mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-07-13 08:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/commaai/openpilot into master3

Browse Source
This commit is contained in:
Rick Lan
2024-06-12 13:51:15 +08:00
parent b2542d0101 83ac80c6c8
commit e3693fe996
374 changed files with 10496 additions and 6679 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.devcontainer/Dockerfile
+1 -1
View File
@@ -1,6 +1,6 @@
FROM ghcr.io/commaai/openpilot-base:latest
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb
RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
RUN pip install ipython jupyter jupyterlab
RUN cd /tmp && \
.devcontainer/devcontainer.json
+2 -1
View File
@@ -14,6 +14,7 @@
"force_color_prompt": "1"
},
"runArgs": [
"--volume=/dev:/dev",
"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
"--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
"--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
@@ -49,4 +50,4 @@
"mounts": [
"type=volume,source=scons_cache,target=/tmp/scons_cache"
]
}
}
.github/workflows/auto_pr_review.yaml
+24 -198
View File
@@ -5,7 +5,7 @@ on:
jobs:
labeler:
name: apply labels
name: review
permissions:
contents: read
pull-requests: write
@@ -14,17 +14,17 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: false
# Label PRs
- uses: actions/labeler@v5.0.0
with:
dot: true
configuration-path: .github/labeler.yaml
pr_branch_check:
name: check branch
runs-on: ubuntu-latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
# Check PR target branch
- name: check branch
uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
if: github.repository == 'commaai/openpilot'
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
with:
@@ -34,194 +34,20 @@ jobs:
already-exists-action: close_this
already-exists-comment: "Your PR should be made against the `master` branch"
comment:
runs-on: ubuntu-latest
steps:
- name: comment
uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
with:
message: |
<!-- _(run_id **${{ github.run_id }}**)_ -->
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
* Convert your PR to a draft unless it's ready to review
* Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
* Before marking as "ready for review", ensure:
* the goal is clearly stated in the description
* all the tests are passing
* the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
* include a route or your device' dongle ID if relevant
comment_tag: run_id
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
check-pr-template:
runs-on: ubuntu-latest
permissions:
contents: read
issues: write
pull-requests: write
actions: read
if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
steps:
- uses: actions/github-script@v7
with:
script: |
// Comment to add to the PR if no template has been used
const NO_TEMPLATE_MESSAGE =
"It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
Also make sure that you didn't modify any of the checkboxes or headings within the template.";
// body data for future requests
const body_data = {
issue_number: context.issue.number,
owner: context.repo.owner,
repo: context.repo.repo,
};
// Utility function to extract all headings
const extractHeadings = (markdown) => {
const headingRegex = /^(#{1,6})\s+(.+)$/gm;
const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
const headings = [];
let headingMatch;
while ((headingMatch = headingRegex.exec(markdown))) {
headings.push(headingMatch[2].trim());
}
let boldMatch;
while ((boldMatch = boldTextRegex.exec(markdown))) {
headings.push(boldMatch[1].trim());
}
return headings;
};
// Utility function to extract all check box descriptions
const extractCheckBoxTexts = (markdown) => {
const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
const checkboxes = [];
let match;
while ((match = checkboxRegex.exec(markdown))) {
checkboxes.push(match[2].trim());
}
return checkboxes;
};
// Utility function to check if a list is a subset of another list
isSubset = (subset, superset) => {
return subset.every((item) => superset.includes(item));
};
// Utility function to check if a list of checkboxes is a subset of another list of checkboxes
isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
// Check if each template checkbox text is a substring of at least one PR checkbox text
// (user should be allowed to add additional text)
return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
}
// Get filenames of all currently checked-in PR templates
const template_contents = await github.rest.repos.getContent({
owner: context.repo.owner,
repo: context.repo.repo,
path: ".github/PULL_REQUEST_TEMPLATE",
});
var template_filenames = [];
for (const content of template_contents.data) {
template_filenames.push(content.path);
}
console.debug("Received template filenames: " + template_filenames);
// Retrieve templates
var templates = [];
for (const template_filename of template_filenames) {
const template_response = await github.rest.repos.getContent({
owner: context.repo.owner,
repo: context.repo.repo,
path: template_filename,
});
// Convert Base64 content back
const decoded_template = atob(template_response.data.content);
const headings = extractHeadings(decoded_template);
const checkboxes = extractCheckBoxTexts(decoded_template);
if (!headings.length && !checkboxes.length) {
console.warn(
"Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
decoded_template
);
} else {
templates.push({ headings: headings, checkboxes: checkboxes });
}
}
// Retrieve the PR Body
const pull_request = await github.rest.issues.get({
...body_data,
});
const pull_request_text = pull_request.data.body;
console.debug("Received Pull Request body: \n" + pull_request_text);
/* Check if the PR Body matches one of the templates
A template is defined by all headings and checkboxes it contains
We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
*/
const pr_headings = extractHeadings(pull_request_text);
const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
console.debug("Found Headings in PR body:\n" + pr_headings);
console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
var template_found = false;
// Iterate over each template to check if it applies
for (const template of templates) {
console.log(
"Checking for headings: [" +
template.headings +
"] and checkboxes: [" +
template.checkboxes + "]"
);
if (
isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
isSubset(template.headings, pr_headings)
) {
console.debug("Found matching template!");
template_found = true;
}
}
// List comments from previous runs
var existing_comments = [];
const comments = await github.rest.issues.listComments({
...body_data,
});
for (const comment of comments.data) {
if (comment.body === NO_TEMPLATE_MESSAGE) {
existing_comments.push(comment);
}
}
// Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
if (!template_found) {
var comment_already_sent = false;
// Add an 'in-bot-review' label since this PR doesn't have the template
github.rest.issues.addLabels({
...body_data,
labels: ["in-bot-review"],
});
if (existing_comments.length < 1) {
github.rest.issues.createComment({
...body_data,
body: NO_TEMPLATE_MESSAGE,
});
}
} else {
// If template has been found, delete any old comment about missing template
for (const existing_comment of existing_comments) {
github.rest.issues.deleteComment({
...body_data,
comment_id: existing_comment.id,
});
}
// Remove the 'in-bot-review' label after the review is done and the PR has passed
github.rest.issues.removeLabel({
...body_data,
name: "in-bot-review",
}).catch((error) => {
console.log("Label 'in-bot-review' not found, ignoring");
});
}
# Welcome comment
- name: comment
uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
with:
message: |
<!-- _(run_id **${{ github.run_id }}**)_ -->
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
* Convert your PR to a draft unless it's ready to review
* Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
* Before marking as "ready for review", ensure:
* the goal is clearly stated in the description
* all the tests are passing
* the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
* include a route or your device' dongle ID if relevant
comment_tag: run_id
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
.github/workflows/selfdrive_tests.yaml
+24 -118
View File
@@ -26,7 +26,9 @@ env:
jobs:
build_release:
name: build release
runs-on: ubuntu-latest
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
env:
STRIPPED_DIR: /tmp/releasepilot
steps:
@@ -47,13 +49,13 @@ jobs:
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
run: |
cd $STRIPPED_DIR
${{ env.RUN }} "python selfdrive/manager/build.py"
${{ env.RUN }} "python system/manager/build.py"
- name: Run tests
timeout-minutes: 3
run: |
cd $STRIPPED_DIR
${{ env.RUN }} "release/check-dirty.sh && \
MAX_EXAMPLES=5 $PYTEST selfdrive/car"
MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
- name: pre-commit
timeout-minutes: 3
run: |
@@ -62,38 +64,19 @@ jobs:
cp pyproject.toml $STRIPPED_DIR
cp poetry.lock $STRIPPED_DIR
cd $STRIPPED_DIR
${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
build:
strategy:
matrix:
arch: ${{ fromJson(
((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
with:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
- uses: ./.github/workflows/compile-openpilot
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
docker_push:
name: docker push
strategy:
matrix:
arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Setup to push to repo
- name: Setup docker push
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
@@ -101,23 +84,8 @@ jobs:
- uses: ./.github/workflows/setup-with-retry
with:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
docker_push_multiarch:
name: docker push multiarch tag
runs-on: ubuntu-latest
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
needs: [docker_push]
steps:
- uses: actions/checkout@v4
with:
submodules: false
- name: Setup docker
run: |
$DOCKER_LOGIN
- name: Merge x64 and arm64 tags
run: |
export PUSH_IMAGE=true
scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
- uses: ./.github/workflows/compile-openpilot
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
static_analysis:
name: static analysis
@@ -130,28 +98,12 @@ jobs:
submodules: true
- uses: ./.github/workflows/setup-pre-commit
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: pre-commit
timeout-minutes: 4
run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
valgrind:
name: valgrind
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Run valgrind
timeout-minutes: 1
run: |
${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
- name: Print logs
if: always()
run: cat selfdrive/test/valgrind_logs.txt
unit_tests:
name: unit tests
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -175,7 +127,7 @@ jobs:
$PYTEST --timeout 60 -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py"
pytest ./selfdrive/ui/tests/test_translations.py"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
with:
@@ -200,7 +152,7 @@ jobs:
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
@@ -225,64 +177,18 @@ jobs:
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
with:
name: ${{ github.job }}
env:
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
regen:
name: regen
runs-on: 'ubuntu-latest'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
- name: Build base Docker image
run: eval "$BUILD"
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run regen
timeout-minutes: 30
run: |
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
chmod -R 777 /tmp/comma_download_cache"
test_modeld:
name: model tests
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build base Docker image
run: eval "$BUILD"
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
# PYTHONWARNINGS triggers a SyntaxError in onnxruntime
- name: Run model replay with ONNX
timeout-minutes: 4
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && \
ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
coverage combine && \
coverage xml"
- name: Run unit tests
ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
coverage combine && coverage xml"
- name: Run regen
timeout-minutes: 4
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && \
$PYTEST selfdrive/modeld"
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
chmod -R 777 /tmp/comma_download_cache"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
with:
@@ -298,7 +204,7 @@ jobs:
strategy:
fail-fast: false
matrix:
job: [0, 1, 2, 3, 4]
job: [0, 1]
steps:
- uses: actions/checkout@v4
with:
@@ -313,12 +219,12 @@ jobs:
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Test car models
timeout-minutes: 10
timeout-minutes: 20
run: |
${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
chmod -R 777 /tmp/comma_download_cache"
env:
NUM_JOBS: 5
NUM_JOBS: 2
JOB_ID: ${{ matrix.job }}
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
.github/workflows/tools_tests.yaml
+21 -59
View File
@@ -20,42 +20,6 @@ env:
jobs:
plotjuggler:
name: plotjuggler
runs-on: ubuntu-latest
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
timeout-minutes: 5
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
- name: Test PlotJuggler
timeout-minutes: 2
run: |
${{ env.RUN }} "pytest tools/plotjuggler/"
simulator_build:
name: simulator docker build
runs-on: ubuntu-latest
if: github.repository == 'commaai/openpilot'
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Setup to push to repo
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
$DOCKER_LOGIN
- name: Build and push sim image
run: |
selfdrive/test/docker_build.sh sim
simulator_driving:
name: simulator driving
runs-on: ubuntu-latest
@@ -64,10 +28,7 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: true
- run: git lfs pull
- uses: ./.github/workflows/setup-with-retry
- name: Build base docker image
run: eval "$BUILD"
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
@@ -76,7 +37,26 @@ jobs:
${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 tools/sim/tests/test_metadrive_bridge.py"
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
test_python311:
name: test python3.11 support
runs-on: ubuntu-latest
timeout-minutes: 5
steps:
- uses: actions/checkout@v4
- name: Installing ubuntu dependencies
run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
- name: Installing python
uses: actions/setup-python@v5
with:
python-version: '3.11.4'
- name: Installing pip
run: pip install pip==24.0
- name: Installing poetry
run: pip install poetry==1.7.0
- name: Installing python dependencies
run: poetry install --no-cache --no-root
devcontainer:
name: devcontainer
@@ -92,7 +72,7 @@ jobs:
- name: Setup Dev Container CLI
run: npm install -g @devcontainers/cli
- name: Build dev container image
run: devcontainer build --workspace-folder .
run: ./scripts/retry.sh devcontainer build --workspace-folder .
- name: Run dev container
run: |
mkdir -p /tmp/devcontainer_scons_cache/
@@ -104,21 +84,3 @@ jobs:
devcontainer exec --workspace-folder . pip install pip-install-test
devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
devcontainer exec --workspace-folder . sudo touch /root/test.txt
notebooks:
name: notebooks
runs-on: ubuntu-latest
if: false && github.repository == 'commaai/openpilot'
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Test notebooks
timeout-minutes: 3
run: |
${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
.gitignore
+22 -6
View File
@@ -40,8 +40,9 @@ compile_commands.json
compare_runtime*.html
persist
board/obj/
selfdrive/boardd/boardd
selfdrive/pandad/pandad
cereal/services.h
cereal/gen
selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
@@ -55,12 +56,8 @@ selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/
one
notebooks
xx
yy
hyperthneed
panda_jungle
provisioning
.coverage*
@@ -86,3 +83,22 @@ build/
poetry.toml
Pipfile
### VisualStudioCode ###
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
!.vscode/extensions.json
!.vscode/*.code-snippets
# Local History for Visual Studio Code
.history/
# Built Visual Studio Code Extensions
*.vsix
### VisualStudioCode Patch ###
# Ignore all local history of files
.history
.ionide
.gitmodules
+3 -3
View File
@@ -4,9 +4,9 @@
[submodule "opendbc"]
path = opendbc
url = ../../commaai/opendbc.git
[submodule "cereal"]
path = cereal
url = ../../commaai/cereal.git
[submodule "msgq"]
path = msgq_repo
url = ../../commaai/msgq.git
[submodule "rednose_repo"]
path = rednose_repo
url = ../../commaai/rednose.git
.pre-commit-config.yaml
+13 -13
View File
@@ -24,19 +24,19 @@ repos:
- --maxkb=120
- --enforce-all
- repo: https://github.com/codespell-project/codespell
rev: v2.2.6
rev: v2.3.0
hooks:
- id: codespell
exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
args:
# if you've got a short variable name that's getting flagged, add it here
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.4.4
rev: v0.4.8
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
- repo: local
hooks:
- id: mypy
@@ -47,7 +47,7 @@ repos:
args:
- --local-partial-types
- --explicit-package-bases
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
- repo: local
hooks:
- id: cppcheck
@@ -55,7 +55,7 @@ repos:
entry: cppcheck
language: system
types: [c++]
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
args:
- --error-exitcode=1
- --language=c++
@@ -66,7 +66,7 @@ repos:
rev: 1.6.1
hooks:
- id: cpplint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
args:
- --quiet
- --counting=total
@@ -78,7 +78,7 @@ repos:
rev: v0.16.2
hooks:
- id: cython-lint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
args:
- --max-line-length=240
- --ignore=E111, E302, E305
@@ -86,10 +86,10 @@ repos:
hooks:
- id: test_translations
name: test translations
entry: selfdrive/ui/tests/test_translations.py
language: script
entry: pytest selfdrive/ui/tests/test_translations.py
language: system
pass_filenames: false
files: 'selfdrive/ui/translations/*'
files: '^selfdrive/ui/translations/'
- repo: https://github.com/python-poetry/poetry
rev: '1.8.0'
hooks:
@@ -98,6 +98,6 @@ repos:
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.28.3
rev: 0.28.4
hooks:
- id: check-github-workflows
.python-version
-1
View File
@@ -1 +0,0 @@
3.11.4
Dockerfile.openpilot
+2
View File
@@ -20,6 +20,8 @@ COPY ./release ${OPENPILOT_PATH}/release
COPY ./common ${OPENPILOT_PATH}/common
COPY ./opendbc ${OPENPILOT_PATH}/opendbc
COPY ./cereal ${OPENPILOT_PATH}/cereal
COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
COPY ./msgq ${OPENPILOT_PATH}/msgq
COPY ./panda ${OPENPILOT_PATH}/panda
COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
COPY ./system ${OPENPILOT_PATH}/system
Dockerfile.openpilot_base
+7 -11
View File
@@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
RUN cd /tmp && \
tools/install_ubuntu_dependencies.sh && \
rm -rf /var/lib/apt/lists/* && \
rm -rf /tmp/* && \
# remove unused architectures from gcc for panda
RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
rm -rf /var/lib/apt/lists/* /tmp/* && \
cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
rm -rf arm/ && \
rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
# Add OpenCL
RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -68,11 +64,11 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER $USER
ENV POETRY_VIRTUALENVS_CREATE=false
ENV PYENV_VERSION=3.11.4
ENV PYENV_VERSION=3.12.4
ENV PYENV_ROOT="/home/$USER/pyenv"
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
COPY --chown=$USER pyproject.toml poetry.lock /tmp/
COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
RUN cd /tmp && \
@@ -80,7 +76,7 @@ RUN cd /tmp && \
rm -rf /tmp/* && \
rm -rf /home/$USER/.cache && \
find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
USER root
RUN sudo git config --global --add safe.directory /tmp/openpilot
RUN sudo git config --global --add safe.directory /tmp/openpilot
Jenkinsfile
Vendored
+15 -15
View File
@@ -183,7 +183,7 @@ node {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
@@ -191,54 +191,54 @@ node {
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["build", "cd system/manager && ./build.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
["test manager", "pytest system/manager/test/test_manager.py"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["build", "cd system/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
RELEASES.md
+14 -5
View File
@@ -1,10 +1,19 @@
Version 0.9.7 (2024-05-XX)
Version 0.9.8 (2024-XX-XX)
========================
* Added toggle to enable driver monitoring even when openpilot is not engaged
Version 0.9.7 (2024-06-13)
========================
* New driving model
* Inputs the past curvature for smoother and more accurate lateral control
* Simplified neural network architecture in the model's last layers
* Minor fixes to desire augmentation and weight decay
* New driver monitoring model
* Improved end-to-end bit for phone detection
* Adjust driving personality with the follow distance button
* Support for hybrid variants of supported Ford models
* Added toggle to enable driver monitoring even when openpilot is not engaged
* Fingerprinting without the OBD-II port on all cars
* Improved fuzzy fingerprinting for Ford and Volkswagen
Version 0.9.6 (2024-02-27)
========================
@@ -634,7 +643,7 @@ Version 0.5.13 (2019-05-31)
* Reduce CPU utilization by 20% and improve stability
* Temporarily remove mapd functionalities to improve stability
* Add openpilot record-only mode for unsupported cars
* Synchronize controlsd to boardd to reduce latency
* Synchronize controlsd to pandad to reduce latency
* Remove panda support for Subaru giraffe
Version 0.5.12 (2019-05-16)
@@ -970,7 +979,7 @@ Version 0.2.8 (2017-02-27)
Version 0.2.7 (2017-02-08)
===========================
* Better performance and pictures at night
* Fix ptr alignment issue in boardd
* Fix ptr alignment issue in pandad
* Fix brake error light, fix crash if too cold
Version 0.2.6 (2017-01-31)
@@ -1002,7 +1011,7 @@ Version 0.2.2 (2017-01-10)
Version 0.2.1 (2016-12-14)
===========================
* Performance improvements, removal of more numpy
* Fix boardd process priority
* Fix pandad process priority
* Make counter timer reset on use of steering wheel
Version 0.2 (2016-12-12)
SConstruct
+10 -5
View File
@@ -67,7 +67,7 @@ AddOption('--pc-thneed',
AddOption('--minimal',
action='store_false',
dest='extras',
default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
help='the minimum build to run openpilot. no tests, tools, etc.')
## Architecture name breakdown (arch)
@@ -213,6 +213,7 @@ env = Environment(
"#third_party/qrcode",
"#third_party",
"#cereal",
"#msgq",
"#opendbc/can",
"#third_party/maplibre-native-qt/include",
f"#third_party/maplibre-native-qt/{arch}/include"
@@ -227,10 +228,9 @@ env = Environment(
CFLAGS=["-std=gnu11"] + cflags,
CXXFLAGS=["-std=c++1z"] + cxxflags,
LIBPATH=libpath + [
"#cereal",
"#msgq_repo",
"#third_party",
"#opendbc/can",
"#selfdrive/boardd",
"#selfdrive/pandad",
"#common",
"#rednose/helpers",
],
@@ -360,8 +360,13 @@ gpucommon = [_gpucommon]
Export('common', 'gpucommon')
# Build cereal and messaging
# Build messaging (cereal + msgq + socketmaster + their dependencies)
SConscript(['msgq_repo/SConscript'])
SConscript(['cereal/SConscript'])
Import('socketmaster', 'msgq')
messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
Export('messaging')
# Build other submodules
SConscript([
cereal
-1
Submodule cereal deleted from 44e8ac6760
cereal/README.md
+51
View File
@@ -0,0 +1,51 @@
# What is cereal?
cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
## Messaging Spec
You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
### Best Practices
- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
- In the context of the message they are in, field names should be completely unambiguous.
- All values should be easy to plot and be human-readable with minimal parsing.
### Maintaining backwards-compatibility
When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
things are not. Read more details [here](https://capnproto.org/language.html).
