mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-09-18 13:33:49 +08:00
IQ.Pilot Release Commit @ 45bb3db
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -51,8 +51,8 @@
|
||||
},
|
||||
"python/_iqclosure/iqpilot/common/filter_simple.py": {
|
||||
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"size": 1929
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||||
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|
||||
"python/_iqclosure/iqpilot/common/gpio.py": {
|
||||
"mode": 420,
|
||||
@@ -141,8 +141,8 @@
|
||||
},
|
||||
"python/_iqclosure/iqpilot/selfdrive/controls/lib/desire_helper.py": {
|
||||
"mode": 420,
|
||||
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||||
"size": 11398
|
||||
},
|
||||
"python/_iqclosure/iqpilot/selfdrive/controls/lib/drive_helpers.py": {
|
||||
"mode": 420,
|
||||
@@ -521,8 +521,8 @@
|
||||
},
|
||||
"python/_iqclosure/iqpilot/system/hardware/tici/hardware.py": {
|
||||
"mode": 420,
|
||||
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"size": 25601
|
||||
},
|
||||
"python/_iqclosure/iqpilot/system/hardware/tici/iwlist.py": {
|
||||
"mode": 420,
|
||||
@@ -576,37 +576,37 @@
|
||||
},
|
||||
"python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": {
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"python/iqpilot_private/emac/ffs_holder.cpython-312-aarch64-linux-gnu.so": {
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"size": 68072
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"python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": {
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"python/iqpilot_private/emac/maciqmodeld.cpython-312-aarch64-linux-gnu.so": {
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"python/iqpilot_private/emac/model_context.cpython-312-aarch64-linux-gnu.so": {
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"python/iqpilot_private/emac/rh_images.cpython-312-aarch64-linux-gnu.so": {
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"runtime": {
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@@ -618,12 +618,12 @@
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||||
}
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||||
},
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||||
"signatures": {
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"python/iqpilot_private/emac/bulk_transport.cpython-312-aarch64-linux-gnu.so": "tmAlUdhZoUAWgQcRNuju1rSitT8oFbV6XAacY52kc2ffe3hVJQ6TgQO11YwSfKrzk9M1i93FEjCNm/y15j1lCw==",
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"python/iqpilot_private/emac/ffs_holder.cpython-312-aarch64-linux-gnu.so": "kxlAJMSafbk3c4o/XTqxp0nvB0BgP6+StWVpzSkZLLMuqsaHTYilBUYNUPWW2/4fDVgmFsqNDt8JMiOCYXPCCw==",
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"python/iqpilot_private/emac/mac_protocol.cpython-312-aarch64-linux-gnu.so": "rVudE3ZHsquCb0gV33LcnzkGG6nZV3kXN78YbHaKqXOfdpWEKLYrUXId7qng3BUJk+Mfyq7FC/ZVWIR9vvJSCw==",
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"python/iqpilot_private/emac/rh_images.cpython-312-aarch64-linux-gnu.so": "BkfWTqw5Ei9EMLGwDNlDabsD/3sIXFJNkk+s/VR3Tm7+EKdkzJs4Ws/dshTDvg5DZjuwKmOdeMYZFxEpHcqvAw=="
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}
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}
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@@ -1 +1 @@
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|
||||
|
||||
@@ -1,3 +1,8 @@
|
||||
from collections import deque
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
class FirstOrderFilter:
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
@@ -32,3 +37,35 @@ class BounceFilter(FirstOrderFilter):
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
|
||||
class MyMovingAverage:
|
||||
def __init__(self, window_size, value=None):
|
||||
self.window_size = window_size
|
||||
if value is not None:
|
||||
self.values = deque([value] * window_size, maxlen=window_size)
|
||||
self.sum = value * window_size
|
||||
self.result = value
|
||||
else:
|
||||
self.values = deque(maxlen=window_size)
|
||||
self.sum = 0
|
||||
self.result = 0
|
||||
|
||||
def set(self, value):
|
||||
self.values.clear()
|
||||
self.values.append(value)
|
||||
self.sum = value
|
||||
self.result = value
|
||||
return value
|
||||
|
||||
