From 08903fb4e02b780fefe7b30cf7b87562f492141a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 31 Aug 2023 11:44:48 +0100 Subject: [PATCH 01/45] MapPanel: provide QObject::connect context (#29731) --- selfdrive/ui/qt/maps/map_panel.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc index f1b8f812fa..0a2286ff6f 100644 --- a/selfdrive/ui/qt/maps/map_panel.cc +++ b/selfdrive/ui/qt/maps/map_panel.cc @@ -14,21 +14,21 @@ MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : Q auto map = new MapWindow(mapboxSettings); QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition); - QObject::connect(device(), &Device::interactiveTimeout, [=]() { + QObject::connect(device(), &Device::interactiveTimeout, this, [=]() { content_stack->setCurrentIndex(0); }); - QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) { + QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) { // when we show the map for a new route, signal HomeWindow to hide the sidebar if (visible) { emit mapPanelRequested(); } setVisible(visible); }); - QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) { + QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) { content_stack->setCurrentIndex(settings ? 1 : 0); }); content_stack->addWidget(map); auto settings = new MapSettings(true, parent); - QObject::connect(settings, &MapSettings::closeSettings, [=]() { + QObject::connect(settings, &MapSettings::closeSettings, this, [=]() { content_stack->setCurrentIndex(0); }); content_stack->addWidget(settings); From e7789173d61a89b001dc2d9470bc582e0fcda71d Mon Sep 17 00:00:00 2001 From: fleetingbytes <7075397+fleetingbytes@users.noreply.github.com> Date: Thu, 31 Aug 2023 14:01:37 +0200 Subject: [PATCH 02/45] Add skoda octavia 2016 fingerprint (#29729) Co-authored-by: Cameron Clough --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b5c42519e8..7b29339fb2 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -186,7 +186,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Škoda|Kamiq 2021[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015, 2018-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 36cb5ef534..ebb873c8be 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -265,7 +265,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ - VWCarInfo("Škoda Octavia 2015, 2018-19"), + VWCarInfo("Škoda Octavia 2015-19"), VWCarInfo("Škoda Octavia RS 2016"), ], } @@ -1254,6 +1254,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027HD\xf1\x893742', b'\xf1\x8704E906027MH\xf1\x894786', b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BS\xf1\x891541', b'\xf1\x875G0906259C \xf1\x890002', ], @@ -1263,11 +1264,13 @@ FW_VERSIONS = { b'\xf1\x870CW300043B \xf1\x891601', b'\xf1\x870CW300043P \xf1\x891605', b'\xf1\x870D9300041C \xf1\x894936', + b'\xf1\x870D9300041H \xf1\x895220', b'\xf1\x870D9300041J \xf1\x894902', b'\xf1\x870D9300041P \xf1\x894507', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100', @@ -1279,13 +1282,15 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', - b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], From aebff37593101fbe207f327c3a713f026b449f35 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 11:33:42 -0700 Subject: [PATCH 03/45] Set RPATH for snpemodel --- selfdrive/modeld/SConscript | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index f76753d6ad..03836b6593 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -44,6 +44,10 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') # Compile cython +snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64" +snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang" +snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc] + cython_libs = envCython["LIBS"] + libs onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) @@ -52,7 +56,7 @@ driving_lib = lenv.Library('driving', ['models/driving.cc']) lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) From 18526c58b65959ebcaea9a07e84a55315d10508e Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 13:11:39 -0700 Subject: [PATCH 04/45] Set ADSP_LIBRARY_PATH in snpemodel_pyx --- selfdrive/modeld/runners/snpemodel_pyx.pyx | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx index a454aa7b92..c3b2b7e9bd 100644 --- a/selfdrive/modeld/runners/snpemodel_pyx.pyx +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -1,6 +1,7 @@ # distutils: language = c++ # cython: c_string_encoding=ascii +import os from libcpp cimport bool from libcpp.string cimport string @@ -9,6 +10,8 @@ from selfdrive.modeld.models.commonmodel_pyx cimport CLContext from selfdrive.modeld.runners.runmodel_pyx cimport RunModel from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel +os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + cdef class SNPEModel(RunModel): def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) From d344ed9be9a263fc69c066692e111ae7ed871d8d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 13:38:30 -0700 Subject: [PATCH 05/45] add metadrive sim package (#29736) --- poetry.lock | 712 ++++++++++++++++++++++++++++++++++++++++++++++--- pyproject.toml | 1 + 2 files changed, 672 insertions(+), 41 deletions(-) diff --git a/poetry.lock b/poetry.lock index 3f3a33901f..f793252462 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -657,6 +657,51 @@ files = [ [package.dependencies] colorama = {version = "*", markers = "platform_system == \"Windows\""} +[[package]] +name = "click-plugins" +version = "1.1.1" +description = "An extension module for click to enable registering CLI commands via setuptools entry-points." +optional = false +python-versions = "*" +files = [ + {file = "click-plugins-1.1.1.tar.gz", hash = "sha256:46ab999744a9d831159c3411bb0c79346d94a444df9a3a3742e9ed63645f264b"}, + {file = "click_plugins-1.1.1-py2.py3-none-any.whl", hash = "sha256:5d262006d3222f5057fd81e1623d4443e41dcda5dc815c06b442aa3c02889fc8"}, +] + +[package.dependencies] +click = ">=4.0" + +[package.extras] +dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"] + +[[package]] +name = "cligj" +version = "0.7.2" +description = "Click params for commmand line interfaces to GeoJSON" +optional = false +python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4" +files = [ + {file = "cligj-0.7.2-py3-none-any.whl", hash = "sha256:c1ca117dbce1fe20a5809dc96f01e1c2840f6dcc939b3ddbb1111bf330ba82df"}, + {file = "cligj-0.7.2.tar.gz", hash = "sha256:a4bc13d623356b373c2c27c53dbd9c68cae5d526270bfa71f6c6fa69669c6b27"}, +] + +[package.dependencies] +click = ">=4.0" + +[package.extras] +test = ["pytest-cov"] + +[[package]] +name = "cloudpickle" +version = "2.2.1" +description = "Extended pickling support for Python objects" +optional = false +python-versions = ">=3.6" +files = [ + {file = "cloudpickle-2.2.1-py3-none-any.whl", hash = "sha256:61f594d1f4c295fa5cd9014ceb3a1fc4a70b0de1164b94fbc2d854ccba056f9f"}, + {file = "cloudpickle-2.2.1.tar.gz", hash = "sha256:d89684b8de9e34a2a43b3460fbca07d09d6e25ce858df4d5a44240403b6178f5"}, +] + [[package]] name = "colorama" version = "0.4.6" @@ -1033,6 +1078,17 @@ files = [ [package.extras] testing = ["hatch", "pre-commit", "pytest", "tox"] +[[package]] +name = "farama-notifications" +version = "0.0.4" +description = "Notifications for all Farama Foundation maintained libraries." +optional = false +python-versions = "*" +files = [ + {file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"}, + {file = "Farama_Notifications-0.0.4-py3-none-any.whl", hash = "sha256:14de931035a41961f7c056361dc7f980762a143d05791ef5794a751a2caf05ae"}, +] + [[package]] name = "filelock" version = "3.12.2" @@ -1048,6 +1104,49 @@ files = [ docs = ["furo (>=2023.5.20)", "sphinx (>=7.0.1)", "sphinx-autodoc-typehints (>=1.23,!=1.23.4)"] testing = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "diff-cover (>=7.5)", "pytest (>=7.3.1)", "pytest-cov (>=4.1)", "pytest-mock (>=3.10)", "pytest-timeout (>=2.1)"] +[[package]] +name = "fiona" +version = "1.9.4.post1" +description = "Fiona reads and writes spatial data files" +optional = false +python-versions = ">=3.7" +files = [ + {file = "Fiona-1.9.4.post1-cp310-cp310-macosx_10_15_x86_64.whl", hash = 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"949a4c853db95a61159dc93c05d42d78a334b08f0f62b74587d77a348db9cf23" diff --git a/pyproject.toml b/pyproject.toml index 6555c7d5c3..f0d0324d53 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -112,6 +112,7 @@ inputs = "*" lru-dict = "*" markdown-it-py = "*" matplotlib = "*" +metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" } mpld3 = "*" mypy = "*" myst-parser = "*" From 4aff2621d340dbb188c845746cb1ffd1381b5306 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 13:41:02 -0700 Subject: [PATCH 06/45] Tests: parameterize following distance test (#29734) * split * parameterize it --- .../controls/tests/test_following_distance.py | 28 ++++++++++--------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index be949764c5..3b31632721 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,5 +1,8 @@ #!