From 8bfce0979d976e410eb0e7d539f03ac81b0ef099 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Sun, 26 Jan 2025 10:29:58 -0800 Subject: [PATCH 01/81] modeld: use temporalPose from model (#34460) * modeld: use temporalPose from model * cleanup --- selfdrive/modeld/constants.py | 1 - selfdrive/modeld/fill_model_msg.py | 8 ++++---- selfdrive/modeld/parse_model_outputs.py | 1 + 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index beb0d22ef..8c2f6b345 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -31,7 +31,6 @@ class ModelConstants: DISENGAGE_WIDTH = 5 POSE_WIDTH = 6 WIDE_FROM_DEVICE_WIDTH = 3 - SIM_POSE_WIDTH = 6 LEAD_WIDTH = 4 LANE_LINES_WIDTH = 2 ROAD_EDGES_WIDTH = 2 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 00176c5d3..59b7508ed 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -90,10 +90,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # temporal pose temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist() - temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist() - temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist() - temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist() + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() # poly path fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 4367e9db8..9b162efe8 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -91,6 +91,7 @@ class Parser: self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) From ca11a1806129bf588cb3b0a02a80116fdf2b94b5 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 27 Jan 2025 10:01:50 -0800 Subject: [PATCH 02/81] [bot] Update Python packages (#34486) Update Python packages Co-authored-by: Vehicle Researcher --- msgq_repo | 2 +- opendbc_repo | 2 +- uv.lock | 94 ++++++++++++++++++++++++++-------------------------- 3 files changed, 49 insertions(+), 49 deletions(-) diff --git a/msgq_repo b/msgq_repo index 102befe73..095f1e236 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 102befe7316522c8a1aca539018188fd97858732 +Subproject commit 095f1e23613d47031a9b23e3f9ed5dd3fe01a06e diff --git a/opendbc_repo b/opendbc_repo index fb81b6e7e..beb9b66bc 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit fb81b6e7e73228b71502d09959d9bd1f49759c58 +Subproject commit beb9b66bcf639c54774665442c883ff0d42962d4 diff --git a/uv.lock b/uv.lock index f5e8fd866..9d770c9da 100644 --- 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2025 06:01:59 +0800 Subject: [PATCH 03/81] Update to new USB VID (#34487) https://github.com/commaai/panda/pull/2112/files --- tools/install_ubuntu_dependencies.sh | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index f224f01f9..60e44fad8 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -116,14 +116,14 @@ if [ -f "/etc/os-release" ]; then if [[ -d "/etc/udev/rules.d/" ]]; then # Setup panda udev rules $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null < /dev/null < Date: Mon, 27 Jan 2025 17:05:46 -0800 Subject: [PATCH 04/81] `ui-preview`: fix keyboard screenshot (#34482) * update to click keyboard SSH ADD * Update run.py --- selfdrive/ui/tests/test_ui/run.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) mode change 100644 => 100755 selfdrive/ui/tests/test_ui/run.py diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py old mode 100644 new mode 100755 index 15b3466aa..fd2df29d8 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -127,7 +127,7 @@ def setup_body(click, pm: PubMaster): def setup_keyboard(click, pm: PubMaster): setup_settings_device(click, pm) click(250, 965) - click(1930, 228) + click(1930, 420) def setup_keyboard_uppercase(click, pm: PubMaster): setup_keyboard(click, pm) From 1b1d37db65372056f5373870043a7e19a43c5b6f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 27 Jan 2025 19:13:40 -0600 Subject: [PATCH 05/81] Toyota: clip pitch for PERMIT_BRAKING (#34489) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index beb9b66bc..a5a1f7a08 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit beb9b66bcf639c54774665442c883ff0d42962d4 +Subproject commit a5a1f7a0861c51f93a743bcfd0cc02ba761b613c From e7b63dce65a6de2888a82bdf33a6a6c9e720ce21 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Jan 2025 11:46:43 +0800 Subject: [PATCH 06/81] encoderd: enhance robustness of open() with HANDLE_EINTR Macro (#34478) HANDLE_EINTR --- system/loggerd/encoder/v4l_encoder.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index d0789cd5a..a4697af27 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -155,7 +155,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) : VideoEncoder(encoder_info, in_width, in_height) { - fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK); + fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK)); assert(fd >= 0); struct v4l2_capability cap; From 82722217be3ab050945c0240224ddcbab565f412 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 27 Jan 2025 21:17:27 -0800 Subject: [PATCH 07/81] selfdrived: remove ignored process list (#34491) --- selfdrive/selfdrived/selfdrived.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 6ae51e030..cf189df57 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -26,7 +26,6 @@ from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ -IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} ThermalStatus = log.DeviceState.ThermalStatus @@ -259,7 +258,7 @@ class SelfdriveD: if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running - if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): + if self.sm.recv_frame['managerState'] and not_running: self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: From 2eb3585daed760ef5f997cbf69c04a66b6084f89 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 28 Jan 2025 12:16:13 -0800 Subject: [PATCH 08/81] Not Too Shabby Model (#34484) * b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700 * replay * model_replay: support empty --- selfdrive/modeld/constants.py | 19 +++++++------- selfdrive/modeld/fill_model_msg.py | 4 +-- selfdrive/modeld/models/supercombo.onnx | 4 +-- selfdrive/test/process_replay/model_replay.py | 25 +++++++++++-------- 4 files changed, 28 insertions(+), 24 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 8c2f6b345..cf5157591 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -71,13 +71,14 @@ class Plan: class Meta: ENGAGED = slice(0, 1) # next 2, 4, 6, 8, 10 seconds - GAS_DISENGAGE = slice(1, 36, 7) - BRAKE_DISENGAGE = slice(2, 36, 7) - STEER_OVERRIDE = slice(3, 36, 7) - HARD_BRAKE_3 = slice(4, 36, 7) - HARD_BRAKE_4 = slice(5, 36, 7) - HARD_BRAKE_5 = slice(6, 36, 7) - GAS_PRESS = slice(7, 36, 7) + GAS_DISENGAGE = slice(1, 31, 6) + BRAKE_DISENGAGE = slice(2, 31, 6) + STEER_OVERRIDE = slice(3, 31, 6) + HARD_BRAKE_3 = slice(4, 31, 6) + HARD_BRAKE_4 = slice(5, 31, 6) + HARD_BRAKE_5 = slice(6, 31, 6) # next 0, 2, 4, 6, 8, 10 seconds - LEFT_BLINKER = slice(36, 48, 2) - RIGHT_BLINKER = slice(37, 48, 2) + GAS_PRESS = slice(31, 55, 4) + BRAKE_PRESS = slice(32, 55, 4) + LEFT_BLINKER = slice(33, 55, 4) + RIGHT_BLINKER = slice(34, 55, 4) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 59b7508ed..0ea88f9bc 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -159,8 +159,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() - #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist() - #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist() + disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist() + disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist() publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 2e1a60a23..4c9f79557 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4 -size 51453312 +oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a +size 51461700 diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index f594fcf68..d4bfebde0 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -57,21 +57,24 @@ def get_event(logs, event): def zl(array, fill): return zip_longest(array, [], fillvalue=fill) +def get_idx_if_non_empty(l, idx=None): + return l if idx is None else (l[idx] if len(l) > 0 else None) + def generate_report(proposed, master, tmp, commit): ModelV2_Plots = zl([ - (lambda x: x.velocity.x[0], "velocity.x"), - (lambda x: x.action.desiredCurvature, "desiredCurvature"), - (lambda x: x.leadsV3[0].x[0], "leadsV3.x"), - (lambda x: x.laneLines[1].y[0], "laneLines.y"), - #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs") + (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"), + (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"), + (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"), + (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"), + (lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs") ], "modelV2") DriverStateV2_Plots = zl([ - (lambda x: x.wheelOnRightProb, "wheelOnRightProb"), - (lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"), - (lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"), - (lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"), - (lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"), - (lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"), + (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"), + (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"), + (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"), + (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"), + (lambda x: get_idx_if_non_empty(x.leftDriverData.notReadyProb, 0), "leftDriverData.notReadyProb0"), + (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"), ], "driverStateV2") return [plot(map(v[0], get_event(proposed, event)), \ From 227bb68e1891619b360b89809e6822d50d34228f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Jan 2025 07:37:05 +0800 Subject: [PATCH 09/81] replay: improve segment loading and event handling (#34490) improve segment Loading and Event Handling --- tools/cabana/streams/abstractstream.cc | 2 +- tools/replay/replay.cc | 12 ++++++------ tools/replay/replay.h | 1 + tools/replay/seg_mgr.cc | 13 +++++++++---- tools/replay/seg_mgr.h | 2 +- 5 files changed, 18 insertions(+), 12 deletions(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 2278104c2..1582fcd34 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -226,7 +226,7 @@ std::pair AbstractStream::eventsInRange(const Messag if (!time_range) return {events.begin(), events.end()}; auto first = std::lower_bound(events.begin(), events.end(), can->toMonoTime(time_range->first), CompareCanEvent()); - auto last = std::upper_bound(events.begin(), events.end(), can->toMonoTime(time_range->second), CompareCanEvent()); + auto last = std::upper_bound(first, events.end(), can->toMonoTime(time_range->second), CompareCanEvent()); return {first, last}; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index a940b6d04..80f586daa 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -109,6 +109,7 @@ void Replay::seekTo(double seconds, bool relative) { interruptStream([&]() { current_segment_.store(target_segment); cur_mono_time_ = route_start_ts_ + target_time * 1e9; + cur_which_ = cereal::Event::Which::INIT_DATA; seeking_to_.store(target_time, std::memory_order_relaxed); return false; }); @@ -250,7 +251,6 @@ void Replay::publishFrame(const Event *e) { void Replay::streamThread() { stream_thread_id = pthread_self(); - cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA; std::unique_lock lk(stream_lock_); while (true) { @@ -259,7 +259,7 @@ void Replay::streamThread() { event_data_ = seg_mgr_->getEventData(); const auto &events = event_data_->events; - auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which, cur_mono_time_, {})); + auto first = std::upper_bound(events.cbegin(), events.cend(), Event(cur_which_, cur_mono_time_, {})); if (first == events.cend()) { rInfo("waiting for events..."); events_ready_ = false; @@ -273,9 +273,7 @@ void Replay::streamThread() { camera_server_->waitForSent(); } - if (it != events.cend()) { - cur_which = it->which; - } else if (!hasFlag(REPLAY_FLAG_NO_LOOP)) { + if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { int last_segment = seg_mgr_->route_.segments().rbegin()->first; if (event_data_->isSegmentLoaded(last_segment)) { rInfo("reaches the end of route, restart from beginning"); @@ -302,10 +300,12 @@ std::vector::const_iterator Replay::publishEvents(std::vector::con seg_mgr_->setCurrentSegment(segment); } + cur_mono_time_ = evt.mono_time; + cur_which_ = evt.which; + // Skip events if socket is not present if (!sockets_[evt.which]) continue; - cur_mono_time_ = evt.mono_time; const uint64_t current_nanos = nanos_since_boot(); const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 8525a532a..6a2c86ff0 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -93,6 +93,7 @@ private: std::time_t route_date_time_; uint64_t route_start_ts_ = 0; std::atomic cur_mono_time_ = 0; + cereal::Event::Which cur_which_ = cereal::Event::Which::INIT_DATA; double min_seconds_ = 0; double max_seconds_ = 0; SubMaster *sm_ = nullptr; diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc index 8a00d426b..ee034fb08 100644 --- a/tools/replay/seg_mgr.cc +++ b/tools/replay/seg_mgr.cc @@ -6,7 +6,6 @@ SegmentManager::~SegmentManager() { { std::unique_lock lock(mutex_); exit_ = true; - onSegmentMergedCallback_ = nullptr; } cv_.notify_one(); if (thread_.joinable()) thread_.join(); @@ -37,6 +36,8 @@ bool SegmentManager::load() { void SegmentManager::setCurrentSegment(int seg_num) { { std::unique_lock lock(mutex_); + if (cur_seg_num_ == seg_num) return; + cur_seg_num_ = seg_num; needs_update_ = true; } @@ -58,6 +59,8 @@ void SegmentManager::manageSegmentCache() { auto end = std::next(begin, std::min(segment_cache_limit_, std::distance(begin, segments_.end()))); begin = std::prev(end, std::min(segment_cache_limit_, std::distance(segments_.begin(), end))); + lock.unlock(); + loadSegmentsInRange(begin, cur, end); bool merged = mergeSegments(begin, end); @@ -65,8 +68,6 @@ void SegmentManager::manageSegmentCache() { std::for_each(segments_.begin(), begin, [](auto &segment) { segment.second.reset(); }); std::for_each(end, segments_.end(), [](auto &segment) { segment.second.reset(); }); - lock.unlock(); - if (merged && onSegmentMergedCallback_) { onSegmentMergedCallback_(); // Notify listener that segments have been merged } @@ -118,7 +119,11 @@ void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap: if (!segment_ptr) { segment_ptr = std::make_shared( it->first, route_.at(it->first), flags_, filters_, - [this](int seg_num, bool success) { setCurrentSegment(cur_seg_num_); }); + [this](int seg_num, bool success) { + std::unique_lock lock(mutex_); + needs_update_ = true; + cv_.notify_one(); + }); } if (segment_ptr->getState() == Segment::LoadState::Loading) { diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h index 40bdcd51f..9158e4161 100644 --- a/tools/replay/seg_mgr.h +++ b/tools/replay/seg_mgr.h @@ -45,7 +45,7 @@ private: std::mutex mutex_; std::condition_variable cv_; std::thread thread_; - std::atomic cur_seg_num_ = -1; + int cur_seg_num_ = -1; bool needs_update_ = false; bool exit_ = false; From acfc44a4904623904968986138af5edd6432da63 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 29 Jan 2025 16:53:43 +0100 Subject: [PATCH 10/81] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 12905886b..c5c194ff9 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 12905886bafb9bf3fbe7200fa632a5501b1e1cb5 +Subproject commit c5c194ff99940f0d669a4b805815b1378d6cd98f From 0a17b21321b1f3690c92f5418ccf82926ece452f Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 29 Jan 2025 17:02:24 +0100 Subject: [PATCH 11/81] bump panda again --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index c5c194ff9..d75e4ee3e 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c5c194ff99940f0d669a4b805815b1378d6cd98f +Subproject commit d75e4ee3ed5e5bb61f5949bc315d9d684e2eff49 From bf4e9170c5ed61f355df27c997e560c24248fa6f Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 29 Jan 2025 19:41:38 +0100 Subject: [PATCH 12/81] Add Tesla to car_specific events (#34493) --- selfdrive/car/car_specific.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index eaa287b2f..47a48cee6 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -45,7 +45,7 @@ class CarSpecificEvents: if self.CP.brand in ('body', 'mock'): events = Events() - elif self.CP.brand in ('subaru', 'mazda'): + elif self.CP.brand in ('subaru', 'mazda', 'tesla'): events = self.create_common_events(CS, CS_prev) elif self.CP.brand == 'ford': From 79e52ea83db0f4122b93ccb7b1ec0cf07c62e3bd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 29 Jan 2025 15:31:15 -0800 Subject: [PATCH 13/81] FIREHOSE mode v0.1 (#34496) * add toggle * athena * fix mypy --- common/params.cc | 1 + selfdrive/ui/qt/offroad/settings.cc | 14 ++++++++++++++ selfdrive/ui/translations/main_ar.ts | 8 ++++++++ selfdrive/ui/translations/main_de.ts | 8 ++++++++ selfdrive/ui/translations/main_es.ts | 8 ++++++++ selfdrive/ui/translations/main_fr.ts | 8 ++++++++ selfdrive/ui/translations/main_ja.ts | 8 ++++++++ selfdrive/ui/translations/main_ko.ts | 8 ++++++++ selfdrive/ui/translations/main_pt-BR.ts | 8 ++++++++ selfdrive/ui/translations/main_th.ts | 8 ++++++++ selfdrive/ui/translations/main_tr.ts | 8 ++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++++++ system/athena/athenad.py | 3 +++ 14 files changed, 106 insertions(+) diff --git a/common/params.cc b/common/params.cc index 84b49a611..3c5efd96d 100644 --- a/common/params.cc +++ b/common/params.cc @@ -120,6 +120,7 @@ std::unordered_map keys = { {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, + {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ForcePowerDown", PERSISTENT}, {"GitBranch", PERSISTENT}, diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index b24849eb4..f68379242 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -36,6 +36,20 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", }, + { + "FirehoseMode", + tr("FIREHOSE Mode"), + tr("Enable FIREHOSE Mode to get your driving data in the training set.

" + "Follow these steps to get your device ready:
" + " 1. Bring your device inside and connect to a good USB-C adapter
" + " 2. Connect to Wi-Fi
" + " 3. Enable this toggle
" + " 4. Leave it connected for at least 30 minutes
" + "
" + "This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness." + ""), + "../assets/offroad/icon_warning.png", + }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index f6087c16a..769136b52 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -1093,6 +1093,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 1c39867d7..06543db38 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -1077,6 +1077,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index f0eb9706e..a0e5dc222 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -1077,6 +1077,14 @@ Esto puede tardar un minuto. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. Activar el control longitudinal (fase experimental) para permitir el modo Experimental. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 826f9623d..69eb2918c 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -1077,6 +1077,14 @@ Cela peut prendre jusqu'à une minute. Enable driver monitoring even when openpilot is not engaged. Activer la surveillance conducteur lorsque openpilot n'est pas actif. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 9f7b7ff9c..c8c18daef 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1073,6 +1073,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. openpilotが作動していない場合でも運転者モニタリングを有効にする。 + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 021ded285..a35cafd64 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1073,6 +1073,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index d65d568fc..c5f966141 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1077,6 +1077,14 @@ Isso pode levar até um minuto. Enable driver monitoring even when openpilot is not engaged. Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 80dac8560..0bc733997 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -1073,6 +1073,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 1b84b6f9f..0bc5c054c 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -1071,6 +1071,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 276b082de..879f053cf 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1073,6 +1073,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 即使在openpilot未激活时也启用驾驶员监控。 + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1ac527198..3315515fb 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1073,6 +1073,14 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. 即使在openpilot未激活時也啟用駕駛監控。 + + FIREHOSE Mode + + + + Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. + + Updater diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 2f455981c..8b1ed14b1 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -507,6 +507,9 @@ def getSshAuthorizedKeys() -> str: def getGithubUsername() -> str: return Params().get("GithubUsername", encoding='utf8') or '' +@dispatcher.add_method +def getFirehoseMode() -> bool: + return Params().get_bool("FirehoseMode") or False @dispatcher.add_method def getSimInfo(): From a9956c0116ae69feb88e23472566279f8b703753 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jan 2025 23:37:00 +0800 Subject: [PATCH 14/81] cleanup: remove SNPE paths from SConstruct (#34501) remove SNPE paths from SConstruct --- SConstruct | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/SConstruct b/SConstruct index 57831647c..aced32f20 100644 --- a/SConstruct +++ b/SConstruct @@ -107,7 +107,6 @@ if arch == "larch64": ] libpath += [ - "#third_party/snpe/larch64", "#third_party/libyuv/larch64/lib", "/usr/lib/aarch64-linux-gnu" ] @@ -146,14 +145,6 @@ else: "/usr/local/lib", ] - if arch == "x86_64": - libpath += [ - f"#third_party/snpe/{arch}" - ] - rpath += [ - Dir(f"#third_party/snpe/{arch}").abspath, - ] - if GetOption('asan'): ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"] ldflags = ["-fsanitize=address"] @@ -197,7 +188,6 @@ env = Environment( "#third_party/libyuv/include", "#third_party/json11", "#third_party/linux/include", - "#third_party/snpe/include", "#third_party", "#msgq", ], From cdf46e340f538d0aa6293f6634153989e68b9003 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 30 Jan 2025 14:48:04 -0300 Subject: [PATCH 15/81] update pt-BR translations (#34500) --- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index c5f966141..5400ffdf0 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -137,11 +137,11 @@ Enable ADB - + Habilitar ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações. @@ -1079,11 +1079,11 @@ Isso pode levar até um minuto. FIREHOSE Mode - + Modo FIREHOSE Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + Habilite o <b>Modo FIREHOSE</b> para obter seus dados de direção no conjunto de treinamento.<br><br>Siga estas etapas para preparar seu dispositivo:<br> 1. Leve seu dispositivo para dentro e conecte-o a um bom adaptador USB-C<br> 2. Conecte-se ao Wi-Fi<br> 3. Habilite este toggle<br> 4. Deixe-o conectado por pelo menos 30 minutos.<br><br>Este botão desativa após reiniciar o dispositivo. Repita uma vez por semana para obter a máxima eficácia. From 7792fee92ce9c4c88de91c6496ff51ddf31893c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 31 Jan 2025 02:30:40 +0800 Subject: [PATCH 16/81] SConstruct: remove CPPPATH entries for libyuv and json11 (#34504) cleanup cpppath --- SConstruct | 2 -- 1 file changed, 2 deletions(-) diff --git a/SConstruct b/SConstruct index aced32f20..bcd5f7f71 100644 --- a/SConstruct +++ b/SConstruct @@ -185,8 +185,6 @@ env = Environment( "#third_party/acados/include/blasfeo/include", "#third_party/acados/include/hpipm/include", "#third_party/catch2/include", - "#third_party/libyuv/include", - "#third_party/json11", "#third_party/linux/include", "#third_party", "#msgq", From 804b801ef8f5c4e22ab4f13027b5967ebc55156d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 31 Jan 2025 02:30:54 +0800 Subject: [PATCH 17/81] SConstruct: remove duplicate -lzmq link (#34503) remove duplicate -lzmq link --- SConstruct | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index bcd5f7f71..5bc6ffb95 100644 --- a/SConstruct +++ b/SConstruct @@ -338,7 +338,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog}) SConscript(['cereal/SConscript']) Import('socketmaster', 'msgq') -messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',] +messaging = [socketmaster, msgq, 'capnp', 'kj',] Export('messaging') From d4a7a87a3c041fa786c0c2e403d5619747b6bc31 Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Thu, 30 Jan 2025 20:34:29 +0200 Subject: [PATCH 18/81] third_party: raylib builds on macos (#34499) * updated raylib setup for macos * raylib setup.sh renamed to build.sh * simplified copy * silent curl --- third_party/raylib/{setup.sh => build.sh} | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) rename third_party/raylib/{setup.sh => build.sh} (73%) diff --git a/third_party/raylib/setup.sh b/third_party/raylib/build.sh similarity index 73% rename from third_party/raylib/setup.sh rename to third_party/raylib/build.sh index de2673573..a9ada3c17 100755 --- a/third_party/raylib/setup.sh +++ b/third_party/raylib/build.sh @@ -37,10 +37,11 @@ git clean -xdff . cd src -make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM -sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR +make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM RAYLIB_RELEASE_PATH=$INSTALL_DIR +cp raylib.h raymath.h rlgl.h $INSTALL_H_DIR/ +echo "raylib development files installed/updated in $INSTALL_H_DIR" # this commit needs to be in line with raylib set -x RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827" -wget -O $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h +curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h From c82af71e83a915fa93ff970770bbd4f8b71692a7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 30 Jan 2025 11:21:45 -0800 Subject: [PATCH 19/81] model_replay: raise max `modelV2` exec time (#34505) raise --- selfdrive/test/process_replay/model_replay.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index d4bfebde0..50027574b 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -33,7 +33,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.03, 0.025), + ("modelV2", 0.035, 0.025), ("driverStateV2", 0.02, 0.015), ] From 5d421020c3d0518588cb70bd74ca4503c2f5a0de Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Jan 2025 11:47:49 -0800 Subject: [PATCH 20/81] Revert "SConstruct: remove CPPPATH entries for libyuv and json11 (#34504)" This reverts commit 7792fee92ce9c4c88de91c6496ff51ddf31893c1. --- SConstruct | 2 ++ 1 file changed, 2 insertions(+) diff --git a/SConstruct b/SConstruct index 5bc6ffb95..0f25a4253 100644 --- a/SConstruct +++ b/SConstruct @@ -185,6 +185,8 @@ env = Environment( "#third_party/acados/include/blasfeo/include", "#third_party/acados/include/hpipm/include", "#third_party/catch2/include", + "#third_party/libyuv/include", + "#third_party/json11", "#third_party/linux/include", "#third_party", "#msgq", From 1e35a24564a71e1fdebad053a68f7c0bac396482 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jan 2025 16:08:27 -0600 Subject: [PATCH 21/81] fdcan: rate limit CAN core reset (#34507) bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index d75e4ee3e..3ff97305c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d75e4ee3ed5e5bb61f5949bc315d9d684e2eff49 +Subproject commit 3ff97305c565d5e43931052b9ec4747b2f617401 From a8b829167d5837fae1f2036a666e0eeb402e1d2c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 30 Jan 2025 14:36:20 -0800 Subject: [PATCH 22/81] locationd: use cloudlog (#34508) * Use cloudlog instead of print * Changes --- selfdrive/locationd/locationd.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index 21f4b8752..0216b6976 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -12,6 +12,7 @@ from cereal.services import SERVICE_LIST from openpilot.common.transformations.orientation import rot_from_euler from openpilot.common.realtime import config_realtime_process from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.locationd.helpers import rotate_std from openpilot.selfdrive.locationd.models.pose_kf import PoseKalman, States from openpilot.selfdrive.locationd.models.constants import ObservationKind, GENERATED_DIR @@ -78,20 +79,20 @@ class LocationEstimator: # sensor time and log time should be close sensor_time_invalid = abs(sensor_time - t) > MAX_SENSOR_TIME_DIFF if sensor_time_invalid: - print("Sensor reading ignored, sensor timestamp more than 100ms off from log time") + cloudlog.warning("Sensor reading ignored, sensor timestamp more than 100ms off from log time") return not sensor_time_invalid def _validate_timestamp(self, t: float): kf_t = self.kf.t invalid = not np.isnan(kf_t) and (kf_t - t) > MAX_FILTER_REWIND_TIME if invalid: - print("Observation timestamp is older than the max rewind threshold of the filter") + cloudlog.warning("Observation timestamp is older than the max rewind threshold of the filter") return not invalid def _finite_check(self, t: float, new_x: np.ndarray, new_P: np.ndarray): all_finite = np.isfinite(new_x).all() and np.isfinite(new_P).all() if not all_finite: - print("Non-finite values detected, kalman reset") + cloudlog.error("Non-finite values detected, kalman reset") self.reset(t) def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader) -> HandleLogResult: @@ -308,13 +309,12 @@ def main(): continue if res == HandleLogResult.TIMING_INVALID: - print(f"Observation {which} ignored due to failed timing check") + cloudlog.warning(f"Observation {which} ignored due to failed timing check") observation_input_invalid[which] += 1 - print(observation_input_invalid[which]) elif res == HandleLogResult.INPUT_INVALID: - print(f"Observation {which} ignored due to failed sanity check") + cloudlog.warning(f"Observation {which} ignored due to failed sanity check") observation_input_invalid[which] += 1 - else: + elif res == HandleLogResult.SUCCESS: observation_input_invalid[which] *= input_invalid_decay[which] else: filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION) From bfb898ef3f4da54f9ffb0924faddddd35608455f Mon Sep 17 00:00:00 2001 From: programanichiro <99449198+programanichiro@users.noreply.github.com> Date: Fri, 31 Jan 2025 07:56:16 +0900 Subject: [PATCH 23/81] update ja translations (#34506) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 見切れる部分の見直しと表現を調整。 * 和訳を追加。 * Improved truncation 見切れを改善。 * FIREHOSEモード！ --- selfdrive/ui/translations/main_ja.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index c8c18daef..e09d8be80 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -137,11 +137,11 @@ Enable ADB - + ADBを有効にする ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。 @@ -1047,7 +1047,7 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - openpilotのアクセル制御は将来のアップデートで提供される可能性があります。 + openpilotのアクセル制御は将来のアップデートで利用できる可能性があります。 An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. @@ -1075,11 +1075,11 @@ This may take up to a minute. FIREHOSE Mode - + FIREHOSEモード Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + <b>FIREHOSEモード</b>を有効にすると、あなたの運転が公式のトレーニングデータに追加されます。<br><br>次の手順でデバイスを準備してください:<br> 1. デバイスを屋内に持ち込み、適切なUSB-Cアダプターに接続する<br> 2. Wi-Fiに接続する<br> 3. このスイッチを有効にする<br> 4. 少なくとも30分間接続したままにする<br><br>このスイッチはデバイスを再起動すると無効になります。効果を最大化するためには毎週実行するのが望ましいです。 @@ -1121,11 +1121,11 @@ This may take up to a minute. WiFiPromptWidget Setup Wi-Fi - Wi-Fiセットアップ + Wi-Fi設定 Connect to Wi-Fi to upload driving data and help improve openpilot - ドライブデータをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください + 走行データをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください Open Settings @@ -1137,7 +1137,7 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi - デバイスがWi-Fiに接続されている間、トレーニングデータが定期的に送信されます + デバイスがWi-Fiに接続中は、トレーニングデータが定期的に送信されます From a5dd2ab2aa0131d399de132fbf907f0cf30ae46f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Jan 2025 20:12:00 -0800 Subject: [PATCH 24/81] athena: upload logs in parallel (#34509) Co-authored-by: Comma Device --- system/athena/athenad.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 8b1ed14b1..c926de978 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -145,6 +145,9 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'), threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'), threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler2'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler3'), + threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler4'), threading.Thread(target=log_handler, args=(end_event,), name='log_handler'), threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'), ] + [ From 2b19b8f3d7bb67e99303c888f93f8574abd00272 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 31 Jan 2025 14:56:14 +0800 Subject: [PATCH 25/81] ui/DeveloperPanel: initialize offroad state, refresh toggle, and cleanup Includes (#34510) small fixes --- selfdrive/ui/qt/offroad/developer_panel.cc | 5 +---- selfdrive/ui/qt/offroad/developer_panel.h | 2 +- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc index b1288fb35..365aec09c 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.cc +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -1,10 +1,6 @@ -#include -#include - #include "selfdrive/ui/qt/offroad/developer_panel.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/controls.h" -#include "common/util.h" DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) { adbToggle = new ParamControl("AdbEnabled", tr("Enable ADB"), @@ -89,6 +85,7 @@ void DeveloperPanel::updateToggles(bool _offroad) { longManeuverToggle->setEnabled(false); experimentalLongitudinalToggle->setVisible(false); } + experimentalLongitudinalToggle->refresh(); offroad = _offroad; } diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h index 1aab71e63..c73421b18 100644 --- a/selfdrive/ui/qt/offroad/developer_panel.h +++ b/selfdrive/ui/qt/offroad/developer_panel.h @@ -15,7 +15,7 @@ private: ParamControl* longManeuverToggle; ParamControl* experimentalLongitudinalToggle; bool is_release; - bool offroad; + bool offroad = false; private slots: void updateToggles(bool _offroad); From 913337d98c353d51e6cd1e34f1aa8368d76f5bce Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 1 Feb 2025 00:47:13 +0800 Subject: [PATCH 26/81] update CHT/CHS translations (#34513) updated CHT/CHS translations --- selfdrive/ui/translations/main_zh-CHS.ts | 22 +++++++++++----------- selfdrive/ui/translations/main_zh-CHT.ts | 22 +++++++++++----------- 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 879f053cf..b241b8a03 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -117,31 +117,31 @@ DeveloperPanel Joystick Debug Mode - + 摇杆调试模式 Longitudinal Maneuver Mode - + 纵向机动模式 openpilot Longitudinal Control (Alpha) - openpilot纵向控制（Alpha 版） + openpilot纵向控制（Alpha 版） WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 + 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 + 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 Enable ADB - + 启用 ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 @@ -477,7 +477,7 @@ Please connect to Wi-Fi to complete initial pairing - + 请连接 Wi-Fi 以完成初始配对 @@ -635,7 +635,7 @@ This may take up to a minute. Developer - + 开发人员 @@ -1075,11 +1075,11 @@ This may take up to a minute. FIREHOSE Mode - + FIREHOSE 模式 Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + 启用 <b>FIREHOSE 模式</b> 以将您的驾驶数据纳入训练集。<br><br>按照以下步骤准备您的设备：<br> 1. 将设备带入室内并连接到良好的 USB-C 适配器<br> 2. 连接到 Wi-Fi<br> 3. 启用此开关<br> 4. 保持连接至少 30 分钟<br><br>此开关在您重新启动设备后会关闭。每周重复一次以达到最佳效果。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 3315515fb..b205b23e0 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -117,31 +117,31 @@ DeveloperPanel Joystick Debug Mode - + 搖桿調試模式 Longitudinal Maneuver Mode - + 縱向機動模式 openpilot Longitudinal Control (Alpha) - openpilot 縱向控制 (Alpha 版) + openpilot 縱向控制 (Alpha 版) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 + 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 Enable ADB - + 啟用 ADB ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info. - + ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。 @@ -477,7 +477,7 @@ Please connect to Wi-Fi to complete initial pairing - + 請連接 Wi-Fi 以完成初始配對 @@ -635,7 +635,7 @@ This may take up to a minute. Developer - + 開發人員 @@ -1075,11 +1075,11 @@ This may take up to a minute. FIREHOSE Mode - + FIREHOSE 模式 Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>Follow these steps to get your device ready:<br> 1. Bring your device inside and connect to a good USB-C adapter<br> 2. Connect to Wi-Fi<br> 3. Enable this toggle<br> 4. Leave it connected for at least 30 minutes<br><br>This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness. - + 啟用<b>Firehose 模式</b>，將您的駕駛數據加入訓練集。<br><br>請按照以下步驟準備您的裝置：<br> 1. 將裝置帶到室內並連接到穩定的 USB-C 充電器<br> 2. 連接 Wi-Fi<br> 3. 開啟此切換開關<br> 4. 保持連接至少 30 分鐘<br><br>此切換開關在裝置重新啟動後會自動關閉。為確保最佳效果，請每週重複一次。 From e3d83b4b13b0290ef9a635d4277433598305c805 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 31 Jan 2025 19:14:58 -0600 Subject: [PATCH 27/81] camerad: fix tearing when hitting frame timeout (#34514) * this works * todo --- system/camerad/cameras/spectra.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 267159107..17bcc7a20 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -680,16 +680,16 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // SOF has come in, wait until readout is complete struct cam_sync_wait sync_wait = {0}; sync_wait.sync_obj = sync_objs[i]; + // TODO: write a test to stress test w/ a low timeout and check camera frame ids match sync_wait.timeout_ms = 100; ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { - // TODO: handle frame drop cleanly - // when this happens, it messes up future frames + clear_req_queue(); LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); } buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns; - if (dp) { + if (dp && ret == 0) { buf.queue(i); } From 6d12a47d05b17999016bc78a30ad619e2a70e6f8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 31 Jan 2025 19:17:07 -0800 Subject: [PATCH 28/81] Revert "camerad: disable ISP for now (#34440)" This reverts commit e48752d8fae8924de7798f0f11540062e0a9d45c. --- system/camerad/cameras/camera_qcom2.cc | 2 +- system/hardware/tici/tests/test_power_draw.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index dc388f1e3..628ed17d6 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 983566032..e1b9845c4 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -31,7 +31,7 @@ class Proc: PROCS = [ - Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), From cc149031373be6a8516411540c95f2dc60d92e0c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 1 Feb 2025 12:48:04 -0800 Subject: [PATCH 29/81] strip output on sudo_read --- system/hardware/tici/hardware.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index dd3f36963..c01617e83 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -76,7 +76,7 @@ def sudo_write(val, path): def sudo_read(path: str) -> str: try: - return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip() except Exception: return "" From 17647f99a4a0a0bb2790fc95e48b6266adda3093 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 2 Feb 2025 21:45:07 -0800 Subject: [PATCH 30/81] setup: try removing uv update loop --- tools/install_python_dependencies.sh | 19 ++----------------- 1 file changed, 2 insertions(+), 17 deletions(-) diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index b0bb835e6..8d4a8b6d9 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -8,22 +8,6 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" ROOT="$DIR"/../ cd "$ROOT" -# updating uv on macOS results in 403 sometimes -function update_uv() { - if ! uv self update --help >/dev/null 2>&1; then - return 0 - fi - - for i in $(seq 1 5); do - if uv self update; then - return 0 - else - sleep 2 - fi - done - echo "Failed to update uv 5 times!" -} - if ! command -v "uv" > /dev/null 2>&1; then echo "installing uv..." curl -LsSf https://astral.sh/uv/install.sh | sh @@ -32,7 +16,8 @@ if ! command -v "uv" > /dev/null 2>&1; then fi echo "updating uv..." -update_uv +# ok to fail, can also fail due to installing with brew +uv self update || true echo "installing python packages..." uv sync --frozen --all-extras From ebe48552cf19fc247f6fd34d806d09740d1ebb87 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 3 Feb 2025 10:22:52 -0800 Subject: [PATCH 31/81] [bot] Update Python packages (#34520) * Update Python packages * fix --------- Co-authored-by: Vehicle Researcher Co-authored-by: Maxime Desroches --- docs/CARS.md | 2 +- opendbc_repo | 2 +- system/webrtc/webrtcd.py | 6 +- uv.lock | 238 +++++++++++++++++++-------------------- 4 files changed, 123 insertions(+), 125 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 0cc23e138..da65858b8 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -184,7 +184,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| diff --git a/opendbc_repo b/opendbc_repo index a5a1f7a08..44c977fe6 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a5a1f7a0861c51f93a743bcfd0cc02ba761b613c +Subproject commit 44c977fe68f490367152b131f5e877e97fa8c96f diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 79c5b4888..fb93e565f 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -131,11 +131,9 @@ class StreamSession: assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks" for cam in cameras: - track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack() - builder.add_video_stream(cam, track) + builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()) if config.expected_audio_track: - track = AudioInputStreamTrack() if not debug_mode else AudioStreamTrack() - builder.add_audio_stream(track) + builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack()) if config.incoming_audio_track: self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole builder.offer_to_receive_audio_stream() diff --git a/uv.lock b/uv.lock index 9d770c9da..276d36cdf 100644 --- a/uv.lock +++ b/uv.lock @@ -80,7 +80,7 @@ wheels = [ [[package]] name = "aiortc" -version = "1.9.0" +version = "1.10.1" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "aioice" }, @@ -92,15 +92,15 @@ dependencies = [ { name = "pylibsrtp" }, { name = "pyopenssl" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 } +sdist = { url = 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-0800 Subject: [PATCH 33/81] Revert "unpin pyopenssl (#34522)" (#34524) This reverts commit b1843ee7a7b9e6024305c6554775dc7e1712fa21. --- pyproject.toml | 3 + uv.lock | 1102 ++++++++++++++++++++++++------------------------ 2 files changed, 555 insertions(+), 550 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index d9dbe2152..00ee3790b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -31,6 +31,9 @@ dependencies = [ # body / webrtcd "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 diff --git a/uv.lock b/uv.lock index 1fd48988f..276d36cdf 100644 --- a/uv.lock +++ b/uv.lock @@ -498,7 +498,7 @@ version = "0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "python-xlib", marker = "sys_platform == 'linux'" }, - { name = "typing-extensions", marker = "sys_platform != 'darwin'" }, + { name = "typing-extensions" }, ] wheels = [ { url = 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- { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy" }, ] sdist = { url = "https://files.pythonhosted.org/packages/21/c0/a911d1fd765d07a2b6769ce155219a281bfbe311584ebe97340d75c5bdb1/shapely-2.0.7.tar.gz", hash = "sha256:28fe2997aab9a9dc026dc6a355d04e85841546b2a5d232ed953e3321ab958ee5", size = 283413 } wheels = [ @@ -5009,7 +5011,7 @@ name = "yapf" version = "0.43.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "platformdirs" }, ] sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 } wheels = [ From 26f972b9f738e490a73f0221b791ee76e3334fee Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 3 Feb 2025 23:05:23 -0600 Subject: [PATCH 34/81] Bump opendbc (#34525) * no debug param and new import * bump * bump to master * and fix that * oop * bump to master --- opendbc_repo | 2 +- selfdrive/car/card.py | 3 ++- selfdrive/debug/car/disable_ecu.py | 2 +- selfdrive/debug/car/ecu_addrs.py | 6 +++++- selfdrive/debug/car/fw_versions.py | 8 ++++++-- selfdrive/debug/car/vin.py | 6 +++++- selfdrive/debug/clear_dtc.py | 6 +++++- selfdrive/debug/hyundai_enable_radar_points.py | 6 +++++- selfdrive/debug/read_dtc_status.py | 6 +++++- selfdrive/debug/vw_mqb_config.py | 6 +++++- 10 files changed, 40 insertions(+), 11 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 44c977fe6..3d24af948 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 44c977fe68f490367152b131f5e877e97fa8c96f +Subproject commit 3d24af948e24f48250d7d2cc34df44dff411a3f9 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 78cd19e78..b8735359e 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -13,8 +13,9 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog, ForwardingHandler -from opendbc.car import DT_CTRL, carlog, structs +from opendbc.car import DT_CTRL, structs from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable +from opendbc.car.carlog import carlog from opendbc.car.fw_versions import ObdCallback from opendbc.car.car_helpers import get_car, get_radar_interface from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase diff --git a/selfdrive/debug/car/disable_ecu.py b/selfdrive/debug/car/disable_ecu.py index 185139324..14d0cbb9c 100755 --- a/selfdrive/debug/car/disable_ecu.py +++ b/selfdrive/debug/car/disable_ecu.py @@ -11,5 +11,5 @@ if __name__ == "__main__": time.sleep(1) # honda bosch radar disable - disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False) + disabled = disable_ecu(*can_callbacks, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5) print(f"disabled: {disabled}") diff --git a/selfdrive/debug/car/ecu_addrs.py b/selfdrive/debug/car/ecu_addrs.py index 58781222d..584c930eb 100755 --- a/selfdrive/debug/car/ecu_addrs.py +++ b/selfdrive/debug/car/ecu_addrs.py @@ -2,6 +2,7 @@ import argparse import time import cereal.messaging as messaging +from opendbc.car.carlog import carlog from opendbc.car.ecu_addrs import get_all_ecu_addrs from openpilot.common.params import Params from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback @@ -15,6 +16,9 @@ if __name__ == "__main__": parser.add_argument('--timeout', type=float, default=1.0) args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + logcan = messaging.sub_sock('can') sendcan = messaging.pub_sock('sendcan') can_callbacks = can_comm_callbacks(logcan, sendcan) @@ -29,7 +33,7 @@ if __name__ == "__main__": obd_callback(params)(not args.no_obd) print("Getting ECU addresses ...") - ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug) + ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout) print() print("Found ECUs on rx addresses:") diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py index 18a287b38..03d066cdc 100755 --- a/selfdrive/debug/car/fw_versions.py +++ b/selfdrive/debug/car/fw_versions.py @@ -3,6 +3,7 @@ import time import argparse import cereal.messaging as messaging from cereal import car +from opendbc.car.carlog import carlog from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car from opendbc.car.vin import get_vin from openpilot.common.params import Params @@ -18,6 +19,9 @@ if __name__ == "__main__": parser.add_argument('--brand', help='Only query addresses/with requests for this brand') args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + logcan = messaging.sub_sock('can') pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') @@ -46,13 +50,13 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") set_obd_multiplexing(True) - vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1), debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1)) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() t = time.time() - fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True) + fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True) _, candidates = match_fw_to_car(fw_vers, vin) print() diff --git a/selfdrive/debug/car/vin.py b/selfdrive/debug/car/vin.py index 7946b429e..9b1d6528c 100755 --- a/selfdrive/debug/car/vin.py +++ b/selfdrive/debug/car/vin.py @@ -2,6 +2,7 @@ import argparse import time import cereal.messaging as messaging +from opendbc.car.carlog import carlog from opendbc.car.vin import get_vin from openpilot.selfdrive.car.card import can_comm_callbacks @@ -13,10 +14,13 @@ if __name__ == "__main__": parser.add_argument('--retry', type=int, default=5) args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + sendcan = messaging.pub_sock('sendcan') logcan = messaging.sub_sock('can') can_callbacks = can_comm_callbacks(logcan, sendcan) time.sleep(1) - vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry, debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (args.bus,), args.timeout, args.retry) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index 55e2bb47d..2c7f525d8 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -2,6 +2,7 @@ import sys import argparse from subprocess import check_output, CalledProcessError +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE from panda import Panda @@ -11,6 +12,9 @@ parser.add_argument("--bus", type=int, default=0) parser.add_argument('--debug', action='store_true') args = parser.parse_args() +if args.debug: + carlog.setLevel('DEBUG') + try: check_output(["pidof", "pandad"]) print("pandad is running, please kill openpilot before running this script! (aborted)") @@ -21,7 +25,7 @@ except CalledProcessError as e: panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) -uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) +uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") try: uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 298a719e8..27e6c68c0 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -16,6 +16,7 @@ import argparse from typing import NamedTuple from subprocess import check_output, CalledProcessError +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE from panda.python import Panda @@ -78,6 +79,9 @@ if __name__ == "__main__": parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)') args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + try: check_output(["pidof", "pandad"]) print("pandad is running, please kill openpilot before running this script! (aborted)") @@ -93,7 +97,7 @@ if __name__ == "__main__": panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) - uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) + uds_client = UdsClient(panda, 0x7D0, bus=args.bus) print("\n[START DIAGNOSTIC SESSION]") session_type : SESSION_TYPE = 0x07 # type: ignore diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py index 80f7ef0cd..4ae471aef 100755 --- a/selfdrive/debug/read_dtc_status.py +++ b/selfdrive/debug/read_dtc_status.py @@ -2,6 +2,7 @@ import sys import argparse from subprocess import check_output, CalledProcessError +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names from panda import Panda @@ -11,6 +12,9 @@ parser.add_argument("--bus", type=int, default=0) parser.add_argument('--debug', action='store_true') args = parser.parse_args() +if args.debug: + carlog.setLevel('DEBUG') + try: check_output(["pidof", "pandad"]) print("pandad is running, please kill openpilot before running this script! (aborted)") @@ -21,7 +25,7 @@ except CalledProcessError as e: panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) -uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) +uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) print("read diagnostic codes ...") diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 0cd9534d0..69d295194 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -3,6 +3,7 @@ import argparse import struct from enum import IntEnum +from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ DATA_IDENTIFIER_TYPE, ACCESS_TYPE from panda import Panda @@ -33,10 +34,13 @@ if __name__ == "__main__": parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config") args = parser.parse_args() + if args.debug: + carlog.setLevel('DEBUG') + panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) bus = 1 if panda.has_obd() else 0 - uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug) + uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2) try: uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) From 12307dcb37e1a03f5f0e0c792e623f780894e4ae Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 4 Feb 2025 20:26:57 +0100 Subject: [PATCH 35/81] op auth command (#34529) * auth command * no python --- tools/op.sh | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/tools/op.sh b/tools/op.sh index 12d998cb6..566a152ba 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -243,6 +243,11 @@ function op_setup() { op_check } +function op_auth() { + op_before_cmd + op_run_command tools/lib/auth.py +} + function op_activate_venv() { # bash 3.2 can't handle this without the 'set +e' set +e @@ -374,6 +379,7 @@ function op_default() { echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " echo "" echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}" + echo -e " ${BOLD}auth${NC} Authenticate yourself for API use" echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot" echo -e " ${BOLD}venv${NC} Activate the python virtual environment" echo -e " ${BOLD}setup${NC} Install openpilot dependencies" @@ -427,6 +433,7 @@ function _op() { # parse Commands case $1 in + auth ) shift 1; op_auth "$@" ;; venv ) shift 1; op_venv "$@" ;; check ) shift 1; op_check "$@" ;; setup ) shift 1; op_setup "$@" ;; From 4c65f51a55144d4ad6d1233b8730f4cac98b2fbf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 5 Feb 2025 05:10:13 +0800 Subject: [PATCH 36/81] athena upload: reduce memory usage and improve efficiency with streaming (#34528) * reduce memory usage and improve upload efficiency with streaming * space --- common/file_helpers.py | 16 ++++++++++++++++ selfdrive/debug/qlog_size.py | 2 +- selfdrive/test/test_onroad.py | 2 +- system/athena/athenad.py | 19 +++++++------------ system/loggerd/uploader.py | 14 ++++---------- 5 files changed, 29 insertions(+), 24 deletions(-) diff --git a/common/file_helpers.py b/common/file_helpers.py index 29ad219c0..a8ff41077 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,7 +1,10 @@ +import io import os import tempfile import contextlib +import zstandard as zstd +LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change class CallbackReader: """Wraps a file, but overrides the read method to also @@ -35,3 +38,16 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin yield tmp_file tmp_file_name = tmp_file.name os.replace(tmp_file_name, path) + + +def get_upload_stream(filepath: str, compress: bool) -> io.BufferedReader | io.BytesIO: + if not compress: + return open(filepath, "rb") + + # Compress the file on the fly and return a BytesIO stream + stream = io.BytesIO() + compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL) + with open(filepath, "rb") as f: + compressor.copy_stream(f, stream) + stream.seek(0) + return stream diff --git a/selfdrive/debug/qlog_size.py b/selfdrive/debug/qlog_size.py index 11606c758..6d494b6f7 100755 --- a/selfdrive/debug/qlog_size.py +++ b/selfdrive/debug/qlog_size.py @@ -6,7 +6,7 @@ from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import SERVICE_LIST -from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL +from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader from tqdm import tqdm diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 1279a505d..cba485c80 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -23,7 +23,7 @@ from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.selfdrive.test.helpers import set_params_enabled, release_only from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL +from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader """ diff --git a/system/athena/athenad.py b/system/athena/athenad.py index c926de978..54e474f6e 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -14,7 +14,6 @@ import sys import tempfile import threading import time -import zstandard as zstd from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial @@ -31,11 +30,10 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.api import Api -from openpilot.common.file_helpers import CallbackReader +from openpilot.common.file_helpers import CallbackReader, get_upload_stream from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC -from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata @@ -294,16 +292,13 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R path = strip_zst_extension(path) compress = True - with open(path, "rb") as f: - content = f.read() - if compress: - cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) - content = zstd.compress(content, LOG_COMPRESSION_LEVEL) - - with io.BytesIO(content) as data: + with get_upload_stream(path, compress) as stream: + stream.seek(0, os.SEEK_END) + content_length = stream.tell() + stream.seek(0) return requests.put(upload_item.url, - data=CallbackReader(data, callback, len(content)) if callback else data, - headers={**upload_item.headers, 'Content-Length': str(len(content))}, + data=CallbackReader(stream, callback, content_length) if callback else stream, + headers={**upload_item.headers, 'Content-Length': str(content_length)}, timeout=30) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 0a2171209..4e1799c3d 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import io import json import os import random @@ -8,12 +7,12 @@ import threading import time import traceback import datetime -import zstandard as zstd from collections.abc import Iterator from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api +from openpilot.common.file_helpers import get_upload_stream from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware.hw import Paths @@ -29,7 +28,6 @@ MAX_UPLOAD_SIZES = { # bugs, including ones that can cause massive log sizes "qcam": 5*1e6, } -LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -154,13 +152,9 @@ class Uploader: if fake_upload: return FakeResponse() - with open(fn, "rb") as f: - content = f.read() - if key.endswith('.zst') and not fn.endswith('.zst'): - content = zstd.compress(content, LOG_COMPRESSION_LEVEL) - - with io.BytesIO(content) as data: - return requests.put(url, data=data, headers=headers, timeout=10) + compress = key.endswith('.zst') and not fn.endswith('.zst') + with get_upload_stream(fn, compress) as stream: + return requests.put(url, data=stream, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: From ddc29430ec7e9e9aed8996eedacad0c44c619765 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Tue, 4 Feb 2025 20:02:11 -0800 Subject: [PATCH 37/81] [bot] Update Python packages (#34530) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 3d24af948..5ca9097bc 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3d24af948e24f48250d7d2cc34df44dff411a3f9 +Subproject commit 5ca9097bcd8ecddc7b5fca5e72defe189d0c4ce0 From 40863aa98853d4a882968c217e26770309691842 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Feb 2025 22:26:47 -0600 Subject: [PATCH 38/81] card: default events (#34532) default events --- selfdrive/car/car_specific.