openpilot v0.9.7 release

date: 2024-03-17T10:14:38
master commit: 7e9a909e0e57ecb31df4c87c5b9a06b1204fd034

scripts/apply-pr.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+if [ $# -eq 0 ]; then
+  echo "usage: $0 <pull-request-number>"
+  exit 1
+fi
+
+BASE="https://github.com/commaai/openpilot/pull/"
+PR_NUM="$(echo $1 | grep -o -E '[0-9]+')"
+
+curl -L $BASE/$PR_NUM.patch | git apply -3

scripts/build_small.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# git clone --mirror
+SRC=/tmp/openpilot.git/
+OUT=/tmp/smallpilot/
+
+echo "starting size $(du -hs .git/)"
+
+rm -rf $OUT
+
+cd $SRC
+git remote update
+
+# copy contents
+#rsync -a --exclude='.git/' $DIR $OUT
+
+cp -r $SRC $OUT
+
+cd $OUT
+
+# remove all tags
+git tag -l | xargs git tag -d
+
+# remove non-master branches
+BRANCHES="release2 release3 devel master-ci nightly"
+for branch in $BRANCHES; do
+  git branch -D $branch
+  git branch -D ${branch}-staging || true
+done
+
+#git gc
+git reflog expire --expire=now --all
+git gc --prune=now
+git gc --aggressive --prune=now
+echo "new one is $(du -hs .)"

scripts/cell.sh

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+#!/usr/bin/bash
+nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1
+nmcli con up esim

scripts/checkout-pr.sh

@@ -0,0 +1,16 @@
+#!/bin/bash
+set -e
+
+if [ $# -eq 0 ]; then
+  echo "usage: $0 <pull-request-number>"
+  exit 1
+fi
+
+BASE="https://github.com/commaai/openpilot/pull/"
+PR_NUM="$(echo $1 | grep -o -E '[0-9]+')"
+BRANCH=tmp-pr${PR_NUM}
+
+git branch -D -f $BRANCH || true
+git fetch -u -f origin pull/$PR_NUM/head:$BRANCH
+git switch $BRANCH
+git reset --hard FETCH_HEAD

scripts/code_stats.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import os
+import ast
+import stat
+import subprocess
+
+fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
+
+pyf = []
+for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
+  for root, _, files in os.walk(d):
+    for f in files:
+      if f.endswith(".py"):
+        pyf.append(os.path.join(root, f))
+
+imps: set[str] = set()
+
+class Analyzer(ast.NodeVisitor):
+  def visit_Import(self, node):
+    for alias in node.names:
+      imps.add(alias.name)
+    self.generic_visit(node)
+
+  def visit_ImportFrom(self, node):
+    imps.add(node.module)
+    self.generic_visit(node)
+
+tlns = 0
+carlns = 0
+scriptlns = 0
+testlns = 0
+for f in sorted(pyf):
+  if f not in fouts:
+    continue
+  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
+  src = open(f).read()
+  lns = len(src.split("\n"))
+  tree = ast.parse(src)
+  Analyzer().visit(tree)
+  print("%5d %s %s" % (lns, f, xbit))
+  if 'test' in f:
+    testlns += lns
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
+    scriptlns += lns
+  elif f.startswith('selfdrive/car'):
+    carlns += lns
+  else:
+    tlns += lns
+
+print("%d lines of openpilot python" % tlns)
+print("%d lines of car ports" % carlns)
+print("%d lines of tools/scripts/debug" % scriptlns)
+print("%d lines of tests" % testlns)
+#print(sorted(list(imps)))

scripts/count_cars.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+from collections import Counter
+from pprint import pprint
+
+from openpilot.selfdrive.car.docs import get_all_car_docs
+
+if __name__ == "__main__":
+  cars = get_all_car_docs()
+  make_count = Counter(l.make for l in cars)
+  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
+  pprint(make_count)

scripts/disable-powersave.py

@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+from openpilot.system.hardware import HARDWARE
+
+if __name__ == "__main__":
+  HARDWARE.set_power_save(False)

scripts/launch_corolla.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/bash
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+export FINGERPRINT="TOYOTA COROLLA TSS2 2019"
+export SKIP_FW_QUERY="1"
+$DIR/../launch_openpilot.sh

scripts/pyqt_demo.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python3
+
+from PyQt5.QtWidgets import QApplication, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+
+if __name__ == "__main__":
+  app = QApplication([])
+  label = QLabel('Hello World!')
+
+  # Set full screen and rotate
+  set_main_window(label)
+
+  app.exec_()

scripts/pyupgrade.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+set -e
+
+pip install --upgrade pyupgrade
+
+git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus

scripts/retry.sh

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+function fail {
+  echo $1 >&2
+  exit 1
+}
+
+function retry {
+  local n=1
+  local max=3 # 3 retries before failure
+  local delay=5 # delay between retries, 5 seconds
+  while true; do
+    echo "Running command '$@' with retry, attempt $n/$max"
+    "$@" && break || {
+      if [[ $n -lt $max ]]; then
+        ((n++))
+        sleep $delay;
+      else
+        fail "The command has failed after $n attempts."
+      fi
+    }
+  done
+}
+
+if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
+    retry "$@"
+fi

