From 713c02cc3f2fdf99bcf5d6080223410245496d31 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 27 Jun 2025 22:28:59 -0700 Subject: [PATCH 01/54] Torque control: more integrator (#35610) * Torque control: more integrator * bump opendbc * update ref --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index bedcb8966..fb5ac6d30 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bedcb896644528aed6af448e63eeadb3dd8b2c77 +Subproject commit fb5ac6d304fb0688763f20868039e4d8444d5dd0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f83923809..87a679cfb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f440c9e0469d32d350aa99ddaa8f44591a2ce690 \ No newline at end of file +f6e0fd7806bc903b5f82123eccaf42e2b9a38891 \ No newline at end of file From 0f1a9d5c8ccaec3916aa801f9ef02d82bd1af27f Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Sat, 28 Jun 2025 21:30:13 +0300 Subject: [PATCH 02/54] webcam: changes for comma zero (#35464) * Revert "webcam: remove other cv2 usage (#33236)" This reverts commit 0cade540158f1dadfb045f9fb40b06b7c48c545d. * Revert "remove cv2 usage (#33101)" This reverts commit 144e9e271c155c3a7702f62445ad2303ae057c50. * Revert "remove opencv-python-headless (#33082)" This reverts commit 488e08507a6a86921d9ef4546a36e3d6ef85a8f8. * webcam: set width, height, fps; flip image; use av reformat * 1280x720 @ 25fps --- tools/webcam/camera.py | 9 +++++++++ tools/webcam/camerad.py | 4 ++-- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py index 45f937903..7926766c6 100644 --- a/tools/webcam/camera.py +++ b/tools/webcam/camera.py @@ -11,7 +11,14 @@ class Camera: self.stream_type = stream_type self.cur_frame_id = 0 + print(f"Opening {cam_type_state} at {camera_id}") + self.cap = cv.VideoCapture(camera_id) + + self.cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280.0) + self.cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720.0) + self.cap.set(cv.CAP_PROP_FPS, 25.0) + self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH) self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT) @@ -25,6 +32,8 @@ class Camera: ret, frame = self.cap.read() if not ret: break + # Rotate the frame 180 degrees (flip both axes) + frame = cv.flip(frame, -1) yuv = Camera.bgr2nv12(frame) yield yuv.data.tobytes() self.cap.release() diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index cb096dc00..f1e70d948 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import threading import os +import platform from collections import namedtuple from msgq.visionipc import VisionIpcServer, VisionStreamType @@ -30,8 +31,7 @@ class Camerad: self.cameras = [] for c in CAMERAS: - cam_device = f"/dev/video{c.cam_id}" - print(f"opening {c.msg_name} at {cam_device}") + cam_device = f"/dev/video{c.cam_id}" if platform.system() != "Darwin" else c.cam_id cam = Camera(c.msg_name, c.stream_type, cam_device) self.cameras.append(cam) self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H) From 9e2fc078cb1fbcfcbf8a25813da4eb943112ec4e Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Sun, 29 Jun 2025 18:13:28 +0300 Subject: [PATCH 03/54] remove thneed from gitignore (#35615) --- .gitignore | 2 -- 1 file changed, 2 deletions(-) diff --git a/.gitignore b/.gitignore index 40438f5fd..ac4021529 100644 --- a/.gitignore +++ b/.gitignore @@ -70,8 +70,6 @@ flycheck_* cppcheck_report.txt comma*.sh -selfdrive/modeld/thneed/compile -selfdrive/modeld/models/*.thneed selfdrive/modeld/models/*.pkl *.bz2 From c3c5992f88bccfec377c0470bc35b5b0ee2d3739 Mon Sep 17 00:00:00 2001 From: eFini Date: Mon, 30 Jun 2025 05:37:51 +0800 Subject: [PATCH 04/54] modeld: avoid using USB GPU on a AMD laptop (#35602) modeld: avoid using usb GPU if 'USBGPU' is not in os.environ Co-authored-by: Adeeb Shihadeh --- selfdrive/modeld/SConscript | 26 ++++++++++++-------------- 1 file changed, 12 insertions(+), 14 deletions(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 545fcdcff..0da3c24e1 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -56,17 +56,15 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: tg_compile(flags, model_name) # Compile BIG model if USB GPU is available -import subprocess -from tinygrad import Device - -# because tg doesn't support multi-process -devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath) -if b"AMD" in devs: - del Device - print("USB GPU detected... building") - flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0" - bp = tg_compile(flags, "big_driving_policy") - bv = tg_compile(flags, "big_driving_vision") - lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially -else: - print("USB GPU not detected... skipping") +if "USBGPU" in os.environ: + import subprocess + # because tg doesn't support multi-process + devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath) + if b"AMD" in devs: + print("USB GPU detected... building") + flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0" + bp = tg_compile(flags, "big_driving_policy") + bv = tg_compile(flags, "big_driving_vision") + lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially + else: + print("USB GPU not detected... skipping") From 41f95dc5815e42e6bc884c0ace42084f178dc558 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 30 Jun 2025 09:09:24 -0700 Subject: [PATCH 05/54] separate stale thresholds for draft PRs --- .github/workflows/stale.yaml | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index d0dead512..581f915f1 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -7,6 +7,7 @@ on: env: DAYS_BEFORE_PR_CLOSE: 2 DAYS_BEFORE_PR_STALE: 9 + DAYS_BEFORE_PR_STALE: 30 jobs: stale: @@ -24,6 +25,28 @@ jobs: exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} + exempt-draft-pr: false + + # issue config + days-before-issue-stale: -1 # ignore issues for now + + # same as above, but give draft PRs more time + stale_drafts: + runs-on: ubuntu-latest + steps: + - uses: actions/stale@v9 + with: + exempt-all-milestones: true + + # pull request config + stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' + close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' + stale-pr-label: stale + delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo + exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale + days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} + days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} + exempt-draft-pr: true # issue config days-before-issue-stale: -1 # ignore issues for now From 082f4c0aee65ed59d9692f6484f3bd618f79c57f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 30 Jun 2025 11:50:34 -0700 Subject: [PATCH 06/54] micd: deprecate unused field (#35618) deprecate --- cereal/log.capnp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index c569eeeaf..4dc6f103f 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2476,7 +2476,8 @@ struct Microphone { # uncalibrated, A-weighted soundPressureWeighted @3 :Float32; soundPressureWeightedDb @1 :Float32; - filteredSoundPressureWeightedDb @2 :Float32; + + filteredSoundPressureWeightedDbDEPRECATED @2 :Float32; } struct Touch { From dcd56ae09a672e4edc8b0b0fd4040b9b913a4eae Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Mon, 30 Jun 2025 13:42:21 -0700 Subject: [PATCH 07/54] store mic audio with toggle (#35595) * store/send mic audio with toggle * script to extract audio from logs * change description and add translation placeholders * microphone icon * apply toggle in loggerd * add legnth and counter * startFrameIdx counter * Revert "change description and add translation placeholders" This reverts commit 7baa1f6de99c6ebe9f9906193da7e83dad79511a. * send mic data first and then calc * restore changed description/icon after revert * adjust fft samples to keep old time window * remove extract_audio.py since audio is now stored in qcam isntead of rlog * qt microphone recording icon * Revert "remove extract_audio.py since audio is now stored in qcam isntead of rlog" This reverts commit 7a3a75bd8db5376d1e442a3ba931c67550b5f132. * move extract_audio script and output file by default * remove length field * recording indicator swaps sides based on lhd/rhd * use record icon from comma body * Update toggle description Co-authored-by: Adeeb Shihadeh * update raylib toggle desc cause I did earlier * microphone --> soundPressure, audioData --> rawAudioData * cleanup unused var * update README * sidebar mic indicator instead of annotated camera * improve logic readability * remove startFrameIdx and sequenceNum * use Q_PROPERTY/setProperty so that update() is actually called on value change * specify old id for SoundPressure * fix typo --------- Co-authored-by: Adeeb Shihadeh --- README.md | 2 +- cereal/log.capnp | 10 ++- cereal/services.py | 3 +- common/params_keys.h | 1 + selfdrive/assets/icons/microphone.png | 3 + selfdrive/ui/layouts/settings/toggles.py | 7 +++ selfdrive/ui/qt/offroad/settings.cc | 7 +++ selfdrive/ui/qt/sidebar.cc | 22 ++++++- selfdrive/ui/qt/sidebar.h | 6 +- selfdrive/ui/soundd.py | 6 +- selfdrive/ui/ui.cc | 3 + selfdrive/ui/ui.h | 2 +- system/loggerd/loggerd.cc | 26 ++++---- system/micd.py | 24 +++++--- tools/scripts/extract_audio.py | 77 ++++++++++++++++++++++++ 15 files changed, 165 insertions(+), 34 deletions(-) create mode 100644 selfdrive/assets/icons/microphone.png create mode 100755 tools/scripts/extract_audio.py diff --git a/README.md b/README.md index 250f9d36d..17238b5c3 100644 --- a/README.md +++ b/README.md @@ -103,7 +103,7 @@ By default, openpilot uploads the driving data to our servers. You can also acce openpilot is open source software: the user is free to disable data collection if they wish to do so. openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. -The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. +The driver-facing camera and microphone are only logged if you explicitly opt-in in settings. By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. diff --git a/cereal/log.capnp b/cereal/log.capnp index 4dc6f103f..a754b9ef0 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2470,7 +2470,7 @@ struct DebugAlert { struct UserFlag { } -struct Microphone { +struct SoundPressure @0xdc24138990726023 { soundPressure @0 :Float32; # uncalibrated, A-weighted @@ -2480,6 +2480,11 @@ struct Microphone { filteredSoundPressureWeightedDbDEPRECATED @2 :Float32; } +struct AudioData { + data @0 :Data; + sampleRate @1 :UInt32; +} + struct Touch { sec @0 :Int64; usec @1 :Int64; @@ -2557,7 +2562,8 @@ struct Event { livestreamDriverEncodeIdx @119 :EncodeIndex; # microphone data - microphone @103 :Microphone; + soundPressure @103 :SoundPressure; + rawAudioData @147 :AudioData; # systems stuff androidLog @20 :AndroidLogEntry; diff --git a/cereal/services.py b/cereal/services.py index 82fc04bd0..a13fc810f 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -73,7 +73,8 @@ _services: dict[str, tuple] = { "navThumbnail": (True, 0.), "qRoadEncodeIdx": (False, 20.), "userFlag": (True, 0., 1), - "microphone": (True, 10., 10), + "soundPressure": (True, 10., 10), + "rawAudioData": (False, 20.), # debug "uiDebug": (True, 0., 1), diff --git a/common/params_keys.h b/common/params_keys.h index 3fd4e1b6a..fa6146f3c 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -99,6 +99,7 @@ inline static std::unordered_map keys = { {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, {"PrimeType", PERSISTENT}, + {"RecordAudio", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"SecOCKey", PERSISTENT | DONT_LOG}, diff --git a/selfdrive/assets/icons/microphone.png b/selfdrive/assets/icons/microphone.png new file mode 100644 index 000000000..6cb9cc025 --- /dev/null +++ b/selfdrive/assets/icons/microphone.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fc1f7f31d41f26ea7d6f52b3096f7a91844a3b897bc233a8489253c46f0403b +size 6324 diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index 5c1708276..a5e383cc0 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -22,6 +22,7 @@ DESCRIPTIONS = { "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.", 'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", "IsMetric": "Display speed in km/h instead of mph.", + "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.", } @@ -77,6 +78,12 @@ class TogglesLayout(Widget): toggle_item( "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png" ), + toggle_item( + "Record Microphone Audio", + DESCRIPTIONS["RecordAudio"], + self._params.get_bool("RecordAudio"), + icon="microphone.png", + ), ] self._scroller = Scroller(items, line_separator=True, spacing=0) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index d6338063f..788672822 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/metric.png", false, }, + { + "RecordAudio", + tr("Record Microphone Audio"), + tr("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."), + "../assets/icons/microphone.png", + true, + }, }; diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 966396edc..e3b83573d 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -24,10 +24,11 @@ void Sidebar::drawMetric(QPainter &p, const QPair &label, QCol p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second); } -Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) { +Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), mic_indicator_pressed(false) { home_img = loadPixmap("../assets/images/button_home.png", home_btn.size()); flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size()); settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); + mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30)); connect(this, &Sidebar::valueChanged, [=] { update(); }); @@ -47,12 +48,15 @@ void Sidebar::mousePressEvent(QMouseEvent *event) { } else if (settings_btn.contains(event->pos())) { settings_pressed = true; update(); + } else if (recording_audio && mic_indicator_btn.contains(event->pos())) { + mic_indicator_pressed = true; + update(); } } void Sidebar::mouseReleaseEvent(QMouseEvent *event) { - if (flag_pressed || settings_pressed) { - flag_pressed = settings_pressed = false; + if (flag_pressed || settings_pressed || mic_indicator_pressed) { + flag_pressed = settings_pressed = mic_indicator_pressed = false; update(); } if (onroad && home_btn.contains(event->pos())) { @@ -61,6 +65,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { pm->send("userFlag", msg); } else if (settings_btn.contains(event->pos())) { emit openSettings(); + } else if (recording_audio && mic_indicator_btn.contains(event->pos())) { + emit openSettings(2, "RecordAudio"); } } @@ -106,6 +112,8 @@ void Sidebar::updateState(const UIState &s) { pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color}; } setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); + + setProperty("recordingAudio", s.scene.recording_audio); } void Sidebar::paintEvent(QPaintEvent *event) { @@ -120,6 +128,14 @@ void Sidebar::paintEvent(QPaintEvent *event) { p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0); p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img); + if (recording_audio) { + p.setBrush(danger_color); + p.setOpacity(mic_indicator_pressed ? 