* Refactor model and artifact structures with version compatibility filtering
- Introduced `Artifact` struct and nested it within the `Model` struct for improved clarity and organization.
- Updated enums, logic, and parsing to align with the new struct definitions.
- Implemented version compatibility filtering for model bundles using the `is_bundle_version_compatible` helper.
- Enhanced artifact download handling by adding checks for missing URIs, better error management, and improved logging.
- Adjusted model fetching to point to the latest endpoint (`v3`).
* Make linter happy
* Make linter happy
* Refactor model data parsing to improve readability.
Replaced kwargs-based data extraction with explicit parameter passing for clarity. This enhances code readability and reduces ambiguities in method calls, making the parsing logic more maintainable and straightforward.
* Refactor error handling in active model bundle retrieval.
Wrapped the logic to fetch the active model bundle in a try-except block to prevent unhandled exceptions. This ensures more robust error handling and avoids potential crashes when retrieving or processing model data.
* Refactor exception handling in get_active_model_bundle
Replace bare except with Exception to improve specificity and clarity. This ensures better debugging practices and aligns with recommended coding standards. Other minor whitespace adjustments were made for improved readability.
* Update model path to use artifact fileName property
Replaced `fileName` with `artifact.fileName` in the custom model path construction. This ensures compatibility with updated drive model structures and avoids potential file resolution issues.
* Refactor model runner methods for improved abstraction.
Moved slicing logic to a private `_slice_outputs` method and decoupled `_run_model` for clearer subclass implementation. Removed redundant `output` attribute in `ModelState` to streamline data handling.
* Add output parsing to model_runner and remove duplicate logic
Integrates an output parser directly into `model_runner` for streamlined inference and parsing. Removes redundant parser initialization from `modeld` to avoid duplication and enhance maintainability.
* Reordering
* linter
* linter
* Remove supercombo model ONNX file.
Deleted the large `supercombo.onnx` model file from the repository. This cleanup reduces repository size and dependency on unused or outdated files for this version.
* Disable tinygrad model compilation on macos temporarily
* Remove unused dmonitoring model file.
Deleted the ONNX model for dmonitoring as it is no longer required. This eliminates unnecessary assets and reduces repository size.
* Removing the model also from the snpe build, we have them, prebuilt
* FCA: Ram 1500 improvements
* updating reference to my opendbc
* syncing latest opendbc
* move to car_specific_sp
* bump
* Realfast ram1500 (#1)
* Bump tinygrad to upstream master (#34973)
bump tg
* test_onroad: test liveParameters service timing (#34977)
Add live params to test onroad
* selfdrived: remove ignored processes list (#34978)
* selfdrived: remove ignored processes list
* it's a set
* calibrationd: read carParams from Params (#34981)
* Read CarParams once from Params
* Remove it from process replay
* locationd: make pose_kf inherit from KalmanFilter (#34982)
* Read message not json for initial state
* Delete lines
* Fix param
* MADS: prevent `wrongCarMode` from disabling MADS enabled state (#792)
* MADS: prevent `wrongCarMode` from disabling MADS enabled state
Add wrongCarModeNoEntry as a NO_ENTRY event to replace wrongCarMode (USER_DISABLE)
that would incorrectly disable MADS when in the wrong car mode. Provides
contextual guidance to users based on car brand, showing appropriate
instructions for re-engagement without requiring MADS to be re-enabled.
* move down
* warning only?
* cereal SIKE
* remove duplicate
* try this out
* final
* Readme: update with links to new branches and info about rewrite and reflash agnos (#795)
* Adding the new branches info and adding a warning to reflash agnos
* Using more blockquote
* it
---------
Co-authored-by: Stupefacient <brianbrownt@gmail.com>
* agnos 11.13 (#34980)
* agnos 11.12
* new build
* Multilang: Update pt-BR translation (#34983)
* [bot] Update Python packages (#34987)
Update Python packages
Co-authored-by: Vehicle Researcher <user@comma.ai>
* Multilang: Update ja translation (#34986)
* 日本語訳2025/3/19
* numerusform追加。
* connect to an unmetered networkに対応
* panda是正
* opendbc_repo是正
* Multilang: Update zh translation (#34985)
* update to latest userdata partition (#34990)
update
* paramsd: cache backwards compatibility (#34991)
* LiveParametersV2 key
* Param key
* Fix tests
* Remove old params if error
* Update exception message
* Update the test
* Add test for corrupted byte format in v1
* Rename params_reader => params
* hardwared: give stuck LTE connections a kick
This reverts commit e3e694096a3a79e663712797e559e729e6818c7c.
