mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 08:14:00 +08:00
Vivek Aithal
51d25b2011
* wip torqued * add basic logic * setup in manager * check sanity and publish msg * add first order filter to outputs * wire up controlsd, and update gains * rename intercept to offset * add cloudlog, live values are not updated * fix bugs, do not reset points for now * fix crashes * rename to main * fix bugs, works offline * fix float in cereal bug * add latacc filter * randomly choose points, approx for iid * add variable decay * local param to capnp instead of dict * verify works in replay * use torqued output in controlsd * use in controlsd; use points from past routes * controlsd bugfix * filter before updating gains, needs to be replaced * save all points to ensure smooth transition across routes, revert friction factor to 1.5 * add filters to prevent noisy low-speed data points; improve fit sanity * add engaged buffer * revert lat_acc thresh * use paramsd realtime process config * make latacc-to-torque generic, and overrideable * move freq to 4Hz, avoid storing in np.array, don't publish points in the message * float instead of np * remove constant while storing pts * rename slope, offset to lat_accet_factor, offset * resolve issues * use camelcase in all capnp params * use camelcase everywhere * reduce latacc threshold or sanity, add car_sane todo, save points properly * add and check tag * write param to disk at end of route * remove args * rebase op, cereal * save on exit * restore default handler * cpu usage check * add to process replay * handle reset better, reduce unnecessary computation * always publish raw values - useful for debug * regen routes * update refs * checks on cache restore * check tuning vals too * clean that up * reduce cpu usage * reduce cpu usage by 75% * cleanup * optimize further * handle reset condition better, don't put points in init, use only in corolla * bump cereal after rebasing * update refs * Update common/params.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove unnecessary checks * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 4fa62f146426f76c9c1c2867d9729b33ec612b59
85 lines
2.7 KiB
Python
Executable File
85 lines
2.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import sys
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import subprocess
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from azure.storage.blob import BlockBlobService # pylint: disable=import-error
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from selfdrive.car.tests.routes import routes as test_car_models_routes
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from selfdrive.test.process_replay.test_processes import source_segments as replay_segments
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from xx.chffr.lib import azureutil # pylint: disable=import-error
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from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error
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SOURCES = [
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(_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),
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(_DATA_ACCOUNT_PRODUCTION, "preserve"),
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(_DATA_ACCOUNT_CI, "commadataci"),
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]
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DEST_KEY = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci")
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SOURCE_KEYS = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES]
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SERVICE = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=DEST_KEY)
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def upload_route(path, exclude_patterns=None):
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if exclude_patterns is None:
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exclude_patterns = ['*/dcamera.hevc']
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r, n = path.rsplit("--", 1)
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r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path
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destpath = f"{r}/{n}"
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cmd = [
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"azcopy",
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"copy",
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f"{path}/*",
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f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{DEST_KEY}",
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"--recursive=false",
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"--overwrite=false",
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] + [f"--exclude-pattern={p}" for p in exclude_patterns]
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subprocess.check_call(cmd)
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def sync_to_ci_public(route):
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key_prefix = route.replace('|', '/')
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dongle_id = key_prefix.split('/')[0]
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if next(azureutil.list_all_blobs(SERVICE, "openpilotci", prefix=key_prefix), None) is not None:
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return True
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print(f"Uploading {route}")
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for (source_account, source_bucket), source_key in zip(SOURCES, SOURCE_KEYS):
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print(f"Trying {source_account}/{source_bucket}")
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cmd = [
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"azcopy",
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"copy",
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f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}",
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f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{DEST_KEY}",
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"--recursive=true",
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"--overwrite=false",
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"--exclude-pattern=*/dcamera.hevc",
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]
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try:
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result = subprocess.call(cmd, stdout=subprocess.DEVNULL)
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if result == 0:
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print("Success")
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return True
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except subprocess.CalledProcessError:
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print("Failed")
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return False
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if __name__ == "__main__":
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failed_routes = []
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to_sync = sys.argv[1:]
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if not len(to_sync):
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# sync routes from the car tests routes and process replay
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to_sync.extend([rt.route for rt in test_car_models_routes])
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to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
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for r in to_sync:
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if not sync_to_ci_public(r):
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failed_routes.append(r)
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if len(failed_routes):
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print("failed routes:", failed_routes)
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