### Custom forks
Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
Example
---
```python
import cereal.messaging as messaging
# in subscriber
sm = messaging.SubMaster(['sensorEvents'])
while 1:
sm.update()
print(sm['sensorEvents'])
```
```python
# in publisher
pm = messaging.PubMaster(['sensorEvents'])
dat = messaging.new_message('sensorEvents', size=1)
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
pm.send('sensorEvents', dat)
```
cereal/SConscript
+31
View File
@@ -0,0 +1,31 @@
Import('env', 'envCython', 'arch', 'common', 'msgq')
import shutil
cereal_dir = Dir('.')
gen_dir = Dir('gen')
other_dir = Dir('#msgq')
# Build cereal
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
schema_files,
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
cereal = env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
# Build messaging
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])
socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
socketmaster = env.Library('socketmaster', socketmaster)
Export('cereal', 'socketmaster')
cereal/__init__.py
+9
View File
@@ -0,0 +1,9 @@
import os
import capnp
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
capnp.remove_import_hook()
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
cereal/car.capnp
+706
View File
@@ -0,0 +1,706 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x8e2af1e708af8b8d;
# ******* events causing controls state machine transition *******
struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
permanent @8 :Bool; # alerts presented regardless of openpilot state
overrideLateral @10 :Bool;
overrideLongitudinal @9 :Bool;
enum EventName @0xbaa8c5d505f727de {
canError @0;
steerUnavailable @1;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
buttonCancel @11;
buttonEnable @12;
pedalPressed @13; # exits active state
preEnableStandstill @73; # added during pre-enable state with brake
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
steerOverride @114;
cruiseDisabled @14;
speedTooLow @17;
outOfSpace @18;
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
calibrationRecalibrating @117;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
radarFault @26;
brakeHold @28;
parkBrake @29;
manualRestart @30;
lowSpeedLockout @31;
joystickDebug @34;
steerTempUnavailableSilent @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
lowBattery @48;
accFaulted @51;
sensorDataInvalid @52;
commIssue @53;
commIssueAvgFreq @109;
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
invalidLkasSetting @69;
speedTooHigh @70;
laneChangeBlocked @71;
relayMalfunction @72;
stockFcw @74;
startup @75;
startupNoCar @76;
startupNoControl @77;
startupMaster @78;
startupNoFw @104;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
noGps @85;
wrongCruiseMode @87;
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
cameraFrameRate @110;
processNotRunning @95;
dashcamMode @96;
controlsInitializing @98;
usbError @99;
roadCameraError @100;
driverCameraError @101;
wideRoadCameraError @102;
highCpuUsage @105;
cruiseMismatch @106;
lkasDisabled @107;
canBusMissing @111;
controlsdLagging @112;
resumeBlocked @113;
steerTimeLimit @115;
vehicleSensorsInvalid @116;
locationdTemporaryError @103;
locationdPermanentError @118;
paramsdTemporaryError @50;
paramsdPermanentError @119;
actuatorsApiUnavailable @120;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
radarCommIssueDEPRECATED @67;
driverMonitorLowAccDEPRECATED @68;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
modelCommIssueDEPRECATED @27;
ipasOverrideDEPRECATED @33;
geofenceDEPRECATED @40;
driverMonitorOnDEPRECATED @41;
driverMonitorOffDEPRECATED @42;
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
internetConnectivityNeededDEPRECATED @61;
whitePandaUnsupportedDEPRECATED @81;
commIssueWarningDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
neosUpdateRequiredDEPRECATED @88;
modelLagWarningDEPRECATED @93;
startupOneplusDEPRECATED @82;
startupFuzzyFingerprintDEPRECATED @97;
noTargetDEPRECATED @25;
brakeUnavailableDEPRECATED @2;
plannerErrorDEPRECATED @32;
gpsMalfunctionDEPRECATED @94;
}
}
# ******* main car state @ 100hz *******
# all speeds in m/s
struct CarState {
events @13 :List(CarEvent);
# CAN health
canValid @26 :Bool; # invalid counter/checksums
canTimeout @40 :Bool; # CAN bus dropped out
canErrorCounter @48 :UInt32;
# car speed
vEgo @1 :Float32; # best estimate of speed
aEgo @16 :Float32; # best estimate of acceleration
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
yawRate @22 :Float32; # best estimate of yaw rate
standstill @18 :Bool;
wheelSpeeds @2 :WheelSpeeds;
# gas pedal, 0.0-1.0
gas @3 :Float32; # this is user pedal only
gasPressed @4 :Bool; # this is user pedal only
engineRpm @46 :Float32;
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
regenBraking @45 :Bool; # this is user pedal only
parkingBrake @39 :Bool;
brakeHoldActive @38 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
steeringRateDeg @15 :Float32;
steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel
steerFaultTemporary @35 :Bool; # temporary EPS fault
steerFaultPermanent @36 :Bool; # permanent EPS fault
stockAeb @30 :Bool;
stockFcw @31 :Bool;
espDisabled @32 :Bool;
accFaulted @42 :Bool;
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
# cruise state
cruiseState @10 :CruiseState;
# gear
gearShifter @14 :GearShifter;
# button presses
buttonEvents @11 :List(ButtonEvent);
leftBlinker @20 :Bool;
rightBlinker @21 :Bool;
genericToggle @23 :Bool;
# lock info
doorOpen @24 :Bool;
seatbeltUnlatched @25 :Bool;
# clutch (manual transmission only)
clutchPressed @28 :Bool;
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
charging @43 :Bool;
# process meta
cumLagMs @50 :Float32;
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
fr @1 :Float32;
rl @2 :Float32;
rr @3 :Float32;
}
struct CruiseState {
enabled @0 :Bool;
speed @1 :Float32;
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
available @2 :Bool;
speedOffset @3 :Float32;
standstill @4 :Bool;
nonAdaptive @5 :Bool;
}
enum GearShifter {
unknown @0;
park @1;
drive @2;
neutral @3;
reverse @4;
sport @5;
low @6;
brake @7;
eco @8;
manumatic @9;
}
# send on change
struct ButtonEvent {
pressed @0 :Bool;
type @1 :Type;
enum Type {
unknown @0;
leftBlinker @1;
rightBlinker @2;
accelCruise @3;
decelCruise @4;
cancel @5;
altButton1 @6;
altButton2 @7;
altButton3 @8;
setCruise @9;
resumeCruise @10;
gapAdjustCruise @11;
}
}
# deprecated
errorsDEPRECATED @0 :List(CarEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64);
canRcvTimeoutDEPRECATED @49 :Bool;
}
# ******* radar state @ 20hz *******
struct RadarData @0x888ad6581cf0aacb {
errors @0 :List(Error);
points @1 :List(RadarPoint);
enum Error {
canError @0;
fault @1;
wrongConfig @2;
}
# similar to LiveTracks
# is one timestamp valid for all? I think so
struct RadarPoint {
trackId @0 :UInt64; # no trackId reuse
# these 3 are the minimum required
dRel @1 :Float32; # m from the front bumper of the car
yRel @2 :Float32; # m
vRel @3 :Float32; # m/s
# these are optional and valid if they are not NaN
aRel @4 :Float32; # m/s^2
yvRel @5 :Float32; # m/s
# some radars flag measurements VS estimates
measured @6 :Bool;
}
# deprecated
canMonoTimesDEPRECATED @2 :List(UInt64);
}
# ******* car controls @ 100hz *******
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
latActive @11: Bool;
longActive @12: Bool;
# Actuator commands as computed by controlsd
actuators @6 :Actuators;
# moved to CarOutput
actuatorsOutputDEPRECATED @10 :Actuators;
leftBlinker @15: Bool;
rightBlinker @16: Bool;
orientationNED @13 :List(Float32);
angularVelocity @14 :List(Float32);
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
struct Actuators {
# range from 0.0 - 1.0
gas @0: Float32;
brake @1: Float32;
# range from -1.0 - 1.0
steer @2: Float32;
# value sent over can to the car
steerOutputCan @8: Float32;
steeringAngleDeg @3: Float32;
curvature @7: Float32;
speed @6: Float32; # m/s
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;
enum LongControlState @0xe40f3a917d908282{
off @0;
pid @1;
stopping @2;
starting @3;
}
}
struct CruiseControl {
cancel @0: Bool;
resume @1: Bool;
override @4: Bool;
speedOverrideDEPRECATED @2: Float32;
accelOverrideDEPRECATED @3: Float32;
}
struct HUDControl {
speedVisible @0: Bool;
setSpeed @1: Float32;
lanesVisible @2: Bool;
leadVisible @3: Bool;
visualAlert @4: VisualAlert;
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
enum VisualAlert {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
fcw @1;
steerRequired @2;
brakePressed @3;
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
ldw @7;
}
enum AudibleAlert {
none @0;
engage @1;
disengage @2;
refuse @3;
warningSoft @4;
warningImmediate @5;
prompt @6;
promptRepeat @7;
promptDistracted @8;
}
}
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
activeDEPRECATED @7 :Bool;
rollDEPRECATED @8 :Float32;
pitchDEPRECATED @9 :Float32;
}
struct CarOutput {
# Any car specific rate limits or quirks applied by
# the CarController are reflected in actuatorsOutput
# and matches what is sent to the car
actuatorsOutput @0 :CarControl.Actuators;
}
# ****** car param ******
struct CarParams {
carName @0 :Text;
carFingerprint @1 :Text;
fuzzyFingerprint @55 :Bool;
notCar @66 :Bool; # flag for non-car robotics platforms
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
enableDsu @5 :Bool; # driving support unit
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
experimentalLongitudinalAvailable @71 :Bool;
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
safetyConfigs @62 :List(SafetyConfig);
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
# Car docs fields
maxLateralAccel @68 :Float32;
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
# things about the car in the manual
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
# things we can derive
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indiDEPRECATED @27 :LateralINDITuning;
lqrDEPRECATED @40 :LateralLQRTuning;
torque @67 :LateralTorqueTuning;
}
steerLimitAlert @28 :Bool;
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
steerControlType @34 :SteerControlType;
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
startAccel @32 :Float32; # Required acceleration to get car moving
startingState @70 :Bool; # Does this car make use of special starting state
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
dashcamOnly @41: Bool;
passive @73: Bool; # is openpilot in control?
transmissionType @43 :TransmissionType;
carFw @44 :List(CarFw);
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
fingerprintSource @49: FingerprintSource;
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
struct SafetyConfig {
safetyModel @0 :SafetyModel;
safetyParam @3 :UInt16;
safetyParamDEPRECATED @1 :Int16;
safetyParam2DEPRECATED @2 :UInt32;
}
struct LateralParams {
torqueBP @0 :List(Int32);
torqueV @1 :List(Int32);
}
struct LateralPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @4 :Float32;
}
struct LateralTorqueTuning {
useSteeringAngle @0 :Bool;
kp @1 :Float32;
ki @2 :Float32;
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
}
struct LongitudinalPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
deadzoneBP @4 :List(Float32);
deadzoneV @5 :List(Float32);
}
struct LateralINDITuning {
outerLoopGainBP @4 :List(Float32);
outerLoopGainV @5 :List(Float32);
innerLoopGainBP @6 :List(Float32);
innerLoopGainV @7 :List(Float32);
timeConstantBP @8 :List(Float32);
timeConstantV @9 :List(Float32);
actuatorEffectivenessBP @10 :List(Float32);
actuatorEffectivenessV @11 :List(Float32);
outerLoopGainDEPRECATED @0 :Float32;
innerLoopGainDEPRECATED @1 :Float32;
timeConstantDEPRECATED @2 :Float32;
actuatorEffectivenessDEPRECATED @3 :Float32;
}
struct LateralLQRTuning {
scale @0 :Float32;
ki @1 :Float32;
dcGain @2 :Float32;
# State space system
a @3 :List(Float32);
b @4 :List(Float32);
c @5 :List(Float32);
k @6 :List(Float32); # LQR gain
l @7 :List(Float32); # Kalman gain
}
enum SafetyModel {
silent @0;
hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
gmPassive @12;
mazda @13;
nissan @14;
volkswagen @15;
toyotaIpas @16;
allOutput @17;
gmAscm @18;
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
subaruPreglobal @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
volkswagenMlb @25;
hongqi @26;
body @27;
hyundaiCanfd @28;
volkswagenMqbEvo @29;
chryslerCusw @30;
psa @31;
}
enum SteerControlType {
torque @0;
angle @1;
curvatureDEPRECATED @2;
}
enum TransmissionType {
unknown @0;
automatic @1; # Traditional auto, including DSG
manual @2; # True "stick shift" only
direct @3; # Electric vehicle or other direct drive
cvt @4;
}
struct CarFw {
ecu @0 :Ecu;
fwVersion @1 :Data;
address @2 :UInt32;
subAddress @3 :UInt8;
responseAddress @4 :UInt32;
request @5 :List(Data);
brand @6 :Text;
bus @7 :UInt8;
logging @8 :Bool;
obdMultiplexing @9 :Bool;
}
enum Ecu {
eps @0;
abs @1;
fwdRadar @2;
fwdCamera @3;
engine @4;
unknown @5;
transmission @8; # Transmission Control Module
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
srs @9; # airbag
gateway @10; # can gateway
hud @11; # heads up display
combinationMeter @12; # instrument cluster
electricBrakeBooster @15;
shiftByWire @16;
adas @19;
cornerRadar @21;
hvac @20;
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
epb @22; # electronic parking brake
telematics @23;
body @24; # body control module
# Toyota only
dsu @6;
# Honda only
vsa @13; # Vehicle Stability Assist
programmedFuelInjection @14;
debug @17;
}
enum FingerprintSource {
can @0;
fw @1;
fixed @2;
}
enum NetworkLocation {
fwdCamera @0; # Standard/default integration at LKAS camera
gateway @1; # Integration at vehicle's CAN gateway
}
enableGasInterceptorDEPRECATED @2 :Bool;
enableCameraDEPRECATED @4 :Bool;
enableApgsDEPRECATED @6 :Bool;
steerRateCostDEPRECATED @33 :Float32;
isPandaBlackDEPRECATED @39 :Bool;
hasStockCameraDEPRECATED @57 :Bool;
safetyParamDEPRECATED @10 :Int16;
safetyModelDEPRECATED @9 :SafetyModel;
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
minSpeedCanDEPRECATED @51 :Float32;
communityFeatureDEPRECATED @46: Bool;
startingAccelRateDEPRECATED @53 :Float32;
steerMaxBPDEPRECATED @11 :List(Float32);
steerMaxVDEPRECATED @12 :List(Float32);
gasMaxBPDEPRECATED @13 :List(Float32);
gasMaxVDEPRECATED @14 :List(Float32);
brakeMaxBPDEPRECATED @15 :List(Float32);
brakeMaxVDEPRECATED @16 :List(Float32);
directAccelControlDEPRECATED @30 :Bool;
maxSteeringAngleDegDEPRECATED @54 :Float32;
longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32;
}
cereal/custom.capnp
+39
View File
@@ -0,0 +1,39 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0xb526ba661d550a59;
# custom.capnp: a home for empty structs reserved for custom forks
# These structs are guaranteed to remain reserved and empty in mainline
# cereal, so use these if you want custom events in your fork.
# you can rename the struct, but don't change the identifier
struct CustomReserved0 @0x81c2f05a394cf4af {
}
struct CustomReserved1 @0xaedffd8f31e7b55d {
}
struct CustomReserved2 @0xf35cc4560bbf6ec2 {
}
struct CustomReserved3 @0xda96579883444c35 {
}
struct CustomReserved4 @0x80ae746ee2596b11 {
}
struct CustomReserved5 @0xa5cd762cd951a455 {
}
struct CustomReserved6 @0xf98d843bfd7004a3 {
}
struct CustomReserved7 @0xb86e6369214c01c8 {
}
struct CustomReserved8 @0xf416ec09499d9d19 {
}
struct CustomReserved9 @0xa1680744031fdb2d {
}
cereal/include/c++.capnp
+26
View File
@@ -0,0 +1,26 @@
# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
# Licensed under the MIT License:
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
@0xbdf87d7bb8304e81;
$namespace("capnp::annotations");
annotation namespace(file): Text;
annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;
cereal/legacy.capnp
+574
View File
@@ -0,0 +1,574 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x80ef1ec4889c2a63;
# legacy.capnp: a home for deprecated structs
struct LogRotate @0x9811e1f38f62f2d1 {
segmentNum @0 :Int32;
path @1 :Text;
}
struct LiveUI @0xc08240f996aefced {
rearViewCam @0 :Bool;
alertText1 @1 :Text;
alertText2 @2 :Text;
awarenessStatus @3 :Float32;
}
struct UiLayoutState @0x88dcce08ad29dda0 {
activeApp @0 :App;
sidebarCollapsed @1 :Bool;
mapEnabled @2 :Bool;
mockEngaged @3 :Bool;
enum App @0x9917470acf94d285 {
home @0;
music @1;
nav @2;
settings @3;
none @4;
}
}
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
correctionMonoTime @0 :UInt64;
prePositionECEF @1 :List(Float64);
postPositionECEF @2 :List(Float64);
prePoseQuatECEF @3 :List(Float32);
postPoseQuatECEF @4 :List(Float32);
numInliers @5 :UInt32;
}
struct EthernetPacket @0xa99a9d5b33cf5859 {
pkt @0 :Data;
ts @1 :Float32;
}
struct CellInfo @0xcff7566681c277ce {
timestamp @0 :UInt64;
repr @1 :Text; # android toString() for now
}
struct WifiScan @0xd4df5a192382ba0b {
bssid @0 :Text;
ssid @1 :Text;
capabilities @2 :Text;
frequency @3 :Int32;
level @4 :Int32;
timestamp @5 :Int64;
centerFreq0 @6 :Int32;
centerFreq1 @7 :Int32;
channelWidth @8 :ChannelWidth;
operatorFriendlyName @9 :Text;
venueName @10 :Text;
is80211mcResponder @11 :Bool;
passpoint @12 :Bool;
distanceCm @13 :Int32;
distanceSdCm @14 :Int32;
enum ChannelWidth @0xcb6a279f015f6b51 {
w20Mhz @0;
w40Mhz @1;
w80Mhz @2;
w160Mhz @3;
w80Plus80Mhz @4;
}
}
struct LiveEventData @0x94b7baa90c5c321e {
name @0 :Text;
value @1 :Int32;
}
struct ModelData @0xb8aad62cffef28a9 {
frameId @0 :UInt32;
frameAge @12 :UInt32;
frameDropPerc @13 :Float32;
timestampEof @9 :UInt64;
modelExecutionTime @14 :Float32;
gpuExecutionTime @16 :Float32;
rawPred @15 :Data;
path @1 :PathData;
leftLane @2 :PathData;
rightLane @3 :PathData;
lead @4 :LeadData;
freePath @6 :List(Float32);
settings @5 :ModelSettings;
leadFuture @7 :LeadData;
speed @8 :List(Float32);
meta @10 :MetaData;
longitudinal @11 :LongitudinalData;
struct PathData @0x8817eeea389e9f08 {
points @0 :List(Float32);
prob @1 :Float32;
std @2 :Float32;
stds @3 :List(Float32);
poly @4 :List(Float32);
validLen @5 :Float32;
}
struct LeadData @0xd1c9bef96d26fa91 {
dist @0 :Float32;
prob @1 :Float32;
std @2 :Float32;
relVel @3 :Float32;
relVelStd @4 :Float32;
relY @5 :Float32;
relYStd @6 :Float32;
relA @7 :Float32;
relAStd @8 :Float32;
}
struct ModelSettings @0xa26e3710efd3e914 {
bigBoxX @0 :UInt16;
bigBoxY @1 :UInt16;
bigBoxWidth @2 :UInt16;
bigBoxHeight @3 :UInt16;
boxProjection @4 :List(Float32);
yuvCorrection @5 :List(Float32);
inputTransform @6 :List(Float32);
}
struct MetaData @0x9744f25fb60f2bf8 {
engagedProb @0 :Float32;
desirePrediction @1 :List(Float32);
brakeDisengageProb @2 :Float32;
gasDisengageProb @3 :Float32;
steerOverrideProb @4 :Float32;
desireState @5 :List(Float32);
}
struct LongitudinalData @0xf98f999c6a071122 {
distances @2 :List(Float32);
speeds @0 :List(Float32);
accelerations @1 :List(Float32);
}
}
struct ECEFPoint @0xc25bbbd524983447 {
x @0 :Float64;
y @1 :Float64;
z @2 :Float64;
}
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
x @0 :Float32;
y @1 :Float32;
z @2 :Float32;
}
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
curPos @6 :ECEFPoint;
points @7 :List(ECEFPoint);
valid @2 :Bool;
trackName @3 :Text;
speedLimit @4 :Float32;
accelTarget @5 :Float32;
}
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
valid @0 :Bool;
poly @1 :List(Float32);
trackName @2 :Text;
speed @3 :Float32;
acceleration @4 :Float32;
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
points @6 :List(ECEFPoint);
xLookahead @7 :Float32;
}
struct UiNavigationEvent @0x90c8426c3eaddd3b {
type @0: Type;
status @1: Status;
distanceTo @2: Float32;
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
endRoadPoint @4: ECEFPoint;
enum Type @0xe8db07dcf8fcea05 {
none @0;
laneChangeLeft @1;
laneChangeRight @2;
mergeLeft @3;
mergeRight @4;
turnLeft @5;
turnRight @6;
}
enum Status @0xb9aa88c75ef99a1f {
none @0;
passive @1;
approaching @2;
active @3;
}
}
struct LiveLocationData @0xb99b2bc7a57e8128 {
status @0 :UInt8;
# 3D fix
lat @1 :Float64;
lon @2 :Float64;
alt @3 :Float32; # m
# speed
speed @4 :Float32; # m/s
# NED velocity components
vNED @5 :List(Float32);
# roll, pitch, heading (x,y,z)
roll @6 :Float32; # WRT to center of earth?
pitch @7 :Float32; # WRT to center of earth?
heading @8 :Float32; # WRT to north?
# what are these?
wanderAngle @9 :Float32;
trackAngle @10 :Float32;
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
# gyro, in car frame, deg/s
gyro @11 :List(Float32);
# accel, in car frame, m/s^2
accel @12 :List(Float32);
accuracy @13 :Accuracy;
source @14 :SensorSource;
# if we are fixing a location in the past
fixMonoTime @15 :UInt64;
gpsWeek @16 :Int32;
timeOfWeek @17 :Float64;
positionECEF @18 :List(Float64);
poseQuatECEF @19 :List(Float32);
pitchCalibration @20 :Float32;
yawCalibration @21 :Float32;
imuFrame @22 :List(Float32);
struct Accuracy @0x943dc4625473b03f {
pNEDError @0 :List(Float32);
vNEDError @1 :List(Float32);
rollError @2 :Float32;
pitchError @3 :Float32;
headingError @4 :Float32;
ellipsoidSemiMajorError @5 :Float32;
ellipsoidSemiMinorError @6 :Float32;
ellipsoidOrientationError @7 :Float32;
}
enum SensorSource @0xc871d3cc252af657 {
applanix @0;
kalman @1;
orbslam @2;
timing @3;
dummy @4;
}
}
struct OrbOdometry @0xd7700859ed1f5b76 {
# timing first
startMonoTime @0 :UInt64;
endMonoTime @1 :UInt64;
# fundamental matrix and error
f @2: List(Float64);
err @3: Float64;
# number of inlier points
inliers @4: Int32;
# for debug only
# indexed by endMonoTime features
# value is startMonoTime feature match
# -1 if no match
matches @5: List(Int16);
}
struct OrbFeatures @0xcd60164a8a0159ef {
timestampEof @0 :UInt64;
# transposed arrays of normalized image coordinates
# len(xs) == len(ys) == len(descriptors) * 32
xs @1 :List(Float32);
ys @2 :List(Float32);
descriptors @3 :Data;
octaves @4 :List(Int8);
# match index to last OrbFeatures
# -1 if no match
timestampLastEof @5 :UInt64;
matches @6: List(Int16);
}
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
timestampEof @0 :UInt64;
timestampLastEof @1 :UInt64;
featureCount @2 :UInt16;
matchCount @3 :UInt16;
computeNs @4 :UInt64;
}
struct OrbKeyFrame @0xc8233c0345e27e24 {
# this is a globally unique id for the KeyFrame
id @0: UInt64;
# this is the location of the KeyFrame
pos @1: ECEFPoint;
# these are the features in the world
# len(dpos) == len(descriptors) * 32
dpos @2 :List(ECEFPoint);
descriptors @3 :Data;
}
struct KalmanOdometry @0x92e21bb7ea38793a {
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
rotStd @3 :List(Float32); # std rad/s in device frame
}
struct OrbObservation @0x9b326d4e436afec7 {
observationMonoTime @0 :UInt64;
normalizedCoordinates @1 :List(Float32);
locationECEF @2 :List(Float64);
matchDistance @3: UInt32;
}
struct CalibrationFeatures @0x8fdfadb254ea867a {
frameId @0 :UInt32;
p0 @1 :List(Float32);
p1 @2 :List(Float32);
status @3 :List(Int8);
}
struct NavStatus @0xbd8822120928120c {
isNavigating @0 :Bool;
currentAddress @1 :Address;
struct Address @0xce7cd672cacc7814 {
title @0 :Text;
lat @1 :Float64;
lng @2 :Float64;
house @3 :Text;
address @4 :Text;
street @5 :Text;
city @6 :Text;
state @7 :Text;
country @8 :Text;
}
}
struct NavUpdate @0xdb98be6565516acb {
isNavigating @0 :Bool;
curSegment @1 :Int32;
segments @2 :List(Segment);
struct LatLng @0x9eaef9187cadbb9b {
lat @0 :Float64;
lng @1 :Float64;
}
struct Segment @0xa5b39b4fc4d7da3f {
from @0 :LatLng;
to @1 :LatLng;
updateTime @2 :Int32;
distance @3 :Int32;
crossTime @4 :Int32;
exitNo @5 :Int32;
instruction @6 :Instruction;
parts @7 :List(LatLng);
enum Instruction @0xc5417a637451246f {
turnLeft @0;
turnRight @1;
keepLeft @2;
keepRight @3;
straight @4;
roundaboutExitNumber @5;
roundaboutExit @6;
roundaboutTurnLeft @7;
unkn8 @8;
roundaboutStraight @9;
unkn10 @10;
roundaboutTurnRight @11;
unkn12 @12;
roundaboutUturn @13;
unkn14 @14;
arrive @15;
exitLeft @16;
exitRight @17;
unkn18 @18;
uturn @19;
# ...
}
}
}
struct TrafficEvent @0xacfa74a094e62626 {
type @0 :Type;
distance @1 :Float32;
action @2 :Action;
resuming @3 :Bool;
enum Type @0xd85d75253435bf4b {
stopSign @0;
lightRed @1;
lightYellow @2;
lightGreen @3;
stopLight @4;
}
enum Action @0xa6f6ce72165ccb49 {
none @0;
yield @1;
stop @2;
resumeReady @3;
}
}
struct AndroidGnss @0xdfdf30d03fc485bd {
union {
measurements @0 :Measurements;
navigationMessage @1 :NavigationMessage;
}
struct Measurements @0xa20710d4f428d6cd {
clock @0 :Clock;
measurements @1 :List(Measurement);
struct Clock @0xa0e27b453a38f450 {
timeNanos @0 :Int64;
hardwareClockDiscontinuityCount @1 :Int32;
hasTimeUncertaintyNanos @2 :Bool;
timeUncertaintyNanos @3 :Float64;
hasLeapSecond @4 :Bool;
leapSecond @5 :Int32;
hasFullBiasNanos @6 :Bool;
fullBiasNanos @7 :Int64;
hasBiasNanos @8 :Bool;
biasNanos @9 :Float64;
hasBiasUncertaintyNanos @10 :Bool;
biasUncertaintyNanos @11 :Float64;
hasDriftNanosPerSecond @12 :Bool;
driftNanosPerSecond @13 :Float64;
hasDriftUncertaintyNanosPerSecond @14 :Bool;
driftUncertaintyNanosPerSecond @15 :Float64;
}
struct Measurement @0xd949bf717d77614d {
svId @0 :Int32;
constellation @1 :Constellation;
timeOffsetNanos @2 :Float64;
state @3 :Int32;
receivedSvTimeNanos @4 :Int64;
receivedSvTimeUncertaintyNanos @5 :Int64;
cn0DbHz @6 :Float64;
pseudorangeRateMetersPerSecond @7 :Float64;
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
accumulatedDeltaRangeState @9 :Int32;
accumulatedDeltaRangeMeters @10 :Float64;
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
hasCarrierFrequencyHz @12 :Bool;
carrierFrequencyHz @13 :Float32;
hasCarrierCycles @14 :Bool;
carrierCycles @15 :Int64;
hasCarrierPhase @16 :Bool;
carrierPhase @17 :Float64;
hasCarrierPhaseUncertainty @18 :Bool;
carrierPhaseUncertainty @19 :Float64;
hasSnrInDb @20 :Bool;
snrInDb @21 :Float64;
multipathIndicator @22 :MultipathIndicator;
enum Constellation @0x9ef1f3ff0deb5ffb {
unknown @0;
gps @1;
sbas @2;
glonass @3;
qzss @4;
beidou @5;
galileo @6;
}
enum State @0xcbb9490adce12d72 {
unknown @0;
codeLock @1;
bitSync @2;
subframeSync @3;
towDecoded @4;
msecAmbiguous @5;
symbolSync @6;
gloStringSync @7;
gloTodDecoded @8;
bdsD2BitSync @9;
bdsD2SubframeSync @10;
galE1bcCodeLock @11;
galE1c2ndCodeLock @12;
galE1bPageSync @13;
sbasSync @14;
}
enum MultipathIndicator @0xc04e7b6231d4caa8 {
unknown @0;
detected @1;
notDetected @2;
}
}
}
struct NavigationMessage @0xe2517b083095fd4e {
type @0 :Int32;
svId @1 :Int32;
messageId @2 :Int32;
submessageId @3 :Int32;
data @4 :Data;
status @5 :Status;
enum Status @0xec1ff7996b35366f {
unknown @0;
parityPassed @1;
parityRebuilt @2;
}
}
}
struct LidarPts @0xe3d6685d4e9d8f7a {
r @0 :List(UInt16); # uint16 m*500.0
theta @1 :List(UInt16); # uint16 deg*100.0
reflect @2 :List(UInt8); # uint8 0-255
# For storing out of file.
idx @3 :UInt64;
# For storing in file
pkt @4 :Data;
}
cereal/log.capnp
+2369
View File
File diff suppressed because it is too large Load Diff
cereal/maptile.capnp
+49
View File
@@ -0,0 +1,49 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0xa086df597ef5d7a0;
# Geometry
struct Point {
x @0: Float64;
y @1: Float64;
z @2: Float64;
}
struct PolyLine {
points @0: List(Point);
}
# Map features
struct Lane {
id @0 :Text;
leftBoundary @1 :LaneBoundary;
rightBoundary @2 :LaneBoundary;
leftAdjacentId @3 :Text;
rightAdjacentId @4 :Text;
inboundIds @5 :List(Text);
outboundIds @6 :List(Text);
struct LaneBoundary {
polyLine @0 :PolyLine;
startHeading @1 :Float32; # WRT north
}
}
# Map tiles
struct TileSummary {
version @0 :Text;
updatedAt @1 :UInt64; # Millis since epoch
level @2 :UInt8;
x @3 :UInt16;
y @4 :UInt16;
}
struct MapTile {
summary @0 :TileSummary;
lanes @1 :List(Lane);
}
cereal/messaging/.gitignore
+10
View File
@@ -0,0 +1,10 @@
demo
bridge
test_runner
*.o
*.os
*.d
*.a
*.so
messaging_pyx.cpp
build/
cereal/messaging/__init__.py
+252
View File
@@ -0,0 +1,252 @@
# must be built with scons
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
from msgq.ipc_pyx import MultiplePublishersError, IpcError
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
import os
import capnp
import time
from typing import Optional, List, Union, Dict, Deque
from collections import deque
from cereal import log
from cereal.services import SERVICE_LIST
NO_TRAVERSAL_LIMIT = 2**64-1
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
return msg
def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
args = {
'valid': False,
'logMonoTime': int(time.monotonic() * 1e9),
**kwargs
}
dat = log.Event.new_message(**args)
if service is not None:
if size is None:
dat.init(service)
else:
dat.init(service, size)
return dat
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
"""Receive all message currently available on the queue"""
msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
return [log_from_bytes(m) for m in msgs]
# TODO: print when we drop packets?
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
dat = None
while 1:
if wait and dat is None:
recv = sock.receive()
else:
recv = sock.receive(non_blocking=True)
if recv is None: # Timeout hit
break
dat = recv
if dat is not None:
dat = log_from_bytes(dat)
return dat
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive()
if dat is not None:
dat = log_from_bytes(dat)
return dat
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive(non_blocking=True)
if dat is not None:
dat = log_from_bytes(dat)
return dat
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
"""Keep receiving until we get a message"""
while True:
dat = sock.receive()
if dat is not None:
return log_from_bytes(dat)
class SubMaster:
def __init__(self, services: List[str], poll: Optional[str] = None,
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
self.frame = -1
self.seen = {s: False for s in services}
self.updated = {s: False for s in services}
self.recv_time = {s: 0. for s in services}
self.recv_frame = {s: 0 for s in services}
self.alive = {s: False for s in services}
self.freq_ok = {s: False for s in services}
self.recv_dts: Dict[str, Deque[float]] = {}
self.sock = {}
self.data = {}
self.valid = {}
self.logMonoTime = {}
self.max_freq = {}
self.min_freq = {}
self.poller = Poller()
polled_services = set([poll, ] if poll is not None else services)
self.non_polled_services = set(services) - polled_services
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
self.ignore_alive = [] if ignore_alive is None else ignore_alive
self.ignore_valid = [] if ignore_valid is None else ignore_valid
self.simulation = bool(int(os.getenv("SIMULATION", "0")))
# if freq and poll aren't specified, assume the max to be conservative
assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
for s in services:
p = self.poller if s not in self.non_polled_services else None
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
try:
data = new_message(s)
except capnp.lib.capnp.KjException:
data = new_message(s, 0) # lists
self.data[s] = getattr(data.as_reader(), s)
self.logMonoTime[s] = 0
self.valid[s] = True # FIXME: this should default to False
freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
if s == poll:
max_freq = freq
min_freq = freq
else:
max_freq = min(freq, self.update_freq)
if SERVICE_LIST[s].frequency >= 2*self.update_freq:
min_freq = self.update_freq
elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
min_freq = freq
else:
min_freq = min(freq, freq / 2.)
self.max_freq[s] = max_freq*1.2
self.min_freq[s] = min_freq*0.8
self.recv_dts[s] = deque(maxlen=int(10*freq))
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
return self.data[s]
def _check_avg_freq(self, s: str) -> bool:
return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
def update(self, timeout: int = 100) -> None:
msgs = []
for sock in self.poller.poll(timeout):
msgs.append(recv_one_or_none(sock))
# non-blocking receive for non-polled sockets
for s in self.non_polled_services:
msgs.append(recv_one_or_none(self.sock[s]))
self.update_msgs(time.monotonic(), msgs)
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
self.frame += 1
self.updated = dict.fromkeys(self.updated, False)
for msg in msgs:
if msg is None:
continue
s = msg.which()
self.seen[s] = True
self.updated[s] = True
if self.recv_time[s] > 1e-5:
self.recv_dts[s].append(cur_time - self.recv_time[s])
self.recv_time[s] = cur_time
self.recv_frame[s] = self.frame
self.data[s] = getattr(msg, s)
self.logMonoTime[s] = msg.logMonoTime
self.valid[s] = msg.valid
for s in self.data:
if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
# alive if delay is within 10x the expected frequency
self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
# check average frequency; slow to fall, quick to recover
dts = self.recv_dts[s]
assert dts.maxlen is not None
recent_dts = list(dts)[-int(dts.maxlen / 10):]
try:
avg_freq = 1 / (sum(dts) / len(dts))
avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
except ZeroDivisionError:
avg_freq = 0
avg_freq_recent = 0
avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
self.freq_ok[s] = avg_freq_ok or recent_freq_ok
else:
self.freq_ok[s] = True
if self.simulation:
self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
else:
self.alive[s] = True
def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None:
service_list = list(self.sock.keys())
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None:
service_list = list(self.sock.keys())
return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
if service_list is None:
service_list = list(self.sock.keys())
return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
class PubMaster:
def __init__(self, services: List[str]):
self.sock = {}
for s in services:
self.sock[s] = pub_sock(s)
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
if not isinstance(dat, bytes):
dat = dat.to_bytes()
self.sock[s].send(dat)
def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
for _ in range(int(timeout*(1./dt))):
if self.sock[s].all_readers_updated():
return True
time.sleep(dt)
return False
def all_readers_updated(self, s: str) -> bool:
return self.sock[s].all_readers_updated() # type: ignore
cereal/messaging/bridge.cc
+92
View File
@@ -0,0 +1,92 @@
#include <algorithm>
#include <cassert>
#include <csignal>
#include <iostream>
#include <map>
#include <string>
typedef void (*sighandler_t)(int sig);
#include "cereal/services.h"
#include "msgq/impl_msgq.h"
#include "msgq/impl_zmq.h"
std::atomic<bool> do_exit = false;
static void set_do_exit(int sig) {
do_exit = true;
}
void sigpipe_handler(int sig) {
assert(sig == SIGPIPE);
std::cout << "SIGPIPE received" << std::endl;
}
static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
std::vector<std::string> service_list;
for (const auto& it : services) {
std::string name = it.second.name;
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
continue;
}
service_list.push_back(name);
}
return service_list;
}
int main(int argc, char** argv) {
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
bool zmq_to_msgq = argc > 2;
std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
Poller *poller;
Context *pub_context;
Context *sub_context;
if (zmq_to_msgq) { // republishes zmq debugging messages as msgq
poller = new ZMQPoller();
pub_context = new MSGQContext();
sub_context = new ZMQContext();
} else {
poller = new MSGQPoller();
pub_context = new ZMQContext();
sub_context = new MSGQContext();
}
std::map<SubSocket*, PubSocket*> sub2pub;
for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) {
PubSocket * pub_sock;
SubSocket * sub_sock;
if (zmq_to_msgq) {
pub_sock = new MSGQPubSocket();
sub_sock = new ZMQSubSocket();
} else {
pub_sock = new ZMQPubSocket();
sub_sock = new MSGQSubSocket();
}
pub_sock->connect(pub_context, endpoint);
sub_sock->connect(sub_context, endpoint, ip, false);
poller->registerSocket(sub_sock);
sub2pub[sub_sock] = pub_sock;
}
while (!do_exit) {
for (auto sub_sock : poller->poll(100)) {
Message * msg = sub_sock->receive();
if (msg == NULL) continue;
int ret;
do {
ret = sub2pub[sub_sock]->sendMessage(msg);
} while (ret == -1 && errno == EINTR && !do_exit);
assert(ret >= 0 || do_exit);
delete msg;
if (do_exit) break;
}
}
return 0;
}
cereal/messaging/messaging.h
+112
View File
@@ -0,0 +1,112 @@
#pragma once
#include <cstddef>
#include <map>
#include <string>
#include <vector>
#include <utility>
#include <time.h>
#include <capnp/serialize.h>
#include "cereal/gen/cpp/log.capnp.h"
#include "msgq/ipc.h"
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
#define MSG_MULTIPLE_PUBLISHERS 100
class SubMaster {
public:
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
void update(int timeout = 1000);
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
void drain();
~SubMaster();
uint64_t frame = 0;
bool updated(const char *name) const;
bool alive(const char *name) const;
bool valid(const char *name) const;
uint64_t rcv_frame(const char *name) const;
uint64_t rcv_time(const char *name) const;
cereal::Event::Reader &operator[](const char *name) const;
private:
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
Poller *poller_ = nullptr;
struct SubMessage;
std::map<SubSocket *, SubMessage *> messages_;
std::map<std::string, SubMessage *> services_;
};
class MessageBuilder : public capnp::MallocMessageBuilder {
public:
MessageBuilder() = default;
cereal::Event::Builder initEvent(bool valid = true) {
cereal::Event::Builder event = initRoot<cereal::Event>();
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
event.setLogMonoTime(current_time);
event.setValid(valid);
return event;
}
kj::ArrayPtr<capnp::byte> toBytes() {
heapArray_ = capnp::messageToFlatArray(*this);
return heapArray_.asBytes();
}
size_t getSerializedSize() {
return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
}
int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
size_t serialized_size = getSerializedSize();
if (serialized_size > buffer_size) { return -1; }
kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
capnp::writeMessage(out, *this);
return serialized_size;
}
private:
kj::Array<capnp::word> heapArray_;
};
class PubMaster {
public:
PubMaster(const std::vector<const char *> &service_list);
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
int send(const char *name, MessageBuilder &msg);
~PubMaster();
private:
std::map<std::string, PubSocket *> sockets_;
};
class AlignedBuffer {
public:
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
words_size = size / sizeof(capnp::word) + 1;
if (aligned_buf.size() < words_size) {
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
}
memcpy(aligned_buf.begin(), data, size);
return aligned_buf.slice(0, words_size);
}
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
return align(m->getData(), m->getSize());
}
private:
kj::Array<capnp::word> aligned_buf;
size_t words_size;
};
cereal/messaging/socketmaster.cc
+211
View File
@@ -0,0 +1,211 @@
#include <time.h>
#include <assert.h>
#include <stdlib.h>
#include <string>
#include <mutex>
#include "cereal/services.h"
#include "cereal/messaging/messaging.h"
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
static inline uint64_t nanos_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
static inline bool inList(const std::vector<const char *> &list, const char *value) {
for (auto &v : list) {
if (strcmp(value, v) == 0) return true;
}
return false;
}
class MessageContext {
public:
MessageContext() : ctx_(nullptr) {}
~MessageContext() { delete ctx_; }
inline Context *context() {
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
return ctx_;
}
private:
Context *ctx_;
std::once_flag init_flag;
};
MessageContext message_context;
struct SubMaster::SubMessage {
std::string name;
SubSocket *socket = nullptr;
int freq = 0;
bool updated = false, alive = false, valid = true, ignore_alive;
uint64_t rcv_time = 0, rcv_frame = 0;
void *allocated_msg_reader = nullptr;
bool is_polled = false;
capnp::FlatArrayMessageReader *msg_reader = nullptr;
AlignedBuffer aligned_buf;
cereal::Event::Reader event;
};
SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll,
const char *address, const std::vector<const char *> &ignore_alive) {
poller_ = Poller::create();
for (auto name : service_list) {
assert(services.count(std::string(name)) > 0);
service serv = services.at(std::string(name));
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
assert(socket != 0);
bool is_polled = inList(poll, name) || poll.empty();
if (is_polled) poller_->registerSocket(socket);
SubMessage *m = new SubMessage{
.name = name,
.socket = socket,
.freq = serv.frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.is_polled = is_polled};
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
messages_[socket] = m;
services_[name] = m;
}
}
void SubMaster::update(int timeout) {
for (auto &kv : messages_) kv.second->updated = false;
auto sockets = poller_->poll(timeout);
// add non-polled sockets for non-blocking receive
for (auto &kv : messages_) {
SubMessage *m = kv.second;
SubSocket *s = kv.first;
if (!m->is_polled) sockets.push_back(s);
}
uint64_t current_time = nanos_since_boot();
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
for (auto s : sockets) {
Message *msg = s->receive(true);
if (msg == nullptr) continue;
SubMessage *m = messages_.at(s);
m->msg_reader->~FlatArrayMessageReader();
capnp::ReaderOptions options;
options.traversalLimitInWords = kj::maxValue; // Don't limit
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
delete msg;
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
}
update_msgs(current_time, messages);
}
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
if (++frame == UINT64_MAX) frame = 1;
for (auto &kv : messages) {
auto m_find = services_.find(kv.first);
if (m_find == services_.end()){
continue;
}
SubMessage *m = m_find->second;
m->event = kv.second;
m->updated = true;
m->rcv_time = current_time;
m->rcv_frame = frame;
m->valid = m->event.getValid();
if (SIMULATION) m->alive = true;
}
if (!SIMULATION) {
for (auto &kv : messages_) {
SubMessage *m = kv.second;
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
}
}
}
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
int found = 0;
for (auto &kv : messages_) {
SubMessage *m = kv.second;
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
}
}
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
}
void SubMaster::drain() {
while (true) {
auto polls = poller_->poll(0);
if (polls.size() == 0)
break;
for (auto sock : polls) {
Message *msg = sock->receive(true);
delete msg;
}
}
}
bool SubMaster::updated(const char *name) const {
return services_.at(name)->updated;
}
bool SubMaster::alive(const char *name) const {
return services_.at(name)->alive;
}
bool SubMaster::valid(const char *name) const {
return services_.at(name)->valid;
}
uint64_t SubMaster::rcv_frame(const char *name) const {
return services_.at(name)->rcv_frame;
}
uint64_t SubMaster::rcv_time(const char *name) const {
return services_.at(name)->rcv_time;
}
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
return services_.at(name)->event;
}
SubMaster::~SubMaster() {
delete poller_;
for (auto &kv : messages_) {
SubMessage *m = kv.second;
m->msg_reader->~FlatArrayMessageReader();
free(m->allocated_msg_reader);
delete m->socket;
delete m;
}
}
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
for (auto name : service_list) {
assert(services.count(name) > 0);
PubSocket *socket = PubSocket::create(message_context.context(), name);
assert(socket);
sockets_[name] = socket;
}
}
int PubMaster::send(const char *name, MessageBuilder &msg) {
auto bytes = msg.toBytes();
return send(name, bytes.begin(), bytes.size());
}
PubMaster::~PubMaster() {
for (auto s : sockets_) delete s.second;
}
selfdrive/athena/__init__.py → cereal/messaging/tests/__init__.py
View File
cereal/messaging/tests/test_messaging.py
Executable
+195
View File
@@ -0,0 +1,195 @@
#!/usr/bin/env python3
import os
import capnp
import multiprocessing
import numbers
import random
import threading
import time
import unittest
from parameterized import parameterized
from cereal import log, car
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
def random_sock():
return random.choice(events)
def random_socks(num_socks=10):
return list({random_sock() for _ in range(num_socks)})
def random_bytes(length=1000):
return bytes([random.randrange(0xFF) for _ in range(length)])
def zmq_sleep(t=1):
if "ZMQ" in os.environ:
time.sleep(t)
def zmq_expected_failure(func):
if "ZMQ" in os.environ:
return unittest.expectedFailure(func)
else:
return func
# TODO: this should take any capnp struct and returrn a msg with random populated data
def random_carstate():
fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
msg = messaging.new_message("carState")
cs = msg.carState
for f in fields:
setattr(cs, f, random.random() * 10)
return msg
# TODO: this should compare any capnp structs
def assert_carstate(cs1, cs2):
for f in car.CarState.schema.non_union_fields:
# TODO: check all types
val1, val2 = getattr(cs1, f), getattr(cs2, f)
if isinstance(val1, numbers.Number):
assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
def delayed_send(delay, sock, dat):
def send_func():
sock.send(dat)
threading.Timer(delay, send_func).start()
class TestMessaging(unittest.TestCase):
def setUp(self):
# TODO: ZMQ tests are too slow; all sleeps will need to be
# replaced with logic to block on the necessary condition
if "ZMQ" in os.environ:
raise unittest.SkipTest
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
zmq_sleep()
@parameterized.expand(events)
def test_new_message(self, evt):
try:
msg = messaging.new_message(evt)
except capnp.lib.capnp.KjException:
msg = messaging.new_message(evt, random.randrange(200))
self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
self.assertFalse(msg.valid)
self.assertEqual(evt, msg.which())
@parameterized.expand(events)
def test_pub_sock(self, evt):
messaging.pub_sock(evt)
@parameterized.expand(events)
def test_sub_sock(self, evt):
messaging.sub_sock(evt)
@parameterized.expand([
(messaging.drain_sock, capnp._DynamicStructReader),
(messaging.drain_sock_raw, bytes),
])
def test_drain_sock(self, func, expected_type):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sub_sock = messaging.sub_sock(sock, timeout=1000)
zmq_sleep()
# no wait and no msgs in queue
msgs = func(sub_sock)
self.assertIsInstance(msgs, list)
self.assertEqual(len(msgs), 0)
# no wait but msgs are queued up
num_msgs = random.randrange(3, 10)
for _ in range(num_msgs):
pub_sock.send(messaging.new_message(sock).to_bytes())
time.sleep(0.1)
msgs = func(sub_sock)
self.assertIsInstance(msgs, list)
self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
self.assertEqual(len(msgs), num_msgs)
def test_recv_sock(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sub_sock = messaging.sub_sock(sock, timeout=100)
zmq_sleep()
# no wait and no msg in queue, socket should timeout
recvd = messaging.recv_sock(sub_sock)
self.assertTrue(recvd is None)
# no wait and one msg in queue
msg = random_carstate()
pub_sock.send(msg.to_bytes())
time.sleep(0.01)
recvd = messaging.recv_sock(sub_sock)
self.assertIsInstance(recvd, capnp._DynamicStructReader)
# https://github.com/python/mypy/issues/13038
assert_carstate(msg.carState, recvd.carState)
def test_recv_one(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sub_sock = messaging.sub_sock(sock, timeout=1000)
zmq_sleep()
# no msg in queue, socket should timeout
recvd = messaging.recv_one(sub_sock)
self.assertTrue(recvd is None)
# one msg in queue
msg = random_carstate()
pub_sock.send(msg.to_bytes())
recvd = messaging.recv_one(sub_sock)
self.assertIsInstance(recvd, capnp._DynamicStructReader)
assert_carstate(msg.carState, recvd.carState)
@zmq_expected_failure
def test_recv_one_or_none(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sub_sock = messaging.sub_sock(sock)
zmq_sleep()
# no msg in queue, socket shouldn't block
recvd = messaging.recv_one_or_none(sub_sock)
self.assertTrue(recvd is None)
# one msg in queue
msg = random_carstate()
pub_sock.send(msg.to_bytes())
recvd = messaging.recv_one_or_none(sub_sock)
self.assertIsInstance(recvd, capnp._DynamicStructReader)
assert_carstate(msg.carState, recvd.carState)
def test_recv_one_retry(self):
sock = "carState"
sock_timeout = 0.1
pub_sock = messaging.pub_sock(sock)
sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
zmq_sleep()
# this test doesn't work with ZMQ since multiprocessing interrupts it
if "ZMQ" not in os.environ:
# wait 15 socket timeouts and make sure it's still retrying
p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
p.start()
time.sleep(sock_timeout*15)
self.assertTrue(p.is_alive())
p.terminate()
# wait 15 socket timeouts before sending
msg = random_carstate()
delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
start_time = time.monotonic()
recvd = messaging.recv_one_retry(sub_sock)
self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
self.assertIsInstance(recvd, capnp._DynamicStructReader)
assert_carstate(msg.carState, recvd.carState)
if __name__ == "__main__":
unittest.main()
cereal/messaging/tests/test_pub_sub_master.py
Executable
+163
View File
@@ -0,0 +1,163 @@
#!/usr/bin/env python3
import random
import time
from typing import Sized, cast
import unittest
import cereal.messaging as messaging
from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
random_bytes, random_carstate, assert_carstate, \
zmq_sleep
class TestSubMaster(unittest.TestCase):
def setUp(self):
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
zmq_sleep(3)
def test_init(self):
sm = messaging.SubMaster(events)
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
self.assertEqual(len(cast(Sized, p)), len(events))
def test_init_state(self):
socks = random_socks()
sm = messaging.SubMaster(socks)
self.assertEqual(sm.frame, -1)
self.assertFalse(any(sm.updated.values()))
self.assertFalse(any(sm.alive.values()))
self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
sm.sock, sm.data, sm.logMonoTime, sm.valid]:
self.assertEqual(len(cast(Sized, p)), len(socks))
def test_getitem(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sm = messaging.SubMaster([sock,])
zmq_sleep()
msg = random_carstate()
pub_sock.send(msg.to_bytes())
sm.update(1000)
assert_carstate(msg.carState, sm[sock])
# TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs
def test_update(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sm = messaging.SubMaster([sock,])
zmq_sleep()
for i in range(10):
msg = messaging.new_message(sock)
pub_sock.send(msg.to_bytes())
sm.update(1000)
self.assertEqual(sm.frame, i)
self.assertTrue(all(sm.updated.values()))
def test_update_timeout(self):
sock = random_sock()
sm = messaging.SubMaster([sock,])
for _ in range(5):
timeout = random.randrange(1000, 5000)
start_time = time.monotonic()
sm.update(timeout)
t = time.monotonic() - start_time
self.assertGreaterEqual(t, timeout/1000.)
self.assertLess(t, 5)
self.assertFalse(any(sm.updated.values()))
def test_avg_frequency_checks(self):
for poll in (True, False):
sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"],
poll=("modelV2" if poll else None),
frequency=(20. if not poll else None))
checks = {
"carState": (20, 20),
"modelV2": (20, 20 if poll else 10),
"cameraOdometry": (20, 10),
"liveCalibration": (4, 4),
"carParams": (None, None),
}
for service, (max_freq, min_freq) in checks.items():
if max_freq is not None:
assert sm._check_avg_freq(service)
assert sm.max_freq[service] == max_freq*1.2
assert sm.min_freq[service] == min_freq*0.8
else:
assert not sm._check_avg_freq(service)
def test_alive(self):
pass
def test_ignore_alive(self):
pass
def test_valid(self):
pass
# SubMaster should always conflate
def test_conflate(self):
sock = "carState"
pub_sock = messaging.pub_sock(sock)
sm = messaging.SubMaster([sock,])
n = 10
for i in range(n+1):
msg = messaging.new_message(sock)
msg.carState.vEgo = i
pub_sock.send(msg.to_bytes())
time.sleep(0.01)
sm.update(1000)
self.assertEqual(sm[sock].vEgo, n)
class TestPubMaster(unittest.TestCase):
def setUp(self):
# ZMQ pub socket takes too long to die
# sleep to prevent multiple publishers error between tests
zmq_sleep(3)
def test_init(self):
messaging.PubMaster(events)
def test_send(self):
socks = random_socks()
pm = messaging.PubMaster(socks)
sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks}
zmq_sleep()
# PubMaster accepts either a capnp msg builder or bytes
for capnp in [True, False]:
for i in range(100):
sock = socks[i % len(socks)]
if capnp:
try:
msg = messaging.new_message(sock)
except Exception:
msg = messaging.new_message(sock, random.randrange(50))
else:
msg = random_bytes()
pm.send(sock, msg)
recvd = sub_socks[sock].receive()
if capnp:
msg.clear_write_flag()
msg = msg.to_bytes()
self.assertEqual(msg, recvd, i)
if __name__ == "__main__":
unittest.main()
cereal/messaging/tests/test_services.py
Executable
+25
View File
@@ -0,0 +1,25 @@
#!/usr/bin/env python3
import os
import tempfile
from typing import Dict
import unittest
from parameterized import parameterized
import cereal.services as services
from cereal.services import SERVICE_LIST
class TestServices(unittest.TestCase):
@parameterized.expand(SERVICE_LIST.keys())
def test_services(self, s):
service = SERVICE_LIST[s]
self.assertTrue(service.frequency <= 104)
def test_generated_header(self):
with tempfile.NamedTemporaryFile(suffix=".h") as f:
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
self.assertEqual(ret, 0, "generated services header is not valid C")
if __name__ == "__main__":
unittest.main()
cereal/services.py
Executable
+117
View File
@@ -0,0 +1,117 @@
#!/usr/bin/env python3
from typing import Optional
class Service:
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
self.should_log = should_log
self.frequency = frequency
self.decimation = decimation
_services: dict[str, tuple] = {
# service: (should_log, frequency, qlog decimation (optional))
# note: the "EncodeIdx" packets will still be in the log
"gyroscope": (True, 104., 104),
"gyroscope2": (True, 100., 100),
"accelerometer": (True, 104., 104),
"accelerometer2": (True, 100., 100),
"magnetometer": (True, 25., 25),
"lightSensor": (True, 100., 100),
"temperatureSensor": (True, 2., 200),
"temperatureSensor2": (True, 2., 200),
"gpsNMEA": (True, 9.),
"deviceState": (True, 2., 1),
"can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment
"controlsState": (True, 100., 10),
"pandaStates": (True, 10., 1),
"peripheralState": (True, 2., 1),
"radarState": (True, 20., 5),
"roadEncodeIdx": (False, 20., 1),
"liveTracks": (True, 20.),
"sendcan": (True, 100., 139),
"logMessage": (True, 0.),
"errorLogMessage": (True, 0., 1),
"liveCalibration": (True, 4., 4),
"liveTorqueParameters": (True, 4., 1),
"androidLog": (True, 0.),
"carState": (True, 100., 10),
"carControl": (True, 100., 10),
"carOutput": (True, 100., 10),
"longitudinalPlan": (True, 20., 5),
"procLog": (True, 0.5, 15),
"gpsLocationExternal": (True, 10., 10),
"gpsLocation": (True, 1., 1),
"ubloxGnss": (True, 10.),
"qcomGnss": (True, 2.),
"gnssMeasurements": (True, 10., 10),
"clocks": (True, 0.1, 1),
"ubloxRaw": (True, 20.),
"liveLocationKalman": (True, 20., 5),
"liveParameters": (True, 20., 5),
"cameraOdometry": (True, 20., 5),
"thumbnail": (True, 0.2, 1),
"onroadEvents": (True, 1., 1),
"carParams": (True, 0.02, 1),
"roadCameraState": (True, 20., 20),
"driverCameraState": (True, 20., 20),
"driverEncodeIdx": (False, 20., 1),
"driverStateV2": (True, 20., 10),
"driverMonitoringState": (True, 20., 10),
"wideRoadEncodeIdx": (False, 20., 1),
"wideRoadCameraState": (True, 20., 20),
"modelV2": (True, 20., 40),
"managerState": (True, 2., 1),
"uploaderState": (True, 0., 1),
"navInstruction": (True, 1., 10),
"navRoute": (True, 0.),
"navThumbnail": (True, 0.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
"microphone": (True, 10., 10),
# debug
"uiDebug": (True, 0., 1),
"testJoystick": (True, 0.),
"roadEncodeData": (False, 20.),
"driverEncodeData": (False, 20.),
"wideRoadEncodeData": (False, 20.),
"qRoadEncodeData": (False, 20.),
"livestreamWideRoadEncodeIdx": (False, 20.),
"livestreamRoadEncodeIdx": (False, 20.),
"livestreamDriverEncodeIdx": (False, 20.),
"livestreamWideRoadEncodeData": (False, 20.),
"livestreamRoadEncodeData": (False, 20.),
"livestreamDriverEncodeData": (False, 20.),
"customReservedRawData0": (True, 0.),
"customReservedRawData1": (True, 0.),
"customReservedRawData2": (True, 0.),
}
SERVICE_LIST = {name: Service(*vals) for
idx, (name, vals) in enumerate(_services.items())}
def build_header():
h = ""
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
h += "#ifndef __SERVICES_H\n"
h += "#define __SERVICES_H\n"
h += "#include <map>\n"
h += "#include <string>\n"
h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
h += "static std::map<std::string, service> services = {\n"
for k, v in SERVICE_LIST.items():
should_log = "true" if v.should_log else "false"
decimation = -1 if v.decimation is None else v.decimation
h += ' { "%s", {"%s", %s, %d, %d}},\n' % \
(k, k, should_log, v.frequency, decimation)
h += "};\n"
h += "#endif\n"
return h
if __name__ == "__main__":
print(build_header())
common/api/__init__.py
+3 -3
View File
@@ -1,13 +1,13 @@
import jwt
import os
import requests
from datetime import datetime, timedelta
from datetime import datetime, timedelta, UTC
from openpilot.system.hardware.hw import Paths
from openpilot.system.version import get_version
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
class Api():
class Api:
def __init__(self, dongle_id):
self.dongle_id = dongle_id
with open(Paths.persist_root()+'/comma/id_rsa') as f:
@@ -23,7 +23,7 @@ class Api():
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
def get_token(self, expiry_hours=1):
now = datetime.utcnow()
now = datetime.now(UTC).replace(tzinfo=None)
payload = {
'identity': self.dongle_id,
'nbf': now,
common/git.py
+1 -1
View File
@@ -1,5 +1,5 @@
from functools import cache
import subprocess
from openpilot.common.utils import cache
from openpilot.common.run import run_cmd, run_cmd_default
common/gpio.py
+2 -2
View File
@@ -1,5 +1,5 @@
import os
from functools import lru_cache
from functools import cache
def gpio_init(pin: int, output: bool) -> None:
try:
@@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None:
except Exception:
print(f"Failed to export gpio {pin}")
@lru_cache(maxsize=None)
@cache
def get_irq_action(irq: int) -> list[str]:
try:
with open(f"/sys/kernel/irq/{irq}/actions") as f:
common/markdown.py
+45
View File
@@ -0,0 +1,45 @@
HTML_REPLACEMENTS = [
(r'&', r'&amp;'),
(r'"', r'&quot;'),
]
def parse_markdown(text: str, tab_length: int = 2) -> str:
lines = text.split("\n")
output: list[str] = []
list_level = 0
def end_outstanding_lists(level: int, end_level: int) -> int:
while level > end_level:
level -= 1
output.append("</ul>")
if level > 0:
output.append("</li>")
return end_level
for i, line in enumerate(lines):
if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading
output.append(f"<h1>{line}</h1>")
elif line.startswith("==="):
pass
elif line.lstrip().startswith("* "): # list
line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
if list_level >= line_level:
list_level = end_outstanding_lists(list_level, line_level)
else:
list_level += 1
if list_level > 1:
output[-1] = output[-1].replace("</li>", "")
output.append("<ul>")
output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
else:
list_level = end_outstanding_lists(list_level, 0)
if len(line) > 0:
output.append(line)
end_outstanding_lists(list_level, 0)
output_str = "\n".join(output) + "\n"
for (fr, to) in HTML_REPLACEMENTS:
output_str = output_str.replace(fr, to)
return output_str
common/prefix.h
+5
View File
@@ -5,6 +5,7 @@
#include "common/params.h"
#include "common/util.h"
#include "system/hardware/hw.h"
class OpenpilotPrefix {
public:
@@ -25,6 +26,10 @@ public:
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
unlink(param_path.c_str());
}
if (getenv("COMMA_CACHE") == nullptr) {
system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
}
system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
unsetenv("OPENPILOT_PREFIX");
}
common/ratekeeper.h
+1 -1
View File
@@ -9,7 +9,7 @@ public:
~RateKeeper() {}
bool keepTime();
bool monitorTime();
inline double frame() const { return frame_; }
inline uint64_t frame() const { return frame_; }
inline double remaining() const { return remaining_; }
private:
common/realtime.py
+5 -5
View File
@@ -4,7 +4,7 @@ import os
import time
from collections import deque
from setproctitle import getproctitle
from openpilot.common.threadname import getthreadname
from openpilot.system.hardware import PC
@@ -12,7 +12,7 @@ from openpilot.system.hardware import PC
# time step for each process
DT_CTRL = 0.01 # controlsd
DT_MDL = 0.05 # model
DT_TRML = 0.5 # thermald and manager
DT_HW = 0.5 # hardwared and manager
DT_DMON = 0.05 # driver monitoring
@@ -23,7 +23,7 @@ class Priority:
CTRL_LOW = 51 # plannerd & radard
# CORE 3
# - boardd = 55
# - pandad = 55
CTRL_HIGH = 53
@@ -52,7 +52,7 @@ class Ratekeeper:
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0.0
self._process_name = getproctitle()
self._thread_name = getthreadname()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = time.monotonic()
@@ -87,7 +87,7 @@ class Ratekeeper:
remaining = self._next_frame_time - time.monotonic()
self._next_frame_time += self._interval
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms")
lagged = True
self._frame += 1
self._remaining = remaining
common/spinner.py
+1 -1
View File
@@ -3,7 +3,7 @@ import subprocess
from openpilot.common.basedir import BASEDIR
class Spinner():
class Spinner:
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
common/stat_live.py
+2 -2
View File
@@ -1,6 +1,6 @@
import numpy as np
class RunningStat():
class RunningStat:
# tracks realtime mean and standard deviation without storing any data
def __init__(self, priors=None, max_trackable=-1):
self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
def params_to_save(self):
return [self.M, self.S, self.n]
class RunningStatFilter():
class RunningStatFilter:
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
self.raw_stat = RunningStat(raw_priors, -1)
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
common/tests/test_file_helpers.py
+2 -7
View File
@@ -1,11 +1,10 @@
import os
import unittest
from uuid import uuid4
from openpilot.common.file_helpers import atomic_write_in_dir
class TestFileHelpers(unittest.TestCase):
class TestFileHelpers:
def run_atomic_write_func(self, atomic_write_func):
path = f"/tmp/tmp{uuid4()}"
with atomic_write_func(path) as f:
@@ -13,12 +12,8 @@ class TestFileHelpers(unittest.TestCase):
assert not os.path.exists(path)
with open(path) as f:
self.assertEqual(f.read(), "test")
assert f.read() == "test"
os.remove(path)
def test_atomic_write_in_dir(self):
self.run_atomic_write_func(atomic_write_in_dir)
if __name__ == "__main__":
unittest.main()
common/tests/test_markdown.py
+15
View File
@@ -0,0 +1,15 @@
import os
from openpilot.common.basedir import BASEDIR
from openpilot.common.markdown import parse_markdown
class TestMarkdown:
def test_all_release_notes(self):
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
release_notes = f.read().split("\n\n")
assert len(release_notes) > 10
for rn in release_notes:
md = parse_markdown(rn)
assert len(md) > 0
common/tests/test_numpy_fast.py
+1 -6
View File
@@ -1,10 +1,9 @@
import numpy as np
import unittest
from openpilot.common.numpy_fast import interp
class InterpTest(unittest.TestCase):
class TestInterp:
def test_correctness_controls(self):
_A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
_A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
@@ -20,7 +19,3 @@ class InterpTest(unittest.TestCase):
expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
np.testing.assert_equal(actual, expected)
if __name__ == "__main__":
unittest.main()
common/tests/test_params.py
+12 -16
View File
@@ -1,13 +1,13 @@
import pytest
import os
import threading
import time
import uuid
import unittest
from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
class TestParams(unittest.TestCase):
def setUp(self):
class TestParams:
def setup_method(self):
self.params = Params()
def test_params_put_and_get(self):
@@ -49,16 +49,16 @@ class TestParams(unittest.TestCase):
assert self.params.get("CarParams", True) == b"test"
def test_params_unknown_key_fails(self):
with self.assertRaises(UnknownKeyName):
with pytest.raises(UnknownKeyName):
self.params.get("swag")
with self.assertRaises(UnknownKeyName):
with pytest.raises(UnknownKeyName):
self.params.get_bool("swag")
with self.assertRaises(UnknownKeyName):
with pytest.raises(UnknownKeyName):
self.params.put("swag", "abc")
with self.assertRaises(UnknownKeyName):
with pytest.raises(UnknownKeyName):
self.params.put_bool("swag", True)
def test_remove_not_there(self):
@@ -68,19 +68,19 @@ class TestParams(unittest.TestCase):
def test_get_bool(self):
self.params.remove("IsMetric")
self.assertFalse(self.params.get_bool("IsMetric"))
assert not self.params.get_bool("IsMetric")
self.params.put_bool("IsMetric", True)
self.assertTrue(self.params.get_bool("IsMetric"))
assert self.params.get_bool("IsMetric")
self.params.put_bool("IsMetric", False)
self.assertFalse(self.params.get_bool("IsMetric"))
assert not self.params.get_bool("IsMetric")
self.params.put("IsMetric", "1")
self.assertTrue(self.params.get_bool("IsMetric"))
assert self.params.get_bool("IsMetric")
self.params.put("IsMetric", "0")
self.assertFalse(self.params.get_bool("IsMetric"))
assert not self.params.get_bool("IsMetric")
def test_put_non_blocking_with_get_block(self):
q = Params()
@@ -107,7 +107,3 @@ class TestParams(unittest.TestCase):
assert len(keys) > 20
assert len(keys) == len(set(keys))
assert b"CarParams" in keys
if __name__ == "__main__":
unittest.main()
common/tests/test_simple_kalman.py
+4 -10
View File
@@ -1,10 +1,8 @@
import unittest
from openpilot.common.simple_kalman import KF1D
class TestSimpleKalman(unittest.TestCase):
def setUp(self):
class TestSimpleKalman:
def setup_method(self):
dt = 0.01
x0_0 = 0.0
x1_0 = 0.0
@@ -24,12 +22,8 @@ class TestSimpleKalman(unittest.TestCase):
def test_getter_setter(self):
self.kf.set_x([[1.0], [1.0]])
self.assertEqual(self.kf.x, [[1.0], [1.0]])
assert self.kf.x == [[1.0], [1.0]]
def update_returns_state(self):
x = self.kf.update(100)
self.assertEqual(x, self.kf.x)
if __name__ == "__main__":
unittest.main()
assert x == self.kf.x
common/tests/test_threadname.py
+8
View File
@@ -0,0 +1,8 @@
from openpilot.common.threadname import setthreadname, getthreadname, LINUX
class TestThreadName:
def test_set_get_threadname(self):
if LINUX:
name = 'TESTING'
setthreadname(name)
assert name == getthreadname()
common/threadname.py
+19
View File
@@ -0,0 +1,19 @@
import ctypes
import os
LINUX = os.name == 'posix' and os.uname().sysname == 'Linux'
if LINUX:
libc = ctypes.CDLL('libc.so.6')
def setthreadname(name: str) -> None:
if LINUX:
name = name[-15:] + '\0'
libc.prctl(15, str.encode(name), 0, 0, 0)
def getthreadname() -> str:
if LINUX:
name = ctypes.create_string_buffer(16)
libc.prctl(16, name)
return name.value.decode('utf-8')
return ""
common/transformations/tests/test_coordinates.py
Executable → Regular
+5 -10
View File
@@ -1,7 +1,4 @@
#!/usr/bin/env python3
import numpy as np
import unittest
import openpilot.common.transformations.coordinates as coord
@@ -44,7 +41,7 @@ ned_offsets_batch = np.array([[ 53.88103168, 43.83445935, -46.27488057],
[ 78.56272609, 18.53100158, -43.25290759]])
class TestNED(unittest.TestCase):
class TestNED:
def test_small_distances(self):
start_geodetic = np.array([33.8042184, -117.888593, 0.0])
local_coord = coord.LocalCoord.from_geodetic(start_geodetic)
@@ -54,13 +51,13 @@ class TestNED(unittest.TestCase):
west_geodetic = start_geodetic + [0, -0.0005, 0]
west_ned = local_coord.geodetic2ned(west_geodetic)
self.assertLess(np.abs(west_ned[0]), 1e-3)
self.assertLess(west_ned[1], 0)
assert np.abs(west_ned[0]) < 1e-3
assert west_ned[1] < 0
southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0]
southwest_ned = local_coord.geodetic2ned(southwest_geodetic)
self.assertLess(southwest_ned[0], 0)
self.assertLess(southwest_ned[1], 0)
assert southwest_ned[0] < 0
assert southwest_ned[1] < 0
def test_ecef_geodetic(self):
# testing single
@@ -105,5 +102,3 @@ class TestNED(unittest.TestCase):
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
ecef_positions_offset_batch,
rtol=1e-9, atol=1e-7)
if __name__ == "__main__":
unittest.main()
common/transformations/tests/test_orientation.py
Executable → Regular
+1 -8
View File
@@ -1,7 +1,4 @@
#!/usr/bin/env python3
import numpy as np
import unittest
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
rot2quat, quat2rot, \
@@ -32,7 +29,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808],
[ 2.50450101, 0.36304151, 0.33136365]])
class TestOrientation(unittest.TestCase):
class TestOrientation:
def test_quat_euler(self):
for i, eul in enumerate(eulers):
np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
@@ -62,7 +59,3 @@ class TestOrientation(unittest.TestCase):
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
if __name__ == "__main__":
unittest.main()
common/utils.py
-12
View File
@@ -1,11 +1,3 @@
from collections.abc import Callable
from functools import lru_cache
from typing import TypeVar
_RT = TypeVar("_RT")
class Freezable:
_frozen: bool = False
@@ -17,7 +9,3 @@ class Freezable:
if self._frozen:
raise Exception("cannot modify frozen object")
super().__setattr__(*args, **kwargs)
def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
return lru_cache(maxsize=None)(user_function)
common/version.h
+1 -1
View File
@@ -1 +1 @@
#define COMMA_VERSION "0.9.7"
#define COMMA_VERSION "0.9.8"
conftest.py
+1 -1
View File
@@ -5,7 +5,7 @@ import pytest
import random
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.selfdrive.manager import manager
from openpilot.system.manager import manager
from openpilot.system.hardware import TICI, HARDWARE
docs/BOUNTIES.md
+1 -4
View File
@@ -9,6 +9,7 @@ Get paid to improve openpilot!
* once you open a PR, the bounty is locked to you until you stop working on it
* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
* for bounties >$100, the first PR gets a lock, which times out after a week of no progress
We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in.
This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.
@@ -56,10 +57,6 @@ The control doesn't have to be perfect, but it should generally do what it's sup
Get a Rivian driving with openpilot.
Requires a merged port with lateral control and at least a POC of longitudinal control.
#### Toyota SecOc - $5000
We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932).
#### Chevy Bolt with SuperCruise - $2500
The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.
docs/CARS.md
+15 -13
View File
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 286 Supported Cars
# 288 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -120,17 +120,18 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
@@ -184,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -236,7 +237,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -262,13 +263,14 @@ A supported vehicle is one that just works when you install a comma device. All
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
@@ -277,7 +279,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
docs/c_docs.rst
+4 -4
View File
@@ -14,12 +14,12 @@ cereal
messaging
^^^^^^^^^
.. autodoxygenindex::
:project: cereal_messaging
:project: msgq_repo_msgq
visionipc
^^^^^^^^^
.. autodoxygenindex::
:project: cereal_visionipc
:project: msgq_repo_msgq_visionipc
selfdrive
@@ -77,10 +77,10 @@ sensorsd
.. autodoxygenindex::
:project: system_sensord_sensors
boardd
pandad
^^^^^^
.. autodoxygenindex::
:project: selfdrive_boardd
:project: selfdrive_pandad
rednose
launch_chffrplus.sh
+1 -1
View File
@@ -82,7 +82,7 @@ function launch {
tmux capture-pane -pq -S-1000 > /tmp/launch_log
# start manager
cd selfdrive/manager
cd system/manager
if [ ! -f $DIR/prebuilt ]; then
./build.py
fi
msgq
Symlink
+1
View File
@@ -0,0 +1 @@
msgq_repo/msgq
msgq_repo
Submodule
+1
Submodule msgq_repo added at 74074d650f
opendbc
+1 -1
Submodule opendbc updated: 91a9bb4824...776bca184b
poetry.lock
Generated
+2045 -2020
View File
File diff suppressed because one or more lines are too long
pyproject.toml
+76 -35
View File
@@ -1,3 +1,12 @@
[project]
name = "openpilot"
requires-python = ">= 3.11"
readme = "README.md"
license = {text = "MIT License"}
[project.urls]
Homepage = "https://comma.ai"
[tool.pytest.ini_options]
minversion = "6.0"
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@@ -11,19 +20,18 @@ markers = [
]
testpaths = [
"common",
"selfdrive/athena",
"selfdrive/boardd",
"selfdrive/pandad",
"selfdrive/car",
"selfdrive/controls",
"selfdrive/locationd",
"selfdrive/monitoring",
"selfdrive/navd/tests",
"selfdrive/thermald",
"selfdrive/test/longitudinal_maneuvers",
"selfdrive/test/process_replay/test_fuzzy.py",
"selfdrive/updated",
"system/updated",
"system/athena",
"system/camerad",
"system/hardware/tici",
"system/hardware",
"system/loggerd",
"system/proclogd",
"system/tests",
@@ -31,7 +39,8 @@ testpaths = [
"system/webrtc",
"tools/lib/tests",
"tools/replay",
"tools/cabana"
"tools/cabana",
"cereal/messaging/tests",
]
[tool.mypy]
@@ -78,34 +87,47 @@ readme = "README.md"
repository = "https://github.com/commaai/openpilot"
documentation = "https://docs.comma.ai"
[tool.poetry.dependencies]
python = "~3.11"
python = ">=3.11, <3.13"
# multiple users
sounddevice = "*" # micd + soundd
pyserial = "*" # pigeond + qcomgpsd
requests = "*" # many one-off uses
sympy = "*" # rednose + friends
crcmod = "*" # cars + qcomgpsd
# hardwared
smbus2 = "*" # configuring amp
# core
cffi = "*"
scons = "*"
pycapnp = "*"
Cython = "*"
numpy = "*"
# body / webrtcd
aiohttp = "*"
aiortc = "*"
cffi = "*"
crcmod = "*"
Cython = "*"
json-rpc = "*"
pyaudio = "*"
# panda
libusb1 = "*"
numpy = "*"
spidev = { version = "*", platform = "linux" }
# modeld
onnx = ">=1.14.0"
onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
psutil = "*"
pyaudio = "*"
pycapnp = "*"
pycryptodome = "*"
PyJWT = "*"
pyserial = "*"
# logging
pyzmq = "*"
requests = "*"
scons = "*"
sentry-sdk = "*"
smbus2 = "*"
sounddevice = "*"
spidev = { version = "*", platform = "linux" }
sympy = "*"
# athena
PyJWT = "*"
json-rpc = "*"
websocket_client = "*"
# acados deps
@@ -113,9 +135,9 @@ casadi = "*"
future-fstrings = "*"
# these should be removed
markdown-it-py = "*"
timezonefinder = "*"
setproctitle = "*"
psutil = "*"
timezonefinder = "*" # just used for nav ETA
pycryptodome = "*" # used in updated/casync, panda, body, and a test
[tool.poetry.group.dev.dependencies]
av = "*"
@@ -125,25 +147,24 @@ breathe = "*"
control = "*"
coverage = "*"
dictdiffer = "*"
ft4222 = "*"
flaky = "*"
hypothesis = "~6.47"
inputs = "*"
Jinja2 = "*"
lru-dict = "*"
matplotlib = "*"
metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
mpld3 = "*"
mypy = "*"
myst-parser = "*"
natsort = "*"
opencv-python-headless = "*"
parameterized = "^0.8"
pprofile = "*"
#pprofile = "*"
polyline = "*"
pre-commit = "*"
pyautogui = "*"
pyopencl = "==2023.1.4" # 2024.1 is broken on arm64
pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64
pygame = "*"
pywinctl = "*"
pyprof2calltree = "*"
@@ -154,12 +175,15 @@ pytest-subtests = "*"
pytest-xdist = "*"
pytest-timeout = "*"
pytest-randomly = "*"
pytest-asyncio = "*"
pytest-mock = "*"
pytest-repeat = "*"
rerun-sdk = "*"
ruff = "*"
sphinx = "*"
sphinx-rtd-theme = "*"
sphinx-sitemap = "*"
tabulate = "*"
tenacity = "*"
types-requests = "*"
types-tabulate = "*"
tqdm = "*"
@@ -174,8 +198,24 @@ build-backend = "poetry.core.masonry.api"
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
[tool.ruff]
indent-width = 2
lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
lint.select = [
"E", "F", "W", "PIE", "C4", "ISC", "A", "B",
"NPY", # numpy
"UP", # pyupgrade
"TRY302", "TRY400", "TRY401", # try/excepts
"RUF008", "RUF100",
"TID251"
]
lint.ignore = [
"E741",
"E402",
"C408",
"ISC003",
"B027",
"B024",
"NPY002", # new numpy random syntax is worse
"UP038", # (x, y) -> x|y for isinstance
]
line-length = 160
target-version="py311"
exclude = [
@@ -197,6 +237,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false
"third_party".msg = "Use openpilot.third_party"
"tools".msg = "Use openpilot.tools"
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
"unittest".msg = "Use pytest"
[tool.coverage.run]
concurrency = ["multiprocessing", "thread"]
release/README.md
+36
View File
@@ -0,0 +1,36 @@
# openpilot releases
## release checklist
**Go to `devel-staging`**
- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
- [ ] open a pull request from `devel-staging` to `devel`
**Go to `devel`**
- [ ] update RELEASES.md
- [ ] close out milestone
- [ ] post on Discord dev channel
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] merge the pull request
tests:
- [ ] update from previous release -> new release
- [ ] update from new release -> previous release
- [ ] fresh install with `openpilot-test.comma.ai`
- [ ] drive on fresh install
- [ ] comma body test
- [ ] no submodules or LFS
- [ ] check sentry, MTBF, etc.
**Go to `release3`**
- [ ] publish the blog post
- [ ] `git reset --hard origin/release3-staging`
- [ ] tag the release
```
git tag v0.X.X <commit-hash>
git push origin v0.X.X
```
- [ ] create GitHub release
- [ ] final test install on `openpilot.comma.ai`
- [ ] update production
- [ ] Post on Discord, X, etc.
release/build_devel.sh
+8 -2
View File
@@ -1,5 +1,4 @@
#!/usr/bin/bash
set -ex
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
@@ -44,7 +43,7 @@ git clean -xdff
# do the files copy
echo "[-] copying files T=$SECONDS"
cd $SOURCE_DIR
cp -pR --parents $(cat release/files_*) $TARGET_DIR/
cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
# in the directory
cd $TARGET_DIR
@@ -64,6 +63,13 @@ date: $DATETIME
master commit: $GIT_HASH
"
# should be no submodules or LFS files
git submodule status
if [ ! -z "$(git lfs ls-files)" ]; then
echo "LFS files detected!"