def set_all(self, value):
|
||||
self.values = deque([value] * self.window_size, maxlen=self.window_size)
|
||||
self.sum = value * self.window_size
|
||||
self.result = value
|
||||
return value
|
||||
|
||||
def process(self, value, median=False):
|
||||
self.values.append(value)
|
||||
self.sum = sum(self.values)
|
||||
self.result = float(np.median(self.values)) if median else float(self.sum) / len(self.values)
|
||||
return self.result
|
||||
|
||||
+15
-40
@@ -25,11 +25,9 @@ NavManeuverPhase = custom.IQNavState.ManeuverPhase
|
||||
|
||||
LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
|
||||
LANE_CHANGE_TIME_MAX = 10.0
|
||||
TURN_DESIRE_STOP_HOLD_TIME = 3.4
|
||||
TURN_DESIRE_STOP_GAP_TIME = 0.2
|
||||
TURN_DESIRE_STOP_CYCLE_TIME = TURN_DESIRE_STOP_HOLD_TIME + TURN_DESIRE_STOP_GAP_TIME
|
||||
TURN_DESIRE_CYCLE_SPEED_MAX = 5 * CV.MPH_TO_MS
|
||||
TURN_DESIRE_COMMIT_YAW_RATE = 0.08
|
||||
# the model desire history spans 5 s, so one rising edge per 5 s keeps exactly one turn pulse visible
|
||||
TURN_DESIRE_PULSE_HOLD_FRAMES = round(5.0 / DT_MDL) - 1
|
||||
TURN_DESIRE_PULSE_CYCLE_FRAMES = TURN_DESIRE_PULSE_HOLD_FRAMES + 1
|
||||
|
||||
_LANE_CHANGE_DESIRES = {
|
||||
(LaneChangeDirection.none, LaneChangeState.off): log.Desire.none,
|
||||
@@ -52,7 +50,7 @@ _TURN_DESIRES = {
|
||||
TurnDirection.turnRight: log.Desire.turnRight,
|
||||
}
|
||||
|
||||
_STOP_CYCLING_TURN_DESIRES = {
|
||||
_PULSED_TURN_DESIRES = {
|
||||
log.Desire.turnLeft,
|
||||
log.Desire.turnRight,
|
||||
}
|
||||
@@ -111,10 +109,8 @@ class DesireHelper:
|
||||
self.lateral_edge_block = LateralEdgeBlock.none
|
||||
self.lane_turn_direction = TurnDirection.none
|
||||
self.nav_turn_direction = TurnDirection.none
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
self.turn_desire_frames = 0
|
||||
self.turn_desire_cycle_input = log.Desire.none
|
||||
self.turn_desire_committed = False
|
||||
|
||||
@staticmethod
|
||||
def get_lane_change_direction(carstate):
|
||||
@@ -222,43 +218,22 @@ class DesireHelper:
|
||||
else:
|
||||
self.lane_change_timer += DT_MDL
|
||||
|
||||
def _clear_turn_desire_stop_cycle(self) -> None:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
def _clear_turn_desire_pulse(self) -> None:
|
||||
self.turn_desire_frames = 0
|
||||
self.turn_desire_cycle_input = log.Desire.none
|
||||
self.turn_desire_committed = False
|
||||
|
||||
def _cycle_turn_desire_when_stopped(self, desired_output: log.Desire) -> log.Desire:
|
||||
if desired_output not in _STOP_CYCLING_TURN_DESIRES:
|
||||
self._clear_turn_desire_stop_cycle()
|
||||
def _pulse_turn_desire(self, desired_output: log.Desire) -> log.Desire:
|
||||
if desired_output not in _PULSED_TURN_DESIRES:
|
||||
self._clear_turn_desire_pulse()
|
||||
return desired_output
|
||||
|
||||
if desired_output != self.turn_desire_cycle_input:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
self.turn_desire_frames = 0
|
||||
self.turn_desire_cycle_input = desired_output
|
||||
self.turn_desire_committed = False
|
||||
|
||||
if abs(getattr(self._last_carstate, "yawRate", 0.0)) >= TURN_DESIRE_COMMIT_YAW_RATE:
|
||||
self.turn_desire_committed = True
|
||||
|
||||
if self.turn_desire_committed:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
return desired_output
|
||||
|
||||
if self._last_carstate.vEgo > TURN_DESIRE_CYCLE_SPEED_MAX:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
return desired_output
|
||||
|
||||
if not self.turn_desire_stop_active:
|
||||
self.turn_desire_stop_active = True
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
|
||||
cycle_phase = self.turn_desire_stop_timer % TURN_DESIRE_STOP_CYCLE_TIME
|
||||
self.turn_desire_stop_timer += DT_MDL
|
||||
if cycle_phase >= TURN_DESIRE_STOP_HOLD_TIME:
|
||||
cycle_frame = self.turn_desire_frames % TURN_DESIRE_PULSE_CYCLE_FRAMES
|
||||
self.turn_desire_frames += 1
|
||||
if cycle_frame >= TURN_DESIRE_PULSE_HOLD_FRAMES:
|
||||
return log.Desire.none
|
||||
return desired_output
|
||||
|
||||
@@ -271,7 +246,7 @@ class DesireHelper:
|
||||
else:
|
||||
desired_output = _LANE_CHANGE_DESIRES[(self.lane_change_direction, self.lane_change_state)]
|
||||
|
||||
self.desire = self._cycle_turn_desire_when_stopped(desired_output)
|
||||
self.desire = self._pulse_turn_desire(desired_output)