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 47a48cee6..15693b2ae 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -45,9 +45,6 @@ class CarSpecificEvents: if self.CP.brand in ('body', 'mock'): events = Events() - elif self.CP.brand in ('subaru', 'mazda', 'tesla'): - events = self.create_common_events(CS, CS_prev) - elif self.CP.brand == 'ford': events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic]) @@ -160,7 +157,7 @@ class CarSpecificEvents: events.add(EventName.belowSteerSpeed) else: - raise ValueError(f"Unsupported car: {self.CP.brand}") + events = self.create_common_events(CS, CS_prev) return events From 61fa7e1ead0445284ad0ec76fb02eee31c009db3 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 5 Feb 2025 15:35:06 -0800 Subject: [PATCH 39/81] raylib python bindings (#34534) * build * fix * build * wheel * arm * linux * both --- pyproject.toml | 2 + third_party/raylib/.gitignore | 2 + third_party/raylib/build.sh | 24 +- third_party/raylib/larch64/libraylib.a | 4 +- third_party/raylib/x86_64/libraylib.a | 4 +- uv.lock | 1104 ++++++++++++------------ 6 files changed, 603 insertions(+), 537 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 00ee3790b..2bfc49bba 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -111,6 +111,8 @@ dev = [ "tabulate", "types-requests", "types-tabulate", + "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp312-cp312-linux_x86_64.whl ; (platform_machine == 'x86_64' and platform_system == 'Linux' and python_version == '3.12')", + "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp311-cp311-linux_x86_64.whl ; (platform_machine == 'x86_64' and platform_system == 'Linux' and python_version == '3.11')", ] tools = [ diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore index efe2c0943..c4afad9c3 100644 --- a/third_party/raylib/.gitignore +++ b/third_party/raylib/.gitignore @@ -1 +1,3 @@ /raylib_repo/ +/raylib_python_repo/ +/wheel/ diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh index a9ada3c17..19686be21 100755 --- a/third_party/raylib/build.sh +++ b/third_party/raylib/build.sh @@ -30,7 +30,7 @@ fi cd raylib_repo -COMMIT="f5b0a7237c6e45f0e8a6ff68322d19b49298d798" +COMMIT="66030a7de62c9e1ee8ab30a1d657a740333bb4f2" git fetch origin $COMMIT git reset --hard $COMMIT git clean -xdff . @@ -45,3 +45,25 @@ echo "raylib development files installed/updated in $INSTALL_H_DIR" set -x RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827" curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h + + +# Building the python bindings +cd $DIR + +if [ ! -d raylib_python_repo ]; then + git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo +fi + +cd raylib_python_repo + +BINDINGS_COMMIT="ef8141c7979d5fa630ef4108605fc221f07d8cb7" +git fetch origin $BINDINGS_COMMIT +git reset --hard $BINDINGS_COMMIT +git clean -xdff . + +RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel +cd $DIR + +rm -rf wheel +mkdir wheel +cp raylib_python_repo/dist/*.whl wheel/ diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a index ccf80f110..e1c5c1930 100644 --- a/third_party/raylib/larch64/libraylib.a +++ b/third_party/raylib/larch64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2682a70d41ec1894e060fb1bc6795dd93bf51aeee1ad779b4b0f6e82f1ff6efc -size 3140268 +oid sha256:9c3125236db11e7bebcc6ad5868444ed0605c6343f98b212d39267c092b3b481 +size 3140628 diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a index b7994b4fe..cf6948256 100644 --- a/third_party/raylib/x86_64/libraylib.a +++ 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{ name = "pyobjc-framework-cocoa", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/65/8d/e57e1f2c5ac950dc3da6c977effde4a55b8b70424b1bdb97b5530559f5bc/pyobjc_framework_virtualization-11.0.tar.gz", hash = "sha256:03e1c1fa20950aa7c275e5f11f1257108b6d1c6a7403afb86f4e9d5fae87b73c", size = 78144 } wheels = [ @@ -4204,10 +4210,10 @@ name = "pyobjc-framework-vision" version = "11.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyobjc-core" }, - { name = "pyobjc-framework-cocoa" }, - { name = "pyobjc-framework-coreml" }, - { name = "pyobjc-framework-quartz" }, + { name = "pyobjc-core", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, + { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, + { name = "pyobjc-framework-coreml", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, + { name = "pyobjc-framework-quartz", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ef/53/dc2e0562a177af9306efceb84bc21f5cf7470acaa8f28f64e62bf828b7e1/pyobjc_framework_vision-11.0.tar.gz", hash = "sha256:45342e5253c306dbcd056a68bff04ffbfa00e9ac300a02aabf2e81053b771e39", size = 133175 } wheels = [ @@ -4220,8 +4226,8 @@ name = "pyobjc-framework-webkit" version = "11.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyobjc-core" }, - { name = "pyobjc-framework-cocoa" }, + { name = "pyobjc-core", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, + { name = "pyobjc-framework-cocoa", marker = "platform_machine != 'x86_64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/79/4f/02a6270acf225c2a34339677e796002c77506238475059ae6e855358a40c/pyobjc_framework_webkit-11.0.tar.gz", hash = "sha256:fa6bedf9873786b3376a74ce2ea9dcd311f2a80f61e33dcbd931cc956aa29644", size = 767210 } wheels = [ @@ -4612,6 +4618,40 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/55/09/f37e707937cce328944c1d57e5e50ab905011d35252a0745c4f7e5822a76/pyzmq-26.2.1-cp312-cp312-win_arm64.whl", hash = "sha256:e5e33b1491555843ba98d5209439500556ef55b6ab635f3a01148545498355e5", size = 558303 }, ] +[[package]] +name = "raylib" +version = "5.5.0.2" +source = { url = "https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp311-cp311-linux_x86_64.whl" } +resolution-markers = [ + "python_full_version < '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", +] +dependencies = [ + { name = "cffi", marker = "python_full_version < '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'" }, +] +wheels = [ + { url = "https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp311-cp311-linux_x86_64.whl", hash = "sha256:5822d0f4cb8b088f90700657c0a7c0c30f91b1cae6c2ed1aa4766ac6e25d55f5" }, +] + +[package.metadata] +requires-dist = [{ name = "cffi", specifier = ">=1.17.1" }] + +[[package]] +name = "raylib" +version = "5.5.0.2" +source = { url = "https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp312-cp312-linux_x86_64.whl" } +resolution-markers = [ + "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", +] +dependencies = [ + { name = "cffi", marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'" }, +] +wheels = [ + { url = "https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp312-cp312-linux_x86_64.whl", hash = "sha256:489db6b60220f86fe8cdd915439ec916a37fae0a9a91d117e4fcc34daa179606" }, +] + +[package.metadata] +requires-dist = [{ name = "cffi", specifier = ">=1.17.1" }] + [[package]] name = "requests" version = "2.32.3" From 9bc35c091959dbca6a02fc6d9f6dca6b2d41b7d9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Feb 2025 11:50:04 -0800 Subject: [PATCH 40/81] Revert "athena upload: reduce memory usage and improve efficiency with streaming (#34528)" This reverts commit 4c65f51a55144d4ad6d1233b8730f4cac98b2fbf. --- common/file_helpers.py | 16 ---------------- selfdrive/debug/qlog_size.py | 2 +- selfdrive/test/test_onroad.py | 2 +- system/athena/athenad.py | 19 ++++++++++++------- system/loggerd/uploader.py | 14 ++++++++++---- 5 files changed, 24 insertions(+), 29 deletions(-) diff --git a/common/file_helpers.py b/common/file_helpers.py index a8ff41077..29ad219c0 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,10 +1,7 @@ -import io import os import tempfile import contextlib -import zstandard as zstd -LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change class CallbackReader: """Wraps a file, but overrides the read method to also @@ -38,16 +35,3 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin yield tmp_file tmp_file_name = tmp_file.name os.replace(tmp_file_name, path) - - -def get_upload_stream(filepath: str, compress: bool) -> io.BufferedReader | io.BytesIO: - if not compress: - return open(filepath, "rb") - - # Compress the file on the fly and return a BytesIO stream - stream = io.BytesIO() - compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL) - with open(filepath, "rb") as f: - compressor.copy_stream(f, stream) - stream.seek(0) - return stream diff --git a/selfdrive/debug/qlog_size.py b/selfdrive/debug/qlog_size.py index 6d494b6f7..11606c758 100755 --- a/selfdrive/debug/qlog_size.py +++ b/selfdrive/debug/qlog_size.py @@ -6,7 +6,7 @@ from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import SERVICE_LIST -from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL +from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader from tqdm import tqdm diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index cba485c80..1279a505d 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -23,7 +23,7 @@ from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.selfdrive.test.helpers import set_params_enabled, release_only from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths -from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL +from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader """ diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 54e474f6e..c926de978 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -14,6 +14,7 @@ import sys import tempfile import threading import time +import zstandard as zstd from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial @@ -30,10 +31,11 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.api import Api -from openpilot.common.file_helpers import CallbackReader, get_upload_stream +from openpilot.common.file_helpers import CallbackReader from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata @@ -292,13 +294,16 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R path = strip_zst_extension(path) compress = True - with get_upload_stream(path, compress) as stream: - stream.seek(0, os.SEEK_END) - content_length = stream.tell() - stream.seek(0) + with open(path, "rb") as f: + content = f.read() + if compress: + cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) + content = zstd.compress(content, LOG_COMPRESSION_LEVEL) + + with io.BytesIO(content) as data: return requests.put(upload_item.url, - data=CallbackReader(stream, callback, content_length) if callback else stream, - headers={**upload_item.headers, 'Content-Length': str(content_length)}, + data=CallbackReader(data, callback, len(content)) if callback else data, + headers={**upload_item.headers, 'Content-Length': str(len(content))}, timeout=30) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 4e1799c3d..0a2171209 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import io import json import os import random @@ -7,12 +8,12 @@ import threading import time import traceback import datetime +import zstandard as zstd from collections.abc import Iterator from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api -from openpilot.common.file_helpers import get_upload_stream from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware.hw import Paths @@ -28,6 +29,7 @@ MAX_UPLOAD_SIZES = { # bugs, including ones that can cause massive log sizes "qcam": 5*1e6, } +LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -152,9 +154,13 @@ class Uploader: if fake_upload: return FakeResponse() - compress = key.endswith('.zst') and not fn.endswith('.zst') - with get_upload_stream(fn, compress) as stream: - return requests.put(url, data=stream, headers=headers, timeout=10) + with open(fn, "rb") as f: + content = f.read() + if key.endswith('.zst') and not fn.endswith('.zst'): + content = zstd.compress(content, LOG_COMPRESSION_LEVEL) + + with io.BytesIO(content) as data: + return requests.put(url, data=data, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: From e31ae06959e475838b5eeb937713b01459a6edc5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Feb 2025 14:15:37 -0800 Subject: [PATCH 41/81] camerad: remove AR register processing (#34537) --- system/camerad/cameras/camera_qcom2.cc | 4 -- system/camerad/sensors/ar0231.cc | 85 -------------------------- system/camerad/sensors/sensor.h | 2 - 3 files changed, 91 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 628ed17d6..58744d732 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -263,10 +263,6 @@ void CameraState::run() { framed.setImage(get_raw_frame_image(&camera.buf)); } - // Process camera registers and set camera exposure - if (camera.is_raw) { - camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed); - } set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4)); // Send the message diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 48c7f9a08..72f96a749 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -16,64 +16,6 @@ const float sensor_analog_gains_AR0231[] = { 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass -std::map> ar0231_build_register_lut(const AR0231 *s, uint8_t *data) { - // This function builds a lookup table from register address, to a pair of indices in the - // buffer where to read this address. The buffer contains padding bytes, - // as well as markers to indicate the type of the next byte. - // - // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. - // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional - // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. - - int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; - auto get_next_idx = [](int cur_idx) { - return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding - }; - - std::map> registers; - for (int register_row = 0; register_row < 2; register_row++) { - uint8_t *registers_raw = data + s->frame_stride * register_row; - assert(registers_raw[0] == 0x0a); // Start of line - - int value_tag_count = 0; - int first_val_idx = 0; - uint16_t cur_addr = 0; - - for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { - int val_idx = get_next_idx(i); - - uint8_t tag = registers_raw[i]; - uint16_t val = registers_raw[val_idx]; - - if (tag == 0xAA) { // Register MSB tag - cur_addr = val << 8; - } else if (tag == 0xA5) { // Register LSB tag - cur_addr |= val; - cur_addr -= 2; // Next value tag will increment address again - } else if (tag == 0x5A) { // Value tag - - // First tag - if (value_tag_count % 2 == 0) { - cur_addr += 2; - first_val_idx = val_idx; - } else { - registers[cur_addr] = std::make_pair(first_val_idx + s->frame_stride * register_row, val_idx + s->frame_stride * register_row); - } - - value_tag_count++; - } - } - } - return registers; -} - -float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { - // See AR0231 Developer Guide - page 36 - float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); - float t0 = 55.0 - slope * (float)calib2; - return t0 + slope * (float)data_reg; -} - } // namespace AR0231::AR0231() { @@ -169,33 +111,6 @@ AR0231::AR0231() { }; } -void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const { - const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; - uint8_t *data = cur_buf + registers_offset; - - if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { - LOGE("unexpected register data found"); - return; - } - - if (ar0231_register_lut.empty()) { - ar0231_register_lut = ar0231_build_register_lut(this, data); - } - std::map registers; - for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) { - auto offset = ar0231_register_lut[addr]; - registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; - } - - uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; - framed.setFrameIdSensor(frame_id); - - float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); - float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); - framed.setTemperaturesC({temp_0, temp_1}); -} - - std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; return { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index be2d70a5c..44fb8246b 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -22,7 +22,6 @@ public: virtual std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { return {}; } virtual float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {return 0; } virtual int getSlaveAddress(int port) const { assert(0); } - virtual void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const {} cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN; float pixel_size_mm; @@ -90,7 +89,6 @@ public: std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; - void processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const override; private: mutable std::map> ar0231_register_lut; From 5b870c6f92ef4b87bb00d35de3d811ab5b7410a7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Feb 2025 15:23:19 -0800 Subject: [PATCH 42/81] camerad: simple BPS support (#34538) * camerad: simple BPS support * works * cleanup * lil more --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_common.cc | 4 +- system/camerad/cameras/camera_qcom2.cc | 2 +- system/camerad/cameras/spectra.cc | 85 ++++++++++++++++++------- system/camerad/cameras/spectra.h | 10 ++- system/camerad/test/debug.sh | 2 +- 5 files changed, 73 insertions(+), 30 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 366feae0b..2a218affa 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -64,11 +64,11 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const SensorInfo *sensor = cam->sensor.get(); - is_raw = cam->is_raw; + is_raw = cam->output_type == ISP_RAW_OUTPUT; frame_metadata = std::make_unique(frame_buf_count); // RAW frames from ISP - if (is_raw) { + if (cam->output_type != ISP_IFE_PROCESSED) { camera_bufs_raw = std::make_unique(frame_buf_count); const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 58744d732..4c22ad527 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 17bcc7a20..6903b34e4 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -234,14 +234,14 @@ void SpectraMaster::init() { // *** SpectraCamera *** -SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw) +SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out) : m(master), enabled(config.enabled), cc(config), - is_raw(raw) { + output_type(out) { mm.init(m->video0_fd); - ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT; + ife_buf_depth = (out != ISP_IFE_PROCESSED) ? 4 : VIPC_BUFFER_COUNT; assert(ife_buf_depth < MAX_IFE_BUFS); } @@ -257,7 +257,7 @@ int SpectraCamera::clear_req_queue() { req_mgr_flush_request.link_hdl = link_handle; req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); - // LOGD("flushed all req: %d", ret); + LOGD("flushed all req: %d", ret); for (int i = 0; i < MAX_IFE_BUFS; ++i) { destroySyncObjectAt(i); @@ -279,7 +279,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; - if (!is_raw) { + if (output_type != ISP_RAW_OUTPUT) { uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); } @@ -288,7 +288,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c open = true; configISP(); - //configICP(); // needs the new AGNOS kernel + if (output_type == ISP_BPS_PROCESSED) configICP(); configCSIPHY(); linkDevices(); @@ -454,15 +454,6 @@ int SpectraCamera::sensors_init() { return ret; } -void SpectraCamera::config_bps(int idx, int request_id) { - /* - Handles per-frame BPS config. - * BPS = Bayer Processing Segment - */ - (void)idx; - (void)request_id; -} - void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) { struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n); p->dst_buf_hdl = dst_hdl; @@ -471,6 +462,16 @@ void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t s p->src_offset = src_offset; }; +void SpectraCamera::config_bps(int idx, int request_id) { + /* + Handles per-frame BPS config. + * BPS = Bayer Processing Segment + */ + + (void)idx; + (void)request_id; +} + void SpectraCamera::config_ife(int idx, int request_id, bool init) { /* Handles initial + per-frame IFE config. @@ -509,6 +510,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { buf_desc[0].offset = ife_cmd.aligned_size()*idx; // stream of IFE register writes + bool is_raw = output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num); @@ -597,8 +599,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); - - if (is_raw) { + if (output_type != ISP_IFE_PROCESSED) { io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ .width = sensor->frame_width, @@ -679,6 +680,8 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { if (sync_objs[i]) { // SOF has come in, wait until readout is complete struct cam_sync_wait sync_wait = {0}; + + // wait for ife sync_wait.sync_obj = sync_objs[i]; // TODO: write a test to stress test w/ a low timeout and check camera frame ids match sync_wait.timeout_ms = 100; @@ -687,6 +690,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { clear_req_queue(); LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); } + + if (ret == 0 && output_type == ISP_BPS_PROCESSED) { + // wait for bps + sync_wait.sync_obj = sync_objs_bps_out[i]; + sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 + ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); + if (ret != 0) { + clear_req_queue(); + LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); + } + } + buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns; if (dp && ret == 0) { @@ -728,7 +743,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // submit request to IFE and BPS config_ife(i, request_id); - config_bps(i, request_id); + if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id); } void SpectraCamera::destroySyncObjectAt(int index) { @@ -751,7 +766,7 @@ void SpectraCamera::destroySyncObjectAt(int index) { void SpectraCamera::camera_map_bufs() { int ret; for (int i = 0; i < ife_buf_depth; i++) { - // configure ISP to put the image in place + // map our VisionIPC bufs into ISP memory struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu; @@ -761,14 +776,16 @@ void SpectraCamera::camera_map_bufs() { mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu; } - if (is_raw) { + if (output_type != ISP_IFE_PROCESSED) { // RAW bayer images mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd; ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); assert(ret == 0); LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle; - } else { + } + + if (output_type != ISP_RAW_OUTPUT) { // final processed images VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i); mem_mgr_map_cmd.fd = vb->fd; @@ -865,7 +882,7 @@ void SpectraCamera::configISP() { }, }; - if (is_raw) { + if (output_type != ISP_IFE_PROCESSED) { in_port_info.line_start = 0; in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1; in_port_info.height = sensor->frame_height + sensor->extra_height; @@ -890,7 +907,7 @@ void SpectraCamera::configISP() { ife_cmd.init(m, 67984, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu, ife_buf_depth); - if (!is_raw) { + if (output_type == ISP_IFE_PROCESSED) { assert(sensor->gamma_lut_rgb.size() == 64); ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, @@ -1028,9 +1045,15 @@ void SpectraCamera::linkDevices() { ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle); LOGD("start csiphy: %d", ret); + assert(ret == 0); ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); LOGD("start isp: %d", ret); assert(ret == 0); + if (output_type == ISP_BPS_PROCESSED) { + ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle); + LOGD("start icp: %d", ret); + assert(ret == 0); + } } void SpectraCamera::camera_close() { @@ -1041,8 +1064,13 @@ void SpectraCamera::camera_close() { // LOGD("stop sensor: %d", ret); int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle); LOGD("stop isp: %d", ret); + if (output_type == ISP_BPS_PROCESSED) { + ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle); + LOGD("stop icp: %d", ret); + } ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle); LOGD("stop csiphy: %d", ret); + // link control stop LOG("-- Stop link control"); struct cam_req_mgr_link_control req_mgr_link_control = {0}; @@ -1069,11 +1097,20 @@ void SpectraCamera::camera_close() { } ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle); LOGD("release isp: %d", ret); + if (output_type == ISP_BPS_PROCESSED) { + ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle); + LOGD("release icp: %d", ret); + } ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle); LOGD("release csiphy: %d", ret); for (int i = 0; i < ife_buf_depth; i++) { - release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]); + if (buf_handle_raw[i]) { + release(m->video0_fd, buf_handle_raw[i]); + } + if (buf_handle_yuv[i]) { + release(m->video0_fd, buf_handle_yuv[i]); + } } LOGD("released buffers"); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index fd68a4f99..7759f6079 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -29,6 +29,12 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py #define OpcodesIFEInitialConfig 0x0 #define OpcodesIFEUpdate 0x1 +typedef enum { + ISP_RAW_OUTPUT, // raw frame from sensor + ISP_IFE_PROCESSED, // fully processed image through the IFE + ISP_BPS_PROCESSED, // fully processed image through the BPS +} SpectraOutputType; + std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); int device_control(int fd, int op_code, int session_handle, int dev_handle); @@ -103,7 +109,7 @@ public: class SpectraCamera { public: - SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw); + SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out); ~SpectraCamera(); void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); @@ -177,7 +183,7 @@ public: uint64_t idx_offset = 0; bool skipped = true; - bool is_raw; + SpectraOutputType output_type; CameraBuf buf; MemoryManager mm; diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh index 8bd8d9d4f..a031be692 100755 --- a/system/camerad/test/debug.sh +++ b/system/camerad/test/debug.sh @@ -5,7 +5,7 @@ set -e # no CCI and UTIL, very spammy echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl -echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl +#echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl sudo dmesg -C scons -u -j8 --minimal . From 951631e1ab4250947711f15157393e8ea2af207d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 6 Feb 2025 20:02:31 -0600 Subject: [PATCH 43/81] Remove brand-specific button logic from car_specific.py (#34540) * yay * moremoremore * clean up * more * don't care * update refs * bump to master --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 18 ++++++------------ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 8 insertions(+), 14 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 5ca9097bc..bdc2fe3a9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5ca9097bcd8ecddc7b5fca5e72defe189d0c4ce0 +Subproject commit bdc2fe3a9aa692bcf46c6ab052405564f6d8e379 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 15693b2ae..2d69d3d59 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -99,13 +99,9 @@ class CarSpecificEvents: events.add(EventName.manualRestart) elif self.CP.brand == 'gm': - # The ECM allows enabling on falling edge of set, but only rising edge of resume events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,)) - if not self.CP.pcmCruise: - if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents): - events.add(EventName.buttonEnable) + pcm_enable=self.CP.pcmCruise) # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs @@ -119,8 +115,7 @@ class CarSpecificEvents: elif self.CP.brand == 'volkswagen': events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise, - enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) + pcm_enable=self.CP.pcmCruise) # Low speed steer alert hysteresis logic if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.): @@ -162,7 +157,7 @@ class CarSpecificEvents: return events def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True, - allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)): + allow_enable=True, allow_button_cancel=True): events = Events() if CS.doorOpen: @@ -206,12 +201,11 @@ class CarSpecificEvents: events.add(EventName.invalidLkasSetting) if CS.lowSpeedAlert: events.add(EventName.belowSteerSpeed) + if CS.buttonEnable: + events.add(EventName.buttonEnable) - # Handle button presses + # Handle cancel button presses for b in CS.buttonEvents: - # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) - if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed): - events.add(EventName.buttonEnable) # Disable on rising and falling edge of cancel for both stock and OP long # TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index be67e8d0f..3b5f5f346 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -75d173b064b84808485ae0ffd90bd0ecf52e765c \ No newline at end of file +95f1384edc0dc00959b0e804de1aaafc35d2f15f \ No newline at end of file From 151e5ba20fb66983a4fb9e3c0f7360592a1de616 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 6 Feb 2025 18:55:07 -0800 Subject: [PATCH 44/81] test_models: remove Params --- selfdrive/car/tests/test_models.