mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-05 08:16:03 +08:00
Merge branch 'upstream/openpilot/master' into sync-20260225
# Conflicts: # .github/workflows/auto_pr_review.yaml # .github/workflows/badges.yaml # .github/workflows/mici_raylib_ui_preview.yaml # .github/workflows/prebuilt.yaml # .github/workflows/raylib_ui_preview.yaml # .github/workflows/release.yaml # .github/workflows/repo-maintenance.yaml # .github/workflows/tests.yaml # .gitignore # Dockerfile.openpilot_base # SConstruct # docs/CARS.md # opendbc_repo # panda # release/build_release.sh # selfdrive/modeld/SConscript # selfdrive/modeld/modeld.py # selfdrive/pandad/panda_safety.cc # selfdrive/pandad/pandad.cc # selfdrive/pandad/pandad.py # selfdrive/test/process_replay/process_replay.py # selfdrive/ui/layouts/onboarding.py # selfdrive/ui/mici/layouts/home.py # selfdrive/ui/tests/diff/replay.py # selfdrive/ui/tests/test_ui/raylib_screenshots.py # tools/mac_setup.sh # uv.lock
This commit is contained in:
Jason Wen
@@ -52,7 +52,4 @@ runs:
|
||||
# make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
|
||||
- id: scons-cache-setup
|
||||
shell: bash
|
||||
run: |
|
||||
mkdir -p ${{ inputs.path }}
|
||||
sudo chmod -R 777 ${{ inputs.path }}
|
||||
sudo chown -R $USER ${{ inputs.path }}
|
||||
run: mkdir -p ${{ inputs.path }}
|
||||
|
||||
@@ -5,9 +5,7 @@ on:
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: sunnypilot-base
|
||||
DOCKER_REGISTRY: ghcr.io/sunnypilot
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
|
||||
PYTHONPATH: ${{ github.workspace }}
|
||||
|
||||
jobs:
|
||||
badges:
|
||||
@@ -23,7 +21,7 @@ jobs:
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Push badges
|
||||
run: |
|
||||
${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
|
||||
python3 selfdrive/ui/translations/create_badges.py
|
||||
|
||||
rm .gitattributes
|
||||
|
||||
|
||||
@@ -20,27 +20,23 @@ concurrency:
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
PYTHONWARNINGS: error
|
||||
BASE_IMAGE: openpilot-base
|
||||
BUILD: selfdrive/test/docker_build.sh base
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
CI: 1
|
||||
|
||||
jobs:
|
||||
generate_cereal_artifact:
|
||||
name: Generate cereal validation artifacts
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal"
|
||||
run: scons -j$(nproc) cereal
|
||||
- name: Generate the log file
|
||||
run: |
|
||||
${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
|
||||
ls -la
|
||||
ls -la cereal/messaging/tests
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
|
||||
- name: 'Prepare artifact'
|
||||
run: |
|
||||
mkdir -p "cereal/messaging/tests/cereal_validations"
|
||||
@@ -57,20 +53,26 @@ jobs:
|
||||
runs-on: ubuntu-24.04
|
||||
needs: generate_cereal_artifact
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
- name: Checkout sunnypilot
|
||||
uses: actions/checkout@v6
|
||||
- name: Checkout upstream openpilot
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
path: openpilot
|
||||
submodules: true
|
||||
ref: "refs/heads/master"
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc) cereal"
|
||||
working-directory: openpilot
|
||||
run: scons -j$(nproc) cereal
|
||||
- name: Download build artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: cereal_validations
|
||||
path: cereal/messaging/tests/cereal_validations
|
||||
path: openpilot/cereal/messaging/tests/cereal_validations
|
||||
- name: 'Run the validation'
|
||||
run: |
|
||||
chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
|
||||
${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
|
||||
export PYTHONPATH=${{ github.workspace }}/openpilot
|
||||
chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
|
||||
python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
|
||||
|
||||
@@ -6,16 +6,16 @@ runs:
|
||||
- shell: bash
|
||||
name: Build openpilot with all flags
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
scons -j$(nproc)
|
||||
release/check-dirty.sh
|
||||
- shell: bash
|
||||
name: Cleanup scons cache and rebuild
|
||||
run: |
|
||||
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
|
||||
scons -j$(nproc) --cache-populate"
|
||||
rm -rf /tmp/scons_cache/*
|
||||
scons -j$(nproc) --cache-populate
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
|
||||
@@ -1,151 +0,0 @@
|
||||
name: "mici raylib ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
paths:
|
||||
- 'selfdrive/assets/**'
|
||||
- 'selfdrive/ui/**'
|
||||
- 'system/ui/**'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
UI_JOB_NAME: "Create mici raylib UI Report"
|
||||
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
|
||||
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
|
||||
MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
|
||||
# All report files are pushed here
|
||||
REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ env.SHA }}
|
||||
check-name: ${{ env.UI_JOB_NAME }}
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
|
||||
- name: Getting workflow run ID
|
||||
id: get_run_id
|
||||
run: |
|
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4
|
||||
id: download-artifact
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: mici-raylib-report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_ui_raylib
|
||||
ref: ${{ env.MASTER_BRANCH_NAME }}
|
||||
|
||||
- name: Saving new master ui
|
||||
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
|
||||
working-directory: ${{ github.workspace }}/master_ui_raylib
|
||||
run: |
|
||||
git checkout --orphan=new_master_ui_mici_raylib
|
||||
git rm -rf *
|
||||
git branch -D ${{ env.MASTER_BRANCH_NAME }}
|
||||
git branch -m ${{ env.MASTER_BRANCH_NAME }}
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "mici raylib video for commit ${{ env.SHA }}"
|
||||
git push origin ${{ env.MASTER_BRANCH_NAME }} --force
|
||||
|
||||
- name: Setup FFmpeg
|
||||
uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
|
||||
|
||||
- name: Finding diff
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: |
|
||||
# Find the video file from PR
|
||||
pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
|
||||
mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
|
||||
|
||||
master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
|
||||
mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
|
||||
|
||||
# Run report
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
|
||||
diff_exit_code=0
|
||||
python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
|
||||
|
||||
# Copy diff report files
|
||||
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
|
||||
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
|
||||
|
||||
REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
|
||||
if [ $diff_exit_code -eq 0 ]; then
|
||||
DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
|
||||
else
|
||||
DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
|
||||
fi
|
||||
echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_ui_raylib
|
||||
run: |
|
||||
# Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "mici raylib video for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
# Append diff report to report files branch
|
||||
git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
|
||||
git add diff_pr_${{ github.event.number }}.html
|
||||
git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
|
||||
git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
|
||||
- name: Comment Video on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
|
||||
## mici raylib UI Preview
|
||||
${{ steps.find_diff.outputs.DIFF }}
|
||||
comment_tag: run_id_video_mici_raylib
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -6,7 +6,7 @@ on:
|
||||
|
||||
env:
|
||||
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
BUILD: release/ci/docker_build_sp.sh prebuilt
|
||||
BUILD: release/ci/docker_build_sp.sh
|
||||
|
||||
jobs:
|
||||
build_prebuilt:
|
||||
@@ -28,7 +28,7 @@ jobs:
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build prebuilt'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build master-ci).*).)*$
|
||||
check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
@@ -1,175 +0,0 @@
|
||||
name: "raylib ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
paths:
|
||||
- 'selfdrive/assets/**'
|
||||
- 'selfdrive/ui/**'
|
||||
- 'system/ui/**'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
UI_JOB_NAME: "Create raylib UI Report"
|
||||
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
|
||||
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- name: Waiting for ui generation to start
|
||||
run: sleep 30
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ env.SHA }}
|
||||
check-name: ${{ env.UI_JOB_NAME }}
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
|
||||
- name: Getting workflow run ID
|
||||
id: get_run_id
|
||||
run: |
|
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Getting proposed ui
|
||||
id: download-artifact
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: raylib-report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting master ui
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_ui_raylib
|
||||
ref: openpilot_master_ui_raylib
|
||||
|
||||
- name: Saving new master ui
|
||||
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
|
||||
working-directory: ${{ github.workspace }}/master_ui_raylib
|
||||
run: |
|
||||
git checkout --orphan=new_master_ui_raylib
|
||||
git rm -rf *
|
||||
git branch -D openpilot_master_ui_raylib
|
||||
git branch -m openpilot_master_ui_raylib
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
mv ${{ github.workspace }}/pr_ui/*.png .
|
||||
git add .
|
||||
git commit -m "raylib screenshots for commit ${{ env.SHA }}"
|
||||
git push origin openpilot_master_ui_raylib --force
|
||||
|
||||
- name: Finding diff
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: >-
|
||||
sudo apt-get update && sudo apt-get install -y imagemagick
|
||||
|
||||
scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
|
||||
A=($scenes)
|
||||
|
||||
DIFF=""
|
||||
TABLE="<details><summary>All Screenshots</summary>"
|
||||
TABLE="${TABLE}<table>"
|
||||
|
||||
for ((i=0; i<${#A[*]}; i=i+1));
|
||||
do
|
||||
# Check if the master file exists
|
||||
if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
|
||||
# This is a new file in PR UI that doesn't exist in master
|
||||
DIFF="${DIFF}<details open>"
|
||||
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
|
||||
DIFF="${DIFF}<table>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}</table>"
|
||||
DIFF="${DIFF}</details>"
|
||||
elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
|
||||
convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
|
||||
composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
|
||||
convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
|
||||
|
||||
mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
|
||||
|
||||
DIFF="${DIFF}<details open>"
|
||||
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
|
||||
DIFF="${DIFF}<table>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
|
||||
DIFF="${DIFF} <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}<tr>"
|
||||
DIFF="${DIFF} <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
|
||||
DIFF="${DIFF} <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
|
||||
DIFF="${DIFF}</tr>"
|
||||
|
||||
DIFF="${DIFF}</table>"
|
||||
DIFF="${DIFF}</details>"
|
||||
else
|
||||
rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
|
||||
fi
|
||||
|
||||
INDEX=$(($i % 2))
|
||||
if [[ $INDEX -eq 0 ]]; then
|
||||
TABLE="${TABLE}<tr>"
|
||||
fi
|
||||
TABLE="${TABLE} <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
|
||||
if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
|
||||
TABLE="${TABLE}</tr>"
|
||||
fi
|
||||
done
|
||||
|
||||
TABLE="${TABLE}</table></details>"
|
||||
|
||||
echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_ui_raylib
|
||||
run: |
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "raylib screenshots for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
- name: Comment Screenshots on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
|
||||
## raylib UI Preview
|
||||
${{ steps.find_diff.outputs.DIFF }}
|
||||
comment_tag: run_id_screenshots_raylib
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -7,20 +7,12 @@ on:
|
||||
jobs:
|
||||
build___nightly:
|
||||
name: build __nightly
|
||||
env:
|
||||
ImageOS: ubuntu24
|
||||
container:
|
||||
image: ghcr.io/sunnypilot/sunnypilot-base:latest
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
permissions:
|
||||
checks: read
|
||||
contents: write
|
||||
steps:
|
||||
- name: Install wait-on-check-action dependencies
|
||||
run: |
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y libyaml-dev
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name == 'schedule' }}
|
||||
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
|
||||
@@ -29,14 +21,11 @@ jobs:
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build __nightly'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build prebuilt).*).)*$
|
||||
check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- name: Pull LFS
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git lfs pull
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Push __nightly
|
||||
run: BRANCH=__nightly release/build_stripped.sh
|
||||
|
||||
@@ -6,9 +6,7 @@ on:
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: sunnypilot-base
|
||||
BUILD: release/ci/docker_build_sp.sh base
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
PYTHONPATH: ${{ github.workspace }}
|
||||
|
||||
jobs:
|
||||
update_translations:
|
||||
@@ -16,10 +14,11 @@ jobs:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Update translations
|
||||
run: |
|
||||
${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
|
||||
run: python3 selfdrive/ui/update_translations.py --vanish
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
|
||||
with:
|
||||
@@ -35,27 +34,36 @@ jobs:
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-latest
|
||||
container:
|
||||
image: ghcr.io/sunnypilot/sunnypilot-base:latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: uv lock
|
||||
run: |
|
||||
python3 -m ensurepip --upgrade
|
||||
pip3 install uv
|
||||
uv lock --upgrade
|
||||
run: uv lock --upgrade
|
||||
- name: uv pip tree
|
||||
id: pip_tree
|
||||
run: |
|
||||
echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
|
||||
uv pip tree >> $GITHUB_OUTPUT
|
||||
echo 'EOF' >> $GITHUB_OUTPUT
|
||||
- name: venv size
|
||||
id: venv_size
|
||||
run: |
|
||||
echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
|
||||
echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
|
||||
echo "" >> $GITHUB_OUTPUT
|
||||
echo "Top 10 by size:" >> $GITHUB_OUTPUT
|
||||
du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
|
||||
| grep -v '\.dist-info' \
|
||||
| grep -v '__pycache__' \
|
||||
| sort -rh \
|
||||
| head -10 \
|
||||
| while IFS=$'\t' read size path; do echo "$size ${path##*/}"; done >> $GITHUB_OUTPUT
|
||||
echo 'EOF' >> $GITHUB_OUTPUT
|
||||
- name: bump submodules
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git config submodule.msgq.update none
|
||||
git config submodule.rednose_repo.update none
|
||||
git config submodule.teleoprtc_repo.update none
|
||||
@@ -64,7 +72,6 @@ jobs:
|
||||
git add .