* Revert "hardwared: give stuck LTE connections a kick"
This reverts commit e4aa346259.
* process_replay: fix GM and replace TOYOTA3 (#34996)
* Add volt and bolt param migration
* Remove mazda due to invalid sensor timings
* Fix the import
* Add mazda to excluded
* Bring back mazda, but add todo
* New segment for TOYOTA3
* Fix
* Update ref commit
* bump opendbc
* test_models: update relay malfunction check (#34999)
relay is checked in fwd hook
* process_replay: remove GM (volt) (#35000)
Remove volt segment
* Revert "test_models: update relay malfunction check" (#35002)
Revert "test_models: update relay malfunction check (#34999)"
This reverts commit 2cd0079abe.
* Reapply "Online lateral lag learning" (#34975)
* Online lateral lag learning (#34974)
This reverts commit b4cc9e68d1.
* pad to the best size for fft
* Fix static analysis
* Add typing
* Fix typing
* MAX_LAG
* Calculate cross correlation regardless if the points are valid
* Back to lagd
* Add lagd to process_config
* Lagd in test onroad
* Move lag estimator for lagd
* Remove duplicate entry from test_onroad
* Update process replay
* pre-fill the data
* Update cpu usage
* 25sec window
* Change the meaning of lateralDelayEstimate
* No newline
* Fix typing
* Prefill
* Update ref commit
* Add a unit test
* Fix static issues
* Time limit
* Or timeout
* Use mocker
* Update estimate every time
* empty test
* DT const
* enable RIVIAN again
* Update ref commit
* Update that again
* Improve the tests
* Fix static
* Add masking test
* Increase timeout
* Add liveDelay to selfdrived
* Add liveDelay to selfdrived in process_replay
* Fix block_avg restore after num_blocks
* regen most
* Update bolt
* Update ref commit
* Change the key name
* Add assert
* True weighted average
* Raise thermal setpoint (#35008)
We don't need to control all the way down to 70C
* UI: Update `AbstractControlSP_SELECTOR` and `OptionControlSP` (#800)
* controls
* Adjust label width dynamically based on layout type.
Updated the label's fixed width to be conditional on the layout type, improving adaptability for different inline layouts. Additionally, corrected indentation in the width calculation loop for consistency.
* Refactor OptionControlSP to improve parameter value handling and encapsulate logic in dedicated methods
* Refactor getParamValue to return an integer and ensure value is updated correctly in button click handler
* Trying to unify a bit the logic. still WIP
* Reducing a bit the change footprint
* Refactor spacing item handling to prevent duplicate insertion and improve layout management
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* bump panda
* Radard: vision-based yRel for Hyundai single-lead systems (#805)
Introduced processing for custom yRel values using HyundaiFlagsSP when the enhanced SCC flag is enabled. Updated `radard` to handle `CarParamsSP` and make necessary adjustments for Hyundai vehicles with specific SCC configurations.
* MADS: transition to soft-disable for specific gear states (#791)
* MADS: transition to soft-disable for specific gear states
This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system.
* structs
* UI: Device & Sunnylink Panels - Standardize push button size & alignment (#806)
* layout adjustments
* sunnylink_panel
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* [bot] Update Python packages (#35012)
* Update Python packages
* update refs
---------
Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* ci: Remove redundant Panda build step from prebuilt workflow (#810)
The Panda build step was unnecessary as it is not utilized in this workflow. This change simplifies the workflow and reduces redundant actions, improving efficiency.
