openpilot v0.9.5 release

date: 2023-11-17T23:53:40
master commit: d3aad9ca46

selfdrive/debug/can_printer.py

@@ -1,17 +1,17 @@
 #!/usr/bin/env python3
 import argparse
 import binascii
+import time
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from common.realtime import sec_since_boot
 
 
 def can_printer(bus, max_msg, addr, ascii_decode):
   logcan = messaging.sub_sock('can', addr=addr)
 
-  start = sec_since_boot()
-  lp = sec_since_boot()
+  start = time.monotonic()
+  lp = time.monotonic()
   msgs = defaultdict(list)
   while 1:
     can_recv = messaging.drain_sock(logcan, wait_for_one=True)
@@ -20,17 +20,17 @@ def can_printer(bus, max_msg, addr, ascii_decode):
         if y.src == bus:
           msgs[y.address].append(y.dat)
 
-    if sec_since_boot() - lp > 0.1:
+    if time.monotonic() - lp > 0.1:
       dd = chr(27) + "[2J"
-      dd += f"{sec_since_boot() - start:5.2f}\n"
+      dd += f"{time.monotonic() - start:5.2f}\n"
       for addr in sorted(msgs.keys()):
         a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
         x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
-        freq = len(msgs[addr]) / (sec_since_boot() - start)
+        freq = len(msgs[addr]) / (time.monotonic() - start)
         if max_msg is None or addr < max_msg:
           dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
       print(dd)
-      lp = sec_since_boot()
+      lp = time.monotonic()
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="simple CAN data viewer",

selfdrive/debug/check_freq.py

@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
 import numpy as np
+import time
 from collections import defaultdict, deque
 from typing import DefaultDict, Deque, MutableSequence
 
-from common.realtime import sec_since_boot
 import cereal.messaging as messaging
 
 
@@ -22,7 +22,7 @@ if __name__ == "__main__":
   rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
   valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
-  t = sec_since_boot()
+  t = time.monotonic()
   for name in socket_names:
     sock = messaging.sub_sock(name, poller=poller)
     sockets[sock] = name
@@ -36,7 +36,7 @@ if __name__ == "__main__":
 
       name = msg.which()
 
-      t = sec_since_boot()
+      t = time.monotonic()
       rcv_times[name].append(msg.logMonoTime / 1e9)
       valids[name].append(msg.valid)
 

selfdrive/debug/dump.py

@@ -3,13 +3,14 @@ import os
 import sys
 import argparse
 import json
-from hexdump import hexdump
 import codecs
-codecs.register_error("strict", codecs.backslashreplace_errors)
-
-from cereal import log
 import cereal.messaging as messaging
-from cereal.services import service_list
+
+from hexdump import hexdump
+from cereal import log
+from cereal.services import SERVICE_LIST
+
+codecs.register_error("strict", codecs.backslashreplace_errors)
 
 if __name__ == "__main__":
 
@@ -30,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None

selfdrive/debug/filter_log_message.py

@@ -4,8 +4,8 @@ import argparse
 import json
 
 import cereal.messaging as messaging
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
 
 LEVELS = {
   "DEBUG": 10,
@@ -59,7 +59,7 @@ if __name__ == "__main__":
       logs = [args.route[0]]
     else:
       r = Route(args.route[0])
-      logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths())]
+      logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)]
 
   if len(args.route) == 2 and logs:
     n = int(args.route[1])

selfdrive/debug/hyundai_enable_radar_points.py

@@ -62,6 +62,10 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2021 K5 HEV
+  b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":

selfdrive/debug/uiview.py

@@ -2,8 +2,8 @@
 import time
 
 from cereal import car, log, messaging
-from common.params import Params
-from selfdrive.manager.process_config import managed_processes
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True)

selfdrive/debug/vw_mqb_config.py

@@ -144,6 +144,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
+      print("Make sure the comma processes are stopped: tmux kill-session -t comma")
       quit()
 
     try: