mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-05 08:16:06 +08:00
Vivek Aithal
51d25b2011
* wip torqued
* add basic logic
* setup in manager
* check sanity and publish msg
* add first order filter to outputs
* wire up controlsd, and update gains
* rename intercept to offset
* add cloudlog, live values are not updated
* fix bugs, do not reset points for now
* fix crashes
* rename to main
* fix bugs, works offline
* fix float in cereal bug
* add latacc filter
* randomly choose points, approx for iid
* add variable decay
* local param to capnp instead of dict
* verify works in replay
* use torqued output in controlsd
* use in controlsd; use points from past routes
* controlsd bugfix
* filter before updating gains, needs to be replaced
* save all points to ensure smooth transition across routes, revert friction factor to 1.5
* add filters to prevent noisy low-speed data points; improve fit sanity
* add engaged buffer
* revert lat_acc thresh
* use paramsd realtime process config
* make latacc-to-torque generic, and overrideable
* move freq to 4Hz, avoid storing in np.array, don't publish points in the message
* float instead of np
* remove constant while storing pts
* rename slope, offset to lat_accet_factor, offset
* resolve issues
* use camelcase in all capnp params
* use camelcase everywhere
* reduce latacc threshold or sanity, add car_sane todo, save points properly
* add and check tag
* write param to disk at end of route
* remove args
* rebase op, cereal
* save on exit
* restore default handler
* cpu usage check
* add to process replay
* handle reset better, reduce unnecessary computation
* always publish raw values - useful for debug
* regen routes
* update refs
* checks on cache restore
* check tuning vals too
* clean that up
* reduce cpu usage
* reduce cpu usage by 75%
* cleanup
* optimize further
* handle reset condition better, don't put points in init, use only in corolla
* bump cereal after rebasing
* update refs
* Update common/params.cc
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* remove unnecessary checks
* Update RELEASES.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 4fa62f1464
85 lines
2.7 KiB
Python
Executable File
85 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import sys
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import subprocess
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from azure.storage.blob import BlockBlobService # pylint: disable=import-error
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from selfdrive.car.tests.routes import routes as test_car_models_routes
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from selfdrive.test.process_replay.test_processes import source_segments as replay_segments
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from xx.chffr.lib import azureutil # pylint: disable=import-error
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from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error
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SOURCES = [
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(_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),
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(_DATA_ACCOUNT_PRODUCTION, "preserve"),
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(_DATA_ACCOUNT_CI, "commadataci"),
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]
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DEST_KEY = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci")
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SOURCE_KEYS = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES]
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SERVICE = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=DEST_KEY)
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def upload_route(path, exclude_patterns=None):
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if exclude_patterns is None:
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exclude_patterns = ['*/dcamera.hevc']
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r, n = path.rsplit("--", 1)
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r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path
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destpath = f"{r}/{n}"
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cmd = [
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"azcopy",
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"copy",
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f"{path}/*",
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f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{DEST_KEY}",
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"--recursive=false",
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"--overwrite=false",
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] + [f"--exclude-pattern={p}" for p in exclude_patterns]
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subprocess.check_call(cmd)
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def sync_to_ci_public(route):
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key_prefix = route.replace('|', '/')
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dongle_id = key_prefix.split('/')[0]
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if next(azureutil.list_all_blobs(SERVICE, "openpilotci", prefix=key_prefix), None) is not None:
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return True
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print(f"Uploading {route}")
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for (source_account, source_bucket), source_key in zip(SOURCES, SOURCE_KEYS):
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print(f"Trying {source_account}/{source_bucket}")
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cmd = [
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"azcopy",
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"copy",
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f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}",
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f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{DEST_KEY}",
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"--recursive=true",
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"--overwrite=false",
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"--exclude-pattern=*/dcamera.hevc",
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]
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try:
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result = subprocess.call(cmd, stdout=subprocess.DEVNULL)
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if result == 0:
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print("Success")
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return True
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except subprocess.CalledProcessError:
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print("Failed")
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return False
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if __name__ == "__main__":
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failed_routes = []
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to_sync = sys.argv[1:]
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if not len(to_sync):
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# sync routes from the car tests routes and process replay
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to_sync.extend([rt.route for rt in test_car_models_routes])
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to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
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for r in to_sync:
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if not sync_to_ci_public(r):
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failed_routes.append(r)
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if len(failed_routes):
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print("failed routes:", failed_routes)
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