0.65 : 1.0); + p.drawRoundedRect(mic_indicator_btn, mic_indicator_btn.height() / 2, mic_indicator_btn.height() / 2); + int icon_x = mic_indicator_btn.x() + (mic_indicator_btn.width() - mic_img.width()) / 2; + int icon_y = mic_indicator_btn.y() + (mic_indicator_btn.height() - mic_img.height()) / 2; + p.drawPixmap(icon_x, icon_y, mic_img); + } p.setOpacity(1.0); // network diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 2091418e5..f05a4ab20 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -18,6 +18,7 @@ class Sidebar : public QFrame { Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged); Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged); Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged); + Q_PROPERTY(bool recordingAudio MEMBER recording_audio NOTIFY valueChanged); public: explicit Sidebar(QWidget* parent = 0); @@ -36,8 +37,8 @@ protected: void mouseReleaseEvent(QMouseEvent *event) override; void drawMetric(QPainter &p, const QPair &label, QColor c, int y); - QPixmap home_img, flag_img, settings_img; - bool onroad, flag_pressed, settings_pressed; + QPixmap home_img, flag_img, settings_img, mic_img; + bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed; const QMap network_type = { {cereal::DeviceState::NetworkType::NONE, tr("--")}, {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")}, @@ -50,6 +51,7 @@ protected: const QRect home_btn = QRect(60, 860, 180, 180); const QRect settings_btn = QRect(50, 35, 200, 117); + const QRect mic_indicator_btn = QRect(158, 252, 75, 40); const QColor good_color = QColor(255, 255, 255); const QColor warning_color = QColor(218, 202, 37); const QColor danger_color = QColor(201, 34, 49); diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index 8b5fc8bd0..13f3b2209 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -135,7 +135,7 @@ class Soundd: # sounddevice must be imported after forking processes import sounddevice as sd - sm = messaging.SubMaster(['selfdriveState', 'microphone']) + sm = messaging.SubMaster(['selfdriveState', 'soundPressure']) with self.get_stream(sd) as stream: rk = Ratekeeper(20) @@ -144,8 +144,8 @@ class Soundd: while True: sm.update(0) - if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert - self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb) + if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert + self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb) self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) self.get_audible_alert(sm) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 79a245a0e..4f8bd7ddf 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -60,6 +60,9 @@ static void update_state(UIState *s) { scene.light_sensor = -1; } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; + + auto params = Params(); + scene.recording_audio = params.getBool("RecordAudio") && scene.started; } void ui_update_params(UIState *s) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index fd2aee771..b3c482aaf 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -58,7 +58,7 @@ typedef struct UIScene { cereal::LongitudinalPersonality personality; float light_sensor = -1; - bool started, ignition, is_metric; + bool started, ignition, is_metric, recording_audio; uint64_t started_frame; } UIScene; diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 2d2d4640e..898216e5b 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -226,19 +226,21 @@ void loggerd_thread() { for (const auto& [_, it] : services) { const bool encoder = util::ends_with(it.name, "EncodeData"); const bool livestream_encoder = util::starts_with(it.name, "livestream"); - if (!it.should_log && (!encoder || livestream_encoder)) continue; - LOGD("logging %s", it.name.c_str()); + const bool record_audio = (it.name == "rawAudioData") && Params().getBool("RecordAudio"); + if (it.should_log || (encoder && !livestream_encoder) || record_audio) { + LOGD("logging %s", it.name.c_str()); - SubSocket * sock = SubSocket::create(ctx.get(), it.name); - assert(sock != NULL); - poller->registerSocket(sock); - service_state[sock] = { - .name = it.name, - .counter = 0, - .freq = it.decimation, - .encoder = encoder, - .user_flag = it.name == "userFlag", - }; + SubSocket * sock = SubSocket::create(ctx.get(), it.name); + assert(sock != NULL); + poller->registerSocket(sock); + service_state[sock] = { + .name = it.name, + .counter = 0, + .freq = it.decimation, + .encoder = encoder, + .user_flag = it.name == "userFlag", + }; + } } LoggerdState s; diff --git a/system/micd.py b/system/micd.py index 38f3225f5..02ef82390 100755 --- a/system/micd.py +++ b/system/micd.py @@ -9,10 +9,10 @@ from openpilot.common.retry import retry from openpilot.common.swaglog import cloudlog RATE = 10 -FFT_SAMPLES = 4096 +FFT_SAMPLES = 1600 # 100ms REFERENCE_SPL = 2e-5 # newtons/m^2 -SAMPLE_RATE = 44100 -SAMPLE_BUFFER = 4096 # approx 100ms +SAMPLE_RATE = 16000 +SAMPLE_BUFFER = 800 # 50ms @cache @@ -45,7 +45,7 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray: class Mic: def __init__(self): self.rk = Ratekeeper(RATE) - self.pm = messaging.PubMaster(['microphone']) + self.pm = messaging.PubMaster(['soundPressure', 'rawAudioData']) self.measurements = np.empty(0) @@ -61,12 +61,12 @@ class Mic: sound_pressure_weighted = self.sound_pressure_weighted sound_pressure_level_weighted = self.sound_pressure_level_weighted - msg = messaging.new_message('microphone', valid=True) - msg.microphone.soundPressure = float(sound_pressure) - msg.microphone.soundPressureWeighted = float(sound_pressure_weighted) - msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted) + msg = messaging.new_message('soundPressure', valid=True) + msg.soundPressure.soundPressure = float(sound_pressure) + msg.soundPressure.soundPressureWeighted = float(sound_pressure_weighted) + msg.soundPressure.soundPressureWeightedDb = float(sound_pressure_level_weighted) - self.pm.send('microphone', msg) + self.pm.send('soundPressure', msg) self.rk.keep_time() def callback(self, indata, frames, time, status): @@ -76,6 +76,12 @@ class Mic: Logged A-weighted equivalents are rough approximations of the human-perceived loudness. """ + msg = messaging.new_message('rawAudioData', valid=True) + audio_data_int_16 = (indata[:, 0] * 32767).astype(np.int16) + msg.rawAudioData.data = audio_data_int_16.tobytes() + msg.rawAudioData.sampleRate = SAMPLE_RATE + self.pm.send('rawAudioData', msg) + with self.lock: self.measurements = np.concatenate((self.measurements, indata[:, 0])) diff --git a/tools/scripts/extract_audio.py b/tools/scripts/extract_audio.py new file mode 100755 index 000000000..2a6ad9f9e --- /dev/null +++ b/tools/scripts/extract_audio.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python3 +import os +import sys +import wave +import argparse +import numpy as np + +from openpilot.tools.lib.logreader import LogReader, ReadMode + + +def extract_audio(route_or_segment_name, output_file=None, play=False): + lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE) + audio_messages = list(lr.filter("rawAudioData")) + if not audio_messages: + print("No rawAudioData messages found in logs") + return + sample_rate = audio_messages[0].sampleRate + + audio_chunks = [] + total_frames = 0 + for msg in audio_messages: + audio_array = np.frombuffer(msg.data, dtype=np.int16) + audio_chunks.append(audio_array) + total_frames += len(audio_array) + full_audio = np.concatenate(audio_chunks) + + print(f"Found {total_frames} frames from {len(audio_messages)} audio messages at {sample_rate} Hz") + + if output_file: + if write_wav_file(output_file, full_audio, sample_rate): + print(f"Audio written to {output_file}") + else: + print("Audio extraction canceled.") + if play: + play_audio(full_audio, sample_rate) + + +def write_wav_file(filename, audio_data, sample_rate): + if os.path.exists(filename): + if input(f"File '{filename}' exists. Overwrite? (y/N): ").lower() not in ['y', 'yes']: + return False + + with wave.open(filename, 'wb') as wav_file: + wav_file.setnchannels(1) # Mono + wav_file.setsampwidth(2) # 16-bit + wav_file.setframerate(sample_rate) + wav_file.writeframes(audio_data.tobytes()) + return True + + +def play_audio(audio_data, sample_rate): + try: + import sounddevice as sd + + print("Playing audio... Press Ctrl+C to stop") + sd.play(audio_data, sample_rate) + sd.wait() + except KeyboardInterrupt: + print("\nPlayback stopped") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Extract audio data from openpilot logs") + parser.add_argument("-o", "--output", help="Output WAV file path") + parser.add_argument("--play", action="store_true", help="Play audio with sounddevice") + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name") + + if len(sys.argv) == 1: + parser.print_help() + sys.exit() + args = parser.parse_args() + + output_file = args.output + if not args.output and not args.play: + output_file = "extracted_audio.wav" + + extract_audio(args.route_or_segment_name.strip(), output_file, args.play) From 08be179b8f9d641315087a987a88e3eb5eb460bf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 30 Jun 2025 13:44:02 -0700 Subject: [PATCH 08/54] update release notes --- RELEASES.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 91652d6dc..e4ed90c17 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,9 @@ -Version 0.9.10 (2025-06-30) +Version 0.9.10 (2025-07-07) ======================== +* New driving model + * Lead car ground-truth fixes + * Ported over VAE from the MLSIM stack +* Opt-in audio recording for dashcam video Version 0.9.9 (2025-05-23) ======================== From f79f7b6584c3df41d5d3c2d67df1ae5aef2b0544 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 30 Jun 2025 14:50:25 -0700 Subject: [PATCH 09/54] sensord: fix temp scale (#35621) --- system/sensord/sensors/lsm6ds3_temp.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py index 7d7b1c2ce..b9bb9fe3d 100644 --- a/system/sensord/sensors/lsm6ds3_temp.py +++ b/system/sensord/sensors/lsm6ds3_temp.py @@ -7,10 +7,10 @@ from openpilot.system.sensord.sensors.i2c_sensor import Sensor class LSM6DS3_Temp(Sensor): @property def device_address(self) -> int: - return 0x6A # Default I2C address for LSM6DS3 + return 0x6A def _read_temperature(self) -> float: - scale = 16.0 if log.SensorEventData.SensorSource.lsm6ds3 else 256.0 + scale = 16.0 if self.source == log.SensorEventData.SensorSource.lsm6ds3 else 256.0 data = self.read(0x20, 2) return 25 + (self.parse_16bit(data[0], data[1]) / scale) From 5c560377428bc0b28fa2fbb3ba60d8f6dda2c231 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 30 Jun 2025 15:07:53 -0700 Subject: [PATCH 10/54] [bot] Update Python packages (#35617) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- tinygrad_repo | 2 +- uv.lock | 1254 ++++++++++++++++++++++++------------------------- 3 files changed, 626 insertions(+), 632 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index fb5ac6d30..fdb4fb193 160000 --- a/opendbc_repo +++ b/opendbc_repo 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deletion(-) diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index 581f915f1..823df2b58 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -7,7 +7,7 @@ on: env: DAYS_BEFORE_PR_CLOSE: 2 DAYS_BEFORE_PR_STALE: 9 - DAYS_BEFORE_PR_STALE: 30 + DAYS_BEFORE_PR_STALE_DRAFT: 30 jobs: stale: From a5630eb7b7b868e82d9cd6e5041736dccb0acc78 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 2 Jul 2025 21:25:08 -0700 Subject: [PATCH 12/54] Bump opendbc * bronco special * ignore low speed * fixes * update ref * bump * update ref --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index fdb4fb193..33842a09a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit fdb4fb1935d494497c94f334e9a0fc51c2e0a142 +Subproject commit 33842a09ac54d2b6dc53a2afcc97841495a795cd diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 87a679cfb..ea3b0bfb7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f6e0fd7806bc903b5f82123eccaf42e2b9a38891 \ No newline at end of file +502c90d4859d2529ae2adf7097d575852673be74 \ No newline at end of file From 64fd3f986081ba6cb488d02e799845367add29e2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 2 Jul 2025 21:50:55 -0700 Subject: [PATCH 13/54] Tomb Raider 14 (#35620) * f7db6a09-43c5-4db9-b856-7fe1a1c231eb/400 * bd99d079-9afb-4af5-9f31-236d5c9ff15f/400 * aggressive tr: 7707a4ca-7d5e-47a2-8760-93b5004695cd/400 * bd99d079-9afb-4af5-9f31-236d5c9ff15f/400 * ae82d7a8-b74d-43b5-ab6d-d72e6040dab3/400 * revert stop distance * comments --- selfdrive/controls/lib/longitudinal_planner.py | 18 ++++++++++++++---- selfdrive/modeld/fill_model_msg.py | 7 ------- selfdrive/modeld/modeld.py | 14 +++++++++----- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 13 ++++++------- 6 files changed, 33 insertions(+), 27 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 9d71faeca..f5c273cf1 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -52,6 +52,7 @@ class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc(dt=dt) + # TODO remove mpc modes when TR released self.mpc.mode = 'acc' self.fcw = False self.dt = dt @@ -90,7 +91,7 @@ class LongitudinalPlanner: return x, v, a, j, throttle_prob def update(self, sm): - self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' + self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc' if len(sm['carControl'].orientationNED) == 3: accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) @@ -113,7 +114,7 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - if self.mpc.mode == 'acc': + if self.mode == 'acc': accel_clip = [ACCEL_MIN, get_max_accel(v_ego)] steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP) @@ -127,7 +128,7 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) - # Compute model v_ego error + # TODO v_model_error is deprecated with TR self.v_model_error = get_speed_error(sm['modelV2'], v_ego) x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) # Don't clip at low speeds since throttle_prob doesn't account for creep @@ -160,8 +161,17 @@ class LongitudinalPlanner: 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, CONTROL_N_T_IDX, + output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping) + output_a_target_e2e = sm['modelV2'].action.desiredAcceleration + output_should_stop_e2e = sm['modelV2'].action.shouldStop + + if self.mode == 'acc': + output_a_target = output_a_target_mpc + self.output_should_stop = output_should_stop_mpc + else: + output_a_target = min(output_a_target_mpc, output_a_target_e2e) + self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc 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) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a91c6395c..a2b54b420 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -89,13 +89,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T) fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) - # temporal pose - temporal_pose = modelV2.temporalPose - 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/modeld.py b/selfdrive/modeld/modeld.py index ac88dfbb5..365cfd33c 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -31,7 +31,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value +from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -46,8 +46,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -LAT_SMOOTH_SECONDS = 0.0 -LONG_SMOOTH_SECONDS = 0.0 +LAT_SMOOTH_SECONDS = 0.1 +LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 @@ -60,7 +60,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. action_t=long_action_t) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) - desired_curvature = model_output['desired_curvature'][0, 0] + desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2], + plan[:,Plan.ORIENTATION_RATE][:,2], + ModelConstants.T_IDXS, + v_ego, + lat_action_t) if v_ego > MIN_LAT_CONTROL_SPEED: desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS) else: @@ -174,7 +178,7 @@ class ModelState: # TODO model only uses last value now self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] - self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] + self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 343c3a0aa..2fb716997 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f714fb38bcd44b5d9f44e3a8e1595e1dfdf7558f0eec3485cf3f2dbb6dc7d8d -size 15971805 +oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a +size 15583374 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 924d11304..fe636fb68 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3ac4867fbc618037e8d03143edbfeeae960f2025644b5dcf36c6665271b4f874 -size 34883375 +oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9 +size 46265993 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 810c44ccb..783572d43 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -88,6 +88,12 @@ class Parser: self.parse_mdn('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('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + 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('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + for k in ['lead_prob', 'lane_lines_prob']: + self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs @@ -95,17 +101,10 @@ class Parser: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) - self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - 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('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_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)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs From e503e657bc06bd6c47a290f62fe0984af58b1b16 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 2 Jul 2025 23:36:41 -0700 Subject: [PATCH 14/54] Model error deprecated with TR (#35628) * Model error deprecated with TR * no get speed error * import --- cereal/log.capnp | 2 +- selfdrive/controls/lib/drive_helpers.py | 9 --------- selfdrive/controls/lib/longitudinal_planner.py | 13 +++++-------- 3 files changed, 6 insertions(+), 18 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index a754b9ef0..7f41cffa1 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1083,7 +1083,7 @@ struct ModelDataV2 { confidence @23: ConfidenceClass; # Model perceived motion - temporalPose @21 :Pose; + temporalPoseDEPRECATED @21 :Pose; # e2e lateral planner action @26: Action; diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 56eeac3bd..51eb694b4 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,5 +1,4 @@ import numpy as np -from cereal import log