* Device: Customizable Max Time Offroad (#796)
* Max Time Offroad
* Refactor & Fix param
* Error Handling
* rename SP variable
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc
Co-authored-by: DevTekVE <devtekve@gmail.com>
* UI layout changes for better alignment
selector is not big enough -> make it bigger ;)
OptionControlSP now includes a QMap argument to allow actual values to be set in param directly
* Rebase & resolve reviews
* change default to be closer to OP default
* me dumb
* MaxTimeOffroad: Add support for 30h limit and improve label formatting
* power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity
* test: Add unit tests for MaxTimeOffroad parameter handling
* power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic
* power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Hyundai longitudinal: Parse lead info for camera-based SCC platforms (#809)
* Hyundai longitudinal: Parse lead info for camera-based SCC platforms
* fix
* update
* bump
* update tests
* lol why is this here
* bump
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
* Models: point to v2 of driving models json for recompiled models (#817)
Use newer model version json since they have been recompiled
* ci: update squash script for external contributors (#811)
* Get head ref info
* Simpify adding the comment with the newest flagg by gh cli
* Dynamic origin
* Enhance PR processing: add label handling for forked PRs and improve variable naming
* Refactor PR label handling: use constant for trust-fork label and improve comments
* Fix remote addition in PR processing: change subprocess call to not check for errors
* Refactor PR comment handling: support multiple comments and improve clarity
* Refactor PR processing: streamline comment handling and improve error management
* Refactor add_pr_comments function: specify comments type as list of strings
* Maybe we don't prevent "behind" branches to be merged as lon as the PR itself is mergeable
* lint, leave me alone
---------
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
* sunnylink: fix sunnylink backup restore version parsing (#816)
* improvement
* fix: Improve version parsing logic for sunnypilot
---------
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* DM: Enforce monitoring of MADS state in driver monitoring (#818)
* DM: Enforce monitoring of MADS state in driver monitoring
Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.
* how
* [bot] Update Python packages (#35017)
Update Python packages
Co-authored-by: Vehicle Researcher <user@comma.ai>
* Rename experimental long (#35011)
* now alpha long
* fix
* rename param
* thought i did this
* debug
* debug
* more
* more
* moar
* Revert "moar"
This reverts commit e347106246583982e1be206485ad4d8eb944f817.
* Revert "more"
This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1.
* Revert "more"
This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453.
* Revert "debug"
This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63.
* Revert "debug"
This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.
* Temporary disable UI preview from CI (#35018)
disable
* Update Python packages (#819)
* Fix possible CAN ignition overlap due to incorrect counter tracking (#35019)
* fix-rivian-ign
* bump
* UI: Bugfix Max Time Offroad (#820)
bugfixes
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
* CI: Improve `dev-c3-new` auto build (#825)
* force commit to force PR
* ci: add job to manage PR labels and remove trust label on new commits
* Add pull request trigger
* empty commit to test
* ci: update pull request label management logic and remove FORCE_RUN flag
* ci: update trust label management to use TRUST_FORK_PR_LABEL
* ci: update workflow to manage PR labels and adjust trigger conditions
* ci: rename jobs in workflow for consistency and clarity
* ci: add unleash-nightly-squash branch to workflow
* ci: add checkout step with GITHUB_TOKEN to workflow
* force wait
* what happens if negated the wait
* ci: add 'Wait for Tests' action to monitor workflow execution
* ci: update wait-for-tests action conditions and cleanup
* ci: refine conditions for managing PR labels and waiting for tests
* ci: enhance PR label conditions for workflow execution
* Cant use env on if
* maybe
* ci: update pull request workflow conditions and cleanup
* Missing end of line
* ci: rename workflow and update job name for clarity
* Cleaning
* ci: refine conditions for pull request handling in workflow
* ci: update handling of TRUST_FORK_LABEL in PR processing
* ci: remove fork trust warning from PR processing
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* CI: Update PR list query to exclude draft pull requests (#829)
* lagd: check sensors valid (#35027)
* Check if sensors valid
* Fix test
* Fix static
* Constants
* time buffer for pose valid
* Fix static
* Revert "DM: Enforce monitoring of MADS state in driver monitoring" (#830)
Revert "DM: Enforce monitoring of MADS state in driver monitoring (#818)"
This reverts commit 3615b1a203.
* DM: Enforce monitoring of MADS state in driver monitoring (#831)
* DM: Enforce monitoring of MADS state in driver monitoring
Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.
* how
* okay, only when active
* ui(raylib): update spinner progress bar to match Qt (#35028)
* lagd: estimate std (#35009)
* Std
* Fix static
* Refactor
* Assert std zero
* update
* ui(raylib): fix typos (#35030)
* Update modeld action logic (#35032)
* add action logic
* magic numbers
* unused
* plot accel
* more changes
* lagd: check for validity of the estimate when restoring state (#35034)
Do not restore if invalid
* Multilang: Update de translation (#35025)
added missing German translations
* Tomb raider 2 (#35029)
* db56b8fb-9135-4ab6-af18-99b7df7b2245/400
* fixes
* linter unhappy
* 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400
* This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400
* Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400
* Actually end-to-end
* typo
* smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360
* Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360"
This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f.