|
||||
- name: update car docs
|
||||
run: |
|
||||
export PYTHONPATH="$PWD"
|
||||
scons -j$(nproc) --minimal opendbc_repo
|
||||
python selfdrive/car/docs.py
|
||||
git add docs/CARS.md
|
||||
@@ -82,6 +89,12 @@ jobs:
|
||||
Automatic PR from repo-maintenance -> package_updates
|
||||
|
||||
```
|
||||
$ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
|
||||
${{ steps.venv_size.outputs.VENV_SIZE }}
|
||||
```
|
||||
|
||||
```
|
||||
$ uv pip tree
|
||||
${{ steps.pip_tree.outputs.PIP_TREE }}
|
||||
```
|
||||
labels: bot
|
||||
|
||||
@@ -1,10 +1,6 @@
|
||||
name: 'openpilot env setup, with retry on failure'
|
||||
|
||||
inputs:
|
||||
docker_hub_pat:
|
||||
description: 'Auth token for Docker Hub, required for BuildJet jobs'
|
||||
required: false
|
||||
default: ''
|
||||
sleep_time:
|
||||
description: 'Time to sleep between retries'
|
||||
required: false
|
||||
|
||||
@@ -26,31 +26,31 @@ runs:
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# do this after checkout to ensure our custom LFS config is used to pull from GitLab
|
||||
- shell: bash
|
||||
run: git lfs pull
|
||||
|
||||
# build cache
|
||||
- id: date
|
||||
shell: bash
|
||||
run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- shell: bash
|
||||
run: echo "$CACHE_COMMIT_DATE"
|
||||
- id: scons-cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: .ci_cache/scons_cache
|
||||
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}
|
||||
# as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
|
||||
- id: normalize-file-permissions
|
||||
shell: bash
|
||||
name: Normalize file permissions to ensure a consistent docker build cache
|
||||
run: |
|
||||
find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
|
||||
find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
|
||||
# build our docker image
|
||||
scons-${{ runner.os }}-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.os }}-${{ runner.arch }}
|
||||
# venv cache
|
||||
- id: venv-cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
path: ${{ github.workspace }}/.venv
|
||||
key: venv-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('uv.lock') }}
|
||||
restore-keys: |
|
||||
venv-${{ runner.os }}-${{ runner.arch }}
|
||||
- shell: bash
|
||||
run: eval ${{ env.BUILD }}
|
||||
name: Run setup
|
||||
run: ./tools/op.sh setup
|
||||
- shell: bash
|
||||
name: Setup cache dirs
|
||||
run: |
|
||||
mkdir -p /tmp/comma_download_cache
|
||||
echo "$GITHUB_WORKSPACE/.venv/bin" >> $GITHUB_PATH
|
||||
|
||||
+38
-133
@@ -18,14 +18,7 @@ concurrency:
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
PYTHONWARNINGS: error
|
||||
BASE_IMAGE: sunnypilot-base
|
||||
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
|
||||
BUILD: release/ci/docker_build_sp.sh base
|
||||
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
|
||||
CI: 1
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
@@ -38,6 +31,7 @@ jobs:
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
env:
|
||||
STRIPPED_DIR: /tmp/releasepilot
|
||||
PYTHONPATH: /tmp/releasepilot
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
@@ -53,15 +47,13 @@ jobs:
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot and run checks
|
||||
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 }} "python3 system/manager/build.py"
|
||||
timeout-minutes: 30
|
||||
working-directory: ${{ env.STRIPPED_DIR }}
|
||||
run: python3 system/manager/build.py
|
||||
- name: Run tests
|
||||
timeout-minutes: 1
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "release/check-dirty.sh"
|
||||
working-directory: ${{ env.STRIPPED_DIR }}
|
||||
run: release/check-dirty.sh
|
||||
- name: Check submodules
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
timeout-minutes: 3
|
||||
@@ -83,73 +75,20 @@ jobs:
|
||||
fi
|
||||
release/check-submodules.sh
|
||||
|
||||
build:
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- name: Setup docker push
|
||||
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
|
||||
run: |
|
||||
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
|
||||
$DOCKER_LOGIN
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- uses: ./.github/workflows/compile-openpilot
|
||||
timeout-minutes: 30
|
||||
|
||||
build_mac:
|
||||
name: build macOS
|
||||
if: false # tmp disable due to brew install not working
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
brew-macos-${{ hashFiles('tools/Brewfile') }}
|
||||
brew-macos-
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
PYTHONWARNINGS: default # package install has DeprecationWarnings
|
||||
HOMEBREW_DISPLAY_INSTALL_TIMES: 1
|
||||
- name: Save Homebrew cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
|
||||
- run: git lfs pull
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
|
||||
scons-${{ runner.arch }}-macos
|
||||
- name: Remove Homebrew from environment
|
||||
run: |
|
||||
FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
|
||||
echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Building openpilot
|
||||
run: . .venv/bin/activate && scons -j$(nproc)
|
||||
- name: Save scons cache
|
||||
uses: actions/cache/save@v4
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
run: scons
|
||||
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
@@ -159,8 +98,6 @@ jobs:
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
env:
|
||||
PYTHONWARNINGS: default
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
@@ -168,7 +105,7 @@ jobs:
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Static analysis
|
||||
timeout-minutes: 1
|
||||
run: ${{ env.RUN }} "scripts/lint/lint.sh"
|
||||
run: scripts/lint/lint.sh
|
||||
|
||||
unit_tests:
|
||||
name: unit tests
|
||||
@@ -185,15 +122,14 @@ jobs:
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
id: setup-step
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
run: scons -j$(nproc)
|
||||
- name: Run unit tests
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
# Pre-compile Python bytecode so each pytest worker doesn't need to
|
||||
$PYTEST --collect-only -m 'not slow' -qq && \
|
||||
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
source selfdrive/test/setup_xvfb.sh
|
||||
# Pre-compile Python bytecode so each pytest worker doesn't need to
|
||||
pytest --collect-only -m 'not slow' -qq
|
||||
MAX_EXAMPLES=1 pytest -m 'not slow'
|
||||
|
||||
process_replay:
|
||||
name: process replay
|
||||
@@ -214,17 +150,14 @@ jobs:
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v5
|
||||
with:
|
||||
path: .ci_cache/comma_download_cache
|
||||
path: /tmp/comma_download_cache
|
||||
key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/test_processes.py') }}
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
run: scons -j$(nproc)
|
||||
- name: Run replay
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
|
||||
continue-on-error: ${{ github.ref == 'refs/heads/master' }}
|
||||
run: |
|
||||
${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
|
||||
- name: Print diff
|
||||
id: print-diff
|
||||
if: always()
|
||||
@@ -258,9 +191,9 @@ jobs:
|
||||
- name: Run regen
|
||||
if: false
|
||||
timeout-minutes: 4
|
||||
run: |
|
||||
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
|
||||
chmod -R 777 /tmp/comma_download_cache"
|
||||
env:
|
||||
ONNXCPU: 1
|
||||
run: pytest selfdrive/test/process_replay/test_regen.py
|
||||
|
||||
simulator_driving:
|
||||
name: simulator driving
|
||||
@@ -278,17 +211,15 @@ jobs:
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
id: setup-step
|
||||
- name: Build openpilot
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc)"
|
||||
run: scons -j$(nproc)
|
||||
- name: Driving test
|
||||
timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
source selfdrive/test/setup_vsound.sh && \
|
||||
CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
|
||||
source selfdrive/test/setup_xvfb.sh
|
||||
pytest -s tools/sim/tests/test_metadrive_bridge.py
|
||||
|
||||
create_raylib_ui_report:
|
||||
name: Create raylib UI Report
|
||||
create_ui_report:
|
||||
name: Create UI Report
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
@@ -301,40 +232,14 @@ jobs:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Create raylib UI Report
|
||||
run: >
|
||||
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
|
||||
source selfdrive/test/setup_xvfb.sh &&
|
||||
python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
|
||||
- name: Upload Raylib UI Report
|
||||
run: scons -j$(nproc)
|
||||
- name: Create UI Report
|
||||
run: |
|
||||
source selfdrive/test/setup_xvfb.sh
|
||||
python3 selfdrive/ui/tests/diff/replay.py
|
||||
python3 selfdrive/ui/tests/diff/replay.py --big
|
||||
- name: Upload UI Report
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
|
||||
|
||||
create_mici_raylib_ui_report:
|
||||
name: Create mici raylib UI Report
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Create mici raylib UI Report
|
||||
run: >
|
||||
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
|
||||
source selfdrive/test/setup_xvfb.sh &&
|
||||
WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
|
||||
- name: Upload Raylib UI Report
|
||||
uses: actions/upload-artifact@v6
|
||||
with:
|
||||
name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
path: selfdrive/ui/tests/diff/report
|
||||
|
||||
@@ -0,0 +1,175 @@
|
||||
name: "ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
paths:
|
||||
- 'selfdrive/assets/**'
|
||||
- 'selfdrive/ui/**'
|
||||
- 'system/ui/**'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
UI_JOB_NAME: "Create UI Report"
|
||||
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
|
||||
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
|
||||
REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
|
||||
|
||||
# variant:video_prefix:master_branch
|
||||
VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ env.SHA }}
|
||||
check-name: ${{ env.UI_JOB_NAME }}
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
|
||||
- name: Getting workflow run ID
|
||||
id: get_run_id
|
||||
run: |
|
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Getting proposed ui
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: ui-report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting mici master ui
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_mici
|
||||
ref: openpilot_master_ui_mici_raylib
|
||||
|
||||
- name: Getting big master ui
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_big
|
||||
ref: openpilot_master_ui_big_raylib
|
||||
|
||||
- name: Saving new master ui
|
||||
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
|
||||
run: |
|
||||
for variant in $VARIANTS; do
|
||||
IFS=':' read -r name video branch <<< "$variant"
|
||||
master_dir="${{ github.workspace }}/master_${name}"
|
||||
cd "$master_dir"
|
||||
git checkout --orphan=new_branch
|
||||
git rm -rf *
|
||||
git branch -D "$branch"
|
||||
git branch -m "$branch"
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
|
||||
git add .