exit 1
fi
# ensure files are within GitHub's limit
BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)"
if [ ! -z "$BIG_FILES" ]; then
release/build_release.sh
+12 -14
View File
@@ -1,4 +1,6 @@
#!/usr/bin/bash -e
#!/usr/bin/bash
set -e
set -x
# git diff --name-status origin/release3-staging | grep "^A" | less
@@ -9,13 +11,6 @@ cd $DIR
BUILD_DIR=/data/openpilot
SOURCE_DIR="$(git rev-parse --show-toplevel)"
if [ -f /TICI ]; then
FILES_SRC="release/files_tici"
else
echo "no release files set"
exit 1
fi
if [ -z "$RELEASE_BRANCH" ]; then
echo "RELEASE_BRANCH is not set"
exit 1
@@ -36,8 +31,7 @@ git checkout --orphan $RELEASE_BRANCH
# do the files copy
echo "[-] copying files T=$SECONDS"
cd $SOURCE_DIR
cp -pR --parents $(cat release/files_common) $BUILD_DIR/
cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/
cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
# in the directory
cd $BUILD_DIR
@@ -54,7 +48,7 @@ git commit -a -m "openpilot v$VERSION release"
# Build
export PYTHONPATH="$BUILD_DIR"
scons -j$(nproc)
scons -j$(nproc) --minimal
# release panda fw
CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
@@ -77,6 +71,10 @@ find . -name '__pycache__' -delete
rm -rf .sconsign.dblite Jenkinsfile release/
rm selfdrive/modeld/models/supercombo.onnx
find third_party/ -name '*x86*' -exec rm -r {} +
find third_party/ -name '*Darwin*' -exec rm -r {} +
# Restore third_party
git checkout third_party/
@@ -92,9 +90,9 @@ TEST_FILES="tools/"
cd $SOURCE_DIR
cp -pR -n --parents $TEST_FILES $BUILD_DIR/
cd $BUILD_DIR
RELEASE=1 selfdrive/test/test_onroad.py
#selfdrive/manager/test/test_manager.py
selfdrive/car/tests/test_car_interfaces.py
RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
#system/manager/test/test_manager.py
pytest selfdrive/car/tests/test_car_interfaces.py
rm -rf $TEST_FILES
if [ ! -z "$RELEASE_BRANCH" ]; then
release/files_common
-567
View File
@@ -1,567 +0,0 @@
.gitignore
LICENSE
launch_env.sh
launch_chffrplus.sh
launch_openpilot.sh
Jenkinsfile
SConstruct
pyproject.toml
README.md
RELEASES.md
docs/CARS.md
docs/CONTRIBUTING.md
docs/INTEGRATION.md
docs/LIMITATIONS.md
site_scons/site_tools/cython.py
openpilot/__init__.py
openpilot/**
common/.gitignore
common/__init__.py
common/*.py
common/*.pyx
common/mock/*
common/transformations/__init__.py
common/transformations/camera.py
common/transformations/model.py
common/transformations/SConscript
common/transformations/coordinates.py
common/transformations/coordinates.cc
common/transformations/coordinates.hpp
common/transformations/orientation.py
common/transformations/orientation.cc
common/transformations/orientation.hpp
common/transformations/transformations.pxd
common/transformations/transformations.pyx
common/api/__init__.py
release/*
tools/__init__.py
tools/lib/*
tools/bodyteleop/.gitignore
tools/bodyteleop/web.py
tools/bodyteleop/static/*
tools/joystick/*
tools/replay/*.cc
tools/replay/*.h
selfdrive/__init__.py
selfdrive/sentry.py
selfdrive/tombstoned.py
selfdrive/statsd.py
selfdrive/updated/**
system/logmessaged.py
system/micd.py
system/version.py
selfdrive/SConscript
selfdrive/athena/__init__.py
selfdrive/athena/athenad.py
selfdrive/athena/manage_athenad.py
selfdrive/athena/registration.py
selfdrive/boardd/.gitignore
selfdrive/boardd/SConscript
selfdrive/boardd/__init__.py
selfdrive/boardd/boardd.cc
selfdrive/boardd/boardd.h
selfdrive/boardd/main.cc
selfdrive/boardd/boardd.py
selfdrive/boardd/boardd_api_impl.pyx
selfdrive/boardd/can_list_to_can_capnp.cc
selfdrive/boardd/panda.cc
selfdrive/boardd/panda.h
selfdrive/boardd/spi.cc
selfdrive/boardd/panda_comms.h
selfdrive/boardd/panda_comms.cc
selfdrive/boardd/pandad.py
selfdrive/boardd/tests/test_boardd_loopback.py
selfdrive/car/__init__.py
selfdrive/car/card.py
selfdrive/car/docs_definitions.py
selfdrive/car/car_helpers.py
selfdrive/car/fingerprints.py
selfdrive/car/interfaces.py
selfdrive/car/values.py
selfdrive/car/vin.py
selfdrive/car/disable_ecu.py
selfdrive/car/fw_versions.py
selfdrive/car/fw_query_definitions.py
selfdrive/car/ecu_addrs.py
selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py
selfdrive/car/tests/test_car_interfaces.py
selfdrive/car/torque_data/*
selfdrive/car/body/*.py
selfdrive/car/chrysler/*.py
selfdrive/car/ford/*.py
selfdrive/car/gm/*.py
selfdrive/car/honda/*.py
selfdrive/car/hyundai/*.py
selfdrive/car/mazda/*.py
selfdrive/car/mock/*.py
selfdrive/car/nissan/*.py
selfdrive/car/subaru/*.py
selfdrive/car/tesla/*.py
selfdrive/car/toyota/*.py
selfdrive/car/volkswagen/*.py
selfdrive/debug/can_printer.py
selfdrive/debug/check_freq.py
selfdrive/debug/dump.py
selfdrive/debug/filter_log_message.py
selfdrive/debug/format_fingerprints.py
selfdrive/debug/get_fingerprint.py
selfdrive/debug/uiview.py
selfdrive/debug/hyundai_enable_radar_points.py
selfdrive/debug/vw_mqb_config.py
common/SConscript
common/version.h
common/*.h
common/*.cc
selfdrive/controls/__init__.py
selfdrive/controls/controlsd.py
selfdrive/controls/plannerd.py
selfdrive/controls/radard.py
selfdrive/controls/lib/__init__.py
selfdrive/controls/lib/alertmanager.py
selfdrive/controls/lib/alerts_offroad.json
selfdrive/controls/lib/desire_helper.py
selfdrive/controls/lib/drive_helpers.py
selfdrive/controls/lib/events.py
selfdrive/controls/lib/latcontrol_angle.py
selfdrive/controls/lib/latcontrol_torque.py
selfdrive/controls/lib/latcontrol_pid.py
selfdrive/controls/lib/latcontrol.py
selfdrive/controls/lib/longcontrol.py
selfdrive/controls/lib/longitudinal_planner.py
selfdrive/controls/lib/pid.py
selfdrive/controls/lib/vehicle_model.py
selfdrive/controls/lib/lateral_mpc_lib/.gitignore
selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
selfdrive/controls/lib/lateral_mpc_lib/*
selfdrive/controls/lib/longitudinal_mpc_lib/*
system/__init__.py
system/*.py
system/hardware/__init__.py
system/hardware/base.h
system/hardware/base.py
system/hardware/hw.h
system/hardware/hw.py
system/hardware/tici/__init__.py
system/hardware/tici/hardware.h
system/hardware/tici/hardware.py
system/hardware/tici/pins.py
system/hardware/tici/agnos.py
system/hardware/tici/agnos.json
system/hardware/tici/amplifier.py
system/hardware/tici/updater
system/hardware/tici/iwlist.py
system/hardware/tici/esim.nmconnection
system/hardware/pc/__init__.py
system/hardware/pc/hardware.h
system/hardware/pc/hardware.py
system/ubloxd/.gitignore
system/ubloxd/SConscript
system/ubloxd/pigeond.py
system/ubloxd/generated/*
system/ubloxd/*.h
system/ubloxd/*.cc
system/updated/*
selfdrive/locationd/__init__.py
selfdrive/locationd/SConscript
selfdrive/locationd/.gitignore
selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc
selfdrive/locationd/paramsd.py
selfdrive/locationd/models/__init__.py
selfdrive/locationd/models/.gitignore
selfdrive/locationd/models/car_kf.py
selfdrive/locationd/models/live_kf.py
selfdrive/locationd/models/live_kf.h
selfdrive/locationd/models/live_kf.cc
selfdrive/locationd/models/constants.py
selfdrive/locationd/torqued.py
selfdrive/locationd/calibrationd.py
selfdrive/locationd/helpers.py
system/logcatd/.gitignore
system/logcatd/SConscript
system/logcatd/logcatd_systemd.cc
system/proclogd/SConscript
system/proclogd/main.cc
system/proclogd/proclog.cc
system/proclogd/proclog.h
system/loggerd/.gitignore
system/loggerd/SConscript
system/loggerd/encoder/encoder.cc
system/loggerd/encoder/encoder.h
system/loggerd/encoder/v4l_encoder.cc
system/loggerd/encoder/v4l_encoder.h
system/loggerd/video_writer.cc
system/loggerd/video_writer.h
system/loggerd/logger.cc
system/loggerd/logger.h
system/loggerd/loggerd.cc
system/loggerd/loggerd.h
system/loggerd/encoderd.cc
system/loggerd/bootlog.cc
system/loggerd/encoder/ffmpeg_encoder.cc
system/loggerd/encoder/ffmpeg_encoder.h
system/loggerd/__init__.py
system/loggerd/config.py
system/loggerd/uploader.py
system/loggerd/deleter.py
system/loggerd/xattr_cache.py
system/sensord/.gitignore
system/sensord/SConscript
system/sensord/sensors_qcom2.cc
system/sensord/sensors/*.cc
system/sensord/sensors/*.h
system/webrtc/__init__.py
system/webrtc/webrtcd.py
system/webrtc/schema.py
system/webrtc/device/audio.py
system/webrtc/device/video.py
selfdrive/thermald/thermald.py
selfdrive/thermald/power_monitoring.py
selfdrive/thermald/fan_controller.py
selfdrive/test/__init__.py
selfdrive/test/fuzzy_generation.py
selfdrive/test/helpers.py
selfdrive/test/setup_device_ci.sh
selfdrive/test/test_onroad.py
selfdrive/test/test_time_to_onroad.py
selfdrive/ui/.gitignore
selfdrive/ui/SConscript
selfdrive/ui/*.cc
selfdrive/ui/*.h
selfdrive/ui/text
selfdrive/ui/spinner
selfdrive/ui/soundd.py
selfdrive/ui/translations/*.ts
selfdrive/ui/translations/languages.json
selfdrive/ui/update_translations.py
selfdrive/ui/tests/test_translations.py
selfdrive/ui/qt/*.cc
selfdrive/ui/qt/*.h
selfdrive/ui/qt/network/*.cc
selfdrive/ui/qt/network/*.h
selfdrive/ui/qt/offroad/*.cc
selfdrive/ui/qt/offroad/*.h
selfdrive/ui/qt/offroad/*.qml
selfdrive/ui/qt/onroad/*.cc
selfdrive/ui/qt/onroad/*.h
selfdrive/ui/qt/widgets/*.cc
selfdrive/ui/qt/widgets/*.h
selfdrive/ui/qt/maps/*.cc
selfdrive/ui/qt/maps/*.h
selfdrive/ui/qt/setup/*.cc
selfdrive/ui/qt/setup/*.h
selfdrive/ui/installer/*.cc
selfdrive/ui/installer/*.h
selfdrive/ui/installer/*.cc
system/camerad/SConscript
system/camerad/main.cc
system/camerad/snapshot/*
system/camerad/cameras/camera_common.h
system/camerad/cameras/camera_common.cc
system/camerad/sensors/*.h
system/camerad/sensors/*.cc
selfdrive/manager/__init__.py
selfdrive/manager/build.py
selfdrive/manager/helpers.py
selfdrive/manager/manager.py
selfdrive/manager/process_config.py
selfdrive/manager/process.py
selfdrive/manager/test/__init__.py
selfdrive/manager/test/test_manager.py
selfdrive/modeld/.gitignore
selfdrive/modeld/__init__.py
selfdrive/modeld/SConscript
selfdrive/modeld/modeld.py
selfdrive/modeld/parse_model_outputs.py
selfdrive/modeld/fill_model_msg.py
selfdrive/modeld/get_model_metadata.py
selfdrive/modeld/dmonitoringmodeld.py
selfdrive/modeld/constants.py
selfdrive/modeld/modeld
selfdrive/modeld/models/__init__.py
selfdrive/modeld/models/*.pxd
selfdrive/modeld/models/*.pyx
selfdrive/modeld/models/commonmodel.cc
selfdrive/modeld/models/commonmodel.h
selfdrive/modeld/models/supercombo.onnx
selfdrive/modeld/models/dmonitoring_model_q.dlc
selfdrive/modeld/transforms/loadyuv.cc
selfdrive/modeld/transforms/loadyuv.h
selfdrive/modeld/transforms/loadyuv.cl
selfdrive/modeld/transforms/transform.cc
selfdrive/modeld/transforms/transform.h
selfdrive/modeld/transforms/transform.cl
selfdrive/modeld/thneed/*.py
selfdrive/modeld/thneed/thneed.h
selfdrive/modeld/thneed/thneed_common.cc
selfdrive/modeld/thneed/thneed_qcom2.cc
selfdrive/modeld/thneed/serialize.cc
selfdrive/modeld/runners/__init__.py
selfdrive/modeld/runners/*.pxd
selfdrive/modeld/runners/*.pyx
selfdrive/modeld/runners/*.cc
selfdrive/modeld/runners/*.h
selfdrive/modeld/runners/*.py
selfdrive/monitoring/dmonitoringd.py
selfdrive/monitoring/driver_monitor.py
selfdrive/navd/.gitignore
selfdrive/navd/__init__.py
selfdrive/navd/**
selfdrive/assets/.gitignore
selfdrive/assets/assets.qrc
selfdrive/assets/*.png
selfdrive/assets/*.svg
selfdrive/assets/body/*
selfdrive/assets/fonts/*.ttf
selfdrive/assets/icons/*
selfdrive/assets/images/*
selfdrive/assets/offroad/*
selfdrive/assets/sounds/*
selfdrive/assets/training/*
selfdrive/assets/navigation/*
third_party/.gitignore
third_party/SConscript
third_party/linux/**
third_party/opencl/**
third_party/json11/json11.cpp
third_party/json11/json11.hpp
third_party/qrcode/*.cc
third_party/qrcode/*.hpp
third_party/kaitai/*.h
third_party/kaitai/*.cpp
third_party/libyuv/include/**
third_party/snpe/include/**
third_party/snpe/dsp**
third_party/acados/.gitignore
third_party/acados/include/**
third_party/acados/acados_template/**
third_party/bootstrap/**
third_party/qt5/larch64/bin/**
third_party/maplibre-native-qt/**
scripts/update_now.sh
scripts/stop_updater.sh
teleoprtc/**
rednose_repo/site_scons/site_tools/rednose_filter.py
rednose/.gitignore
rednose/**
body/.gitignore
body/board/SConscript
body/board/*.h
body/board/*.c
body/board/*.s
body/board/*.ld
body/board/inc/**
body/board/obj/
body/board/bldc/**
body/board/drivers/**
body/certs/**
body/crypto/**
cereal/.gitignore
cereal/__init__.py
cereal/car.capnp
cereal/custom.capnp
cereal/legacy.capnp
cereal/log.capnp
cereal/services.py
cereal/SConscript
cereal/include/**
cereal/logger/logger.h
cereal/messaging/.gitignore
cereal/messaging/__init__.py
cereal/messaging/bridge.cc
cereal/messaging/event.cc
cereal/messaging/event.h
cereal/messaging/impl_fake.cc
cereal/messaging/impl_fake.h
cereal/messaging/impl_msgq.cc
cereal/messaging/impl_msgq.h
cereal/messaging/impl_zmq.cc
cereal/messaging/impl_zmq.h
cereal/messaging/messaging.cc
cereal/messaging/messaging.h
cereal/messaging/messaging.pxd
cereal/messaging/messaging_pyx.pyx
cereal/messaging/msgq.cc
cereal/messaging/msgq.h
cereal/messaging/socketmaster.cc
cereal/visionipc/.gitignore
cereal/visionipc/__init__.py
cereal/visionipc/*.cc
cereal/visionipc/*.h
cereal/visionipc/*.pyx
cereal/visionipc/*.pxd
panda/.gitignore
panda/__init__.py
panda/SConscript
panda/board/**
panda/certs/**
panda/crypto/**
panda/examples/query_fw_versions.py
panda/python/**
opendbc/.gitignore
opendbc/__init__.py
opendbc/can/__init__.py
opendbc/can/SConscript
opendbc/can/can_define.py
opendbc/can/common.cc
opendbc/can/common.h
opendbc/can/common.pxd
opendbc/can/common_dbc.h
opendbc/can/dbc.cc
opendbc/can/packer.cc
opendbc/can/packer.py
opendbc/can/packer_pyx.pyx
opendbc/can/parser.cc
opendbc/can/parser.py
opendbc/can/parser_pyx.pyx
opendbc/comma_body.dbc
opendbc/chrysler_ram_hd_generated.dbc
opendbc/chrysler_ram_dt_generated.dbc
opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
opendbc/gm_global_a_powertrain_generated.dbc
opendbc/gm_global_a_object.dbc
opendbc/gm_global_a_chassis.dbc
opendbc/FORD_CADS.dbc
opendbc/ford_fusion_2018_adas.dbc
opendbc/ford_lincoln_base_pt.dbc
opendbc/honda_accord_2018_can_generated.dbc
opendbc/acura_ilx_2016_can_generated.dbc
opendbc/acura_rdx_2018_can_generated.dbc
opendbc/acura_rdx_2020_can_generated.dbc
opendbc/honda_civic_touring_2016_can_generated.dbc
opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
opendbc/honda_crv_touring_2016_can_generated.dbc
opendbc/honda_crv_ex_2017_can_generated.dbc
opendbc/honda_crv_ex_2017_body_generated.dbc
opendbc/honda_crv_executive_2016_can_generated.dbc
opendbc/honda_fit_ex_2018_can_generated.dbc
opendbc/honda_odyssey_exl_2018_generated.dbc
opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
opendbc/honda_insight_ex_2019_can_generated.dbc
opendbc/acura_ilx_2016_nidec.dbc
opendbc/honda_civic_ex_2022_can_generated.dbc
opendbc/hyundai_canfd.dbc
opendbc/hyundai_kia_generic.dbc
opendbc/hyundai_kia_mando_front_radar_generated.dbc
opendbc/mazda_2017.dbc
opendbc/nissan_x_trail_2017_generated.dbc
opendbc/nissan_leaf_2018_generated.dbc
opendbc/subaru_global_2017_generated.dbc
opendbc/subaru_global_2020_hybrid_generated.dbc
opendbc/subaru_outback_2015_generated.dbc
opendbc/subaru_outback_2019_generated.dbc
opendbc/subaru_forester_2017_generated.dbc
opendbc/toyota_tnga_k_pt_generated.dbc
opendbc/toyota_new_mc_pt_generated.dbc
opendbc/toyota_nodsu_pt_generated.dbc
opendbc/toyota_adas.dbc
opendbc/toyota_tss2_adas.dbc
opendbc/vw_golf_mk4.dbc
opendbc/vw_mqb_2010.dbc
opendbc/tesla_can.dbc
opendbc/tesla_radar_bosch_generated.dbc
opendbc/tesla_radar_continental_generated.dbc
opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile2.py
tinygrad_repo/extra/onnx.py
tinygrad_repo/extra/onnx_ops.py
tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/codegen/kernel.py
tinygrad_repo/tinygrad/codegen/linearizer.py
tinygrad_repo/tinygrad/features/image.py
tinygrad_repo/tinygrad/features/search.py
tinygrad_repo/tinygrad/nn/*
tinygrad_repo/tinygrad/renderer/cstyle.py
tinygrad_repo/tinygrad/renderer/opencl.py
tinygrad_repo/tinygrad/runtime/lib.py
tinygrad_repo/tinygrad/runtime/ops_cpu.py
tinygrad_repo/tinygrad/runtime/ops_disk.py
tinygrad_repo/tinygrad/runtime/ops_gpu.py
tinygrad_repo/tinygrad/shape/*
tinygrad_repo/tinygrad/*.py
release/files_pc
-4
View File
@@ -1,4 +0,0 @@
third_party/libyuv/x86_64/**
third_party/snpe/x86_64/**
third_party/snpe/x86_64-linux-clang/**
third_party/acados/x86_64/**
release/files_tici
-15
View File
@@ -1,15 +0,0 @@
third_party/libyuv/larch64/**
third_party/snpe/larch64**
third_party/snpe/aarch64-ubuntu-gcc7.5/*
third_party/acados/larch64/**
system/camerad/cameras/camera_qcom2.cc
system/camerad/cameras/camera_qcom2.h
system/camerad/cameras/camera_util.cc
system/camerad/cameras/camera_util.h
system/camerad/cameras/process_raw.cl
system/qcomgpsd/*
selfdrive/ui/qt/spinner_larch64
selfdrive/ui/qt/text_larch64
release/release_files.py
Executable
+142
View File
@@ -0,0 +1,142 @@
#!/usr/bin/env python3
import os
import re
from pathlib import Path
HERE = os.path.abspath(os.path.dirname(__file__))
ROOT = HERE + "/.."
