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openpilot v0.9.6 release

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date: 2024-02-21T23:02:42
master commit: 0b4d08fab8
This commit is contained in:
Vehicle Researcher
2024-02-21 23:02:43 +00:00
parent b2f2dabe71
commit fa724893fb
532 changed files with 18815 additions and 25937 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/debug/dump.py
+7 -19
View File
@@ -1,14 +1,14 @@
#!/usr/bin/env python3
import os
import sys
import argparse
import json
import codecs
import cereal.messaging as messaging
from hexdump import hexdump
from cereal import log
from cereal.services import SERVICE_LIST
from openpilot.tools.lib.live_logreader import raw_live_logreader
codecs.register_error("strict", codecs.backslashreplace_errors)
@@ -22,32 +22,20 @@ if __name__ == "__main__":
parser.add_argument('--no-print', action='store_true')
parser.add_argument('--addr', default='127.0.0.1')
parser.add_argument('--values', help='values to monitor (instead of entire event)')
parser.add_argument("socket", type=str, nargs='*', help="socket names to dump. defaults to all services defined in cereal")
parser.add_argument("socket", type=str, nargs='*', default=list(SERVICE_LIST.keys()), help="socket names to dump. defaults to all services defined in cereal")
args = parser.parse_args()
if args.addr != "127.0.0.1":
os.environ["ZMQ"] = "1"
messaging.context = messaging.Context()
poller = messaging.Poller()
for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
messaging.sub_sock(m, poller, addr=args.addr)
lr = raw_live_logreader(args.socket, args.addr)
values = None
if args.values:
values = [s.strip().split(".") for s in args.values.split(",")]
while 1:
polld = poller.poll(100)
for sock in polld:
msg = sock.receive()
with log.Event.from_bytes(msg) as log_evt:
evt = log_evt
for msg in lr:
with log.Event.from_bytes(msg) as evt:
if not args.no_print:
if args.pipe:
sys.stdout.write(msg)
sys.stdout.write(str(msg))
sys.stdout.flush()
elif args.raw:
hexdump(msg)
selfdrive/debug/filter_log_message.py
+14 -25
View File
@@ -1,11 +1,9 @@
#!/usr/bin/env python3
import os
import argparse
import json
import cereal.messaging as messaging
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route
LEVELS = {
"DEBUG": 10,
@@ -48,36 +46,27 @@ def print_androidlog(t, msg):
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument('--absolute', action='store_true')
parser.add_argument('--level', default='DEBUG')
parser.add_argument('--addr', default='127.0.0.1')
parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
args = parser.parse_args()
logs = None
if len(args.route):
if os.path.exists(args.route[0]):
logs = [args.route[0]]
else:
r = Route(args.route[0])
logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)]
if len(args.route) == 2 and logs:
n = int(args.route[1])
logs = [logs[n]]
min_level = LEVELS[args.level]
if logs:
for log in logs:
if log:
lr = LogReader(log)
for m in lr:
if m.which() == 'logMessage':
print_logmessage(m.logMonoTime, m.logMessage, min_level)
elif m.which() == 'errorLogMessage' and 'qlog' in log:
print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
elif m.which() == 'androidLog':
print_androidlog(m.logMonoTime, m.androidLog)
if args.route:
st = None if not args.absolute else 0
for route in args.route:
lr = LogReader(route, sort_by_time=True)
for m in lr:
if st is None:
st = m.logMonoTime
if m.which() == 'logMessage':
print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
elif m.which() == 'errorLogMessage':
print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
elif m.which() == 'androidLog':
print_androidlog(m.logMonoTime-st, m.androidLog)
else:
sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
while True:
selfdrive/debug/format_fingerprints.py
Executable
+81
View File
@@ -0,0 +1,81 @@
#!/usr/bin/env python3
import jinja2
import os
from cereal import car
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car.interfaces import get_interface_attr
Ecu = car.CarParams.Ecu
CARS = get_interface_attr('CAR')
FW_VERSIONS = get_interface_attr('FW_VERSIONS')
FINGERPRINTS = get_interface_attr('FINGERPRINTS')
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
{%- if FINGERPRINTS[brand] %}
# ruff: noqa: E501
{% endif %}
{% if FW_VERSIONS[brand] %}
from cereal import car
{% endif %}
from openpilot.selfdrive.car.{{brand}}.values import CAR
{% if FW_VERSIONS[brand] %}
Ecu = car.CarParams.Ecu
{% endif %}
{% if comments +%}
{{ comments | join() }}
{% endif %}
{% if FINGERPRINTS[brand] %}
FINGERPRINTS = {
{% for car, fingerprints in FINGERPRINTS[brand].items() %}
CAR.{{car.name}}: [{
{% for fingerprint in fingerprints %}
{% if not loop.first %}
{{ "{" }}
{% endif %}
{% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
}{% if loop.last %}]{% endif %},
{% endfor %}
{% endfor %}
}
{% endif %}
FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
{% for car, _ in FW_VERSIONS[brand].items() %}
CAR.{{car.name}}: {
{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
{% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
{{fw_version}},
{% endfor %}
],
{% endfor %}
},
{% endfor %}
}
""", trim_blocks=True)
def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
extra_fw_versions = extra_fw_versions or {}
fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py")
with open(fingerprints_file, "r") as f:
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
with open(fingerprints_file, "w") as f:
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
extra_fw_versions=extra_fw_versions))
if __name__ == "__main__":
for brand in FW_VERSIONS.keys():
format_brand_fw_versions(brand)