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2c1b29b63a53a3cc4fc47494e121a8564d0feeb5
15 Commits
| Author | SHA1 | Message | Date | |
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 Discountchubbs
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63ba5e864f |
car: abstract sunnypilot interfaces (#721)
* Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file * Method abstracting radar tracks in interfaces.py This makes the code more maintainable for future implementations to this file * Add type annotation to params in initialize_car_interface_sp * rename * just internal --------- Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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DevTekVE
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e15974345b |
modeld: Enforce float type for lag_adjusted_curvature (#714)
Convert safe_desired_curvature to float before returning. This ensures the returned value is explicitly a float, avoiding an issue when serializing it on capnp as it does not recognize numpy.float Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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Jason Wen
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65853f0111 |
NNLC: Fix exact match consistency (#716)
Move the exact_match calculation after updating model_path and max_similarity to ensure consistency. This prevents potential discrepancies when rechecking NN paths and enhances code maintainability. |
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Kumar
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34bbdf4d7f |
Controls: Automatic lane change (#653)
* init alc controller * only for sunny * rebase fix * ui * add ui preview * Update common/params_keys.h Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update selfdrive/ui/sunnypilot/SConscript Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc Co-authored-by: Jason Wen <haibin.wen3@gmail.com> * review sugg * code review * renaming * move around * style * fix types and params exceptions handling * take out magic numbers * more * rename * shorter * make sure reset happens at the end of every DH loop * split into multiple updates * just 3 seconds * use default states * oops * more readable * oops * some space and lines * run in DH loop directly * adjust ui preview * nudgeless should process immediately * check option instead * more explicit * even more explicit * tests * brake pedal release should not allow auto lane change (caught by test) * unnecessary * no continuous auto lane change * Revert "unnecessary" This reverts commit 93d135b54a812e94d23951ca8ea52ff944cfd29a. * more tests * less * less less * update again * more cleanup * better * AutoLaneChangeState -> AutoLaneChangeMode * update * lint * unused * test all states * license --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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royjr
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96d73fe2b3 |
NNLC: bump max similarity for higher accuracy (#704)
Update helpers.py Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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Tim Wilson
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bab2d776b6 |
NNLC: use torque substitutes as fuzzy fingerprints (#700)
* NNLC: use torque substitutes as fuzzy fingerprints * substitutes are not exact matches * update nnlc helpers for extra nnlc model path checks, take the first one that passes. * Update sunnypilot/selfdrive/controls/lib/nnlc/helpers.py --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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Jason Wen
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309304a352 |
Controls: Neural Network Lateral Control (NNLC) for Torque Lateral Accel Control (#695)
* init * more init * keep it alive * fixes * more fixes * more fix * new submodule for nn data * bump submodule * update path to submodule * spacing??? * update submodule path * update submodule path * bump * dump * bump * introduce params * Add Neural Network Lateral Control toggle to developer panel This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles. * decouple even more * static * codespell * remove debug * in structs * fix import * convert to capnp * fixes * debug * only initialize if NNLC is enabled or allow to enable * oops * fix initialization * only allow engage if nnlc is off * fix toggle param * fix tests * lint * fix more test * capnp test * try this out * validate if it's not None * make it 33 to match * align * share the same friction input calculation * return stock values if not enabled * unused * split base and child * space * rename * NeuralNetworkFeedForwardModel * less * just use file name * try this * more explicit * rename * move it * child class for additional controllers * rename * time to split out custom lateral acceleration * move around * space * fix * TODO-SP * TODO-SP * update regardless, it's an extension now * update name and expose toggle * ui: sunnypilot Panel -> Steering Panel * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h * merge * move to steering panel * no need for this * live params in a thread * no live for now * new structs * more ui * more flexible * more ui * no longer needed * another ui * cereal changes * bump opendbc * simplify checks * all in one place * split Enhanced Lat Accel * handle unrecognized platform * test for fingerprinting * fix fingerprint * NNLC: Mock data for unrecognized cars * fix fingerprints * test to verify model loading * bump neural_network_data * use pytest * use different one for now * fix ui preview alignments * typing * more type * show a platform * show match * init params for tests * ok ruff * make sure to loop through tests * ok again ruff * ok we need this lol --------- Co-authored-by: DevTekVE <devtekve@gmail.com> |
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Jason Wen
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0990212edc |