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 45358542d..7a1ea1627 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -11,7 +11,6 @@ from parameterized import parameterized_class from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs from opendbc.car.fingerprints import all_known_cars, MIGRATION from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces @@ -171,8 +170,6 @@ class TestCarModelBase(unittest.TestCase): self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) assert self.CI - Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) - # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda From 65d7b86902fbb1c291a8e24ef29b76fc0d543b62 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 6 Feb 2025 21:17:01 -0600 Subject: [PATCH 45/81] test_models: remove selfdrived dependency (#34539) * remove selfdrived * fully * todo * yay * moremoremore * clean up * more * don't care * update refs * bump to master * no more selfdrived * yup * too complex * Update selfdrive/car/tests/test_models.py * Update selfdrive/car/tests/test_models.py --- selfdrive/car/tests/test_models.py | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 7a1ea1627..f355d8b0b 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -17,8 +17,6 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces from opendbc.car.honda.values import CAR as HONDA, HondaFlags from opendbc.car.values import Platform from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute -from openpilot.selfdrive.selfdrived.events import ET -from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT @@ -28,6 +26,7 @@ from openpilot.tools.lib.route import SegmentName from panda.tests.libpanda import libpanda_py +ButtonType = car.CarState.ButtonEvent.Type EventName = log.OnroadEvent.EventName PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel @@ -384,8 +383,6 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) - selfdrived = SelfdriveD(CP=self.CP) - selfdrived.initialized = True for idx, can in enumerate(self.can_msgs): CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() for msg in filter(lambda m: m.src in range(64), can.can): @@ -429,11 +426,8 @@ class TestCarModelBase(unittest.TestCase): if not self.CP.notCar: checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: - # Check for enable events on rising edge of controls allowed - selfdrived.update_events(CS) - selfdrived.CS_prev = CS - button_enable = (selfdrived.events.contains(ET.ENABLE) and - EventName.pedalPressed not in selfdrived.events.names) + # Check for user button enable on rising edge of controls allowed + button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() From 49f7cb835bd8bfb1e3b0a480432852b1fb196a3a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Feb 2025 19:22:40 -0800 Subject: [PATCH 46/81] agnos 11.7 (#34471) * agnos 11.7 * new build * new build * new build * nb * raylib --------- Co-authored-by: Maxime Desroches --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 90 ++--- system/hardware/tici/all-partitions.json | 400 +++++++++++++++++++++++ 3 files changed, 452 insertions(+), 40 deletions(-) create mode 100644 system/hardware/tici/all-partitions.json diff --git a/launch_env.sh b/launch_env.sh index c1cdb6708..4e731d021 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.6" + export AGNOS_VERSION="11.7" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 15470a163..5c9d746d0 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,24 +1,4 @@ [ - { - "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8.img.xz", - "hash": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8", - "hash_raw": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8", - "size": 16422912, - "sparse": false, - "full_check": true, - "has_ab": true - }, - { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29.img.xz", - "hash": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29", - "hash_raw": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29", - "size": 4404019200, - "sparse": false, - "full_check": false, - "has_ab": true - }, { "name": "xbl", "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz", @@ -27,17 +7,8 @@ "size": 3282256, "sparse": false, "full_check": true, - "has_ab": true - }, - { - "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz", - "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", - "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", - "size": 274432, - "sparse": false, - "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247" }, { "name": "xbl_config", @@ -47,17 +18,19 @@ "size": 98124, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419" }, { - "name": "devcfg", - "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz", - "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180", - "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180", - "size": 40336, + "name": "abl", + "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz", + "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", + "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", + "size": 274432, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6" }, { "name": "aop", @@ -67,6 +40,45 @@ "size": 184364, "sparse": false, "full_check": true, - "has_ab": true + "has_ab": true, + "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d" + }, + { + "name": "devcfg", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz", + "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180", + "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180", + 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47/81] can_list_to_can_capnp: use opendbc CanFrame --- selfdrive/pandad/can_list_to_can_capnp.cc | 3 +-- selfdrive/pandad/pandad_api_impl.pyx | 12 +++--------- 2 files changed, 4 insertions(+), 11 deletions(-) diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc index ad2393b98..6ad999da9 100644 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,8 +1,7 @@ #include "cereal/messaging/messaging.h" -#include "selfdrive/pandad/panda.h" #include "opendbc/can/common.h" -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { MessageBuilder msg; auto event = msg.initEvent(valid); diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx index 787968f53..e571c4aa5 100644 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ b/selfdrive/pandad/pandad_api_impl.pyx @@ -6,12 +6,6 @@ from libcpp.string cimport string from libcpp cimport bool from libc.stdint cimport uint8_t, uint32_t, uint64_t -cdef extern from "panda.h": - cdef struct can_frame: - long address - string dat - long src - cdef extern from "opendbc/can/common.h": cdef struct CanFrame: long src @@ -23,12 +17,12 @@ cdef extern from "opendbc/can/common.h": vector[CanFrame] frames cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid) + void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): - cdef can_frame *f - cdef vector[can_frame] can_list + cdef CanFrame *f + cdef vector[CanFrame] can_list can_list.reserve(len(can_msgs)) for can_msg in can_msgs: From fb517b5bcaea8ef53318f0858e426fac12443f31 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 6 Feb 2025 22:54:31 -0600 Subject: [PATCH 48/81] Remove can_capnp_to_can_list (#34542) * about equal with multiprocessing * but almost half without ;) * rm * Update tools/replay/can_replay.py --- selfdrive/pandad/__init__.py | 7 ------- tools/replay/can_replay.py | 16 +++++++--------- 2 files changed, 7 insertions(+), 16 deletions(-) diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index b72c8ccb5..cc680e167 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -2,10 +2,3 @@ from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list assert can_list_to_can_capnp assert can_capnp_to_list - -def can_capnp_to_can_list(can, src_filter=None): - ret = [] - for msg in can: - if src_filter is None or msg.src in src_filter: - ret.append((msg.address, msg.dat, msg.src)) - return ret diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index ff27b5006..d44c44e95 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,7 +8,7 @@ import threading os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from openpilot.selfdrive.pandad import can_capnp_to_can_list +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.lib.logreader import LogReader from panda import PandaJungle @@ -80,17 +80,15 @@ def connect(): time.sleep(1) -def process(lr): - return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] def load_route(route_or_segment_name): print("Loading log...") - sr = LogReader(route_or_segment_name) - CP = sr.first("carParams") - print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'") - CAN_MSGS = sr.run_across_segments(24, process) - print("Finished loading...") - return CAN_MSGS + lr = LogReader(route_or_segment_name) + CP = lr.first("carParams") + print(f"carFingerprint: '{CP.carFingerprint}'") + mbytes = [m.as_builder().to_bytes() for m in lr if m.which() == 'can'] + return [m[1] for m in can_capnp_to_list(mbytes)] + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.", From b4a9c67bbe5921c9a86adda25dece788d21807fc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 7 Feb 2025 16:06:02 -0600 Subject: [PATCH 49/81] qcomgps: fix NameError on teardown (#34545) continue teardown if diag not there --- system/qcomgpsd/qcomgpsd.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index dc7854671..3a9e3585b 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -240,8 +240,11 @@ def main() -> NoReturn: cloudlog.warning("caught sig disabling quectel gps") gpio_set(GPIO.GNSS_PWR_EN, False) - teardown_quectel(diag) - cloudlog.warning("quectel cleanup done") + try: + teardown_quectel(diag) + cloudlog.warning("quectel cleanup done") + except NameError: + cloudlog.warning('quectel not yet setup') stop_download_event.set() assist_fetch_proc.kill() From 092685cae723e67a1d2b5f7e240d33baaaae5609 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 7 Feb 2025 17:55:52 -0600 Subject: [PATCH 50/81] test_models: use opendbc CanData (#34546) * replace with non-messaging CanData * clean up --- selfdrive/car/tests/test_models.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index f355d8b0b..4cea514cf 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,3 +1,4 @@ +import time import capnp import os import pytest @@ -9,11 +10,12 @@ import hypothesis.strategies as st from hypothesis import Phase, given, settings from parameterized import parameterized_class -from cereal import messaging, log, car +from cereal import log, car from openpilot.common.basedir import BASEDIR from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs -from opendbc.car.fingerprints import all_known_cars, MIGRATION +from opendbc.car.can_definitions import CanData from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces +from opendbc.car.fingerprints import all_known_cars, MIGRATION from opendbc.car.honda.values import CAR as HONDA, HondaFlags from opendbc.car.values import Platform from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute @@ -335,10 +337,8 @@ class TestCarModelBase(unittest.TestCase): to_send = libpanda_py.make_CANPacket(address, bus, dat) self.safety.safety_rx_hook(to_send) - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=address, dat=dat, src=bus)] - - CS = self.CI.update(can_capnp_to_list((can.to_bytes(),))) + can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])] + CS = self.CI.update(can) if self.safety.get_gas_pressed_prev() != prev_panda_gas: self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) From 8b67e04d7d00322ed5bcbfa52c11d010b36f26b7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 7 Feb 2025 18:16:50 -0600 Subject: [PATCH 51/81] test_models: remove cereal (#34547) rm more --- selfdrive/car/tests/test_models.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 4cea514cf..c20677c05 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -10,15 +10,15 @@ import hypothesis.strategies as st from hypothesis import Phase, given, settings from parameterized import parameterized_class -from cereal import log, car -from openpilot.common.basedir import BASEDIR from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs from opendbc.car.can_definitions import CanData from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces from opendbc.car.fingerprints import all_known_cars, MIGRATION from opendbc.car.honda.values import CAR as HONDA, HondaFlags -from opendbc.car.values import Platform +from opendbc.car.structs import car from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute +from opendbc.car.values import Platform +from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT @@ -28,9 +28,6 @@ from openpilot.tools.lib.route import SegmentName from panda.tests.libpanda import libpanda_py -ButtonType = car.CarState.ButtonEvent.Type -EventName = log.OnroadEvent.EventName -PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) From 4066d49d70866465dcd185593e1775137b20a03b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 7 Feb 2025 19:28:50 -0800 Subject: [PATCH 52/81] camerad: debayer in the BPS (#33763) * bps support * cleanup with offsetof * cleanup --------- Co-authored-by: Comma Device --- system/camerad/cameras/bps_blobs.h | 30 ++++ system/camerad/cameras/spectra.cc | 278 +++++++++++++++++++++++++---- system/camerad/sensors/ar0231.cc | 1 - system/camerad/sensors/sensor.h | 4 + 4 files changed, 282 insertions(+), 31 deletions(-) create mode 100644 system/camerad/cameras/bps_blobs.h diff --git a/system/camerad/cameras/bps_blobs.h b/system/camerad/cameras/bps_blobs.h new file mode 100644 index 000000000..1f094c8a3 --- /dev/null +++ b/system/camerad/cameras/bps_blobs.h @@ -0,0 +1,30 @@ +#include +#include + + +/* ********************************************************** + THIS FILE IS AUTO-GENERATED, DO NOT EDIT DIRECTLY! + 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debugging: -// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl // ************** low level camera helpers **************** @@ -454,12 +453,14 @@ int SpectraCamera::sensors_init() { return ret; } -void add_patch(void *ptr, int n, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) { - struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*n); +void add_patch(struct cam_packet *pkt, int32_t dst_hdl, uint32_t dst_offset, int32_t src_hdl, uint32_t src_offset) { + void *ptr = (char*)&pkt->payload + pkt->patch_offset; + struct cam_patch_desc *p = (struct cam_patch_desc *)((unsigned char*)ptr + sizeof(struct cam_patch_desc)*pkt->num_patches); p->dst_buf_hdl = dst_hdl; p->src_buf_hdl = src_hdl; p->dst_offset = dst_offset; p->src_offset = src_offset; + pkt->num_patches++; }; void SpectraCamera::config_bps(int idx, int request_id) { @@ -468,8 +469,209 @@ void SpectraCamera::config_bps(int idx, int request_id) { * BPS = Bayer Processing Segment */ - (void)idx; - (void)request_id; + int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2; + size += sizeof(struct cam_patch_desc)*8; + + uint32_t cam_packet_handle = 0; + auto pkt = mm.alloc(size, &cam_packet_handle); + + pkt->header.op_code = CSLDeviceTypeBPS | CAM_ICP_OPCODE_BPS_UPDATE; + pkt->header.request_id = request_id; + pkt->header.size = size; + + typedef struct { + struct { + uint32_t ptr[2]; + uint32_t unknown[2]; + } frames[9]; + + uint32_t unknown1; + uint32_t unknown2; + uint32_t unknown3; + uint32_t unknown4; + + uint32_t cdm_addr; + uint32_t cdm_size; + uint32_t settings_addr; + uint32_t striping_addr; + uint32_t cdm_addr2; + + uint32_t req_id; + uint64_t handle; + } bps_tmp; + + typedef struct { + uint32_t a; + uint32_t n; + unsigned base : 32; + unsigned unused : 12; + unsigned length : 20; + uint32_t p; + uint32_t u; + uint32_t h; + uint32_t b; + } cdm_tmp; + + // *** cmd buf *** + struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; + { + pkt->num_cmd_buf = 2; + pkt->kmd_cmd_buf_index = -1; + pkt->kmd_cmd_buf_offset = 0; + + buf_desc[0].meta_data = 0; + buf_desc[0].mem_handle = bps_cmd.handle; + buf_desc[0].type = CAM_CMD_BUF_FW; + buf_desc[0].offset = bps_cmd.aligned_size()*idx; + + buf_desc[0].length = sizeof(bps_tmp) + sizeof(cdm_tmp); + buf_desc[0].size = buf_desc[0].length; + + // rest gets patched in + bps_tmp *fp = (bps_tmp *)((unsigned char *)bps_cmd.ptr + buf_desc[0].offset); + memset(fp, 0, buf_desc[0].length); + fp->handle = (uint64_t)icp_dev_handle; + fp->cdm_size = bps_cdm_striping_bl.size; // this comes from the striping lib create call + fp->req_id = 0; // why always 0? + + cdm_tmp *pa = (cdm_tmp *)((unsigned char *)fp + sizeof(bps_tmp)); + pa->a = 0; + pa->n = 1; + pa->p = 20; // GENERIC + pa->u = 0; + pa->h = 0; + pa->b = 0; + pa->unused = 0; + pa->base = 0; // this gets patched + + int cdm_len = 0; + + // debayer params + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2868, { + 0x06900400, + 0x000006a6, + 0x00000000, + 0x00000000, + }); + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2878, { + 0x00000080, + 0x00800066, + }); + + // YUV color xform + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x3468, { + 0x00680208, + 0x00000108, + 0x00400000, + 0x03ff0000, + 0x01c01ed8, + 0x00001f68, + 0x02000000, + 0x03ff0000, + 0x1fb81e88, + 0x000001c0, + 0x02000000, + 0x03ff0000, + }); + + pa->length = cdm_len - 1; + + // *** second command *** + // parsed by cam_icp_packet_generic_blob_handler + struct isp_packet { + uint32_t header; + struct cam_icp_clk_bw_request clk; + } __attribute__((packed)) tmp; + tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK; + tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8; + tmp.clk.budget_ns = 0x1fca058; + tmp.clk.frame_cycles = 2329024; // comes from the striping lib + tmp.clk.rt_flag = 0x0; + tmp.clk.uncompressed_bw = 0x38512180; + tmp.clk.compressed_bw = 0x38512180; + + buf_desc[1].size = sizeof(tmp); + buf_desc[1].offset = 0; + buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; + buf_desc[1].type = CAM_CMD_BUF_GENERIC; + buf_desc[1].meta_data = CAM_ICP_CMD_META_GENERIC_BLOB; + auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memcpy(buf2.get(), &tmp, sizeof(tmp)); + } + + // *** io config *** + pkt->num_io_configs = 2; + pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; + struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); + { + // input frame + io_cfg[0].offsets[0] = 0; + io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; + + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height + sensor->extra_height, + .plane_stride = sensor->frame_stride, + .slice_height = sensor->frame_height + sensor->extra_height, + }; + io_cfg[0].format = sensor->mipi_format; + io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; + io_cfg[0].color_pattern = 0x5; + io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); + io_cfg[0].resource_type = CAM_ICP_BPS_INPUT_IMAGE; + io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].direction = CAM_BUF_INPUT; + io_cfg[0].subsample_pattern = 0x1; + io_cfg[0].framedrop_pattern = 0x1; + + // output frame + io_cfg[1].mem_handle[0] = buf_handle_yuv[idx]; + io_cfg[1].mem_handle[1] = buf_handle_yuv[idx]; + io_cfg[1].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height, + .plane_stride = stride, + .slice_height = y_height, + }; + io_cfg[1].planes[1] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height/2, + .plane_stride = stride, + .slice_height = uv_height, + }; + io_cfg[1].offsets[1] = ALIGNED_SIZE(io_cfg[1].planes[0].plane_stride*io_cfg[1].planes[0].slice_height, 0x1000); + assert(io_cfg[1].offsets[1] == uv_offset); + + io_cfg[1].format = CAM_FORMAT_NV12; // TODO: why is this 21 in the dump? should be 12 + io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL; + io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL; + io_cfg[1].fence = sync_objs_bps_out[idx]; + io_cfg[1].direction = CAM_BUF_OUTPUT; + io_cfg[1].subsample_pattern = 0x1; + io_cfg[1].framedrop_pattern = 0x1; + } + + // *** patches *** + { + pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; + + // input frame + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0); + + // output frame + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[0]), buf_handle_yuv[idx], 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[1].ptr[1]), buf_handle_yuv[idx], io_cfg[1].offsets[1]); + + // rest of buffers + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, settings_addr), bps_iq.handle, 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, cdm_addr2), bps_cmd.handle, sizeof(bps_tmp)); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + 0xc8, bps_cdm_program_array.handle, 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, striping_addr), bps_striping.handle, 0); + add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, cdm_addr), bps_cdm_striping_bl.handle, 0); + } + + int ret = device_config(m->icp_fd, session_handle, icp_dev_handle, cam_packet_handle); + assert(ret == 0); } void SpectraCamera::config_ife(int idx, int request_id, bool init) { @@ -650,21 +852,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { // order here corresponds to the one in build_initial_config assert(patches.size() == 6 || patches.size() == 0); - pkt->num_patches = patches.size(); pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; - if (pkt->num_patches > 0) { - void *p = (char*)&pkt->payload + pkt->patch_offset; - + if (patches.size() > 0) { // linearization LUT - add_patch(p, 0, ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0); + add_patch(pkt.get(), ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0); // vignetting correction LUTs - add_patch(p, 1, ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0); - add_patch(p, 2, ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size); + add_patch(pkt.get(), ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0); + add_patch(pkt.get(), ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size); // gamma LUTs for (int i = 0; i < 3; i++) { - add_patch(p, i+3, ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i); + add_patch(pkt.get(), ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i); } } } @@ -937,11 +1136,19 @@ void SpectraCamera::configICP() { Configures both the ICP and BPS. */ + int cfg_handle; + + uint32_t cfg_size = sizeof(bps_cfg[0]) / sizeof(bps_cfg[0][0]); + void *cfg = alloc_w_mmu_hdl(m->video0_fd, cfg_size, (uint32_t*)&cfg_handle, 0x1, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + memcpy(cfg, bps_cfg[sensor->num()], cfg_size); + struct cam_icp_acquire_dev_info icp_info = { .scratch_mem_size = 0x0, - .dev_type = 0x1, // BPS - .io_config_cmd_size = 0, - .io_config_cmd_handle = 0, + .dev_type = CAM_ICP_RES_TYPE_BPS, + .io_config_cmd_size = cfg_size, + .io_config_cmd_handle = cfg_handle, .secure_mode = 0, .num_out_res = 1, .in_res = (struct cam_icp_res_info){ @@ -962,24 +1169,35 @@ void SpectraCamera::configICP() { icp_dev_handle = *h; LOGD("acquire icp dev"); - // BPS CMD buffer - unsigned char striping_out[] = "\x00"; - bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20, + release(m->video0_fd, cfg_handle); + + // BPS has a lot of buffers to init + bps_cmd.init(m, 464, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); + m->icp_device_iommu, 0, ife_buf_depth); - bps_iq.init(m, 560, 0x20, + // BPSIQSettings struct + uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]); + bps_iq.init(m, settings_size, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); - bps_cdm_program_array.init(m, 0x40, 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); - bps_striping.init(m, sizeof(striping_out), 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, - m->icp_device_iommu); - memcpy(bps_striping.ptr, striping_out, sizeof(striping_out)); + memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size); - bps_cdm_striping_bl.init(m, 65216, 0x20, + // for cdm register writes, just make it bigger than you need + bps_cdm_program_array.init(m, 0x1000, 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + + // striping lib output + uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]); + bps_striping.init(m, striping_size, 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size); + + // used internally by the BPS, we just allocate it. + // size comes from the BPSStripingLib + bps_cdm_striping_bl.init(m, 0xa100, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); } diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 72f96a749..e4ae29f07 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -1,7 +1,6 @@ #include #include -#include "common/swaglog.h" #include "system/camerad/sensors/sensor.h" namespace { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 44fb8246b..c1131aafd 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -81,6 +81,10 @@ public: std::vector linearization_lut; // length 36 std::vector linearization_pts; // length 4 std::vector vignetting_lut; // length 221 + + const int num() const { + return static_cast(image_sensor); + }; }; class AR0231 : public SensorInfo { From 9ec54f59c666fdb285134c32555b7ff8352cf4e7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 9 Feb 2025 04:55:31 +0800 Subject: [PATCH 53/81] loggerd: switch logging from raw file format to zstd compressed files (#34549) * switch logging from raw file format to zstd compressed files * more zst suffix * compress bootlog * remove class RawFile * Optimize ZstdFileWriter by adding input caching * use ZSTD_compressStream2 * cleanup * LOG_COMPRESSION_LEVEL=10 * space * add zst suffix to LOGS_SIZE_RATE --- selfdrive/test/test_onroad.py | 17 ++--- system/athena/tests/test_athenad.py | 2 +- system/loggerd/SConscript | 6 +- system/loggerd/bootlog.cc | 5 +- system/loggerd/logger.cc | 43 ++++++++++-- system/loggerd/logger.h | 26 ++------ system/loggerd/tests/test_encoder.py | 2 +- system/loggerd/tests/test_logger.cc | 5 +- system/loggerd/tests/test_loggerd.py | 6 +- system/loggerd/tests/test_zstd_writer.cc | 38 +++++++++++ system/loggerd/zstd_writer.cc | 65 +++++++++++++++++++ system/loggerd/zstd_writer.h | 24 +++++++ tools/lib/logreader.py | 10 ++- .../longitudinal_maneuvers/generate_report.py | 2 +- 14 files changed, 200 insertions(+), 51 deletions(-) create mode 100644 system/loggerd/tests/test_zstd_writer.cc create mode 100644 system/loggerd/zstd_writer.cc create mode 100644 system/loggerd/zstd_writer.h diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 1279a505d..72f0b10a9 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -8,7 +8,6 @@ import shutil import subprocess import time import numpy as np -import zstandard as zstd from collections import Counter, defaultdict from pathlib import Path from tabulate import tabulate @@ -23,7 +22,6 @@ from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.selfdrive.test.helpers import set_params_enabled, release_only from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader """ @@ -102,8 +100,8 @@ TIMINGS = { } LOGS_SIZE_RATE = { - "qlog": 0.0083, - "rlog": 0.135, + "qlog.zst": 0.0083, + "rlog.zst": 0.135, "qcamera.ts": 0.03828, } LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740)) @@ -119,10 +117,10 @@ class TestOnroad: @classmethod def setup_class(cls): if "DEBUG" in os.environ: - segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir()) + segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) print(segs[-3]) - cls.lr = list(LogReader(os.path.join(segs[-3], "rlog"))) + cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst"))) return # setup env @@ -173,18 +171,15 @@ class TestOnroad: if proc.wait(60) is None: proc.kill() - cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments] + cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments] - cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog"))) + cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst"))) cls.log_path = cls.segments[0] cls.log_sizes = {} for f in cls.log_path.iterdir(): assert f.is_file() cls.log_sizes[f] = f.stat().st_size / 1e6 - if f.name in ("qlog", "rlog"): - with open(f, 'rb') as ff: - cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6 cls.msgs = defaultdict(list) for m in cls.lr: diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index a6bfc6893..e16e73a7e 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -138,7 +138,7 @@ class TestAthenadMethods: route = '2021-03-29--13-32-47' segments = [0, 1, 2, 3, 11] - filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc'] + filenames = ['qlog.zst', 'qcamera.ts', 'rlog.zst', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc'] files = [f'{route}--{s}/{f}' for s in segments for f in filenames] for file in files: self._create_file(file) diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index 196d18476..6ec0cc15e 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -2,9 +2,9 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, 'z', 'avformat', 'avcodec', 'swscale', - 'avutil', 'yuv', 'OpenCL', 'pthread'] + 'avutil', 'yuv', 'OpenCL', 'pthread', 'zstd'] -src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] +src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] @@ -23,4 +23,4 @@ env.Program('encoderd', ['encoderd.cc'], LIBS=libs) env.Program('bootlog.cc', LIBS=libs) if GetOption('extras'): - env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto']) + env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs + ['curl', 'crypto']) diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc index 85eeb369a..a7b1ae824 100644 --- a/system/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -5,6 +5,7 @@ #include "common/params.h" #include "common/swaglog.h" #include "system/loggerd/logger.h" +#include "system/loggerd/zstd_writer.h" static kj::Array build_boot_log() { @@ -50,14 +51,14 @@ static kj::Array build_boot_log() { int main(int argc, char** argv) { const std::string id = logger_get_identifier("BootCount"); - const std::string path = Path::log_root() + "/boot/" + id; + const std::string path = Path::log_root() + "/boot/" + id + ".zst"; LOGW("bootlog to %s", path.c_str()); // Open bootlog bool r = util::create_directories(Path::log_root() + "/boot/", 0775); assert(r); - RawFile file(path.c_str()); + ZstdFileWriter file(path, LOG_COMPRESSION_LEVEL); // Write initdata file.write(logger_build_init_data().asBytes()); // Write bootlog diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 213aa69d3..1461ceaca 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -113,6 +113,42 @@ std::string logger_get_identifier(std::string key) { return util::string_format("%08x--%s", cnt, ss.str().c_str()); } +std::string zstd_decompress(const std::string &in) { + ZSTD_DCtx *dctx = ZSTD_createDCtx(); + assert(dctx != nullptr); + + // Initialize input and output buffers + ZSTD_inBuffer input = {in.data(), in.size(), 0}; + + // Estimate and reserve memory for decompressed data + size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in.data(), in.size()); + if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) { + estimatedDecompressedSize = in.size() * 2; // Use a fallback size + } + + std::string decompressedData; + decompressedData.reserve(estimatedDecompressedSize); + + const size_t bufferSize = ZSTD_DStreamOutSize(); // Recommended output buffer size + std::string outputBuffer(bufferSize, '\0'); + + while (input.pos < input.size) { + ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0}; + + size_t result = ZSTD_decompressStream(dctx, &output, &input); + if (ZSTD_isError(result)) { + break; + } + + decompressedData.append(outputBuffer.data(), output.pos); + } + + ZSTD_freeDCtx(dctx); + decompressedData.shrink_to_fit(); + return decompressedData; +} + + static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = 0) { MessageBuilder msg; auto sen = msg.initEvent().initSentinel(); @@ -144,12 +180,11 @@ bool LoggerState::next() { bool ret = util::create_directories(segment_path, 0775); assert(ret == true); - const std::string rlog_path = segment_path + "/rlog"; - lock_file = rlog_path + ".lock"; + lock_file = segment_path + "/rlog.lock"; std::ofstream{lock_file}; - rlog.reset(new RawFile(rlog_path)); - qlog.reset(new RawFile(segment_path + "/qlog")); + rlog.reset(new ZstdFileWriter(segment_path + "/rlog.zst", LOG_COMPRESSION_LEVEL)); + qlog.reset(new ZstdFileWriter(segment_path + "/qlog.zst", LOG_COMPRESSION_LEVEL)); // log init data & sentinel type. write(init_data.asBytes(), true); diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 7a8490d57..18d07b5f3 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -7,31 +7,12 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" #include "system/hardware/hw.h" +#include "system/loggerd/zstd_writer.h" -class RawFile { - public: - RawFile(const std::string &path) { - file = util::safe_fopen(path.c_str(), "wb"); - assert(file != nullptr); - } - ~RawFile() { - util::safe_fflush(file); - int err = fclose(file); - assert(err == 0); - } - inline void write(void* data, size_t size) { - int written = util::safe_fwrite(data, 1, size, file); - assert(written == size); - } - inline void write(kj::ArrayPtr array) { write(array.begin(), array.size()); } - - private: - FILE* file = nullptr; -}; +constexpr int LOG_COMPRESSION_LEVEL = 10; typedef cereal::Sentinel::SentinelType SentinelType; - class LoggerState { public: LoggerState(const std::string& log_root = Path::log_root()); @@ -48,8 +29,9 @@ protected: int part = -1, exit_signal = 0; std::string route_path, route_name, segment_path, lock_file; kj::Array