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Update251203 (#233)

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This commit is contained in:
carrot
2025-12-03 10:28:27 +09:00
committed by GitHub
parent d6899edd97
commit c5ebcbcb97
347 changed files with 8678 additions and 13489 deletions
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common/SConscript
+3 -12
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@@ -4,22 +4,13 @@ common_libs = [
'params.cc',
'swaglog.cc',
'util.cc',
'i2c.cc',
'watchdog.cc',
'ratekeeper.cc'
]
if arch != "Darwin":
common_libs.append('gpio.cc')
_common = env.Library('common', common_libs, LIBS="json11")
files = [
'ratekeeper.cc',
'clutil.cc',
]
_gpucommon = env.Library('gpucommon', files)
Export('_common', '_gpucommon')
_common = env.Library('common', common_libs, LIBS="json11")
Export('_common')
if GetOption('extras'):
env.Program('tests/test_common',
common/constants.py
+23
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@@ -0,0 +1,23 @@
import numpy as np
# conversions
class CV:
# Speed
MPH_TO_KPH = 1.609344
KPH_TO_MPH = 1. / MPH_TO_KPH
MS_TO_KPH = 3.6
KPH_TO_MS = 1. / MS_TO_KPH
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
MS_TO_KNOTS = 1.9438
KNOTS_TO_MS = 1. / MS_TO_KNOTS
# Angle
DEG_TO_RAD = np.pi / 180.
RAD_TO_DEG = 1. / DEG_TO_RAD
# Mass
LB_TO_KG = 0.453592
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
common/filter_simple.py
+17
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@@ -20,6 +20,23 @@ class FirstOrderFilter:
self.x = x
return self.x
class BounceFilter(FirstOrderFilter):
def __init__(self, x0, rc, dt, initialized=True, bounce=2):
self.velocity = FirstOrderFilter(0.0, 0.15, dt)
self.bounce = bounce
super().__init__(x0, rc, dt, initialized)
def update(self, x):
super().update(x)
scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
self.velocity.update(0.0)
if abs(self.velocity.x) < 1e-5:
self.velocity.x = 0.0
self.x += self.velocity.x
return self.x
class MyMovingAverage:
def __init__(self, window_size, value=None):
self.window_size = window_size
common/gpio.cc
-84
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@@ -1,84 +0,0 @@
#include "common/gpio.h"
#include <string>
#ifdef __APPLE__
int gpio_init(int pin_nr, bool output) {
return 0;
}
int gpio_set(int pin_nr, bool high) {
return 0;
}
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
return 0;
}
#else
#include <fcntl.h>
#include <unistd.h>
#include <cstring>
#include <linux/gpio.h>
#include <sys/ioctl.h>
#include "common/util.h"
#include "common/swaglog.h"
int gpio_init(int pin_nr, bool output) {
char pin_dir_path[50];
int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
"/sys/class/gpio/gpio%d/direction", pin_nr);
if (pin_dir_path_len <= 0) {
return -1;
}
const char *value = output ? "out" : "in";
return util::write_file(pin_dir_path, (void*)value, strlen(value));
}
int gpio_set(int pin_nr, bool high) {
char pin_val_path[50];
int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
"/sys/class/gpio/gpio%d/value", pin_nr);
if (pin_val_path_len <= 0) {
return -1;
}
return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
}
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
// Assumed that all interrupt pins are unexported and rights are given to
// read from gpiochip0.
std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
int fd = open(gpiochip_path.c_str(), O_RDONLY);
if (fd < 0) {
LOGE("Error opening gpiochip0 fd");
return -1;
}
// Setup event
struct gpioevent_request rq;
rq.lineoffset = pin_nr;
rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
/* Requesting both edges as the data ready pulse from the lsm6ds sensor is
very short(75us) and is mostly detected as falling edge instead of rising.
So if it is detected as rising the following falling edge is skipped. */
rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
if (ret == -1) {
LOGE("Unable to get line event from ioctl : %s", strerror(errno));
close(fd);
return -1;
}
close(fd);
return rq.fd;
}
#endif
common/gpio.h
-33
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@@ -1,33 +0,0 @@
#pragma once
// Pin definitions
#ifdef QCOM2
#define GPIO_HUB_RST_N 30
#define GPIO_UBLOX_RST_N 32
#define GPIO_UBLOX_SAFEBOOT_N 33
#define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
#define GPIO_STM_RST_N 124
#define GPIO_STM_BOOT0 134
#define GPIO_BMX_ACCEL_INT 21
#define GPIO_BMX_GYRO_INT 23
#define GPIO_BMX_MAGN_INT 87
#define GPIO_LSM_INT 84
#define GPIOCHIP_INT 0
#else
#define GPIO_HUB_RST_N 0
#define GPIO_UBLOX_RST_N 0
#define GPIO_UBLOX_SAFEBOOT_N 0
#define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
#define GPIO_STM_RST_N 0
#define GPIO_STM_BOOT0 0
#define GPIO_BMX_ACCEL_INT 0
#define GPIO_BMX_GYRO_INT 0
#define GPIO_BMX_MAGN_INT 0
#define GPIO_LSM_INT 0
#define GPIOCHIP_INT 0
#endif
int gpio_init(int pin_nr, bool output);
int gpio_set(int pin_nr, bool high);
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
common/i2c.cc
-92
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@@ -1,92 +0,0 @@
#include "common/i2c.h"
#include <fcntl.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cassert>
#include <cstdio>
#include <stdexcept>
#include "common/swaglog.h"
#include "common/util.h"
#define UNUSED(x) (void)(x)
#ifdef QCOM2
// TODO: decide if we want to install libi2c-dev everywhere
extern "C" {
#include <linux/i2c-dev.h>
#include <i2c/smbus.h>
}