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob, nav_state=None, modeldata=None, radar_state=None):
|
||||
self._last_carstate = carstate
|
||||
|
||||
+1
-1
@@ -557,7 +557,7 @@ class Tici(HardwareBase):
|
||||
if self.get_device_type() in ("tici", "tizi"):
|
||||
if initial_eps_apn:
|
||||
subprocess.call(["mmcli", "-m", "any", f'--3gpp-set-initial-eps-bearer-settings=apn={initial_eps_apn}'])
|
||||
else:
|
||||
elif is_comma_profile:
|
||||
subprocess.call(["mmcli", "-m", "any", '--3gpp-set-initial-eps-bearer-settings=apn='])
|
||||
|
||||
cmds += [
|
||||
|
||||
BIN
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BIN
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BIN
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BIN
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BIN
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BIN
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BIN
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@@ -1,3 +1,8 @@
|
||||
from collections import deque
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
||||
class FirstOrderFilter:
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
@@ -32,3 +37,35 @@ class BounceFilter(FirstOrderFilter):
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
|
||||
class MyMovingAverage:
|
||||
def __init__(self, window_size, value=None):
|
||||
self.window_size = window_size
|
||||
if value is not None:
|
||||
self.values = deque([value] * window_size, maxlen=window_size)
|
||||
self.sum = value * window_size
|
||||
self.result = value
|
||||
else:
|
||||
self.values = deque(maxlen=window_size)
|
||||
self.sum = 0
|
||||
self.result = 0
|
||||
|
||||
def set(self, value):
|
||||
self.values.clear()
|
||||
self.values.append(value)
|
||||
self.sum = value
|
||||
self.result = value
|
||||
return value
|
||||
|
||||
def set_all(self, value):
|
||||
self.values = deque([value] * self.window_size, maxlen=self.window_size)
|
||||
self.sum = value * self.window_size
|
||||
self.result = value
|
||||
return value
|
||||
|
||||
def process(self, value, median=False):
|
||||
self.values.append(value)
|
||||
self.sum = sum(self.values)
|
||||
self.result = float(np.median(self.values)) if median else float(self.sum) / len(self.values)
|
||||
return self.result
|
||||
|
||||
@@ -25,11 +25,9 @@ NavManeuverPhase = custom.IQNavState.ManeuverPhase
|
||||
|
||||
LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
|
||||
LANE_CHANGE_TIME_MAX = 10.0
|
||||
TURN_DESIRE_STOP_HOLD_TIME = 3.4
|
||||
TURN_DESIRE_STOP_GAP_TIME = 0.2
|
||||
TURN_DESIRE_STOP_CYCLE_TIME = TURN_DESIRE_STOP_HOLD_TIME + TURN_DESIRE_STOP_GAP_TIME
|
||||
TURN_DESIRE_CYCLE_SPEED_MAX = 5 * CV.MPH_TO_MS
|
||||
TURN_DESIRE_COMMIT_YAW_RATE = 0.08
|
||||
# the model desire history spans 5 s, so one rising edge per 5 s keeps exactly one turn pulse visible
|
||||
TURN_DESIRE_PULSE_HOLD_FRAMES = round(5.0 / DT_MDL) - 1
|
||||
TURN_DESIRE_PULSE_CYCLE_FRAMES = TURN_DESIRE_PULSE_HOLD_FRAMES + 1
|
||||
|
||||
_LANE_CHANGE_DESIRES = {
|
||||
(LaneChangeDirection.none, LaneChangeState.off): log.Desire.none,
|
||||
@@ -52,7 +50,7 @@ _TURN_DESIRES = {
|
||||
TurnDirection.turnRight: log.Desire.turnRight,
|
||||
}
|
||||
|
||||
_STOP_CYCLING_TURN_DESIRES = {
|
||||
_PULSED_TURN_DESIRES = {
|
||||
log.Desire.turnLeft,
|
||||
log.Desire.turnRight,
|
||||
}
|
||||
@@ -111,10 +109,8 @@ class DesireHelper:
|
||||
self.lateral_edge_block = LateralEdgeBlock.none
|
||||
self.lane_turn_direction = TurnDirection.none
|
||||
self.nav_turn_direction = TurnDirection.none
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
self.turn_desire_frames = 0
|
||||
self.turn_desire_cycle_input = log.Desire.none
|
||||
self.turn_desire_committed = False
|
||||
|
||||
@staticmethod
|
||||
def get_lane_change_direction(carstate):
|
||||
@@ -222,43 +218,22 @@ class DesireHelper:
|
||||
else:
|
||||
self.lane_change_timer += DT_MDL
|
||||
|
||||
def _clear_turn_desire_stop_cycle(self) -> None:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
def _clear_turn_desire_pulse(self) -> None:
|
||||
self.turn_desire_frames = 0
|
||||
self.turn_desire_cycle_input = log.Desire.none
|
||||
self.turn_desire_committed = False
|
||||
|
||||
def _cycle_turn_desire_when_stopped(self, desired_output: log.Desire) -> log.Desire:
|
||||
if desired_output not in _STOP_CYCLING_TURN_DESIRES:
|
||||
self._clear_turn_desire_stop_cycle()
|
||||
def _pulse_turn_desire(self, desired_output: log.Desire) -> log.Desire:
|
||||
if desired_output not in _PULSED_TURN_DESIRES:
|
||||
self._clear_turn_desire_pulse()
|
||||
return desired_output
|
||||
|
||||
if desired_output != self.turn_desire_cycle_input:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
self.turn_desire_frames = 0
|
||||
self.turn_desire_cycle_input = desired_output
|
||||
self.turn_desire_committed = False
|
||||
|
||||
if abs(getattr(self._last_carstate, "yawRate", 0.0)) >= TURN_DESIRE_COMMIT_YAW_RATE:
|
||||
self.turn_desire_committed = True
|
||||
|
||||
if self.turn_desire_committed:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
return desired_output
|
||||
|
||||
if self._last_carstate.vEgo > TURN_DESIRE_CYCLE_SPEED_MAX:
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
self.turn_desire_stop_active = False
|
||||
return desired_output
|
||||
|
||||
if not self.turn_desire_stop_active:
|
||||
self.turn_desire_stop_active = True
|
||||
self.turn_desire_stop_timer = 0.0
|
||||
|
||||
cycle_phase = self.turn_desire_stop_timer % TURN_DESIRE_STOP_CYCLE_TIME
|
||||
self.turn_desire_stop_timer += DT_MDL
|
||||
if cycle_phase >= TURN_DESIRE_STOP_HOLD_TIME:
|
||||
cycle_frame = self.turn_desire_frames % TURN_DESIRE_PULSE_CYCLE_FRAMES
|
||||
self.turn_desire_frames += 1
|
||||
if cycle_frame >= TURN_DESIRE_PULSE_HOLD_FRAMES:
|
||||
return log.Desire.none
|
||||
return desired_output
|
||||
|
||||
@@ -271,7 +246,7 @@ class DesireHelper:
|
||||
else:
|
||||
desired_output = _LANE_CHANGE_DESIRES[(self.lane_change_direction, self.lane_change_state)]
|
||||
|
||||
self.desire = self._cycle_turn_desire_when_stopped(desired_output)
|
||||
self.desire = self._pulse_turn_desire(desired_output)
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob, nav_state=None, modeldata=None, radar_state=None):
|
||||
self._last_carstate = carstate
|
||||
|
||||
@@ -1,26 +1,25 @@
|
||||
from types import SimpleNamespace
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from iqpilot.cereal import custom, log
|
||||
from iqpilot.common.realtime import DT_MDL
|
||||
from iqpilot.selfdrive.controls.lib.desire_helper import (
|
||||
DesireHelper,
|
||||
TURN_DESIRE_STOP_CYCLE_TIME,
|
||||
TURN_DESIRE_STOP_HOLD_TIME,
|
||||
TURN_DESIRE_PULSE_CYCLE_FRAMES,
|
||||
TURN_DESIRE_PULSE_HOLD_FRAMES,
|
||||
)
|
||||
|
||||
|
||||
TurnDirection = custom.IQTurnSignalDirection
|
||||
MODEL_HISTORY_FRAMES = 100
|
||||
|
||||
|
||||
def helper(v_ego=0.0, yaw_rate=0.0):
|
||||
result = DesireHelper.__new__(DesireHelper)
|
||||
result._last_carstate = SimpleNamespace(vEgo=v_ego, yawRate=yaw_rate)
|
||||
result.turn_desire_stop_timer = 0.0
|
||||
result.turn_desire_stop_active = False
|
||||
result.turn_desire_frames = 0
|
||||
result.turn_desire_cycle_input = log.Desire.none
|
||||
result.turn_desire_committed = False
|
||||
result.nav_turn_direction = TurnDirection.none
|
||||
result.lane_turn_direction = TurnDirection.none
|
||||
result.lane_change_direction = log.LaneChangeDirection.none
|
||||
@@ -29,50 +28,48 @@ def helper(v_ego=0.0, yaw_rate=0.0):
|
||||
return result
|
||||
|
||||
|
||||
def visible_pulses(outputs):
|
||||
previous = log.Desire.none
|
||||
rising = []
|
||||
for output in outputs:
|
||||
rising.append(output != log.Desire.none and previous != output)
|
||||
previous = output
|
||||
rising = np.array(rising)
|
||||
return np.array([rising[max(0, i - MODEL_HISTORY_FRAMES + 1):i + 1].sum() for i in range(len(rising))])
|
||||
|
||||
|
||||
@pytest.mark.parametrize("source", ["manual", "nav"])
|
||||
def test_manual_and_nav_turn_desires_receive_rising_edges(source):
|
||||
h = helper()
|
||||
@pytest.mark.parametrize("v_ego,yaw_rate", [(0.0, 0.0), (6.0, 0.0), (4.0, 0.3)])
|
||||
def test_turn_desire_keeps_exactly_one_pulse_in_model_history(source, v_ego, yaw_rate):
|
||||
h = helper(v_ego, yaw_rate)
|
||||
if source == "manual":
|
||||
h.lane_turn_direction = TurnDirection.turnLeft
|
||||
else:
|
||||
h.nav_turn_direction = TurnDirection.turnLeft
|
||||
|
||||
outputs = []
|
||||
for _ in range(round((TURN_DESIRE_STOP_CYCLE_TIME + 2 * DT_MDL) / DT_MDL)):