from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.common.realtime import DT_CTRL, DT_MDL @@ -40,14 +39,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll): return float(new_curvature), limited_accel or limited_max_curv -def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: - # ToDo: Try relative error, and absolute speed - if len(modelV2.temporalPose.trans): - vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR) - return float(vel_err) - return 0.0 - - def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05): if len(speeds) == len(t_idxs): v_now = speeds[0] diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index f5c273cf1..ba622416a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET from openpilot.common.swaglog import cloudlog @@ -61,7 +61,6 @@ 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 @@ -71,12 +70,12 @@ class LongitudinalPlanner: self.solverExecutionTime = 0.0 @staticmethod - def parse_model(model_msg, model_error): + def parse_model(model_msg): if (len(model_msg.position.x) == ModelConstants.IDX_N and len(model_msg.velocity.x) == ModelConstants.IDX_N and len(model_msg.acceleration.x) == ModelConstants.IDX_N): - x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC - v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error + x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) + v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) j = np.zeros(len(T_IDXS_MPC)) else: @@ -128,9 +127,7 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) - # TODO v_model_error is deprecated with TR - self.v_model_error = get_speed_error(sm['modelV2'], v_ego) - x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2']) # Don't clip at low speeds since throttle_prob doesn't account for creep self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED From 2183b4ca7baa4c09f8d0625df64e332ee6354ae2 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Thu, 3 Jul 2025 19:06:55 +0200 Subject: [PATCH 15/54] Add support for generating clang compilation database by default (#35629) compilation db by default --- SConstruct | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/SConstruct b/SConstruct index d5051c8fb..83ff9cbf0 100644 --- a/SConstruct +++ b/SConstruct @@ -39,10 +39,6 @@ AddOption('--clazy', action='store_true', help='build with clazy') -AddOption('--compile_db', - action='store_true', - help='build clang compilation database') - AddOption('--ccflags', action='store', type='string', @@ -214,8 +210,7 @@ if arch == "Darwin": darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]] env["LINKFLAGS"] += darwin_rpath_link_flags -if GetOption('compile_db'): - env.CompilationDatabase('compile_commands.json') +env.CompilationDatabase('compile_commands.json') # Setup cache dir cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache' From 7e4c9ee612d4d1b3acd380379126e949bf89bba9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 3 Jul 2025 12:57:08 -0700 Subject: [PATCH 16/54] tici: reduce GPU pwrlevel (#35630) --- system/hardware/tici/hardware.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 8e4ba722c..20a23bd67 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -415,8 +415,8 @@ class Tici(HardwareBase): # *** GPU config *** # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216 - sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") - sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel") + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") + sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on") From 1209c2a6c0581a837cf096a4e033af3eaca839c1 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 3 Jul 2025 17:14:24 -0700 Subject: [PATCH 17/54] ci: format tests yaml (#35632) format --- .github/workflows/selfdrive_tests.yaml | 48 +++++++++++++------------- 1 file changed, 24 insertions(+), 24 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 8403bdd9c..cab1344a0 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -32,9 +32,9 @@ env: jobs: build_release: name: build release - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -70,9 +70,9 @@ jobs: run: release/check-submodules.sh build: - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -124,9 +124,9 @@ jobs: static_analysis: name: static analysis - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -143,9 +143,9 @@ jobs: unit_tests: name: unit tests - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -173,9 +173,9 @@ jobs: process_replay: name: process replay - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -229,9 +229,9 @@ jobs: test_cars: name: cars - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -324,9 +324,9 @@ jobs: simulator_driving: name: simulator driving - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} @@ -349,9 +349,9 @@ jobs: create_ui_report: # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml name: Create UI Report - runs-on: ${{ - (github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || + runs-on: ${{ + (github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') || fromJSON('["ubuntu-24.04"]') }} From ebe9ab85af974c692578bd3797b31b0c478d5b95 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 3 Jul 2025 18:28:57 -0700 Subject: [PATCH 18/54] ci: remove `codecov` (#35631) * debug * coverage?? * remove all coverage * remove old hack * Revert "remove old hack" This reverts commit 32ee5f589f98f548afac46a539a4b5ab095630e5. * remove * read --- .github/workflows/selfdrive_tests.yaml | 26 +++----------------------- README.md | 1 - 2 files changed, 3 insertions(+), 24 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index cab1344a0..a78b51950 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -27,7 +27,7 @@ env: RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical + PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical jobs: build_release: @@ -164,12 +164,6 @@ jobs: ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ chmod -R 777 /tmp/comma_download_cache" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} process_replay: name: process replay @@ -196,10 +190,8 @@ jobs: - name: Run replay timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }} run: | - ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ - chmod -R 777 /tmp/comma_download_cache && \ - coverage combine && \ - coverage xml" + ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + chmod -R 777 /tmp/comma_download_cache" - name: Print diff id: print-diff if: always() @@ -220,12 +212,6 @@ jobs: run: | ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ chmod -R 777 /tmp/comma_download_cache" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} test_cars: name: cars @@ -260,12 +246,6 @@ jobs: env: NUM_JOBS: 4 JOB_ID: ${{ matrix.job }} - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }}-${{ matrix.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} car_docs_diff: name: PR comments diff --git a/README.md b/README.md index 17238b5c3..dcf645ff6 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,6 @@ Quick start: `bash <(curl -fsSL openpilot.comma.ai)` [![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml) -[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE) [![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai) [![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai) From 8ae0026d8d03bdff8798ef52e9385cdf879e7ec8 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 3 Jul 2025 18:49:06 -0700 Subject: [PATCH 19/54] remove `coverage` package (#35634) cov --- codecov.yml | 13 ----- pyproject.toml | 5 -- uv.lock | 150 +++++++++++-------------------------------------- 3 files changed, 34 insertions(+), 134 deletions(-) delete mode 100644 codecov.yml diff --git a/codecov.yml b/codecov.yml deleted file mode 100644 index 519e7d1a3..000000000 --- a/codecov.yml +++ /dev/null @@ -1,13 +0,0 @@ -comment: false -coverage: - status: - project: - default: - informational: true - patch: off - -ignore: - - "**/test_*.py" - - "selfdrive/test/**" - - "system/version.py" # codecov changes depending on if we are in a branch or not - - "tools" diff --git a/pyproject.toml b/pyproject.toml index 98c9bace9..25d0c455f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -81,11 +81,9 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-0700 Subject: [PATCH 20/54] revert fixed pytest seed --- conftest.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/conftest.py b/conftest.py index 9eda5d612..7e40ec3ed 100644 --- a/conftest.py +++ b/conftest.py @@ -2,7 +2,6 @@ import contextlib import gc import os import pytest -import random from openpilot.common.prefix import OpenpilotPrefix from openpilot.system.manager import manager @@ -48,8 +47,6 @@ def clean_env(): @pytest.fixture(scope="function", autouse=True) def openpilot_function_fixture(request): - random.seed(0) - with clean_env(): # setup a clean environment for each test with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: From a4e4a8afef51af60d75ddf22ac2236b89a22022a Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Sat, 5 Jul 2025 11:03:13 -0700 Subject: [PATCH 21/54] include audio in qcamera.ts (#35608) * encode/store audio as part of video file * better match write_audio() with write() * handle different FFmpeg versions, flush audio encoder, suppress encoder QAvg/info messages * use audio_buffer.size() instead of keeping track of size separately * no more for loops * save to qcam and rlog * assert audio support check * microphone --> soundPressure, audioData --> rawAudioData * deque much more efficient if buffer ever >> frame_size, ~ same performance for defaults * cleanup and fix time scaling * initialize audio separately and pass sample_rate in * update comments * ensure header is written before writing audio * buffer audio frame but do not process before header written * handle buffer overflow now that we are using as an actual buffer * spelling --- system/loggerd/loggerd.cc | 51 ++++++++++++--- system/loggerd/loggerd.h | 2 + system/loggerd/video_writer.cc | 111 +++++++++++++++++++++++++++++++++ system/loggerd/video_writer.h | 16 +++++ 4 files changed, 170 insertions(+), 10 deletions(-) diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 898216e5b..144ab9f34 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -62,6 +62,7 @@ struct RemoteEncoder { bool recording = false; bool marked_ready_to_rotate = false; bool seen_first_packet = false; + bool audio_initialized = false; }; size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) { @@ -78,12 +79,7 @@ size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEnc LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames); re.dropped_frames = 0; } - // if we aren't actually recording, don't create the writer if (encoder_info.record) { - assert(encoder_info.filename != NULL); - re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), - encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, - edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType())); // write the header auto header = edata.getHeader(); re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false); @@ -138,12 +134,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets if (re.current_segment != s->logger.segment()) { - if (re.recording) { - re.writer.reset(); + // if we aren't actually recording, don't create the writer + if (encoder_info.record) { + assert(encoder_info.filename != NULL); + re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), + encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, + edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType())); re.recording = false; + re.audio_initialized = false; } re.current_segment = s->logger.segment(); re.marked_ready_to_rotate = false; + } + if (re.audio_initialized || !encoder_info.include_audio) { // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { for (auto qmsg : re.q) { @@ -153,9 +156,14 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } re.q.clear(); } + bytes_count += write_encode_data(s, event, re, encoder_info); + delete msg; + } else if (re.q.size() > MAIN_FPS*10) { + LOGE_100("%s: dropping frame waiting for audio initialization, queue is too large", name.c_str()); + delete msg; + } else { + re.q.push_back(msg); // queue up all the new segment messages, they go in after audio is initialized } - bytes_count += write_encode_data(s, event, re, encoder_info); - delete msg; } else if (offset_segment_num > s->logger.segment()) { // encoderd packet has a newer segment, this means encoderd has rolled over if (!re.marked_ready_to_rotate) { @@ -214,7 +222,7 @@ void loggerd_thread() { typedef struct ServiceState { std::string name; int counter, freq; - bool encoder, user_flag; + bool encoder, user_flag, record_audio; } ServiceState; std::unordered_map service_state; std::unordered_map remote_encoders; @@ -239,6 +247,7 @@ void loggerd_thread() { .freq = it.decimation, .encoder = encoder, .user_flag = it.name == "userFlag", + .record_audio = record_audio, }; } } @@ -249,6 +258,7 @@ void loggerd_thread() { Params().put("CurrentRoute", s.logger.routeName()); std::map encoder_infos_dict; + std::vector encoders_with_audio; for (const auto &cam : cameras_logged) { for (const auto &encoder_info : cam.encoder_infos) { encoder_infos_dict[encoder_info.publish_name] = encoder_info; @@ -256,6 +266,13 @@ void loggerd_thread() { } } + for (auto &[sock, service] : service_state) { + auto it = encoder_infos_dict.find(service.name); + if (it != encoder_infos_dict.end() && it->second.include_audio) { + encoders_with_audio.push_back(&remote_encoders[sock]); + } + } + uint64_t msg_count = 0, bytes_count = 0; double start_ts = millis_since_boot(); while (!do_exit) { @@ -273,6 +290,20 @@ void loggerd_thread() { Message *msg = nullptr; while (!do_exit && (msg = sock->receive(true))) { const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0); + + if (service.record_audio) { + capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); + auto event = cmsg.getRoot(); + auto audio_data = event.getRawAudioData().getData(); + auto sample_rate = event.getRawAudioData().getSampleRate(); + for (auto* encoder : encoders_with_audio) { + if (encoder && encoder->writer) { + encoder->writer->write_audio((uint8_t*)audio_data.begin(), audio_data.size(), event.getLogMonoTime() / 1000, sample_rate); + encoder->audio_initialized = true; + } + } + } + if (service.encoder) { s.last_camera_seen_tms = millis_since_boot(); bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 27d2d37fc..5dfb178fd 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -35,6 +35,7 @@ public: const char *thumbnail_name = NULL; const char *filename = NULL; bool record = true; + bool include_audio = false; int frame_width = -1; int frame_height = -1; int fps = MAIN_FPS; @@ -106,6 +107,7 @@ const EncoderInfo qcam_encoder_info = { .