/usr/bin/env python3 import unittest +import itertools +from parameterized import parameterized_class + from openpilot.common.params import Params from cereal import log @@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): return output[-1,2] - output[-1,1] +@parameterized_class(("e2e", "personality", "speed"), itertools.product( + [True, False], # e2e + [log.LongitudinalPersonality.relaxed, # personality + log.LongitudinalPersonality.standard, + log.LongitudinalPersonality.aggressive], + [0,10,35])) # speed class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): params = Params() - personalities = [log.LongitudinalPersonality.relaxed, - log.LongitudinalPersonality.standard, - log.LongitudinalPersonality.aggressive] - for personality in personalities: - params.put("LongitudinalPersonality", str(personality)) - for e2e in [False, True]: - for speed in [0,10,35]: - print(f'Testing {speed} m/s') - v_lead = float(speed) - simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e) - correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality)) - err_ratio = 0.2 if e2e else 0.1 - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) + params.put("LongitudinalPersonality", str(self.personality)) + v_lead = float(self.speed) + simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e) + correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) + err_ratio = 0.2 if self.e2e else 0.1 + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) if __name__ == "__main__": From 857f747467f3dd1eb92cc39dafc2da4ea0a708c5 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 13:46:14 -0700 Subject: [PATCH 07/45] Remove unnecessary hardware check in modeld --- selfdrive/modeld/modeld.py | 5 ++--- selfdrive/modeld/models/driving.pxd | 2 -- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 356ae64866..6044932cc8 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -8,7 +8,7 @@ from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.hardware import PC, TICI +from openpilot.system.hardware import TICI from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter @@ -94,8 +94,7 @@ class ModelState: def main(): cloudlog.bind(daemon="selfdrive.modeld.modeld") setproctitle("selfdrive.modeld.modeld") - if not PC: - config_realtime_process(7, 54) + config_realtime_process(7, 54) cl_context = CLContext() model = ModelState(cl_context) diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd index 0de67208e6..8d6b8d755e 100644 --- a/selfdrive/modeld/models/driving.pxd +++ b/selfdrive/modeld/models/driving.pxd @@ -3,8 +3,6 @@ from libcpp cimport bool from libc.stdint cimport uint32_t, uint64_t -from .commonmodel cimport mat3 - cdef extern from "cereal/messaging/messaging.h": cdef cppclass MessageBuilder: size_t getSerializedSize() From f91e955a86baaa6ff6ef686bb821177a668034e1 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 13:51:15 -0700 Subject: [PATCH 08/45] Move Runtime into runmodel_pyx --- selfdrive/modeld/modeld.py | 3 ++- selfdrive/modeld/models/commonmodel.pxd | 5 ----- selfdrive/modeld/models/commonmodel_pyx.pyx | 6 ------ selfdrive/modeld/runners/runmodel.pxd | 4 ++++ selfdrive/modeld/runners/runmodel_pyx.pyx | 6 ++++++ 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 6044932cc8..2920a2693c 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -14,7 +14,8 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix -from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext, Runtime +from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime +from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext from openpilot.selfdrive.modeld.models.driving_pyx import ( PublishState, create_model_msg, create_pose_msg, FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index d313dbef90..9f3f9bf27b 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -16,8 +16,3 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h": int buf_size ModelFrame(cl_device_id, cl_context) float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) - -cdef extern from "selfdrive/modeld/runners/runmodel.h": - cdef int USE_CPU_RUNTIME - cdef int USE_GPU_RUNTIME - cdef int USE_DSP_RUNTIME diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index c5576a5acb..88b0d16c99 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -8,14 +8,8 @@ from libc.string cimport memcpy from cereal.visionipc.visionipc cimport cl_mem from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME from .commonmodel cimport mat3, ModelFrame as cppModelFrame -class Runtime: - CPU = USE_CPU_RUNTIME - GPU = USE_GPU_RUNTIME - DSP = USE_DSP_RUNTIME - cdef class CLContext(BaseCLContext): def __cinit__(self): self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd index f12f3e7ab9..01b2a9cf2c 100644 --- a/selfdrive/modeld/runners/runmodel.pxd +++ b/selfdrive/modeld/runners/runmodel.pxd @@ -3,6 +3,10 @@ from libcpp.string cimport string cdef extern from "selfdrive/modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME + cdef cppclass RunModel: void addInput(string, float*, int) void setInputBuffer(string, float*, int) diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx index a35f0fa280..cdc62a79be 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.pyx +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -4,8 +4,14 @@ from libcpp.string cimport string from libc.string cimport memcpy +from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME from selfdrive.modeld.models.commonmodel_pyx cimport CLMem +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + cdef class RunModel: def __dealloc__(self): del self.model From 405d09714c15956a6d220ff963d07b89c8e790ca Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 14:00:31 -0700 Subject: [PATCH 09/45] Tests: expand temporary directory helpers for more directories (#29735) * create helpers for testing * document it * fix other tests --- selfdrive/test/helpers.py | 42 +++++++++++++++++++++++++++------ tools/lib/tests/test_caching.py | 4 ++-- 2 files changed, 37 insertions(+), 9 deletions(-) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 3f4e4e1661..e376a86706 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,6 +1,7 @@ import os import time import tempfile +from typing import List, Union from unittest import mock from functools import wraps @@ -72,17 +73,44 @@ def with_processes(processes, init_time=0, ignore_stopped=None): return wrapper -def temporary_mock_dir(mock_path): +def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory): + """ + mock_paths_in: string or string list representing the full path of the variable you want to mock. + kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory. + generator: a context to use to generate the temporary directory + """ def wrapper(func): @wraps(func) def wrap(*args, **kwargs): - with tempfile.TemporaryDirectory() as temp_dir: - cache_dir_patch = mock.patch(mock_path, temp_dir) - cache_dir_patch.start() - func(*args, **kwargs, temp_dir=temp_dir) - cache_dir_patch.stop() + mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in] + with generator() as temp_dir: + mocks = [] + for mock_path in mock_paths: + mocks.append(mock.patch(mock_path, str(temp_dir))) + [mock.start() for mock in mocks] + try: + if kwarg is not None: + kwargs[kwarg] = temp_dir + func(*args, **kwargs) + finally: + [mock.stop() for mock in mocks] + return wrap return wrapper +def string_context(context): + class StringContext: + def __enter__(self): + return context + + def __exit__(self, *args): + pass + + return StringContext + +temporary_dir = temporary_mock_dir([], "temp_dir") temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR") -temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR") \ No newline at end of file +temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir") +temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER") +temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"], + generator=string_context("/tmp/test_swaglog_ipc")) \ No newline at end of file diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index bd93cd93ec..7702b52e3e 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -32,7 +32,7 @@ class TestFileDownload(unittest.TestCase): self.assertEqual(response_cached, response_downloaded) @temporary_cache_dir - def test_small_file(self, temp_dir): + def test_small_file(self): # Make sure we don't force cache