|
||||
git commit -m "${name} video for commit ${{ env.SHA }}"
|
||||
git push origin "$branch" --force
|
||||
done
|
||||
|
||||
- name: Setup FFmpeg
|
||||
uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
|
||||
|
||||
- name: Finding diffs
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
|
||||
|
||||
COMMENT=""
|
||||
for variant in $VARIANTS; do
|
||||
IFS=':' read -r name video _ <<< "$variant"
|
||||
diff_name="${name}_diff"
|
||||
|
||||
mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
|
||||
cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
|
||||
|
||||
diff_exit_code=0
|
||||
python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
|
||||
"${{ github.workspace }}/pr_ui/${video}_master.mp4" \
|
||||
"${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
|
||||
"${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
|
||||
|
||||
cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
|
||||
cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
|
||||
|
||||
REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
|
||||
if [ $diff_exit_code -eq 0 ]; then
|
||||
COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
|
||||
else
|
||||
COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
|
||||
fi
|
||||
done
|
||||
|
||||
{
|
||||
echo "COMMENT<<EOF"
|
||||
echo "$COMMENT"
|
||||
echo "EOF"
|
||||
} >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_mici
|
||||
run: |
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "ui videos for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
# Append diff reports to report files branch
|
||||
git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
for variant in $VARIANTS; do
|
||||
IFS=':' read -r name _ _ <<< "$variant"
|
||||
diff_name="${name}_diff"
|
||||
cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
|
||||
git add "${diff_name}_pr_${{ github.event.number }}.html"
|
||||
done
|
||||
git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
|
||||
git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
|
||||
- name: Comment on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
|
||||
## UI Preview
|
||||
${{ steps.find_diff.outputs.COMMENT }}
|
||||
comment_tag: run_id_ui_preview
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -1,51 +0,0 @@
|
||||
name: vendor third_party
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
|
||||
jobs:
|
||||
build:
|
||||
if: github.ref != 'refs/heads/master'
|
||||
strategy:
|
||||
matrix:
|
||||
os: [ubuntu-24.04, macos-latest]
|
||||
runs-on: ${{ matrix.os }}
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build
|
||||
run: third_party/build.sh
|
||||
- name: Package artifacts
|
||||
run: |
|
||||
git add -A third_party/
|
||||
git diff --cached --name-only -- third_party/ | tar -cf /tmp/third_party_build.tar -T -
|
||||
- uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: third-party-${{ runner.os }}
|
||||
path: /tmp/third_party_build.tar
|
||||
|
||||
commit:
|
||||
needs: build
|
||||
runs-on: ubuntu-24.04
|
||||
permissions:
|
||||
contents: write
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
- uses: actions/download-artifact@v4
|
||||
with:
|
||||
path: /tmp/artifacts
|
||||
- name: Commit vendored libraries
|
||||
run: |
|
||||
for f in /tmp/artifacts/*/third_party_build.tar; do
|
||||
tar xf "$f"
|
||||
done
|
||||
git add third_party/
|
||||
if git diff --cached --quiet; then
|
||||
echo "No changes to commit"
|
||||
exit 0
|
||||
fi
|
||||
git config user.name "github-actions[bot]"
|
||||
git config user.email "github-actions[bot]@users.noreply.github.com"
|
||||
git commit -m "third_party: rebuild vendor libraries"
|
||||
git push
|
||||
+1
-1
@@ -64,7 +64,7 @@ flycheck_*
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/models/*.pkl
|
||||
selfdrive/modeld/models/*.pkl*
|
||||
sunnypilot/modeld*/thneed/compile
|
||||
sunnypilot/modeld*/models/*.thneed
|
||||
sunnypilot/modeld*/models/*.pkl
|
||||
|
||||
+30
-6
@@ -1,14 +1,38 @@
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
ENV OPENPILOT_PATH=/home/$USER/openpilot
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
COPY --chown=$USER . ${OPENPILOT_PATH}/
|
||||
|
||||
ENV UV_BIN="/home/batman/.local/bin/"
|
||||
ENV PATH="$UV_BIN:$PATH"
|
||||
RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
|
||||
ENV UV_BIN="/home/$USER/.local/bin/"
|
||||
ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
|
||||
ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN tools/setup_dependencies.sh && \
|
||||
sudo rm -rf /var/lib/apt/lists/*
|
||||
|
||||
USER root
|
||||
RUN git config --global --add safe.directory '*'
|
||||
|
||||
@@ -1,82 +0,0 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
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 \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
@@ -1,14 +0,0 @@
|
||||
FROM ghcr.io/sunnypilot/sunnypilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV OPENPILOT_PATH=/home/batman/openpilot
|
||||
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
COPY . ${OPENPILOT_PATH}/
|
||||
|
||||
ENV UV_BIN="/home/batman/.local/bin/"
|
||||
ENV PATH="$UV_BIN:$PATH"
|
||||
RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
|
||||
@@ -1,83 +0,0 @@
|
||||
FROM ubuntu:24.04
|
||||
|
||||
ENV PYTHONUNBUFFERED=1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG=en_US.UTF-8
|
||||
ENV LANGUAGE=en_US:en
|
||||
ENV LC_ALL=en_US.UTF-8
|
||||
|
||||
COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
|
||||
RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
rm -rf /var/lib/apt/lists/* /tmp/* && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
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 \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
rsync \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES=all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX=1
|
||||
|
||||
RUN dbus-uuidgen > /etc/machine-id
|
||||
RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
|
||||
|
||||
ARG USER=batman
|
||||
ARG USER_UID=1001
|
||||
RUN useradd -m -s /bin/bash -u $USER_UID $USER
|
||||
RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
Vendored
+3
-13
@@ -216,24 +216,16 @@ node {
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
])
|
||||
},
|
||||
'camerad OX03C10': {
|
||||
deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'camerad OS04C10': {
|
||||
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
|
||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
|
||||
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
|
||||
step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
|
||||
])
|
||||
},
|
||||
'sensord': {
|
||||
@@ -251,11 +243,9 @@ node {
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
step("build openpilot", "cd system/manager && ./build.py"),
|
||||
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
|
||||
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
|
||||
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
|
||||
// TODO: enable once new AGNOS is available
|
||||
// step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
|
||||
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
|
||||
])
|
||||
},
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
Version 0.10.4 (2026-02-17)
|
||||
========================
|
||||
* Kia K7 2017 support thanks to royjr!
|
||||
* Lexus LS 2018 support thanks to Hacheoy!
|
||||
* Reduce comma four standby power usage by 77% to 52 mW
|
||||
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
|
||||
+25
-18
@@ -28,7 +28,6 @@ AddOption('--minimal',
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
|
||||
elif arch == "aarch64" and os.path.isfile('/TICI'):
|
||||
arch = "larch64"
|
||||
assert arch in [
|
||||
@@ -38,6 +37,23 @@ assert arch in [
|
||||
"Darwin", # macOS arm64 (x86 not supported)
|
||||
]
|
||||
|
||||
if arch != "larch64":
|
||||
import capnproto
|
||||
import eigen
|
||||
import ffmpeg as ffmpeg_pkg
|
||||
import libjpeg
|
||||
import ncurses
|
||||
import openssl3
|
||||
import python3_dev
|
||||
import zeromq
|
||||
import zstd
|
||||
pkgs = [capnproto, eigen, ffmpeg_pkg, libjpeg, ncurses, openssl3, zeromq, zstd]
|
||||
py_include = python3_dev.INCLUDE_DIR
|
||||
else:
|
||||
# TODO: remove when AGNOS has our new vendor pkgs
|
||||
pkgs = []
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
|
||||
env = Environment(
|
||||
ENV={
|
||||
"PATH": os.environ['PATH'],
|
||||
@@ -46,15 +62,13 @@ env = Environment(
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
|
||||
},
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
@@ -74,6 +88,7 @@ env = Environment(
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/libyuv/include",
|
||||
[x.INCLUDE_DIR for x in pkgs],
|
||||
],
|
||||
LIBPATH=[
|
||||
"#common",
|
||||
@@ -83,6 +98,7 @@ env = Environment(
|
||||
"#rednose/helpers",
|
||||
f"#third_party/libyuv/{arch}/lib",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
[x.LIB_DIR for x in pkgs],
|
||||
],
|
||||
RPATH=[],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
@@ -94,7 +110,8 @@ env = Environment(
|
||||
|
||||
# Arch-specific flags and paths
|
||||
if arch == "larch64":
|
||||
env.Append(CPPPATH=["#third_party/opencl/include"])
|
||||
env["CC"] = "clang"
|
||||
env["CXX"] = "clang++"
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/local/lib",
|
||||
"/system/vendor/lib64",
|
||||
@@ -105,17 +122,10 @@ if arch == "larch64":
|
||||
env.Append(CXXFLAGS=arch_flags)
|
||||
elif arch == "Darwin":
|
||||
env.Append(LIBPATH=[
|
||||
f"{brew_prefix}/lib",
|
||||
f"{brew_prefix}/opt/openssl@3.0/lib",
|
||||
f"{brew_prefix}/opt/llvm/lib/c++",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
])
|
||||
env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
|
||||
env.Append(CPPPATH=[
|
||||
f"{brew_prefix}/include",
|
||||
f"{brew_prefix}/opt/openssl@3.0/include",
|
||||
])
|
||||
else:
|
||||
env.Append(LIBPATH=[
|
||||
"/usr/lib",
|
||||
@@ -149,10 +159,9 @@ if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
# ********** Cython build environment **********
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"].remove("-Werror")
|
||||
|
||||
envCython["LIBS"] = []
|
||||
@@ -215,10 +224,8 @@ SConscript(['selfdrive/SConscript'])
|
||||
|
||||
SConscript(['sunnypilot/SConscript'])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and GetOption('extras'):
|
||||
SConscript(['tools/replay/SConscript'])
|
||||
if arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
if Dir('#tools/cabana/').exists() and arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
+2
-2
@@ -2232,9 +2232,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
isActiveMode @16 :Bool;
|
||||
isRHD @4 :Bool;
|
||||
uncertainCount @19 :UInt32;
|
||||
phoneProbOffset @20 :Float32;
|
||||
phoneProbValidCount @21 :UInt32;
|
||||
|
||||
phoneProbOffsetDEPRECATED @20 :Float32;
|
||||
phoneProbValidCountDEPRECATED @21 :UInt32;
|
||||
isPreviewDEPRECATED @15 :Bool;
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
|
||||
|
||||
@@ -5,7 +5,7 @@ import numbers
|
||||
import random
|
||||
import threading
|
||||
import time
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
import pytest
|
||||
|
||||
from cereal import log, car
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
import tempfile
|
||||
from typing import Dict
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
import cereal.services as services
|
||||
from cereal.services import SERVICE_LIST
|
||||
|
||||
@@ -5,7 +5,6 @@ common_libs = [
|
||||
'swaglog.cc',
|
||||
'util.cc',
|
||||
'ratekeeper.cc',
|
||||
'clutil.cc',
|
||||
]
|
||||
|
||||
_common = env.Library('common', common_libs, LIBS="json11")
|
||||
|
||||
@@ -1,98 +0,0 @@
|
||||
#include "common/clutil.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/swaglog.h"
|
||||
|
||||
namespace { // helper functions
|
||||
|
||||
template <typename Func, typename Id, typename Name>
|
||||
std::string get_info(Func get_info_func, Id id, Name param_name) {
|
||||
size_t size = 0;
|
||||
CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
|
||||
std::string info(size, '\0');
|
||||
CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
|
||||
return info;
|
||||
}
|
||||
inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
|
||||
inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
|
||||
|
||||
void cl_print_info(cl_platform_id platform, cl_device_id device) {
|
||||
size_t work_group_size = 0;
|
||||
cl_device_type device_type = 0;
|
||||
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
|
||||
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
|
||||
const char *type_str = "Other...";
|
||||
switch (device_type) {
|
||||
case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
|
||||
case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
|
||||
case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
|
||||
}
|
||||
|
||||
LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
|
||||
LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
|
||||
LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
|
||||
LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
|
||||
LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
|
||||
LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
|
||||
LOGD("max work group size: %zu", work_group_size);
|
||||
LOGD("type = %d, %s", (int)device_type, type_str);
|
||||
}
|
||||
|
||||
void cl_print_build_errors(cl_program program, cl_device_id device) {
|
||||
cl_build_status status;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
|
||||
size_t log_size;
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
|
||||
std::string log(log_size, '\0');
|
||||
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
|
||||
|
||||
LOGE("build failed; status=%d, log: %s", status, log.c_str());
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type) {
|
||||
cl_uint num_platforms = 0;
|
||||
CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
|
||||
std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
|
||||
CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
|
||||
|
||||
for (size_t i = 0; i < num_platforms; ++i) {
|
||||
LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
|
||||
|
||||
// Get first device
|
||||
if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
|
||||
cl_print_info(platform_ids[i], device_id);
|
||||
return device_id;
|
||||
}
|
||||
}
|
||||
LOGE("No valid openCL platform found");
|
||||
assert(0);
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
cl_context cl_create_context(cl_device_id device_id) {
|
||||
return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
}
|
||||
|
||||
void cl_release_context(cl_context context) {
|
||||
clReleaseContext(context);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
|
||||
return cl_program_from_source(ctx, device_id, util::read_file(path), args);
|
||||
}
|
||||
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
|
||||
const char *csrc = src.c_str();
|
||||
cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
|
||||
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
|
||||
cl_print_build_errors(prg, device_id);
|
||||
assert(0);
|
||||
}
|
||||
return prg;
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#define CL_CHECK(_expr) \
|
||||
do { \
|
||||
assert(CL_SUCCESS == (_expr)); \
|
||||
} while (0)
|
||||
|
||||
#define CL_CHECK_ERR(_expr) \
|
||||
({ \
|
||||
cl_int err = CL_INVALID_VALUE; \
|
||||
__typeof__(_expr) _ret = _expr; \
|
||||
assert(_ret&& err == CL_SUCCESS); \
|
||||
_ret; \
|
||||
})
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_context cl_create_context(cl_device_id device_id);
|
||||
void cl_release_context(cl_context context);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
@@ -0,0 +1,37 @@
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
|
||||
|
||||
def get_chunk_name(name, idx, num_chunks):
|
||||
return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
|
||||
|
||||
def get_manifest_path(name):
|
||||
return f"{name}.chunkmanifest"
|
||||
|
||||
def get_chunk_paths(path, file_size):
|
||||
num_chunks = math.ceil(file_size / CHUNK_SIZE)
|
||||
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
|
||||
def chunk_file(path, targets):
|
||||
manifest_path, *chunk_paths = targets
|
||||
with open(path, 'rb') as f:
|
||||
data = f.read()
|
||||
actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
|
||||
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
|
||||
for i, chunk_path in enumerate(chunk_paths):
|
||||
with open(chunk_path, 'wb') as f:
|
||||
f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
|
||||
Path(manifest_path).write_text(str(len(chunk_paths)))
|
||||
os.remove(path)
|
||||
|
||||
|
||||
def read_file_chunked(path):
|
||||
manifest_path = get_manifest_path(path)
|
||||
if os.path.isfile(manifest_path):
|
||||
num_chunks = int(Path(manifest_path).read_text().strip())
|
||||
return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
|
||||
if os.path.isfile(path):
|
||||
return Path(path).read_bytes()
|
||||
raise FileNotFoundError(path)
|
||||
@@ -1,85 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
typedef struct vec3 {
|
||||
float v[3];
|
||||
} vec3;
|
||||
|
||||
typedef struct vec4 {
|
||||
float v[4];
|
||||
} vec4;
|
||||
|
||||
typedef struct mat3 {
|
||||
float v[3*3];
|
||||
} mat3;
|
||||
|
||||
typedef struct mat4 {
|
||||
float v[4*4];
|
||||
} mat4;
|
||||
|
||||
static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
|
||||
mat3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<3; k++) {
|
||||
v += a.v[r*3+k] * b.v[k*3+c];
|
||||
}
|
||||
ret.v[r*3+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
|
||||
vec3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
ret.v[r] += a.v[r*3+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline mat4 matmul(const mat4 &a, const mat4 &b) {
|
||||
mat4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<4; k++) {
|
||||
v += a.v[r*4+k] * b.v[k*4+c];
|
||||
}
|
||||
ret.v[r*4+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
|
||||
vec4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
ret.v[r] += a.v[r*4+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// scales the input and output space of a transformation matrix
|
||||
// that assumes pixel-center origin.