init_data; - std::unique_ptr rlog, qlog; + std::unique_ptr rlog, qlog; }; kj::Array logger_build_init_data(); std::string logger_get_identifier(std::string key); +std::string zstd_decompress(const std::string &in); diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index cf38c8bc3..b24bfbe16 100644 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -106,7 +106,7 @@ class TestEncoder: # Check encodeIdx if encode_idx_name is not None: - rlog_path = f"{route_prefix_path}--{i}/rlog" + rlog_path = f"{route_prefix_path}--{i}/rlog.zst" msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name] encode_msgs = [getattr(m, encode_idx_name) for m in msgs] diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc index 2dae136e1..40a45a68d 100644 --- a/system/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -9,12 +9,13 @@ void verify_segment(const std::string &route_path, int segment, int max_segment, SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT; REQUIRE(!util::file_exists(segment_path + "/rlog.lock")); - for (const char *fn : {"/rlog", "/qlog"}) { + for (const char *fn : {"/rlog.zst", "/qlog.zst"}) { const std::string log_file = segment_path + fn; std::string log = util::read_file(log_file); REQUIRE(!log.empty()); + std::string decompressed_log = zstd_decompress(log); int event_cnt = 0, i = 0; - kj::ArrayPtr words((capnp::word *)log.data(), log.size() / sizeof(capnp::word)); + kj::ArrayPtr words((capnp::word *)decompressed_log.data(), decompressed_log.size() / sizeof(capnp::word)); while (words.size() > 0) { try { capnp::FlatArrayMessageReader reader(words); diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 34abe553a..179e237a6 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -142,7 +142,7 @@ class TestLoggerd: Params().put("RecordFront", "1") d = DEVICE_CAMERAS[("tici", "ar0231")] - expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} + expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"), (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"), (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")] @@ -229,7 +229,7 @@ class TestLoggerd: random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services)))) sent_msgs = self._publish_random_messages(services) - qlog_path = os.path.join(self._get_latest_log_dir(), "qlog") + qlog_path = os.path.join(self._get_latest_log_dir(), "qlog.zst") lr = list(LogReader(qlog_path)) # check initData and sentinel @@ -255,7 +255,7 @@ class TestLoggerd: services = random.sample(CEREAL_SERVICES, random.randint(5, 10)) sent_msgs = self._publish_random_messages(services) - lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog"))) + lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.zst"))) # check initData and sentinel self._check_init_data(lr) diff --git a/system/loggerd/tests/test_zstd_writer.cc b/system/loggerd/tests/test_zstd_writer.cc new file mode 100644 index 000000000..f116bb2d5 --- /dev/null +++ b/system/loggerd/tests/test_zstd_writer.cc @@ -0,0 +1,38 @@ +#include + +#include +#include +#include + +#include "common/util.h" +#include "system/loggerd/logger.h" +#include "system/loggerd/zstd_writer.h" + +TEST_CASE("ZstdFileWriter writes and compresses data correctly in loops", "[ZstdFileWriter]") { + const std::string filename = "test_zstd_file.zst"; + const int iterations = 100; + const size_t dataSize = 1024; + + std::string totalTestData; + + // Step 1: Write compressed data to file in a loop + { + ZstdFileWriter writer(filename, LOG_COMPRESSION_LEVEL); + for (int i = 0; i < iterations; ++i) { + std::string testData = util::random_string(dataSize); + totalTestData.append(testData); + writer.write((void *)testData.c_str(), testData.size()); + } + } + + // Step 2: Decompress the file and verify the data + auto compressedContent = util::read_file(filename); + std::string decompressedData = zstd_decompress(compressedContent); + + // Step 3: Verify that the decompressed data matches the original accumulated data + REQUIRE(decompressedData.size() == totalTestData.size()); + REQUIRE(std::memcmp(decompressedData.data(), totalTestData.c_str(), totalTestData.size()) == 0); + + // Clean up the test file + std::remove(filename.c_str()); +} diff --git a/system/loggerd/zstd_writer.cc b/system/loggerd/zstd_writer.cc new file mode 100644 index 000000000..69ca64479 --- /dev/null +++ b/system/loggerd/zstd_writer.cc @@ -0,0 +1,65 @@ + +#include "system/loggerd/zstd_writer.h" + +#include + +#include "common/util.h" + +// Constructor: Initializes compression stream and opens file +ZstdFileWriter::ZstdFileWriter(const std::string& filename, int compression_level) { + // Create the compression stream + cstream_ = ZSTD_createCStream(); + assert(cstream_); + + size_t initResult = ZSTD_initCStream(cstream_, compression_level); + assert(!ZSTD_isError(initResult)); + + input_cache_capacity_ = ZSTD_CStreamInSize(); + input_cache_.reserve(input_cache_capacity_); + output_buffer_.resize(ZSTD_CStreamOutSize()); + + file_ = util::safe_fopen(filename.c_str(), "wb"); + assert(file_ != nullptr); +} + +// Destructor: Finalizes compression and closes file +ZstdFileWriter::~ZstdFileWriter() { + flushCache(true); + util::safe_fflush(file_); + + int err = fclose(file_); + assert(err == 0); + + ZSTD_freeCStream(cstream_); +} + +// Compresses and writes data to file +void ZstdFileWriter::write(void* data, size_t size) { + // Add data to the input cache + input_cache_.insert(input_cache_.end(), (uint8_t*)data, (uint8_t*)data + size); + + // If the cache is full, compress and write to the file + if (input_cache_.size() >= input_cache_capacity_) { + flushCache(false); + } +} + +// Compress and flush the input cache to the file +void ZstdFileWriter::flushCache(bool last_chunk) { + ZSTD_inBuffer input = {input_cache_.data(), input_cache_.size(), 0}; + ZSTD_EndDirective mode = !last_chunk ? ZSTD_e_continue : ZSTD_e_end; + int finished = 0; + + do { + ZSTD_outBuffer output = {output_buffer_.data(), output_buffer_.size(), 0}; + size_t remaining = ZSTD_compressStream2(cstream_, &output, &input, mode); + assert(!ZSTD_isError(remaining)); + + size_t written = util::safe_fwrite(output_buffer_.data(), 1, output.pos, file_); + assert(written == output.pos); + + finished = last_chunk ? (remaining == 0) : (input.pos == input.size); + } while (!finished); + + input_cache_.clear(); // Clear cache after compression +} diff --git a/system/loggerd/zstd_writer.h b/system/loggerd/zstd_writer.h new file mode 100644 index 000000000..b11deaab2 --- /dev/null +++ b/system/loggerd/zstd_writer.h @@ -0,0 +1,24 @@ +#pragma once + +#include + +#include +#include +#include + +class ZstdFileWriter { +public: + ZstdFileWriter(const std::string &filename, int compression_level); + ~ZstdFileWriter(); + void write(void* data, size_t size); + inline void write(kj::ArrayPtr array) { write(array.begin(), array.size()); } + +private: + void flushCache(bool last_chunk); + + size_t input_cache_capacity_ = 0; + std::vector input_cache_; + std::vector output_buffer_; + ZSTD_CStream *cstream_; + FILE* file_ = nullptr; +}; diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 5f7cdd304..530091d70 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -38,6 +38,14 @@ def save_log(dest, log_msgs, compress=True): with open(dest, "wb") as f: f.write(dat) +def decompress_stream(data: bytes): + dctx = zstd.ZstdDecompressor() + decompressed_data = b"" + + with dctx.stream_reader(data) as reader: + decompressed_data = reader.read() + + return decompressed_data class _LogFileReader: def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): @@ -58,7 +66,7 @@ class _LogFileReader: dat = bz2.decompress(dat) elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'): # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames - dat = zstd.decompress(dat) + dat = decompress_stream(dat) ents = capnp_log.Event.read_multiple_bytes(dat) diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index e5972495b..8c16e30d5 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -159,7 +159,7 @@ if __name__ == '__main__': lr = LogReader(args.route) else: segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg] - lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs]) + lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog.zst') for seg in segs]) CP = lr.first('carParams') ID = lr.first('initData') From 22591dc6f8ccaf02aa8d57643231c40f38a71bad Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 8 Feb 2025 13:59:50 -0800 Subject: [PATCH 54/81] op: simplify service restart (#34551) --- tools/op.sh | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 566a152ba..6ae59e6fa 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -345,7 +345,7 @@ function op_switch() { function op_start() { if [[ -f "/AGNOS" ]]; then op_before_cmd - op_run_command sudo systemctl start comma $@ + op_run_command sudo systemctl restart comma $@ fi } @@ -356,13 +356,6 @@ function op_stop() { fi } -function op_restart() { - if [[ -f "/AGNOS" ]]; then - op_before_cmd - op_run_command sudo systemctl restart comma $@ - fi -} - function op_default() { echo "An openpilot helper" echo "" @@ -386,9 +379,8 @@ function op_default() { echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory" echo -e " ${BOLD}install${NC} Install the 'op' tool system wide" echo -e " ${BOLD}switch${NC} Switch to a different git branch with a clean slate (nukes any changes)" - echo -e " ${BOLD}start${NC} Starts openpilot" + echo -e " ${BOLD}start${NC} Starts (or restarts) openpilot" echo -e " ${BOLD}stop${NC} Stops openpilot" - echo -e " ${BOLD}restart${NC} Restarts openpilot" echo "" echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}" echo -e " ${BOLD}juggle${NC} Run PlotJuggler" From 1090af6e3dd4c00853efdc134642c4c2fee8eea1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 8 Feb 2025 14:02:49 -0800 Subject: [PATCH 55/81] camerad: IFE register cleanup (#34550) * start there * lil more * get camera num out of there --------- Co-authored-by: Comma Device --- system/camerad/cameras/{tici.h => hw.h} | 4 ++ system/camerad/cameras/ife.h | 58 ++++++++++--------------- system/camerad/cameras/spectra.cc | 4 +- system/camerad/cameras/spectra.h | 2 +- 4 files changed, 29 insertions(+), 39 deletions(-) rename system/camerad/cameras/{tici.h => hw.h} (92%) diff --git a/system/camerad/cameras/tici.h b/system/camerad/cameras/hw.h similarity index 92% rename from system/camerad/cameras/tici.h rename to system/camerad/cameras/hw.h index d0b2aece6..f9ebc0705 100644 --- a/system/camerad/cameras/tici.h +++ b/system/camerad/cameras/hw.h @@ -16,6 +16,7 @@ struct CameraConfig { cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)(); bool enabled; uint32_t phy; + bool vignetting_correction; }; // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c @@ -28,6 +29,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState, .enabled = !getenv("DISABLE_WIDE_ROAD"), .phy = CAM_ISP_IFE_IN_RES_PHY_0, + .vignetting_correction = false, }; const CameraConfig ROAD_CAMERA_CONFIG = { @@ -38,6 +40,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = { .init_camera_state = &cereal::Event::Builder::initRoadCameraState, .enabled = !getenv("DISABLE_ROAD"), .phy = CAM_ISP_IFE_IN_RES_PHY_1, + .vignetting_correction = true, }; const CameraConfig DRIVER_CAMERA_CONFIG = { @@ -48,4 +51,5 @@ const CameraConfig DRIVER_CAMERA_CONFIG = { .init_camera_state = &cereal::Event::Builder::initDriverCameraState, .enabled = !getenv("DISABLE_DRIVER"), .phy = CAM_ISP_IFE_IN_RES_PHY_2, + .vignetting_correction = false, }; diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index a0ffcfa1b..5dd1efa47 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -2,13 +2,14 @@ #include "cdm.h" -#include "system/camerad/cameras/tici.h" +#include "system/camerad/cameras/hw.h" #include "system/camerad/sensors/sensor.h" -int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patches, int camera_num) { +int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; + // init sequence dst += write_random(dst, { 0x2c, 0xffffffff, 0x30, 0xffffffff, @@ -17,6 +18,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch 0x3c, 0xffffffff, }); + // demux cfg dst += write_cont(dst, 0x560, { 0x00000001, 0x04440444, @@ -35,36 +37,29 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch 0x00000000, }); + // module config/enables (e.g. enable debayer, white balance, etc.) dst += write_cont(dst, 0x40, { - 0x00000c06 | ((uint32_t)(camera_num == 1) << 8), + 0x00000c06 | ((uint32_t)(cam.vignetting_correction) << 8), }); - - dst += write_cont(dst, 0x48, { - (1 << 3) | (1 << 1), - }); - - dst += write_cont(dst, 0x4c, { - 0x00000019, - }); - - dst += write_cont(dst, 0xe0c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xe2c, { - 0x00000e00, - }); - dst += write_cont(dst, 0x44, { 0x00000000, }); - - dst += write_cont(dst, 0xaac, { + dst += write_cont(dst, 0x48, { + (1 << 3) | (1 << 1), + }); + dst += write_cont(dst, 0x4c, { + 0x00000019, + }); + dst += write_cont(dst, 0xf00, { 0x00000000, }); - dst += write_cont(dst, 0xf00, { - 0x00000000, + // cropping + dst += write_cont(dst, 0xe0c, { + 0x00000e00, + }); + dst += write_cont(dst, 0xe2c, { + 0x00000e00, }); // black level scale + offset @@ -78,11 +73,11 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch } -int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector &patches, int camera_num) { +int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; // start with the every frame config - dst += build_update(dst, s, patches, camera_num); + dst += build_update(dst, cam, s, patches); uint64_t addr; @@ -115,15 +110,6 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorlinearization_lut.size()*sizeof(uint32_t), 0xc24, 9); patches.push_back(addr - (uint64_t)start); - /* TODO - cdm_dmi_cmd_t 248 - .length = 287 - .reserved = 33 - .cmd = 11 - .addr = 0 - .DMIAddr = 3108 - .DMISel = 9 - */ // vignetting correction dst += write_cont(dst, 0x6bc, { @@ -180,7 +166,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorframe_width - 1) << 16) | (s->frame_width - 1), diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 2b3767c10..16acabce0 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -715,9 +715,9 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { bool is_raw = output_type != ISP_IFE_PROCESSED; if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } else { - buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches, cc.camera_num); + buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 7759f6079..fd739a160 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -9,7 +9,7 @@ #include "media/cam_req_mgr.h" #include "common/util.h" -#include "system/camerad/cameras/tici.h" +#include "system/camerad/cameras/hw.h" #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/sensor.h" From 4b7a25efc32b30863a915e361aa11e8a2e02512f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Feb 2025 01:13:58 +0800 Subject: [PATCH 56/81] loggerd: remove unused zlib and libswscale linkage (#34552) remove unused link --- system/loggerd/SConscript | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index 6ec0cc15e..9b5daf695 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -1,8 +1,8 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, - 'z', 'avformat', 'avcodec', 'swscale', - 'avutil', 'yuv', 'OpenCL', 'pthread', 'zstd'] + 'avformat', 'avcodec', 'avutil', + 'yuv', 'OpenCL', 'pthread', 'zstd'] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] if arch != "larch64": From 65e478f27f9e818676156b14b1a2e072f98118d6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Feb 2025 01:58:47 +0800 Subject: [PATCH 57/81] camerad: simplify buffer indexing in enqueue_req_multi (#34553) simplify buffer indexing in enqueue_req_multi --- system/camerad/cameras/spectra.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 16acabce0..f269ef60f 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -299,8 +299,9 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) { for (uint64_t i = start; i < start + n; ++i) { - request_ids[(i - 1) % ife_buf_depth] = i; - enqueue_buffer((i - 1) % ife_buf_depth, dp); + uint64_t idx = (i - 1) % ife_buf_depth; + request_ids[idx] = i; + enqueue_buffer(idx, dp); } } From ad2b1edbd0d666a9df6421a9fb6cdfcff1a429eb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Feb 2025 05:02:43 +0800 Subject: [PATCH 58/81] replay: flush codec buffers after seeking (#34556) * flush codec buffers after seeking * replace avio_seek with the higher-level avformat_seek_file * exit early --- tools/replay/framereader.cc | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index 26ef4684a..690645aca 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -177,7 +177,14 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { break; } } - avio_seek(reader->input_ctx->pb, reader->packets_info[from_idx].pos, SEEK_SET); + + auto pos = reader->packets_info[from_idx].pos; + int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE); + if (ret < 0) { + rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret)); + return false; + } + avcodec_flush_buffers(decoder_ctx); } reader->prev_idx = idx; From c4c43bebd206065b3b7f3eb92793f6c20803922c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 9 Feb 2025 13:41:11 -0800 Subject: [PATCH 59/81] Drop Ubuntu 20.04 support (#34557) --- system/ui/SConscript | 27 ++++++++++++--------------- tools/install_ubuntu_dependencies.sh | 19 +------------------ 2 files changed, 13 insertions(+), 33 deletions(-) diff --git a/system/ui/SConscript b/system/ui/SConscript index e97282b54..eccdb7c7e 100644 --- a/system/ui/SConscript +++ b/system/ui/SConscript @@ -4,20 +4,17 @@ Import('env', 'arch', 'common') renv = env.Clone() -UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip()) +rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib') +linked_libs = ['raylib', rayutil, common] +renv['LIBPATH'] += [f'#third_party/raylib/{arch}/'] -if not UBUNTU_FOCAL: - rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib') - linked_libs = ['raylib', rayutil, common] - renv['LIBPATH'] += [f'#third_party/raylib/{arch}/'] +mac_frameworks = [] +if arch == "Darwin": + mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit'] +elif arch == 'larch64': + linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl'] +else: + linked_libs += ['OpenCL', 'dl', 'pthread'] - mac_frameworks = [] - if arch == "Darwin": - mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit'] - elif arch == 'larch64': - linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl'] - else: - linked_libs += ['OpenCL', 'dl', 'pthread'] - - if arch != 'aarch64': - renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks) +if arch != 'aarch64': + renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 60e44fad8..a48160d8f 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -79,16 +79,6 @@ function install_ubuntu_lts_latest_requirements() { python3-venv } -# Install Ubuntu 20.04 packages -function install_ubuntu_focal_requirements() { - install_ubuntu_common_requirements - - $SUDO apt-get install -y --no-install-recommends \ - libavresample-dev \ - qt5-default \ - python-dev -} - # Detect OS using /etc/os-release file if [ -f "/etc/os-release" ]; then source /etc/os-release @@ -96,9 +86,6 @@ if [ -f "/etc/os-release" ]; then "jammy" | "kinetic" | "noble") install_ubuntu_lts_latest_requirements ;; - "focal") - install_ubuntu_focal_requirements - ;; *) echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04." read -p "Would you like to attempt installation anyway? " -n 1 -r @@ -106,11 +93,7 @@ if [ -f "/etc/os-release" ]; then if [[ ! $REPLY =~ ^[Yy]$ ]]; then exit 1 fi - if [ "$UBUNTU_CODENAME" = "focal" ]; then - install_ubuntu_focal_requirements - else - install_ubuntu_lts_latest_requirements - fi + install_ubuntu_lts_latest_requirements esac if [[ -d "/etc/udev/rules.d/" ]]; then From 4cca971888d8c63c56a1c77dafbdc1a2ed8fe5a4 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 10 Feb 2025 10:26:48 -0800 Subject: [PATCH 60/81] [bot] Update Python packages (#34561) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 273 +++++++++++++++++++++++++-------------------------- 2 files changed, 137 insertions(+), 138 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index bdc2fe3a9..4bfb262fd 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bdc2fe3a9aa692bcf46c6ab052405564f6d8e379 +Subproject commit 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[PATCH 61/81] athena upload: streaming file upload (#34559) streaming file upload --- common/file_helpers.py | 21 +++++++++++++++++++++ selfdrive/debug/qlog_size.py | 2 +- system/athena/athenad.py | 26 ++++++++++++-------------- system/loggerd/uploader.py | 20 ++++++++++---------- 4 files changed, 44 insertions(+), 25 deletions(-) diff --git a/common/file_helpers.py b/common/file_helpers.py index 29ad219c0..b0d889f16 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,6 +1,10 @@ +import io import os import tempfile import contextlib +import zstandard as zstd + +LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change class CallbackReader: @@ -35,3 +39,20 @@ def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encodin yield tmp_file tmp_file_name = tmp_file.name os.replace(tmp_file_name, path) + + +def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]: + if not should_compress: + file_size = os.path.getsize(filepath) + file_stream = open(filepath, "rb") + return file_stream, file_size + + # Compress the file on the fly + compressed_stream = io.BytesIO() + compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL) + + with open(filepath, "rb") as f: + compressor.copy_stream(f, compressed_stream) + compressed_size = compressed_stream.tell() + compressed_stream.seek(0) + return compressed_stream, compressed_size diff --git a/selfdrive/debug/qlog_size.py b/selfdrive/debug/qlog_size.py index 11606c758..6d494b6f7 100755 --- a/selfdrive/debug/qlog_size.py +++ b/selfdrive/debug/qlog_size.py @@ -6,7 +6,7 @@ from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import SERVICE_LIST -from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL +from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader from tqdm import tqdm diff --git a/system/athena/athenad.py b/system/athena/athenad.py index c926de978..27440e84a 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -14,7 +14,6 @@ import sys import tempfile import threading import time -import zstandard as zstd from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial @@ -31,11 +30,10 @@ import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.api import Api -from openpilot.common.file_helpers import CallbackReader +from openpilot.common.file_helpers import CallbackReader, get_upload_stream from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC -from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata @@ -294,17 +292,17 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R path = strip_zst_extension(path) compress = True - with open(path, "rb") as f: - content = f.read() - if compress: - cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) - content = zstd.compress(content, LOG_COMPRESSION_LEVEL) - - with io.BytesIO(content) as data: - return requests.put(upload_item.url, - data=CallbackReader(data, callback, len(content)) if callback else data, - headers={**upload_item.headers, 'Content-Length': str(len(content))}, - timeout=30) + stream = None + try: + stream, content_length = get_upload_stream(path, compress) + response = requests.put(upload_item.url, + data=CallbackReader(stream, callback, content_length) if callback else stream, + headers={**upload_item.headers, 'Content-Length': str(content_length)}, + timeout=30) + return response + finally: + if stream: + stream.close() # security: user should be able to request any message from their car diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 0a2171209..c1bf80488 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import io import json import os import random @@ -8,12 +7,12 @@ import threading import time import traceback import datetime -import zstandard as zstd from collections.abc import Iterator from cereal import log import cereal.messaging as messaging from openpilot.common.api import Api +from openpilot.common.file_helpers import get_upload_stream from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware.hw import Paths @@ -29,7 +28,6 @@ MAX_UPLOAD_SIZES = { # bugs, including ones that can cause massive log sizes "qcam": 5*1e6, } -LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -154,13 +152,15 @@ class Uploader: if fake_upload: return FakeResponse() - with open(fn, "rb") as f: - content = f.read() - if key.endswith('.zst') and not fn.endswith('.zst'): - content = zstd.compress(content, LOG_COMPRESSION_LEVEL) - - with io.BytesIO(content) as data: - return requests.put(url, data=data, headers=headers, timeout=10) + stream = None + try: + compress = key.endswith('.zst') and not fn.endswith('.zst') + stream, _ = get_upload_stream(fn, compress) + response = requests.put(url, data=stream, headers=headers, timeout=10) + return response + finally: + if stream: + stream.close() def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: From 3c0990e7162c47d9a6e6afbd10ea4a1d28f09afe Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 11 Feb 2025 07:43:46 +0800 Subject: [PATCH 62/81] move thumbnail generation from camerad to encoderd (#34554) Co-authored-by: Cameron Clough --- cereal/services.py | 2 +- system/camerad/SConscript | 2 +- system/camerad/cameras/camera_common.cc | 91 -------------------- system/camerad/cameras/camera_common.h | 1 - system/camerad/cameras/camera_qcom2.cc | 7 +- system/loggerd/SConscript | 4 +- system/loggerd/encoder/encoder.cc | 18 +--- system/loggerd/encoder/encoder.h | 2 - system/loggerd/encoder/jpeg_encoder.cc | 105 ++++++++++++++++++++++++ system/loggerd/encoder/jpeg_encoder.h | 32 ++++++++ system/loggerd/encoderd.cc | 12 +++ system/loggerd/loggerd.h | 1 + tools/install_ubuntu_dependencies.sh | 1 + 13 files changed, 157 insertions(+), 121 deletions(-) create mode 100644 system/loggerd/encoder/jpeg_encoder.cc create mode 100644 system/loggerd/encoder/jpeg_encoder.h diff --git a/cereal/services.py b/cereal/services.py index 87fdca77b..aad83177b 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -53,7 +53,7 @@ _services: dict[str, tuple] = { "livePose": (True, 20., 4), "liveParameters": (True, 20., 5), "cameraOdometry": (True, 20., 10), - "thumbnail": (True, 0.2, 1), + "thumbnail": (True, 1 / 60., 1), "onroadEvents": (True, 1., 1), "carParams": (True, 0.02, 1), "roadCameraState": (True, 20., 20), diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 46eacf94e..0d936176b 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon] +libs = ['pthread', common, 'OpenCL', messaging, visionipc, gpucommon] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 2a218affa..666d027be 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -3,8 +3,6 @@ #include #include -#include - #include "common/clutil.h" #include "common/swaglog.h" @@ -150,95 +148,6 @@ kj::Array get_raw_frame_image(const CameraBuf *b) { return kj::mv(frame_image); } -static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) { - int downscale = b->cur_yuv_buf->width / thumbnail_width; - assert(downscale * thumbnail_height == b->cur_yuv_buf->height); - int in_stride = b->cur_yuv_buf->stride; - - // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. - std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); - uint8_t *y_plane = buf.get(); - uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; - uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; - { - // subsampled conversion from nv12 to yuv - for (int hy = 0; hy < thumbnail_height/2; hy++) { - for (int hx = 0; hx < thumbnail_width/2; hx++) { - int ix = hx * downscale + (downscale-1)/2; - int iy = hy * downscale + (downscale-1)/2; - y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 0]; - y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 1]; - y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 0]; - y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 1]; - u_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 0]; - v_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 1]; - } - } - } - - struct jpeg_compress_struct cinfo; - struct jpeg_error_mgr jerr; - cinfo.err = jpeg_std_error(&jerr); - jpeg_create_compress(&cinfo); - - uint8_t *thumbnail_buffer = nullptr; - size_t thumbnail_len = 0; - jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len); - - cinfo.image_width = thumbnail_width; - cinfo.image_height = thumbnail_height; - cinfo.input_components = 3; - - jpeg_set_defaults(&cinfo); - jpeg_set_colorspace(&cinfo, JCS_YCbCr); - // configure sampling factors for yuv420. - cinfo.comp_info[0].h_samp_factor = 2; // Y - cinfo.comp_info[0].v_samp_factor = 2; - cinfo.comp_info[1].h_samp_factor = 1; // U - cinfo.comp_info[1].v_samp_factor = 1; - cinfo.comp_info[2].h_samp_factor = 1; // V - cinfo.comp_info[2].v_samp_factor = 1; - cinfo.raw_data_in = TRUE; - - jpeg_set_quality(&cinfo, 50, TRUE); - jpeg_start_compress(&cinfo, TRUE); - - JSAMPROW y[16], u[8], v[8]; - JSAMPARRAY planes[3]{y, u, v}; - - for (int line = 0; line < cinfo.image_height; line += 16) { - for (int i = 0; i < 16; ++i) { - y[i] = y_plane + (line + i) * cinfo.image_width; - if (i % 2 == 0) { - int offset = (cinfo.image_width / 2) * ((i + line) / 2); - u[i / 2] = u_plane + offset; - v[i / 2] = v_plane + offset; - } - } - jpeg_write_raw_data(&cinfo, planes, 16); - } - - jpeg_finish_compress(&cinfo); - jpeg_destroy_compress(&cinfo); - - kj::Array dat = kj::heapArray(thumbnail_buffer, thumbnail_len); - free(thumbnail_buffer); - return dat; -} - -void publish_thumbnail(PubMaster *pm, const CameraBuf *b) { - auto thumbnail = yuv420_to_jpeg(b, b->out_img_width / 4, b->out_img_height / 4); - if (thumbnail.size() == 0) return; - - MessageBuilder msg; - auto thumbnaild = msg.initEvent().initThumbnail(); - thumbnaild.setFrameId(b->cur_frame_data.frame_id); - thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof); - thumbnaild.setThumbnail(thumbnail); - - pm->send("thumbnail", msg); -} - float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) { int lum_med; uint32_t lum_binning[256] = {0}; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 768626737..242e17ef2 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -52,5 +52,4 @@ public: void camerad_thread(); kj::Array get_raw_frame_image(const CameraBuf *b); float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip); -void publish_thumbnail(PubMaster *pm, const CameraBuf *b); int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 4c22ad527..e5c9f548a 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -231,9 +231,7 @@ void CameraState::set_camera_exposure(float grey_frac) { void CameraState::run() { util::set_thread_name(camera.cc.publish_name); - std::vector pubs = {camera.cc.publish_name}; - if (camera.cc.stream_type == VISION_STREAM_ROAD) pubs.push_back("thumbnail"); - PubMaster pm(pubs); + PubMaster pm(std::vector{camera.cc.publish_name}); for (uint32_t cnt = 0; !do_exit; ++cnt) { // Acquire the buffer; continue if acquisition fails @@ -267,9 +265,6 @@ void CameraState::run() { // Send the message pm.send(camera.cc.publish_name, msg); - if (camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) { - publish_thumbnail(&pm, &camera.buf); // this takes 10ms??? - } } } diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index 9b5daf695..cf169f4dc 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -4,7 +4,7 @@ libs = [common, messaging, visionipc, 'avformat', 'avcodec', 'avutil', 'yuv', 'OpenCL', 'pthread', 'zstd'] -src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] +src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] @@ -19,7 +19,7 @@ logger_lib = env.Library('logger', src) libs.insert(0, logger_lib) env.Program('loggerd', ['loggerd.cc'], LIBS=libs) -env.Program('encoderd', ['encoderd.cc'], LIBS=libs) +env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"]) env.Program('bootlog.cc', LIBS=libs) if GetOption('extras'): diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index e9fdc9c98..366a4b961 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -6,12 +6,7 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width; out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height; - - std::vector pubs = {encoder_info.publish_name}; - if (encoder_info.thumbnail_name != NULL) { - pubs.push_back(encoder_info.thumbnail_name); - } - pm.reset(new PubMaster(pubs)); + pm.reset(new PubMaster(std::vector{encoder_info.publish_name})); } void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, @@ -45,15 +40,4 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf kj::ArrayOutputStream output_stream(kj::ArrayPtr(msg_cache.data(), bytes_size)); capnp::writeMessage(output_stream, msg); pm->send(encoder_info.publish_name, msg_cache.data(), bytes_size); - - // Publish keyframe thumbnail - if ((flags & V4L2_BUF_FLAG_KEYFRAME) && encoder_info.thumbnail_name != NULL) { - MessageBuilder tm; - auto thumbnail = tm.initEvent().initThumbnail(); - thumbnail.setFrameId(extra.frame_id); - thumbnail.setTimestampEof(extra.timestamp_eof); - thumbnail.setThumbnail(dat); - thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME); - pm->send(encoder_info.thumbnail_name, tm); - } } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 3863f8974..d94904f10 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -30,8 +30,6 @@ public: void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); protected: - void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr dat); - int in_width, in_height; int out_width, out_height; const EncoderInfo encoder_info; diff --git a/system/loggerd/encoder/jpeg_encoder.cc b/system/loggerd/encoder/jpeg_encoder.cc new file mode 100644 index 000000000..6bb946157 --- /dev/null +++ b/system/loggerd/encoder/jpeg_encoder.cc @@ -0,0 +1,105 @@ +#include "system/loggerd/encoder/jpeg_encoder.h" + +#include +#include + +JpegEncoder::JpegEncoder(const std::string &pusblish_name, int width, int height) + : publish_name(pusblish_name), thumbnail_width(width), thumbnail_height(height) { + yuv_buffer.resize((thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2); + pm = std::make_unique(std::vector{pusblish_name.c_str()}); +} + +JpegEncoder::~JpegEncoder() { + if (out_buffer) { + free(out_buffer); + } +} + +void JpegEncoder::pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra) { + generateThumbnail(buf->y, buf->uv, buf->width, buf->height, buf->stride); + + MessageBuilder msg; + auto thumbnaild = msg.initEvent().initThumbnail(); + thumbnaild.setFrameId(extra.frame_id); + thumbnaild.setTimestampEof(extra.timestamp_eof); + thumbnaild.setThumbnail({out_buffer, out_size}); + + pm->send(publish_name.c_str(), msg); +} + +void JpegEncoder::generateThumbnail(const uint8_t *y_addr, const uint8_t *uv_addr, int width, int height, int stride) { + int downscale = width / thumbnail_width; + assert(downscale * thumbnail_height == height); + + // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. + uint8_t *y_plane = yuv_buffer.data(); + uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; + uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; + { + // subsampled conversion from nv12 to yuv + for (int hy = 0; hy < thumbnail_height / 2; hy++) { + for (int hx = 0; hx < thumbnail_width / 2; hx++) { + int ix = hx * downscale + (downscale - 1) / 2; + int iy = hy * downscale + (downscale - 1) / 2; + y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 0]; + y_plane[(hy * 2 + 0) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 0) * stride + ix * 2 + 1]; + y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 0)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 0]; + y_plane[(hy * 2 + 1) * thumbnail_width + (hx * 2 + 1)] = y_addr[(iy * 2 + 1) * stride + ix * 2 + 1]; + u_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 0]; + v_plane[hy * thumbnail_width / 2 + hx] = uv_addr[iy * stride + ix * 2 + 1]; + } + } + } + + compressToJpeg(y_plane, u_plane, v_plane); +} + +void JpegEncoder::compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane) { + struct jpeg_compress_struct cinfo; + struct jpeg_error_mgr jerr; + cinfo.err = jpeg_std_error(&jerr); + jpeg_create_compress(&cinfo); + + if (out_buffer) { + free(out_buffer); + out_buffer = nullptr; + out_size = 0; + } + jpeg_mem_dest(&cinfo, &out_buffer, &out_size); + + cinfo.image_width = thumbnail_width; + cinfo.image_height = thumbnail_height; + cinfo.input_components = 3; + + jpeg_set_defaults(&cinfo); + jpeg_set_colorspace(&cinfo, JCS_YCbCr); + // configure sampling factors for yuv420. + cinfo.comp_info[0].h_samp_factor = 2; // Y + cinfo.comp_info[0].v_samp_factor = 2; + cinfo.comp_info[1].h_samp_factor = 1; // U + cinfo.comp_info[1].v_samp_factor = 1; + cinfo.comp_info[2].h_samp_factor = 1; // V + cinfo.comp_info[2].v_samp_factor = 1; + cinfo.raw_data_in = TRUE; + + jpeg_set_quality(&cinfo, 50, TRUE); + jpeg_start_compress(&cinfo, TRUE); + + JSAMPROW y[16], u[8], v[8]; + JSAMPARRAY planes[3]{y, u, v}; + + for (int line = 0; line < cinfo.image_height; line += 16) { + for (int i = 0; i < 16; ++i) { + y[i] = y_plane + (line + i) * cinfo.image_width; + if (i % 2 == 0) { + int offset = (cinfo.image_width / 2) * ((i + line) / 2); + u[i / 2] = u_plane + offset; + v[i / 2] = v_plane + offset; + } + } + jpeg_write_raw_data(&cinfo, planes, 16); + } + + jpeg_finish_compress(&cinfo); + jpeg_destroy_compress(&cinfo); +} diff --git a/system/loggerd/encoder/jpeg_encoder.h b/system/loggerd/encoder/jpeg_encoder.h new file mode 100644 index 000000000..af1427c19 --- /dev/null +++ b/system/loggerd/encoder/jpeg_encoder.h @@ -0,0 +1,32 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include "cereal/messaging/messaging.h" +#include "msgq/visionipc/visionbuf.h" + +class JpegEncoder { +public: + JpegEncoder(const std::string &pusblish_name, int width, int height); + ~JpegEncoder(); + void pushThumbnail(VisionBuf *buf, const VisionIpcBufExtra &extra); + +private: + void generateThumbnail(const uint8_t *y, const uint8_t *uv, int width, int height, int stride); + void compressToJpeg(uint8_t *y_plane, uint8_t *u_plane, uint8_t *v_plane); + + int thumbnail_width; + int thumbnail_height; + std::string publish_name; + std::vector yuv_buffer; + std::unique_ptr pm; + + // JPEG output buffer + unsigned char* out_buffer = nullptr; + unsigned long out_size = 0; +}; diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index feb9a921e..c777e6eb7 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -1,6 +1,7 @@ #include #include "system/loggerd/loggerd.h" +#include "system/loggerd/encoder/jpeg_encoder.h" #ifdef QCOM2 #include "system/loggerd/encoder/v4l_encoder.h" @@ -50,6 +51,8 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { std::vector> encoders; VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); + std::unique_ptr jpeg_encoder; + int cur_seg = 0; while (!do_exit) { if (!vipc_client.connect(false)) { @@ -67,6 +70,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); e->encoder_open(nullptr); } + + // Only one thumbnail can be generated per camera stream + if (auto thumbnail_name = cam_info.encoder_infos[0].thumbnail_name) { + jpeg_encoder = std::make_unique(thumbnail_name, buf_info.width / 4, buf_info.height / 4); + } } bool lagging = false; @@ -108,6 +116,10 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { LOGE("Failed to encode frame. frame_id: %d", extra.frame_id); } } + + if (jpeg_encoder && (extra.frame_id % 1200 == 100)) { + jpeg_encoder->pushThumbnail(buf, extra); + } } } } diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index e8cdadda0..27d2d37fc 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -56,6 +56,7 @@ public: const EncoderInfo main_road_encoder_info = { .publish_name = "roadEncodeData", + .thumbnail_name = "thumbnail", .filename = "fcamera.hevc", INIT_ENCODE_FUNCTIONS(RoadEncode), }; diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index a48160d8f..150999fe7 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -45,6 +45,7 @@ function install_ubuntu_common_requirements() { libgles2-mesa-dev \ libglfw3-dev \ libglib2.0-0 \ + libjpeg-dev \ libqt5charts5-dev \ libncurses5-dev \ libssl-dev \ From 644130ca3d3e55a48bfa96111db4c43055c3e3b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 11 Feb 2025 20:46:43 +0800 Subject: [PATCH 63/81] encoderd: use AV_CODEC_ID_H264 codec for qcamera encoding (#34498) --- system/loggerd/encoder/ffmpeg_encoder.cc | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 145be8791..02d557422 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -48,7 +48,10 @@ FfmpegEncoder::~FfmpegEncoder() { } void FfmpegEncoder::encoder_open(const char* path) { - const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_FFVHUFF); + auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264 + ? AV_CODEC_ID_H264 + : AV_CODEC_ID_FFVHUFF; + const AVCodec *codec = avcodec_find_encoder(codec_id); this->codec_ctx = avcodec_alloc_context3(codec); assert(this->codec_ctx); From da2a5f430507ab4027eb6945e613ff3d1e75be54 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Feb 2025 14:03:32 -0800 Subject: [PATCH 64/81] camerad: enable BPS (#34570) * camerad: enable BPS * update power draw --- system/camerad/cameras/camera_qcom2.cc | 4 ++-- system/hardware/tici/tests/test_power_draw.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index e5c9f548a..0aa9f1443 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -283,7 +283,7 @@ void camerad_thread() { // *** per-cam init *** std::vector> cams; - for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) { + for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) { auto cam = std::make_unique(&m, config); cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index e1b9845c4..0a5737574 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -31,7 +31,7 @@ class Proc: PROCS = [ - Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc(['camerad'], 1.6, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), From 6ec5d82a295bf6a6186544195219d03c2114944a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Feb 2025 19:20:35 -0800 Subject: [PATCH 65/81] tici: affine ICP IRQ to camerad core (#34571) --- system/hardware/tici/hardware.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index c01617e83..cdeabc5fc 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -388,7 +388,7 @@ class Tici(HardwareBase): affine_irq(5, "kgsl-3d0") # camerad core - camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite") + camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite") for n in camera_irqs: affine_irq(5, n) From fbf918b311716da3c6e1e3b64070ff99e6023a9e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Feb 2025 20:15:30 -0800 Subject: [PATCH 66/81] test_onroad fixups (#34572) * test_onroad fixpus * fix --- selfdrive/test/test_onroad.py | 49 +++++++++++++---------------------- 1 file changed, 18 insertions(+), 31 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 72f0b10a9..98a800e9b 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,7 +34,7 @@ CPU usage budget TEST_DURATION = 25 LOG_OFFSET = 8 -MAX_TOTAL_CPU = 275. # total for all 8 cores +MAX_TOTAL_CPU = 280. # total for all 8 cores PROCS = { # Baseline CPU usage by process "selfdrive.controls.controlsd": 16.0, @@ -42,7 +42,7 @@ PROCS = { "selfdrive.car.card": 26.0, "./loggerd": 14.0, "./encoderd": 17.0, - "./camerad": 14.5, + "./camerad": 10.0, "selfdrive.controls.plannerd": 9.0, "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, @@ -99,12 +99,12 @@ TIMINGS = { "wideRoadCameraState": [1.5, 0.35], } -LOGS_SIZE_RATE = { - "qlog.zst": 0.0083, - "rlog.zst": 0.135, - "qcamera.ts": 0.03828, +LOGS_SIZE = { # MB per segment + "qlog.zst": 0.5, + "rlog.zst": 8.1, + "qcamera.ts": 2.3, } -LOGS_SIZE_RATE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc'], 1.2740)) +LOGS_SIZE.update(dict.fromkeys(['ecamera.hevc', 'fcamera.hevc', 'dcamera.hevc'], 76.5)) def cputime_total(ct): @@ -126,6 +126,7 @@ class TestOnroad: # setup env params = Params() params.remove("CurrentRoute") + params.put_bool("RecordFront", True) set_params_enabled() os.environ['REPLAY'] = '1' os.environ['TESTING_CLOSET'] = '1' @@ -212,12 +213,13 @@ class TestOnroad: big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.] assert len(big_logs) == 0, f"Log spam: {big_logs}" - def test_log_sizes(self): + def test_log_sizes(self, subtests): for f, sz in self.log_sizes.items(): - rate = LOGS_SIZE_RATE[f.name] - minn = rate * TEST_DURATION * 0.8 - maxx = rate * TEST_DURATION * 1.2 - assert minn < sz < maxx + rate = LOGS_SIZE[f.name]/60. + minn = rate * TEST_DURATION * 0.5 + maxx = rate * TEST_DURATION * 1.5 + with subtests.test(file=f.name): + assert minn < sz < maxx def test_ui_timings(self): result = "\n" @@ -311,24 +313,8 @@ class TestOnroad: def test_gpu_usage(self): assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"} - def test_camera_processing_time(self): - result = "\n" - result += "------------------------------------------------\n" - result += "-------------- ImgProc Timing ------------------\n" - result += "------------------------------------------------\n" - - ts = [] - for s in ['roadCameraState', 'driverCameraState', 'wideCameraState']: - ts.extend(getattr(m, s).processingTime for m in self.msgs[s]) - assert min(ts) < 0.025, f"high execution time: {min(ts)}" - result += f"execution time: min {min(ts):.5f}s\n" - result += f"execution time: max {max(ts):.5f}s\n" - result += f"execution time: mean {np.mean(ts):.5f}s\n" - result += "------------------------------------------------\n" - print(result) - @pytest.mark.skip("TODO: enable once timings are fixed") - def test_camera_frame_timings(self): + def test_camera_frame_timings(self, subtests): result = "\n" result += "------------------------------------------------\n" result += "----------------- SoF Timing ------------------\n" @@ -337,11 +323,12 @@ class TestOnroad: ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] d_ms = np.diff(ts) / 1e6 d50 = np.abs(d_ms-50) - assert max(d50) < 1.0, f"high sof delta vs 50ms: {max(d50)}" result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" - result += "------------------------------------------------\n" + with subtests.test(camera=name): + assert max(d50) < 1.0, f"high SOF delta vs 50ms: {max(d50)}" + result += "------------------------------------------------\n" print(result) def test_mpc_execution_timings(self): From 3d097faec03334e346e35d50fcc3eab2652b94bd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Feb 2025 20:30:37 -0800 Subject: [PATCH 67/81] Revert "camerad: enable BPS (#34570)" This reverts commit da2a5f430507ab4027eb6945e613ff3d1e75be54. --- system/camerad/cameras/camera_qcom2.cc | 4 ++-- system/hardware/tici/tests/test_power_draw.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 0aa9f1443..e5c9f548a 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -283,7 +283,7 @@ void camerad_thread() { // *** per-cam init *** std::vector> cams; - for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) { + for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) { auto cam = std::make_unique(&m, config); cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 0a5737574..e1b9845c4 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -31,7 +31,7 @@ class Proc: PROCS = [ - Proc(['camerad'], 1.6, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), From d98a554b179d893280fd6fa2ba1a442d09e679c4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Feb 2025 21:20:31 -0800 Subject: [PATCH 68/81] tici: set core affinity for all realtime processes (#34574) --- common/realtime.py | 8 ++------ selfdrive/locationd/calibrationd.py | 6 ++---- selfdrive/modeld/dmonitoringmodeld.py | 6 ++---- selfdrive/monitoring/dmonitoringd.py | 7 ++----- 4 files changed, 8 insertions(+), 19 deletions(-) diff --git a/common/realtime.py b/common/realtime.py index 854c3ca59..017869241 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -27,11 +27,6 @@ class Priority: CTRL_HIGH = 53 -def set_realtime_priority(level: int) -> None: - if not PC: - os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) - - def set_core_affinity(cores: list[int]) -> None: if not PC: os.sched_setaffinity(0, cores) @@ -39,7 +34,8 @@ def set_core_affinity(cores: list[int]) -> None: def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() - set_realtime_priority(priority) + if not PC: + os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority)) c = cores if isinstance(cores, list) else [cores, ] set_core_affinity(c) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 6e154bf07..8ce884ae4 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -6,7 +6,6 @@ While the roll calibration is a real value that can be estimated, here we assume and the image input into the neural network is not corrected for roll. ''' -import gc import os import capnp import numpy as np @@ -16,7 +15,7 @@ from cereal import log import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params -from openpilot.common.realtime import set_realtime_priority +from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot from openpilot.common.swaglog import cloudlog @@ -256,8 +255,7 @@ class Calibrator: def main() -> NoReturn: - gc.disable() - set_realtime_priority(1) + config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveCalibration']) sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry') diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index e2dd6f71c..a20155e3e 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -8,7 +8,6 @@ if TICI: os.environ['QCOM'] = '1' else: from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner -import gc import math import time import pickle @@ -21,7 +20,7 @@ from cereal import messaging from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog -from openpilot.common.realtime import set_realtime_priority +from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame @@ -140,9 +139,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: def main(): - gc.disable() setproctitle(PROCESS_NAME) - set_realtime_priority(1) + config_realtime_process([0, 1, 2, 3], 5) sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 54d22c124..f137b406b 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -1,15 +1,12 @@ #!/usr/bin/env python3 -import gc - import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.common.realtime import set_realtime_priority +from openpilot.common.realtime import config_realtime_process from openpilot.selfdrive.monitoring.helpers import DriverMonitoring def dmonitoringd_thread(): - gc.disable() - set_realtime_priority(2) + config_realtime_process([0, 1, 2, 3], 5) params = Params() pm = messaging.PubMaster(['driverMonitoringState']) From d6a0e49def8bc7945621753b02c9f81844ae8518 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Feb 2025 23:48:20 -0600 Subject: [PATCH 69/81] Move safety constants to opendbc (#34573) * forgot these * bump * get these * and flags * fix * bump * test * debug * print sim thread errors --- .github/workflows/selfdrive_tests.yaml | 2 +- opendbc_repo | 2 +- panda | 2 +- selfdrive/car/card.py | 3 +-- selfdrive/debug/clear_dtc.py | 3 ++- selfdrive/debug/hyundai_enable_radar_points.py | 3 ++- selfdrive/debug/read_dtc_status.py | 3 ++- selfdrive/debug/vw_mqb_config.py | 3 ++- selfdrive/selfdrived/selfdrived.py | 2 +- selfdrive/test/process_replay/migration.py | 16 ++++++++-------- selfdrive/test/process_replay/process_replay.py | 2 +- tools/sim/lib/simulated_car.py | 17 +++++++++++------ 12 files changed, 33 insertions(+), 25 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 67cbc5f09..a91e9862a 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -315,7 +315,7 @@ jobs: run: | ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ source selfdrive/test/setup_vsound.sh && \ - CI=1 pytest tools/sim/tests/test_metadrive_bridge.py" + CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py" create_ui_report: # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml diff --git a/opendbc_repo b/opendbc_repo index 4bfb262fd..130bf3183 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4bfb262fd52bc6946de1c8280efc424910bd9d60 +Subproject commit 130bf3183f4ab871ee8dd56b122cfbb038542606 diff --git a/panda b/panda index 3ff97305c..978ee1900 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3ff97305c565d5e43931052b9ec4747b2f617401 +Subproject commit 978ee190051806f8e5b7b8fede6b6be4e4db4aae diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index b8735359e..f00cbe55e 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -7,8 +7,6 @@ import cereal.messaging as messaging from cereal import car, log -from panda import ALTERNATIVE_EXPERIENCE - from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog, ForwardingHandler @@ -19,6 +17,7 @@ from opendbc.car.carlog import carlog from opendbc.car.fw_versions import ObdCallback from opendbc.car.car_helpers import get_car, get_radar_interface from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase +from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp from openpilot.selfdrive.car.cruise import VCruiseHelper from openpilot.selfdrive.car.car_specific import MockCarState diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index 2c7f525d8..357893038 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -4,6 +4,7 @@ import argparse from subprocess import check_output, CalledProcessError from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE +from opendbc.safety import Safety from panda import Panda parser = argparse.ArgumentParser(description="clear DTC status") @@ -24,7 +25,7 @@ except CalledProcessError as e: raise e panda = Panda() -panda.set_safety_mode(Panda.SAFETY_ELM327) +panda.set_safety_mode(Safety.SAFETY_ELM327) uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") try: diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 27e6c68c0..8612018b0 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -18,6 +18,7 @@ from subprocess import check_output, CalledProcessError from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE +from opendbc.safety import Safety from panda.python import Panda class ConfigValues(NamedTuple): @@ -96,7 +97,7 @@ if __name__ == "__main__": sys.exit(0) panda = Panda() - panda.set_safety_mode(Panda.SAFETY_ELM327) + panda.set_safety_mode(Safety.SAFETY_ELM327) uds_client = UdsClient(panda, 0x7D0, bus=args.bus) print("\n[START DIAGNOSTIC SESSION]") diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py index 4ae471aef..56f32abf4 100755 --- a/selfdrive/debug/read_dtc_status.py +++ b/selfdrive/debug/read_dtc_status.py @@ -4,6 +4,7 @@ import argparse from subprocess import check_output, CalledProcessError from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names +from opendbc.safety import Safety from panda import Panda parser = argparse.ArgumentParser(description="read DTC status") @@ -24,7 +25,7 @@ except CalledProcessError as e: raise e panda = Panda() -panda.set_safety_mode(Panda.SAFETY_ELM327) +panda.set_safety_mode(Safety.SAFETY_ELM327) uds_client = UdsClient(panda, args.addr, bus=args.bus) print("extended diagnostic session ...") uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 69d295194..bc92d3a4c 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -6,6 +6,7 @@ from enum import IntEnum from opendbc.car.carlog import carlog from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ DATA_IDENTIFIER_TYPE, ACCESS_TYPE +from opendbc.safety import Safety from panda import Panda from datetime import date @@ -38,7 +39,7 @@ if __name__ == "__main__": carlog.setLevel('DEBUG') panda = Panda() - panda.set_safety_mode(Panda.SAFETY_ELM327) + panda.set_safety_mode(Safety.SAFETY_ELM327) bus = 1 if panda.has_obd() else 0 uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index cf189df57..9d30090b8 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -7,7 +7,7 @@ import cereal.messaging as messaging from cereal import car, log from msgq.visionipc import VisionIpcClient, VisionStreamType -from panda import ALTERNATIVE_EXPERIENCE +from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 14934f852..fbe891abe 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -6,15 +6,15 @@ import traceback from cereal import messaging, car, log from opendbc.car.fingerprints import MIGRATION -from opendbc.car.toyota.values import EPS_SCALE -from opendbc.car.ford.values import CAR as FORD, FordFlags +from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags +from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags +from opendbc.car.hyundai.values import HyundaiSafetyFlags from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan from openpilot.system.manager.process_config import managed_processes from openpilot.tools.lib.logreader import LogIterable -from panda import Panda MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader] MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]] @@ -269,19 +269,19 @@ def migrate_carOutput(msgs): def migrate_pandaStates(msgs): # TODO: safety param migration should be handled automatically safety_param_migration = { - "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE, - "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, + "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL, + "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.FLAG_TOYOTA_ALT_BRAKE, + "KIA_EV6": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS | HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2, } # TODO: get new Ford route - safety_param_migration |= {car: Panda.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))} + safety_param_migration |= {car: FordSafetyFlags.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))} # Migrate safety param base on carParams CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None) assert CP is not None, "carParams message not found" fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint) if fingerprint in safety_param_migration: - safety_param = safety_param_migration[fingerprint] + safety_param = safety_param_migration[fingerprint].value elif len(CP.safetyConfigs): safety_param = CP.safetyConfigs[0].safetyParam if CP.safetyConfigs[0].safetyParamDEPRECATED != 0: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 45210f164..1135aeb87 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -18,11 +18,11 @@ from cereal import car from cereal.services import SERVICE_LIST from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from opendbc.car.car_helpers import get_car, interfaces +from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL -from panda.python import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.car.card import can_comm_callbacks from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 253623ded..402ac1a21 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -1,11 +1,12 @@ +import traceback import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser +from opendbc.car.honda.values import HondaSafetyFlags from openpilot.common.params import Params from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp from openpilot.tools.sim.lib.common import SimulatorState -from panda.python import Panda class SimulatedCar: @@ -94,14 +95,18 @@ class SimulatedCar: 'controlsAllowed': True, 'safetyModel': 'hondaBosch', 'alternativeExperience': self.sm["carParams"].alternativeExperience, - 'safetyParam': Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG, + 'safetyParam': HondaSafetyFlags.FLAG_HONDA_RADARLESS.value | HondaSafetyFlags.FLAG_HONDA_BOSCH_LONG.value, } self.pm.send('pandaStates', dat) def update(self, simulator_state: SimulatorState): - self.send_can_messages(simulator_state) + try: + self.send_can_messages(simulator_state) - if self.idx % 50 == 0: # only send panda states at 2hz - self.send_panda_state(simulator_state) + if self.idx % 50 == 0: # only send panda states at 2hz + self.send_panda_state(simulator_state) - self.idx += 1 + self.idx += 1 + except Exception: + traceback.print_exc() + raise From 77a442c4e84f8c7e228ffcbc6d6c388aa06eb4c6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 12 Feb 2025 13:11:32 -0800 Subject: [PATCH 70/81] Long planner: allow negative accel constraint (#34565) * allow negative accel constraint * dont let MPC do clipping * Typo * whitespace * Fix tests * More cruise accel * rm print * ref commit --- .../lib/longitudinal_mpc_lib/long_mpc.py | 19 ++++----- .../controls/lib/longitudinal_planner.py | 39 ++++++++++--------- .../test/longitudinal_maneuvers/maneuver.py | 2 +- .../test/longitudinal_maneuvers/plant.py | 10 ++--- .../test_longitudinal.py | 7 +--- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 37 insertions(+), 42 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 579ee85fd..3f9d8245b 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -3,7 +3,7 @@ import os import time import numpy as np from cereal import log -from opendbc.car.interfaces import ACCEL_MIN +from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.common.realtime import DT_MDL from openpilot.common.