Revert "Controls: Neural Network Lateral Control (NNLC) for Torque Lateral Accel Control" (#694)
Revert "Controls: Neural Network Lateral Control (NNLC) for Torque Lateral Ac…"
This reverts commit
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Jason Wen
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ecb4026269 |
Controls: Neural Network Lateral Control (NNLC) for Torque Lateral Accel Control (#667)
* init * more init * keep it alive * fixes * more fixes * more fix * new submodule for nn data * bump submodule * update path to submodule * spacing??? * update submodule path * update submodule path * bump * dump * bump * introduce params * Add Neural Network Lateral Control toggle to developer panel This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles. * decouple even more * static * codespell * remove debug * in structs * fix import * convert to capnp * fixes * debug * only initialize if NNLC is enabled or allow to enable * oops * fix initialization * only allow engage if nnlc is off * fix toggle param * fix tests * lint * fix more test * capnp test * try this out * validate if it's not None * make it 33 to match * align * share the same friction input calculation * return stock values if not enabled * unused * split base and child * space * rename * NeuralNetworkFeedForwardModel * less * just use file name * try this * more explicit * rename * move it * child class for additional controllers * rename * time to split out custom lateral acceleration * move around * space * fix * TODO-SP * TODO-SP * update regardless, it's an extension now * update name and expose toggle * ui: sunnypilot Panel -> Steering Panel * Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h * merge * move to steering panel * no need for this * live params in a thread * no live for now * new structs * more ui * more flexible * more ui * no longer needed * another ui * cereal changes * bump opendbc * simplify checks * all in one place * split Enhanced Lat Accel --------- Co-authored-by: DevTekVE <devtekve@gmail.com> |
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Jason Wen
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d21e351003 |
Controls: Lateral Accel Torque Control Extension (#690)
* init * more init * keep it alive * fixes * more fixes * more fix * new submodule for nn data * bump submodule * update path to submodule * spacing??? * update submodule path * update submodule path * bump * dump * bump * introduce params * Add Neural Network Lateral Control toggle to developer panel This introduces a new toggle for enabling Neural Network Lateral Control (NNLC), providing detailed descriptions of its functionality and compatibility. It includes UI integration, car compatibility checks, and feedback links for unsupported vehicles. * decouple even more * static * codespell * remove debug * in structs * fix import * convert to capnp * fixes * debug * only initialize if NNLC is enabled or allow to enable * oops * fix initialization * only allow engage if nnlc is off * fix toggle param * fix tests * lint * fix more test * capnp test * try this out * validate if it's not None * make it 33 to match * align * share the same friction input calculation * return stock values if not enabled * unused * split base and child * space * rename * NeuralNetworkFeedForwardModel * less * just use file name * try this * more explicit * rename * move it * child class for additional controllers * rename * time to split out custom lateral acceleration * move around * space * fix * TODO-SP * TODO-SP * split nnlc and custom lat accel * more * not yet * comment * fix --------- Co-authored-by: DevTekVE <devtekve@gmail.com> |
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DevTekVE
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141a7f5f72 |
Use numpy directly instead of numpy_fast for clip and interp
Replaced occurrences of `openpilot.common.numpy_fast` with direct imports from `numpy` across multiple files. This simplifies dependencies and ensures consistency with standard Python library usage. Adjusted tests to mock `numpy` functions accordingly. |
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Jason Wen
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5c38aeae0b |
Longitudinal: Dynamic Experimental Control (#572)
* init dec * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * fix static test * ff * fix static test * unitee testt * Refactor test_dynamic_controller and fix formatting issues Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency. * Refactor test indentation for dynamic controller tests Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code. * Migrated to pytest using claude * Integrate radar parameter into dynamic controller's pytest tests Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases. * Disabling unittest file to allow checks on the pipeline to succeed. Pending to remove this, but leaving it to validate the move to pytest is okay before merging * Replace unittest with pytest for dynamic controller tests Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage. * new line... * Refactor and modularize DynamicExperimentalController logic Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports. * Add missing import for messaging in helpers.py The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code. * Format * Formatting * rebase fix * Refactor MpcSource definition and update references. Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. * Format * Refactor DEC into a dedicated longitudinal planner class Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity. * **Refactor DEC module structure for better organization** Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes. * static test * static * had moved to car_state * cleanup * some more * static method * move around * more cleanup * stuff * into their own * rename * check live param * sync with stock * type hint * unused * smoother trans * window time * fix type hint * pass sm.frame from plannerd * more fixes * more * more explicit * fix test * Revert "fix test" This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0. * Revert "pass sm.frame from plannerd" This reverts commit a8deaa69b89f599f86ae517827a570789566e079. * use internal frame * update name * never used * this is why it was never using DEC * more logs * slight cleanup * remove to fail test * update name * more * rename * move around * explicit type hints * move to constants py * Revert "explicit type hints" This reverts commit c205497b * more * don't set to exp mode initial if DEC is active * use walrus for None * Revert "use walrus for None" This reverts commit 5f2396d490deded87d43e378bd9e74738fe307b0. * fix wrong typing and variable name * use walrus (needs cleanup) * fix tests * revert smooht lead for now * dec: how good is FirstOrderFilter? * Update dec.py * dec: faster ? * Revert "dec: faster ?" This reverts commit 40259cd22ad23d01e63a9faa47a0cf0edcc73399. * Revert "Update dec.py" This reverts commit 3f29ccbd99c538e9f3d11c6178bc90b0a2ed3f7b. * Revert "dec: how good is FirstOrderFilter?" This reverts commit 01e06df542894b468fb9460c60bca1b09bed4eec. * Update slow-down logic and constants for improved behavior Adjust the slowdown scaling factor and anomaly handling to refine behavior without abrupt resets. Modify constants to increase window size and adjust probabilities and distances for smoother adaptation. Update version to reflect the new changes. * Fix lead detection fallback for weighted average check. Add a fallback value of -1 when computing the weighted average to prevent errors caused by invalid or None values. This ensures robust lead detection and avoids potential crashes or undefined behavior. * visuals for DEC * try this * add opacity * should be active and dimmer * even dimmer * Update dec.py * Update constants.py * use another method for drawing * migrate to sp only * fix * init --------- Co-authored-by: rav4kumar <meetkumardesai@gmail.com> Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: DevTekVE <devtekve@gmail.com> |
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Kumar
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c3bfd17028 |
Revert "Longitudinal: Dynamic Experimental Control" (#571)
Revert "Longitudinal: Dynamic Experimental Control (#564)"
This reverts commit
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Kumar
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bba3c39e2f |
Longitudinal: Dynamic Experimental Control (#564)
* init dec * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * fix static test * ff * fix static test * unitee testt * Refactor test_dynamic_controller and fix formatting issues Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency. * Refactor test indentation for dynamic controller tests Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code. * Migrated to pytest using claude * Integrate radar parameter into dynamic controller's pytest tests Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases. * Disabling unittest file to allow checks on the pipeline to succeed. Pending to remove this, but leaving it to validate the move to pytest is okay before merging * Replace unittest with pytest for dynamic controller tests Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage. * new line... * Refactor and modularize DynamicExperimentalController logic Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports. * Add missing import for messaging in helpers.py The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code. * Format * Formatting * rebase fix * Refactor MpcSource definition and update references. Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. * Format * Refactor DEC into a dedicated longitudinal planner class Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity. * **Refactor DEC module structure for better organization** Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes. * static test * static * had moved to car_state * cleanup * some more * static method * move around * more cleanup * stuff * into their own * rename * check live param * sync with stock * type hint * unused * smoother trans * window time * fix type hint * pass sm.frame from plannerd * more fixes * more * more explicit * fix test * Revert "fix test" This reverts commit 635b15f2bc11a8ddd5c4194546d51df33de324a0. * Revert "pass sm.frame from plannerd" This reverts commit a8deaa69b89f599f86ae517827a570789566e079. * use internal frame --------- Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com> |
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DevTekVE
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9ccc5cc3ea |
models: retain pre-20hz drive model support (#531)
* modeld: Retain pre-20hz drive model support * Method not available anymore on OP * some fixes * Revert "Long planner get accel: new function args (#34288)" * Revert "Fix low-speed allow_throttle behavior in long planner (#33894)" * Revert "long planner: allow throttle reflects usage (#33792)" * Revert "Gate acceleration on model gas press predictions (#33643)" * Reapply "Gate acceleration on model gas press predictions (#33643)" This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428. * Reapply "long planner: allow throttle reflects usage (#33792)" This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693. * Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)" This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807. * Reapply "Long planner get accel: new function args (#34288)" This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b. * don't need * retain snpe * wrong * they're symlinks * remove * put back into VCS * add back * don't include built * Refactor model runner retrieval with caching support Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions. * Update model runner determination logic with caching fix Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks. * parse inputs