|
||||
static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
|
||||
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
|
||||
|
||||
mat3 transform_out = {{
|
||||
1.0f/s, 0.0f, 0.5f,
|
||||
0.0f, 1.0f/s, 0.5f,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
mat3 transform_in = {{
|
||||
s, 0.0f, -0.5f*s,
|
||||
0.0f, s, -0.5f*s,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
return matmul3(transform_in, matmul3(in, transform_out));
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
import sys
|
||||
import pytest
|
||||
import inspect
|
||||
|
||||
|
||||
class parameterized:
|
||||
@staticmethod
|
||||
def expand(cases):
|
||||
cases = list(cases)
|
||||
|
||||
if not cases:
|
||||
return lambda func: pytest.mark.skip("no parameterized cases")(func)
|
||||
|
||||
def decorator(func):
|
||||
params = [p for p in inspect.signature(func).parameters if p != 'self']
|
||||
normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
|
||||
# Infer arg count from first case so extra params (e.g. from @given) are left untouched
|
||||
expand_params = params[: len(normalized[0])]
|
||||
if len(expand_params) == 1:
|
||||
return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
|
||||
return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def parameterized_class(attrs, input_list=None):
|
||||
if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
|
||||
params_list = attrs
|
||||
else:
|
||||
assert input_list is not None
|
||||
attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
|
||||
params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
|
||||
|
||||
def decorator(cls):
|
||||
globs = sys._getframe(1).f_globals
|
||||
for i, params in enumerate(params_list):
|
||||
name = f"{cls.__name__}_{i}"
|
||||
new_cls = type(name, (cls,), dict(params))
|
||||
new_cls.__module__ = cls.__module__
|
||||
new_cls.__test__ = True # override inherited False so pytest collects this subclass
|
||||
globs[name] = new_cls
|
||||
# Don't collect the un-parametrised base, but return it so outer decorators
|
||||
# (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
|
||||
cls.__test__ = False
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
+4
-4
@@ -27,14 +27,14 @@ public:
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
util::check_system(util::string_format("rm %s -rf", real_path.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());
|
||||
util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().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());
|
||||
util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
|
||||
util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
|
||||
@@ -6,9 +6,9 @@
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
|
||||
RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
|
||||
: name(name),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold)) {
|
||||
RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
|
||||
: name(name_),
|
||||
print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
|
||||
interval = 1 / rate;
|
||||
last_monitor_time = seconds_since_boot();
|
||||
next_frame_time = last_monitor_time + interval;
|
||||
|
||||
@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
|
||||
REQUIRE(util::read_file(filename).empty());
|
||||
|
||||
std::string content = random_bytes(64 * 1024);
|
||||
write(fd, content.c_str(), content.size());
|
||||
REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
|
||||
std::string ret = util::read_file(filename);
|
||||
bool equal = (ret == content);
|
||||
REQUIRE(equal);
|
||||
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
|
||||
}
|
||||
|
||||
TEST_CASE("util::create_directories") {
|
||||
system("rm /tmp/test_create_directories -rf");
|
||||
REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
|
||||
std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
|
||||
|
||||
auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
|
||||
auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
|
||||
struct stat st = {};
|
||||
return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
|
||||
};
|
||||
|
||||
SECTION("create_directories") {
|
||||
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
|
||||
}
|
||||
SECTION("a file exists with the same name") {
|
||||
REQUIRE(util::create_directories(dir, 0755));
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
|
||||
int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
|
||||
REQUIRE(f != -1);
|
||||
close(f);
|
||||
REQUIRE(util::create_directories(dir + "/file", 0755) == false);
|
||||
|
||||
+4
-4
@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
|
||||
}
|
||||
|
||||
static bool createDirectory(std::string dir, mode_t mode) {
|
||||
auto verify_dir = [](const std::string& dir) -> bool {
|
||||
auto verify_dir = [](const std::string& path) -> bool {
|
||||
struct stat st = {};
|
||||
return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
|
||||
};
|
||||
// remove trailing /'s
|
||||
while (dir.size() > 1 && dir.back() == '/') {
|
||||
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
|
||||
std::string check_output(const std::string& command) {
|
||||
char buffer[128];
|
||||
std::string result;
|
||||
std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
|
||||
|
||||
if (!pipe) {
|
||||
return "";
|
||||
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {
|
||||
|
||||
bool system_time_valid() {
|
||||
// Default to August 26, 2024
|
||||
tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
|
||||
tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
|
||||
time_t min_date = mktime(&min_tm);
|
||||
|
||||
struct stat st;
|
||||
|
||||
@@ -97,6 +97,13 @@ bool create_directories(const std::string &dir, mode_t mode);
|
||||
|
||||
std::string check_output(const std::string& command);
|
||||
|
||||
inline void check_system(const std::string& cmd) {
|
||||
int ret = std::system(cmd.c_str());
|
||||
if (ret != 0) {
|
||||
fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
bool system_time_valid();
|
||||
|
||||
inline void sleep_for(const int milliseconds) {
|
||||
|
||||
@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
|
||||
## What contributions are we looking for?
|
||||
|
||||
**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
|
||||
openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
|
||||
openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
|
||||
|
||||
### What gets merged?
|
||||
|
||||
The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
|
||||
If a PR offers *some* value but will take lots of time to get merged, it will be closed.
|
||||
Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
|
||||
Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
|
||||
|
||||
All of these are examples of good PRs:
|
||||
* typo fix: https://github.com/commaai/openpilot/pull/30678
|
||||
@@ -29,17 +29,17 @@ All of these are examples of good PRs:
|
||||
|
||||
### What doesn't get merged?
|
||||
|
||||
* **style changes**: code is art, and it's up to the author to make it beautiful
|
||||
* **style changes**: code is art, and it's up to the author to make it beautiful
|
||||
* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
|
||||
* **PRs without a clear goal**: every PR must have a singular and clear goal
|
||||
* **UI design**: we do not have a good review process for this yet
|
||||
* **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
|
||||
* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
|
||||
* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
|
||||
|
||||
### First contribution
|
||||
|
||||
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
|
||||
There's lot of bounties that don't require a comma 3X or a car.
|
||||
There are a lot of bounties that don't require a comma 3X or a car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
+1
-1
Submodule msgq_repo updated: 4c4e814ed5...ed2777747d
+1
-1
Submodule opendbc_repo updated: cbcd126951...a4182dab12
+1
-1
Submodule panda updated: a95e060e85...2b9ee96761
+18
-19
@@ -20,26 +20,32 @@ dependencies = [
|
||||
# core
|
||||
"cffi",
|
||||
"scons",
|
||||
"pycapnp==2.1.0",
|
||||
"pycapnp",
|
||||
"Cython",
|
||||
"setuptools",
|
||||
"numpy >=2.0",
|
||||
|
||||
# vendored native dependencies
|
||||
"capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
|
||||
"eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
|
||||
"ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
|
||||
"libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
|
||||
"openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3",
|
||||
"python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
|
||||
"zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
|
||||
"ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
|
||||
"zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
|
||||
"git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
|
||||
|
||||
# body / webrtcd
|
||||
"av",
|
||||
"aiohttp",
|
||||
"aiortc",
|
||||
# aiortc does not put an upper bound on pyopenssl and is now incompatible
|
||||
# with the latest release
|
||||
"pyopenssl < 24.3.0",
|
||||
"pyaudio",
|
||||
|
||||
# panda
|
||||
"libusb1",
|
||||
"spidev; platform_system == 'Linux'",
|
||||
|
||||
# modeld
|
||||
"onnx >= 1.14.0",
|
||||
|
||||
# logging
|
||||
"pyzmq",
|
||||
"sentry-sdk",
|
||||
@@ -67,7 +73,6 @@ dependencies = [
|
||||
# ui
|
||||
"raylib > 5.5.0.3",
|
||||
"qrcode",
|
||||
"mapbox-earcut",
|
||||
"jeepney",
|
||||
]
|
||||
|
||||
@@ -86,7 +91,6 @@ testing = [
|
||||
"pytest-subtests",
|
||||
# https://github.com/pytest-dev/pytest-xdist/pull/1229
|
||||
"pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
|
||||
"pytest-timeout",
|
||||
"pytest-asyncio",
|
||||
"pytest-mock",
|
||||
"ruff",
|
||||
@@ -95,17 +99,13 @@ testing = [
|
||||
]
|
||||
|
||||
dev = [
|
||||
"av",
|
||||
"dictdiffer",
|
||||
"matplotlib",
|
||||
"opencv-python-headless",
|
||||
"parameterized >=0.8, <0.9",
|
||||
"pyautogui",
|
||||
"pywinctl",
|
||||
"gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
|
||||
]
|
||||
|
||||
tools = [
|
||||
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
|
||||
"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
|
||||
"dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
|
||||
]
|
||||
|
||||
@@ -124,12 +124,11 @@ allow-direct-references = true
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
minversion = "6.0"
|
||||
addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
|
||||
addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=20 --maxprocesses=8 -n auto --dist=loadgroup"
|
||||
cpp_files = "test_*"
|
||||
cpp_harness = "selfdrive/test/cpp_harness.py"
|
||||
python_files = "test_*.py"
|
||||
asyncio_default_fixture_loop_scope = "function"
|
||||
#timeout = "30" # you get this long by default
|
||||
markers = [
|
||||
"slow: tests that take awhile to run and can be skipped with -m 'not slow'",
|
||||
"tici: tests that are only meant to run on the C3/C3X",
|
||||
@@ -147,7 +146,7 @@ testpaths = [
|
||||
[tool.codespell]
|
||||
quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
|
||||
|
||||
|
||||
+1
-1
Submodule rednose_repo updated: 7fddc8e6d4...6ccb8d0556
@@ -72,9 +72,8 @@ find . -name '*.pyc' -delete
|
||||
find . -name 'moc_*' -delete
|
||||
find . -name '__pycache__' -delete
|
||||
rm -rf .sconsign.dblite Jenkinsfile release/
|
||||
rm selfdrive/modeld/models/driving_vision.onnx
|
||||
rm selfdrive/modeld/models/driving_policy.onnx
|
||||
rm sunnypilot/modeld*/models/supercombo.onnx
|
||||
rm -f selfdrive/modeld/models/*.onnx
|
||||
rm -f sunnypilot/modeld*/models/*.onnx
|
||||
|
||||
find third_party/ -name '*x86*' -exec rm -r {} +
|
||||
find third_party/ -name '*Darwin*' -exec rm -r {} +
|
||||
|
||||
@@ -1,12 +1,14 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
|
||||
# mkdir -p .ci_cache/scons_cache
|
||||
# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
|
||||
|
||||
SCRIPT_DIR=$(dirname "$0")
|
||||
OPENPILOT_DIR=$SCRIPT_DIR/../../
|
||||
|
||||
DOCKER_IMAGE=sunnypilot
|
||||
DOCKER_FILE=Dockerfile.openpilot
|
||||
DOCKER_REGISTRY=ghcr.io/sunnypilot
|
||||
COMMIT_SHA=$(git rev-parse HEAD)
|
||||
|
||||
if [ -n "$TARGET_ARCHITECTURE" ]; then
|
||||
PLATFORM="linux/$TARGET_ARCHITECTURE"
|
||||
TAG_SUFFIX="-$TARGET_ARCHITECTURE"
|
||||
@@ -15,9 +17,11 @@ else
|
||||
TAG_SUFFIX=""
|
||||
fi
|
||||
|
||||
source $SCRIPT_DIR/docker_common_sp.sh $1 "$TAG_SUFFIX"
|
||||
LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
|
||||
REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
|
||||
REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
|
||||
|
||||
DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
|
||||
DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
|
||||
|
||||
if [ -n "$PUSH_IMAGE" ]; then
|
||||
docker push $REMOTE_TAG
|
||||
|
||||
@@ -1,18 +0,0 @@
|
||||
if [ "$1" = "base" ]; then
|
||||
export DOCKER_IMAGE=sunnypilot-base
|
||||
export DOCKER_FILE=Dockerfile.sunnypilot_base
|
||||
elif [ "$1" = "prebuilt" ]; then
|
||||
export DOCKER_IMAGE=sunnypilot-prebuilt
|
||||
export DOCKER_FILE=Dockerfile.sunnypilot
|
||||
else
|
||||
echo "Invalid docker build image: '$1'"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
export DOCKER_REGISTRY=ghcr.io/sunnypilot
|
||||
export COMMIT_SHA=$(git rev-parse HEAD)
|
||||
|
||||
TAG_SUFFIX=$2
|
||||
LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
|
||||
REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
|
||||
REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
|
||||
+20
-8
@@ -1,17 +1,33 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import glob
|
||||
import onnx
|
||||
|
||||
from tinygrad.nn.onnx import OnnxPBParser
