mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-07-23 20:42:11 +08:00
IQ.Pilot Release Commit @ a87e9e5
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -12,7 +12,7 @@
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## Installation
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#### Installing Via Installer URL:
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#### Enter the following into your device custom URL box to install IQ.Pilot:
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`IQLvbs/release`
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`iqinc/release`
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#### Having Trouble? If your device is currently running AGNOS 13.1 or older, you should install latest stock openpilot, then install IQ.Pilot, or try one of the alternative methods listed below!
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@@ -27,11 +27,11 @@
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#### Installing Via SSH:
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#### Once you are connected to your device via SSH, you can paste the following command below to install IQ.Pilot:
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`cd .. && rm -rf openpilot && git clone https://github.com/IQLvbs/openpilot.git -b release && cd openpilot && sudo reboot`
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`cd .. && rm -rf openpilot && git clone https://github.com/iqinc/openpilot.git -b release && cd openpilot && sudo reboot`
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#### If you'd like to backup your previous installation as well, paste the following command below to install IQ.Pilot:
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`cd .. && mv openpilot openpilot_backup_X && git clone https://github.com/IQLvbs/openpilot.git -b release && cd openpilot && sudo reboot`
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`cd .. && mv openpilot openpilot_backup_X && git clone https://github.com/iqinc/openpilot.git -b release && cd openpilot && sudo reboot`
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#### Alternatively, you can use your existing fork's built in tools to switch your branch as well:
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`git remote add iqpilot https://github.com/IQLvbs/openpilot.git && op switch iqpilot release`
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`git remote add iqpilot https://github.com/iqinc/openpilot.git && op switch iqpilot release`
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---
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@@ -16,18 +16,28 @@
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|
||||
"python/iqpilot_private/konn3kt/backups/imahelper.cpython-312-aarch64-linux-gnu.so": "dc9Uj1Mtzs/JqAhXrRypKVXcOeDz+LhQkoC9i480cm9xTD4CwHi0uMb0R0ug3Zy/a/T6kEb1dfeLaRu8bifsAQ==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_auth.cpython-312-aarch64-linux-gnu.so": "f8rBsEG6oV0FWBwF1UN/wNZstXb+I1RHgznD+IuFXdsSKD1ucPSIfu+BYzxDi9/DpPfxRXVoHS4cOgN1CadmBw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_gatt.cpython-312-aarch64-linux-gnu.so": "YFxsXCJUOlnws+cDf5MO8mkKSiOo27xUqo29lwZBP8y2+BPiiknCShaI4hC+ejzWd4+59smPaKUuUsXcdmPABQ==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_rpc_dispatch.cpython-312-aarch64-linux-gnu.so": "aC/O3UeBljXJ6QGSvJBULyPhSUmMOp6Y7pGtfXA1Nf5tw8qEAb/7kjiU6my5+f9w48fNAe1voSF1mO5eLCsLCg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/ble_transportd.cpython-312-aarch64-linux-gnu.so": "lubN92tDcIPYnpq7LLPsgqxq5qj715kBljkie2yURge7SGluI6bWyO616OIVHjdG0Wvq58/EsmvH2qKH6EbKAg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/bt_gamepad.cpython-312-aarch64-linux-gnu.so": "51hAcDuyXxQcnPQUQV58KcRnIggvBJSVyRA/EzO22WgX1kLXCkhGsYbJ9lMHZH3IVUXzOpP16qEoxcdykyK/Bw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so": "ExuQziX7rIwMiZGQjFTnr7Rw+LA4iluxeRPZ7zxnvdKo6qagECqmv5VdqxsevAYmH6KiwYDBH/Bjn4G4sLnQDg