scripts/stop_updater.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env sh
+
+# Stop updater
+pkill -2 -f selfdrive.updated.updated
+
+# Remove pending update
+rm -f /data/safe_staging/finalized/.overlay_consistent

scripts/update_now.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env sh
+
+# Send SIGHUP to updater
+pkill -1 -f selfdrive.updated

scripts/waste.c

@@ -0,0 +1,89 @@
+// gcc -O2 waste.c -lpthread -owaste
+// gcc -O2 waste.c -lpthread -owaste -DMEM
+
+#define _GNU_SOURCE
+#include <stdio.h>
+#include <math.h>
+#include <sched.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <arm_neon.h>
+#include <sys/sysinfo.h>
+#include "../common/timing.h"
+
+int get_nprocs(void);
+double *ttime, *oout;
+
+void waste(int pid) {
+  cpu_set_t my_set;
+  CPU_ZERO(&my_set);
+  CPU_SET(pid, &my_set);
+  int ret = sched_setaffinity(0, sizeof(cpu_set_t), &my_set);
+  printf("set affinity to %d: %d\n", pid, ret);
+
+  // 128 MB
+  float32x4_t *tmp = (float32x4_t *)malloc(0x800000*sizeof(float32x4_t));
+
+  // comment out the memset for CPU only and not RAM
+  // otherwise we need this to avoid the zero page
+#ifdef MEM
+  memset(tmp, 0xaa, 0x800000*sizeof(float32x4_t));
+#endif
+
+  float32x4_t out;
+
+  double sec = seconds_since_boot();
+  while (1) {
+    for (int i = 0; i < 0x10; i++) {
+      for (int j = 0; j < 0x800000; j+=0x20) {
+        out = vmlaq_f32(out, tmp[j+0], tmp[j+1]);
+        out = vmlaq_f32(out, tmp[j+2], tmp[j+3]);
+        out = vmlaq_f32(out, tmp[j+4], tmp[j+5]);
+        out = vmlaq_f32(out, tmp[j+6], tmp[j+7]);
+        out = vmlaq_f32(out, tmp[j+8], tmp[j+9]);
+        out = vmlaq_f32(out, tmp[j+10], tmp[j+11]);
+        out = vmlaq_f32(out, tmp[j+12], tmp[j+13]);
+        out = vmlaq_f32(out, tmp[j+14], tmp[j+15]);
+        out = vmlaq_f32(out, tmp[j+16], tmp[j+17]);
+        out = vmlaq_f32(out, tmp[j+18], tmp[j+19]);
+        out = vmlaq_f32(out, tmp[j+20], tmp[j+21]);
+        out = vmlaq_f32(out, tmp[j+22], tmp[j+23]);
+        out = vmlaq_f32(out, tmp[j+24], tmp[j+25]);
+        out = vmlaq_f32(out, tmp[j+26], tmp[j+27]);
+        out = vmlaq_f32(out, tmp[j+28], tmp[j+29]);
+        out = vmlaq_f32(out, tmp[j+30], tmp[j+31]);
+      }
+    }
+    double nsec = seconds_since_boot();
+    ttime[pid] = nsec-sec;
+    oout[pid] = out[0] + out[1] + out[2] + out[3];
+    sec = nsec;
+  }
+}
+
+int main() {
+  int CORES = get_nprocs();
+  ttime = (double *)malloc(CORES*sizeof(double));
+  oout = (double *)malloc(CORES*sizeof(double));
+
+  pthread_t waster[CORES];
+  for (long i = 0; i < CORES; i++) {
+    ttime[i] = NAN;
+    pthread_create(&waster[i], NULL, (void *(*)(void *))waste, (void*)i);
+  }
+  while (1) {
+    double avg = 0.0;
+    double iavg = 0.0;
+    for (int i = 0; i < CORES; i++) {
+      avg += ttime[i];
+      iavg += 1/ttime[i];
+      printf("%4.2f ", ttime[i]);
+    }
+    double mb_per_sec = (16.*0x800000/(1024*1024))*sizeof(float32x4_t)*iavg;
+    printf("-- %4.2f -- %.2f MB/s \n", avg/CORES, mb_per_sec);
+    sleep(1);
+  }
+}
+

scripts/waste.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+import os
+import time
+import numpy as np
+from multiprocessing import Process
+from setproctitle import setproctitle
+
+def waste(core):
+  os.sched_setaffinity(0, [core,])
+
+  m1 = np.zeros((200, 200)) + 0.8
+  m2 = np.zeros((200, 200)) + 1.2
+
+  i = 1
+  st = time.monotonic()
+  j = 0
+  while 1:
+    if (i % 100) == 0:
+      setproctitle("%3d: %8d" % (core, i))
+      lt = time.monotonic()
+      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
+      st = lt
+    i += 1
+    j = np.sum(np.matmul(m1, m2))
+
+def main(gctx=None):
+  print("1-2 seconds is baseline")
+  for i in range(os.cpu_count()):
+    p = Process(target=waste, args=(i,))
+    p.start()
+
+if __name__ == "__main__":
+  main()