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
|
||||
MODEL_PATH = "/selfdrive/modeld/models/"
|
||||
|
||||
|
||||
class MetadataOnnxPBParser(OnnxPBParser):
|
||||
def _parse_ModelProto(self) -> dict:
|
||||
obj = {"metadata_props": []}
|
||||
for fid, wire_type in self._parse_message(self.reader.len):
|
||||
match fid:
|
||||
case 14:
|
||||
obj["metadata_props"].append(self._parse_StringStringEntryProto())
|
||||
case _:
|
||||
self.reader.skip_field(wire_type)
|
||||
return obj
|
||||
|
||||
|
||||
def get_checkpoint(f):
|
||||
model = onnx.load(f)
|
||||
metadata = {prop.key: prop.value for prop in model.metadata_props}
|
||||
model = MetadataOnnxPBParser(f).parse()
|
||||
metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
|
||||
return metadata['model_checkpoint'].split('/')[0]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print("| | master | PR branch |")
|
||||
print("|-| ----- | --------- |")
|
||||
@@ -24,8 +40,4 @@ if __name__ == "__main__":
|
||||
fn = os.path.basename(f)
|
||||
master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
|
||||
pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
|
||||
print(
|
||||
"|", fn, "|",
|
||||
f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
|
||||
f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
|
||||
)
|
||||
print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:20024203288f144633014422e16119278477099f24fba5c155a804a1864a26b4
|
||||
size 7511
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:70d4236bcfd3aa8f100b81179c1e0f193c6ffbd84769c4a516be4381e62b270a
|
||||
size 18666
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:279c1d8f95eb9f4a3058dff76b0f316ce9eef7bc8f4296936ad25fd08703ce13
|
||||
size 10380
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:ed07f72339cf1c3926a2cb7314f9baa099bcdb3f8bc89a9084661b71334b0526
|
||||
size 32599
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:ffb293236f5f8f7da44b5a3c4c0b72e86c4e1fdb04f89c94507af008ff7de139
|
||||
size 8210
|
||||
oid sha256:5dedb4139a7ddeafcdaf050144769e490643820db726201a15250e1042eb6d15
|
||||
size 7982
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:bda53863c9a46c50a1e2920a76c2d2f1fe4df8a94b8d2e26f5d83eef3a9c3bd3
|
||||
size 3627
|
||||
oid sha256:d527dcff61fa66902681706b4916586244b8cf0520086ac980ff782ab2d99ce7
|
||||
size 4778
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:6b55e43c50e805ac5e8357e5943374ed02d756cefa3aaffb58c568a0b125c30b
|
||||
size 7750
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:5528e9c041b824f005bf1ef6e49b2dbbc4ba10f994b0726d2a17a4fbf8c80f55
|
||||
size 21379
|
||||
oid sha256:c6b1b0f1270a596b5ac150dee8ade54794de55b2033a529d4a17176f688aa6f0
|
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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oid sha256:a804da77b268f0a625f93949642ae74cdfe5b5caa5baea1c52c4605ae25c80e4
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size 12916
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version https://git-lfs.github.com/spec/v1
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oid sha256:7b7e0194a8b9009e493cdce35cd15711596a54227c740e9d6419a3891c6c4037
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||||
size 912
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
import hypothesis.strategies as st
|
||||
from hypothesis import Phase, given, settings
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
from cereal import car, custom
|
||||
from opendbc.car import DT_CTRL
|
||||
|
||||
@@ -2,7 +2,7 @@ import pytest
|
||||
import itertools
|
||||
import numpy as np
|
||||
|
||||
from parameterized import parameterized_class
|
||||
from openpilot.common.parameterized import parameterized_class
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
|
||||
from cereal import car, custom
|
||||
|
||||
@@ -7,7 +7,7 @@ import unittest # noqa: TID251
|
||||
from collections import defaultdict, Counter
|
||||
import hypothesis.strategies as st
|
||||
from hypothesis import Phase, given, settings
|
||||
from parameterized import parameterized_class
|
||||
from openpilot.common.parameterized import parameterized_class
|
||||
|
||||
from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
import pytest
|
||||
import itertools
|
||||
from parameterized import parameterized_class
|
||||
from openpilot.common.parameterized import parameterized_class
|
||||
|
||||
from cereal import log
|
||||
|
||||
@@ -42,4 +42,5 @@ class TestFollowingDistance:
|
||||
simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
|
||||
correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
|
||||
err_ratio = 0.2 if self.e2e else 0.1
|
||||
assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5)
|
||||
abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
|
||||
assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + abs_err_margin)
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
from cereal import car, log
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from parameterized import parameterized
|
||||
from openpilot.common.parameterized import parameterized
|
||||
|
||||
from cereal import car, log
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
|
||||
@@ -4,8 +4,8 @@ import os
|
||||
from collections import defaultdict
|
||||
|
||||
import numpy as np
|
||||
from tabulate import tabulate
|
||||
|
||||
from openpilot.common.utils import tabulate
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
|
||||
DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
|
||||
|
||||
@@ -120,7 +120,6 @@ class TestLagd:
|
||||
assert msg.liveDelay.calPerc == 100
|
||||
|
||||
@pytest.mark.skipif(PC, reason="only on device")
|
||||
@pytest.mark.timeout(60)
|
||||
def test_estimator_performance(self):
|
||||
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
|
||||
estimator = LateralLagEstimator(mocked_CP, DT)
|
||||
|
||||
+37
-34
@@ -1,59 +1,62 @@
|
||||
import os
|
||||
import glob
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_paths
|
||||
|
||||
Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
|
||||
Import('env', 'arch')
|
||||
chunker_file = File("#common/file_chunker.py")
|
||||
lenv = env.Clone()
|
||||
lenvCython = envCython.Clone()
|
||||
|
||||
libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
|
||||
frameworks = []
|
||||
tinygrad_root = env.Dir("#").abspath
|
||||
tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
|
||||
if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
|
||||
|
||||
common_src = [
|
||||
"models/commonmodel.cc",
|
||||
"transforms/loadyuv.cc",
|
||||
"transforms/transform.cc",
|
||||
]
|
||||
def estimate_pickle_max_size(onnx_size):
|
||||
return 1.2 * onnx_size + 10 * 1024 * 1024 # 20% + 10MB is plenty
|
||||
|
||||
# OpenCL is a framework on Mac
|
||||
if arch == "Darwin":
|
||||
frameworks += ['OpenCL']
|
||||
else:
|
||||
libs += ['OpenCL']
|
||||
|
||||
# Set path definitions
|
||||
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
|
||||
for xenv in (lenv, lenvCython):
|
||||
xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
|
||||
|
||||
# Compile cython
|
||||
cython_libs = envCython["LIBS"] + libs
|
||||
commonmodel_lib = lenv.Library('commonmodel', common_src)
|
||||
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
|
||||
tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x])
|
||||
# compile warp
|
||||
# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
|
||||
tg_flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0')
|
||||
|
||||
# Get model metadata
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
|
||||
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
|
||||
|
||||
image_flag = {
|
||||
'larch64': 'IMAGE=2',
|
||||
}.get(arch, 'IMAGE=0')
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
|
||||
compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
warp_targets = []
|
||||
for cam in [_ar_ox_fisheye, _os_fisheye]:
|
||||
w, h = cam.width, cam.height
|
||||
warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
|
||||
lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
|
||||
|
||||
def tg_compile(flags, model_name):
|
||||
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
pkl = fn + "_tinygrad.pkl"
|
||||
onnx_path = fn + ".onnx"
|
||||
chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
|
||||
def do_chunk(target, source, env):
|
||||
chunk_file(pkl, chunk_targets)
|
||||
return lenv.Command(
|
||||
fn + "_tinygrad.pkl",
|
||||
[fn + ".onnx"] + tinygrad_files,
|
||||
f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
|
||||
chunk_targets,
|
||||
[onnx_path] + tinygrad_files + [chunker_file],
|
||||
[f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
|
||||
do_chunk]
|
||||
)
|
||||
|
||||
# Compile small models
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
flags = {
|
||||
'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
|
||||
'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
|
||||
tg_compile(flags, model_name)
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
# Compile BIG model if USB GPU is available
|
||||
if "USBGPU" in os.environ:
|
||||
|
||||
Executable
+209
@@ -0,0 +1,209 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import Context
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
|
||||
(_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
|
||||
]
|
||||
|
||||
UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
|
||||
UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
|
||||
|
||||
IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
|
||||
|
||||
|
||||
def warp_pkl_path(w, h):
|
||||
return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def dm_warp_pkl_path(w, h):
|
||||
return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
|
||||
w_dst, h_dst = dst_shape
|
||||
h_src, w_src = src_shape
|
||||
|
||||
x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
|
||||
y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
|
||||
|
||||
# inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
|
||||
src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
|
||||
src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
|
||||
src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
|
||||
|
||||
src_x = src_x / src_w
|
||||
src_y = src_y / src_w
|
||||
|
||||
x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
|
||||
y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
|
||||
idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
|
||||
|
||||
return src_flat[idx]
|
||||
|
||||
|
||||
def frames_to_tensor(frames, model_w, model_h):
|
||||
H = (frames.shape[0] * 2) // 3
|
||||
W = frames.shape[1]
|
||||
in_img1 = Tensor.cat(frames[0:H:2, 0::2],
|
||||
frames[1:H:2, 0::2],
|
||||
frames[0:H:2, 1::2],
|
||||
frames[1:H:2, 1::2],
|
||||
frames[H:H+H//4].reshape((H//2, W//2)),
|
||||
frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
|
||||
return in_img1
|
||||
|
||||
|
||||
def make_frame_prepare(cam_w, cam_h, model_w, model_h):
|
||||
stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
|
||||
uv_offset = stride * y_height
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def frame_prepare_tinygrad(input_frame, M_inv):
|
||||
# UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
|
||||
M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
|
||||
# deinterleave NV12 UV plane (UVUV... -> separate U, V)
|
||||
uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
|
||||
with Context(SPLIT_REDUCEOP=0):
|
||||
y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
|
||||
M_inv, (model_w, model_h),
|
||||
(cam_h, cam_w), stride_pad).realize()
|
||||
u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
|
||||
M_inv_uv, (model_w//2, model_h//2),
|
||||
(cam_h//2, cam_w//2), 0).realize()
|
||||
yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
|
||||
tensor = frames_to_tensor(yuv, model_w, model_h)
|
||||
return tensor
|
||||
return frame_prepare_tinygrad
|
||||
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
|
||||
return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
|
||||
def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
|
||||
stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
|
||||
stride_pad = stride - cam_w
|
||||
|
||||
def warp_dm(input_frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
|
||||
return result
|
||||
return warp_dm
|
||||
|
||||
|
||||
def compile_modeld_warp(cam_w, cam_h):
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
|
||||
print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
|
||||
full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
|
||||
big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
|
||||
|
||||
for i in range(10):
|
||||
new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
img_inputs = [full_buffer,
|
||||
Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
|
||||
big_img_inputs = [big_full_buffer,
|
||||
Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
inputs = img_inputs + big_img_inputs
|
||||
Device.default.synchronize()
|
||||
|
||||
inputs_np = [x.numpy() for x in inputs]
|
||||
inputs_np[0] = full_buffer_np
|
||||
inputs_np[3] = big_full_buffer_np
|
||||
|
||||
st = time.perf_counter()
|
||||
out = update_img_jit(*inputs)
|
||||
full_buffer = out[0].contiguous().realize().clone()
|
||||
big_full_buffer = out[2].contiguous().realize().clone()
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = warp_pkl_path(cam_w, cam_h)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(update_img_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
jit = pickle.load(open(pkl_path, "rb"))
|
||||
jit(*inputs)
|
||||
|
||||
|
||||
def compile_dm_warp(cam_w, cam_h):
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
|
||||
print(f"Compiling DM warp for {cam_w}x{cam_h}...")