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .frame_width = 526, .frame_height = 330, + .include_audio = Params().getBool("RecordAudio"), INIT_ENCODE_FUNCTIONS(QRoadEncode), }; diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc index 90b5f1af3..68e870982 100644 --- a/system/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -50,6 +50,45 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, } } +void VideoWriter::initialize_audio(int sample_rate) { + assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams + const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC); + assert(audio_avcodec); + this->audio_codec_ctx = avcodec_alloc_context3(audio_avcodec); + assert(this->audio_codec_ctx); + this->audio_codec_ctx->sample_fmt = AV_SAMPLE_FMT_FLTP; + this->audio_codec_ctx->sample_rate = sample_rate; + #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100) // FFmpeg 5.1+ + av_channel_layout_default(&this->audio_codec_ctx->ch_layout, 1); + #else + this->audio_codec_ctx->channel_layout = AV_CH_LAYOUT_MONO; + #endif + this->audio_codec_ctx->bit_rate = 32000; + this->audio_codec_ctx->flags |= AV_CODEC_FLAG_GLOBAL_HEADER; + this->audio_codec_ctx->time_base = (AVRational){1, audio_codec_ctx->sample_rate}; + int err = avcodec_open2(this->audio_codec_ctx, audio_avcodec, NULL); + assert(err >= 0); + av_log_set_level(AV_LOG_WARNING); // hide "QAvg" info msgs at the end of every segment + + this->audio_stream = avformat_new_stream(this->ofmt_ctx, NULL); + assert(this->audio_stream); + err = avcodec_parameters_from_context(this->audio_stream->codecpar, this->audio_codec_ctx); + assert(err >= 0); + + this->audio_frame = av_frame_alloc(); + assert(this->audio_frame); + this->audio_frame->format = this->audio_codec_ctx->sample_fmt; + #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100) // FFmpeg 5.1+ + av_channel_layout_copy(&this->audio_frame->ch_layout, &this->audio_codec_ctx->ch_layout); + #else + this->audio_frame->channel_layout = this->audio_codec_ctx->channel_layout; + #endif + this->audio_frame->sample_rate = this->audio_codec_ctx->sample_rate; + this->audio_frame->nb_samples = this->audio_codec_ctx->frame_size; + err = av_frame_get_buffer(this->audio_frame, 0); + assert(err >= 0); +} + void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) { if (of && data) { size_t written = util::safe_fwrite(data, 1, len, of); @@ -67,8 +106,10 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc } int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx); assert(err >= 0); + // if there is an audio stream, it must be initialized before this point err = avformat_write_header(ofmt_ctx, NULL); assert(err >= 0); + header_written = true; } else { // input timestamps are in microseconds AVRational in_timebase = {1, 1000000}; @@ -77,6 +118,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc av_init_packet(&pkt); pkt.data = data; pkt.size = len; + pkt.stream_index = this->out_stream->index; enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd); @@ -95,11 +137,80 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc } } +void VideoWriter::write_audio(uint8_t *data, int len, long long timestamp, int sample_rate) { + if (!remuxing) return; + if (!audio_initialized) { + initialize_audio(sample_rate); + audio_initialized = true; + } + if (!audio_codec_ctx) return; + // sync logMonoTime of first audio packet with the timestampEof of first video packet + if (audio_pts == 0) { + audio_pts = (timestamp * audio_codec_ctx->sample_rate) / 1000000ULL; + } + + // convert s16le samples to fltp and add to buffer + const int16_t *raw_samples = reinterpret_cast(data); + int sample_count = len / sizeof(int16_t); + constexpr float normalizer = 1.0f / 32768.0f; + + const size_t max_buffer_size = sample_rate * 10; // 10 seconds + if (audio_buffer.size() + sample_count > max_buffer_size) { + size_t samples_to_drop = (audio_buffer.size() + sample_count) - max_buffer_size; + LOGE("Audio buffer overflow, dropping %zu oldest samples", samples_to_drop); + audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + samples_to_drop); + audio_pts += samples_to_drop; + } + + // Add new samples to the buffer + const size_t original_size = audio_buffer.size(); + audio_buffer.resize(original_size + sample_count); + std::transform(raw_samples, raw_samples + sample_count, audio_buffer.begin() + original_size, + [](int16_t sample) { return sample * normalizer; }); + + if (!header_written) return; // header not written yet, process audio frame after header is written + while (audio_buffer.size() >= audio_codec_ctx->frame_size) { + audio_frame->pts = audio_pts; + float *f_samples = reinterpret_cast(audio_frame->data[0]); + std::copy(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size, f_samples); + audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size); + encode_and_write_audio_frame(audio_frame); + } +} + +void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) { + if (!remuxing || !audio_codec_ctx) return; + int send_result = avcodec_send_frame(audio_codec_ctx, frame); // encode frame + if (send_result >= 0) { + AVPacket *pkt = av_packet_alloc(); + while (avcodec_receive_packet(audio_codec_ctx, pkt) == 0) { + av_packet_rescale_ts(pkt, audio_codec_ctx->time_base, audio_stream->time_base); + pkt->stream_index = audio_stream->index; + + int err = av_interleaved_write_frame(ofmt_ctx, pkt); // write encoded frame + if (err < 0) { + LOGW("AUDIO: Write frame failed - error: %d", err); + } + av_packet_unref(pkt); + } + av_packet_free(&pkt); + } else { + LOGW("AUDIO: Failed to send audio frame to encoder: %d", send_result); + } + audio_pts += audio_codec_ctx->frame_size; +} + + VideoWriter::~VideoWriter() { if (this->remuxing) { + if (this->audio_codec_ctx) { + encode_and_write_audio_frame(NULL); // flush encoder + avcodec_free_context(&this->audio_codec_ctx); + } int err = av_write_trailer(this->ofmt_ctx); if (err != 0) LOGE("av_write_trailer failed %d", err); avcodec_free_context(&this->codec_ctx); + if (this->audio_frame) av_frame_free(&this->audio_frame); err = avio_closep(&this->ofmt_ctx->pb); if (err != 0) LOGE("avio_closep failed %d", err); avformat_free_context(this->ofmt_ctx); diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h index 1aa758b42..25e6484d5 100644 --- a/system/loggerd/video_writer.h +++ b/system/loggerd/video_writer.h @@ -1,6 +1,7 @@ #pragma once #include +#include extern "C" { #include @@ -13,13 +14,28 @@ class VideoWriter { public: VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec); void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe); + void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate); + ~VideoWriter(); + private: + void initialize_audio(int sample_rate); + void encode_and_write_audio_frame(AVFrame* frame); + std::string vid_path, lock_path; FILE *of = nullptr; AVCodecContext *codec_ctx; AVFormatContext *ofmt_ctx; AVStream *out_stream; + + bool audio_initialized = false; + bool header_written = false; + AVStream *audio_stream = nullptr; + AVCodecContext *audio_codec_ctx = nullptr; + AVFrame *audio_frame = nullptr; + uint64_t audio_pts = 0; + std::deque audio_buffer; + bool remuxing; }; From baaa502b553e26a684d2160dfdc8a07691b20bc5 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Sat, 5 Jul 2025 11:33:35 -0700 Subject: [PATCH 22/54] move record mic toggle (#35622) move toggle --- selfdrive/ui/layouts/settings/toggles.py | 6 +++--- selfdrive/ui/qt/offroad/settings.cc | 14 +++++++------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py index a5e383cc0..7374d0f2a 100644 --- a/selfdrive/ui/layouts/settings/toggles.py +++ b/selfdrive/ui/layouts/settings/toggles.py @@ -75,15 +75,15 @@ class TogglesLayout(Widget): self._params.get_bool("RecordFront"), icon="monitoring.png", ), - toggle_item( - "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png" - ), toggle_item( "Record Microphone Audio", DESCRIPTIONS["RecordAudio"], self._params.get_bool("RecordAudio"), icon="microphone.png", ), + toggle_item( + "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png" + ), ] self._scroller = Scroller(items, line_separator=True, spacing=0) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 788672822..e242aa087 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -61,6 +61,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/monitoring.png", true, }, + { + "RecordAudio", + tr("Record and Upload Microphone Audio"), + tr("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."), + "../assets/icons/microphone.png", + true, + }, { "IsMetric", tr("Use Metric System"), @@ -68,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/icons/metric.png", false, }, - { - "RecordAudio", - tr("Record Microphone Audio"), - tr("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."), - "../assets/icons/microphone.png", - true, - }, }; From a8ec08e5bbc2be0a320fdb6853957588dae67048 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 5 Jul 2025 13:52:57 -0700 Subject: [PATCH 23/54] modeld: remove redundant process config (#35639) --- selfdrive/modeld/dmonitoringmodeld.py | 11 +---------- selfdrive/modeld/modeld.py | 10 +--------- 2 files changed, 2 insertions(+), 19 deletions(-) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 2a3df3f65..7ab31ed2b 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -14,7 +14,6 @@ import pickle import ctypes import numpy as np from pathlib import Path -from setproctitle import setproctitle from cereal import messaging from cereal.messaging import PubMaster, SubMaster @@ -25,7 +24,6 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid -from openpilot.system import sentry MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE CALIB_LEN = 3 @@ -133,12 +131,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: def main(): - setproctitle(PROCESS_NAME) config_realtime_process(7, 5) - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - cl_context = CLContext() model = ModelState(cl_context) cloudlog.warning("models loaded, dmonitoringmodeld starting") @@ -180,7 +174,4 @@ if __name__ == "__main__": try: main() except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") - except Exception: - sentry.capture_exception() - raise + cloudlog.warning("got SIGINT") diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 365cfd33c..298abcd38 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -19,7 +19,6 @@ import numpy as np import cereal.messaging as messaging from cereal import car, log from pathlib import Path -from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from opendbc.car.car_helpers import get_demo_car_params @@ -29,7 +28,6 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix -from openpilot.system import sentry from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser @@ -190,9 +188,6 @@ class ModelState: def main(demo=False): cloudlog.warning("modeld init") - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - setproctitle(PROCESS_NAME) if not USBGPU: # USB GPU currently saturates a core so can't do this yet, # also need to move the aux USB interrupts for good timings @@ -378,7 +373,4 @@ if __name__ == "__main__": args = parser.parse_args() main(demo=args.demo) except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") - except Exception: - sentry.capture_exception() - raise + cloudlog.warning("got SIGINT") From 44c8cc4cb0b107baf0eabd7885caee37b2f9cba0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 7 Jul 2025 10:18:31 +0200 Subject: [PATCH 24/54] Revert "lagd: disable in release (#35426)" and "lagd calib: hide on release (#35523)" (#35633) * Revert "lagd: disable in release (#35426)" This reverts commit 6f6adc10a83aa5ab775a2b0aaebb7ab4396f4268. * Revert "lagd calib: hide on release (#35523)" This reverts commit e345f25ce4e82c342af1eadb145a80a3920db79f. * Fix conflict --- selfdrive/locationd/lagd.py | 11 +++----- selfdrive/locationd/test/test_lagd.py | 13 ---------- selfdrive/ui/qt/offroad/settings.cc | 37 ++++++++++++--------------- 3 files changed, 19 insertions(+), 42 deletions(-) diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py index e6767db47..d7834f7f1 100755 --- a/selfdrive/locationd/lagd.py +++ b/selfdrive/locationd/lagd.py @@ -157,8 +157,7 @@ class LateralLagEstimator: block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE, window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC, min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC, - max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE, - enabled: bool = True): + max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE): self.dt = dt self.window_sec = window_sec self.okay_window_sec = okay_window_sec @@ -173,7 +172,6 @@ class LateralLagEstimator: self.min_confidence = min_confidence self.max_lat_accel = max_lat_accel self.max_lat_accel_diff = max_lat_accel_diff - self.enabled = enabled self.t = 0.0 self.lat_active = False @@ -208,7 +206,7 @@ class LateralLagEstimator: liveDelay = msg.liveDelay valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get() - if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): + if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std): if valid_std > MAX_LAG_STD: liveDelay.status = log.LiveDelayData.Status.invalid else: @@ -371,10 +369,7 @@ def main(): params = Params() CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) - # TODO: remove me, lagd is in shadow mode on release - is_release = params.get_bool("IsReleaseBranch") - - lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release) + lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency) if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None: lag, valid_blocks = initial_lag_params lag_learner.reset(lag, valid_blocks) diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py index 8fb829edd..a3dfce9c2 100644 --- a/selfdrive/locationd/test/test_lagd.py +++ b/selfdrive/locationd/test/test_lagd.py @@ -110,19 +110,6 @@ class TestLagd: assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED assert msg.liveDelay.calPerc == 100 - def test_disabled_estimator(self): - mocked_CP = car.CarParams(steerActuatorDelay=0.8) - estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False) - lag_frames = 5 - process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE) - msg = estimator.get_msg(True) - assert msg.liveDelay.status == 'unestimated' - assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01) - assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01) - assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01) - assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED - assert msg.liveDelay.calPerc == 100 - def test_estimator_masking(self): mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19) estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index e242aa087..96734d69d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -333,26 +333,22 @@ void DevicePanel::updateCalibDescription() { } } - const bool is_release = params.getBool("IsReleaseBranch"); - if (!is_release) { - int lag_perc = 0; - std::string lag_bytes = params.get("LiveDelay"); - if (!lag_bytes.empty()) { - try { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size())); - lag_perc = cmsg.getRoot().getLiveDelay().getCalPerc(); - } catch (kj::Exception) { - qInfo() << "invalid LiveDelay"; - } - } - desc += "\n\n"; - if (lag_perc < 100) { - desc += tr("Steering lag calibration is %1% complete.").arg(lag_perc); - } else { - desc += tr("Steering lag calibration is complete."); + int lag_perc = 0; + std::string lag_bytes = params.get("LiveDelay"); + if (!lag_bytes.empty()) { + try { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size())); + lag_perc = cmsg.getRoot().getLiveDelay().getCalPerc(); + } catch (kj::Exception) { + qInfo() << "invalid LiveDelay"; } } + if (lag_perc < 100) { + desc += tr("\n\nSteering lag calibration is %1% complete.").arg(lag_perc); + } else { + desc += tr("\n\nSteering lag calibration is complete."); + } std::string torque_bytes = params.get("LiveTorqueParameters"); if (!torque_bytes.empty()) { @@ -363,11 +359,10 @@ void DevicePanel::updateCalibDescription() { // don't add for non-torque cars if (torque.getUseParams()) { int torque_perc = torque.getCalPerc(); - desc += is_release ? "\n\n" : " "; if (torque_perc < 100) { - desc += tr("Steering torque response calibration is %1% complete.").arg(torque_perc); + desc += tr(" Steering torque response calibration is %1% complete.").arg(torque_perc); } else { - desc += tr("Steering torque response calibration is complete."); + desc += tr(" Steering torque response calibration is complete."); } } } catch (kj::Exception) { From 3238cd42cd9b725ec1adcfebd5cdca1dd1672195 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Mon, 7 Jul 2025 14:45:48 -0700 Subject: [PATCH 25/54] [bot] Update translations (#35643) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_de.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_es.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_fr.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_ja.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_ko.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_pt-BR.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_th.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_tr.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_zh-CHS.ts | 44 +++++++++++++++--------- selfdrive/ui/translations/main_zh-CHT.ts | 44 +++++++++++++++--------- 11 files changed, 308 insertions(+), 176 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index df13a5d2e..f632c063d 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1182,6 +1186,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 7cf794774..098906f82 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1164,6 +1168,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 5941e53c7..187926800 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1162,6 +1166,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 08b390701..5148fce5f 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1160,6 +1164,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index f3243d876..d3dda756b 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilotの本体は左右4°以内、上5°下9°以内の角度で取付ける必要があります。 - - Steering lag calibration is %1% complete. - ステアリング遅延のキャリブレーションが%1％完了。 - - - Steering lag calibration is complete. - ステアリング遅延のキャリブレーション完了。 - - - Steering torque response calibration is %1% complete. - ステアリングトルク応答のキャリブレーションが%1％完了。 - - - Steering torque response calibration is complete. - ステアリングトルク応答のキャリブレーション完了。 - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. openpilot は継続的にキャリブレーションを行っており、リセットが必要になることはほとんどありません。キャリブレーションをリセットすると、車の電源が入っている場合はopenpilotが再起動します。 + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1157,6 +1161,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. この設定を変更すると車の電源が入っている場合はopenpilotが再起動します。 + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9846093f2..819392c8c 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1157,6 +1161,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. 이 설정을 변경하면 차량이 재가동된후 오픈파일럿이 시작됩니다. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 736f09d82..6c4270fd3 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1162,6 +1166,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. Alterar esta configuração fará com que o openpilot reinicie se o carro estiver ligado. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index e8dd3c74a..88f46303d 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1157,6 +1161,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 5243b0365..eb3d8e1c3 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1153,6 +1157,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 7af7db1a2..806ccf27e 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1157,6 +1161,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. 如果车辆已通电，更改此设置将会重新启动 openpilot。 + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 8eeebc78d..664be84d9 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -310,26 +310,30 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - - Steering lag calibration is %1% complete. - - - - Steering lag calibration is complete. - - - - Steering torque response calibration is %1% complete. - - - - Steering torque response calibration is complete. - - openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. + + + +Steering lag calibration is %1% complete. + + + + + +Steering lag calibration is complete. + + + + Steering torque response calibration is %1% complete. + + + + Steering torque response calibration is complete. + + DriverViewWindow @@ -1157,6 +1161,14 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. 若車輛電源為開啟狀態，變更此設定將會重新啟動 openpilot。 + + Record and Upload Microphone Audio + + + + Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. + + Updater From 9ff322cff8b976ad0897ee1fb3fed216811152e1 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 7 Jul 2025 14:48:57 -0700 Subject: [PATCH 26/54] [bot] Update Python packages (#35644) * Update Python packages * revert for now --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 2 +- opendbc_repo | 2 +- panda | 2 +- tinygrad_repo | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c53a30cae..e8ccdf7bb 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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||| +|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 33842a09a..51353491c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 33842a09ac54d2b6dc53a2afcc97841495a795cd +Subproject commit 51353491cbaee8f82b1f5edfdb0ab0de01bfa918 diff --git a/panda b/panda index 1020d3555..f849893bd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1020d355584265391eb3acb556e4353b581fa9c0 +Subproject commit f849893bdcfc6cd05d4547d64d2802b5a83f409c diff --git a/tinygrad_repo b/tinygrad_repo index 710d734ce..9a573a1d9 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 710d734ce7e1b5e47d58d19206fd8f3e3854794c +Subproject commit 9a573a1d99d53a85be3052a6db82eaf0ce9d84e9 From 74ebcd2249e1172850c0e2df46b326e5560e3239 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 7 Jul 2025 16:30:04 -0700 Subject: [PATCH 27/54] Missing NM params for raylib wifi manager (#35646) stuff missing --- system/ui/lib/wifi_manager.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index dd08b6637..75d1bdbfd 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -204,7 +204,7 @@ class WifiManager: 'connection': { 'type': Variant('s', '802-11-wireless'), 'uuid': Variant('s', str(uuid.uuid4())), - 'id': Variant('s', ssid), + 'id': Variant('s', f'openpilot connection {ssid}'), 'autoconnect-retries': Variant('i', 0), }, '802-11-wireless': { @@ -212,7 +212,10 @@ class WifiManager: 'hidden': Variant('b', is_hidden), 'mode': Variant('s', 'infrastructure'), }, - 'ipv4': {'method': Variant('s', 'auto')}, + 'ipv4': { + 'method': Variant('s', 'auto'), + 'dns-priority': Variant('i', 600), + }, 'ipv6': {'method': Variant('s', 'ignore')}, } From 5b70c7890252b0e14a083aae242bbc919ed0653c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 7 Jul 2025 18:40:06 -0700 Subject: [PATCH 28/54] bump opendbc (#35649) * bump opendbc * update ref --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 51353491c..f4ec91dcb 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 51353491cbaee8f82b1f5edfdb0ab0de01bfa918 +Subproject commit f4ec91dcb33990a9a6587aac93eb0677e4bac3ac diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ea3b0bfb7..2d68ea0ea 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -502c90d4859d2529ae2adf7097d575852673be74 \ No newline at end of file +254f911c7c35c66eb12223fb0dc262d829a42e80 \ No newline at end of file From 53da5fa6b1fbee946fe6ac3b7cc22bc831fb8dc7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 7 Jul 2025 18:42:57 -0700 Subject: [PATCH 29/54] Update RELEASES.md --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index e4ed90c17..37e7d02d3 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.9.10 (2025-07-07) * New driving model * Lead car ground-truth fixes * Ported over VAE from the MLSIM stack + * New training architecture described in CVPR paper * Opt-in audio recording for dashcam video Version 0.9.9 (2025-05-23) From 13019da855647fd59e77488d78852f701a130df1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 7 Jul 2025 18:43:30 -0700 Subject: [PATCH 30/54] Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 37e7d02d3..fda4cf4db 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,4 @@ -Version 0.9.10 (2025-07-07) +Version 0.10.0 (2025-07-07) ======================== * New driving model * Lead car ground-truth fixes From 8e3b5f621007fff09e279c4b8560570f351d4679 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 7 Jul 2025 18:52:18 -0700 Subject: [PATCH 31/54] bump to 0.10 --- common/version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/version.h b/common/version.h index 67b69da7c..af827e20a 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.10" +#define COMMA_VERSION "0.10.0" From 1b92dbb46f4aa2bf6a2662148b070d3fb9ab37db Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Mon, 7 Jul 2025 21:10:37 -0700 Subject: [PATCH 32/54] test: RecordFront and RecordAudio (#35650) record front and record audio tests --- system/loggerd/tests/test_loggerd.py | 103 ++++++++++++++++++--------- 1 file changed, 71 insertions(+), 32 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 179e237a6..46825219b 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -97,6 +97,50 @@ class TestLoggerd: return sent_msgs + def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5): + d = DEVICE_CAMERAS[("tici", "ar0231")] + 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"), + ] + + pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"]) + vipc_server = VisionIpcServer("camerad") + for stream_type, frame_spec, _ in streams: + vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) + vipc_server.start_listener() + + os.environ["LOGGERD_TEST"] = "1" + os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length) + managed_processes["loggerd"].start() + managed_processes["encoderd"].start() + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) + + fps = 20 + for n in range(1, int(num_segs * segment_length * fps) + 1): + # send video + for stream_type, frame_spec, state in streams: + dat = np.empty(frame_spec[2], dtype=np.uint8) + vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps) + + camera_state = messaging.new_message(state) + frame = getattr(camera_state, state) + frame.frameId = n + pm.send(state, camera_state) + + # send audio + msg = messaging.new_message('rawAudioData') + msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16 + msg.rawAudioData.sampleRate = 16000 + pm.send('rawAudioData', msg) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) + + managed_processes["loggerd"].stop() + managed_processes["encoderd"].stop() + def test_init_data_values(self): os.environ["CLEAN"] = random.choice(["0", "1"]) @@ -138,51 +182,21 @@ class TestLoggerd: @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") def test_rotation(self): - os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") - d = DEVICE_CAMERAS[("tici", "ar0231")] 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")] - - pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) - vipc_server = VisionIpcServer("camerad") - for stream_type, frame_spec, _ in streams: - vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) - vipc_server.start_listener() num_segs = random.randint(2, 5) length = random.randint(1, 3) - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) - fps = 20.0 - for n in range(1, int(num_segs*length*fps)+1): - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[2], dtype=np.uint8) - vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) - - camera_state = messaging.new_message(state) - frame = getattr(camera_state, state) - frame.frameId = n - pm.send(state, camera_state) - - for _, _, state in streams: - assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) - - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() + self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length) route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] for n in range(num_segs): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" + assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -281,3 +295,28 @@ class TestLoggerd: segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None + + @pytest.mark.parametrize("record_front", [True, False]) + def test_record_front(self, record_front): + params = Params() + params.put_bool("RecordFront", record_front) + + self._publish_camera_and_audio_messages() + + dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc')) + assert dcamera_hevc_exists == record_front + + @pytest.mark.parametrize("record_audio", [True, False]) + def test_record_audio(self, record_audio): + params = Params() + params.put_bool("RecordAudio", record_audio) + + self._publish_camera_and_audio_messages() + + qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts') + ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error" + has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b'' + assert has_audio_stream == record_audio + + raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst'))) + assert raw_audio_in_rlog == record_audio From 684f770435e58acffc3a59a4f525ff7645cd6c00 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Mon, 7 Jul 2025 21:14:22 -0700 Subject: [PATCH 33/54] Revert "test: RecordFront and RecordAudio" (#35652) Revert "test: RecordFront and RecordAudio (#35650)" This reverts commit 1b92dbb46f4aa2bf6a2662148b070d3fb9ab37db. --- system/loggerd/tests/test_loggerd.py | 103 +++++++++------------------ 1 file changed, 32 insertions(+), 71 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 46825219b..179e237a6 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -97,50 +97,6 @@ class TestLoggerd: return sent_msgs - def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5): - d = DEVICE_CAMERAS[("tici", "ar0231")] - 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"), - ] - - pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"]) - vipc_server = VisionIpcServer("camerad") - for stream_type, frame_spec, _ in streams: - vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) - vipc_server.start_listener() - - os.environ["LOGGERD_TEST"] = "1" - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) - - fps = 20 - for n in range(1, int(num_segs * segment_length * fps) + 1): - # send video - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[2], dtype=np.uint8) - vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps) - - camera_state = messaging.new_message(state) - frame = getattr(camera_state, state) - frame.frameId = n - pm.send(state, camera_state) - - # send audio - msg = messaging.new_message('rawAudioData') - msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16 - msg.rawAudioData.sampleRate = 16000 - pm.send('rawAudioData', msg) - - for _, _, state in streams: - assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) - - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() - def test_init_data_values(self): os.environ["CLEAN"] = random.choice(["0", "1"]) @@ -182,21 +138,51 @@ class TestLoggerd: @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") def test_rotation(self): + os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") + d = DEVICE_CAMERAS[("tici", "ar0231")] 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")] + + pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) + vipc_server = VisionIpcServer("camerad") + for stream_type, frame_spec, _ in streams: + vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) + vipc_server.start_listener() num_segs = random.randint(2, 5) length = random.randint(1, 3) + os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) + managed_processes["loggerd"].start() + managed_processes["encoderd"].start() + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) - self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length) + fps = 20.0 + for n in range(1, int(num_segs*length*fps)+1): + for stream_type, frame_spec, state in streams: + dat = np.empty(frame_spec[2], dtype=np.uint8) + vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) + + camera_state = messaging.new_message(state) + frame = getattr(camera_state, state) + frame.frameId = n + pm.send(state, camera_state) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) + + managed_processes["loggerd"].stop() + managed_processes["encoderd"].stop() route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] for n in range(num_segs): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" + assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -295,28 +281,3 @@ class TestLoggerd: segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None - - @pytest.mark.parametrize("record_front", [True, False]) - def test_record_front(self, record_front): - params = Params() - params.put_bool("RecordFront", record_front) - - self._publish_camera_and_audio_messages() - - dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc')) - assert dcamera_hevc_exists == record_front - - @pytest.mark.parametrize("record_audio", [True, False]) - def test_record_audio(self, record_audio): - params = Params() - params.put_bool("RecordAudio", record_audio) - - self._publish_camera_and_audio_messages() - - qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts') - ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error" - has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b'' - assert has_audio_stream == record_audio - - raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst'))) - assert raw_audio_in_rlog == record_audio From 2b8a956f41ffcbc3b41f394662cd3afa6481efae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 7 Jul 2025 21:39:00 -0700 Subject: [PATCH 34/54] athena: lower upload DHCP priority (#35648) * try this * draft * works * caps * should only need https * fix test --- system/athena/athenad.py | 28 ++++++++++++++++++++++------ system/athena/tests/test_athenad.py | 6 +++--- 2 files changed, 25 insertions(+), 9 deletions(-) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 5a02d45c4..5df7eec3f 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -22,6 +22,7 @@ from typing import cast from collections.abc import Callable import requests +from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK from jsonrpc import JSONRPCResponseManager, dispatcher from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException, create_connection) @@ -55,6 +56,11 @@ WS_FRAME_SIZE = 4096 DEVICE_STATE_UPDATE_INTERVAL = 1.0 # in seconds DEFAULT_UPLOAD_PRIORITY = 99 # higher number = lower priority +# https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart, +# https://en.wikipedia.org/wiki/Differentiated_services +UPLOAD_TOS = 0x20 # CS1, low priority background traffic +SSH_TOS = 0x90 # AF42, DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag + NetworkType = log.DeviceState.NetworkType UploadFileDict = dict[str, str | int | float | bool] @@ -63,6 +69,17 @@ UploadItemDict = dict[str, str | bool | int | float | dict[str, str]] UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]] +class UploadTOSAdapter(HTTPAdapter): + def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool_kwargs): + pool_kwargs["socket_options"] = [(socket.IPPROTO_IP, socket.IP_TOS, UPLOAD_TOS)] + super().init_poolmanager(connections, maxsize, block, **pool_kwargs) + + +UPLOAD_SESS = requests.Session() +UPLOAD_SESS.mount("http://", UploadTOSAdapter()) +UPLOAD_SESS.mount("https://", UploadTOSAdapter()) + + @dataclass class UploadFile: fn: str @@ -309,10 +326,10 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R 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) + response = UPLOAD_SESS.