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so": "T1QHRSyUFUhXl0Mw0CSrG3oIbcCuInWNdX1mMuYHKNf3O+iaAVDB7fgYB6jl9C3jzeiD2LH6jgpgvWEUqF9WAA==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so": "YlDNaD3dT6JuYRT7P3UEnha+/W13//OtYrkoGa8KwpDFhZy7FAyQkZiENHjIQi+K3K+I7qd2phlwrWcPXvaWAg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so": "PxuLDE5We4EsluPRWPZBt2E9nBJTsEX0You50iDdWgjQp8+gJT5ZWfX3wG8cHF8JzOL4xZdg11SjdXpOKsoODg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so": "Lsz5pL5pkh5n3aqJ+SQi4vixS2CTIG1Nou3+z8/OgnPq/8nF47NWuOgL2pT2ogeElgOqSHZgEVO4v4V/FQKHBg==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so": "hbCMagRzeN+JMb4Z/ZkiYo8WvA8ptT8r0NzwBlLRfY1LqkC1ZePGROG3Fq5RC9ylb1UotOmBcIVcOfiG3zDMCw==",
|
||||
"python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so": "zxtsmguucERIWEZXJiNU16fWzGDcbOWgsDa4oB90G1kAP73CTY9cMjchHsIkNZ+bkQNBFNSMmBsTavo6NeOTCQ==",
|
||||
"python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "mInwiS+voFDcEVMHBmHY4W69OQ+Vhl0N6cdmsetpX2YMS8zKfkDJIWvP7AwwX2ZFGkKJ/V8Wc2NTObJAIUqDBA=="
|
||||
}
|
||||
}
|
||||
|
||||
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+8
-6
@@ -9,12 +9,14 @@ except ImportError:
|
||||
pass
|
||||
|
||||
class ParamKeyFlag(IntFlag):
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_ONROAD_TRANSITION = 4
|
||||
CLEAR_ON_OFFROAD_TRANSITION = 8
|
||||
DONT_LOG = 16
|
||||
DEVELOPMENT_ONLY = 32
|
||||
# must stay in lockstep with enum ParamKeyFlag in common/params.h
|
||||
PERSISTENT = 0x02
|
||||
CLEAR_ON_MANAGER_START = 0x04
|
||||
CLEAR_ON_ONROAD_TRANSITION = 0x08
|
||||
CLEAR_ON_OFFROAD_TRANSITION = 0x10
|
||||
DONT_LOG = 0x20
|
||||
DEVELOPMENT_ONLY = 0x40
|
||||
CLEAR_ON_IGNITION_ON = 0x80
|
||||
ALL = 0xFFFFFFFF
|
||||
|
||||
class ParamKeyType(IntEnum):
|
||||
|
||||
@@ -165,6 +165,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"IQCarParamsPersistent", {PERSISTENT, BYTES}},
|
||||
{"IQCarParamsPersistentV2", {PERSISTENT, BYTES}},
|
||||
{"CarPlatformBundle", {PERSISTENT, JSON}},
|
||||
{"Konn3ktVwOdometers", {PERSISTENT, JSON}},
|
||||
{"Konn3ktVehicleOdometers", {PERSISTENT, JSON}},
|
||||
{"ChevronInfo", {PERSISTENT, INT, "4"}},
|
||||
{"DeviceBootMode", {PERSISTENT, INT, "0"}},
|
||||
{"IQDevUIInfo", {PERSISTENT, INT, "0"}},
|
||||
|
||||
@@ -209,6 +209,8 @@ struct CarState {
|
||||
lateralAvailable @61 :Bool; # lateral control is available even if cruise is faulted
|
||||
cruiseFaultLateralMode @62 :Bool; # cruise is faulted but lateral control is still active
|
||||
radarDisableFailed @66 :Bool;
|
||||
# Physical vehicle odometer in kilometers. Zero means unavailable on this platform.
|
||||
odometer @67 :Float64;
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
@@ -8,6 +8,10 @@ from iqdbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, Tesla
|
||||
|
||||
from iqdbc.iqpilot.car.tesla.carstate_ext import CarStateExt
|
||||
from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.proprietary_runtime._verified_import import import_verified_module
|
||||
|
||||
vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
|
||||
@@ -27,6 +31,7 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.acc_state_last = 0
|
||||
self.das_control = None
|
||||
self.das_body_controls_dat = b""
|
||||
self._odometer_store = vehicle_state.VehicleOdometerStore(CP, Params())
|
||||
self.cruise_override = False
|
||||
|
||||
def update_summon_state(self, summon_state: str, cruise_enabled: bool):
|
||||
@@ -155,6 +160,8 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.das_body_controls_dat = bytes(can_parsers[Bus.cam].dat.get(0x3E9, b""))
|
||||
|
||||
CarStateExt.update(self, ret, ret_iq, can_parsers)
|
||||
if ret.odometer > 0.0:
|
||||
ret.odometer = self._odometer_store.record(ret.odometer) or 0.0
|
||||
|
||||
return ret, ret_iq
|
||||
|
||||
|
||||
@@ -59,7 +59,10 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate == CAR.TESLA_MODEL_X:
|
||||
stock_cp.dashcamOnly = False
|
||||
|
||||
if 0x3DF in fingerprint[1]:
|
||||
# Vehicle-bus messages can be slow enough to miss the initial capture window.
|
||||
# Accept either the established 0x3DF marker or the absolute odometer frame.
|
||||
vehicle_bus_seen = any(0x3DF in bus or 0x3B6 in bus for bus in fingerprint.values())
|
||||
if vehicle_bus_seen:
|
||||
ret.flags |= TeslaFlagsIQ.HAS_VEHICLE_BUS.value
|
||||
ret.iqSafetyFlags |= TeslaSafetyFlagsIQ.HAS_VEHICLE_BUS
|
||||
|
||||
|
||||
@@ -4,6 +4,7 @@ from iqdbc.car.tesla.teslacan import TeslaCAN
|
||||
from iqdbc.car.tesla.radar_interface import RADAR_START_ADDR
|
||||
from iqdbc.car.tesla.carcontroller import CarController
|
||||
from iqdbc.car.tesla.values import CAR
|
||||
from iqdbc.can import CANPacker, CANParser
|
||||
|
||||
|
||||
class TestTeslaFingerprint:
|
||||
@@ -31,6 +32,19 @@ class TestTeslaCan:
|
||||
def make_can_msg(self, name, bus, values):
|
||||
return name, bus, values
|
||||
|
||||
def test_vehicle_bus_odometer_decodes_kilometers(self):
|
||||
packer = CANPacker("tesla_model3_vehicle")
|
||||
parser = CANParser("tesla_model3_vehicle", [("ID3B6UI_odometer", 1)], 1)
|
||||
|
||||
message = packer.make_can_msg("ID3B6UI_odometer", 1, {
|
||||
"UI_odometer": 29150.377,
|
||||
"UI_odometerCounter": 1,
|
||||
"UI_odometerChecksum": 0,
|
||||
})
|
||||
parser.update([1_000_000_000, [message]])
|
||||
|
||||
assert parser.vl["ID3B6UI_odometer"]["UI_odometer"] == 29150.377
|
||||
|
||||
def test_longitudinal_command_does_not_reference_missing_jerk_attr(self):
|
||||
CP = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_3)
|
||||
tesla_can = TeslaCAN(CP, self.DummyPacker())
|
||||
|
||||
@@ -15,6 +15,7 @@ from iqdbc.car.volkswagen.speed_limit_manager import SpeedLimitManager
|
||||
from openpilot.system.proprietary_runtime._verified_import import import_verified_module
|
||||
|
||||
iq_lvbs_alc = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.alc")
|
||||
vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
|
||||
|
||||
iqpilot_path = os.path.join(os.path.dirname(__file__), '..', '..', '..')
|
||||
sys.path.insert(0, iqpilot_path)
|
||||
@@ -100,8 +101,15 @@ class CarState(CarStateBase):
|
||||
self.cruise_main_switch = False
|
||||
self.motor3_stock = {}
|
||||
self.motor1_stock = {}
|
||||
self.motor1_frame = 0
|
||||
self.motor3_frame = 0
|
||||
self.motor1_frame = 0
|
||||
self._odometer_store = vehicle_state.VehicleOdometerStore(CP, self._params)
|
||||
|
||||
def _update_odometer(self, ret: structs.CarState, raw_km: float) -> None:
|
||||
"""Publish the cluster value while proprietary Konn3kt code owns persistence."""