|
||||
|
||||
warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
|
||||
warp_dm_jit = TinyJit(warp_dm, prune=True)
|
||||
|
||||
for i in range(10):
|
||||
inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
warp_dm_jit(*inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = dm_warp_pkl_path(cam_w, cam_h)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(warp_dm_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
|
||||
def run_and_save_pickle():
|
||||
for cam_w, cam_h in CAMERA_CONFIGS:
|
||||
compile_modeld_warp(cam_w, cam_h)
|
||||
compile_dm_warp(cam_w, cam_h)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
run_and_save_pickle()
|
||||
@@ -3,7 +3,6 @@ import os
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.dtype import dtypes
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
@@ -16,50 +15,57 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
|
||||
from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
|
||||
|
||||
PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
|
||||
METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
|
||||
class ModelState:
|
||||
inputs: dict[str, np.ndarray]
|
||||
output: np.ndarray
|
||||
|
||||
def __init__(self, cl_ctx):
|
||||
def __init__(self):
|
||||
with open(METADATA_PATH, 'rb') as f:
|
||||
model_metadata = pickle.load(f)
|
||||
self.input_shapes = model_metadata['input_shapes']
|
||||
self.output_slices = model_metadata['output_slices']
|
||||
|
||||
self.frame = MonitoringModelFrame(cl_ctx)
|
||||
self.numpy_inputs = {
|
||||
'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
|
||||
}
|
||||
|
||||
self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
|
||||
self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
|
||||
self.frame_buf_params = None
|
||||
self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
|
||||
with open(MODEL_PKL_PATH, "rb") as f:
|
||||
self.model_run = pickle.load(f)
|
||||
self._blob_cache : dict[int, Tensor] = {}
|
||||
self.image_warp = None
|
||||
self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
|
||||
|
||||
def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
|
||||
self.numpy_inputs['calib'][0,:] = calib
|
||||
|
||||
t1 = time.perf_counter()
|
||||
|
||||
input_img_cl = self.frame.prepare(buf, transform.flatten())
|
||||
if TICI:
|
||||
# The imgs tensors are backed by opencl memory, only need init once
|
||||
if 'input_img' not in self.tensor_inputs:
|
||||
self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8)
|
||||
else:
|
||||
self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize()
|
||||
if self.image_warp is None:
|
||||
self.frame_buf_params = get_nv12_info(buf.width, buf.height)
|
||||
warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
|
||||
with open(warp_path, "rb") as f:
|
||||
self.image_warp = pickle.load(f)
|
||||
ptr = buf.data.ctypes.data
|
||||
# There is a ringbuffer of imgs, just cache tensors pointing to all of them
|
||||
if ptr not in self._blob_cache:
|
||||
self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
|
||||
|
||||
self.warp_inputs_np['transform'][:] = transform[:]
|
||||
self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
|
||||
|
||||
output = self.model_run(**self.tensor_inputs).numpy().flatten()
|
||||
output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
|
||||
t2 = time.perf_counter()
|
||||
return output, t2 - t1
|
||||
@@ -107,12 +113,11 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
|
||||
def main():
|
||||
config_realtime_process(7, 5)
|
||||
|
||||
cl_context = CLContext()
|
||||
model = ModelState(cl_context)
|
||||
model = ModelState()
|
||||
cloudlog.warning("models loaded, dmonitoringmodeld starting")
|
||||
|
||||
cloudlog.warning("connecting to driver stream")
|
||||
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
|
||||
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
|
||||
while not vipc_client.connect(False):
|
||||
time.sleep(0.1)
|
||||
assert vipc_client.is_connected()
|
||||
|
||||
@@ -1,33 +1,51 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import pathlib
|
||||
import onnx
|
||||
import codecs
|
||||
import pickle
|
||||
from typing import Any
|
||||
|
||||
def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
|
||||
shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
|
||||
name = value_info.name
|
||||
from tinygrad.nn.onnx import OnnxPBParser
|
||||
|
||||
|
||||
class MetadataOnnxPBParser(OnnxPBParser):
|
||||
def _parse_ModelProto(self) -> dict:
|
||||
obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
|
||||
for fid, wire_type in self._parse_message(self.reader.len):
|
||||
match fid:
|
||||
case 7:
|
||||
obj["graph"] = self._parse_GraphProto()
|
||||
case 14:
|
||||
obj["metadata_props"].append(self._parse_StringStringEntryProto())
|
||||
case _:
|
||||
self.reader.skip_field(wire_type)
|
||||
return obj
|
||||
|
||||
|
||||
def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
|
||||
shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
|
||||
name = value_info["name"]
|
||||
return name, shape
|
||||
|
||||
def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
|
||||
for prop in model.metadata_props:
|
||||
if prop.key == name:
|
||||
return prop.value
|
||||
|
||||
def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
|
||||
for prop in model["metadata_props"]:
|
||||
if prop["key"] == name:
|
||||
return prop["value"]
|
||||
return None
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
model_path = pathlib.Path(sys.argv[1])
|
||||
model = onnx.load(str(model_path))
|
||||
model = MetadataOnnxPBParser(model_path).parse()
|
||||
output_slices = get_metadata_value_by_name(model, 'output_slices')
|
||||
assert output_slices is not None, 'output_slices not found in metadata'
|
||||
|
||||
metadata = {
|
||||
'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
|
||||
'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
|
||||
'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
|
||||
'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
|
||||
'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
|
||||
'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
|
||||
}
|
||||
|
||||
metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
|
||||
|
||||
+44
-33
@@ -7,7 +7,6 @@ if USBGPU:
|
||||
os.environ['DEV'] = 'AMD'
|
||||
os.environ['AMD_IFACE'] = 'USB'
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.dtype import dtypes
|
||||
import time
|
||||
import pickle
|
||||
import numpy as np
|
||||
@@ -22,14 +21,14 @@ from openpilot.common.params import Params
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import config_realtime_process, DT_MDL
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.transformations.model import get_warp_matrix
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
|
||||
from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
|
||||
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
|
||||
@@ -42,11 +41,15 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
|
||||
POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
|
||||
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
LONG_SMOOTH_SECONDS = 0.3
|
||||
MIN_LAT_CONTROL_SPEED = 0.3
|
||||
|
||||
IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
|
||||
assert IMG_QUEUE_SHAPE[0] == 30
|
||||
|
||||
|
||||
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
|
||||
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
|
||||
@@ -139,12 +142,11 @@ class InputQueues:
|
||||
return out
|
||||
|
||||
class ModelState(ModelStateBase):
|
||||
frames: dict[str, DrivingModelFrame]
|
||||
inputs: dict[str, np.ndarray]
|
||||
output: np.ndarray
|
||||
prev_desire: np.ndarray # for tracking the rising edge of the pulse
|
||||
|
||||
def __init__(self, context: CLContext):
|
||||
def __init__(self):
|
||||
ModelStateBase.__init__(self)
|
||||
self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
|
||||
with open(VISION_METADATA_PATH, 'rb') as f:
|
||||
@@ -160,7 +162,6 @@ class ModelState(ModelStateBase):
|
||||
self.policy_output_slices = policy_metadata['output_slices']
|
||||
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
|
||||
# policy inputs
|
||||
@@ -170,18 +171,20 @@ class ModelState(ModelStateBase):
|
||||
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
|
||||
self.full_input_queues.reset()
|
||||
|
||||
# img buffers are managed in openCL transform code
|
||||
self.vision_inputs: dict[str, Tensor] = {}
|
||||
self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
|
||||
'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
|
||||
self.full_frames : dict[str, Tensor] = {}
|
||||
self._blob_cache : dict[int, Tensor] = {}
|
||||
self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
|
||||
self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
|
||||
self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
|
||||
self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
|
||||
self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
|
||||
self.parser = Parser()
|
||||
|
||||
with open(VISION_PKL_PATH, "rb") as f:
|
||||
self.vision_run = pickle.load(f)
|
||||
|
||||
with open(POLICY_PKL_PATH, "rb") as f:
|
||||
self.policy_run = pickle.load(f)
|
||||
self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
|
||||
self.update_imgs = None
|
||||
self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
|
||||
self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
|
||||
|
||||
def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
|
||||
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
|
||||
@@ -193,23 +196,34 @@ class ModelState(ModelStateBase):
|
||||
inputs['desire_pulse'][0] = 0
|
||||
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
|
||||
self.prev_desire[:] = inputs['desire_pulse']
|
||||
if self.update_imgs is None:
|
||||
for key in bufs.keys():
|
||||
w, h = bufs[key].width, bufs[key].height
|
||||
self.frame_buf_params[key] = get_nv12_info(w, h)
|
||||
warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
with open(warp_path, "rb") as f:
|
||||
self.update_imgs = pickle.load(f)
|
||||
|
||||
imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
|
||||
for key in bufs.keys():
|
||||
ptr = bufs[key].data.ctypes.data
|
||||
yuv_size = self.frame_buf_params[key][3]
|
||||
# There is a ringbuffer of imgs, just cache tensors pointing to all of them
|
||||
cache_key = (key, ptr)
|
||||
if cache_key not in self._blob_cache:
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
|
||||
self.full_frames[key] = self._blob_cache[cache_key]
|
||||
for key in bufs.keys():
|
||||
self.transforms_np[key][:,:] = transforms[key][:,:]
|
||||
|
||||
if TICI and not USBGPU:
|
||||
# The imgs tensors are backed by opencl memory, only need init once
|
||||
for key in imgs_cl:
|
||||
if key not in self.vision_inputs:
|
||||
self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
|
||||
else:
|
||||
for key in imgs_cl:
|
||||
frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
|
||||
self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
|
||||
out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
|
||||
self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
|
||||
self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
|
||||
vision_inputs = {'img': out[1], 'big_img': out[3]}
|
||||
|
||||
if prepare_only:
|
||||
return None
|
||||
|
||||
self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
|
||||
|
||||
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
|
||||
@@ -217,9 +231,8 @@ class ModelState(ModelStateBase):
|
||||
self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
@@ -236,10 +249,8 @@ def main(demo=False):
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
st = time.monotonic()
|
||||
cloudlog.warning("setting up CL context")
|
||||
cl_context = CLContext()
|
||||
cloudlog.warning("CL context ready; loading model")
|
||||
model = ModelState(cl_context)
|
||||
cloudlog.warning("loading model")
|
||||
model = ModelState()
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
# visionipc clients
|
||||
@@ -252,8 +263,8 @@ def main(demo=False):
|
||||
time.sleep(.1)
|
||||
|
||||
vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
|
||||
vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
|
||||
vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
|
||||
vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
|
||||
vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
|
||||
cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
|
||||
|
||||
while not vipc_client_main.connect(False):
|
||||
|
||||
@@ -1,64 +0,0 @@
|
||||
#include "selfdrive/modeld/models/commonmodel.h"
|
||||
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
|
||||
#include "common/clutil.h"
|
||||
|
||||
DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
|
||||
input_frames = std::make_unique<uint8_t[]>(buf_size);
|
||||
temporal_skip = _temporal_skip;
|
||||
input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
|
||||
img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
|
||||
region.origin = temporal_skip * frame_size_bytes;
|
||||
region.size = frame_size_bytes;
|
||||
last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err));
|
||||
|
||||
loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
|
||||
init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
|
||||
}
|
||||
|
||||
cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
|
||||
run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
|
||||
|
||||
for (int i = 0; i < temporal_skip; i++) {
|
||||
CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
|
||||
}
|
||||
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
|
||||
|
||||
copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
|
||||
copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
|
||||
|
||||
// NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
|
||||
clFinish(q);
|
||||
return &input_frames_cl;
|
||||
}
|
||||
|
||||
DrivingModelFrame::~DrivingModelFrame() {
|
||||
deinit_transform();
|
||||
loadyuv_destroy(&loadyuv);
|
||||
CL_CHECK(clReleaseMemObject(input_frames_cl));
|
||||
CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