|
||||
for _ in range(4 * TURN_DESIRE_PULSE_CYCLE_FRAMES):
|
||||
h._pick_desire_output()
|
||||
outputs.append(h.desire)
|
||||
|
||||
gap_index = next(i for i, output in enumerate(outputs) if output == log.Desire.none)
|
||||
assert gap_index * DT_MDL == pytest.approx(TURN_DESIRE_STOP_HOLD_TIME, abs=DT_MDL * 1.1)
|
||||
assert log.Desire.turnLeft in outputs[gap_index + 1:]
|
||||
gaps = [i for i, output in enumerate(outputs) if output == log.Desire.none]
|
||||
assert gaps[0] == TURN_DESIRE_PULSE_HOLD_FRAMES
|
||||
assert np.diff(gaps).tolist() == [TURN_DESIRE_PULSE_CYCLE_FRAMES] * (len(gaps) - 1)
|
||||
assert set(visible_pulses(outputs)[MODEL_HISTORY_FRAMES:].tolist()) == {1}
|
||||
|
||||
|
||||
def test_creeping_restarts_stopped_turn_cycle():
|
||||
def test_new_turn_direction_restarts_pulse_immediately():
|
||||
h = helper()
|
||||
for _ in range(round(TURN_DESIRE_STOP_HOLD_TIME / DT_MDL)):
|
||||
h._cycle_turn_desire_when_stopped(log.Desire.turnRight)
|
||||
|
||||
h._last_carstate.vEgo = 3.0
|
||||
assert h._cycle_turn_desire_when_stopped(log.Desire.turnRight) == log.Desire.turnRight
|
||||
h._last_carstate.vEgo = 0.0
|
||||
assert h._cycle_turn_desire_when_stopped(log.Desire.turnRight) == log.Desire.turnRight
|
||||
assert h.turn_desire_stop_timer == pytest.approx(DT_MDL)
|
||||
|
||||
|
||||
def test_measured_turn_commitment_stops_cycling():
|
||||
h = helper()
|
||||
h._last_carstate.yawRate = -0.1
|
||||
assert h._cycle_turn_desire_when_stopped(log.Desire.turnLeft) == log.Desire.turnLeft
|
||||
h._last_carstate.yawRate = 0.0
|
||||
|
||||
outputs = [h._cycle_turn_desire_when_stopped(log.Desire.turnLeft) for _ in range(300)]
|
||||
assert set(outputs) == {log.Desire.turnLeft}
|
||||
|
||||
|
||||
def test_new_turn_direction_rearms_cycle_after_commitment():
|
||||
h = helper(yaw_rate=0.1)
|
||||
h._cycle_turn_desire_when_stopped(log.Desire.turnLeft)
|
||||
h._last_carstate.yawRate = 0.0
|
||||
h._cycle_turn_desire_when_stopped(log.Desire.turnRight)
|
||||
assert h.turn_desire_committed is False
|
||||
for _ in range(TURN_DESIRE_PULSE_HOLD_FRAMES // 2):
|
||||
assert h._pulse_turn_desire(log.Desire.turnLeft) == log.Desire.turnLeft
|
||||
assert h._pulse_turn_desire(log.Desire.turnRight) == log.Desire.turnRight
|
||||
assert h.turn_desire_cycle_input == log.Desire.turnRight
|
||||
assert h.turn_desire_frames == 1
|
||||
|
||||
|
||||
def test_lane_change_desires_pass_through_and_reset_pulse():
|
||||
h = helper()
|
||||
h._pulse_turn_desire(log.Desire.turnLeft)
|
||||
assert h._pulse_turn_desire(log.Desire.laneChangeLeft) == log.Desire.laneChangeLeft
|
||||
assert h.turn_desire_frames == 0
|
||||
assert h.turn_desire_cycle_input == log.Desire.none
|
||||
|
||||
@@ -226,6 +226,7 @@ class UIState(IQUIState):
|
||||
"carOutput",
|
||||
"carControl",
|
||||
"vehicleParameters",
|
||||
"egpuDockState",
|
||||
] + self.sm_services_ext
|
||||
)
|
||||
|
||||
|
||||
@@ -78,14 +78,14 @@
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/system-aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e.img.xz",
|
||||
"hash": "aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e",
|
||||
"hash_raw": "aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/system-1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388.img.xz",
|
||||
"hash": "1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388",
|
||||
"hash_raw": "1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388",
|
||||
"size": 6291456000,
|
||||
"sparse": false,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e",
|
||||
"ondevice_hash": "1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388",
|
||||
"url_parts": 10
|
||||
}
|
||||
]
|
||||
|
||||
@@ -1 +1 @@
|
||||
GOp80wlluTRkHZnMViznUD2H1iF6Y+VrWC8JsH2pVi2VeyZTTEPhdNMP7kH4EXYT7Syfa4mAgtdPLl9jXa4wAQ==
|
||||
R39gJsoN/ESDuoPJTEUrOF8FXPwyf+dzf0s4pvpx53vIsXlY89OQjyooQQHMWsK4GgU9Dvv7trTuiXo3NP0XCQ==
|
||||
|
||||
@@ -36,6 +36,9 @@ IQPILOT_MANIFEST_PUBLIC_KEY = bytes.fromhex("40ae3f81b77506ecc4982a1ca37ba1d6f87
|
||||
AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"
|
||||
|
||||
LFS_POINTER_MAGIC = b"version https://git-lfs"
|
||||
# Cloudflare cuts a proxied response off after ~100 s, so a part slower than ~900 KB/s only completes through range resumes.