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild @@ -55,6 +55,8 @@ FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 +CRUISE_MIN_ACCEL = -1.2 +CRUISE_MAX_ACCEL = 1.6 def get_jerk_factor(personality=log.LongitudinalPersonality.standard): if personality==log.LongitudinalPersonality.relaxed: @@ -281,7 +283,7 @@ class LongitudinalMpc: elif self.mode == 'blended': a_change_cost = 40.0 if prev_accel_constraint else 0 cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') self.set_cost_weights(cost_weights, constraint_cost_weights) @@ -325,12 +327,6 @@ class LongitudinalMpc: lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau) return lead_xv - def set_accel_limits(self, min_a, max_a): - # TODO this sets a max accel limit, but the minimum limit is only for cruise decel - # needs refactor - self.cruise_min_a = min_a - self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): t_follow = get_T_FOLLOW(personality) v_ego = self.x0[1] @@ -346,8 +342,7 @@ class LongitudinalMpc: lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) self.params[:,0] = ACCEL_MIN - # negative accel constraint causes problems because negative speed is not allowed - self.params[:,1] = max(0.0, self.max_a) + self.params[:,1] = ACCEL_MAX # Update in ACC mode or ACC/e2e blend if self.mode == 'acc': @@ -355,9 +350,9 @@ class LongitudinalMpc: # Fake an obstacle for cruise, this ensures smooth acceleration to set speed # when the leads are no factor. - v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) + v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05) # TODO does this make sense when max_a is negative? - v_upper = v_ego + (T_IDXS * self.max_a * 1.05) + v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05) v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 5560dfbb0..c7a2295a5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -16,7 +16,6 @@ from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET from openpilot.common.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s -A_CRUISE_MIN = -1.2 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] @@ -76,7 +75,10 @@ class LongitudinalPlanner: self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) + self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX] self.v_model_error = 0.0 + self.output_a_target = 0.0 + self.output_should_stop = False self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) @@ -128,17 +130,16 @@ class LongitudinalPlanner: prev_accel_constraint = not (reset_state or sm['carState'].standstill) if self.mpc.mode == 'acc': - accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg - accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP) + accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) else: - accel_limits = [ACCEL_MIN, ACCEL_MAX] - accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] + accel_clip = [ACCEL_MIN, ACCEL_MAX] if reset_state: self.v_desired_filter.x = v_ego # Clip aEgo to cruise limits to prevent large accelerations when becoming active - self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1]) + self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1]) # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) @@ -149,18 +150,14 @@ class LongitudinalPlanner: self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED if not self.allow_throttle: - clipped_accel_coast = max(accel_coast, accel_limits_turns[0]) - clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast]) - accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp) + clipped_accel_coast = max(accel_coast, accel_clip[0]) + clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast]) + accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp) if force_slow_decel: v_cruise = 0.0 - # clip limits, cannot init MPC outside of bounds - accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) - accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality) - self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality) @@ -178,6 +175,15 @@ class LongitudinalPlanner: self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory)) self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 + action_t = self.CP.longitudinalActuatorDelay + DT_MDL + output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, + action_t=action_t, vEgoStopping=self.CP.vEgoStopping) + + for idx in range(2): + accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) + self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1]) + self.prev_accel_clip = accel_clip + def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') @@ -196,11 +202,8 @@ class LongitudinalPlanner: longitudinalPlan.longitudinalPlanSource = self.mpc.source longitudinalPlan.fcw = self.fcw - action_t = self.CP.longitudinalActuatorDelay + DT_MDL - a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels, - action_t=action_t, vEgoStopping=self.CP.vEgoStopping) - longitudinalPlan.aTarget = float(a_target) - longitudinalPlan.shouldStop = bool(should_stop) + longitudinalPlan.aTarget = float(self.output_a_target) + longitudinalPlan.shouldStop = bool(self.output_should_stop) longitudinalPlan.allowBrake = True longitudinalPlan.allowThrottle = bool(self.allow_throttle) diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 301f99dd5..dfd5b3e10 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -66,7 +66,7 @@ class Maneuver: print("Crashed!!!!") valid = False - if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: + if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3: print('LongitudinalPlanner not starting!') valid = False diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 026c8ce22..989b84dee 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -30,8 +30,8 @@ class Plant: self.distance = 0. self.speed = speed + self.should_stop = False self.acceleration = 0.0 - self.speeds = [] # lead car self.lead_relevancy = lead_relevancy @@ -134,9 +134,9 @@ class Plant: 'liveParameters': lp.liveParameters, 'modelV2': model.modelV2} self.planner.update(sm) - self.speed = self.planner.v_desired_filter.x - self.acceleration = self.planner.a_desired - self.speeds = self.planner.v_desired_trajectory.tolist() + self.acceleration = self.planner.output_a_target + self.speed = self.speed + self.acceleration * self.ts + self.should_stop = self.planner.output_should_stop fcw = self.planner.fcw self.distance_lead = self.distance_lead + v_lead * self.ts @@ -168,7 +168,7 @@ class Plant: "distance": self.distance, "speed": self.speed, "acceleration": self.acceleration, - "speeds": self.speeds, + "should_stop": self.should_stop, "distance_lead": self.distance_lead, "fcw": fcw, } diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 4bc1ebba8..ab1800b4f 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -150,10 +150,7 @@ def create_maneuvers(kwargs): enabled=False, **kwargs, ), - ] - if not kwargs['e2e']: - # allow_throttle won't trigger with e2e - maneuvers.append(Maneuver( + Maneuver( "slow to 5m/s with allow_throttle = False and pitch = +0.1", duration=30., initial_speed=20., @@ -164,7 +161,7 @@ def create_maneuvers(kwargs): breakpoints=[0.0, 2., 2.01], ensure_slowdown=True, **kwargs, - )) + )] if not kwargs['force_decel']: # controls relies on planner commanding to move for stock-ACC resume spamming maneuvers.append(Maneuver( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3b5f5f346..1cdd551dd 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -95f1384edc0dc00959b0e804de1aaafc35d2f15f \ No newline at end of file +b8595cc8351043a7c49b41e7c36f93ffd2e3dc6d From d1b93287f2869a98a5f14ab57c0558303d6f16d8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 13 Feb 2025 19:19:56 -0800 Subject: [PATCH 71/81] camerad: flush BPS requests (#34581) * repro * cleanup * flush bps * cleanup * revert that --------- Co-authored-by: Comma Device --- system/camerad/cameras/spectra.cc | 77 +++++++++++++++++++------------ system/camerad/cameras/spectra.h | 4 +- 2 files changed, 50 insertions(+), 31 deletions(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index f269ef60f..06eb2673c 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -193,11 +193,11 @@ void SpectraMaster::init() { // looks like there's only one of these isp_fd = open_v4l_by_name_and_index("cam-isp"); assert(isp_fd >= 0); - LOGD("opened isp"); + LOGD("opened isp %d", (int)isp_fd); icp_fd = open_v4l_by_name_and_index("cam-icp"); assert(icp_fd >= 0); - LOGD("opened icp"); + LOGD("opened icp %d", (int)icp_fd); // query ISP for MMU handles LOG("-- Query for MMU handles"); @@ -258,9 +258,20 @@ int SpectraCamera::clear_req_queue() { int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); LOGD("flushed all req: %d", ret); + if (icp_dev_handle) { + struct cam_flush_dev_cmd cmd = { + .session_handle = session_handle, + .dev_handle = icp_dev_handle, + .flush_type = CAM_FLUSH_TYPE_ALL, + }; + int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd)); + assert(err == 0); + } + for (int i = 0; i < MAX_IFE_BUFS; ++i) { destroySyncObjectAt(i); } + return ret; } @@ -620,7 +631,7 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[0].color_pattern = 0x5; io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); io_cfg[0].resource_type = CAM_ICP_BPS_INPUT_IMAGE; - io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].fence = sync_objs_ife[idx]; io_cfg[0].direction = CAM_BUF_INPUT; io_cfg[0].subsample_pattern = 0x1; io_cfg[0].framedrop_pattern = 0x1; @@ -646,7 +657,7 @@ void SpectraCamera::config_bps(int idx, int request_id) { io_cfg[1].format = CAM_FORMAT_NV12; // TODO: why is this 21 in the dump? should be 12 io_cfg[1].color_space = CAM_COLOR_SPACE_BT601_FULL; io_cfg[1].resource_type = CAM_ICP_BPS_OUTPUT_IMAGE_FULL; - io_cfg[1].fence = sync_objs_bps_out[idx]; + io_cfg[1].fence = sync_objs_bps[idx]; io_cfg[1].direction = CAM_BUF_OUTPUT; io_cfg[1].subsample_pattern = 0x1; io_cfg[1].framedrop_pattern = 0x1; @@ -815,7 +826,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].color_pattern = 0x5; io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; - io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].fence = sync_objs_ife[idx]; io_cfg[0].direction = CAM_BUF_OUTPUT; io_cfg[0].subsample_pattern = 0x1; io_cfg[0].framedrop_pattern = 0x1; @@ -840,7 +851,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].color_pattern = 0x0; io_cfg[0].bpp = 0; io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_FULL; - io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].fence = sync_objs_ife[idx]; io_cfg[0].direction = CAM_BUF_OUTPUT; io_cfg[0].subsample_pattern = 0x1; io_cfg[0].framedrop_pattern = 0x1; @@ -877,37 +888,46 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { int ret; uint64_t request_id = request_ids[i]; - if (sync_objs[i]) { - // SOF has come in, wait until readout is complete + // Before queuing up a new frame, wait for the + // previous one in this slot (index) to come in. + if (sync_objs_ife[i]) { + // TODO: write a test to stress test w/ a low timeout and check camera frame ids match + struct cam_sync_wait sync_wait = {0}; - // wait for ife - sync_wait.sync_obj = sync_objs[i]; - // TODO: write a test to stress test w/ a low timeout and check camera frame ids match + // *** Wait for IFE *** + // in RAW_OUTPUT mode, this is just the frame readout from the sensor + // in IFE_PROCESSED mode, this is both frame readout and image processing (~1ms) + sync_wait.sync_obj = sync_objs_ife[i]; sync_wait.timeout_ms = 100; ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { - clear_req_queue(); - LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); + LOGE("failed to wait for IFE sync: %d %d", ret, sync_wait.sync_obj); } - if (ret == 0 && output_type == ISP_BPS_PROCESSED) { - // wait for bps - sync_wait.sync_obj = sync_objs_bps_out[i]; - sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 + // *** Wait for BPS *** + if (ret == 0 && sync_objs_bps[i]) { + sync_wait.sync_obj = sync_objs_bps[i]; + sync_wait.timeout_ms = 50; // typically 7ms ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { - clear_req_queue(); - LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); + LOGE("failed to wait for BPS sync: %d %d", ret, sync_wait.sync_obj); } } - buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); + // in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns; + buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); + + // all good, hand off frame if (dp && ret == 0) { buf.queue(i); } + if (ret != 0) { + clear_req_queue(); + } + destroySyncObjectAt(i); } @@ -918,14 +938,14 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { if (ret != 0) { LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); } - sync_objs[i] = sync_create.sync_obj; + sync_objs_ife[i] = sync_create.sync_obj; if (icp_dev_handle > 0) { ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); if (ret != 0) { LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); } - sync_objs_bps_out[i] = sync_create.sync_obj; + sync_objs_bps[i] = sync_create.sync_obj; } // schedule request with camera request manager @@ -959,8 +979,8 @@ void SpectraCamera::destroySyncObjectAt(int index) { sync_obj = 0; // Reset the sync object to 0 }; - destroy_sync_obj(m->cam_sync_fd, sync_objs[index]); - destroy_sync_obj(m->cam_sync_fd, sync_objs_bps_out[index]); + destroy_sync_obj(m->cam_sync_fd, sync_objs_ife[index]); + destroy_sync_obj(m->cam_sync_fd, sync_objs_bps[index]); } void SpectraCamera::camera_map_bufs() { @@ -1251,6 +1271,7 @@ void SpectraCamera::linkDevices() { req_mgr_link_info.dev_hdls[0] = isp_dev_handle; req_mgr_link_info.dev_hdls[1] = sensor_dev_handle; int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info)); + assert(ret == 0); link_handle = req_mgr_link_info.link_hdl; LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle); @@ -1310,10 +1331,6 @@ void SpectraCamera::camera_close() { // release devices LOGD("-- Release devices"); - if (icp_dev_handle > 0) { - ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle); - LOGD("release icp: %d", ret); - } ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle); LOGD("release isp: %d", ret); if (output_type == ISP_BPS_PROCESSED) { @@ -1351,7 +1368,9 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { uint64_t real_id = event_data->u.frame_msg.request_id; if (real_id != 0) { // next ready - if (real_id == 1) {idx_offset = main_id;} + if (real_id == 1) { + idx_offset = main_id; + } int buf_idx = (real_id - 1) % ife_buf_depth; // check for skipped frames diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index fd739a160..d0267d340 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -175,8 +175,8 @@ public: int buf_handle_yuv[MAX_IFE_BUFS] = {}; int buf_handle_raw[MAX_IFE_BUFS] = {}; - int sync_objs[MAX_IFE_BUFS] = {}; - int sync_objs_bps_out[MAX_IFE_BUFS] = {}; + int sync_objs_ife[MAX_IFE_BUFS] = {}; + int sync_objs_bps[MAX_IFE_BUFS] = {}; uint64_t request_ids[MAX_IFE_BUFS] = {}; uint64_t request_id_last = 0; uint64_t frame_id_last = 0; From 4b278fe14fd978be334ec07fb01551b8c59ec379 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 13 Feb 2025 19:21:45 -0800 Subject: [PATCH 72/81] Jenkins in a loop (#34582) * loop * better * clean * more * fix --- Jenkinsfile | 4 +- scripts/jenkins_loop_test.sh | 145 +++++++++++++++++++++++++++++++++++ 2 files changed, 147 insertions(+), 2 deletions(-) create mode 100755 scripts/jenkins_loop_test.sh diff --git a/Jenkinsfile b/Jenkinsfile index 656f1055e..49d656574 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -103,7 +103,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) def diffPaths = args.diffPaths ?: [] def cmdTimeout = args.timeout ?: 9999 - if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) { + if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) { println "Skipping ${name}: no changes in ${diffPaths}." return } else { @@ -170,7 +170,7 @@ node { 'testing-closet*', 'hotfix-*'] def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') - if (env.BRANCH_NAME != 'master') { + if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) { properties([ disableConcurrentBuilds(abortPrevious: true) ]) diff --git a/scripts/jenkins_loop_test.sh b/scripts/jenkins_loop_test.sh new file mode 100755 index 000000000..d1167aa23 --- /dev/null +++ b/scripts/jenkins_loop_test.sh @@ -0,0 +1,145 @@ +#!/usr/bin/env bash +set -e + +YELLOW='\033[0;33m' +GREEN='\033[0;32m' +UNDERLINE='\033[4m' +BOLD='\033[1m' +NC='\033[0m' + +BRANCH="master" +RUNS="20" + +COOKIE_JAR=/tmp/cookies +CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)') + +function loop() { + JENKINS_BRANCH="__jenkins_loop_${BRANCH}" + API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH" + + for run in $(seq 1 $((RUNS / 2))); do + + N=2 + TEST_BUILDS=() + + # Try to find previous builds + ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) ) + + # No builds. Create branch + if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then + TEMP_DIR=$(mktemp -d) + GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR + git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH + echo "TESTING" >> $TEMP_DIR/testing_jenkins + git -C $TEMP_DIR add testing_jenkins + git -C $TEMP_DIR commit --quiet -m "testing" + git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH + rm -rf $TEMP_DIR + FIRST_BUILD=1 + echo '' + echo 'waiting on Jenkins...' + echo '' + sleep 90 + else + # Found some builds. Wait for them to end if they are still running + for i in ${ALL_BUILDS[@]}; do + running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress) + if [[ $running == "false" ]]; then + continue + fi + TEST_BUILDS=( ${ALL_BUILDS[@]} ) + N=${#TEST_BUILDS[@]} + break + done + fi + + # No running builds found + if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then + FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber) + LAST_BUILD=$((FIRST_BUILD+N-1)) + TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) ) + + # Start N new builds + for i in ${TEST_BUILDS[@]}; + do + echo "Starting build $i" + curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec + sleep 5 + done + echo "" + fi + + # Wait for all builds to end + while true; do + sleep 30 + + count=0 + for i in ${TEST_BUILDS[@]}; + do + RES=$(curl -s -w "\n%{http_code}" --cookie $COOKIE_JAR -H "$CRUMB" $API_ROUTE/$i/api/json) + HTTP_CODE=$(tail -n1 <<< "$RES") + JSON=$(sed '$ d' <<< "$RES") + + if [[ $HTTP_CODE == "200" ]]; then + STILL_RUNNING=$(echo $JSON | jq .inProgress) + if [[ $STILL_RUNNING == "true" ]]; then + echo -e "Build $i: ${YELLOW}still running${NC}" + continue + else + count=$((count+1)) + echo -e "Build $i: ${GREEN}done${NC}" + fi + else + echo "No status for build $i" + fi + done + echo "See live results: ${API_ROUTE}/buildTimeTrend" + echo "" + + if [[ $count -ge $N ]]; then + break + fi + done + + done +} + +function usage() { + echo "" + echo "Run the Jenkins tests multiple times on a specific branch" + echo "" + echo -e "${BOLD}${UNDERLINE}Options:${NC}" + echo -e " ${BOLD}-n, --n${NC}" + echo -e " Specify how many runs to do (default to ${BOLD}20${NC})" + echo -e " ${BOLD}-b, --branch${NC}" + echo -e " Specify which branch to run the tests against (default to ${BOLD}master${NC})" + echo "" +} + +function _looper() { + if [[ $# -eq 0 ]]; then + usage + exit 0 + fi + + # parse Options + while [[ $# -gt 0 ]]; do + case $1 in + -n | --n ) shift 1; RUNS="$1"; shift 1 ;; + -b | --b | --branch | -branch ) shift 1; BRANCH="$1"; shift 1 ;; + * ) usage; exit 0 ;; + esac + done + + echo "" + echo -e "You are about to start $RUNS Jenkins builds against the $BRANCH branch." + echo -e "If you expect this to run overnight, ${UNDERLINE}${BOLD}unplug the cold reboot power switch${NC} from the testing closet before." + echo "" + read -p "Press (y/Y) to confirm: " choice + if [[ "$choice" == "y" || "$choice" == "Y" ]]; then + loop + fi + +} + +_looper $@ From 9ccfecb813efc5ea6b1f87ace660696c9316bddd Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 14 Feb 2025 15:17:26 -0800 Subject: [PATCH 73/81] use PyPI wheel for raylib on PC (#34586) * wheel * build --- pyproject.toml | 3 +- third_party/raylib/build.sh | 39 +- uv.lock | 1203 +++++++++++++++++------------------ 3 files changed, 620 insertions(+), 625 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 2bfc49bba..f9b4617ec 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -111,8 +111,7 @@ dev = [ "tabulate", "types-requests", "types-tabulate", - "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp312-cp312-linux_x86_64.whl ; (platform_machine == 'x86_64' and platform_system == 'Linux' and python_version == '3.12')", - "raylib @ https://github.com/commaai/raylib-python-cffi/releases/download/wheel/raylib-5.5.0.2-cp311-cp311-linux_x86_64.whl ; (platform_machine == 'x86_64' and platform_system == 'Linux' and python_version == '3.11')", + "raylib", ] tools = [ diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh index 19686be21..21c9af1c0 100755 --- a/third_party/raylib/build.sh +++ b/third_party/raylib/build.sh @@ -46,24 +46,27 @@ set -x RAYGUI_COMMIT="76b36b597edb70ffaf96f046076adc20d67e7827" curl -fsSLo $INSTALL_H_DIR/raygui.h https://raw.githubusercontent.com/raysan5/raygui/$RAYGUI_COMMIT/src/raygui.h +if [ -f /TICI ]; then -# Building the python bindings -cd $DIR + # Building the python bindings + cd $DIR + + if [ ! -d raylib_python_repo ]; then + git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo + fi + + cd raylib_python_repo + + BINDINGS_COMMIT="ef8141c7979d5fa630ef4108605fc221f07d8cb7" + git fetch origin $BINDINGS_COMMIT + git reset --hard $BINDINGS_COMMIT + git clean -xdff . + + RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel + cd $DIR + + rm -rf wheel + mkdir wheel + cp raylib_python_repo/dist/*.whl wheel/ -if [ ! -d raylib_python_repo ]; then - git clone -b master --no-tags https://github.com/commaai/raylib-python-cffi.git raylib_python_repo fi - -cd raylib_python_repo - -BINDINGS_COMMIT="ef8141c7979d5fa630ef4108605fc221f07d8cb7" -git fetch origin $BINDINGS_COMMIT -git reset --hard $BINDINGS_COMMIT -git clean -xdff . - -RAYLIB_PLATFORM=$RAYLIB_PLATFORM RAYLIB_INCLUDE_PATH=$INSTALL_H_DIR RAYLIB_LIB_PATH=$INSTALL_DIR python setup.py bdist_wheel -cd $DIR - -rm -rf wheel -mkdir wheel -cp raylib_python_repo/dist/*.whl wheel/ diff --git a/uv.lock b/uv.lock index 64174921e..ec79f74f1 100644 --- a/uv.lock +++ b/uv.lock @@ -1,14 +1,13 @@ version = 1 +revision = 1 requires-python = ">=3.11, <3.13" resolution-markers = [ - "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", - "python_full_version < '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'", "python_full_version >= '3.12' and sys_platform == 'darwin'", "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version >= '3.12' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", "python_full_version < '3.12' and sys_platform == 'darwin'", "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'", - "(python_full_version < '3.12' and platform_machine != 'aarch64' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", + "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')", ] [[package]] @@ -164,7 +163,7 @@ wheels = [ [[package]] name = "azure-identity" -version = "1.19.0" +version = "1.20.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "azure-core" }, @@ -173,9 +172,9 @@ dependencies = [ { name = "msal-extensions" }, { name = "typing-extensions" }, ] -sdist = { url = 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b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD ? ISP_RAW_OUTPUT : ISP_IFE_PROCESSED) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -283,7 +283,7 @@ void camerad_thread() { // *** per-cam init *** std::vector> cams; - for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) { + for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) { auto cam = std::make_unique(&m, config); cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 5dd1efa47..49737f2db 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -5,6 +5,38 @@ #include "system/camerad/cameras/hw.h" #include "system/camerad/sensors/sensor.h" +int build_common_ife_bps(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches, bool ife) { + uint8_t *start = dst; + + /* + Common between IFE and BPS. + */ + + // IFE -> BPS addresses + /* + std::map addrs = { + {0xf30, 0x3468}, + }; + */ + + // YUV + dst += write_cont(dst, ife ? 0xf30 : 0x3468, { + 0x00680208, + 0x00000108, + 0x00400000, + 0x03ff0000, + 0x01c01ed8, + 0x00001f68, + 0x02000000, + 0x03ff0000, + 0x1fb81e88, + 0x000001c0, + 0x02000000, + 0x03ff0000, + }); + + return dst - start; +} int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; @@ -150,22 +182,6 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo dst += write_dmi(dst, &addr, s->gamma_lut_rgb.size()*sizeof(uint32_t), 0xc24, 30); // R patches.push_back(addr - (uint64_t)start); - // YUV - dst += write_cont(dst, 0xf30, { - 0x00680208, - 0x00000108, - 0x00400000, - 0x03ff0000, - 0x01c01ed8, - 0x00001f68, - 0x02000000, - 0x03ff0000, - 0x1fb81e88, - 0x000001c0, - 0x02000000, - 0x03ff0000, - }); - // output size/scaling dst += write_cont(dst, 0xa3c, { 0x00000003, @@ -212,6 +228,8 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo 0x00000017, }); + dst += build_common_ife_bps(dst, cam, s, patches, true); + return dst - start; } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 06eb2673c..9a4a6f354 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -482,7 +482,7 @@ void SpectraCamera::config_bps(int idx, int request_id) { */ int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2 + sizeof(struct cam_buf_io_cfg)*2; - size += sizeof(struct cam_patch_desc)*8; + size += sizeof(struct cam_patch_desc)*9; uint32_t cam_packet_handle = 0; auto pkt = mm.alloc(size, &cam_packet_handle); @@ -525,6 +525,7 @@ void SpectraCamera::config_bps(int idx, int request_id) { } cdm_tmp; // *** cmd buf *** + std::vector patches; struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; { pkt->num_cmd_buf = 2; @@ -558,33 +559,46 @@ void SpectraCamera::config_bps(int idx, int request_id) { int cdm_len = 0; - // debayer params + if (bps_lin_reg.size() == 0) { + for (int i = 0; i < 4; i++) { + bps_lin_reg.push_back(((sensor->linearization_pts[i] & 0xffff) << 0x10) | (sensor->linearization_pts[i] >> 0x10)); + } + } + + if (bps_ccm_reg.size() == 0) { + for (int i = 0; i < 3; i++) { + bps_ccm_reg.push_back(sensor->color_correct_matrix[i] | (sensor->color_correct_matrix[i+3] << 0x10)); + bps_ccm_reg.push_back(sensor->color_correct_matrix[i+6]); + } + } + + // white balance cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2868, { - 0x06900400, - 0x000006a6, + 0x04000400, + 0x00000400, 0x00000000, 0x00000000, }); + // debayer cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2878, { 0x00000080, 0x00800066, }); + // linearization, EN=0 + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1868, bps_lin_reg); + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1878, bps_lin_reg); + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1888, bps_lin_reg); + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x1898, bps_lin_reg); + /* + uint8_t *start = (unsigned char *)bps_cdm_program_array.ptr + cdm_len; + uint64_t addr; + cdm_len += write_dmi((unsigned char *)bps_cdm_program_array.ptr + cdm_len, &addr, sensor->linearization_lut.size()*sizeof(uint32_t), 0x1808, 1); + patches.push_back(addr - (uint64_t)start); + */ + // color correction + cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x2e68, bps_ccm_reg); - // YUV color xform - cdm_len += write_cont((unsigned char *)bps_cdm_program_array.ptr + cdm_len, 0x3468, { - 0x00680208, - 0x00000108, - 0x00400000, - 0x03ff0000, - 0x01c01ed8, - 0x00001f68, - 0x02000000, - 0x03ff0000, - 0x1fb81e88, - 0x000001c0, - 0x02000000, - 0x03ff0000, - }); + cdm_len += build_common_ife_bps((unsigned char *)bps_cdm_program_array.ptr + cdm_len, cc, sensor.get(), patches, false); pa->length = cdm_len - 1; @@ -665,8 +679,13 @@ void SpectraCamera::config_bps(int idx, int request_id) { // *** patches *** { + assert(patches.size() == 0 | patches.size() == 1); pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; + if (patches.size() > 0) { + add_patch(pkt.get(), bps_cmd.handle, patches[0], bps_linearization_lut.handle, 0); + } + // input frame add_patch(pkt.get(), bps_cmd.handle, buf_desc[0].offset + offsetof(bps_tmp, frames[0].ptr[0]), buf_handle_raw[idx], 0); @@ -1221,6 +1240,14 @@ void SpectraCamera::configICP() { bps_cdm_striping_bl.init(m, 0xa100, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, m->icp_device_iommu); + + // LUTs + /* + bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size); + */ } void SpectraCamera::configCSIPHY() { diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index d0267d340..58a9b9b90 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -172,6 +172,9 @@ public: SpectraBuf bps_cdm_striping_bl; SpectraBuf bps_iq; SpectraBuf bps_striping; + SpectraBuf bps_linearization_lut; + std::vector bps_lin_reg; + std::vector bps_ccm_reg; int buf_handle_yuv[MAX_IFE_BUFS] = {}; int buf_handle_raw[MAX_IFE_BUFS] = {}; From ec6c7cd152c04cf2a78edcf1fa8d6d4fb4dae42e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 14 Feb 2025 17:28:37 -0800 Subject: [PATCH 75/81] adjust default can_replay route slice to work with test_onroad --- tools/replay/can_replay.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index d44c44e95..13c30a62a 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -97,7 +97,7 @@ if __name__ == "__main__": args = parser.parse_args() if args.route_or_segment_name is None: - args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3" + args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/2:4" CAN_MSGS = load_route(args.route_or_segment_name) From 032f3688a2864a86227f76b070163ff9f677c02c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 14 Feb 2025 18:41:39 -0800 Subject: [PATCH 76/81] plotjuggler: opt-out log migration (#34587) * Option to migrate logs if needed * Opt-out migration * Remove late import --- tools/plotjuggler/juggle.