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: @@ -482,8 +499,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local enable_multithread=True) # Set TOS to keep connection responsive while under load. - # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag - ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90) + ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, SSH_TOS) ssock, csock = socket.socketpair() local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index dd8232581..e559e0c05 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -19,7 +19,7 @@ from cereal import messaging from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.system.athena import athenad -from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher +from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths @@ -29,7 +29,7 @@ def seed_athena_server(host, port): with Timeout(2, 'HTTP Server seeding failed'): while True: try: - requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10) + UPLOAD_SESS.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10) break except requests.exceptions.ConnectionError: time.sleep(0.1) @@ -239,7 +239,7 @@ class TestAthenadMethods: @pytest.mark.parametrize("status,retry", [(500,True), (412,False)]) @with_upload_handler def test_upload_handler_retry(self, mocker, host, status, retry): - mock_put = mocker.patch('requests.put') + mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put') mock_put.return_value.__enter__.return_value.status_code = status fn = self._create_file('qlog.zst') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) From 2a5c628d865d9a95a40b3ea425a3c6a189a8e79d Mon Sep 17 00:00:00 2001 From: programanichiro <99449198+programanichiro@users.noreply.github.com> Date: Wed, 9 Jul 2025 02:39:57 +0900 Subject: [PATCH 35/54] Multilang: update ja translation. (#35655) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 日本語訳、追加＆調整。 * 調整。 --- selfdrive/ui/translations/main_ja.ts | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d3dda756b..6310fd9ec 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -318,21 +318,25 @@ Steering lag calibration is %1% complete. - + + +ステアリング遅延のキャリブレーションが%1％完了。 Steering lag calibration is complete. - + + +ステアリング遅延のキャリブレーション完了。 Steering torque response calibration is %1% complete. - + ステアリングトルク応答のキャリブレーションが%1％完了。 Steering torque response calibration is complete. - + ステアリングトルク応答のキャリブレーション完了。 @@ -808,13 +812,15 @@ This may take up to a minute. WARNING: Custom Software - + 警告: カスタムソフトウェア Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - + サードパーティ製ソフトウェアをインストールする際は注意してください。サードパーティ製ソフトウェアはcommaによってテストされておらず、あなたのデバイスや車両に損害を与える可能性があります。 + +続行したい場合は、後でデバイスを工場出荷時の状態に戻すために https://flash.comma.ai を使用してください。 @@ -1163,11 +1169,11 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and Upload Microphone Audio - + マイク音声の録音とアップロード Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - + 運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。 From de16c6fbe14e121c5e74cd944ce03a0e4672540d Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 8 Jul 2025 13:20:00 -0700 Subject: [PATCH 36/54] test: RecordFront and RecordAudio (fixed) (#35654) * record front and record audio tests * set tests to same group so they are sequential * add comment --- system/loggerd/tests/test_loggerd.py | 105 +++++++++++++++++++-------- 1 file changed, 73 insertions(+), 32 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 179e237a6..d1d0887d4 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -97,6 +97,50 @@ class TestLoggerd: return sent_msgs + def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5): + d = DEVICE_CAMERAS[("tici", "ar0231")] + 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"), + ] + + pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"]) + vipc_server = VisionIpcServer("camerad") + for stream_type, frame_spec, _ in streams: + vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) + vipc_server.start_listener() + + os.environ["LOGGERD_TEST"] = "1" + os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length) + managed_processes["loggerd"].start() + managed_processes["encoderd"].start() + assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) + + fps = 20 + for n in range(1, int(num_segs * segment_length * fps) + 1): + # send video + for stream_type, frame_spec, state in streams: + dat = np.empty(frame_spec[2], dtype=np.uint8) + vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps) + + camera_state = messaging.new_message(state) + frame = getattr(camera_state, state) + frame.frameId = n + pm.send(state, camera_state) + + # send audio + msg = messaging.new_message('rawAudioData') + msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16 + msg.rawAudioData.sampleRate = 16000 + pm.send('rawAudioData', msg) + + for _, _, state in streams: + assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) + + managed_processes["loggerd"].stop() + managed_processes["encoderd"].stop() + def test_init_data_values(self): os.environ["CLEAN"] = random.choice(["0", "1"]) @@ -138,51 +182,21 @@ class TestLoggerd: @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") def test_rotation(self): - os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") - d = DEVICE_CAMERAS[("tici", "ar0231")] 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")] - - pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) - vipc_server = VisionIpcServer("camerad") - for stream_type, frame_spec, _ in streams: - vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) - vipc_server.start_listener() num_segs = random.randint(2, 5) length = random.randint(1, 3) - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) - fps = 20.0 - for n in range(1, int(num_segs*length*fps)+1): - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[2], dtype=np.uint8) - vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) - - camera_state = messaging.new_message(state) - frame = getattr(camera_state, state) - frame.frameId = n - pm.send(state, camera_state) - - for _, _, state in streams: - assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) - - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() + self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length) route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] for n in range(num_segs): p = Path(f"{route_path}--{n}") logged = {f.name for f in p.iterdir() if f.is_file()} diff = logged ^ expected_files - assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" + assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" def test_bootlog(self): # generate bootlog with fake launch log @@ -281,3 +295,30 @@ class TestLoggerd: segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None + + @pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing + @pytest.mark.parametrize("record_front", [True, False]) + def test_record_front(self, record_front): + params = Params() + params.put_bool("RecordFront", record_front) + + self._publish_camera_and_audio_messages() + + dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc')) + assert dcamera_hevc_exists == record_front + + @pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing + @pytest.mark.parametrize("record_audio", [True, False]) + def test_record_audio(self, record_audio): + params = Params() + params.put_bool("RecordAudio", record_audio) + + self._publish_camera_and_audio_messages() + + qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts') + ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error" + has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b'' + assert has_audio_stream == record_audio + + raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst'))) + assert raw_audio_in_rlog == record_audio From 9aed28a216d55adee291923d01f4632e15646532 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Tue, 8 Jul 2025 14:07:16 -0700 Subject: [PATCH 37/54] bump opendbc --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index f4ec91dcb..3d341d0b7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit f4ec91dcb33990a9a6587aac93eb0677e4bac3ac +Subproject commit 3d341d0b7f0b20c57a0cc10e5d1485a734ff08af diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2d68ea0ea..79c03c65a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -254f911c7c35c66eb12223fb0dc262d829a42e80 \ No newline at end of file +de16c6fbe14e121c5e74cd944ce03a0e4672540d \ No newline at end of file From 147ce0217876ab0a81a28ddc52ec1021527688c0 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Tue, 8 Jul 2025 18:12:32 -0300 Subject: [PATCH 38/54] Multilang: update pt-BR translation (#35657) --- selfdrive/ui/translations/main_pt-BR.ts | 28 +++++++++++++++---------- 1 file changed, 17 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 6c4270fd3..0417b406a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -308,31 +308,35 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - + O openpilot exige que o dispositivo seja montado dentro de 4° para a esquerda ou direita e dentro de 5° para cima ou 9° para baixo. openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. - + O openpilot está em constante calibração, raramente sendo necessário redefini-lo. Redefinir a calibração reiniciará o openpilot se o carro estiver ligado. Steering lag calibration is %1% complete. - + + +A calibração do atraso da direção está %1% concluída. Steering lag calibration is complete. - + + +A calibração do atraso da direção foi concluída. Steering torque response calibration is %1% complete. - + A calibração da resposta de torque da direção está %1% concluída. Steering torque response calibration is complete. - + A calibração da resposta do torque da direção foi concluída. @@ -388,7 +392,7 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Firehose Mode - + Modo Firehose @@ -813,13 +817,15 @@ Isso pode levar até um minuto. WARNING: Custom Software - + AVISO: Software Personalizado Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - + Tenha cuidado ao instalar software de terceiros. Softwares de terceiros não foram testados pela comma e podem causar danos ao seu dispositivo e/ou veículo. + +Se quiser continuar, use https://flash.comma.ai para restaurar seu dispositivo ao estado de fábrica mais tarde. @@ -1168,11 +1174,11 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and Upload Microphone Audio - + Gravar e Fazer Upload do Áudio do Microfone Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - + Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect. From 20fdb686ca050ab70da1dd306ee679ad116ad600 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 8 Jul 2025 14:12:46 -0700 Subject: [PATCH 39/54] latcontrol torque: remove option to feed back on localizer (#35659) * Localizer is too laggy for control * typo * typo * fix test * fix imports * Revert "fix imports" This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57. * fix improt * import --- selfdrive/controls/controlsd.py | 2 +- selfdrive/controls/lib/latcontrol_angle.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 14 +++----------- selfdrive/controls/lib/tests/test_latcontrol.py | 11 +++-------- 5 files changed, 9 insertions(+), 22 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5ecff1ccd..ebfd0c734 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -121,7 +121,7 @@ class Controls: actuators.curvature = self.desired_curvature steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited_by_controls, self.desired_curvature, - self.calibrated_pose, curvature_limited) # TODO what if not available + curvature_limited) # TODO what if not available actuators.torque = float(steer) actuators.steeringAngleDeg = float(steeringAngleDeg) # Ensure no NaNs/Infs diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index f3f1bc5ac..807161735 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -12,7 +12,7 @@ class LatControlAngle(LatControl): self.sat_check_min_speed = 5. self.use_steer_limited_by_controls = CP.brand == "tesla" - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 1f1199565..4e4e0772f 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 3aef57bac..f8455b9bd 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -29,7 +29,6 @@ class LatControlTorque(LatControl): self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) self.torque_from_lateral_accel = CI.torque_from_lateral_accel() - self.use_steering_angle = self.torque_params.useSteeringAngle self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): @@ -37,22 +36,15 @@ class LatControlTorque(LatControl): self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited): + def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, curvature_limited): pid_log = log.ControlsState.LateralTorqueState.new_message() if not active: output_torque = 0.0 pid_log.active = False else: - actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) + actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY - if self.use_steering_angle: - actual_curvature = actual_curvature_vm - curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) - else: - assert calibrated_pose is not None - actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo - actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose]) - curvature_deadzone = 0.0 + curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) desired_lateral_accel = desired_curvature * CS.vEgo ** 2 # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index a01f013dd..f32e20b1e 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -9,8 +9,6 @@ from opendbc.car.vehicle_model import VehicleModel from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from openpilot.selfdrive.locationd.helpers import Pose -from openpilot.common.mock.generators import generate_livePose class TestLatControl: @@ -30,18 +28,15 @@ class TestLatControl: params = log.LiveParametersData.new_message() - lp = generate_livePose() - pose = Pose.from_live_pose(lp.livePose) - # Saturate for curvature limited and controller limited for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True) + _, _, lac_log = controller.update(True, CS, VM, params, False, 0, True) assert lac_log.saturated for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False) + _, _, lac_log = controller.update(True, CS, VM, params, False, 0, False) assert not lac_log.saturated for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False) + _, _, lac_log = controller.update(True, CS, VM, params, False, 1, False) assert lac_log.saturated From c284edcd33bff645176b08fd21b52df9217fb7d2 Mon Sep 17 00:00:00 2001 From: Jimmy <9859727+Quantizr@users.noreply.github.com> Date: Tue, 8 Jul 2025 14:20:34 -0700 Subject: [PATCH 40/54] test: fix test_rotation in test_loggerd.py (#35658) fix test_rotation --- system/loggerd/tests/test_loggerd.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index d1d0887d4..8e2f52a73 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -180,14 +180,14 @@ class TestLoggerd: assert getattr(initData, initData_key) == v assert logged_params[param_key].decode() == v - @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") + @pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing def test_rotation(self): Params().put("RecordFront", "1") expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} - num_segs = random.randint(2, 5) - length = random.randint(1, 3) + num_segs = random.randint(2, 3) + length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length) From 12a5d8c2db790404043d4c6a6e3de340409ab88f Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 8 Jul 2025 18:31:44 -0400 Subject: [PATCH 41/54] tools: update to commaCarSegments v2 (#35660) --- tools/lib/comma_car_segments.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py index fe9c350a9..4d9eb08be 100644 --- a/tools/lib/comma_car_segments.py +++ b/tools/lib/comma_car_segments.py @@ -4,7 +4,7 @@ import requests # Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments") -COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main") +COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "v2") COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO) def get_comma_car_segments_database(): @@ -86,5 +86,5 @@ def get_repo_url(path): return get_repo_raw_url(path) -def get_url(route, segment, file="rlog.bz2"): +def get_url(route, segment, file="rlog.zst"): return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}") From f088b4320c9cca9129ead0ab2598dd5a9eb3af33 Mon Sep 17 00:00:00 2001 From: eFini Date: Wed, 9 Jul 2025 09:32:32 +0800 Subject: [PATCH 42/54] Multilang: update zh translation (#35662) --- selfdrive/ui/translations/main_zh-CHS.ts | 38 ++++++++++++---------- selfdrive/ui/translations/main_zh-CHT.ts | 40 ++++++++++++++---------- 2 files changed, 45 insertions(+), 33 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 806ccf27e..d9ec242e5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -308,31 +308,35 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - + openpilot 要求设备的安装角度：左右偏移需在 4° 以内，上下俯仰角度需在向上 5° 至向下 9° 的范围内。 openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. - + openpilot 会持续进行校准，因此很少需要重置。如果车辆电源已开启，重置校准会重新启动 openpilot。 Steering lag calibration is %1% complete. - + + +转向延迟校准已完成 %1%。 Steering lag calibration is complete. - + + +转向延迟校准已完成。 Steering torque response calibration is %1% complete. - + 转向扭矩响应校准已完成 %1%。 Steering torque response calibration is complete. - + 转向扭矩响应校准已完成。 @@ -361,11 +365,11 @@ Steering lag calibration is complete. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. openpilot 通过观察人类驾驶（包括您）来学习如何驾驶。 -“训练数据上传模式”允许您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据意味着更强大的模型，也就意味着更优秀的“实验模式”。 +“Firehose 模式”允许您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据意味着更强大的模型，也就意味着更优秀的“实验模式”。 Firehose Mode: ACTIVE - 训练数据上传模式：激活中 + Firehose 模式：激活中 ACTIVE @@ -387,7 +391,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode - + Firehose 模式 @@ -709,7 +713,7 @@ This may take up to a minute. Firehose - 训练上传 + Firehose @@ -808,13 +812,15 @@ This may take up to a minute. WARNING: Custom Software - + 警告：自定义软件 Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - + 请谨慎安装第三方软件。第三方软件未经 comma 测试，可能会损害您的设备和车辆。 + +如果您决定继续，后续可通过 https://flash.comma.ai 将设备恢复到出厂状态。 @@ -1159,15 +1165,15 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. - 如果车辆已通电，更改此设置将会重新启动 openpilot。 + 如果车辆已通电，更改此设置将会重新启动 openpilot。 Record and Upload Microphone Audio - + 录制并上传麦克风音频 Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - + 在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。 @@ -1217,7 +1223,7 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - <span style='font-family: "Noto Color Emoji";'>🔥</span> 训练数据上传模式 <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose 模式 <span style='font-family: Noto Color Emoji;'>🔥</span> diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 664be84d9..9530f8920 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -308,31 +308,35 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - + openpilot 要求裝置的安裝角度，左右偏移須在 4° 以內，上下角度則須介於仰角 5° 至俯角 9° 之間。 openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. - + openpilot 會持續進行校準，因此很少需要重設。若車輛電源開啟，重設校準將會重新啟動 openpilot。 Steering lag calibration is %1% complete. - + + +轉向延遲校準已完成 %1%。 Steering lag calibration is complete. - + + +轉向延遲校準已完成。 Steering torque response calibration is %1% complete. - + 轉向扭矩反應校準已完成 %1%。 Steering torque response calibration is complete. - + 轉向扭矩反應校準已完成。 @@ -361,11 +365,11 @@ Steering lag calibration is complete. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. openpilot 透過觀察人類駕駛（包括您）來學習如何駕駛。 -「訓練資料上傳模式」可讓您最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據代表更強大的模型，也就意味著更優秀的「實驗模式」。 +「Firehose 模式」可讓您最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據代表更強大的模型，也就意味著更優秀的「實驗模式」。 Firehose Mode: ACTIVE - 訓練資料上傳模式：啟用中 + Firehose 模式：啟用中 ACTIVE @@ -373,7 +377,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - 為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。<br><br>訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。<br><br><br><b>常見問題</b><br><br><i>我開車的方式或地點有影響嗎？</i> 不會，請像平常一樣駕駛即可。<br><br><i>訓練資料上傳模式會上傳所有的駕駛片段嗎？</i>不會，我們會選擇性地上傳部分片段。<br><br><i>什麼是好的 USB-C 充電器？</i>任何快速手機或筆電充電器都應該適用。<br><br><i>我使用的軟體版本有影響嗎？</i>有的，只有官方 openpilot（以及特定的分支）可以用於訓練。 + 為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。<br><br>訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。<br><br><br><b>常見問題</b><br><br><i>我開車的方式或地點有影響嗎？</i> 不會，請像平常一樣駕駛即可。<br><br><i>Firehose 模式會上傳所有的駕駛片段嗎？</i>不會，我們會選擇性地上傳部分片段。<br><br><i>什麼是好的 USB-C 充電器？</i>任何快速手機或筆電充電器都應該適用。<br><br><i>我使用的軟體版本有影響嗎？</i>有的，只有官方 openpilot（以及特定的分支）可以用於訓練。 <b>%n segment(s)</b> of your driving is in the training dataset so far. @@ -387,7 +391,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode - + Firehose 模式 @@ -709,7 +713,7 @@ This may take up to a minute. Firehose - 訓練上傳 + Firehose @@ -808,13 +812,15 @@ This may take up to a minute. WARNING: Custom Software - + 警告：自訂軟體 Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - + 請謹慎安裝第三方軟體。第三方軟體未經 comma 測試，可能會損壞您的裝置及車輛。 + +若您仍要繼續，日後可使用 https://flash.comma.ai 將您的裝置恢復至出廠狀態。 @@ -1159,15 +1165,15 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Changing this setting will restart openpilot if the car is powered on. - 若車輛電源為開啟狀態，變更此設定將會重新啟動 openpilot。 + 若車輛電源為開啟狀態，變更此設定將會重新啟動 openpilot。 Record and Upload Microphone Audio - + 錄製並上傳麥克風音訊 Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - + 在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。 @@ -1217,7 +1223,7 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - <span style='font-family: "Noto Color Emoji";'>🔥</span> 訓練資料上傳模式 <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose 模式 <span style='font-family: Noto Color Emoji;'>🔥</span> From 9f9940c5a33b16108142598f62dfbc2975f48da1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Jul 2025 23:10:45 -0700 Subject: [PATCH 43/54] ui.py: add bg to radar points fix --- tools/replay/lib/ui_helpers.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index 39431eca1..b90cbd93b 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -198,15 +198,12 @@ def maybe_update_radar_points(lt, lid_overlay): ar_pts = {} for track in lt: ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel] - for ids, pt in ar_pts.items(): + for pt in ar_pts.values(): # negative here since radar is left positive px, py = to_topdown_pt(pt[0], -pt[1]) if px != -1: - color = 255 - if int(ids) == 1: - lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100 - else: - lid_overlay[px - 2:px + 2, py - 2:py + 2] = color + lid_overlay[px - 4:px + 4, py - 4:py + 4] = 0 + lid_overlay[px - 2:px + 2, py - 2:py + 2] = 255 def get_blank_lid_overlay(UP): lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') From a82ff7536da1918525058c915527207125f21d49 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Thu, 10 Jul 2025 00:34:11 +0900 Subject: [PATCH 44/54] Multilang: update kor translation (#35666) Multilang: kor translation update --- selfdrive/ui/translations/main_ko.ts | 28 +++++++++++++++++----------- 1 file changed, 17 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 819392c8c..9f45ca697 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -308,31 +308,35 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - + 오픈파일럿 장치는 좌우측으로는 4° 또는 위로는 5° 아래로는 9° 이내에 장착해야합니다. openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. - + 오픈파일럿은 지속적으로 갤리브레이션되어 재설정이 거의 필요하지 않습니다. 차량과 연결된 경우 캘리브레이션 재설정이 오픈파일럿을 재시작합니다. Steering lag calibration is %1% complete. - + + +조향 지연 캘리브레이션이 %1% 진행되었습니다. Steering lag calibration is complete. - + + +조향 지연 캘리브레이션이 완료되었습니다. Steering torque response calibration is %1% complete. - + 조향 토크 응답 캘리브레이션이 %1% 진행되었습니다. Steering torque response calibration is complete. - + 조향 토크 응답 캘리브레이션이 완료되었습니다. @@ -387,7 +391,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode - + 파이어호스 모드 @@ -808,13 +812,15 @@ This may take up to a minute. WARNING: Custom Software - + 경고: 커스텀 소프트웨어 Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - + 타사 소프트웨어를 설치할 때는 주의하십시오. 타사 소프트웨어는 comma에 의해 테스트되지 않았으며 장치나 차량에 손상을 줄 수 있습니다. + +진행하려면 https://flash.comma.ai를 사용하여 나중에 장치를 공장 초기화하세요. @@ -1163,11 +1169,11 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Record and Upload Microphone Audio - + 마이크 오디오를 녹음하고 업로드하세요 Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - + 운전 중에 마이크 오디오를 녹음하고 저장하십시오. 오디오는 comma connect의 대시캠 비디오에 포함됩니다. From f5bbedb5c5ed93e0b97b54d7f73191d2de47cd41 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 9 Jul 2025 10:53:46 -0700 Subject: [PATCH 45/54] lagd enable in release --- RELEASES.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index fda4cf4db..58d0d07a7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,7 +3,8 @@ Version 0.10.0 (2025-07-07) * New driving model * Lead car ground-truth fixes * Ported over VAE from the MLSIM stack - * New training architecture described in CVPR paper + * New training architecture described in CVPR paper +* Enable live-learned steering actuation delay * Opt-in audio recording for dashcam video Version 0.9.9 (2025-05-23) From 2b56a6c37e2cc43a0c3fe27e8025e20ed8282d21 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 9 Jul 2025 10:58:47 -0700 Subject: [PATCH 46/54] Revert "tools: update to commaCarSegments v2 (#35660)" This reverts commit 12a5d8c2db790404043d4c6a6e3de340409ab88f. --- tools/lib/comma_car_segments.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py index 4d9eb08be..fe9c350a9 100644 --- a/tools/lib/comma_car_segments.py +++ b/tools/lib/comma_car_segments.py @@ -4,7 +4,7 @@ import requests # Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments") -COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "v2") +COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main") COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO) def get_comma_car_segments_database(): @@ -86,5 +86,5 @@ def get_repo_url(path): return get_repo_raw_url(path) -def get_url(route, segment, file="rlog.zst"): +def get_url(route, segment, file="rlog.bz2"): return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}") From 17d9b1269342166d5453c8cbe3412a803319ad87 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 9 Jul 2025 16:56:49 -0700 Subject: [PATCH 47/54] ci: don't push process replay diff automatically to Azure (#35670) remove --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a78b51950..72200a163 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -203,7 +203,7 @@ jobs: name: process_replay_diff.txt path: selfdrive/test/process_replay/diff.txt - name: Upload reference logs - if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} + if: false # TODO: move this to github instead of azure run: | ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: Run regen From c9731d6aa92255c6f52bb1b879f854b452f9a6be Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Jul 2025 17:15:04 -0700 Subject: [PATCH 48/54] raylib: show touches flag for debugging (#35671) * show touches * type --- system/ui/lib/application.py | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 805fdcc71..5faa51b64 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -4,19 +4,21 @@ import os import time import pyray as rl from collections.abc import Callable +from collections import deque from dataclasses import dataclass from enum import IntEnum from importlib.resources import as_file, files from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE -DEFAULT_FPS = 60 +DEFAULT_FPS = int(os.getenv("FPS", "60")) FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "1") == "1" SHOW_FPS = os.getenv("SHOW_FPS") == '1' +SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' SCALE = float(os.getenv("SCALE", "1.0")) @@ -61,6 +63,9 @@ class GuiApplication: self._trace_log_callback = None self._modal_overlay = ModalOverlay() + # Debug variables + self._mouse_history: deque[rl.Vector2] = deque(maxlen=DEFAULT_FPS * 2) + def request_close(self): self._window_close_requested = True @@ -190,6 +195,19 @@ class GuiApplication: if SHOW_FPS: rl.draw_fps(10, 10) + if SHOW_TOUCHES: + if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + self._mouse_history.clear() + self._mouse_history.append(rl.get_mouse_position()) + + if self._mouse_history: + mouse_pos = self._mouse_history[-1] + rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 15, rl.RED) + for idx, mouse_pos in enumerate(self._mouse_history): + perc = idx / len(self._mouse_history) + color = rl.Color(min(int(255 * (1.5 - perc)), 255), int(min(255 * (perc + 0.5), 255)), 50, 255) + rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 5, color) + rl.end_drawing() self._monitor_fps() except KeyboardInterrupt: From ccc2e9297bae4b6849f7881a25d3b10d4e1b224d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 9 Jul 2025 19:42:39 -0700 Subject: [PATCH 49/54] pigeond: save almanac periodically (#35661) * save * save * check * comments * remove --- system/ubloxd/pigeond.py | 27 +++++++++++++++++---------- 1 file changed, 17 insertions(+), 10 deletions(-) diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py index 2194a4b9d..e6a03ffbd 100755 --- a/system/ubloxd/pigeond.py +++ b/system/ubloxd/pigeond.py @@ -136,6 +136,17 @@ class TTYPigeon: return True return False +def save_almanac(pigeon: TTYPigeon) -> None: + # store almanac in flash + pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") + try: + if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK): + cloudlog.info("Done storing almanac") + else: + cloudlog.error("Error storing almanac") + except TimeoutError: + pass + def init_baudrate(pigeon: TTYPigeon): # ublox default setting on startup is 9600 baudrate pigeon.set_baud(9600) @@ -245,16 +256,6 @@ def deinitialize_and_exit(pigeon: TTYPigeon | None): # controlled GNSS stop pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") - # store almanac in flash - pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") - try: - if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK): - cloudlog.warning("Done storing almanac") - else: - cloudlog.error("Error storing almanac") - except TimeoutError: - pass - # turn off power and exit cleanly set_power(False) sys.exit(0) @@ -281,6 +282,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0) def end_condition(): return True if duration == 0 else time.monotonic() - start_time < duration + last_almanac_save = time.monotonic() while end_condition(): dat = pigeon.receive() if len(dat) > 0: @@ -294,6 +296,11 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0) msg = messaging.new_message('ubloxRaw', len(dat), valid=True) msg.ubloxRaw = dat[:] pm.send('ubloxRaw', msg) + + # save almanac every 5 minutes + if (time.monotonic() - last_almanac_save) > 60*5: + save_almanac(pigeon) + last_almanac_save = time.monotonic() else: # prevent locking up a CPU core if ublox disconnects time.sleep(0.001) From ddfda8a6ec3828b9d0fea1c0d857c4e7a4cf4231 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Wed, 9 Jul 2025 20:22:40 -0700 Subject: [PATCH 50/54] [bot] Update translations (#35668) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ja.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 6310fd9ec..c48b7bade 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -326,7 +326,7 @@ Steering lag calibration is %1% complete. Steering lag calibration is complete. - + ステアリング遅延のキャリブレーション完了。 From 65381279f477e67db88e8a8cea8e7a174df67d45 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Jul 2025 20:24:05 -0700 Subject: [PATCH 51/54] raylib: disable vsync (#35674) disable vsync --- system/ui/lib/application.