openpilot v0.8.2 release

selfdrive/debug/cpu_usage_stat.py

@@ -24,23 +24,19 @@ import argparse
 import re
 from collections import defaultdict
 
+import selfdrive.manager as manager
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5
 SLEEP_INTERVAL = 0.2
 
 monitored_proc_names = [
-  # openpilot procs
-  'controlsd', 'locationd', 'loggerd','plannerd',
-  'ubloxd', 'thermald', 'uploader', 'deleter', 'radard', 'logmessaged', 'tombstoned',
-  'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'ui', 'calibrationd', 'params_learner', 'modeld', 'dmonitoringd',
-  'dmonitoringmodeld', 'camerad', 'sensord', 'updated', 'gpsd', 'athena', 'locationd', 'paramsd',
-
+  # offroad APK
   'ai.comma.plus.offroad',
 
   # android procs
   'SurfaceFlinger', 'sensors.qcom'
-]
+] + manager.car_started_processes + manager.persistent_processes
 
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
@@ -48,9 +44,7 @@ timer = getattr(time, 'monotonic', time.time)
 
 
 def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Unlogger and UI",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
   parser.add_argument("proc_names", nargs="?", default='',
                       help="Process names to be monitored, comma seperated")

selfdrive/debug/cycle_alerts.py

@@ -16,11 +16,11 @@ def cycle_alerts(duration=200, is_metric=False):
   print(alerts)
 
   CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
-  sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
-                            'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
+  sm = messaging.SubMaster(['deviceState', 'pandaState', 'roadCameraState', 'modelV2', 'liveCalibration',
+                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
 
   controls_state = messaging.pub_sock('controlsState')
-  thermal = messaging.pub_sock('thermal')
+  deviceState = messaging.pub_sock('deviceState')
 
   idx, last_alert_millis = 0, 0
 
@@ -56,9 +56,9 @@ def cycle_alerts(duration=200, is_metric=False):
     controls_state.send(dat.to_bytes())
 
     dat = messaging.new_message()
-    dat.init('thermal')
-    dat.thermal.started = True
-    thermal.send(dat.to_bytes())
+    dat.init('deviceState')
+    dat.deviceState.started = True
+    deviceState.send(dat.to_bytes())
 
     frame += 1
     time.sleep(0.01)

selfdrive/debug/filter_log_message.py

@@ -3,7 +3,8 @@ import argparse
 import json
 
 import cereal.messaging as messaging
-
+from tools.lib.logreader import LogReader
+from tools.lib.route import Route
 
 LEVELS = {
   "DEBUG": 10,
@@ -23,32 +24,55 @@ ANDROID_LOG_SOURCE = {
 }
 
 
+def print_logmessage(t, msg, min_level):
+  try:
+    log = json.loads(msg)
+    if log['levelnum'] >= min_level:
+      print(f"[{t / 1e9:.6f}] {log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}")
+  except json.decoder.JSONDecodeError:
+    print(f"[{t / 1e9:.6f}] decode error: {msg}")
+
+
+def print_androidlog(t, msg):
+  source = ANDROID_LOG_SOURCE[msg.id]
+  print(f"[{t / 1e9:.6f}] {source} {msg.pid} {msg.tag} - {msg.message}")
+
+
 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")
+  parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
   args = parser.parse_args()
 
-  sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
+  logs = None
+  if len(args.route):
+    r = Route(args.route[0])
+    logs = r.log_paths()  # TODO: switch to qlogs when logs are in there
+
+  if len(args.route) == 2 and logs:
+    n = int(args.route[1])
+    logs = [logs[n]]
 
   min_level = LEVELS[args.level]
 
-  while True:
-    sm.update()
+  if logs:
+    for log in logs:
+      if log:
+        lr = LogReader(log)
+        for m in lr:
+          if m.which() == 'logMessage':
+            print_logmessage(m.logMonoTime, m.logMessage, min_level)
+          elif m.which() == 'androidLog':
+            print_androidlog(m.logMonoTime, m.androidLog)
+  else:
+    sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
+    while True:
+      sm.update()
 
-    if sm.updated['logMessage']:
-      t = sm.logMonoTime['logMessage']
-      try:
-        log = json.loads(sm['logMessage'])
-        if log['levelnum'] >= min_level:
-          print(f"[{t / 1e9:.6f}] {log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}")
-      except json.decoder.JSONDecodeError:
-        print(f"[{t / 1e9:.6f}] decode error: {sm['logMessage']}")
+      if sm.updated['logMessage']:
+        print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level)
 