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 7ca5c3641..925b0bdab 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -13,6 +13,7 @@ from functools import partial from opendbc.car.fingerprints import MIGRATION from openpilot.common.basedir import BASEDIR from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log +from openpilot.selfdrive.test.process_replay.migration import migrate_all juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -76,10 +77,12 @@ def process(can, lr): return [d for d in lr if can or d.which() not in ['can', 'sendcan']] -def juggle_route(route_or_segment_name, can, layout, dbc=None): +def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate): sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE) all_data = sr.run_across_segments(24, partial(process, can)) + if should_migrate: + all_data = migrate_all(all_data) # Infer DBC name from logs if dbc is None: @@ -105,6 +108,7 @@ if __name__ == "__main__": parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") parser.add_argument("--can", action="store_true", help="Parse CAN data") parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") + parser.add_argument("--no-migration", action="store_true", help="Do not perform log migration") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins") parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.") @@ -131,4 +135,4 @@ if __name__ == "__main__": start_juggler(layout=args.layout) else: route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - juggle_route(route_or_segment_name, args.can, args.layout, args.dbc) + juggle_route(route_or_segment_name, args.can, args.layout, args.dbc, not args.no_migration) From c4ee645fbce1d1b1910e350ed9b0695d11fd02e6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 14 Feb 2025 19:35:43 -0800 Subject: [PATCH 77/81] tici: move kgsl affinity to modeld core (#34588) --- system/hardware/tici/hardware.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index cdeabc5fc..d0bfa37c9 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -371,7 +371,7 @@ class Tici(HardwareBase): # *** CPU config *** - # offline big cluster, leave core 4 online for pandad + # offline big cluster for i in range(4, 8): val = '0' if powersave_enabled else '1' sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online') @@ -384,8 +384,8 @@ class Tici(HardwareBase): # *** IRQ config *** - # GPU - affine_irq(5, "kgsl-3d0") + # GPU, modeld core + affine_irq(7, "kgsl-3d0") # camerad core camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite") From 958c8d1ce36ae3a0a00429232ca36c7b93d486fd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 14 Feb 2025 21:33:50 -0800 Subject: [PATCH 78/81] Beautiful camera timings (#34558) * the start of something beautiful * mv that * cleanup * cleanup output * the good stuff --------- Co-authored-by: Comma Device --- launch_env.sh | 2 +- selfdrive/test/test_onroad.py | 12 +++---- system/hardware/tici/agnos.json | 20 +++++------ system/hardware/tici/all-partitions.json | 44 ++++++++++++------------ system/hardware/tici/hardware.py | 2 +- tools/profiling/ftrace.sh | 11 +++--- 6 files changed, 46 insertions(+), 45 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 4e731d021..330042305 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.7" + export AGNOS_VERSION="11.8" fi export STAGING_ROOT="/data/safe_staging" diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 98a800e9b..af2b4fc6e 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -214,6 +214,7 @@ class TestOnroad: assert len(big_logs) == 0, f"Log spam: {big_logs}" def test_log_sizes(self, subtests): + # TODO: this isn't super stable between different devices for f, sz in self.log_sizes.items(): rate = LOGS_SIZE[f.name]/60. minn = rate * TEST_DURATION * 0.5 @@ -313,21 +314,20 @@ class TestOnroad: def test_gpu_usage(self): assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"} - @pytest.mark.skip("TODO: enable once timings are fixed") def test_camera_frame_timings(self, subtests): result = "\n" result += "------------------------------------------------\n" - result += "----------------- SoF Timing ------------------\n" + result += "----------------- SOF Timing ------------------\n" result += "------------------------------------------------\n" for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] d_ms = np.diff(ts) / 1e6 d50 = np.abs(d_ms-50) - result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" - result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" - result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" + result += f"{name} sof delta vs 50ms: min {min(d50):.2f}ms\n" + result += f"{name} sof delta vs 50ms: max {max(d50):.2f}ms\n" + result += f"{name} sof delta vs 50ms: mean {d50.mean():.2f}ms\n" with subtests.test(camera=name): - assert max(d50) < 1.0, f"high SOF delta vs 50ms: {max(d50)}" + assert max(d50) < 5.0, f"high SOF delta vs 50ms: {max(d50)}" result += "------------------------------------------------\n" print(result) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 5c9d746d0..7844dcbf6 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316.img.xz", - "hash": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316", - "hash_raw": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316", + "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz", + "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", + "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", "size": 18475008, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "93161cec2f4dbb9e95b56b8f612c80577530e97993348dd68b06295c5a0be786" + "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20.img.xz", - "hash": "29720fbf9461c2ff7e7a064836b57202c2cc75e85f11acde0facaefe426860fb", - "hash_raw": "df46308f7255c32db1559bfa09105da42499aed84e1b52036cdb03722e73dc20", + "url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz", + "hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39", + "hash_raw": 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-339,62 +339,62 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316.img.xz", - "hash": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316", - "hash_raw": "69768d810e84183fb334a493c0a775a6fce19ed2fb57bd8716f4b5c2819c2316", + "url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz", + "hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", + "hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170", "size": 18475008, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "93161cec2f4dbb9e95b56b8f612c80577530e97993348dd68b06295c5a0be786" + "ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5" }, { "name": "system", - "url": 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"4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92" } ] \ No newline at end of file diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index d0bfa37c9..15480bab5 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -390,7 +390,7 @@ class Tici(HardwareBase): # camerad core camera_irqs = ("a5", "cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite") for n in camera_irqs: - affine_irq(5, n) + affine_irq(6, n) def get_gpu_usage_percent(self): try: diff --git a/tools/profiling/ftrace.sh b/tools/profiling/ftrace.sh index 7d5d1f5f9..57c0944ae 100755 --- a/tools/profiling/ftrace.sh +++ b/tools/profiling/ftrace.sh @@ -8,14 +8,15 @@ echo boot > trace_clock echo 1000 > buffer_size_kb # /sys/kernel/tracing/available_events -echo 1 > events/irq/enable -echo 1 > events/sched/enable -echo 1 > events/kgsl/enable -echo 1 > events/camera/enable +echo 0 > events/enable +#echo 1 > events/irq/enable +#echo 1 > events/sched/enable +#echo 1 > events/kgsl/enable +#echo 1 > events/camera/enable echo 1 > events/workqueue/enable echo > trace -sleep 5 +sleep 2 echo 0 > tracing_on cp trace /tmp/trace From ce7ff5c0e67e21175b4dfb342c5e0af7d04b7b81 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 16 Feb 2025 04:44:20 +0800 Subject: [PATCH 79/81] ui: Initial UI rewrite using pyray (spinner and text window) (#34583) * pyray init version * remove c++ code * cleanup * restruct the directory layout * improve GuiApplication * smooth out the texture after resize * use atexit to close app * rename FontSize->FontWeight * make files executable * use Inter Regular for FrontWeight.NORMAL * set FLAG_VSYNC_HINT to avoid tearing while scrolling * smoother scrolling * mange textures in gui_app --- SConstruct | 1 - scripts/lint/lint.sh | 1 - system/ui/.gitignore | 1 - system/ui/SConscript | 20 ------- system/ui/lib/__init__.py | 0 system/ui/lib/application.py | 100 ++++++++++++++++++++++++++++++++++ system/ui/lib/button.py | 14 +++++ system/ui/lib/label.py | 13 +++++ system/ui/lib/scroll_panel.py | 40 ++++++++++++++ system/ui/lib/utils.py | 17 ++++++ system/ui/raylib/raylib.h | 5 -- system/ui/raylib/spinner.cc | 66 ---------------------- system/ui/raylib/util.cc | 65 ---------------------- system/ui/raylib/util.h | 33 ----------- system/ui/spinner.py | 76 ++++++++++++++++++++++++++ system/ui/text.py | 67 +++++++++++++++++++++++ 16 files changed, 327 insertions(+), 192 deletions(-) delete mode 100644 system/ui/.gitignore delete mode 100644 system/ui/SConscript create mode 100644 system/ui/lib/__init__.py create mode 100644 system/ui/lib/application.py create mode 100644 system/ui/lib/button.py create mode 100644 system/ui/lib/label.py create mode 100644 system/ui/lib/scroll_panel.py create mode 100644 system/ui/lib/utils.py delete mode 100644 system/ui/raylib/raylib.h delete mode 100644 system/ui/raylib/spinner.cc delete mode 100644 system/ui/raylib/util.cc delete mode 100644 system/ui/raylib/util.h create mode 100755 system/ui/spinner.py create mode 100755 system/ui/text.py diff --git a/SConstruct b/SConstruct index 0f25a4253..c40f11898 100644 --- a/SConstruct +++ b/SConstruct @@ -352,7 +352,6 @@ SConscript(['rednose/SConscript']) # Build system services SConscript([ - 'system/ui/SConscript', 'system/proclogd/SConscript', 'system/ubloxd/SConscript', 'system/loggerd/SConscript', diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh index d4660face..578c63cd1 100755 --- a/scripts/lint/lint.sh +++ b/scripts/lint/lint.sh @@ -53,7 +53,6 @@ function run_tests() { run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES - run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES if [[ -z "$FAST" ]]; then run "mypy" mypy $PYTHON_FILES diff --git a/system/ui/.gitignore b/system/ui/.gitignore deleted file mode 100644 index 1d32f7d87..000000000 --- a/system/ui/.gitignore +++ /dev/null @@ -1 +0,0 @@ -spinner diff --git a/system/ui/SConscript b/system/ui/SConscript deleted file mode 100644 index eccdb7c7e..000000000 --- a/system/ui/SConscript +++ /dev/null @@ -1,20 +0,0 @@ -import subprocess - -Import('env', 'arch', 'common') - -renv = env.Clone() - -rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib') -linked_libs = ['raylib', rayutil, common] -renv['LIBPATH'] += [f'#third_party/raylib/{arch}/'] - -mac_frameworks = [] -if arch == "Darwin": - mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit'] -elif arch == 'larch64': - linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl'] -else: - linked_libs += ['OpenCL', 'dl', 'pthread'] - -if arch != 'aarch64': - renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks) diff --git a/system/ui/lib/__init__.py b/system/ui/lib/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py new file mode 100644 index 000000000..908b8e0cd --- /dev/null +++ b/system/ui/lib/application.py @@ -0,0 +1,100 @@ +import atexit +import os +import pyray as rl +from enum import IntEnum +from openpilot.common.basedir import BASEDIR + +DEFAULT_TEXT_SIZE = 60 +DEFAULT_FPS = 60 +FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts") + +class FontWeight(IntEnum): + BLACK = 0 + BOLD = 1 + EXTRA_BOLD = 2 + EXTRA_LIGHT = 3 + MEDIUM = 4 + NORMAL = 5 + SEMI_BOLD= 6 + THIN = 7 + + +class GuiApplication: + def __init__(self, width: int, height: int): + self._fonts: dict[FontWeight, rl.Font] = {} + self._width = width + self._height = height + self._textures: list[rl.Texture] = [] + + def init_window(self, title: str, fps: int=DEFAULT_FPS): + atexit.register(self.close) # Automatically call close() on exit + + rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT) + rl.init_window(self._width, self._height, title) + rl.set_target_fps(fps) + + self._set_styles() + self._load_fonts() + + def load_texture_from_image(self, file_name: str, width: int, height: int): + """Load and resize a texture, storing it for later automatic unloading.""" + image = rl.load_image(file_name) + rl.image_resize(image, width, height) + texture = rl.load_texture_from_image(image) + # Set texture filtering to smooth the result + rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) + + rl.unload_image(image) + + self._textures.append(texture) + return texture + + def close(self): + for texture in self._textures: + rl.unload_texture(texture) + + for font in self._fonts.values(): + rl.unload_font(font) + + rl.close_window() + + def font(self, font_wight: FontWeight=FontWeight.NORMAL): + return self._fonts[font_wight] + + @property + def width(self): + return self._width + + @property + def height(self): + return self._height + + def _load_fonts(self): + font_files = ( + "Inter-Black.ttf", + "Inter-Bold.ttf", + "Inter-ExtraBold.ttf", + "Inter-ExtraLight.ttf", + "Inter-Medium.ttf", + "Inter-Regular.ttf", + "Inter-SemiBold.ttf", + "Inter-Thin.ttf" + ) + + for index, font_file in enumerate(font_files): + font = rl.load_font_ex(os.path.join(FONT_DIR, font_file), 120, None, 0) + rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR) + self._fonts[index] = font + + rl.gui_set_font(self._fonts[FontWeight.NORMAL]) + + def _set_styles(self): + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0) + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE) + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK)) + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(rl.Color(200, 200, 200, 255))) + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255))) + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) + + +gui_app = GuiApplication(2160, 1080) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py new file mode 100644 index 000000000..87a11b6b4 --- /dev/null +++ b/system/ui/lib/button.py @@ -0,0 +1,14 @@ + +import pyray as rl +from openpilot.system.ui.lib.utils import GuiStyleContext + +BUTTON_DEFAULT_BG_COLOR = rl.Color(51, 51, 51, 255) + +def gui_button(rect, text, bg_color=BUTTON_DEFAULT_BG_COLOR): + styles = [ + (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE), + (rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(bg_color)) + ] + + with GuiStyleContext(styles): + return rl.gui_button(rect, text) diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py new file mode 100644 index 000000000..37b66582f --- /dev/null +++ b/system/ui/lib/label.py @@ -0,0 +1,13 @@ +import pyray as rl +from openpilot.system.ui.lib.utils import GuiStyleContext + +def gui_label(rect, text, font_size): + styles = [ + (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, font_size), + (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, font_size), + (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP), + (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD) + ] + + with GuiStyleContext(styles): + rl.gui_label(rect, text) diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py new file mode 100644 index 000000000..b8fa211ec --- /dev/null +++ b/system/ui/lib/scroll_panel.py @@ -0,0 +1,40 @@ +import pyray as rl +from cffi import FFI + +MOUSE_WHEEL_SCROLL_SPEED = 30 + +class GuiScrollPanel: + def __init__(self, bounds: rl.Rectangle, content: rl.Rectangle, show_vertical_scroll_bar: bool = False): + self._dragging: bool = False + self._last_mouse_y: float = 0.0 + self._bounds = bounds + self._content = content + self._scroll = rl.Vector2(0, 0) + self._view = rl.Rectangle(0, 0, 0, 0) + self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar + + def handle_scroll(self)-> rl.Vector2: + mouse_pos = rl.get_mouse_position() + if rl.check_collision_point_rec(mouse_pos, self._bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + if not self._dragging: + self._dragging = True + self._last_mouse_y = mouse_pos.y + + if self._dragging: + if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + delta_y = mouse_pos.y - self._last_mouse_y + self._scroll.y += delta_y + self._last_mouse_y = mouse_pos.y + else: + self._dragging = False + + wheel_move = rl.get_mouse_wheel_move() + if self._show_vertical_scroll_bar: + self._scroll.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20) + rl.gui_scroll_panel(self._bounds, FFI().NULL, self._content, self._scroll, self._view) + else: + self._scroll.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED + max_scroll_y = self._content.height - self._bounds.height + self._scroll.y = max(min(self._scroll.y, 0), -max_scroll_y) + + return self._scroll diff --git a/system/ui/lib/utils.py b/system/ui/lib/utils.py new file mode 100644 index 000000000..e6fc2ee0d --- /dev/null +++ b/system/ui/lib/utils.py @@ -0,0 +1,17 @@ +import pyray as rl + +class GuiStyleContext: + def __init__(self, styles: list[tuple[int, int, int]]): + """styles is a list of tuples (control, prop, new_value)""" + self.styles = styles + self.prev_styles: list[tuple[int, int, int]] = [] + + def __enter__(self): + for control, prop, new_value in self.styles: + prev_value = rl.gui_get_style(control, prop) + self.prev_styles.append((control, prop, prev_value)) + rl.gui_set_style(control, prop, new_value) + + def __exit__(self, exc_type, exc_value, traceback): + for control, prop, prev_value in self.prev_styles: + rl.gui_set_style(control, prop, prev_value) diff --git a/system/ui/raylib/raylib.h b/system/ui/raylib/raylib.h deleted file mode 100644 index bdd07a331..000000000 --- a/system/ui/raylib/raylib.h +++ /dev/null @@ -1,5 +0,0 @@ -#pragma once - -#define OPENPILOT_RAYLIB - -#include "third_party/raylib/include/raylib.h" diff --git a/system/ui/raylib/spinner.cc b/system/ui/raylib/spinner.cc deleted file mode 100644 index 719095363..000000000 --- a/system/ui/raylib/spinner.cc +++ /dev/null @@ -1,66 +0,0 @@ -#include -#include -#include - -#include "system/ui/raylib/util.h" - -constexpr int kProgressBarWidth = 1000; -constexpr int kProgressBarHeight = 20; -constexpr float kRotationRate = 12.0f; -constexpr int kMargin = 200; -constexpr int kTextureSize = 360; -constexpr int kFontSize = 80; - -int main(int argc, char *argv[]) { - App app("spinner", 30); - - // Turn off input buffering for std::cin - std::cin.sync_with_stdio(false); - std::cin.tie(nullptr); - - Texture2D commaTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_comma.png", kTextureSize); - Texture2D spinnerTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_track.png", kTextureSize); - - float rotation = 0.0f; - std::string userInput; - - while (!WindowShouldClose()) { - BeginDrawing(); - ClearBackground(RAYLIB_BLACK); - - rotation = fmod(rotation + kRotationRate, 360.0f); - Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f}; - const Vector2 spinnerOrigin{kTextureSize / 2.0f, kTextureSize / 2.0f}; - const Vector2 commaPosition{center.x - kTextureSize / 2.0f, center.y - kTextureSize / 2.0f}; - - // Draw rotating spinner and static comma logo - DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize}, - {center.x, center.y, (float)kTextureSize, (float)kTextureSize}, - spinnerOrigin, rotation, RAYLIB_WHITE); - DrawTextureV(commaTexture, commaPosition, RAYLIB_WHITE); - - // Check for user input - if (std::cin.rdbuf()->in_avail() > 0) { - std::getline(std::cin, userInput); - } - - // Display either a progress bar or user input text based on input - if (!userInput.empty()) { - float yPos = GetScreenHeight() - kMargin - kProgressBarHeight; - if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) { - Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight}; - DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_GRAY); - - int progress = std::clamp(std::stoi(userInput), 0, 100); - bar.width *= progress / 100.0f; - DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_RAYWHITE); - } else { - Vector2 textSize = MeasureTextEx(app.getFont(), userInput.c_str(), kFontSize, 1.0); - DrawTextEx(app.getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE); - } - } - - EndDrawing(); - } - return 0; -} diff --git a/system/ui/raylib/util.cc b/system/ui/raylib/util.cc deleted file mode 100644 index 32904bd72..000000000 --- a/system/ui/raylib/util.cc +++ /dev/null @@ -1,65 +0,0 @@ -#include "system/ui/raylib/util.h" - -#include -#include - -#undef GREEN -#undef RED -#undef YELLOW -#include "common/swaglog.h" -#include "system/hardware/hw.h" - -constexpr std::array(FontWeight::Count)> FONT_FILE_PATHS = { - "../../selfdrive/assets/fonts/Inter-Black.ttf", - "../../selfdrive/assets/fonts/Inter-Bold.ttf", - "../../selfdrive/assets/fonts/Inter-ExtraBold.ttf", - "../../selfdrive/assets/fonts/Inter-ExtraLight.ttf", - "../../selfdrive/assets/fonts/Inter-Medium.ttf", - "../../selfdrive/assets/fonts/Inter-Regular.ttf", - "../../selfdrive/assets/fonts/Inter-SemiBold.ttf", - "../../selfdrive/assets/fonts/Inter-Thin.ttf", -}; - -Texture2D LoadTextureResized(const char *fileName, int size) { - Image img = LoadImage(fileName); - ImageResize(&img, size, size); - Texture2D texture = LoadTextureFromImage(img); - return texture; -} - -App *pApp = nullptr; - -App::App(const char *title, int fps) { - // Ensure the current dir matches the exectuable's directory - auto self_path = util::readlink("/proc/self/exe"); - auto exe_dir = std::filesystem::path(self_path).parent_path(); - chdir(exe_dir.c_str()); - - Hardware::set_display_power(true); - Hardware::set_brightness(65); - - // SetTraceLogLevel(LOG_NONE); - InitWindow(2160, 1080, title); - SetTargetFPS(fps); - - // Load fonts - fonts_.reserve(FONT_FILE_PATHS.size()); - for (int i = 0; i < FONT_FILE_PATHS.size(); ++i) { - fonts_.push_back(LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250)); - } - - pApp = this; -} - -App::~App() { - for (auto &font : fonts_) { - UnloadFont(font); - } - - CloseWindow(); - pApp = nullptr; -} - -const Font &App::getFont(FontWeight weight) const { - return fonts_[static_cast(weight)]; -} diff --git a/system/ui/raylib/util.h b/system/ui/raylib/util.h deleted file mode 100644 index 5bc05ddc2..000000000 --- a/system/ui/raylib/util.h +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once - -#include -#include - -#include "system/ui/raylib/raylib.h" - -enum class FontWeight { - Normal, - Bold, - ExtraBold, - ExtraLight, - Medium, - Regular, - SemiBold, - Thin, - Count // To represent the total number of fonts -}; - -Texture2D LoadTextureResized(const char *fileName, int size); - -class App { -public: - App(const char *title, int fps); - ~App(); - const Font &getFont(FontWeight weight = FontWeight::Normal) const; - -protected: - std::vector fonts_; -}; - -// Global pointer to the App instance -extern App *pApp; diff --git a/system/ui/spinner.py b/system/ui/spinner.py new file mode 100755 index 000000000..24193ff3d --- /dev/null +++ b/system/ui/spinner.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python3 +import pyray as rl +import os +import select +import sys + +from openpilot.common.basedir import BASEDIR +from openpilot.system.ui.lib.application import gui_app + +# Constants +PROGRESS_BAR_WIDTH = 1000 +PROGRESS_BAR_HEIGHT = 20 +ROTATION_RATE = 12.0 +MARGIN = 200 +TEXTURE_SIZE = 360 +FONT_SIZE = 80 + +def clamp(value, min_value, max_value): + return max(min(value, max_value), min_value) + +def check_input_non_blocking(): + if sys.stdin in select.select([sys.stdin], [], [], 0)[0]: + return sys.stdin.readline().strip() + return "" + +def main(): + gui_app.init_window("Spinner") + + # Load textures + comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) + spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + + # Initial values + rotation = 0.0 + user_input = "" + center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) + spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) + comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) + + while not rl.window_should_close(): + rl.begin_drawing() + rl.clear_background(rl.BLACK) + + # Update rotation + rotation = (rotation + ROTATION_RATE) % 360.0 + + # Draw rotating spinner and static comma logo + rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), + rl.Rectangle(center.x, center.y, TEXTURE_SIZE, TEXTURE_SIZE), + spinner_origin, rotation, rl.WHITE) + rl.draw_texture_v(comma_texture, comma_position, rl.WHITE) + + # Read user input + if input_str := check_input_non_blocking(): + user_input = input_str + + # Display progress bar or text based on user input + if user_input: + y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT + if user_input.isdigit(): + progress = clamp(int(user_input), 0, 100) + bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) + rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY) + + bar.width *= progress / 100.0 + rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE) + else: + text_size = rl.measure_text_ex(gui_app.font(), user_input, FONT_SIZE, 1.0) + rl.draw_text_ex(gui_app.font(), user_input, + rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) + + rl.end_drawing() + + +if __name__ == "__main__": + main() diff --git a/system/ui/text.py b/system/ui/text.py new file mode 100755 index 000000000..82c19e5b5 --- /dev/null +++ b/system/ui/text.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +import sys +import pyray as rl + +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel +from openpilot.system.ui.lib.application import gui_app + +MARGIN = 50 +SPACING = 50 +FONT_SIZE = 60 +LINE_HEIGHT = 64 +BUTTON_SIZE = rl.Vector2(310, 160) + +DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary. + The text is long enough to demonstrate scrolling and word wrapping.""" * 20 + +def wrap_text(text, font_size, max_width): + lines = [] + current_line = "" + font = gui_app.font() + + for word in text.split(): + test_line = current_line + word + " " + if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width: + current_line = test_line + else: + lines.append(current_line) + current_line = word + " " + if current_line: + lines.append(current_line) + + return lines + + +def main(): + gui_app.init_window("Text") + + text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT + + textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2 - BUTTON_SIZE.y - SPACING) + wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20) + content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT) + scroll_panel = GuiScrollPanel(textarea_rect, content_rect, show_vertical_scroll_bar=True) + + while not rl.window_should_close(): + rl.begin_drawing() + rl.clear_background(rl.BLACK) + + scroll = scroll_panel.handle_scroll() + + rl.begin_scissor_mode(int(textarea_rect.x), int(textarea_rect.y), int(textarea_rect.width), int(textarea_rect.height)) + for i, line in enumerate(wrapped_lines): + position = rl.Vector2(textarea_rect.x + scroll.x, textarea_rect.y + scroll.y + i * LINE_HEIGHT) + rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) + rl.end_scissor_mode() + + button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) + if gui_button(button_bounds, "Reboot"): + HARDWARE.reboot() + + rl.end_drawing() + + +if __name__ == "__main__": + main() From e86dbb622dbb66c9ec093aa7d531b56f66cfbf58 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Feb 2025 15:16:39 -0800 Subject: [PATCH 80/81] update release notes --- RELEASES.md | 27 +++++++++++++-------------- 1 file changed, 13 insertions(+), 14 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index d326af1d0..ec7d488be 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,23 +1,22 @@ -Version 0.9.9 (2025-03-30) +Version 0.9.8 (2025-02-27) ======================== +* New driving model + * Model now gates applying positive acceleration in Chill mode +* New driving monitoring model + * Reduced false positives related to passengers +* Image processing pipeline moved to the ISP + * More GPU time for bigger driving models + * Power draw reduced 0.5W, which means your device runs cooler +* Added toggle to enable driver monitoring even when openpilot is not engaged +* FIREHOSE mode + * Allows you to maximize your training data uploads to improve the models +* Enable openpilot longitudinal control for Ford Q3 vehicles +* New Toyota TSS2 longitudinal tune * Coming soon * Rivian support * F-150 & Mach-E support * Tesla Model 3 support -Version 0.9.8 (2025-01-30) -======================== -* New driving monitoring model - * Reduced false positives related to passengers -* Image processing pipeline moved to the ISP - * More GPU time for driving models - * Power draw reduced 0.5W, which means your device runs cooler -* Added toggle to enable driver monitoring even when openpilot is not engaged -* Enable openpilot longitudinal control for Ford Q3 vehicles -* New Toyota TSS2 longitudinal tune -* Coming soon - * New driving model with gas gating - * Training data upload mode Version 0.9.7 (2024-06-13) ======================== From 917b45afd011c91f1d3d988fcf0a7f9201af070c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Feb 2025 15:17:58 -0800 Subject: [PATCH 81/81] Remove EncodeIdx packets from qlog (#34590) --- cereal/services.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal/services.py b/cereal/services.py index aad83177b..47a4ffd6a 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -29,7 +29,7 @@ _services: dict[str, tuple] = { "pandaStates": (True, 10., 1), "peripheralState": (True, 2., 1), "radarState": (True, 20., 5), - "roadEncodeIdx": (False, 20., 1), + "roadEncodeIdx": (False, 20., 20), "liveTracks": (True, 20.), "sendcan": (True, 100., 139), "logMessage": (True, 0.), @@ -58,10 +58,10 @@ _services: dict[str, tuple] = { "carParams": (True, 0.02, 1), "roadCameraState": (True, 20., 20), "driverCameraState": (True, 20., 20), - "driverEncodeIdx": (False, 20., 1), + "driverEncodeIdx": (False, 20., 20), "driverStateV2": (True, 20., 10), "driverMonitoringState": (True, 20., 10), - "wideRoadEncodeIdx": (False, 20., 1), + "wideRoadEncodeIdx": (False, 20., 20), "wideRoadCameraState": (True, 20., 20), "drivingModelData": (True, 20., 10), "modelV2": (True, 20.),