|
||||
PART_RESUME_LIMIT = 50
|
||||
PART_RESUME_DELAY = 2
|
||||
|
||||
def _image_auth_module():
|
||||
try:
|
||||
@@ -73,12 +76,28 @@ def _download_headers(url: str) -> dict:
|
||||
pass
|
||||
return {}
|
||||
|
||||
def _open_image_response(url: str) -> requests.Response:
|
||||
class RangeNotSupported(requests.exceptions.RequestException):
|
||||
pass
|
||||
|
||||
def _ranged_get(url: str, headers: dict, offset: int) -> requests.Response:
|
||||
if offset:
|
||||
headers = {**headers, 'Range': f"bytes={offset}-"}
|
||||
req = requests.get(url, stream=True, headers=headers, timeout=60)
|
||||
req.raise_for_status()
|
||||
if offset and req.status_code != 206:
|
||||
req.close()
|
||||
raise RangeNotSupported(f"server ignored range resume at {offset} for {url}")
|
||||
return req
|
||||
|
||||
def _open_image_response(url: str, offset: int = 0) -> requests.Response:
|
||||
auth = _download_headers(url)
|
||||
req = requests.get(url, stream=True, headers={'Accept-Encoding': None, **auth}, timeout=60)
|
||||
req.raise_for_status()
|
||||
if int(req.headers.get('content-length') or 0) >= 1024:
|
||||
return req
|
||||
if not offset:
|
||||
return req
|
||||
req.close()
|
||||
return _ranged_get(url, {'Accept-Encoding': None, **auth}, offset)
|
||||
|
||||
body = req.content
|
||||
if not body.startswith(LFS_POINTER_MAGIC):
|
||||
@@ -88,10 +107,10 @@ def _open_image_response(url: str) -> requests.Response:
|
||||
size = int(meta["size"])
|
||||
lfs_base = url.split("/raw/", 1)[0] + ".git/info/lfs"
|
||||
|
||||
req = requests.get(f"{lfs_base}/objects/{oid}", stream=True,
|
||||
headers={'Accept-Encoding': None, 'Accept': 'application/vnd.git-lfs', **auth}, timeout=60)
|
||||
if req.status_code == 200:
|
||||
return req
|
||||
try:
|
||||
return _ranged_get(f"{lfs_base}/objects/{oid}", {'Accept-Encoding': None, 'Accept': 'application/vnd.git-lfs', **auth}, offset)
|
||||
except (requests.exceptions.HTTPError, RangeNotSupported):
|
||||
pass
|
||||
|
||||
batch = requests.post(f"{lfs_base}/objects/batch",
|
||||
data=json.dumps({"operation": "download", "transfers": ["basic"],
|
||||
@@ -101,10 +120,7 @@ def _open_image_response(url: str) -> requests.Response:
|
||||
timeout=60)
|
||||
batch.raise_for_status()
|
||||
action = batch.json()["objects"][0]["actions"]["download"]
|
||||
req = requests.get(action["href"], stream=True,
|
||||
headers={'Accept-Encoding': None, **action.get("header", {})}, timeout=60)
|
||||
req.raise_for_status()
|
||||
return req
|
||||
return _ranged_get(action["href"], {'Accept-Encoding': None, **action.get("header", {})}, offset)
|
||||
|
||||
|
||||
def verify_manifest_signature(manifest_path: str) -> None:
|
||||
@@ -131,8 +147,21 @@ class _ChainedParts:
|
||||
|
||||
def iter_content(self, chunk_size: int) -> Generator[bytes, None, None]:
|
||||
for u in self.urls:
|
||||
self.req = _open_image_response(u)
|
||||
yield from self.req.iter_content(chunk_size=chunk_size)