-    if sm.updated['androidLog']:
-      t = sm.logMonoTime['androidLog']
-      m = sm['androidLog']
-      source = ANDROID_LOG_SOURCE[m.id]
-      print(f"[{t / 1e9:.6f}] {source} {m.pid} {m.tag} - {m.message}")
+      if sm.updated['androidLog']:
+        print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog'])

selfdrive/debug/fingerprint_from_route.py

@@ -37,7 +37,7 @@ def get_fingerprint(lr):
 
 if __name__ == "__main__":
   if len(sys.argv) < 2:
-    print("Usage: ./get_fingerprint_internal.py <route>")
+    print("Usage: ./fingerprint_from_route.py <route>")
     sys.exit(1)
 
   route = Route(sys.argv[1])

selfdrive/debug/live_cpu_and_temp.py

@@ -1,9 +1,8 @@
 #!/usr/bin/env python3
 import argparse
 
-import numpy as np
-
 from cereal.messaging import SubMaster
+from common.numpy_fast import mean
 
 
 def cputime_total(ct):
@@ -34,7 +33,7 @@ if __name__ == "__main__":
   parser.add_argument('--cpu', action='store_true')
   args = parser.parse_args()
 
-  sm = SubMaster(['thermal', 'procLog'])
+  sm = SubMaster(['deviceState', 'procLog'])
 
   last_temp = 0.0
   last_mem = 0.0
@@ -47,10 +46,10 @@ if __name__ == "__main__":
   while True:
     sm.update()
 
-    if sm.updated['thermal']:
-      t = sm['thermal']
-      last_temp = np.mean(t.cpu)
-      last_mem = t.memUsedPercent
+    if sm.updated['deviceState']:
+      t = sm['deviceState']
+      last_temp = mean(t.cpuTempC)
+      last_mem = t.memoryUsagePercent
 
     if sm.updated['procLog']:
       m = sm['procLog']
@@ -72,7 +71,7 @@ if __name__ == "__main__":
       total_times = total_times_new[:]
       busy_times = busy_times_new[:]
 
-      print("CPU %.2f%% - RAM: %.2f - Temp %.2f" % (100. * np.mean(cores), last_mem, last_temp))
+      print("CPU %.2f%% - RAM: %.2f - Temp %.2f" % (100. * mean(cores), last_mem, last_temp))
 
       if args.cpu and prev_proclog is not None:
         procs = {}

selfdrive/debug/test_fw_query_on_routes.py

@@ -46,8 +46,8 @@ if __name__ == "__main__":
       lr = LogReader(qlog_path)
 
       for msg in lr:
-        if msg.which() == "health":
-          if msg.health.hwType not in ['uno', 'blackPanda']:
+        if msg.which() == "pandaState":
+          if msg.pandaState.pandaType not in ['uno', 'blackPanda']:
             dongles.append(dongle_id)
             break
 

selfdrive/debug/uiview.py

@@ -3,20 +3,20 @@ import time
 import cereal.messaging as messaging
 from selfdrive.manager import start_managed_process, kill_managed_process
 
-services = ['controlsState', 'thermal', 'radarState']  # the services needed to be spoofed to start ui offroad
+services = ['controlsState', 'deviceState', 'radarState']  # the services needed to be spoofed to start ui offroad
 procs = ['camerad', 'ui', 'modeld', 'calibrationd']
 [start_managed_process(p) for p in procs]  # start needed processes
 pm = messaging.PubMaster(services)
 
-dat_cs, dat_thermal, dat_radar = [messaging.new_message(s) for s in services]
+dat_cs, dat_deviceState, dat_radar = [messaging.new_message(s) for s in services]
 dat_cs.controlsState.rearViewCam = False  # ui checks for these two messages
-dat_thermal.thermal.started = True
+dat_deviceState.deviceState.started = True
 
 try:
   while True:
     pm.send('controlsState', dat_cs)
-    pm.send('thermal', dat_thermal)
+    pm.send('deviceState', dat_deviceState)
     pm.send('radarState', dat_radar)
-    time.sleep(1 / 100)  # continually send, rate doesn't matter for thermal
+    time.sleep(1 / 100)  # continually send, rate doesn't matter for deviceState
 except KeyboardInterrupt:
   [kill_managed_process(p) for p in procs]