mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-14 19:44:05 +08:00
Merge remote-tracking branch 'comma/master' into sync-20250627
# Conflicts: # README.md # opendbc_repo # panda # selfdrive/ui/qt/offroad/settings.cc # 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_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 # system/manager/build.py # system/ui/spinner.py # tinygrad_repo # tools/lib/framereader.py Merge branch 'comma-202506127-bedcb896644528aed6af448e63eeadb3dd8b2c77' into sync-20250627 # Conflicts: # opendbc/safety/tests/libsafety/SConscript Merge branch 'comma-202506127-bedcb896644528aed6af448e63eeadb3dd8b2c77' into sync-20250627 # Conflicts: # opendbc/safety/tests/libsafety/SConscript Merge remote-tracking branch 'comma/master' into sync-20250627 # Conflicts: # opendbc/safety/tests/libsafety/SConscript Merge branch 'comma-20250627-1020d355584265391eb3acb556e4353b581fa9c0' into sync-20250627 Merge branch 'comma-20250627-1020d355584265391eb3acb556e4353b581fa9c0' into sync-20250627 Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master-new` Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master-new` Sync: `commaai/panda:master` into `sunnypilot/panda:master-new` Sync: `commaai/panda:master` into `sunnypilot/panda:master-new`
This commit is contained in:
DevTekVE
@@ -1,20 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
|
||||
OP_ROOT="$DIR/../../"
|
||||
|
||||
if [ -z "$BUILD" ]; then
|
||||
docker pull ghcr.io/commaai/openpilot-base:latest
|
||||
else
|
||||
docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base .
|
||||
fi
|
||||
|
||||
docker run \
|
||||
-it \
|
||||
--rm \
|
||||
--volume $OP_ROOT:$OP_ROOT \
|
||||
--workdir $PWD \
|
||||
--env PYTHONPATH=$OP_ROOT \
|
||||
ghcr.io/commaai/openpilot-base:latest \
|
||||
/bin/bash
|
||||
@@ -1,5 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import pickle
|
||||
import sys
|
||||
from collections import defaultdict
|
||||
from typing import Any
|
||||
@@ -189,22 +190,44 @@ def model_replay(lr, frs):
|
||||
print("----------------- Model Timing -----------------")
|
||||
print("------------------------------------------------")
|
||||
print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
|
||||
assert timings_ok
|
||||
assert timings_ok or PC
|
||||
|
||||
return msgs
|
||||
|
||||
|
||||
def get_frames():
|
||||
regen_cache = "--regen-cache" in sys.argv
|
||||
frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
|
||||
os.makedirs(frames_cache, exist_ok=True)
|
||||
|
||||
cache_name = f'{frames_cache}/{TEST_ROUTE}_{SEGMENT}_{START_FRAME}_{END_FRAME}.pkl'
|
||||
if os.path.isfile(cache_name) and not regen_cache:
|
||||
try:
|
||||
print(f"Loading frames from cache {cache_name}")
|
||||
return pickle.load(open(cache_name, "rb"))
|
||||
except Exception as e:
|
||||
print(f"Failed to load frames from cache {cache_name}: {e}")
|
||||
|
||||
frs = {
|
||||
'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
|
||||
'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
|
||||
'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
|
||||
}
|
||||
for fr in frs.values():
|
||||
for fidx in range(START_FRAME, END_FRAME):
|
||||
fr.get(fidx)
|
||||
fr.it = None
|
||||
print(f"Dumping frame cache {cache_name}")
|
||||
pickle.dump(frs, open(cache_name, "wb"))
|
||||
return frs
|
||||
|
||||
if __name__ == "__main__":
|
||||
update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
|
||||
replay_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
|
||||
# load logs
|
||||
lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
|
||||
frs = {
|
||||
'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
|
||||
'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
|
||||
'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
|
||||
}
|
||||
frs = get_frames()
|
||||
|
||||
log_msgs = []
|
||||
# run replays
|
||||
|
||||
@@ -27,7 +27,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate_all
|
||||
from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
|
||||
from openpilot.tools.lib.logreader import LogIterable
|
||||
from openpilot.tools.lib.framereader import BaseFrameReader
|
||||
from openpilot.tools.lib.framereader import FrameReader
|
||||
|
||||
# Numpy gives different results based on CPU features after version 19
|
||||
NUMPY_TOLERANCE = 1e-7
|
||||
@@ -209,6 +209,7 @@ class ProcessContainer:
|
||||
streams_metas = available_streams(all_msgs)
|
||||
for meta in streams_metas:
|
||||
if meta.camera_state in self.cfg.vision_pubs:
|
||||
assert frs[meta.camera_state].pix_fmt == 'nv12'
|
||||
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
|
||||
vipc_server.create_buffers(meta.stream, 2, *frame_size)
|
||||
vipc_server.start_listener()
|
||||
@@ -224,7 +225,7 @@ class ProcessContainer:
|
||||
|
||||
def start(
|
||||
self, params_config: dict[str, Any], environ_config: dict[str, Any],
|
||||
all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None,
|
||||
all_msgs: LogIterable, frs: dict[str, FrameReader] | None,
|
||||
fingerprint: str | None, capture_output: bool
|
||||
):
|
||||
with self.prefix as p:
|
||||
@@ -266,7 +267,7 @@ class ProcessContainer:
|
||||
self.prefix.clean_dirs()
|
||||
self._clean_env()
|
||||
|
||||
def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]:
|
||||
def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
|
||||
assert self.rc and self.pm and self.sockets and self.process.proc
|
||||
|
||||
output_msgs = []
|
||||
@@ -296,7 +297,7 @@ class ProcessContainer:
|
||||
camera_state = getattr(m, m.which())
|
||||
camera_meta = meta_from_camera_state(m.which())
|
||||
assert frs is not None
|
||||
img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
|
||||
img = frs[m.which()].get(camera_state.frameId)
|
||||
self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
|
||||
camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
|
||||
self.msg_queue = []
|
||||
@@ -655,7 +656,7 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
|
||||
|
||||
|
||||
def replay_process(
|
||||
cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
|
||||
cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] = None,
|
||||
fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
|
||||
captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
|
||||
) -> list[capnp._DynamicStructReader]:
|
||||
@@ -683,7 +684,7 @@ def replay_process(
|
||||
|
||||
|
||||
def _replay_multi_process(
|
||||
cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None,
|
||||
cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None,
|
||||
custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool
|
||||
) -> list[capnp._DynamicStructReader]:
|
||||
if fingerprint is not None:
|
||||
|
||||
@@ -1 +1 @@
|
||||
9e2fe2942fbf77f24bccdbef15893831f9c0b390
|
||||
f440c9e0469d32d350aa99ddaa8f44591a2ce690
|
||||
@@ -3,40 +3,17 @@ import os
|
||||
import argparse
|
||||
import time
|
||||
import capnp
|
||||
import numpy as np
|
||||
|
||||
from typing import Any
|
||||
from collections.abc import Iterable
|
||||
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
|
||||
check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
|
||||
from openpilot.selfdrive.test.update_ci_routes import upload_route
|
||||
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
|
||||
from openpilot.tools.lib.framereader import FrameReader
|
||||
from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
|
||||
class DummyFrameReader(BaseFrameReader):
|
||||
def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
|
||||
self.pix_val = pix_val
|
||||
self.w, self.h = w, h
|
||||
self.frame_count = frame_count
|
||||
self.frame_type = FrameType.raw
|
||||
|
||||
def get(self, idx, count=1, pix_fmt="rgb24"):
|
||||
if pix_fmt == "rgb24":
|
||||
shape = (self.h, self.w, 3)
|
||||
elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
|
||||
shape = (int((self.h * self.w) * 3 / 2),)
|
||||
else:
|
||||
raise NotImplementedError
|
||||
|
||||
return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
|
||||
|
||||
@staticmethod
|
||||
def zero_dcamera():
|
||||
return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
|
||||
|
||||
|
||||
def regen_segment(
|
||||
lr: LogIterable, frs: dict[str, Any] = None,
|
||||
@@ -64,7 +41,7 @@ def setup_data_readers(
|
||||
frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
|
||||
if needs_driver_cam:
|
||||
if dummy_driver_cam:
|
||||
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
|
||||
frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
|
||||
else:
|
||||
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
|
||||
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
|
||||
|
||||
@@ -19,7 +19,6 @@ from openpilot.tools.lib.logreader import LogReader, save_log
|
||||
IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN")
|
||||
|
||||
source_segments = [
|
||||
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.COMMA_BODY
|
||||
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA
|
||||
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
|
||||
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS
|
||||
@@ -44,7 +43,6 @@ source_segments = [
|
||||
]
|
||||
|
||||
segments = [
|
||||
("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
|
||||
("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
|
||||
("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
|
||||
("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
|
||||
@@ -65,7 +63,7 @@ segments = [
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "tesla"]
|
||||
excluded_interfaces = ["mock", "body"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
@@ -253,7 +251,7 @@ if __name__ == "__main__":
|
||||
continue
|
||||
|
||||
# to speed things up, we only test all segments on card
|
||||
if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
|
||||
if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
|
||||
continue
|
||||
|
||||
cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
from parameterized import parameterized
|
||||
|
||||
from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
|
||||
from openpilot.selfdrive.test.process_replay.regen import regen_segment
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
@@ -18,7 +18,7 @@ def ci_setup_data_readers(route, sidx):
|
||||
lr = LogReader(get_url(route, sidx, "rlog.bz2"))
|
||||
frs = {
|
||||
'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
|
||||
'driverCameraState': DummyFrameReader.zero_dcamera()
|
||||
'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
|
||||
}
|
||||
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
|
||||
frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))
|
||||
|
||||
Reference in New Issue
Block a user