Sync: commaai/openpilot:master into sunnypilot/sunnypilot:master-new (#533)

* cabana: enhance message heatmap visualization (#34239) * enhance message heatmap visualization * TODO * improve log_factor * typo * bit_flip_counts * Openpilot webcam support improved (#34215) * control webcam with ENV vars * WIP: actual instructions * wording * file no longer exists * this is expected behavior, just untested * more readable * tested on fresh install * wording tweaks * explicit USE_WEBCAM toggle required Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * debug-ability improved Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * newline removed --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update metadrive wheel (#34292) * test * new wheel * fix IR power scaling (#34293) * fix IR power scaling * Update system/hardware/tici/hardware.h * replay: Update video immediately after seek when paused. (#34237) replay: Update video immediately after seeking when paused. Otherwise, if paused then have to resume playback for the video frame to update and show the new location. Implemented by temporarily un-pausing replay for a single frame time. * cabana: add live and time-window heatmap modes for enhanced signal analysis (#34296) add live and time-window heatmap modes * timed: diff against absolute value of timedelta (#34299) * cabana: miscellaneous bug fixes and enhancements (#34297) * toHexString * use QToolBar * fix incorrect groove rect * limit CAN_MAX_DATA_BYTES * add series type selector to chart toolbar * dim inactive messages * rename * add help to chart * cleanup * cabana: real-time cursor and video frame sync for chart and video (#34301) * sync cursor and thumbnail between chart and video * Revert "replay: Update video immediately after seek when paused. (#34237)" This reverts commit 3363881844. * use thumbnails while scrubing * draw alert * no update on resume * draw timestamp * cleanup * replay: fix various synchronization and event handling issues (#34254) fix various synchronization and event handling issues * cabana: fix crash in live streaming mode by skipping thumbnail display (#34302) resolve crash in live streaming mode * bump panda * [bot] Update Python packages (#34304) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai> * cleanup touch_replay (#34305) mathematics * uv from brew doesn't have self update * Skip registration on newer devices (#34316) * tici: fix cpp device type (#34315) fix cpp * Tinygrad upstream master (#34325) Upstream master * [bot] Update Python packages (#34320) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai> * cabana: fix missing transmitter after undoing DBC message removal (#34329) fix missing transmitter after undoing DBC message removal * Quick GC pass heading into 2025 (#34330) * first pass * bye bye snpe * [bot] Update Python packages (#34334) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai> * Notre Dame model in tinygrad (#34324) * release model: 6f23a03f-486b-4d3e-a314-19d149644c7c/700 * old style model in tinygrad * fix desire * tg hack * 20Hz * no gas probs * No gas here * better indexing --------- Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu> --------- Co-authored-by: Dean Lee <deanlee3@gmail.com> Co-authored-by: Mike Busuttil <31480000+MikeBusuttil@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> Co-authored-by: Angus Gratton <gus@projectgus.com> Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com> Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
2026-09-12 03:03:51 +08:00 · 2025-01-07 01:28:20 -05:00
parent c13f159a77
commit e682957101
152 changed files with 778 additions and 9341 deletions
@@ -33,20 +33,17 @@ def register(show_spinner=False) -> str | None:
  """
  params = Params()

-  IMEI = params.get("IMEI", encoding='utf8')
-  HardwareSerial = params.get("HardwareSerial", encoding='utf8')
  dongle_id: str | None = params.get("DongleId", encoding='utf8')
  if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
    # not all devices will have this; added early in comma 3X production (2/28/24)
    with open(Paths.persist_root()+"/comma/dongle_id") as f:
      dongle_id = f.read().strip()

-  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
  pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
  if not pubkey.is_file():
    dongle_id = UNREGISTERED_DONGLE_ID
    cloudlog.warning(f"missing public key: {pubkey}")
-  elif needs_registration:
+  elif dongle_id is None:
    if show_spinner:
      spinner = Spinner()
      spinner.update("registering device")
@@ -71,9 +68,6 @@ def register(show_spinner=False) -> str | None:
      if time.monotonic() - start_time > 60 and show_spinner:
        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")

-    params.put("IMEI", imei1)
-    params.put("HardwareSerial", serial)
-
    backoff = 0
    start_time = time.monotonic()
    while True:
@@ -32,8 +32,6 @@ class TestRegistration:
  def test_valid_cache(self, mocker):
    # if all params are written, return the cached dongle id.
    # should work with a dongle ID on either /persist/ or normal params
-    self.params.put("IMEI", "imei")
-    self.params.put("HardwareSerial", "serial")
    self._generate_keys()

    dongle = "DONGLE_ID_123"
@@ -1,6 +1,7 @@
 #pragma once

 #include <cstdlib>
+#include <cassert>
 #include <fstream>
 #include <map>
 #include <string>
@@ -22,7 +23,7 @@ public:

  static std::string get_name() {
    std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return model.substr(std::string("comma ").size());
+    return util::strip(model.substr(std::string("comma ").size()));
  }

  static cereal::InitData::DeviceType get_device_type() {
@@ -32,7 +33,8 @@ public:
      {"mici", cereal::InitData::DeviceType::MICI}
    };
    auto it = device_map.find(get_name());
-    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
+    assert(it != device_map.end());
+    return it->second;
  }

  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
@@ -82,17 +84,17 @@ public:
      return;
    }

-    percent = std::clamp(percent, 0, 100);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);

    std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
    if (torch_brightness.is_open()) {
-      torch_brightness << percent << "\n";
+      torch_brightness << value << "\n";
      torch_brightness.close();
    }

    std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
    if (switch_brightness.is_open()) {
-      switch_brightness << percent << "\n";
+      switch_brightness << value << "\n";
      switch_brightness.close();
    }
  }
@@ -67,7 +67,8 @@ def manager_init() -> None:
  except PermissionError:
    print(f"WARNING: failed to make {Paths.shm_path()}")

-  # set version params
+  # set params
+  serial = HARDWARE.get_serial()
  params.put("Version", build_metadata.openpilot.version)
  params.put("TermsVersion", terms_version)
  params.put("TrainingVersion", training_version)
@@ -77,13 +78,13 @@ def manager_init() -> None:
  params.put("GitRemote", build_metadata.openpilot.git_origin)
  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put("HardwareSerial", serial)

  # set dongle id
  reg_res = register(show_spinner=True)
  if reg_res:
    dongle_id = reg_res
  else:
-    serial = params.get("HardwareSerial")
    raise Exception(f"Registration failed for device {serial}")
  os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
  os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog
@@ -79,7 +79,8 @@ def and_(*fns):
 procs = [
  DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),

-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
+  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
  PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -87,7 +88,7 @@ procs = [
  PythonProcess("timed", "system.timed", always_run, enabled=not PC),

  # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
@@ -105,7 +106,7 @@ procs = [
  PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
  PythonProcess("card", "selfdrive.car.card", only_onroad),
  PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
  PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
@@ -13,7 +13,7 @@ from openpilot.common.gps import get_gps_location_service

 def set_time(new_time):
  diff = datetime.datetime.now() - new_time
-  if diff < datetime.timedelta(seconds=10):
+  if abs(diff) < datetime.timedelta(seconds=10):
    cloudlog.debug(f"Time diff too small: {diff}")
    return