# blacklisting is for two purposes:
# - minimizing release download size
# - keeping the diff readable
blacklist = [
"body/STL/",
"panda/drivers/",
"panda/examples/",
"panda/tests/safety/",
"opendbc/.*.dbc$",
"opendbc/generator/",
"cereal/.*test.*",
"^common/tests/",
# particularly large text files
"poetry.lock",
"third_party/catch2",
"selfdrive/car/tests/test_models.*",
"^tools/",
"^scripts/",
"^tinygrad_repo/",
"matlab.*.md",
".git/",
".github/",
".devcontainer/",
"Darwin/",
".vscode",
# common things
"LICENSE",
"Dockerfile",
".pre-commit",
# no LFS or submodules in release
".lfsconfig",
".gitattributes",
".git$",
".gitmodules",
]
# gets you through the blacklist
whitelist = [
"tools/lib/",
"tools/bodyteleop/",
"tinygrad_repo/openpilot/compile2.py",
"tinygrad_repo/extra/onnx.py",
"tinygrad_repo/extra/onnx_ops.py",
"tinygrad_repo/extra/thneed.py",
"tinygrad_repo/extra/utils.py",
"tinygrad_repo/tinygrad/codegen/kernel.py",
"tinygrad_repo/tinygrad/codegen/linearizer.py",
"tinygrad_repo/tinygrad/features/image.py",
"tinygrad_repo/tinygrad/features/search.py",
"tinygrad_repo/tinygrad/nn/*",
"tinygrad_repo/tinygrad/renderer/cstyle.py",
"tinygrad_repo/tinygrad/renderer/opencl.py",
"tinygrad_repo/tinygrad/runtime/lib.py",
"tinygrad_repo/tinygrad/runtime/ops_cpu.py",
"tinygrad_repo/tinygrad/runtime/ops_disk.py",
"tinygrad_repo/tinygrad/runtime/ops_gpu.py",
"tinygrad_repo/tinygrad/shape/*",
"tinygrad_repo/tinygrad/.*.py",
# TODO: do this automatically
"opendbc/comma_body.dbc",
"opendbc/chrysler_ram_hd_generated.dbc",
"opendbc/chrysler_ram_dt_generated.dbc",
"opendbc/chrysler_pacifica_2017_hybrid_generated.dbc",
"opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
"opendbc/gm_global_a_powertrain_generated.dbc",
"opendbc/gm_global_a_object.dbc",
"opendbc/gm_global_a_chassis.dbc",
"opendbc/FORD_CADS.dbc",
"opendbc/ford_fusion_2018_adas.dbc",
"opendbc/ford_lincoln_base_pt.dbc",
"opendbc/honda_accord_2018_can_generated.dbc",
"opendbc/acura_ilx_2016_can_generated.dbc",
"opendbc/acura_rdx_2018_can_generated.dbc",
"opendbc/acura_rdx_2020_can_generated.dbc",
"opendbc/honda_civic_touring_2016_can_generated.dbc",
"opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
"opendbc/honda_crv_touring_2016_can_generated.dbc",
"opendbc/honda_crv_ex_2017_can_generated.dbc",
"opendbc/honda_crv_ex_2017_body_generated.dbc",
"opendbc/honda_crv_executive_2016_can_generated.dbc",
"opendbc/honda_fit_ex_2018_can_generated.dbc",
"opendbc/honda_odyssey_exl_2018_generated.dbc",
"opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
"opendbc/honda_insight_ex_2019_can_generated.dbc",
"opendbc/acura_ilx_2016_nidec.dbc",
"opendbc/honda_civic_ex_2022_can_generated.dbc",
"opendbc/hyundai_canfd.dbc",
"opendbc/hyundai_kia_generic.dbc",
"opendbc/hyundai_kia_mando_front_radar_generated.dbc",
"opendbc/mazda_2017.dbc",
"opendbc/nissan_x_trail_2017_generated.dbc",
"opendbc/nissan_leaf_2018_generated.dbc",
"opendbc/subaru_global_2017_generated.dbc",
"opendbc/subaru_global_2020_hybrid_generated.dbc",
"opendbc/subaru_outback_2015_generated.dbc",
"opendbc/subaru_outback_2019_generated.dbc",
"opendbc/subaru_forester_2017_generated.dbc",
"opendbc/toyota_tnga_k_pt_generated.dbc",
"opendbc/toyota_new_mc_pt_generated.dbc",
"opendbc/toyota_nodsu_pt_generated.dbc",
"opendbc/toyota_adas.dbc",
"opendbc/toyota_tss2_adas.dbc",
"opendbc/vw_golf_mk4.dbc",
"opendbc/vw_mqb_2010.dbc",
"opendbc/tesla_can.dbc",
"opendbc/tesla_radar_bosch_generated.dbc",
"opendbc/tesla_radar_continental_generated.dbc",
"opendbc/tesla_powertrain.dbc",
]
if __name__ == "__main__":
for f in Path(ROOT).rglob("**/*"):
if not (f.is_file() or f.is_symlink()):
continue
rf = str(f.relative_to(ROOT))
blacklisted = any(re.search(p, rf) for p in blacklist)
whitelisted = any(re.search(p, rf) for p in whitelist)
if blacklisted and not whitelisted:
continue
print(rf)
scripts/stop_updater.sh
+1 -1
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env sh
# Stop updater
pkill -2 -f selfdrive.updated.updated
pkill -2 -f system.updated.updated
# Remove pending update
rm -f /data/safe_staging/finalized/.overlay_consistent
scripts/update_now.sh
+1 -1
View File
@@ -1,4 +1,4 @@
#!/usr/bin/env sh
# Send SIGHUP to updater
pkill -1 -f selfdrive.updated
pkill -1 -f system.updated
scripts/waste.py
+2 -2
View File
@@ -3,7 +3,7 @@ import os
import time
import numpy as np
from multiprocessing import Process
from setproctitle import setproctitle
from openpilot.common.threadname import setthreadname
def waste(core):
os.sched_setaffinity(0, [core,])
@@ -16,7 +16,7 @@ def waste(core):
j = 0
while 1:
if (i % 100) == 0:
setproctitle("%3d: %8d" % (core, i))
setthreadname("%3d: %8d" % (core, i))
lt = time.monotonic()
print("%3d: %8d %f %.2f" % (core, i, lt-st, j))
st = lt
selfdrive/SConscript
+1 -1
View File
@@ -1,4 +1,4 @@
SConscript(['boardd/SConscript'])
SConscript(['pandad/SConscript'])
SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['locationd/SConscript'])
selfdrive/athena/tests/test_registration.py
-81
View File
@@ -1,81 +0,0 @@
#!/usr/bin/env python3
import json
import unittest
from Crypto.PublicKey import RSA
from pathlib import Path
from unittest import mock
from openpilot.common.params import Params
from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
from openpilot.selfdrive.athena.tests.helpers import MockResponse
from openpilot.system.hardware.hw import Paths
class TestRegistration(unittest.TestCase):
def setUp(self):
# clear params and setup key paths
self.params = Params()
self.params.clear_all()
persist_dir = Path(Paths.persist_root()) / "comma"
persist_dir.mkdir(parents=True, exist_ok=True)
self.priv_key = persist_dir / "id_rsa"
self.pub_key = persist_dir / "id_rsa.pub"
def _generate_keys(self):
self.pub_key.touch()
k = RSA.generate(2048)
with open(self.priv_key, "wb") as f:
f.write(k.export_key())
with open(self.pub_key, "wb") as f:
f.write(k.publickey().export_key())
def test_valid_cache(self):
# if all params are written, return the cached dongle id
self.params.put("IMEI", "imei")
self.params.put("HardwareSerial", "serial")
self._generate_keys()
with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
dongle = "DONGLE_ID_123"
self.params.put("DongleId", dongle)
self.assertEqual(register(), dongle)
self.assertFalse(m.called)
def test_no_keys(self):
# missing pubkey
with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
dongle = register()
self.assertEqual(m.call_count, 0)
self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
def test_missing_cache(self):
# keys exist but no dongle id
self._generate_keys()
with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
dongle = "DONGLE_ID_123"
m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
self.assertEqual(register(), dongle)
self.assertEqual(m.call_count, 1)
# call again, shouldn't hit the API this time
self.assertEqual(register(), dongle)
self.assertEqual(m.call_count, 1)
self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
def test_unregistered(self):
# keys exist, but unregistered
self._generate_keys()
with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
m.return_value = MockResponse(None, 402)
dongle = register()
self.assertEqual(m.call_count, 1)
self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle)
if __name__ == "__main__":
unittest.main()
selfdrive/boardd/.gitignore
-3
View File
@@ -1,3 +0,0 @@
boardd
boardd_api_impl.cpp
tests/test_boardd_usbprotocol
selfdrive/boardd/SConscript
-11
View File
@@ -1,11 +0,0 @@
Import('env', 'envCython', 'common', 'cereal', 'messaging')
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
if GetOption('extras'):
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
selfdrive/car/body/carcontroller.py
+1 -1
View File
@@ -75,7 +75,7 @@ class CarController(CarControllerBase):
can_sends = []
can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
new_actuators = CC.actuators.copy()
new_actuators = CC.actuators.as_builder()
new_actuators.accel = torque_l
new_actuators.steer = torque_r
new_actuators.steerOutputCan = torque_r
selfdrive/car/card.py
+63 -35
View File
@@ -9,9 +9,9 @@ from cereal import car
from panda import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.controls.lib.events import Events
@@ -21,20 +21,21 @@ REPLAY = "REPLAY" in os.environ
EventName = car.CarEvent.EventName
class CarD:
class Car:
CI: CarInterfaceBase
def __init__(self, CI=None):
self.can_sock = messaging.sub_sock('can', timeout=20)
self.sm = messaging.SubMaster(['pandaStates'])
self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
self.can_rcv_timeout_counter = 0 # consecutive timeout count
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count
self.can_rcv_cum_timeout_counter = 0
self.CC_prev = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()
self.initialized_prev = False
self.last_actuators = None
self.last_actuators_output = car.CarControl.Actuators.new_message()
self.params = Params()
@@ -79,12 +80,10 @@ class CarD:
self.params.put_nonblocking("CarParamsCache", cp_bytes)
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
self.CS_prev = car.CarState.new_message()
self.events = Events()
def initialize(self):
"""Initialize CarInterface, once controls are ready"""
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
def state_update(self) -> car.CarState:
"""carState update loop, driven by can"""
@@ -99,21 +98,11 @@ class CarD:
# Check for CAN timeout
if not can_rcv_valid:
self.can_rcv_timeout_counter += 1
self.can_rcv_cum_timeout_counter += 1
else:
self.can_rcv_timeout_counter = 0
self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
if can_rcv_valid and REPLAY:
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
self.update_events(CS)
self.state_publish(CS)
CS = CS.as_reader()
self.CS_prev = CS
return CS
def update_events(self, CS: car.CarState) -> car.CarState:
@@ -132,12 +121,6 @@ class CarD:
def state_publish(self, CS: car.CarState):
"""carState and carParams publish loop"""
# carState
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
self.pm.send('carState', cs_send)
# carParams - logged every 50 seconds (> 1 per segment)
if self.sm.frame % int(50. / DT_CTRL) == 0:
cp_send = messaging.new_message('carParams')
@@ -147,17 +130,62 @@ class CarD:
# publish new carOutput
co_send = messaging.new_message('carOutput')
co_send.valid = True
if self.last_actuators is not None:
co_send.carOutput.actuatorsOutput = self.last_actuators
co_send.valid = self.sm.all_checks(['carControl'])
co_send.carOutput.actuatorsOutput = self.last_actuators_output
self.pm.send('carOutput', co_send)
# kick off controlsd step while we actuate the latest carControl packet
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
self.pm.send('carState', cs_send)
def controls_update(self, CS: car.CarState, CC: car.CarControl):
"""control update loop, driven by carControl"""
# send car controls over can
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
if not self.initialized_prev:
# Initialize CarInterface, once controls are ready
# TODO: this can make us miss at least a few cycles when doing an ECU knockout
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
# signal pandad to switch to car safety mode
self.params.put_bool_nonblocking("ControlsReady", True)
self.CC_prev = CC
if self.sm.all_alive(['carControl']):
# send car controls over can
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
self.CC_prev = CC
def step(self):
CS = self.state_update()
self.update_events(CS)
self.state_publish(CS)
initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
self.sm.seen['onroadEvents'])
if not self.CP.passive and initialized:
self.controls_update(CS, self.sm['carControl'])
self.initialized_prev = initialized
self.CS_prev = CS.as_reader()
def card_thread(self):
while True:
self.step()
self.rk.monitor_time()
def main():
config_realtime_process(4, Priority.CTRL_HIGH)
car = Car()
car.card_thread()
if __name__ == "__main__":
main()
selfdrive/car/chrysler/carcontroller.py
+1 -1
View File
@@ -78,7 +78,7 @@ class CarController(CarControllerBase):
self.frame += 1
new_actuators = CC.actuators.copy()
new_actuators = CC.actuators.as_builder()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
selfdrive/car/chrysler/fingerprints.py
+20
View File
@@ -68,6 +68,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'68267018AO ',
b'68267020AJ ',
b'68303534AG ',
b'68303534AJ ',
b'68340762AD ',
b'68340764AD ',
@@ -106,6 +107,7 @@ FW_VERSIONS = {
b'68405565AB',
b'68405565AC',
b'68444299AC',
b'68480707AC',
b'68480708AC',
b'68526663AB',
],
@@ -143,13 +145,16 @@ FW_VERSIONS = {
b'68413871AE ',
b'68413871AH ',
b'68413871AI ',
b'68413873AH ',
b'68413873AI ',
b'68443120AE ',
b'68443123AC ',
b'68443125AC ',
b'68496647AI ',
b'68496647AJ ',
b'68496650AH ',
b'68496650AI ',
b'68496652AH ',
b'68526752AD ',
b'68526752AE ',
b'68526754AE ',
@@ -161,10 +166,12 @@ FW_VERSIONS = {
b'68414271AC',
b'68414271AD',
b'68414275AC',
b'68414275AD',
b'68443154AB',
b'68443155AC',
b'68443158AB',
b'68501050AD',
b'68501051AD',
b'68501055AD',
b'68527221AB',
b'68527223AB',
@@ -264,6 +271,7 @@ FW_VERSIONS = {
},
CAR.JEEP_GRAND_CHEROKEE: {
(Ecu.combinationMeter, 0x742, None): [
b'68243549AG',
b'68302211AC',
b'68302212AD',
b'68302223AC',
@@ -275,18 +283,22 @@ FW_VERSIONS = {
b'68340272AD',
],
(Ecu.srs, 0x744, None): [
b'68309533AA',
b'68316742AB',
b'68355363AB',
],
(Ecu.abs, 0x747, None): [
b'68252642AG',
b'68306178AD',
b'68336276AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672627AB',
b'68251506AF',
b'68332015AB',
],
(Ecu.eps, 0x75a, None): [
b'68276201AG',
b'68321644AB',
b'68321644AC',
b'68321646AC',
@@ -294,6 +306,7 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x7e0, None): [
b'05035920AE ',
b'68252272AG ',
b'68284455AI ',
b'68284456AI ',
b'68284477AF ',
@@ -304,6 +317,7 @@ FW_VERSIONS = {
],
(Ecu.transmission, 0x7e1, None): [
b'05035517AH',
b'68253222AF',
b'68311218AC',
b'68311223AF',
b'68311223AG',
@@ -396,6 +410,7 @@ FW_VERSIONS = {
b'68453483AD',
b'68453487AD',
b'68453491AC',
b'68453491AD',
b'68453499AD',
b'68453503AC',
b'68453503AD',
@@ -425,6 +440,7 @@ FW_VERSIONS = {
b'68631938AA',
b'68631939AA',
b'68631940AA',
b'68631940AB',
b'68631942AA',
b'68631943AB',
],
@@ -480,6 +496,7 @@ FW_VERSIONS = {
b'68440789AC',
b'68466110AA',
b'68466110AB',
b'68466113AA',
b'68469901AA',
b'68469907AA',
b'68522583AA',
@@ -541,6 +558,7 @@ FW_VERSIONS = {
b'68467936AC ',
b'68500630AD',
b'68500630AE',
b'68500631AE',
b'68502719AC ',
b'68502722AC ',
b'68502733AC ',
@@ -587,11 +605,13 @@ FW_VERSIONS = {
b'68484467AC',
b'68484471AC',
b'68502994AD',
b'68502996AD',
b'68520867AE',
b'68520867AF',
b'68520870AC',
b'68540431AB',
b'68540433AB',
b'68551676AA',
b'68629935AB',
b'68629936AC',
],
selfdrive/car/ecu_addrs.py
+1 -1
View File
@@ -6,7 +6,7 @@ import cereal.messaging as messaging
from panda.python.uds import SERVICE_TYPE
from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.common.swaglog import cloudlog
selfdrive/car/ford/carcontroller.py
+1 -1
View File
@@ -113,7 +113,7 @@ class CarController(CarControllerBase):
self.steer_alert_last = steer_alert
self.lead_distance_bars_last = hud_control.leadDistanceBars
new_actuators = actuators.copy()
new_actuators = actuators.as_builder()
new_actuators.curvature = self.apply_curvature_last
self.frame += 1
selfdrive/car/ford/interface.py
+12
View File
@@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase):
if ret.flags & FordFlags.CANFD:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config:
if len(pscm_config.fwVersion) != 24:
ret.dashcamOnly = True
else:
config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
ret.dashcamOnly = True
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]
selfdrive/car/ford/tests/test_ford.py
Executable → Regular
+16 -22
View File
@@ -1,6 +1,4 @@
#!/usr/bin/env python3
import random
import unittest
from collections.abc import Iterable
import capnp
@@ -43,31 +41,31 @@ ECU_PART_NUMBER = {
}
class TestFordFW(unittest.TestCase):
class TestFordFW:
def test_fw_query_config(self):
for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
self.assertIsNone(subaddr, "Unexpected ECU subaddress")
assert ecu in ECU_ADDRESSES, "Unknown ECU"
assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
assert subaddr is None, "Unexpected ECU subaddress"
@parameterized.expand(FW_VERSIONS.items())
def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]):
for (ecu, addr, subaddr), fws in fw_versions.items():
self.assertIn(ecu, ECU_PART_NUMBER, "Unexpected ECU")
self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
self.assertIsNone(subaddr, "Unexpected ECU subaddress")
assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
assert subaddr is None, "Unexpected ECU subaddress"
for fw in fws:
self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes")
assert len(fw) == 24, "Expected ECU response to be 24 bytes"
match = FW_PATTERN.match(fw)
self.assertIsNotNone(match, f"Unable to parse FW: {fw!r}")
assert match is not None, f"Unable to parse FW: {fw!r}"
if match:
part_number = match.group("part_number")
self.assertIn(part_number, ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}")
assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}"
codes = get_platform_codes([fw])
self.assertEqual(1, len(codes), f"Unable to parse FW: {fw!r}")
assert 1 == len(codes), f"Unable to parse FW: {fw!r}"
@settings(max_examples=100)
@given(data=st.data())
@@ -85,7 +83,7 @@ class TestFordFW(unittest.TestCase):
b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
])
self.assertEqual(results, {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")})
assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}
def test_fuzzy_match(self):
for platform, fw_by_addr in FW_VERSIONS.items():
@@ -100,7 +98,7 @@ class TestFordFW(unittest.TestCase):
CP = car.CarParams.new_message(carFw=car_fw)
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
self.assertEqual(matches, {platform})
assert matches == {platform}
def test_match_fw_fuzzy(self):
offline_fw = {
@@ -132,18 +130,14 @@ class TestFordFW(unittest.TestCase):
(0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
}
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
self.assertEqual(candidates, {expected_fingerprint})
assert candidates == {expected_fingerprint}
# model year hint in between the range should match
live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
self.assertEqual(candidates, {expected_fingerprint})
assert candidates == {expected_fingerprint}
# unseen model year hint should not match
live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
self.assertEqual(len(candidates), 0, "Should not match new model year hint")
if __name__ == "__main__":
unittest.main()
assert len(candidates) == 0, "Should not match new model year hint"
selfdrive/car/fw_query_definitions.py
+1 -1
View File
@@ -85,7 +85,7 @@ class Request:
auxiliary: bool = False
# FW responses from these queries will not be used for fingerprinting
logging: bool = False
# boardd toggles OBD multiplexing on/off as needed
# pandad toggles OBD multiplexing on/off as needed
obd_multiplexing: bool = True
selfdrive/car/fw_versions.py
+2 -2
View File
@@ -352,7 +352,7 @@ if __name__ == "__main__":
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
# Set up params for boardd
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
@@ -374,7 +374,7 @@ if __name__ == "__main__":
t = time.time()
print("Getting vin...")
set_obd_multiplexing(params, True)
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
print()
selfdrive/car/gm/carcontroller.py
+1 -1
View File
@@ -155,7 +155,7 @@ class CarController(CarControllerBase):
if self.frame % 10 == 0:
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
new_actuators = actuators.copy()
new_actuators = actuators.as_builder()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
new_actuators.gas = self.apply_gas
selfdrive/car/gm/interface.py
+1 -1
View File
@@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.]