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 5faa51b64..ff81fc69a 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -16,10 +16,10 @@ FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions -ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "1") == "1" -SHOW_FPS = os.getenv("SHOW_FPS") == '1' -SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == '1' -STRICT_MODE = os.getenv("STRICT_MODE") == '1' +ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1" +SHOW_FPS = os.getenv("SHOW_FPS") == "1" +SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == "1" +STRICT_MODE = os.getenv("STRICT_MODE") == "1" SCALE = float(os.getenv("SCALE", "1.0")) DEFAULT_TEXT_SIZE = 60 From 13c5c4dacce48f47f60025bc29ac67a44e3038a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Jul 2025 21:33:19 -0700 Subject: [PATCH 52/54] raylib: don't drop touch events on device (#35672) * mouse thread * instanciate mouse * type that * pc handling * use mouse event list in widget * use events in scroll panel * no stop that * hack for now * typing * run * clean up --- selfdrive/ui/layouts/settings/settings.py | 4 +- selfdrive/ui/layouts/sidebar.py | 4 +- system/ui/lib/application.py | 97 +++++++++++++++++++++-- system/ui/lib/list_view.py | 4 +- system/ui/lib/scroll_panel.py | 39 +++++---- system/ui/lib/toggle.py | 3 +- system/ui/lib/widget.py | 23 +++--- 7 files changed, 134 insertions(+), 40 deletions(-) diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 4a29f408e..d4dc420b7 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout -from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.selfdrive.ui.layouts.network import NetworkLayout from openpilot.system.ui.lib.widget import Widget @@ -132,7 +132,7 @@ class SettingsLayout(Widget): if panel.instance: panel.instance.render(content_rect) - def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: + def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: # Check close button if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect): if self._close_callback: diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index 13f69b79d..cb8c6d472 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -4,7 +4,7 @@ from dataclasses import dataclass from collections.abc import Callable from cereal import log from openpilot.selfdrive.ui.ui_state import ui_state -from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.widget import Widget @@ -135,7 +135,7 @@ class Sidebar(Widget): else: self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD) - def _handle_mouse_release(self, mouse_pos: rl.Vector2): + def _handle_mouse_release(self, mouse_pos: MousePos): if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN): if self._on_settings_click: self._on_settings_click() diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index ff81fc69a..12d825b99 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -3,18 +3,22 @@ import cffi import os import time import pyray as rl +import threading from collections.abc import Callable from collections import deque from dataclasses import dataclass from enum import IntEnum +from typing import NamedTuple from importlib.resources import as_file, files from openpilot.common.swaglog import cloudlog -from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE, PC +from openpilot.common.realtime import Ratekeeper DEFAULT_FPS = int(os.getenv("FPS", "60")) FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions +MOUSE_THREAD_RATE = 140 # touch controller runs at 140Hz ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1" SHOW_FPS = os.getenv("SHOW_FPS") == "1" @@ -47,6 +51,68 @@ class ModalOverlay: callback: Callable | None = None +class MousePos(NamedTuple): + x: float + y: float + + +class MouseEvent(NamedTuple): + pos: MousePos + left_pressed: bool + left_released: bool + left_down: bool + t: float + + +class MouseState: + def __init__(self): + self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list + self._prev_mouse_event: MouseEvent | None = None + + self._rk = Ratekeeper(MOUSE_THREAD_RATE) + self._lock = threading.Lock() + self._exit_event = threading.Event() + self._thread = None + + def get_events(self) -> list[MouseEvent]: + with self._lock: + events = list(self._events) + self._events.clear() + return events + + def start(self): + self._exit_event.clear() + if self._thread is None or not self._thread.is_alive(): + self._thread = threading.Thread(target=self._run_thread, daemon=True) + self._thread.start() + + def stop(self): + self._exit_event.set() + if self._thread is not None and self._thread.is_alive(): + self._thread.join() + + def _run_thread(self): + while not self._exit_event.is_set(): + rl.poll_input_events() + self._handle_mouse_event() + self._rk.keep_time() + + def _handle_mouse_event(self): + mouse_pos = rl.get_mouse_position() + ev = MouseEvent( + MousePos(mouse_pos.x, mouse_pos.y), + rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT), + rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT), + rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT), + time.monotonic(), + ) + # Only add changes + if self._prev_mouse_event is None or ev[:-1] != self._prev_mouse_event[:-1]: + with self._lock: + self._events.append(ev) + self._prev_mouse_event = ev + + class GuiApplication: def __init__(self, width: int, height: int): self._fonts: dict[FontWeight, rl.Font] = {} @@ -63,8 +129,11 @@ class GuiApplication: self._trace_log_callback = None self._modal_overlay = ModalOverlay() + self._mouse = MouseState() + self._mouse_events: list[MouseEvent] = [] + # Debug variables - self._mouse_history: deque[rl.Vector2] = deque(maxlen=DEFAULT_FPS * 2) + self._mouse_history: deque[MousePos] = deque(maxlen=MOUSE_THREAD_RATE) def request_close(self): self._window_close_requested = True @@ -94,6 +163,9 @@ class GuiApplication: self._set_styles() self._load_fonts() + if not PC: + self._mouse.start() + def set_modal_overlay(self, overlay, callback: Callable | None = None): self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback) @@ -154,11 +226,25 @@ class GuiApplication: rl.unload_render_texture(self._render_texture) self._render_texture = None + if not PC: + self._mouse.stop() + rl.close_window() + @property + def mouse_events(self) -> list[MouseEvent]: + return self._mouse_events + def render(self): try: while not (self._window_close_requested or rl.window_should_close()): + if PC: + # Thread is not used on PC, need to manually add mouse events + self._mouse._handle_mouse_event() + + # Store all mouse events for the current frame + self._mouse_events = self._mouse.get_events() + if self._render_texture: rl.begin_texture_mode(self._render_texture) rl.clear_background(rl.BLACK) @@ -196,9 +282,10 @@ class GuiApplication: rl.draw_fps(10, 10) if SHOW_TOUCHES: - if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): - self._mouse_history.clear() - self._mouse_history.append(rl.get_mouse_position()) + for mouse_event in self._mouse_events: + if mouse_event.left_pressed: + self._mouse_history.clear() + self._mouse_history.append(mouse_event.pos) if self._mouse_history: mouse_pos = self._mouse_history[-1] diff --git a/system/ui/lib/list_view.py b/system/ui/lib/list_view.py index f5581be23..4b6f434de 100644 --- a/system/ui/lib/list_view.py +++ b/system/ui/lib/list_view.py @@ -2,7 +2,7 @@ import os import pyray as rl from collections.abc import Callable from abc import ABC -from openpilot.system.ui.lib.application import gui_app, FontWeight +from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.lib.button import gui_button, ButtonStyle @@ -229,7 +229,7 @@ class ListItem(Widget): super().set_parent_rect(parent_rect) self._rect.width = parent_rect.width - def _handle_mouse_release(self, mouse_pos: rl.Vector2): + def _handle_mouse_release(self, mouse_pos: MousePos): if not self.is_visible: return diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 32f3b7b57..9f01865b9 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -1,6 +1,8 @@ +import time import pyray as rl from collections import deque from enum import IntEnum +from openpilot.system.ui.lib.application import gui_app, MouseEvent, MousePos # Scroll constants for smooth scrolling behavior MOUSE_WHEEL_SCROLL_SPEED = 30 @@ -38,51 +40,54 @@ class GuiScrollPanel: self._bounds_rect: rl.Rectangle | None = None def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2: + # TODO: HACK: this class is driven by mouse events, so we need to ensure we have at least one event to process + for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), False, False, False, time.monotonic())]: + self._handle_mouse_event(mouse_event, bounds, content) + return self._offset + + def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, content: rl.Rectangle): # Store rectangles for reference self._content_rect = content self._bounds_rect = bounds - # Calculate time delta - current_time = rl.get_time() - - mouse_pos = rl.get_mouse_position() max_scroll_y = max(content.height - bounds.height, 0) # Start dragging on mouse press - if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT): + if rl.check_collision_point_rec(mouse_event.pos, bounds) and mouse_event.left_pressed: if self._scroll_state == ScrollState.IDLE or self._scroll_state == ScrollState.BOUNCING: self._scroll_state = ScrollState.DRAGGING_CONTENT if self._show_vertical_scroll_bar: scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH) scrollbar_x = bounds.x + bounds.width - scrollbar_width - if mouse_pos.x >= scrollbar_x: + if mouse_event.pos.x >= scrollbar_x: self._scroll_state = ScrollState.DRAGGING_SCROLLBAR # TODO: hacky # when clicking while moving, go straight into dragging self._is_dragging = abs(self._velocity_y) > MIN_VELOCITY - self._last_mouse_y = mouse_pos.y - self._start_mouse_y = mouse_pos.y - self._last_drag_time = current_time + self._last_mouse_y = mouse_event.pos.y + self._start_mouse_y = mouse_event.pos.y + self._last_drag_time = mouse_event.t self._velocity_history.clear() self._velocity_y = 0.0 self._bounce_offset = 0.0 # Handle active dragging if self._scroll_state == ScrollState.DRAGGING_CONTENT or self._scroll_state == ScrollState.DRAGGING_SCROLLBAR: - if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): - delta_y = mouse_pos.y - self._last_mouse_y + if mouse_event.left_down: + delta_y = mouse_event.pos.y - self._last_mouse_y # Track velocity for inertia - time_since_last_drag = current_time - self._last_drag_time + time_since_last_drag = mouse_event.t - self._last_drag_time if time_since_last_drag > 0: - drag_velocity = delta_y / time_since_last_drag / 60.0 + # TODO: HACK: /2 since we usually get two touch events per frame + drag_velocity = delta_y / time_since_last_drag / 60.0 / 2 # TODO: shouldn't be hardcoded self._velocity_history.append(drag_velocity) - self._last_drag_time = current_time + self._last_drag_time = mouse_event.t # Detect actual dragging - total_drag = abs(mouse_pos.y - self._start_mouse_y) + total_drag = abs(mouse_event.pos.y - self._start_mouse_y) if total_drag > DRAG_THRESHOLD: self._is_dragging = True @@ -96,9 +101,9 @@ class GuiScrollPanel: scroll_ratio = content.height / bounds.height self._offset.y -= delta_y * scroll_ratio - self._last_mouse_y = mouse_pos.y + self._last_mouse_y = mouse_event.pos.y - elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): + elif mouse_event.left_released: # Calculate flick velocity if self._velocity_history: total_weight = 0 diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py index 8ed9a655e..2edf2ff11 100644 --- a/system/ui/lib/toggle.py +++ b/system/ui/lib/toggle.py @@ -1,4 +1,5 @@ import pyray as rl +from openpilot.system.ui.lib.application import MousePos from openpilot.system.ui.lib.widget import Widget ON_COLOR = rl.Color(51, 171, 76, 255) @@ -23,7 +24,7 @@ class Toggle(Widget): def set_rect(self, rect: rl.Rectangle): self._rect = rl.Rectangle(rect.x, rect.y, WIDTH, HEIGHT) - def _handle_mouse_release(self, mouse_pos: rl.Vector2): + def _handle_mouse_release(self, mouse_pos: MousePos): if not self._enabled: return diff --git a/system/ui/lib/widget.py b/system/ui/lib/widget.py index 3539f5594..7a436b8e9 100644 --- a/system/ui/lib/widget.py +++ b/system/ui/lib/widget.py @@ -2,6 +2,7 @@ import abc import pyray as rl from enum import IntEnum from collections.abc import Callable +from openpilot.system.ui.lib.application import gui_app, MousePos class DialogResult(IntEnum): @@ -66,18 +67,18 @@ class Widget(abc.ABC): ret = self._render(self._rect) # Keep track of whether mouse down started within the widget's rectangle - mouse_pos = rl.get_mouse_position() - if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._touch_valid(): - if rl.check_collision_point_rec(mouse_pos, self._rect): - self._is_pressed = True + for mouse_event in gui_app.mouse_events: + if mouse_event.left_pressed and self._touch_valid(): + if rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._is_pressed = True - elif not self._touch_valid(): - self._is_pressed = False + elif not self._touch_valid(): + self._is_pressed = False - elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT): - if self._is_pressed and rl.check_collision_point_rec(mouse_pos, self._rect): - self._handle_mouse_release(mouse_pos) - self._is_pressed = False + elif mouse_event.left_released: + if self._is_pressed and rl.check_collision_point_rec(mouse_event.pos, self._rect): + self._handle_mouse_release(mouse_event.pos) + self._is_pressed = False return ret @@ -91,6 +92,6 @@ class Widget(abc.ABC): def _update_layout_rects(self) -> None: """Optionally update any layout rects on Widget rect change.""" - def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool: + def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: """Optionally handle mouse release events.""" return False From a48a08bc80cd2f4668f17c4cd5a3f4d29e83e236 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Jul 2025 21:45:52 -0700 Subject: [PATCH 53/54] scroll panel: remove useless return --- system/ui/lib/scroll_panel.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py index 9f01865b9..21b6795a7 100644 --- a/system/ui/lib/scroll_panel.py +++ b/system/ui/lib/scroll_panel.py @@ -172,8 +172,6 @@ class GuiScrollPanel: elif self._offset.y < -(max_scroll_y + MAX_BOUNCE_DISTANCE): self._offset.y = -(max_scroll_y + MAX_BOUNCE_DISTANCE) - return self._offset - def is_touch_valid(self): return not self._is_dragging From 501fddac82f5cb09744375fb7c5cfc31fd65c1af Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Jul 2025 22:04:22 -0700 Subject: [PATCH 54/54] raylib ui: add brightness and display power (#35676) * add constant * fix initial interaction time * from ui.cc --- selfdrive/ui/ui_state.py | 69 +++++++++++++++++++++++++++++++++++++--- 1 file changed, 64 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index 3738ea6d5..c2bb5f77a 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -1,12 +1,20 @@ import pyray as rl +import numpy as np import time +import threading from collections.abc import Callable from enum import Enum from cereal import messaging, log +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params, UnknownKeyName +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.ui.lib.prime_state import PrimeState +from openpilot.system.ui.lib.application import DEFAULT_FPS +from openpilot.system.hardware import HARDWARE +from openpilot.system.ui.lib.application import gui_app UI_BORDER_SIZE = 30 +BACKLIGHT_OFFROAD = 50 class UIStatus(Enum): @@ -139,10 +147,15 @@ class UIState: class Device: def __init__(self): self._ignition = False - self._interaction_time: float = 0.0 + self._interaction_time: float = -1 self._interactive_timeout_callbacks: list[Callable] = [] self._prev_timed_out = False - self.reset_interactive_timeout() + self._awake = False + + self._offroad_brightness: int = BACKLIGHT_OFFROAD + self._last_brightness: int = 0 + self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS) + self._brightness_thread: threading.Thread | None = None def reset_interactive_timeout(self, timeout: int = -1) -> None: if timeout == -1: @@ -153,18 +166,64 @@ class Device: self._interactive_timeout_callbacks.append(callback) def update(self): + # do initial reset + if self._interaction_time <= 0: + self.reset_interactive_timeout() + + self._update_brightness() + self._update_wakefulness() + + def set_offroad_brightness(self, brightness: int): + # TODO: not yet used, should be used in prime widget for QR code, etc. + self._offroad_brightness = min(max(brightness, 0), 100) + + def _update_brightness(self): + clipped_brightness = self._offroad_brightness + + if ui_state.started and ui_state.light_sensor >= 0: + clipped_brightness = ui_state.light_sensor + + # CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm + if clipped_brightness <= 8: + clipped_brightness = clipped_brightness / 903.3 + else: + clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0 + + clipped_brightness = float(np.clip(100 * clipped_brightness, 10, 100)) + + brightness = round(self._brightness_filter.update(clipped_brightness)) + if not self._awake: + brightness = 0 + + if brightness != self._last_brightness: + if self._brightness_thread is None or not self._brightness_thread.is_alive(): + cloudlog.debug(f"setting display brightness {brightness}") + self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,)) + self._brightness_thread.start() + self._last_brightness = brightness + + def _update_wakefulness(self): # Handle interactive timeout ignition_just_turned_off = not ui_state.ignition and self._ignition self._ignition = ui_state.ignition - interaction_timeout = time.monotonic() > self._interaction_time - if ignition_just_turned_off or rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT): + if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events): self.reset_interactive_timeout() - elif interaction_timeout and not self._prev_timed_out: + + interaction_timeout = time.monotonic() > self._interaction_time + if interaction_timeout and not self._prev_timed_out: for callback in self._interactive_timeout_callbacks: callback() self._prev_timed_out = interaction_timeout + self._set_awake(ui_state.ignition or not interaction_timeout) + + def _set_awake(self, on: bool): + if on != self._awake: + self._awake = on + cloudlog.debug(f"setting display power {int(on)}") + HARDWARE.set_display_power(on) + # Global instance ui_state = UIState()