openpilot v0.7.2 release

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', 'ui',  'calibrationd', 'params_learner', 'modeld', 'monitoringd', 'camerad', 'sensord', 'updated', 'gpsd', 'athena']
+  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui',  'calibrationd', 'params_learner', 'modeld', 'dmonitoringmodeld', 'camerad', 'sensord', 'updated', 'gpsd', 'athena']
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
 timer = getattr(time, 'monotonic', time.time)

selfdrive/debug/filter_log_message.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import os
+import argparse
+import json
+
+import cereal.messaging as messaging
+
+
+LEVELS = {
+  "DEBUG": 10,
+  "INFO": 20,
+  "WARNING": 30,
+  "ERROR": 40,
+  "CRITICAL": 50,
+}
+
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--level', default='DEBUG')
+  parser.add_argument('--addr', default='127.0.0.1')
+  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()
+  sock = messaging.sub_sock("logMessage", poller, addr=args.addr)
+
+  min_level = LEVELS[args.level]
+
+  while True:
+    polld = poller.poll(1000)
+    for sock in polld:
+      evt = messaging.recv_one(sock)
+      log = json.loads(evt.logMessage)
+
+      if log['levelnum'] >= min_level:
+        print(f"{log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}")

selfdrive/debug/live_cpu_and_temp.py

@@ -15,6 +15,7 @@ def cputime_busy(ct):
 sm = SubMaster(['thermal', 'procLog'])
 
 last_temp = 0.0
+last_mem = 0.0
 total_times = [0., 0., 0., 0.]
 busy_times = [0., 0., 0.0, 0.]
 
@@ -25,10 +26,20 @@ while True:
   if sm.updated['thermal']:
     t = sm['thermal']
     last_temp = np.mean([t.cpu0, t.cpu1, t.cpu2, t.cpu3]) / 10.
+    last_mem = t.memUsedPercent
 
   if sm.updated['procLog']:
     m = sm['procLog']
 
+    mems = {}
+    for proc in m.procs:
+      name = proc.name
+      if len(proc.cmdline):
+        name = proc.cmdline[0]
+      if len(proc.exe):
+        name = proc.exe + " - " + name
+      mems[name] = float(proc.memRss) / 1e6
+
     cores = [0., 0., 0., 0.]
     total_times_new = [0., 0., 0., 0.]
     busy_times_new = [0., 0., 0.0, 0.]
@@ -46,4 +57,8 @@ while True:
     total_times = total_times_new[:]
     busy_times = busy_times_new[:]
 
-    print("CPU %.2f%% - Temp %.2f" % (100. * np.mean(cores), last_temp ))
+    print()
+    print("CPU %.2f%% - RAM: %.2f - Temp %.2f" % (100. * np.mean(cores), last_mem, last_temp))
+    print("Top memory usage:")
+    for k, v in sorted(mems.items(), key=lambda item: item[1], reverse=True)[:10]:
+      print(f"{k.rjust(70)}   {v:.2f} MB")

selfdrive/debug/test_fw_query_on_routes.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+import traceback
+import sys
+from tqdm import tqdm
+from tools.lib.logreader import LogReader
+from selfdrive.car.fw_versions import match_fw_to_car
+from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
+from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+
+from selfdrive.car.toyota.values import FINGERPRINTS as TOYOTA_FINGERPRINTS
+from selfdrive.car.honda.values import FINGERPRINTS as HONDA_FINGERPRINTS
+
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: ./test_fw_query_on_routes.py <route_list>")
+    sys.exit(1)
+
+  wrong = 0
+  good = 0
+
+  dongles = []
+  for route in tqdm(list(open(sys.argv[1]))):
+    route = route.rstrip()
+    dongle_id, time = route.split('|')
+    qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
+
+    if dongle_id in dongles:
+      continue
+
+    try:
+      lr = LogReader(qlog_path)
+
+      for msg in lr:
+        if msg.which() == "health":
+          if msg.health.hwType not in ['uno', 'blackPanda']:
+            dongles.append(dongle_id)
+            break
+
+        elif msg.which() == "carParams":
+          car_fw = msg.carParams.carFw
+          if len(car_fw) == 0:
+            break
+
+          dongles.append(dongle_id)
+          live_fingerprint = msg.carParams.carFingerprint
+
+          if live_fingerprint not in list(TOYOTA_FINGERPRINTS.keys()) + list(HONDA_FINGERPRINTS.keys()):
+            continue
+
+          candidates = match_fw_to_car(car_fw)
+          if (len(candidates) == 1) and (list(candidates)[0] == live_fingerprint):
+            good += 1
+            print("Correct", live_fingerprint, dongle_id)
+            break
+
+          print(f"{dongle_id}|{time}")
+          print("Old style:", live_fingerprint, "Vin", msg.carParams.carVin)
+          print("New style:", candidates)
+
+          for version in car_fw:
+            subaddr = None if version.subAddress == 0 else hex(version.subAddress)
+            print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+
+          print("Mismatches")
+          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS]:
+            if live_fingerprint in car_fws:
+
+              expected = car_fws[live_fingerprint]
+              for (_, expected_addr, expected_sub_addr), v in expected.items():
+                for version in car_fw:
+                  sub_addr = None if version.subAddress == 0 else version.subAddress
+                  addr = version.address
+
+                  if (addr, sub_addr) == (expected_addr, expected_sub_addr):
+                    if version.fwVersion not in v:
+                      print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}")
+
+          print()
+          wrong += 1
+          break
+    except Exception:
+      traceback.print_exc()
+
+  print(f"Fingerprinted: {good} - Not fingerprinted: {wrong}")
+  print(f"Number of dongle ids checked: {len(dongles)}")