* 11632ef7-f555-489c-8480-e3bf97d9285e/400
* 08712d27-f6bd-4536-a30e-c729e5f62356/400
* 0a92a35e-1f72-476a-8cb6-c9f103f36822/400
* ee6d2394-2072-420c-a664-b4c0d4ed0b61/400
* no prev curv
* No double work
* fix bug
* smooth
* update prev action
* whitespace
* add little accel
* new ref
* Update plant.py
* DEC: adjust dynamic speed adaptation parameters (#813)
* early and better
* Update sunnypilot/selfdrive/controls/lib/dec/constants.py
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
* OS04C10: use IFE downscaler for road cameras (#35023)
* squashh
* wrong
* clean up
* rename
* process replay migration: fix longitudinalPlan (#35035)
* ci: ui preview add unicode characters and emojis (#835)
Add unicode characters and emojis!
* ui(raylib): update text window font, new lines and indentation (#35031)
* NNLC: decreased low-speed factor (#822)
* NNLC: decreased low-speed factor
* np.float to float
* format
* add tests for sanity check
---------
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* ui(raylib): calculate spinner progress in set_text (#35036)
* bugfix: Auto lane change - Add mode to disable lane changes (#826)
* off is off
* sugg
* line
* Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
* NNLC: use `safe_exp` to prevent overflow in `sigmoid` (#836)
* test
* prevent overflowing
* unused
* NNLC: fix weak torque in high lat-accel turns (#823)
* NNLC: fix weak torque in high lat-accel turns
* np.float to float
---------
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* ci: trigger prebuilt builds via label from PR
* ci: enhance pull request handling for prebuilt workflows
* ci: add wait-for-action step to monitor selfdrive_tests workflow
* ci: add validation job to monitor selfdrive_tests for prebuilt workflows
* test
* force negative condition to validate flow
* force negative condition to validate flow
* ci: add wait_for_tests input to control selfdrive_tests workflow execution
* ci: update description for wait_for_tests input in workflow
* Cleaning
* Remove PR label when triggered by the label
* Rename
* Changing to target and only caring about labeled for the time being
* gh action needs cancelled not canceled
* Line ending
* ci: avoid deadlock on dev-c3 branch build when PR labeled dev-c3 (#839)
* ci: enhance PR checks to validate individual check runs before merging and ignore reset-and-squash as candidate for fail
* reset and squash script shouldn't will be cancelled only if a push to master has been made which always should take priority. The rest will be put on hold to avoid parallel squash scripts running
* Set concurrencty at workflow level?
* Set concurrencty at workflow level?
* change trigger to pull_request to validate
* Reducing the types of "pull request" events
* Keep it as target
* Playing eith run name a little
* Change to pull request not target
* simplifying
* set to just pull request without target
* maintain as pull request target
* ci: update auto pr review config and split turst fork pr (#842)
* Updating auto pr labeler
* auto pr review revamp
* Leaving event as pull request :)
* Check permission
* add chore
* Bringing back as original
* ci: bugfix flipped contains check for pull requests
* ci: bugfix cancelling only when push to master or workflow dispatch.
Otherwise don't let it cancel as it seems that when running with pull_request_target we are with ref pointing to target and thus the cancel condition was being met
* ui(raylib): constant spinner rotation speed (#35037)
* ci: improve conditions for publish and notify steps in workflow (#844)
* [bot] Update translations (#35040)
Update translations
Co-authored-by: Vehicle Researcher <user@comma.ai>
* Long planner: make work with training (#35043)
* revert useless
* update ref
* Modeld: small refactor (#35044)
refactor
* update smooth
* raylib: init updater (#35045)
* raylib: init updater
* cleanup
* Revert "OS04C10: use IFE downscaler for road cameras" (#35046)
Revert "OS04C10: use IFE downscaler for road cameras (#35023)"
This reverts commit 3b60b22cee.
