing
* rm
* fix
* can do this if we're desperate for the last few %
* Revert "can do this if we're desperate for the last few %"
This reverts commit 18e11ac788.
* type this
* don't need to convert carControl
* i guess don't support set either
* fix CP type hint
* simplify that
old-commit-hash: 6a15c42143
* move capnp byte decoding out of car_helpers
* always wanted to type this
* and process replay
* this does nothing
* might as well
old-commit-hash: ee62b9c88b
* start
* hmm API doesn't seem great
* better
* rm line
* sendcan -> can_send callable for best static type coverage, list -> tuple msg
TODO: logcan
* more sendcan -> can_send references
* remove pandad's capnp from selfdrive/car
* fix and remove cereal from test_can_fingerprint
* test_fw_fingerprint: remove pandad, less cereal
* comment done too
* better comment
* fix test_models test
* niceeee it works
* move to can_definitions
* can't come up with a better name :(
* I think we can remove SimpleNamespace soon
* fix test_can_fingerprint.py
* maintain previous behavior
* Revert "maintain previous behavior"
This reverts commit f848fd3213.
* can test comment
* no need for get_one_can now!
* big clean up: no SimpleNamespace
* now self explanatory!
* not needed
* use empty can again since this is now real
* cmt
old-commit-hash: 9880b1393c
* content of can packet won't affect can fingerprint time
* remove get_one_can
* fix comment
* actually we still want to be able to send empty can (xx fingerprint func does this if it runs out of msgs)
* fix process replay
old-commit-hash: 87f183f43c
* ban params too with a callback
* all sorts of messed up
* use cloudlog
* consistent order
* order
* better type hint
* format
* this is a bit nicer
* hmm
* fix PLR1704
* no carvin
* fix process replay
old-commit-hash: 5a1596a322
* Use livePose instead of llk
* Update process replay sockets
* Fix import
* Fix calib
* Fix field name
* Dont store device_from_calib
* Update ref commit
old-commit-hash: 84cff4fc03
* Filter out non-relevant services in most_messages_valid check
* Set as comprehension
* Update segments
* Update ref commit
* New check for hyundai2
old-commit-hash: 6e185f4eea
Revert "selfdrive/car: ban imports from external modules (#32973)"
This reverts commit c1e8ff2dbc47ccb07fb41a4e88bfb66af2669254.
old-commit-hash: 35a4a773f1
Shane Smiskol
Kacper Rączy
ZwX1616
DevTekVE
Tim Wilson
Adeeb Shihadeh
Harald Schäfer