openpilot v0.7 release

selfdrive/debug/can_printer.py

@@ -4,7 +4,7 @@ import os
 import sys
 from collections import defaultdict
 
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 from common.realtime import sec_since_boot
 
 

selfdrive/debug/check_freq.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import argparse
+import numpy as np
+from collections import defaultdict, deque
+from common.realtime import sec_since_boot
+import cereal.messaging as messaging
+
+
+if __name__ == "__main__":
+  context = messaging.Context()
+  poller = messaging.Poller()
+
+  parser = argparse.ArgumentParser()
+  parser.add_argument("socket", type=str, nargs='*', help="socket name")
+  args = parser.parse_args()
+
+  socket_names = args.socket
+  sockets = {}
+
+  rcv_times = defaultdict(lambda: deque(maxlen=100))
+
+  t = sec_since_boot()
+  for name in socket_names:
+    sock = messaging.sub_sock(name, poller=poller)
+    sockets[sock] = name
+
+  prev_print = t
+  while True:
+    for socket in poller.poll(100):
+      msg = messaging.recv_one(socket)
+      name = msg.which()
+
+      t = sec_since_boot()
+      rcv_times[name].append(msg.logMonoTime / 1e9)
+
+    if t - prev_print > 1:
+      print()
+      for name in socket_names:
+        dts = np.diff(rcv_times[name])
+        mean = np.mean(dts)
+        print("%s: Freq %.2f Hz, Min %.2f%%, Max %.2f%%" % (name, 1.0 / mean, np.min(dts) / mean * 100, np.max(dts) / mean * 100))
+
+      prev_print = t

selfdrive/debug/cpu_usage_stat.py

@@ -30,7 +30,7 @@ SLEEP_INTERVAL = 0.2
 
 monitored_proc_names = [
   'ubloxd', 'thermald', 'uploader', 'deleter', 'controlsd', 'plannerd', 'radard', 'mapd', 'loggerd' , 'logmessaged', 'tombstoned',
-  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'calibrationd', 'params_learner', 'visiond', 'sensord', 'updated', 'gpsd', 'athena']
+  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui',  'calibrationd', 'params_learner', 'modeld', 'monitoringd', 'camerad', 'sensord', 'updated', 'gpsd', 'athena']
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
 timer = getattr(time, 'monotonic', time.time)

selfdrive/debug/dump.py

@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
+import os
 import sys
 import argparse
 import json
 from hexdump import hexdump
 
 from cereal import log
-import selfdrive.messaging as messaging
-from selfdrive.services import service_list
+import cereal.messaging as messaging
+from cereal.services import service_list
 
 if __name__ == "__main__":
-  poller = messaging.Poller()
 
   parser = argparse.ArgumentParser(description='Sniff a communcation socket')
   parser.add_argument('--pipe', action='store_true')
@@ -22,6 +22,11 @@ if __name__ == "__main__":
   parser.add_argument("socket", type=str, nargs='*', help="socket name")
   args = parser.parse_args()
 
+  if args.addr != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+
+  poller = messaging.Poller()
 
   for m in args.socket if len(args.socket) > 0 else service_list:
     sock = messaging.sub_sock(m, poller, addr=args.addr)

selfdrive/debug/get_fingerprint.py

@@ -11,7 +11,7 @@
 # - since some messages are published at low frequency, keep this script running for at least 30s,
 #   until all messages are received at least once
 
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 
 logcan = messaging.sub_sock('can')
 msgs = {}

selfdrive/debug/live_cpu_and_temp.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import numpy as np
 
-from selfdrive.messaging import SubMaster
+from cereal.messaging import SubMaster
 
 def cputime_total(ct):
     return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq

selfdrive/debug/mpc/live_lateral_mpc.py

@@ -3,7 +3,7 @@ import matplotlib
 matplotlib.use('TkAgg')
 
 import sys
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 import numpy as np
 import matplotlib.pyplot as plt
 

selfdrive/debug/mpc/live_longitudinal_mpc.py

@@ -1,10 +1,7 @@
 #!/usr/bin/env python3
 
-import matplotlib
-matplotlib.use('TkAgg')
-
 import sys
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 import numpy as np
 import matplotlib.pyplot as plt
 

selfdrive/debug/show_matching_cars.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
-import selfdrive.messaging as messaging
+import cereal.messaging as messaging
 
 
 # Prius and Leuxs es 300H