|
||||
odometer_km = self._odometer_store.record(raw_km)
|
||||
if odometer_km is not None:
|
||||
ret.odometer = odometer_km
|
||||
|
||||
def _apply_iq_private_flags(self, ret_iq: structs.IQCarState) -> None:
|
||||
ret_iq.alcOverrideAlert = bool(self.alcOverrideAlert)
|
||||
@@ -285,6 +293,7 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.fuelGauge = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
|
||||
ret.fuelTankLevelL = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] # raw liters for konn3kt
|
||||
self._update_odometer(ret, aux_cp.vl["Kombi_02"]["KBI_Kilometerstand"])
|
||||
|
||||
self.cruise_faulted = ret.accFaulted
|
||||
self._apply_iq_private_flags(ret_iq)
|
||||
@@ -400,6 +409,7 @@ class CarState(CarStateBase):
|
||||
psd_06_values = main_cp.vl["PSD_06"] if self.CP.flags & VolkswagenFlags.STOCK_PSD_PRESENT else {}
|
||||
psd_06_values = pt_cp.vl["PSD_06"] if not psd_06_values and self.CP.flags & VolkswagenFlags.STOCK_PSD_06_PRESENT else psd_06_values
|
||||
diagnose_01_values = pt_cp.vl["Diagnose_01"] if self.CP.flags & VolkswagenFlags.STOCK_DIAGNOSE_01_PRESENT else {}
|
||||
self._update_odometer(ret, pt_cp.vl["Diagnose_01"]["KBI_Kilometerstand"])
|
||||
|
||||
if self.enable_speed_limit_predicative and not self.enable_predicative_speed_limit:
|
||||
self.enable_predicative_speed_limit = True
|
||||
@@ -631,6 +641,8 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.fuelGauge = 0 # pt_cp.vl["Kombi_1"]["Tankinhalt"] / 55.0
|
||||
ret.fuelTankLevelL = 0 # pt_cp.vl["Kombi_1"]["Tankinhalt"] # raw liters for konn3kt
|
||||
if aux_cp is not None:
|
||||
self._update_odometer(ret, aux_cp.vl["Kombi_3"]["Kilometerstand"])
|
||||
|
||||
if self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
|
||||
ret.cruiseState.standstill = self.CP.pcmCruise and bool(pt_cp.vl["Bremse_5"]["BR5_Stillstand"]) and ret.cruiseState.enabled
|
||||
@@ -706,6 +718,7 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.fuelGauge = br_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
|
||||
ret.fuelTankLevelL = br_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] # raw liters for konn3kt
|
||||
self._update_odometer(ret, br_cp.vl["Kombi_02"]["KBI_Kilometerstand"])
|
||||
|
||||
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
|
||||
|
||||
@@ -794,8 +807,11 @@ class CarState(CarStateBase):
|
||||
]
|
||||
if CP.flags & VolkswagenFlags.MLB:
|
||||
pt_messages += [
|
||||
("Blinkmodi_01", math.nan) # From J519 BCM (is inactive when no lights active, 50Hz when active)
|
||||
("Blinkmodi_01", math.nan), # From J519 BCM (is inactive when no lights active, 50Hz when active)
|
||||
("Kombi_02", math.nan), # Auxiliary-bus cluster odometer
|
||||
]
|
||||
else:
|
||||
pt_messages += [("Kombi_02", math.nan)] # Auxiliary-bus cluster odometer
|
||||
if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
|
||||
cam_messages += [
|
||||
("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
|
||||
@@ -809,7 +825,7 @@ class CarState(CarStateBase):
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers_pq(CP):
|
||||
aux_messages = []
|
||||
aux_messages = [("Kombi_3", math.nan)] # Bus 1 cluster odometer
|
||||
if CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
|
||||
aux_messages.append(("Motor_3", 0))
|
||||
return {
|
||||
@@ -826,6 +842,7 @@ class CarState(CarStateBase):
