mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-30 19:33:45 +08:00
Merge branch 'upstream/openpilot/master' into sync-20251114
# Conflicts: # .github/workflows/ci_weekly_run.yaml # .github/workflows/raylib_ui_preview.yaml # .github/workflows/tests.yaml # .gitmodules # README.md # SConstruct # common/api.py # common/params_keys.h # docs/CARS.md # msgq_repo # opendbc_repo # panda # selfdrive/car/tests/test_car_interfaces.py # selfdrive/controls/controlsd.py # selfdrive/controls/lib/latcontrol.py # selfdrive/controls/lib/latcontrol_angle.py # selfdrive/controls/lib/latcontrol_pid.py # selfdrive/controls/lib/latcontrol_torque.py # selfdrive/controls/tests/test_latcontrol.py # selfdrive/monitoring/helpers.py # selfdrive/ui/SConscript # selfdrive/ui/main.cc # selfdrive/ui/qt/body.h # selfdrive/ui/qt/home.cc # selfdrive/ui/qt/home.h # selfdrive/ui/qt/network/networking.cc # selfdrive/ui/qt/network/networking.h # selfdrive/ui/qt/network/wifi_manager.cc # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/qt/offroad/experimental_mode.cc # selfdrive/ui/qt/offroad/firehose.cc # selfdrive/ui/qt/offroad/firehose.h # selfdrive/ui/qt/offroad/onboarding.cc # selfdrive/ui/qt/offroad/onboarding.h # selfdrive/ui/qt/offroad/settings.cc # selfdrive/ui/qt/offroad/settings.h # selfdrive/ui/qt/offroad/software_settings.cc # selfdrive/ui/qt/onroad/alerts.cc # selfdrive/ui/qt/onroad/annotated_camera.h # selfdrive/ui/qt/onroad/buttons.cc # selfdrive/ui/qt/onroad/buttons.h # selfdrive/ui/qt/onroad/driver_monitoring.cc # selfdrive/ui/qt/onroad/hud.cc # selfdrive/ui/qt/onroad/hud.h # selfdrive/ui/qt/onroad/model.cc # selfdrive/ui/qt/onroad/model.h # selfdrive/ui/qt/onroad/onroad_home.cc # selfdrive/ui/qt/onroad/onroad_home.h # selfdrive/ui/qt/request_repeater.h # selfdrive/ui/qt/sidebar.cc # selfdrive/ui/qt/sidebar.h # selfdrive/ui/qt/util.cc # selfdrive/ui/qt/widgets/cameraview.h # selfdrive/ui/qt/widgets/controls.cc # selfdrive/ui/qt/widgets/controls.h # selfdrive/ui/qt/widgets/input.cc # selfdrive/ui/qt/widgets/input.h # selfdrive/ui/qt/widgets/prime.cc # selfdrive/ui/qt/widgets/prime.h # selfdrive/ui/qt/widgets/ssh_keys.h # selfdrive/ui/qt/widgets/toggle.h # selfdrive/ui/qt/widgets/wifi.cc # selfdrive/ui/qt/widgets/wifi.h # selfdrive/ui/qt/window.cc # selfdrive/ui/qt/window.h # selfdrive/ui/tests/cycle_offroad_alerts.py # selfdrive/ui/tests/test_ui/run.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_nl.ts # selfdrive/ui/translations/main_pl.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # selfdrive/ui/ui.cc # selfdrive/ui/ui.h # system/manager/build.py # system/version.py
This commit is contained in:
Jason Wen
@@ -1,10 +1,10 @@
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import glob
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
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lenv = env.Clone()
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lenvCython = envCython.Clone()
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libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
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libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
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frameworks = []
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common_src = [
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@@ -54,6 +54,6 @@ lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS
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lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
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if arch == "larch64":
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thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
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thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[common, 'OpenCL', 'dl'])
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thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
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lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
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lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, common, 'dl', 'OpenCL'])
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@@ -4,7 +4,7 @@
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from libcpp.string cimport string
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from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
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from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
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from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
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class Runtime:
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CPU = USE_CPU_RUNTIME
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@@ -6,9 +6,9 @@ from libcpp cimport bool
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from libcpp.string cimport string
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from .snpemodel cimport SNPEModel as cppSNPEModel
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from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
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from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
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from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
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from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
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from openpilot.sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
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from openpilot.sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
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os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
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@@ -5,9 +5,9 @@ from libcpp cimport bool
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from libcpp.string cimport string
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from .thneedmodel cimport ThneedModel as cppThneedModel
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from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
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from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
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from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
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from openpilot.sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
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from openpilot.sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
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from openpilot.sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
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cdef class ThneedModel(RunModel):
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def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
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@@ -1,10 +1,10 @@
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import glob
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
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Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'transformations')
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lenv = env.Clone()
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lenvCython = envCython.Clone()
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libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
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libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
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frameworks = []
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common_src = [
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@@ -11,7 +11,7 @@ import requests
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from requests.exceptions import (SSLError, RequestException, HTTPError)
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from sunnypilot.models.helpers import is_bundle_version_compatible
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from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
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from cereal import custom
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@@ -16,8 +16,8 @@ from openpilot.common.swaglog import cloudlog
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from openpilot.system.hardware.hw import Paths
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from cereal import messaging, custom