os.environ["FILEREADER_CACHE"] = "0" small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md" @@ -53,7 +53,7 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(small_file_url, 100 * i, 100) @temporary_cache_dir - def test_large_file(self, temp_dir): + def test_large_file(self): large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" # Load the end 100 bytes of both files file_large = URLFile(large_file_url) From 18fbc1c29a0a8f42b73ecf9fa0b091ff2a9b3ebf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 14:09:52 -0700 Subject: [PATCH 10/45] Update test_camerad.py --- system/camerad/test/test_camerad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 6669df301c..b2aca850d1 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -11,8 +11,8 @@ from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import TICI TEST_TIMESPAN = 30 -LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts - log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame +LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts + log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, log.FrameData.ImageSensor.ox03c10: 1.0} From 2dd7a6fc64d9ac49161e2ccc489b8db28ca73001 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 31 Aug 2023 14:11:51 -0700 Subject: [PATCH 11/45] timezoned: set headers (#29725) * timezoned: set headers * Update system/timezoned.py * this is useful * newline --- system/timezoned.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/system/timezoned.py b/system/timezoned.py index 37e813c561..91424d33b5 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -11,6 +11,9 @@ from timezonefinder import TimezoneFinder from openpilot.common.params import Params from openpilot.system.hardware import AGNOS from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_version + +REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} def set_timezone(valid_timezones, timezone): @@ -18,7 +21,7 @@ def set_timezone(valid_timezones, timezone): cloudlog.error(f"Timezone not supported {timezone}") return - cloudlog.debug(f"Setting timezone to {timezone}") + cloudlog.info(f"Setting timezone to {timezone}") try: if AGNOS: tzpath = os.path.join("/usr/share/zoneinfo/", timezone) @@ -58,7 +61,7 @@ def main() -> NoReturn: if location is None: cloudlog.debug("Setting timezone based on IP lookup") try: - r = requests.get("https://ipapi.co/timezone", timeout=10) + r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) if r.status_code == 200: set_timezone(valid_timezones, r.text) else: From d5a55136a14537ec2b7b280aad4efdb61f38238c Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Thu, 31 Aug 2023 14:19:20 -0700 Subject: [PATCH 12/45] Added ModelRunner helpers in modeld/runners/__init__.py (#29737) * Added ModelRunner helper class * import Runtime in __init__.py --- selfdrive/modeld/modeld.py | 16 +++++----------- selfdrive/modeld/runners/__init__.py | 27 +++++++++++++++++++++++++++ 2 files changed, 32 insertions(+), 11 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 2920a2693c..ece706cfd9 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import os import sys import time import numpy as np @@ -8,26 +7,21 @@ from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.system.hardware import TICI from openpilot.system.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import get_warp_matrix -from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext from openpilot.selfdrive.modeld.models.driving_pyx import ( PublishState, create_model_msg, create_pose_msg, FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ) -USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) -if USE_THNEED: - from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner -else: - from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner - -MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}") +MODEL_PATHS = { + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', + ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} class FrameMeta: frame_id: int = 0 @@ -59,7 +53,7 @@ class ModelState: 'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32), } - self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context) + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) self.model.addInput("input_imgs", None) self.model.addInput("big_input_imgs", None) for k,v in self.inputs.items(): diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py