|
||||
CL_CHECK(clReleaseMemObject(last_img_cl));
|
||||
CL_CHECK(clReleaseCommandQueue(q));
|
||||
}
|
||||
|
||||
|
||||
MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
|
||||
input_frames = std::make_unique<uint8_t[]>(buf_size);
|
||||
input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
|
||||
|
||||
init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
|
||||
}
|
||||
|
||||
cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
|
||||
run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
|
||||
clFinish(q);
|
||||
return &y_cl;
|
||||
}
|
||||
|
||||
MonitoringModelFrame::~MonitoringModelFrame() {
|
||||
deinit_transform();
|
||||
CL_CHECK(clReleaseMemObject(input_frame_cl));
|
||||
CL_CHECK(clReleaseCommandQueue(q));
|
||||
}
|
||||
@@ -1,97 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cfloat>
|
||||
#include <cstdlib>
|
||||
#include <cassert>
|
||||
|
||||
#include <memory>
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include "common/mat.h"
|
||||
#include "selfdrive/modeld/transforms/loadyuv.h"
|
||||
#include "selfdrive/modeld/transforms/transform.h"
|
||||
|
||||
class ModelFrame {
|
||||
public:
|
||||
ModelFrame(cl_device_id device_id, cl_context context) {
|
||||
q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
|
||||
}
|
||||
virtual ~ModelFrame() {}
|
||||
virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
|
||||
uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
|
||||
CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
|
||||
clFinish(q);
|
||||
return &input_frames[0];
|
||||
}
|
||||
|
||||
int MODEL_WIDTH;
|
||||
int MODEL_HEIGHT;
|
||||
int MODEL_FRAME_SIZE;
|
||||
int buf_size;
|
||||
|
||||
protected:
|
||||
cl_mem y_cl, u_cl, v_cl;
|
||||
Transform transform;
|
||||
cl_command_queue q;
|
||||
std::unique_ptr<uint8_t[]> input_frames;
|
||||
|
||||
void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
|
||||
y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
|
||||
u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
|
||||
v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
|
||||
transform_init(&transform, context, device_id);
|
||||
}
|
||||
|
||||
void deinit_transform() {
|
||||
transform_destroy(&transform);
|
||||
CL_CHECK(clReleaseMemObject(v_cl));
|
||||
CL_CHECK(clReleaseMemObject(u_cl));
|
||||
CL_CHECK(clReleaseMemObject(y_cl));
|
||||
}
|
||||
|
||||
void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
|
||||
transform_queue(&transform, q,
|
||||
yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
|
||||
y_cl, u_cl, v_cl, model_width, model_height, projection);
|
||||
}
|
||||
};
|
||||
|
||||
class DrivingModelFrame : public ModelFrame {
|
||||
public:
|
||||
DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
|
||||
~DrivingModelFrame();
|
||||
cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
|
||||
|
||||
const int MODEL_WIDTH = 512;
|
||||
const int MODEL_HEIGHT = 256;
|
||||
const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
|
||||
const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
|
||||
const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
|
||||
|
||||
private:
|
||||
LoadYUVState loadyuv;
|
||||
cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
|
||||
cl_buffer_region region;
|
||||
int temporal_skip;
|
||||
};
|
||||
|
||||
class MonitoringModelFrame : public ModelFrame {
|
||||
public:
|
||||
MonitoringModelFrame(cl_device_id device_id, cl_context context);
|
||||
~MonitoringModelFrame();
|
||||
cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
|
||||
|
||||
const int MODEL_WIDTH = 1440;
|
||||
const int MODEL_HEIGHT = 960;
|
||||
const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
|
||||
const int buf_size = MODEL_FRAME_SIZE;
|
||||
|
||||
private:
|
||||
cl_mem input_frame_cl;
|
||||
};
|
||||
@@ -1,27 +0,0 @@
|
||||
# distutils: language = c++
|
||||
|
||||
from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
|
||||
|
||||
cdef extern from "common/mat.h":
|
||||
cdef struct mat3:
|
||||
float v[9]
|
||||
|
||||
cdef extern from "common/clutil.h":
|
||||
cdef unsigned long CL_DEVICE_TYPE_DEFAULT
|
||||
cl_device_id cl_get_device_id(unsigned long)
|
||||
cl_context cl_create_context(cl_device_id)
|
||||
void cl_release_context(cl_context)
|
||||
|
||||
cdef extern from "selfdrive/modeld/models/commonmodel.h":
|
||||
cppclass ModelFrame:
|
||||
int buf_size
|
||||
unsigned char * buffer_from_cl(cl_mem*, int);
|
||||
cl_mem * prepare(cl_mem, int, int, int, int, mat3)
|
||||
|
||||
cppclass DrivingModelFrame:
|
||||
int buf_size
|
||||
DrivingModelFrame(cl_device_id, cl_context, int)
|
||||
|
||||
cppclass MonitoringModelFrame:
|
||||
int buf_size
|
||||
MonitoringModelFrame(cl_device_id, cl_context)
|
||||
@@ -1,13 +0,0 @@
|
||||
# distutils: language = c++
|
||||
|
||||
from msgq.visionipc.visionipc cimport cl_mem
|
||||
from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
|
||||
|
||||
cdef class CLContext(BaseCLContext):
|
||||
pass
|
||||
|
||||
cdef class CLMem:
|
||||
cdef cl_mem * mem
|
||||
|
||||
@staticmethod
|
||||
cdef create(void*)
|
||||
@@ -1,74 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import numpy as np
|
||||
cimport numpy as cnp
|
||||
from libc.string cimport memcpy
|
||||
from libc.stdint cimport uintptr_t
|
||||
|
||||
from msgq.visionipc.visionipc cimport cl_mem
|
||||
from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
|
||||
from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
|
||||
from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
|
||||
|
||||
|
||||
cdef class CLContext(BaseCLContext):
|
||||
def __cinit__(self):
|
||||
self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
|
||||
self.context = cl_create_context(self.device_id)
|
||||
|
||||
def __dealloc__(self):
|
||||
if self.context:
|
||||
cl_release_context(self.context)
|
||||
|
||||
cdef class CLMem:
|
||||
@staticmethod
|
||||
cdef create(void * cmem):
|
||||
mem = CLMem()
|
||||
mem.mem = <cl_mem*> cmem
|
||||
return mem
|
||||
|
||||
@property
|
||||
def mem_address(self):
|
||||
return <uintptr_t>(self.mem)
|
||||
|
||||
def cl_from_visionbuf(VisionBuf buf):
|
||||
return CLMem.create(<void*>&buf.buf.buf_cl)
|
||||
|
||||
|
||||
cdef class ModelFrame:
|
||||
cdef cppModelFrame * frame
|
||||
cdef int buf_size
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.frame
|
||||
|
||||
def prepare(self, VisionBuf buf, float[:] projection):
|
||||
cdef mat3 cprojection
|
||||
memcpy(cprojection.v, &projection[0], 9*sizeof(float))
|
||||
cdef cl_mem * data
|
||||
data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
|
||||
return CLMem.create(data)
|
||||
|
||||
def buffer_from_cl(self, CLMem in_frames):
|
||||
cdef unsigned char * data2
|
||||
data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
|
||||
return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
|
||||
|
||||
|
||||
cdef class DrivingModelFrame(ModelFrame):
|
||||
cdef cppDrivingModelFrame * _frame
|
||||
|
||||
def __cinit__(self, CLContext context, int temporal_skip):
|
||||
self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
|
||||
self.frame = <cppModelFrame*>(self._frame)
|
||||
self.buf_size = self._frame.buf_size
|
||||
|
||||
cdef class MonitoringModelFrame(ModelFrame):
|
||||
cdef cppMonitoringModelFrame * _frame
|
||||
|
||||
def __cinit__(self, CLContext context):
|
||||
self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
|
||||
self.frame = <cppModelFrame*>(self._frame)
|
||||
self.buf_size = self._frame.buf_size
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59
|
||||
size 6954368
|
||||
oid sha256:5e8de9dc7df306700cce9c22b992e25b95a38f894c47adaea742a9cf8ba78e1a
|
||||
size 7307246
|
||||
|
||||
@@ -113,6 +113,8 @@ class Parser:
|
||||
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
|
||||
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
|
||||
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
|
||||
if 'planplus' in outs:
|
||||
self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
|
||||
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
|
||||
return outs
|
||||
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import to_mv
|
||||
|
||||
def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
|
||||
cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
|
||||
rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
|
||||
return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
|
||||
@@ -1,76 +0,0 @@
|
||||
#include "selfdrive/modeld/transforms/loadyuv.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <cstring>
|
||||
|
||||
void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
|
||||
memset(s, 0, sizeof(*s));
|
||||
|
||||
s->width = width;
|
||||
s->height = height;
|
||||
|
||||
char args[1024];
|
||||
snprintf(args, sizeof(args),
|
||||
"-cl-fast-relaxed-math -cl-denorms-are-zero "
|
||||
"-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
|
||||
width, height);
|
||||
cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
|
||||
|
||||
s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
|
||||
s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
|
||||
s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
|
||||
|
||||
// done with this
|
||||
CL_CHECK(clReleaseProgram(prg));
|
||||
}
|
||||
|
||||
void loadyuv_destroy(LoadYUVState* s) {
|
||||
CL_CHECK(clReleaseKernel(s->loadys_krnl));
|
||||
CL_CHECK(clReleaseKernel(s->loaduv_krnl));
|
||||
CL_CHECK(clReleaseKernel(s->copy_krnl));
|
||||
}
|
||||
|
||||
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
|
||||
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
|
||||
cl_mem out_cl) {
|
||||
cl_int global_out_off = 0;
|
||||
|
||||
CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
|
||||
|
||||
const size_t loadys_work_size = (s->width*s->height)/8;
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
|
||||
&loadys_work_size, NULL, 0, 0, NULL));
|
||||
|
||||
const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
|
||||
global_out_off += (s->width*s->height);
|
||||
|
||||
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
|
||||
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
|
||||
&loaduv_work_size, NULL, 0, 0, NULL));
|
||||
|
||||
global_out_off += (s->width/2)*(s->height/2);
|
||||
|
||||
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
|
||||
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
|
||||
&loaduv_work_size, NULL, 0, 0, NULL));
|
||||
}
|
||||
|
||||
void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
|
||||
size_t src_offset, size_t dst_offset, size_t size) {
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
|
||||
const size_t copy_work_size = size/8;
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
|
||||
©_work_size, NULL, 0, 0, NULL));
|
||||
}
|
||||
@@ -1,47 +0,0 @@
|
||||
#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
|
||||
|
||||
__kernel void loadys(__global uchar8 const * const Y,
|
||||
__global uchar * out,
|
||||
int out_offset)
|
||||
{
|
||||
const int gid = get_global_id(0);
|
||||
const int ois = gid * 8;
|
||||
const int oy = ois / TRANSFORMED_WIDTH;
|
||||
const int ox = ois % TRANSFORMED_WIDTH;
|
||||
|
||||
const uchar8 ys = Y[gid];
|
||||
|
||||
// 02
|
||||
// 13
|
||||
|
||||
__global uchar* outy0;
|
||||
__global uchar* outy1;
|
||||
if ((oy & 1) == 0) {
|
||||
outy0 = out + out_offset; //y0
|
||||
outy1 = out + out_offset + UV_SIZE*2; //y2
|
||||
} else {
|
||||
outy0 = out + out_offset + UV_SIZE; //y1
|
||||
outy1 = out + out_offset + UV_SIZE*3; //y3
|
||||
}
|
||||
|
||||
vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
|
||||
vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
|
||||
}
|
||||
|
||||
__kernel void loaduv(__global uchar8 const * const in,
|
||||
__global uchar8 * out,
|
||||
int out_offset)
|
||||
{
|
||||
const int gid = get_global_id(0);
|
||||
const uchar8 inv = in[gid];
|
||||
out[gid + out_offset / 8] = inv;
|
||||
}
|
||||
|
||||
__kernel void copy(__global uchar8 * in,
|
||||
__global uchar8 * out,
|
||||
int in_offset,
|
||||
int out_offset)
|
||||
{
|
||||
const int gid = get_global_id(0);
|
||||
out[gid + out_offset / 8] = in[gid + in_offset / 8];
|
||||
}
|
||||
@@ -1,20 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include "common/clutil.h"
|
||||
|
||||
typedef struct {
|
||||
int width, height;
|
||||
cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
|
||||
} LoadYUVState;
|
||||
|
||||
void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
|
||||
|
||||
void loadyuv_destroy(LoadYUVState* s);
|
||||
|
||||
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
|
||||
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
|
||||
cl_mem out_cl);
|
||||
|
||||
|
||||
void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
|
||||
size_t src_offset, size_t dst_offset, size_t size);
|
||||
@@ -1,97 +0,0 @@
|
||||
#include "selfdrive/modeld/transforms/transform.h"
|
||||
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
|
||||
#include "common/clutil.h"
|
||||
|
||||
void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
|
||||
memset(s, 0, sizeof(*s));
|
||||
|
||||
cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
|
||||
s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
|
||||
// done with this
|
||||
CL_CHECK(clReleaseProgram(prg));
|
||||
|
||||
s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
|
||||
s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
|
||||
}
|
||||
|
||||
void transform_destroy(Transform* s) {
|
||||
CL_CHECK(clReleaseMemObject(s->m_y_cl));
|
||||
CL_CHECK(clReleaseMemObject(s->m_uv_cl));
|
||||
CL_CHECK(clReleaseKernel(s->krnl));
|
||||
}
|
||||
|
||||
void transform_queue(Transform* s,
|
||||
cl_command_queue q,
|
||||
cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
|
||||
cl_mem out_y, cl_mem out_u, cl_mem out_v,
|
||||
int out_width, int out_height,
|
||||
const mat3& projection) {
|
||||
const int zero = 0;
|
||||
|
||||
// sampled using pixel center origin
|
||||
// (because that's how fastcv and opencv does it)
|
||||
|
||||
mat3 projection_y = projection;
|
||||
|
||||
// in and out uv is half the size of y.