|
||||
received = 0
|
||||
resumes = 0
|
||||
while True:
|
||||
try:
|
||||
self.req = _open_image_response(u, received)
|
||||
for chunk in self.req.iter_content(chunk_size=chunk_size):
|
||||
received += len(chunk)
|
||||
yield chunk
|
||||
break
|
||||
except (requests.exceptions.ChunkedEncodingError, requests.exceptions.ConnectionError):
|
||||
resumes += 1
|
||||
if resumes > PART_RESUME_LIMIT:
|
||||
raise
|
||||
print(f"Resuming {u} at {received} bytes ({resumes})", flush=True)
|
||||
time.sleep(PART_RESUME_DELAY)
|
||||
|
||||
class StreamingDecompressor:
|
||||
def __init__(self, url: str, parts: int = 0) -> None:
|
||||
@@ -141,7 +170,7 @@ class StreamingDecompressor:
|
||||
if parts > 1:
|
||||
self.req = _ChainedParts([f"{url}.p{i:02d}" for i in range(parts)])
|
||||
else:
|
||||
self.req = _open_image_response(url)
|
||||
self.req = _ChainedParts([url])
|
||||
self.it = self.req.iter_content(chunk_size=1024 * 1024)
|
||||
self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
|
||||
self.eof = False
|
||||
|
||||
@@ -67,14 +67,14 @@
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/system-aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e.img.xz",
|
||||
"hash": "aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e",
|
||||
"hash_raw": "aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/system-1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388.img.xz",
|
||||
"hash": "1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388",
|
||||
"hash_raw": "1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388",
|
||||
"size": 6291456000,
|
||||
"sparse": false,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "aad7a8ca1a0ec5669d46e0d5c2794214b8089361be65ecb21d7feb4d4df00c5e",
|
||||
"ondevice_hash": "1a3fd2a6c5d5530b6b5dd5d25311326c8b44fba22533dcfaafb1cce35485e388",
|
||||
"url_parts": 10
|
||||
}
|
||||
]
|
||||
|
||||
@@ -1 +1 @@
|
||||
+ZDnJpayd7Z4kRKRJ0LKCKKA0lzO998S/3IQFaJdozGGozP31GstEC0i0xYcaixG51ye2r8fB/GCDHGrK0kyAg==
|
||||
Q7FSsS7kmbYAPqYe5W+Ht6xPNb9ekBQQlVYTBT/VNgR96+aazk2TOV/8909sS3n30bfvm/YUZc1MawSzoWGgAA==
|
||||
|
||||
@@ -557,7 +557,7 @@ class Tici(HardwareBase):
|
||||
if self.get_device_type() in ("tici", "tizi"):
|
||||
if initial_eps_apn:
|
||||
subprocess.call(["mmcli", "-m", "any", f'--3gpp-set-initial-eps-bearer-settings=apn={initial_eps_apn}'])
|
||||
else:
|
||||
elif is_comma_profile:
|
||||
subprocess.call(["mmcli", "-m", "any", '--3gpp-set-initial-eps-bearer-settings=apn='])
|
||||
|
||||
cmds += [
|
||||
|
||||
@@ -16,14 +16,21 @@ from iqpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS
|
||||
W = TypeVar('W', bound='Widget')
|
||||
|
||||
_device = None
|
||||
_device_unavailable = False
|
||||
|
||||
|
||||
def device_awake() -> bool:
|
||||
global _device
|
||||
global _device, _device_unavailable
|
||||
if _device is None:
|
||||
if _device_unavailable:
|
||||
return True
|
||||
try:
|
||||
from iqpilot.selfdrive.ui.ui_state import device
|
||||
_device = device
|
||||
# The setup zipapp has no msgq, and a failed import is never cached, so retrying costs ~70 ms per widget per frame.
|
||||
except ModuleNotFoundError:
|
||||
_device_unavailable = True
|
||||
return True
|
||||
except Exception:
|
||||
return True
|
||||
return _device.awake
|
||||
|
||||
@@ -43,9 +43,11 @@ def _egpu_state(params: Params, engaged: bool) -> SourceState:
|
||||
|
||||
|
||||
def resolve_source(params: Params, engaged: bool) -> tuple[str, SourceState]:
|
||||
if params.get_bool("UsbGpuPresent") and not params.get_bool("IQEgpuDisabled"):
|
||||
return "GPU", _egpu_state(params, engaged)
|
||||
if params.get_bool("IQEmacEnabled"):
|
||||
return "MAC", _emac_state(params, engaged)
|
||||
if params.get_bool("UsbGpuPresent") or params.get_bool("IQEgpuEnabled"):
|
||||
if params.get_bool("IQEgpuEnabled"):
|
||||
return "GPU", _egpu_state(params, engaged)
|
||||
return "", SourceState.HIDDEN
|
||||
|
||||
|
||||
@@ -15,10 +15,13 @@ from iqpilot.selfdrive.ui.ui_state import ui_state
|
||||
from iqpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from iqpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from iqpilot.system.ui.widgets import Widget
|
||||
from iqpilot.ui.onroad.theme import SECONDARY_TEXT
|
||||
|
||||
_POLL_S = 1.0
|
||||
_FONT_SIZE = 70
|
||||
_ICON_H = 76
|
||||
_POWER_FONT_SIZE = 32
|
||||
_POWER_GAP = 10
|
||||
_ICONS = {"MAC": ("mac", 62 / 46), "GPU": ("egpu", 1.0)}
|
||||
_GREY = rl.Color(165, 165, 170, 235)
|
||||
_WHITE = rl.Color(255, 255, 255, 255)
|
||||
@@ -75,6 +78,7 @@ class EmacStatusRenderer(Widget):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
self._font = gui_app.font(FontWeight.SEMI_BOLD)
|
||||
self._power_font = gui_app.font(FontWeight.MEDIUM)
|
||||
self._last_poll = 0.0
|
||||
self._label = ""
|
||||
self._state = SourceState.HIDDEN
|
||||
@@ -95,5 +99,19 @@ class EmacStatusRenderer(Widget):
|
||||
y = rect.y + rect.height / 2 - size.y / 2
|
||||
draw_source_label(self._font, self._label, self._state, rl.Vector2(x, y), _FONT_SIZE)
|
||||
return
|
||||
draw_source_icon(self._label, self._state, _ICON_H,
|
||||
rl.Vector2(rect.x + UI_BORDER_SIZE + BTN_SIZE // 2, rect.y + rect.height / 2))
|
||||
center = rl.Vector2(rect.x + UI_BORDER_SIZE + BTN_SIZE // 2, rect.y + rect.height / 2)
|
||||
draw_source_icon(self._label, self._state, _ICON_H, center)
|
||||
if self._label == "GPU":
|
||||
self._draw_power_draw(center)
|
||||
|
||||
def _draw_power_draw(self, icon_center: rl.Vector2) -> None:
|
||||
sm = ui_state.sm
|
||||
if not sm.alive["egpuDockState"] or sm.recv_frame["egpuDockState"] <= 0:
|
||||
return
|
||||
watts = sm["egpuDockState"].powerDrawW
|
||||
if not math.isfinite(watts) or watts < 0:
|
||||
return
|
||||
text = f"{watts:.0f} W"
|
||||
size = measure_text_cached(self._power_font, text, _POWER_FONT_SIZE)
|
||||
pos = rl.Vector2(round(icon_center.x - size.x / 2), round(icon_center.y + _ICON_H / 2 + _POWER_GAP))
|
||||
rl.draw_text_ex(self._power_font, text, pos, _POWER_FONT_SIZE, 0, SECONDARY_TEXT)
|
||||
|
||||
@@ -33,9 +33,16 @@ def test_egpu_label_is_gpu():
|
||||
assert label == "GPU"
|
||||
|
||||
|
||||
def test_emac_wins_when_both_enabled():
|
||||
label, _ = _resolve(IQEmacEnabled=True, IQEgpuEnabled=True,
|
||||
MacModelReachable=True, UsbGpuPresent=True)
|
||||
def test_present_dock_wins_over_emac():
|
||||
assert _resolve(IQEmacEnabled=True, MacModelReachable=True,
|
||||
UsbGpuPresent=True, UsbGpuActive=True) == ("GPU", SourceState.ACTIVE)
|
||||
assert _resolve(IQEmacEnabled=True, UsbGpuPresent=True, UsbGpuActive=True) == ("GPU", SourceState.ACTIVE)
|
||||
|
||||
|
||||
def test_emac_wins_without_consented_dock():
|
||||
label, _ = _resolve(IQEmacEnabled=True, IQEgpuEnabled=True, MacModelReachable=True)
|
||||
assert label == "MAC"
|
||||
label, _ = _resolve(IQEmacEnabled=True, MacModelReachable=True, UsbGpuPresent=True, IQEgpuDisabled=True)
|
||||
assert label == "MAC"
|
||||
|
||||
|
||||
|
||||
+1
-1
@@ -23,7 +23,7 @@ if [ -z "$AGNOS_VERSION" ]; then
|
||||
|
||||
case "$DEVICE_MODEL" in
|
||||
*)
|
||||
export AGNOS_VERSION="IQ.OS 4.9.9"
|
||||
export AGNOS_VERSION="IQ.OS 4.9.9.1"
|
||||
;;
|
||||
esac
|
||||
fi
|
||||
|
||||
Reference in New Issue
Block a user