via metadata * load model and metadata dynamically * cherry pick from devtekve as base * lateral_control_params & prev_desired_curv: MLSIM V0 to Null Pointer * old desired_curv data: MLSIM V1 to Postal Service * Bringing what was on master back then * Cleaning up * Refactor model pipeline for modularity and dynamic input handling Refactored the model pipeline by introducing helper functions to modularize model loading, metadata extraction, and input preparation. Improved flexibility in handling dynamic input keys and parsing outputs based on model configuration. Removed deprecated or unused code segments for cleaner and more maintainable structure. * Push NDv2 because why not and fix modeld * `Refactor model parsing and clean unused code dependencies` Simplified `parse_outputs` by removing unnecessary `input_keys` parameter, ensuring cleaner logic. Updated `PROCESS_NAME` for standardization and eliminated deprecated `Pathlib` dependencies in model paths. Minor adjustments improve input handling for lateral control parameters. * Refactor model and metadata loading functions. Simplified and clarified `load_model` by renaming it to `get_model_path` and removing redundant variable assignments. Streamlined `load_metadata` by directly returning the loaded metadata without intermediate variables. These changes improve code readability and maintainability. * Refactor modeld process selection based on SNPE support. Introduce conditional logic to determine and start the appropriate modeld process (SNPE or default) based on hardware support. This improves flexibility and ensures correct process management. * Walrus baby * Update longitudinal_planner.py * Improve model download progress handling and translations Refactored model download status handling logic for better clarity and added mechanisms to track status changes efficiently. Updated UI text and translations across multiple languages to reflect consistent and accurate model download states. * Revert "Update longitudinal_planner.py" This reverts commit b44a687e4cfb1e2708457478e8626c731f42db0c. * Fix variable naming for curvature size in modeld.py Renamed the variable `len` to `length` to avoid conflict with the built-in `len()` function, improving code clarity and preventing potential errors. Also removed trailing spaces in commented-out sections for better formatting consistency. * sync with upstream * some are different * should work * sim_pose only exists in in ndv3 and prior * dynamic meta constants * fix * uiview: disable power saving * fix this * ain't coasting for y'all * Static analysis * Refactor initialization of model inputs for clarity. Removed redundant pre-initialization of `driving_style`, `nav_features`, and `nav_instructions` variables. Instead, directly initialize these within their respective conditional blocks for better readability and reduced memory usage. * default to none * enable in next PR * more * Revert "more" This reverts commit f5a4220588c5b014b29173f8f89e1fecdec25336. * Revert "enable in next PR" This reverts commit 621cc4f18ead8489cb05a22a73b48e5e4fe33787. * no need to cast bool * nuke * fix desired curvature for pre LAv1 models * mypy * static * fix * new json * Going to a test branch with a different model json list * renamed model json * Update model runner handling in custom.capnp and helpers Refactored model runner logic by introducing a `runner` field in `custom.capnp` and simplifying `get_active_model_runner` logic. Removed deprecated function `get_model_runner_by_filename` and added a temporary filter in `fetcher.py` to enforce `snpe` until full tinygrad support is implemented. * Revert "Update model runner handling in custom.capnp and helpers" This reverts commit f34d872c1369fa5479496ba4e0cce7b3063ab358. * Revert "renamed model json" This reverts commit 15c6ed303b01ab78d1a576dc1d4ad105db7518df. * Revert "Going to a test branch with a different model json list" This reverts commit 4c1408fee524656049ac6502ac4f578e5b632d54. * Reapply "renamed model json" This reverts commit c6fec6912a1517d161dc9b23dce43ddf46866312. Reapply "Going to a test branch with a different model json list" This reverts commit 83e253e9a3b6573191d907584d6368d991395b0a. * Add 'runner' property to 'ModelBundle' and update relevant functions The 'ModelBundle' class in 'custom.capnp' has been extended to include a 'runner' property. This required updating 'fetcher.py' to handle the 'runner' property when parsing model bundles. Additionally, the helper function 'get_model_runner_by_filename' has been removed from 'helpers.py' as it is no longer needed because the 'runner' property provides this information. The 'get_active_model_runner' function has also been updated in light of these changes. * Refine bundle selection logic in SoftwarePanelSP Improve logic for determining which model bundle to display by considering download status and failure state. Remove unnecessary function call to enhance clarity and maintainability. * tmp * Add retrieval of active model bundle in manager loop Introduce a call to `get_active_bundle` to fetch the active model bundle and store it in `self.active_bundle`. This ensures the active bundle is always up-to-date during the model management process. * Add "Use Default" option for model selection Introduced a "Use Default" option in the model selection dropdown, allowing users to reset to the default model. Adjusted logic to handle default selection and ensure proper parameter updates. Fixed bundle status handling during the download process in the model manager. * Refactor type hint in active_bundle assignment. Removed an unnecessary type hint in the active_bundle assignment for cleaner and more maintainable code. This change does not affect functionality but improves code readability. * no nested * update json url * split out * format * condense * more --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com> Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com> |