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from sunnypilot.models.fetcher import ModelFetcher
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from sunnypilot.models.helpers import verify_file, get_active_bundle
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from openpilot.sunnypilot.models.fetcher import ModelFetcher
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from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
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class ModelManagerSP:
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@@ -1 +1 @@
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70406ab4dd66d0e384734a8a56632ae4a62bc9670c2e630a0f71588c4e212cd8
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030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
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@@ -1,7 +1,7 @@
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import requests
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from sunnypilot.models.tinygrad_ref import get_tinygrad_ref
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from sunnypilot.models.fetcher import ModelFetcher
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from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
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from openpilot.sunnypilot.models.fetcher import ModelFetcher
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def fetch_tinygrad_ref():
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@@ -15,7 +15,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_
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import openpilot.system.sentry as sentry
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from sunnypilot.sunnylink.statsd import STATSLOGSP
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from openpilot.sunnypilot.sunnylink.statsd import STATSLOGSP
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def log_fingerprint(CP: structs.CarParams) -> None:
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@@ -14,6 +14,13 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
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LAT_PLAN_MIN_IDX = 5
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LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
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# from selfdrive/controls/lib/latcontrol_torque.py
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KP = 1.0
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KI = 0.3
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KD = 0.0
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INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
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KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
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def get_predicted_lateral_jerk(lat_accels, t_diffs):
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# compute finite difference between subsequent model_v2.acceleration.y values
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@@ -48,7 +55,6 @@ class LatControlTorqueExtBase:
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self.model_v2 = None
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self.model_valid = False
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self.lac_torque = lac_torque
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self.torque_params = lac_torque.torque_params
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self.actual_lateral_jerk: float = 0.0
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self.lateral_jerk_setpoint: float = 0.0
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@@ -58,8 +64,7 @@ class LatControlTorqueExtBase:
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self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
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self._ff = 0.0
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self._pid = PIDController(self.torque_params.kp, self.torque_params.ki,
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k_f=self.torque_params.kf)
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self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
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self._pid_log = None
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self._setpoint = 0.0
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self._measurement = 0.0
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@@ -75,14 +75,14 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
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def update_feedforward_torque_space(self, CS):
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torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
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self.torque_params, gravity_adjusted=False)
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self.lac_torque.torque_params, gravity_adjusted=False)
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torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
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self.torque_params, gravity_adjusted=False)
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self.lac_torque.torque_params, gravity_adjusted=False)
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self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
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self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
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CS.vEgo, CS.aEgo), self.torque_params, gravity_adjusted=True)
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CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
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self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
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FRICTION_THRESHOLD, self.torque_params)
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FRICTION_THRESHOLD, self.lac_torque.torque_params)
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def update_output_torque(self, CS):
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freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
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@@ -159,6 +159,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
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# apply friction override for cars with low NN friction response
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if self.model.friction_override:
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self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
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self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
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self.update_output_torque(CS)
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@@ -5,6 +5,7 @@ from opendbc.car.honda.values import CAR as HONDA
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car.helpers import convert_to_capnp
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
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@@ -26,6 +27,6 @@ class TestNNTorqueModel:
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CP_SP = convert_to_capnp(CP_SP)
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controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
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controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
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assert controller.extension.has_nn_model
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@@ -9,6 +9,7 @@ from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.toyota.values import CAR as TOYOTA
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from opendbc.car.vehicle_model import VehicleModel
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car.helpers import convert_to_capnp
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.locationd.helpers import Pose
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@@ -57,7 +58,7 @@ class TestNeuralNetworkLateralControl:
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CP_SP = convert_to_capnp(CP_SP)
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VM = VehicleModel(CP)
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controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
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controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
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torque_params = CP.lateralTuning.torque