* Tomb Raider 3 (#35042)
* 92b64884-4506-4a03-87ad-33e1a177fe73/400
* faster lat
* DM: Use `carControl.latActive` for MADS DM monitoring (#845)
* ci: fixes for trigger conditions on sync (#847)
pull_request_target is needed for security, but at the same time it makes life a little harder because the ref is different so we need to do some work to make sure we get what we are supposed to get
* ui(raylib): reduce spinner rotation artifact (#35048)
* ui(raylib): reduce spinner rotation artifact
A visual artifact (white pixels) appeared on the edge of the
rotating spinner track texture, likely due to RGB color bleed during
bilinear filtering in Raylib.
Pre-multiplying the alpha channel of the spinner track image using
`rl.image_alpha_premultiply` significantly reduces the visibility of the
artifact.
* lint
* ui(raylib): increase font size and wrap text in spinner (#35049)
- Wrap text onto separate lines
- Increase font size to be closer to Qt
- Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text`
Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered
* ui(raylib): update spinner vertical pos (#35051)
Adjust the spinner vertical position when displaying text or a progress bar
- When displaying the progress bar, center the comma logo and spinner in the middle of the screen
- When displaying text, center the entire content vertically
Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]`
* ui(raylib): "exit" btn in text window on PC (#35052)
* ui(raylib): "exit" btn in text window on PC
* unused import
* Revert "ui(raylib): "exit" btn in text window on PC (#35052)"
This reverts commit f9767d2650.
* plotjuggler: support relative paths (#35054)
* Support relative paths
* Abspath for rlog too
* Reapply "ui(raylib): "exit" btn in text window on PC" (#35053)
* ui(raylib): "exit" btn in text window on PC
* unused import
* request close
* this was missing
* Disable low speed steer in modeld (#35056)
* disable low speed steer
* No steer under
* TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)
neural_network_data: TOYOTA_RAV4_PRIME NNLC tuning gen 1
* SL: updating localproxy implementation (#841)
* Adding capabilities to route localProxy via sunnylink
* Undo
* Thx lint
* get api token
* cert is not valid when it's an IP. Still use cert, but don't validate
* move to car_specific_sp
* bump
---------
Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com>
Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Stupefacient <brianbrownt@gmail.com>
Co-authored-by: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com>
Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: programanichiro <99449198+programanichiro@users.noreply.github.com>
Co-authored-by: eFini <ricklan@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: niko001 <nikolaus_fischer@t-online.de>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu>
Co-authored-by: Tim Wilson <twilsonco@gmail.com>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: Warren Togami <wtogami@gmail.com>
* fixing missing event
* more event fixes
* fixing spacing
* more fixes
* revert
* update
* update
* update
* reverting unneeded event
* S P A C I N G
* bumping opendbc
* bump
* Update sunnypilot/selfdrive/car/car_specific.py
* Update sunnypilot/selfdrive/car/car_specific.py
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com>
Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Stupefacient <brianbrownt@gmail.com>
Co-authored-by: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: commaci-public <60409688+commaci-public@users.noreply.github.com>
Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: programanichiro <99449198+programanichiro@users.noreply.github.com>
Co-authored-by: eFini <ricklan@gmail.com>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
Co-authored-by: Nayan <nayan8teen@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: niko001 <nikolaus_fischer@t-online.de>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: ZwX1616 <zwx1616@gmail.com>
Co-authored-by: YassineYousfi <yyousfi1@binghamton.edu>
Co-authored-by: Tim Wilson <twilsonco@gmail.com>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: Warren Togami <wtogami@gmail.com>
* Adding capabilities to route localProxy via sunnylink
* Undo
* Thx lint
* get api token
* cert is not valid when it's an IP. Still use cert, but don't validate
* MADS: transition to soft-disable for specific gear states
This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system.
* structs
* MADS: prevent `wrongCarMode` from disabling MADS enabled state
Add wrongCarModeNoEntry as a NO_ENTRY event to replace wrongCarMode (USER_DISABLE)
that would incorrectly disable MADS when in the wrong car mode. Provides
contextual guidance to users based on car brand, showing appropriate
instructions for re-engagement without requiring MADS to be re-enabled.
* move down
* warning only?
* cereal SIKE
* remove duplicate
* try this out
* final
* MADS: Soft disable for non-Drive forward gear if moving
* test
* revert
* do this first
* Revert "do this first"
This reverts commit 0a4c938b7ebc847955d4c0f8144f565ff5d9a7d9.