I2CBus::I2CBus(uint8_t bus_id) {
char bus_name[20];
snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
if (i2c_fd < 0) {
throw std::runtime_error("Failed to open I2C bus");
}
}
I2CBus::~I2CBus() {
if (i2c_fd >= 0) {
close(i2c_fd);
}
}
int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
std::lock_guard lk(m);
int ret = 0;
ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
if (ret < 0) { goto fail; }
ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
if ((ret < 0) || (ret != len)) { goto fail; }
fail:
return ret;
}
int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
std::lock_guard lk(m);
int ret = 0;
ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
if (ret < 0) { goto fail; }
ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
if (ret < 0) { goto fail; }
fail:
return ret;
}
#else
I2CBus::I2CBus(uint8_t bus_id) {
UNUSED(bus_id);
i2c_fd = -1;
}
I2CBus::~I2CBus() {}
int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
UNUSED(device_address);
UNUSED(register_address);
UNUSED(buffer);
UNUSED(len);
return -1;
}
int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
UNUSED(device_address);
UNUSED(register_address);
UNUSED(data);
return -1;
}
#endif
common/i2c.h
-19
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@@ -1,19 +0,0 @@
#pragma once
#include <cstdint>
#include <mutex>
#include <sys/types.h>
class I2CBus {
private:
int i2c_fd;
std::mutex m;
public:
I2CBus(uint8_t bus_id);
~I2CBus();
int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
int set_register(uint8_t device_address, uint register_address, uint8_t data);
};
common/mock/__init__.py
+1 -1
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@@ -13,7 +13,7 @@ from openpilot.common.realtime import Ratekeeper
MOCK_GENERATOR = {
"livePose": generate_livePose
"livePose": generate_livePose,
"liveLocationKalman": generate_liveLocationKalman
}
common/params_keys.h
+4
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@@ -183,6 +183,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"AutoNaviSpeedSafetyFactor", PERSISTENT},
{"AutoNaviCountDownMode", PERSISTENT},
{"TurnSpeedControlMode", PERSISTENT},
{"CarrotSmartSpeedControl", PERSISTENT},
{"MapTurnSpeedFactor", PERSISTENT},
{"ModelTurnSpeedFactor", PERSISTENT},
{"StoppingAccel", PERSISTENT},
@@ -281,6 +282,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"MuteDoor", PERSISTENT},
{"MuteSeatbelt", PERSISTENT},
{"CarrotException", CLEAR_ON_MANAGER_START},
{"CarrotSpeed", PERSISTENT},
{"CarrotSpeedViz", PERSISTENT},
{"CarrotSpeedTable", PERSISTENT},
{"CarName", PERSISTENT},
{"EVTable", PERSISTENT},
{"LongPitch", PERSISTENT},
common/utils.py
+118
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@@ -0,0 +1,118 @@
import io
import os
import tempfile
import contextlib
import subprocess
import time
import functools
from subprocess import Popen, PIPE, TimeoutExpired
import zstandard as zstd
from openpilot.common.swaglog import cloudlog
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
class CallbackReader:
"""Wraps a file, but overrides the read method to also
call a callback function with the number of bytes read so far."""
def __init__(self, f, callback, *args):
self.f = f
self.callback = callback
self.cb_args = args
self.total_read = 0
def __getattr__(self, attr):
return getattr(self.f, attr)
def read(self, *args, **kwargs):
chunk = self.f.read(*args, **kwargs)
self.total_read += len(chunk)
self.callback(*self.cb_args, self.total_read)
return chunk
@contextlib.contextmanager
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
overwrite: bool = False):
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
dir_name = os.path.dirname(path)
if not overwrite and os.path.exists(path):
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
yield tmp_file
tmp_file_name = tmp_file.name
os.replace(tmp_file_name, path)
def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
if not should_compress:
file_size = os.path.getsize(filepath)
file_stream = open(filepath, "rb")
return file_stream, file_size
# Compress the file on the fly
compressed_stream = io.BytesIO()
compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
with open(filepath, "rb") as f:
compressor.copy_stream(f, compressed_stream)
compressed_size = compressed_stream.tell()
compressed_stream.seek(0)
return compressed_stream, compressed_size
# remove all keys that end in DEPRECATED
def strip_deprecated_keys(d):
for k in list(d.keys()):
if isinstance(k, str):
if k.endswith('DEPRECATED'):
d.pop(k)
elif isinstance(d[k], dict):
strip_deprecated_keys(d[k])
return d
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
try:
return run_cmd(cmd, cwd=cwd, env=env)
except subprocess.CalledProcessError:
return default
@contextlib.contextmanager
def managed_proc(cmd: list[str], env: dict[str, str]):
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
try:
yield proc
finally:
if proc.poll() is None:
proc.terminate()
try:
proc.wait(timeout=5)
except TimeoutExpired:
proc.kill()
def retry(attempts=3, delay=1.0, ignore_failure=False):
def decorator(func):
@functools.wraps(func)
def wrapper(*args, **kwargs):
for _ in range(attempts):
try:
return func(*args, **kwargs)
except Exception:
cloudlog.exception(f"{func.__name__} failed, trying again")
time.sleep(delay)
if ignore_failure:
cloudlog.error(f"{func.__name__} failed after retry")
else:
raise Exception(f"{func.__name__} failed after retry")
return wrapper
return decorator