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CS = car.CarState.new_message()
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@@ -81,7 +82,7 @@ class TestNeuralNetworkLateralControl:
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controller.extension.update_lateral_lag(test_lag)
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controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
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controller.extension.update_limits()
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
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assert lac_log.saturated
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for _ in range(1000):
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@@ -89,7 +90,7 @@ class TestNeuralNetworkLateralControl:
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controller.extension.update_lateral_lag(test_lag)
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controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
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controller.extension.update_limits()
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
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assert not lac_log.saturated
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for _ in range(1000):
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@@ -97,5 +98,5 @@ class TestNeuralNetworkLateralControl:
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controller.extension.update_lateral_lag(test_lag)
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controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
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controller.extension.update_limits()
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
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_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
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assert lac_log.saturated
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@@ -0,0 +1,40 @@
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"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import car
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from openpilot.common.params import Params
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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ALERTS_ALWAYS_PLAY = {
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AudibleAlert.warningSoft,
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AudibleAlert.warningImmediate,
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AudibleAlert.promptDistracted,
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AudibleAlert.promptRepeat,
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}
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class QuietMode:
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def __init__(self):
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self.params = Params()
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self.enabled: bool = self.params.get_bool("QuietMode")
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self._frame = 0
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def load_param(self) -> None:
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self._frame += 1
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if self._frame % 50 == 0: # 2.5 seconds
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self.enabled = self.params.get_bool("QuietMode")
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def should_play_sound(self, current_alert: int) -> bool:
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"""
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Check if a sound should be played based on the Quiet Mode setting
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and the current alert.
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"""
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if not self.enabled:
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return bool(current_alert != AudibleAlert.none)
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return current_alert in ALERTS_ALWAYS_PLAY
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@@ -34,10 +34,10 @@ class SunnylinkApi(BaseApi):
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sunnylinkId, commaId = self._resolve_dongle_ids()
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return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
|
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|
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def get_token(self, expiry_hours=1):
|
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def get_token(self, payload_extra=None, expiry_hours=1):
|
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# Add your additional data here
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additional_data = {}
|
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return super()._get_token(expiry_hours, **additional_data)
|
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return super()._get_token(payload_extra, expiry_hours, **additional_data)
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|
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def _status_update(self, message):
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print(message)
|
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@@ -23,8 +23,8 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
|
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create_connection, WebSocketConnectionClosedException)
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|
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import cereal.messaging as messaging
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from sunnypilot.sunnylink.api import SunnylinkApi
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from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
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from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
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from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
|
||||
|
||||
SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
|
||||
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
|
||||
|
||||
@@ -18,9 +18,9 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
from cereal import messaging, custom
|
||||
from sunnypilot.sunnylink.api import SunnylinkApi
|
||||
from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
|
||||
from sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
|
||||
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
|
||||
from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
|
||||
from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
|
||||
|
||||
|
||||
class OperationType(Enum):
|
||||
|
||||
@@ -16,7 +16,7 @@ from cryptography.hazmat.backends import default_backend
|
||||
from cryptography.hazmat.primitives import serialization
|
||||
from cryptography.hazmat.primitives.asymmetric import rsa
|
||||
|
||||
from sunnypilot.sunnylink.backups.AESCipher import AESCipher
|
||||
from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ from openpilot.common.realtime import Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
from cereal import log, messaging
|
||||
from sunnypilot.sunnylink.utils import register_sunnylink
|
||||
from openpilot.sunnypilot.sunnylink.utils import register_sunnylink
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
|
||||
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
from openpilot.common.utils import atomic_write_in_dir
|
||||
from openpilot.system.version import get_build_metadata
|
||||
from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
|
||||
from openpilot.system.statsd import METRIC_TYPE, StatLogSP
|
||||
|
||||
@@ -11,8 +11,8 @@ from collections.abc import Iterator
|
||||
|
||||
from cereal import log
|
||||
import cereal.messaging as messaging
|
||||
from sunnypilot.sunnylink.api import SunnylinkApi
|
||||
from openpilot.common.file_helpers import get_upload_stream
|
||||
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
|
||||
from openpilot.common.utils import get_upload_stream
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import set_core_affinity
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import base64
|
||||
import gzip
|
||||
import json
|
||||
from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.common.params import Params, ParamKeyType
|
||||
from openpilot.system.version import is_prebuilt
|
||||
|
||||
|
||||
Reference in New Issue
Block a user