selfdrive/car/gm/tests/test_gm.py
Executable → Regular
+4 -10
View File
@@ -1,6 +1,4 @@
#!/usr/bin/env python3
from parameterized import parameterized
import unittest
from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
@@ -8,19 +6,15 @@ from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
class TestGMFingerprint(unittest.TestCase):
class TestGMFingerprint:
@parameterized.expand(FINGERPRINTS.items())
def test_can_fingerprints(self, car_model, fingerprints):
self.assertGreater(len(fingerprints), 0)
assert len(fingerprints) > 0
self.assertTrue(all(len(finger) for finger in fingerprints))
assert all(len(finger) for finger in fingerprints)
# The camera can sometimes be communicating on startup
if car_model in CAMERA_ACC_CAR:
for finger in fingerprints:
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
self.assertEqual(finger.get(required_addr), 8, required_addr)
if __name__ == "__main__":
unittest.main()
assert finger.get(required_addr) == 8, required_addr
selfdrive/car/honda/carcontroller.py
+1 -1
View File
@@ -244,7 +244,7 @@ class CarController(CarControllerBase):
self.speed = pcm_speed
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
new_actuators = actuators.copy()
new_actuators = actuators.as_builder()
new_actuators.speed = self.speed
new_actuators.accel = self.accel
new_actuators.gas = self.gas
selfdrive/car/honda/fingerprints.py
-248
View File
@@ -11,43 +11,6 @@ Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.HONDA_ACCORD: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6A0-8720\x00\x00',
b'37805-6A0-9520\x00\x00',
b'37805-6A0-9620\x00\x00',
b'37805-6A0-9720\x00\x00',
b'37805-6A0-A540\x00\x00',
b'37805-6A0-A550\x00\x00',
b'37805-6A0-A640\x00\x00',
b'37805-6A0-A650\x00\x00',
b'37805-6A0-A740\x00\x00',
b'37805-6A0-A750\x00\x00',
b'37805-6A0-A840\x00\x00',
b'37805-6A0-A850\x00\x00',
b'37805-6A0-A930\x00\x00',
b'37805-6A0-AF30\x00\x00',
b'37805-6A0-AG30\x00\x00',
b'37805-6A0-AJ10\x00\x00',
b'37805-6A0-C540\x00\x00',
b'37805-6A0-CG20\x00\x00',
b'37805-6A1-H650\x00\x00',
b'37805-6B2-A550\x00\x00',
b'37805-6B2-A560\x00\x00',
b'37805-6B2-A650\x00\x00',
b'37805-6B2-A660\x00\x00',
b'37805-6B2-A720\x00\x00',
b'37805-6B2-A810\x00\x00',
b'37805-6B2-A820\x00\x00',
b'37805-6B2-A920\x00\x00',
b'37805-6B2-A960\x00\x00',
b'37805-6B2-AA10\x00\x00',
b'37805-6B2-C520\x00\x00',
b'37805-6B2-C540\x00\x00',
b'37805-6B2-C560\x00\x00',
b'37805-6B2-M520\x00\x00',
b'37805-6B2-Y810\x00\x00',
b'37805-6M4-B730\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TVC-A910\x00\x00',
b'54008-TWA-A910\x00\x00',
@@ -161,38 +124,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CIVIC: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A640\x00\x00',
b'37805-5AA-A650\x00\x00',
b'37805-5AA-A670\x00\x00',
b'37805-5AA-A680\x00\x00',
b'37805-5AA-A810\x00\x00',
b'37805-5AA-C640\x00\x00',
b'37805-5AA-C680\x00\x00',
b'37805-5AA-C820\x00\x00',
b'37805-5AA-L650\x00\x00',
b'37805-5AA-L660\x00\x00',
b'37805-5AA-L680\x00\x00',
b'37805-5AA-L690\x00\x00',
b'37805-5AA-L810\x00\x00',
b'37805-5AG-Q710\x00\x00',
b'37805-5AJ-A610\x00\x00',
b'37805-5AJ-A620\x00\x00',
b'37805-5AJ-L610\x00\x00',
b'37805-5BA-A310\x00\x00',
b'37805-5BA-A510\x00\x00',
b'37805-5BA-A740\x00\x00',
b'37805-5BA-A760\x00\x00',
b'37805-5BA-A930\x00\x00',
b'37805-5BA-A960\x00\x00',
b'37805-5BA-C640\x00\x00',
b'37805-5BA-C860\x00\x00',
b'37805-5BA-L410\x00\x00',
b'37805-5BA-L760\x00\x00',
b'37805-5BA-L930\x00\x00',
b'37805-5BA-L940\x00\x00',
b'37805-5BA-L960\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5CG-A040\x00\x00',
b'28101-5CG-A050\x00\x00',
@@ -242,61 +173,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CIVIC_BOSCH: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A940\x00\x00',
b'37805-5AA-A950\x00\x00',
b'37805-5AA-C950\x00\x00',
b'37805-5AA-L940\x00\x00',
b'37805-5AA-L950\x00\x00',
b'37805-5AG-Z910\x00\x00',
b'37805-5AJ-A750\x00\x00',
b'37805-5AJ-L750\x00\x00',
b'37805-5AK-T530\x00\x00',
b'37805-5AN-A750\x00\x00',
b'37805-5AN-A830\x00\x00',
b'37805-5AN-A840\x00\x00',
b'37805-5AN-A930\x00\x00',
b'37805-5AN-A940\x00\x00',
b'37805-5AN-A950\x00\x00',
b'37805-5AN-AG20\x00\x00',
b'37805-5AN-AH20\x00\x00',
b'37805-5AN-AJ30\x00\x00',
b'37805-5AN-AK10\x00\x00',
b'37805-5AN-AK20\x00\x00',
b'37805-5AN-AR10\x00\x00',
b'37805-5AN-AR20\x00\x00',
b'37805-5AN-C650\x00\x00',
b'37805-5AN-CH20\x00\x00',
b'37805-5AN-E630\x00\x00',
b'37805-5AN-E720\x00\x00',
b'37805-5AN-E820\x00\x00',
b'37805-5AN-J820\x00\x00',
b'37805-5AN-L840\x00\x00',
b'37805-5AN-L930\x00\x00',
b'37805-5AN-L940\x00\x00',
b'37805-5AN-LF20\x00\x00',
b'37805-5AN-LH20\x00\x00',
b'37805-5AN-LJ20\x00\x00',
b'37805-5AN-LR20\x00\x00',
b'37805-5AN-LS20\x00\x00',
b'37805-5AW-G720\x00\x00',
b'37805-5AZ-E850\x00\x00',
b'37805-5AZ-G540\x00\x00',
b'37805-5AZ-G740\x00\x00',
b'37805-5AZ-G840\x00\x00',
b'37805-5BB-A530\x00\x00',
b'37805-5BB-A540\x00\x00',
b'37805-5BB-A620\x00\x00',
b'37805-5BB-A630\x00\x00',
b'37805-5BB-A640\x00\x00',
b'37805-5BB-C540\x00\x00',
b'37805-5BB-C630\x00\x00',
b'37805-5BB-C640\x00\x00',
b'37805-5BB-L540\x00\x00',
b'37805-5BB-L630\x00\x00',
b'37805-5BB-L640\x00\x00',
b'37805-5BF-J130\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5CG-A920\x00\x00',
b'28101-5CG-AB10\x00\x00',
@@ -400,10 +276,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CIVIC_BOSCH_DIESEL: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-59N-G630\x00\x00',
b'37805-59N-G830\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-59Y-G220\x00\x00',
b'28101-59Y-G620\x00\x00',
@@ -449,41 +321,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CRV_5G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5PA-3060\x00\x00',
b'37805-5PA-3080\x00\x00',
b'37805-5PA-3180\x00\x00',
b'37805-5PA-4050\x00\x00',
b'37805-5PA-4150\x00\x00',
b'37805-5PA-6520\x00\x00',
b'37805-5PA-6530\x00\x00',
b'37805-5PA-6630\x00\x00',
b'37805-5PA-6640\x00\x00',
b'37805-5PA-7630\x00\x00',
b'37805-5PA-9530\x00\x00',
b'37805-5PA-9630\x00\x00',
b'37805-5PA-9640\x00\x00',
b'37805-5PA-9730\x00\x00',
b'37805-5PA-9830\x00\x00',
b'37805-5PA-9840\x00\x00',
b'37805-5PA-A650\x00\x00',
b'37805-5PA-A670\x00\x00',
b'37805-5PA-A680\x00\x00',
b'37805-5PA-A850\x00\x00',
b'37805-5PA-A870\x00\x00',
b'37805-5PA-A880\x00\x00',
b'37805-5PA-A890\x00\x00',
b'37805-5PA-AB10\x00\x00',
b'37805-5PA-AD10\x00\x00',
b'37805-5PA-AF20\x00\x00',
b'37805-5PA-AF30\x00\x00',
b'37805-5PA-AH20\x00\x00',
b'37805-5PA-BF10\x00\x00',
b'37805-5PA-C680\x00\x00',
b'37805-5PD-Q630\x00\x00',
b'37805-5PF-F730\x00\x00',
b'37805-5PF-M630\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5RG-A020\x00\x00',
b'28101-5RG-A030\x00\x00',
@@ -559,10 +396,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CRV_EU: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-R5Z-G740\x00\x00',
b'37805-R5Z-G780\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-T1V-G920\x00\x00',
],
@@ -663,24 +496,6 @@ FW_VERSIONS = {
b'38897-THR-A010\x00\x00',
b'38897-THR-A020\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5MR-3050\x00\x00',
b'37805-5MR-3150\x00\x00',
b'37805-5MR-3250\x00\x00',
b'37805-5MR-4070\x00\x00',
b'37805-5MR-4080\x00\x00',
b'37805-5MR-4170\x00\x00',
b'37805-5MR-4180\x00\x00',
b'37805-5MR-A240\x00\x00',
b'37805-5MR-A250\x00\x00',
b'37805-5MR-A310\x00\x00',
b'37805-5MR-A740\x00\x00',
b'37805-5MR-A750\x00\x00',
b'37805-5MR-A840\x00\x00',
b'37805-5MR-C620\x00\x00',
b'37805-5MR-D530\x00\x00',
b'37805-5MR-K730\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-THR-A020\x00\x00',
b'39990-THR-A030\x00\x00',
@@ -765,37 +580,6 @@ FW_VERSIONS = {
b'28101-5EZ-A700\x00\x00',
b'28103-5EY-A110\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-RLV-4060\x00\x00',
b'37805-RLV-4070\x00\x00',
b'37805-RLV-5140\x00\x00',
b'37805-RLV-5230\x00\x00',
b'37805-RLV-A630\x00\x00',
b'37805-RLV-A830\x00\x00',
b'37805-RLV-A840\x00\x00',
b'37805-RLV-B210\x00\x00',
b'37805-RLV-B220\x00\x00',
b'37805-RLV-B420\x00\x00',
b'37805-RLV-B430\x00\x00',
b'37805-RLV-B620\x00\x00',
b'37805-RLV-B710\x00\x00',
b'37805-RLV-B720\x00\x00',
b'37805-RLV-C430\x00\x00',
b'37805-RLV-C510\x00\x00',
b'37805-RLV-C520\x00\x00',
b'37805-RLV-C530\x00\x00',
b'37805-RLV-C910\x00\x00',
b'37805-RLV-F120\x00\x00',
b'37805-RLV-L080\x00\x00',
b'37805-RLV-L090\x00\x00',
b'37805-RLV-L150\x00\x00',
b'37805-RLV-L160\x00\x00',
b'37805-RLV-L180\x00\x00',
b'37805-RLV-L350\x00\x00',
b'37805-RLV-L410\x00\x00',
b'37805-RLV-L430\x00\x00',
b'37805-RLV-L850\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A030\x00\x00',
b'38897-TG7-A040\x00\x00',
@@ -873,25 +657,6 @@ FW_VERSIONS = {
],
},
CAR.ACURA_RDX_3G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5YF-A130\x00\x00',
b'37805-5YF-A230\x00\x00',
b'37805-5YF-A320\x00\x00',
b'37805-5YF-A330\x00\x00',
b'37805-5YF-A420\x00\x00',
b'37805-5YF-A430\x00\x00',
b'37805-5YF-A750\x00\x00',
b'37805-5YF-A760\x00\x00',
b'37805-5YF-A850\x00\x00',
b'37805-5YF-A860\x00\x00',
b'37805-5YF-A870\x00\x00',
b'37805-5YF-AD20\x00\x00',
b'37805-5YF-C210\x00\x00',
b'37805-5YF-C220\x00\x00',
b'37805-5YF-C410\x00\x00',
b'37805-5YF-C420\x00\x00',
b'37805-5YF-C430\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TJB-A030\x00\x00',
b'57114-TJB-A040\x00\x00',
@@ -1046,10 +811,6 @@ FW_VERSIONS = {
b'28101-6EH-A010\x00\x00',
b'28101-6JC-M310\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6CT-A710\x00\x00',
b'37805-6HZ-M630\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-3W0-A020\x00\x00',
],
@@ -1130,14 +891,5 @@ FW_VERSIONS = {
b'28101-65H-A120\x00\x00',
b'28101-65J-N010\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-64A-A540\x00\x00',
b'37805-64A-A620\x00\x00',
b'37805-64D-P510\x00\x00',
b'37805-64L-A540\x00\x00',
b'37805-64S-A540\x00\x00',
b'37805-64S-A720\x00\x00',
b'37805-64S-AA10\x00\x00',
],
},
}
selfdrive/car/honda/interface.py
+1 -1
View File
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
if candidate in HONDA_BOSCH:
ret.longitudinalTuning.kpV = [0.25]
ret.longitudinalTuning.kiV = [0.05]
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
ret.longitudinalActuatorDelay = 0.5 # s
if candidate in HONDA_BOSCH_RADARLESS:
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
else:
selfdrive/car/honda/tests/test_honda.py
Executable → Regular
+2 -8
View File
@@ -1,20 +1,14 @@
#!/usr/bin/env python3
import re
import unittest
from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS
HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
class TestHondaFingerprint(unittest.TestCase):
class TestHondaFingerprint:
def test_fw_version_format(self):
# Asserts all FW versions follow an expected format
for fw_by_ecu in FW_VERSIONS.values():
for fws in fw_by_ecu.values():
for fw in fws:
self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw)
if __name__ == "__main__":
unittest.main()
assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw
selfdrive/car/honda/values.py
+2
View File
@@ -299,6 +299,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
non_essential_ecus={
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
@@ -306,6 +307,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
},
extra_ecus=[
(Ecu.combinationMeter, 0x18da60f1, None),
(Ecu.programmedFuelInjection, 0x18da10f1, None),
# The only other ECU on PT bus accessible by camera on radarless Civic
# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
selfdrive/car/hyundai/carcontroller.py
+1 -1
View File
@@ -163,7 +163,7 @@ class CarController(CarControllerBase):
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
new_actuators = actuators.copy()
new_actuators = actuators.as_builder()
new_actuators.steer = apply_steer / self.params.STEER_MAX
new_actuators.steerOutputCan = apply_steer
new_actuators.accel = accel
selfdrive/car/hyundai/fingerprints.py
+13 -3
View File
@@ -23,9 +23,6 @@ FINGERPRINTS = {
CAR.GENESIS_G90: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
}],
CAR.HYUNDAI_IONIQ_EV_2020: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
}],
CAR.HYUNDAI_KONA_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
}],
@@ -117,6 +114,7 @@ FW_VERSIONS = {
b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2210 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101',
@@ -134,9 +132,12 @@ FW_VERSIONS = {
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7100 ',
b'\xf1\x00AEev SCC FHCUP 1.00 1.01 99110-G7100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7510 4APEC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
@@ -145,6 +146,7 @@ FW_VERSIONS = {
b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819',
b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516',
b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819',
b'\xf1\x00AEE MFC AT USA LHD 1.00 1.01 95740-G2600 190819',
],
},
CAR.HYUNDAI_IONIQ_EV_LTD: {
@@ -748,6 +750,7 @@ FW_VERSIONS = {
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ',
b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ',
],
},
CAR.KIA_NIRO_HEV_2021: {
@@ -864,6 +867,7 @@ FW_VERSIONS = {
b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106',
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107',
@@ -875,6 +879,7 @@ FW_VERSIONS = {
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.07 99210-AA000 220426',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.08 99210-AA000 220728',
],
(Ecu.abs, 0x7d1, None): [
@@ -965,6 +970,7 @@ FW_VERSIONS = {
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027',
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328',
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630',
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV200 230510',
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027',
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328',
],
@@ -974,6 +980,7 @@ FW_VERSIONS = {
b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
@@ -997,11 +1004,13 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011',
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
],
},
CAR.HYUNDAI_TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
@@ -1034,6 +1043,7 @@ FW_VERSIONS = {
CAR.KIA_SPORTAGE_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
selfdrive/car/hyundai/interface.py
+4 -2
View File
@@ -75,6 +75,9 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.KIA_OPTIMA_G4_FL:
ret.steerActuatorDelay = 0.2
# *** longitudinal control ***
if candidate in CANFD_CAR:
ret.longitudinalTuning.kpV = [0.1]
@@ -91,8 +94,7 @@ class CarInterface(CarInterfaceBase):
ret.startingState = True
ret.vEgoStarting = 0.1
ret.startAccel = 1.0
ret.longitudinalActuatorDelayLowerBound = 0.5
ret.longitudinalActuatorDelayUpperBound = 0.5
ret.longitudinalActuatorDelay = 0.5
# *** feature detection ***
if candidate in CANFD_CAR:
selfdrive/car/hyundai/tests/test_hyundai.py
Executable → Regular
+41 -45
View File
@@ -1,6 +1,6 @@
#!/usr/bin/env python3
from hypothesis import settings, given, strategies as st
import unittest
import pytest
from cereal import car
from openpilot.selfdrive.car.fw_versions import build_fw_dict
@@ -39,19 +39,19 @@ NO_DATES_PLATFORMS = {
CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
class TestHyundaiFingerprint(unittest.TestCase):
class TestHyundaiFingerprint:
def test_can_features(self):
# Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()
# Test CAN FD car not in CAN feature lists
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
for car_model in CANFD_CAR:
self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list"
def test_hybrid_ev_sets(self):
self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV")
self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported")
assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV"
assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported"
def test_canfd_ecu_whitelist(self):
# Asserts only expected Ecus can exist in database for CAN-FD cars
@@ -59,34 +59,34 @@ class TestHyundaiFingerprint(unittest.TestCase):
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
self.assertEqual(len(ecus_not_in_whitelist), 0,
f"{car_model}: Car model has unexpected ECUs: {ecu_strings}")
assert len(ecus_not_in_whitelist) == 0, \
f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"
def test_blacklisted_parts(self):
def test_blacklisted_parts(self, subtests):
# Asserts no ECUs known to be shared across platforms exist in the database.
# Tucson having Santa Cruz camera and EPS for example
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
with subtests.test(car_model=car_model.value):
if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
pytest.skip("Skip checking Santa Cruz for its parts")
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
if b"-" not in code:
continue
part = code.split(b"-")[1]
self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
assert not part.startswith(b'CW'), "Car has bad part number"
def test_correct_ecu_response_database(self):
def test_correct_ecu_response_database(self, subtests):
"""
Assert standard responses for certain ECUs, since they can
respond to multiple queries with different data
"""
expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
with subtests.test(car_model=car_model.value):
for ecu, fws in ecus.items():
self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
f"FW from unexpected request in database: {(ecu, fws)}")
assert all(fw.startswith(expected_fw_prefix) for fw in fws), \
f"FW from unexpected request in database: {(ecu, fws)}"
@settings(max_examples=100)
@given(data=st.data())
@@ -96,10 +96,10 @@ class TestHyundaiFingerprint(unittest.TestCase):
fws = data.draw(fw_strategy)
get_platform_codes(fws)
def test_expected_platform_codes(self):
def test_expected_platform_codes(self, subtests):
# Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
with subtests.test(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
@@ -107,37 +107,37 @@ class TestHyundaiFingerprint(unittest.TestCase):
# Third and fourth character are usually EV/hybrid identifiers
codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
if car_model == CAR.HYUNDAI_PALISADE:
self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}"
elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}"
else:
self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}"
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
def test_platform_code_ecus_available(self):
def test_platform_code_ecus_available(self, subtests):
# TODO: add queries for these non-CAN FD cars to get EPS
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
with subtests.test(car_model=car_model.value):
for platform_code_ecu in PLATFORM_CODE_ECUS:
if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
continue
if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
continue
self.assertIn(platform_code_ecu, [e[0] for e in ecus])
assert platform_code_ecu in [e[0] for e in ecus]
def test_fw_format(self):
def test_fw_format(self, subtests):
# Asserts:
# - every supported ECU FW version returns one platform code
# - every supported ECU FW version has a part number
# - expected parsing of ECU FW dates
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
with subtests.test(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
@@ -145,40 +145,40 @@ class TestHyundaiFingerprint(unittest.TestCase):
codes = set()
for fw in fws:
result = get_platform_codes([fw])
self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
assert 1 == len(result), f"Unable to parse FW: {fw}"
codes |= result
if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
self.assertTrue(all(date is None for _, date in codes))
assert all(date is None for _, date in codes)
else:
self.assertTrue(all(date is not None for _, date in codes))
assert all(date is not None for _, date in codes)
if car_model == CAR.HYUNDAI_GENESIS:
raise unittest.SkipTest("No part numbers for car model")
pytest.skip("No part numbers for car model")
# Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
self.assertTrue(all(b"-" in code for code, _ in codes),
f"FW does not have part number: {fw}")
assert all(b"-" in code for code, _ in codes), \
f"FW does not have part number: {fw}"
def test_platform_codes_spot_check(self):
# Asserts basic platform code parsing behavior for a few cases
results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
self.assertEqual(results, {(b"DH", b"150210")})
assert results == {(b"DH", b"150210")}
# Some cameras and all radars do not have dates
results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
self.assertEqual(results, {(b"AEhe-G2000", None)})
assert results == {(b"AEhe-G2000", None)}
results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
self.assertEqual(results, {(b"CV1-CV000", None)})
assert results == {(b"CV1-CV000", None)}
results = get_platform_codes([
b"\xf1\x00DH LKAS 1.1 -150210",
b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
])
self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}
results = get_platform_codes([
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222",
@@ -186,8 +186,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720",
])
self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}
def test_fuzzy_excluded_platforms(self):
# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
@@ -211,12 +211,8 @@ class TestHyundaiFingerprint(unittest.TestCase):
CP = car.CarParams.new_message(carFw=car_fw)
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
if len(matches) == 1:
self.assertEqual(list(matches)[0], platform)
assert list(matches)[0] == platform
else:
platforms_with_shared_codes.add(platform)
self.assertEqual(platforms_with_shared_codes, excluded_platforms)
if __name__ == "__main__":
unittest.main()
assert platforms_with_shared_codes == excluded_platforms

Some files were not shown because too many files have changed in this diff Show More