* 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>
* Refactor OnroadEventSP structure to contain list of events
A restructuring of the OnroadEventSP structure has been undertaken to accommodate a list of 'Event' substructures. The change is reflected in different files where OnroadEventSP is used. This update allows for more efficient management of multiple events by grouping them together under the revised OnroadEventSP structure.
* Rename `OnroadEventSP` to `OnroadEventsSP` across codebase.
Updated all references to `OnroadEventSP` to ensure consistency with the renamed struct `OnroadEventsSP`. This change improves code clarity and aligns naming conventions across modules.
* Add optional debug logging to schema validation script
Introduced a `DEBUG` flag and a `print_debug` function to streamline debug output management. This replaces direct `print` calls with conditional logging to control verbosity during execution.
Refactor structural validation logic in cereal test
Simplify the iteration over read_instances to streamline structural validation. Removed redundant comparisons and improved error handling to detect unreadable fields more effectively. Updated error messages for better clarity during debugging.
Update build command to include 'cereal' target in CI
Modified the scons build command in selfdrive_tests workflow to explicitly build the 'cereal' target. This ensures necessary components are included during the CI process, improving reliability and consistency.
Added workflow for cereal validation artifacts generation and validation against upstream
This commit encompasses significant changes to .github/workflows/selfdrive_tests.yaml, including the addition of two new jobs. One is responsible for 'Generating cereal validation artifacts' and the other for 'Validating cereal with Upstream'. This includes generating cereal schemas, building openpilot, and running validation schema instances against master. Furthermore, a new Python script (validate_sp_cereal_upstream.py) was also added to perform cereal schema instance generation and validation. These changes aim to enhance the testing process, ensuring schema compatibility and integration quality.
* Relocate cereal validation to a dedicated GitHub workflow
This commit introduces a distinct GitHub workflow for cereal validation named 'cereal_validation.yaml'. This workflow includes two jobs: one for generating cereal validation artifacts and another for validating cereal with the upstream project. Previously, these operations were included as separate jobs in 'selfdrive_tests.yaml'. However, the decoupling in this commit allows for a better organization of GitHub workflows within the project. Additionally, this separation allows these workflows to be individually configured and run, providing a greater degree of flexibility in managing our continuous integration activities.
* Rename workflow to "cereal validation" for clarity.
Updated the workflow name in the GitHub Actions configuration to better reflect its purpose. This change improves maintainability and ensures clearer identification of the workflow's function.
* Add LFS configuration and GitLab SSH setup to workflow
Integrate GitLab LFS handling by configuring LFS URLs and enabling SSH setup. This includes adding public GitLab keys and updating the workflow to support secure connections for LFS operations. Ensures proper handling of large files and seamless integration with GitLab.
* rename
* format
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
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>
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.
* 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>
* 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>
* Add AES encryption and utility methods
This commit introduces a new AESCipher class that can be used for AES encryption with support for both AES-128 and AES-256. It also adds a set of utility functions, including methods for RSA to AES key derivation, file decryption and compression, and encryption and decompression. These changes provide fundamental cryptographic functionalities for data security within the system.
* Revised backup management system with new structures
This update introduces important revisions to the backup management system. A new struct named 'BackupManagerSP' has been integrated into the 'custom.capnp' file, replacing 'CustomReserved6'. This new struct includes several variables that help keep track of backup and restore status, progress and related messages.
Additional code modifications were made in 'base.py' and 'api.py' to include a 'json' parameter in the 'api_get' method. Lastly, 'manager.py' has been updated with functions to manage device configuration backups to and from sunnylink.
The changes promote better handling and management of data backup and restoration processes. The update is specifically designed to ensure that the backup information is well integrated into the system, with properly tracked status and progress.
* Refactor `allKeys` to filter by parameter key type
Updated the `allKeys` method to support filtering by `ParamKeyType`, allowing more specific key retrieval. Added a default value for backward compatibility and updated related bindings and keys to reflect this change.
* Improve Backup and Restore mechanisms
The commit refactors and improves several aspects of the backup and restore mechanisms in the `BackupManagerSP` class.
These improvements include removing redundant status tracking variables and replacing them with unified ones, updating the messaging system to handle all changes correctly, and including an enumeration `OperationType` to keep track of the type of operation currently being processed.
