openpilot_comma

openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

History

Shane Smiskol 6a15c42143 selfdrive/car: ban cereal and capnp (#33208 ) * 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		9 months ago
..
__init__.py	CI: enable missing tests (#29538 )	2 years ago
test_alertmanager.py	test_*.py files are no longer executable (#32610 )	12 months ago
test_latcontrol.py	selfdrive/car: ban cereal and capnp (#33208 )	9 months ago
test_vehicle_model.py	selfdrive/car: ban cereal and capnp (#33208 )	9 months ago