|
||||
# TA_01 lives on bus 0 (car ECU / OP-generated when long is active).
|
||||
# math.nan → ignore_alive=True so it never contributes to can_valid.
|
||||
("TA_01", math.nan),
|
||||
("Diagnose_01", math.nan), # Bus 0 cluster odometer
|
||||
]
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
pt_messages.append(("AWV_03", 1))
|
||||
|
||||
@@ -397,5 +397,10 @@ BO_ 826 ID33AUI_rangeSOC: 8 VehicleBus
|
||||
BO_ 306 ID132HVBattAmpVolt: 8 VehicleBus
|
||||
SG_ BattVoltage132 : 0|16@1+ (0.01,0) [0|655.35] "V" Receiver
|
||||
|
||||
BO_ 950 ID3B6UI_odometer: 8 VehicleBus
|
||||
SG_ UI_odometer : 0|32@1+ (0.001,0) [0|4294967.295] "km" Receiver
|
||||
SG_ UI_odometerCounter : 52|4@1+ (1,0) [0|15] "" Receiver
|
||||
SG_ UI_odometerChecksum : 56|8@1+ (1,0) [0|255] "" Receiver
|
||||
|
||||
BO_ 658 ID292BMS_SOC: 8 VehicleBus
|
||||
SG_ SOCUI292 : 10|10@1+ (0.1,0) [0|102.3] "%" Receiver
|
||||
|
||||
@@ -18,9 +18,18 @@ class CarStateExt:
|
||||
self.CP_IQ = CP_IQ
|
||||
|
||||
self.infotainment_3_finger_press = 0
|
||||
self.vehicle_bus_available = bool(CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS)
|
||||
|
||||
def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
|
||||
if self.CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS:
|
||||
if Bus.adas in can_parsers:
|
||||
cp_adas = can_parsers[Bus.adas]
|
||||
|
||||
odometer_km = float(cp_adas.vl["ID3B6UI_odometer"].get("UI_odometer", 0.0))
|
||||
if 0.0 < odometer_km < 4294967.296:
|
||||
self.vehicle_bus_available = True
|
||||
ret.odometer = odometer_km
|
||||
|
||||
if self.vehicle_bus_available and Bus.adas in can_parsers:
|
||||
cp_adas = can_parsers[Bus.adas]
|
||||
|
||||
prev_infotainment_3_finger_press = self.infotainment_3_finger_press
|
||||
@@ -66,7 +75,9 @@ class CarStateExt:
|
||||
def get_parser(CP: structs.CarParams, CP_IQ: structs.IQCarParams) -> dict[StrEnum, CANParser]:
|
||||
messages = {}
|
||||
|
||||
if CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS:
|
||||
if Bus.adas in DBC[CP.carFingerprint]:
|
||||
# Parse the absolute odometer even if the initial fingerprint missed a
|
||||
# slow vehicle-bus marker. Runtime data latches support safely.
|
||||
messages[Bus.adas] = CANParser(DBC[CP.carFingerprint][Bus.adas], [], CANBUS.vehicle)
|
||||
|
||||
return messages
|
||||
|
||||
@@ -31,6 +31,12 @@ LAUNCH_COMMIT_T = 3.5
|
||||
LAUNCH_MOVING_SPEED = 1.2
|
||||
LAUNCH_MAX_ACCEL = 1.5
|
||||
|
||||
E2E_CRUISE_CONVERGENCE_TAU = 15.0
|
||||
E2E_CRUISE_ACCEL_MAX = 0.5
|
||||
E2E_MODEL_SPEED_HORIZON = 5.0
|
||||
E2E_ACCEL_INTENT_BP = [-0.05, 0.05]
|
||||
E2E_MODEL_SPEED_INTENT_BP = [-0.5, 0.0]
|
||||
|
||||
# Lookup table for turns
|
||||
_A_TOTAL_MAX_V = [1.7, 3.2]
|
||||
_A_TOTAL_MAX_BP = [20., 40.]
|
||||
@@ -69,6 +75,23 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
|
||||
return target_accel, cruise_should_stop
|
||||
|
||||
|
||||
def get_e2e_accel(v_ego, v_cruise, model_v, a_target, should_stop):
|
||||
if should_stop or v_cruise <= v_ego or len(model_v) != len(T_IDXS_MPC):
|
||||
return a_target
|
||||
|
||||
convergence_accel = min((v_cruise - v_ego) / E2E_CRUISE_CONVERGENCE_TAU, E2E_CRUISE_ACCEL_MAX)
|
||||
if convergence_accel <= a_target:
|
||||
return a_target
|
||||
|
||||
# Only help the model converge to cruise when both its immediate action and
|
||||
# velocity trajectory show no active deceleration intent. The lead MPC and
|
||||
# cruise candidates remain hard upper bounds on the final acceleration.
|
||||
accel_intent = np.interp(a_target, E2E_ACCEL_INTENT_BP, [0.0, 1.0])
|
||||
model_speed = np.interp(E2E_MODEL_SPEED_HORIZON, T_IDXS_MPC, model_v)
|
||||
speed_intent = np.interp(model_speed - v_ego, E2E_MODEL_SPEED_INTENT_BP, [0.0, 1.0])
|
||||
return float(np.interp(min(accel_intent, speed_intent), [0.0, 1.0], [a_target, convergence_accel]))
|
||||
|
||||
|
||||
class LongitudinalPlanner(LongitudinalPlannerIQ):
|
||||
def __init__(self, CP, CP_IQ, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
@@ -173,6 +196,8 @@ class LongitudinalPlanner(LongitudinalPlannerIQ):
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
output_a_target_e2e, output_should_stop_e2e = self.apply_e2e_stop_distance(sm, v_ego, output_a_target_e2e, output_should_stop_e2e)
|
||||
if self.is_e2e(sm):
|
||||
output_a_target_e2e = get_e2e_accel(v_ego, v_cruise, model_v, output_a_target_e2e, output_should_stop_e2e)
|
||||
|
||||
if sm['carState'].standstill:
|
||||
self.launch_armed = True
|
||||
|
||||
@@ -0,0 +1,31 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_e2e_accel
|
||||
|
||||
|
||||
def model_velocity(v_ego, v_future):
|
||||
return np.interp(T_IDXS, [T_IDXS[0], T_IDXS[-1]], [v_ego, v_future])
|
||||
|
||||
|
||||
class TestE2eCruiseConvergence:
|
||||
def test_converges_when_model_wants_to_accelerate(self):
|
||||
assert get_e2e_accel(20.0, 30.0, model_velocity(20.0, 25.0), 0.1, False) == pytest.approx(0.5)
|
||||
|
||||
def test_scales_down_near_cruise_speed(self):
|
||||
assert get_e2e_accel(28.5, 30.0, model_velocity(28.5, 30.0), 0.0, False) == pytest.approx(0.05)
|
||||
|
||||
def test_preserves_active_model_deceleration(self):
|
||||
assert get_e2e_accel(20.0, 30.0, model_velocity(20.0, 25.0), -0.05, False) == pytest.approx(-0.05)
|
||||
|
||||
def test_preserves_future_model_slowdown(self):
|
||||
assert get_e2e_accel(20.0, 30.0, model_velocity(20.0, 18.0), 0.1, False) == pytest.approx(0.1)
|
||||
|
||||
@pytest.mark.parametrize("v_ego, v_cruise, should_stop", [
|
||||
(30.0, 30.0, False),
|
||||
(31.0, 30.0, False),
|
||||
(20.0, 30.0, True),
|
||||
])
|
||||
def test_never_overrides_cruise_or_stop(self, v_ego, v_cruise, should_stop):
|
||||
assert get_e2e_accel(v_ego, v_cruise, model_velocity(v_ego, v_ego + 5.0), -0.2, should_stop) == pytest.approx(-0.2)
|
||||
@@ -72,7 +72,10 @@ for model_name in ['dmonitoring_model']:
|
||||
# inputs (onnx + tinygrad_repo + flags + metadata script) and output hashes; if it matches, skip
|
||||
# declaring the targets entirely. Any mismatch falls back to a normal on-device compile.
|
||||
if arch == "larch64":
|
||||
from openpilot.selfdrive.modeld.prebuilt_models import verify_prebuilt, outputs_match
|
||||
from openpilot.selfdrive.modeld.prebuilt_models import packaged_prebuilt_matches, verify_prebuilt, outputs_match
|
||||
if packaged_prebuilt_matches(model_name):
|
||||
print(lenv.PrettyNote('SKIP', f"{model_name} — packaged prebuilt pkl"))
|
||||
continue
|
||||
if verify_prebuilt(model_name, flags):
|
||||
print(lenv.PrettyNote('SKIP', f"{model_name} — prebuilt pkl"))
|
||||
continue
|
||||
|
||||
@@ -77,7 +77,13 @@ def outputs_match(model_name: str) -> bool:
|
||||
return True
|
||||
|
||||
|
||||
def packaged_prebuilt_matches(model_name: str) -> bool:
|
||||
return not (MODELS_DIR / f'{model_name}.onnx').is_file() and outputs_match(model_name)
|
||||
|
||||
|
||||
def verify_prebuilt(model_name: str, flags: str) -> bool:
|
||||
if not (MODELS_DIR / f'{model_name}.onnx').is_file():
|
||||
return False
|
||||
data = _load_checks().get(model_name, {})
|
||||
if data.get('signature') != compute_signature(model_name, flags):
|
||||
return False
|
||||
|
||||
@@ -0,0 +1,51 @@
|
||||
import hashlib
|
||||
import json
|
||||
|
||||
from openpilot.selfdrive.modeld import prebuilt_models
|
||||
|
||||
|
||||
def write_outputs(models_dir, check_path):
|
||||
outputs = {}
|
||||
for name, contents in {
|
||||
'dmonitoring_model_tinygrad.pkl': b'tinygrad',
|
||||
'dmonitoring_model_metadata.pkl': b'metadata',
|
||||
}.items():
|
||||
(models_dir / name).write_bytes(contents)
|
||||
outputs[name] = hashlib.sha256(contents).hexdigest()
|
||||
check_path.write_text(json.dumps({'dmonitoring_model': {'outputs': outputs}}))
|
||||
|
||||
|
||||
def test_packaged_prebuilt_without_onnx(tmp_path, monkeypatch):
|
||||
models_dir = tmp_path / 'models'
|
||||
models_dir.mkdir()
|
||||
check_path = models_dir / 'prebuilt_check.json'
|
||||
write_outputs(models_dir, check_path)
|
||||
monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
|
||||
monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
|
||||
|
||||
assert prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
|
||||
assert not prebuilt_models.verify_prebuilt('dmonitoring_model', 'flags')
|
||||
|
||||
|
||||
def test_packaged_prebuilt_rejects_corrupt_output(tmp_path, monkeypatch):
|
||||
models_dir = tmp_path / 'models'
|
||||
models_dir.mkdir()
|
||||
check_path = models_dir / 'prebuilt_check.json'
|
||||
write_outputs(models_dir, check_path)
|
||||
(models_dir / 'dmonitoring_model_tinygrad.pkl').write_bytes(b'corrupt')
|
||||
monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
|
||||
monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
|
||||
|
||||
assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
|
||||
|
||||
|
||||
def test_source_checkout_is_not_packaged_prebuilt(tmp_path, monkeypatch):
|
||||
models_dir = tmp_path / 'models'
|
||||
models_dir.mkdir()
|
||||
check_path = models_dir / 'prebuilt_check.json'
|
||||
write_outputs(models_dir, check_path)
|
||||
(models_dir / 'dmonitoring_model.onnx').write_bytes(b'onnx')
|
||||
monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
|
||||
monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
|
||||
|
||||
assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
|
||||
@@ -43,10 +43,7 @@ struct EncoderSettings {
|
||||
}
|
||||
|
||||
static EncoderSettings QcamEncoderSettings() {
|
||||
// qcamera.ts is the small "dashcam" copy uploaded to konn3kt. Stock 256kbps @ 526x330 is potato;
|
||||
// bump the bitrate to match the higher resolution below. Still H264/.ts (web/HLS compatible) and
|
||||
// ~1/4 the bitrate of fcamera.hevc, so the file stays small. Override with QCAM_BITRATE if needed.
|
||||
int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 1'600'000;
|
||||
int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 3'200'000;
|
||||
return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
|
||||
}
|
||||
|
||||
@@ -140,8 +137,8 @@ const EncoderInfo qcam_encoder_info = {
|
||||
.filename = "qcamera.ts",
|
||||
.cbr = true, // enforce the bitrate so upload size stays predictable (no VBR overshoot)
|
||||
.get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
|
||||
.frame_width = 1052, // 2x the stock 526x330, same road-cam aspect ratio
|
||||
.frame_height = 660,
|
||||
.frame_width = 1578, // 3x the stock 526x330, same road-cam aspect ratio
|
||||
.frame_height = 990,
|
||||
.include_audio = Params().getBool("RecordAudio"),
|
||||
INIT_ENCODE_FUNCTIONS(QRoadEncode),
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user