|
||||
mat3 projection_uv = transform_scale_buffer(projection, 0.5);
|
||||
|
||||
CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
|
||||
CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
|
||||
|
||||
const int in_y_width = in_width;
|
||||
const int in_y_height = in_height;
|
||||
const int in_y_px_stride = 1;
|
||||
const int in_uv_width = in_width/2;
|
||||
const int in_uv_height = in_height/2;
|
||||
const int in_uv_px_stride = 2;
|
||||
const int in_u_offset = in_uv_offset;
|
||||
const int in_v_offset = in_uv_offset + 1;
|
||||
|
||||
const int out_y_width = out_width;
|
||||
const int out_y_height = out_height;
|
||||
const int out_uv_width = out_width/2;
|
||||
const int out_uv_height = out_height/2;
|
||||
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M
|
||||
|
||||
const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
|
||||
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
|
||||
(const size_t*)&work_size_y, NULL, 0, 0, NULL));
|
||||
|
||||
const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
|
||||
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M
|
||||
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
|
||||
(const size_t*)&work_size_uv, NULL, 0, 0, NULL));
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset
|
||||
CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst
|
||||
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
|
||||
(const size_t*)&work_size_uv, NULL, 0, 0, NULL));
|
||||
}
|
||||
@@ -1,54 +0,0 @@
|
||||
#define INTER_BITS 5
|
||||
#define INTER_TAB_SIZE (1 << INTER_BITS)
|
||||
#define INTER_SCALE 1.f / INTER_TAB_SIZE
|
||||
|
||||
#define INTER_REMAP_COEF_BITS 15
|
||||
#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
|
||||
|
||||
__kernel void warpPerspective(__global const uchar * src,
|
||||
int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
|
||||
__global uchar * dst,
|
||||
int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
|
||||
__constant float * M)
|
||||
{
|
||||
int dx = get_global_id(0);
|
||||
int dy = get_global_id(1);
|
||||
|
||||
if (dx < dst_cols && dy < dst_rows)
|
||||
{
|
||||
float X0 = M[0] * dx + M[1] * dy + M[2];
|
||||
float Y0 = M[3] * dx + M[4] * dy + M[5];
|
||||
float W = M[6] * dx + M[7] * dy + M[8];
|
||||
W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
|
||||
int X = rint(X0 * W), Y = rint(Y0 * W);
|
||||
|
||||
int sx = convert_short_sat(X >> INTER_BITS);
|
||||
int sy = convert_short_sat(Y >> INTER_BITS);
|
||||
|
||||
short sx_clamp = clamp(sx, 0, src_cols - 1);
|
||||
short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
|
||||
short sy_clamp = clamp(sy, 0, src_rows - 1);
|
||||
short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
|
||||
int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
|
||||
int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
|
||||
int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
|
||||
int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
|
||||
|
||||
short ay = (short)(Y & (INTER_TAB_SIZE - 1));
|
||||
short ax = (short)(X & (INTER_TAB_SIZE - 1));
|
||||
float taby = 1.f/INTER_TAB_SIZE*ay;
|
||||
float tabx = 1.f/INTER_TAB_SIZE*ax;
|
||||
|
||||
int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
|
||||
|
||||
int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
|
||||
int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
|
||||
int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
|
||||
int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
|
||||
|
||||
int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3;
|
||||
|
||||
uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
|
||||
dst[dst_index] = pix;
|
||||
}
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include "common/mat.h"
|
||||
|
||||
typedef struct {
|
||||
cl_kernel krnl;
|
||||
cl_mem m_y_cl, m_uv_cl;
|
||||
} Transform;
|
||||
|
||||
void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
|
||||
|
||||
void transform_destroy(Transform* transform);
|
||||
|
||||
void transform_queue(Transform* s, cl_command_queue q,
|
||||
cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
|
||||
cl_mem out_y, cl_mem out_u, cl_mem out_v,
|
||||
int out_width, int out_height,
|
||||
const mat3& projection);
|
||||
@@ -35,14 +35,7 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._EYE_THRESHOLD = 0.65
|
||||
self._SG_THRESHOLD = 0.9
|
||||
self._BLINK_THRESHOLD = 0.865
|
||||
|
||||
self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
|
||||
self._PHONE_THRESH2 = 15.0
|
||||
self._PHONE_MAX_OFFSET = 0.06
|
||||
self._PHONE_MIN_OFFSET = 0.025
|
||||
self._PHONE_DATA_AVG = 0.05
|
||||
self._PHONE_DATA_VAR = 3*0.005
|
||||
self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
|
||||
self._PHONE_THRESH = 0.68
|
||||
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
|
||||
@@ -152,11 +145,10 @@ class DriverMonitoring:
|
||||
|
||||
# init driver status
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
|
||||
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink = DriverBlink()
|
||||
self.phone_prob = 0.
|
||||
|
||||
self.always_on = always_on
|
||||
self.distracted_types = []
|
||||
@@ -257,12 +249,7 @@ class DriverMonitoring:
|
||||
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
|
||||
distracted_types.append(DistractedType.DISTRACTED_BLINK)
|
||||
|
||||
if self.phone.prob_calibrated:
|
||||
using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
|
||||
* self.settings._PHONE_THRESH2
|
||||
else:
|
||||
using_phone = self.phone.prob > self.settings._PHONE_THRESH
|
||||
if using_phone:
|
||||
if self.phone_prob > self.settings._PHONE_THRESH:
|
||||
distracted_types.append(DistractedType.DISTRACTED_PHONE)
|
||||
|
||||
return distracted_types
|
||||
@@ -301,7 +288,7 @@ class DriverMonitoring:
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.phone.prob = driver_data.phoneProb
|
||||
self.phone_prob = driver_data.phoneProb
|
||||
|
||||
self.distracted_types = self._get_distracted_types()
|
||||
self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
|
||||
@@ -315,11 +302,9 @@ class DriverMonitoring:
|
||||
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
|
||||
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
|
||||
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
|
||||
self.phone.prob_offseter.push_and_update(self.phone.prob)
|
||||
|
||||
self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
|
||||
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
|
||||
self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
|
||||
|
||||
if self.face_detected and not self.driver_distracted:
|
||||
if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
|
||||
@@ -425,8 +410,6 @@ class DriverMonitoring:
|
||||
"posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
|
||||
"poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
|
||||
"poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
|
||||
"phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
|
||||
"phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
|
||||
"stepChange": self.step_change,
|
||||
"awarenessActive": self.awareness_active,
|
||||
"awarenessPassive": self.awareness_passive,
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
pandad
|
||||
pandad_api_impl.cpp
|
||||
tests/test_pandad_usbprotocol
|
||||
tests/test_pandad_canprotocol
|
||||
|
||||
@@ -1,9 +1,10 @@
|
||||
Import('env', 'common', 'messaging')
|
||||
Import('env', 'arch', 'common', 'messaging')
|
||||
|
||||
libs = ['usb-1.0', common, messaging, 'pthread']
|
||||
panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
|
||||
if arch != "Darwin":
|
||||
libs = [common, messaging, 'pthread']
|
||||
panda = env.Library('panda', ['panda.cc', 'spi.cc'])
|
||||
|
||||
env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
|
||||
env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_pandad_canprotocol', ['tests/test_pandad_canprotocol.cc'], LIBS=[panda] + libs)
|
||||
|
||||
@@ -16,7 +16,7 @@ int main(int argc, char *argv[]) {
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
std::vector<std::string> serials(argv + 1, argv + argc);
|
||||
pandad_main_thread(serials);
|
||||
std::string serial = (argc > 1) ? argv[1] : "";
|
||||
pandad_main_thread(serial);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -12,19 +12,9 @@
|
||||
|
||||
const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
|
||||
|
||||
Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
|
||||
// try USB first, then SPI
|
||||
try {
|
||||
handle = std::make_unique<PandaUsbHandle>(serial);
|
||||
LOGW("connected to %s over USB", serial.c_str());
|
||||
} catch (std::exception &e) {
|
||||
#ifndef __APPLE__
|
||||
handle = std::make_unique<PandaSpiHandle>(serial);
|
||||
LOGW("connected to %s over SPI", serial.c_str());
|
||||
#else
|
||||
throw e;
|
||||
#endif
|
||||
}
|
||||
Panda::Panda(std::string serial) {
|
||||
handle = std::make_unique<PandaSpiHandle>(serial);
|
||||
LOGW("connected to %s over SPI", serial.c_str());
|
||||
|
||||
hw_type = get_hw_type();
|
||||
can_reset_communications();
|
||||
@@ -42,20 +32,8 @@ std::string Panda::hw_serial() {
|
||||
return handle->hw_serial;
|
||||
}
|
||||
|
||||
std::vector<std::string> Panda::list(bool usb_only) {
|
||||
std::vector<std::string> serials = PandaUsbHandle::list();
|
||||
|
||||
#ifndef __APPLE__
|
||||
if (!usb_only) {
|
||||
for (const auto &s : PandaSpiHandle::list()) {
|
||||
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
|
||||
serials.push_back(s);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return serials;
|
||||
std::vector<std::string> Panda::list() {
|
||||
return PandaSpiHandle::list();
|
||||
}
|
||||
|
||||
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
|
||||
@@ -195,7 +173,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
|
||||
for (const auto &cmsg : can_data_list) {
|
||||
// check if the message is intended for this panda
|
||||
uint8_t bus = cmsg.getSrc();
|
||||
if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
|
||||
if (bus >= PANDA_BUS_OFFSET) {
|
||||
continue;
|
||||
}
|
||||
auto can_data = cmsg.getDat();
|
||||
@@ -207,7 +185,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
|
||||
header.addr = cmsg.getAddress();
|
||||
header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
|
||||
header.data_len_code = data_len_code;
|
||||
header.bus = bus - bus_offset;
|
||||
header.bus = bus;
|
||||
header.checksum = 0;
|
||||
|
||||
memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
|
||||
@@ -283,7 +261,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
|
||||
|
||||
can_frame &canData = out_vec.emplace_back();
|
||||
canData.address = header.addr;
|
||||
canData.src = header.bus + bus_offset;
|
||||
canData.src = header.bus;
|
||||
if (header.rejected) {
|
||||
canData.src += CAN_REJECTED_BUS_OFFSET;
|
||||
}
|
||||
|
||||
@@ -45,20 +45,19 @@ struct can_frame {
|
||||
|
||||
class Panda {
|
||||
private:
|
||||
std::unique_ptr<PandaCommsHandle> handle;
|
||||
std::unique_ptr<PandaSpiHandle> handle;
|
||||
|
||||
public:
|
||||
Panda(std::string serial="", uint32_t bus_offset=0);
|
||||
Panda(std::string serial);
|
||||
|
||||
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
|
||||
const uint32_t bus_offset;
|
||||
|
||||
bool connected();
|
||||
bool comms_healthy();
|
||||
std::string hw_serial();
|
||||
|
||||
// Static functions
|
||||
static std::vector<std::string> list(bool usb_only=false);
|
||||
static std::vector<std::string> list();
|
||||
|
||||
// Panda functionality
|
||||
cereal::PandaState::PandaType get_hw_type();
|
||||
@@ -91,7 +90,7 @@ protected:
|
||||
uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
|
||||
uint32_t receive_buffer_size = 0;
|
||||
|
||||
Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
|
||||
Panda() {}
|
||||
void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
|
||||
std::function<void(uint8_t *, size_t)> write_func);
|
||||
bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user