This commit also applies stricter conditions for restore operations, such that it only restores parameters that are currently marked as backupable, and skips those that are not. This is a preventive measure against potential issues when restoring parameters that are no longer relevant or could conflict with current versions.
Also, the encryption and decryption methods were updated to use AES-256 for more security. These changes have increased the robustness and reliability of the backup and restoration processes.
* copyright
* Add backup_manager process to offroad sunnypilot tasks
The backup_manager process is introduced to handle backups during offroad mode when SunnyLink is ready. This ensures proper backup management functionality integrated into the system.
* Simplify backup endpoint construction in restore method
Replaced conditional expression with a more concise and readable `or` operation for constructing the backup endpoint. This makes the code cleaner and easier to maintain while preserving functionality.
* Added support for backing up and restoring sunnypilot settings
An update to the sunnypilot functionality now provides two new features that allow users to backup and restore their sunnypilot settings. The changes include the addition of UI controls for initiating backup and restore operations, and the creation of a system-wide state management function for tracking these operations. This enhancement significantly improves the user experience by providing a safety net for user settings in case of software failures, bugs, or unintended changes.
* Refactor type hints to use PEP 604 syntax for clarity
Replaced `Optional` and `Dict` type hints with `|` and `dict` syntax for improved readability and compliance with Python 3.10+. Updated related imports and adjusted list comprehension for cleaner code.
* Update import path for hardware module in utils.py
Replaced the import path for the `Paths` module to align with the new directory structure under `openpilot`. This ensures compatibility with recent project reorganization and avoids import errors.
* Improve RSA key handling and fix backup status comparison
Added explicit RSA key type checks to handle invalid key formats. Enhanced type safety in `manager.py` by ensuring the backup status comparison returns a boolean. These changes improve robustness and error handling in backups.
* format
* more
* Improve backup and restore flow with progress tracking and fixes
Added proper progress tracking and cleanup logic during restore operations. Enhanced restore experience by resetting progress after completion and introducing confirmation dialogs for errors and completion. Updated API compatibility with a version query parameter for backups.
* Enable backup button only when restore process is complete
Previously, the backup button could be enabled during a restore operation, which might cause unintended behavior. This update introduces a check to ensure the backup button remains disabled while a restore process is active. This improves user experience and prevents potential conflicts.
* Fix restore button state handling during restore process
Ensure the restore button is disabled consistently when a restore is in progress. This prevents user interaction issues and aligns the button state with the restore operation status.
* "Refactor restore logic and improve button state handling"
Replaced `is_restoring` with `restore_request_pending` for clarity and better state management. Adjusted button behavior to immediately disable upon user action, ensuring improved UX and preventing repeat inputs. Refined restore completion flow for better consistency and reliability.
* Refine restore process logic for SunnyLink settings.
Introduced `restore_request_started` to improve handling of restore states and ensure accurate UI updates during the process. Adjusted case handling to enhance clarity and maintain proper behavior when restoring settings, especially during ongoing or completed requests.
* revert
* move around
* fix enabled states for different statuses
* add prompt to notify backup is complete
* same states as restore
* disable buttons if sunnylink is off
* can use the same texts
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* 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>
* 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>
* 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>
Refactor sunnylinkd for better readability and SSL support
Reorganized variable handling for Sunnylink API initialization. Updated WebSocket connection to use Authorization header and added SSL configuration based on the connection type. This enhances code clarity and ensures secure connections when not on localhost.
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* init
* do it for hyundai
* Bump submodules
* no complaints
* use latest opendbc pr ref
* don't need this for leaf for now
* bump opendbc
* gotta set the sp safety flags in test models and safety replay!
* actually fetch CP_SP
* set safety param for lda button availability (lol forgot)
* use GET_FLAG
* Add TODO-SP
* bump submodules
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.
This function logs detailed build failure information, including the status and build log retrieved from OpenCL. It provides better debugging support for diagnosing issues with OpenCL program compilation.
Introduce `clutil_legacy` to handle OpenCL program creation from binaries and error string mapping. This improves modularity and prepares for enhanced OpenCL compatibility across platforms.
Changed the DEFAULT_MODEL constant and updated the associated model hash to reflect the new default. This ensures consistency between the code and the new model configuration.
Nayan