index e69de29bb2..9193d63e2b 100644 --- a/selfdrive/modeld/runners/__init__.py +++ b/selfdrive/modeld/runners/__init__.py @@ -0,0 +1,27 @@ +import os +from openpilot.system.hardware import TICI +from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime +assert Runtime + +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) +USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI)))) + +class ModelRunner(RunModel): + THNEED = 'THNEED' + SNPE = 'SNPE' + ONNX = 'ONNX' + + def __new__(cls, paths, *args, **kwargs): + if ModelRunner.THNEED in paths and USE_THNEED: + from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner + runner_type = ModelRunner.THNEED + elif ModelRunner.SNPE in paths and USE_SNPE: + from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner + runner_type = ModelRunner.SNPE + elif ModelRunner.ONNX in paths: + from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner + runner_type = ModelRunner.ONNX + else: + raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") + + return Runner(str(paths[runner_type]), *args, **kwargs) From afd35bf7ecf68c2220390f1bb4cbbfbcd81eb00a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 14:27:59 -0700 Subject: [PATCH 13/45] CI: weekly poetry lock (#29738) * CI: weekly poetry lock * add that back * title * cleanup --- .../{repo.yml => repo-maintenance.yaml} | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) rename .github/workflows/{repo.yml => repo-maintenance.yaml} (65%) diff --git a/.github/workflows/repo.yml b/.github/workflows/repo-maintenance.yaml similarity index 65% rename from .github/workflows/repo.yml rename to .github/workflows/repo-maintenance.yaml index 1445aa635d..060b7f3e6c 100644 --- a/.github/workflows/repo.yml +++ b/.github/workflows/repo-maintenance.yaml @@ -1,4 +1,4 @@ -name: repo +name: repo maintenance on: schedule: @@ -6,13 +6,17 @@ on: workflow_dispatch: jobs: - pre-commit-autoupdate: - name: pre-commit autoupdate + updates: + name: updates runs-on: ubuntu-20.04 container: image: ghcr.io/commaai/openpilot-base:latest steps: - uses: actions/checkout@v3 + - name: poetry lock + run: | + pip install poetry + poetry lock - name: pre-commit autoupdate run: | git config --global --add safe.directory '*' @@ -21,8 +25,8 @@ jobs: uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 with: token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update pre-commit hook versions - title: 'pre-commit: autoupdate hooks' - branch: pre-commit-updates + commit-message: Update Python packages and pre-commit hooks + title: 'Update Python packages and pre-commit hooks' + branch: auto-package-updates base: master delete-branch: true From 9719b227611c880c76a60df223ef6c2f14f1a6ab Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 15:00:13 -0700 Subject: [PATCH 14/45] Update Python packages and pre-commit hooks (#29739) * Update Python packages and pre-commit hooks * fix linter --------- Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 970 +++++++++--------- selfdrive/car/__init__.py | 2 +- .../lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 4 files changed, 516 insertions(+), 460 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d4259dec17..2cda93701f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -35,7 +35,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.285 + rev: v0.0.286 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/poetry.lock b/poetry.lock index f793252462..a5f0841ba1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -400,7 +400,9 @@ version = "0.9.14" description = "Python API for communicating with the CARLA server." optional = false python-versions = "*" 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"Retry code until it succeeds" optional = false -python-versions = ">=3.6" +python-versions = ">=3.7" files = [ - {file = "tenacity-8.2.2-py3-none-any.whl", hash = "sha256:2f277afb21b851637e8f52e6a613ff08734c347dc19ade928e519d7d2d8569b0"}, - {file = "tenacity-8.2.2.tar.gz", hash = "sha256:43af037822bd0029025877f3b2d97cc4d7bb0c2991000a3d59d71517c5c969e0"}, + {file = "tenacity-8.2.3-py3-none-any.whl", hash = "sha256:ce510e327a630c9e1beaf17d42e6ffacc88185044ad85cf74c0a8887c6a0f88c"}, + {file = "tenacity-8.2.3.tar.gz", hash = "sha256:5398ef0d78e63f40007c1fb4c0bff96e1911394d2fa8d194f77619c05ff6cc8a"}, ] [package.extras] @@ -4727,13 +4783,13 @@ files = [ [[package]] name = "types-pycurl" -version = "7.45.2.4" +version = "7.45.2.5" description = "Typing stubs for pycurl" optional = false python-versions = "*" files = [ - {file = "types-pycurl-7.45.2.4.tar.gz", hash = "sha256:02c1611e7862f5ce02127746f079cd20dff511b049c7030cf24bb3d3ef41ceff"}, - {file = "types_pycurl-7.45.2.4-py3-none-any.whl", hash = "sha256:d10efc8b71bfcd2fc4745a2f08967baa441a8c74bc6028829e5b65899affc40b"}, + {file = "types-pycurl-7.45.2.5.tar.gz", hash = "sha256:cc07e4b1e388b98e1a935bc12ef33eec8e7294496d0a81ed50c46a31bf5df5ee"}, + {file = "types_pycurl-7.45.2.5-py3-none-any.whl", hash = "sha256:e433f13a266245be770018eabc6a50139ea26150f75df5b0ee698d291575582b"}, ] [[package]] @@ -4824,13 +4880,13 @@ zstd = ["zstandard (>=0.18.0)"] [[package]] name = "virtualenv" -version = "20.24.3" +version = "20.24.4" description = "Virtual Python Environment builder" optional = false python-versions = ">=3.7" files = [ - {file = "virtualenv-20.24.3-py3-none-any.whl", hash = "sha256:95a6e9398b4967fbcb5fef2acec5efaf9aa4972049d9ae41f95e0972a683fd02"}, - {file = "virtualenv-20.24.3.tar.gz", hash = "sha256:e5c3b4ce817b0b328af041506a2a299418c98747c4b1e68cb7527e74ced23efc"}, + {file = "virtualenv-20.24.4-py3-none-any.whl", hash = "sha256:29c70bb9b88510f6414ac3e55c8b413a1f96239b6b789ca123437d5e892190cb"}, + {file = "virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"}, ] [package.dependencies] @@ -4839,22 +4895,22 @@ filelock = ">=3.12.2,<4" platformdirs = ">=3.9.1,<4" [package.extras] -docs = ["furo (>=2023.5.20)", "proselint (>=0.13)", "sphinx (>=7.0.1)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"] +docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"] test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"] [[package]] name = "websocket-client" -version = "1.6.1" +version = "1.6.2" description = "WebSocket client for Python with low level API options" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "websocket-client-1.6.1.tar.gz", hash = "sha256:c951af98631d24f8df89ab1019fc365f2227c0892f12fd150e935607c79dd0dd"}, - {file = "websocket_client-1.6.1-py3-none-any.whl", hash = "sha256:f1f9f2ad5291f0225a49efad77abf9e700b6fef553900623060dad6e26503b9d"}, + {file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"}, + {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"}, ] [package.extras] -docs = ["Sphinx (>=3.4)", "sphinx-rtd-theme (>=0.5)"] +docs = ["Sphinx (>=6.0)", "sphinx-rtd-theme (>=1.1.0)"] optional = ["python-socks", "wsaccel"] test = ["websockets"] diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 89828a5cf5..c90ae50ab9 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -40,7 +40,7 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, ca def gen_empty_fingerprint(): - return {i: {} for i in range(0, 8)} + return {i: {} for i in range(8)} # these params were derived for the Civic and used to calculate params for other cars diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index eaa782efee..a23ba1eaf6 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -290,7 +290,7 @@ class LongitudinalMpc: self.x0[1] = v self.x0[2] = a if abs(v_prev - v) > 2.: # probably only helps if v < v_prev - for i in range(0, N+1): + for i in range(N+1): self.solver.set(i, 'x', self.x0) @staticmethod From b0144b129d1ad122eeb8d34d5d011c1382b7f4fc Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 16:47:19 -0700 Subject: [PATCH 15/45] bump panda (#29743) bump it up don't you know --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index bc2f10da57..ef1a9338a1 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit bc2f10da579a95ee3a0c54cfab883ce872eb9a32 +Subproject commit ef1a9338a17f63ad1c666364c695e2b36a47350e From 4c039ab02230c7fcf2439b56fe04ad79df911ad4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 31 Aug 2023 17:17:07 -0700 Subject: [PATCH 16/45] Tests: disable laika tests in CI (#29742) skip laika --- selfdrive/car/tests/test_models.py | 3 +-- selfdrive/locationd/test/test_laikad.py | 3 +++ selfdrive/test/helpers.py | 1 + 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 57b7037530..d2198dc27b 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,6 +21,7 @@ from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py +from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR PandaType = log.PandaState.PandaType @@ -62,8 +63,6 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: return test_cases -SKIP_ENV_VAR = "SKIP_LONG_TESTS" - class TestCarModelBase(unittest.TestCase): car_model: Optional[str] = None diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index a8d69502cf..2c4a8a406d 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import os import time import unittest from cereal import log @@ -18,6 +19,7 @@ from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" @@ -92,6 +94,7 @@ def get_measurement_mock(gpstime, sat_ephemeris): return meas +@unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Laika test skipped since it's long and not currently used. Unset {SKIP_ENV_VAR} to run") class TestLaikad(unittest.TestCase): @classmethod diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index e376a86706..1fbf2c4d20 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -12,6 +12,7 @@ from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version +SKIP_ENV_VAR = "SKIP_LONG_TESTS" def set_params_enabled(): os.environ['PASSIVE'] = "0" From 75081b2e54134527735b1b5a7b000f452d180093 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Aug 2023 18:34:20 -0700 Subject: [PATCH 17/45] don't rerun those here --- .github/workflows/selfdrive_tests.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 5c5f8d78d7..08fcda1585 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,6 @@ jobs: run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $UNIT_TEST common && \ - $UNIT_TEST opendbc/can && \ $UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/monitoring && \ From 05993f50dfe27ce583919c6df68fc67c17f5342e Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Thu, 31 Aug 2023 19:40:53 -0700 Subject: [PATCH 18/45] Added cython bindings for commonmodel sigmoid --- selfdrive/modeld/models/commonmodel.pxd | 2 ++ selfdrive/modeld/models/commonmodel_pyx.pyx | 5 ++++- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index 9f3f9bf27b..57b79aeafb 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -12,6 +12,8 @@ cdef extern from "common/clutil.h": cl_context cl_create_context(cl_device_id) cdef extern from "selfdrive/modeld/models/commonmodel.h": + float sigmoid(float) + cppclass ModelFrame: int buf_size ModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index 88b0d16c99..e33d301aff 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -8,7 +8,10 @@ from libc.string cimport memcpy from cereal.visionipc.visionipc cimport cl_mem from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport mat3, ModelFrame as cppModelFrame +from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame + +def sigmoid(x): + return cppSigmoid(x) cdef class CLContext(BaseCLContext): def __cinit__(self): From 92a4c2f7417a7f2f3808ec39a88d7c4a3acaf769 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 31 Aug 2023 20:07:56 -0700 Subject: [PATCH 19/45] body: make mic optional (#29746) Only request for media that is available --- tools/bodyteleop/static/js/webrtc.js | 56 ++++++++++++++++------------ 1 file changed, 33 insertions(+), 23 deletions(-) diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js index 8bc8e77317..7668c1c1e4 100644 --- a/tools/bodyteleop/static/js/webrtc.js +++ b/tools/bodyteleop/static/js/webrtc.js @@ -108,37 +108,47 @@ export function createDummyVideoTrack() { export function start(pc, dc) { pc = createPeerConnection(pc); - if (constraints.audio || constraints.video) { - // add audio track - navigator.mediaDevices.getUserMedia(constraints).then(function(stream) { - stream.getTracks().forEach(function(track) { - pc.addTrack(track, stream); - // only audio? - // if (track.kind === 'audio'){ - // pc.addTrack(track, stream); - // } - }); - return negotiate(pc); - }, function(err) { - alert('Could not acquire media: ' + err); - }); + // add audio track + navigator.mediaDevices.enumerateDevices() + .then(function(devices) { + const hasAudioInput = devices.find((device) => { device.kind === "audioinput" }); + var modifiedConstraints = {}; + modifiedConstraints.video = constraints.video; + modifiedConstraints.audio = hasAudioInput ? constraints.audio : false; - // add a fake video? - // const dummyVideoTrack = createDummyVideoTrack(); - // const dummyMediaStream = new MediaStream(); - // dummyMediaStream.addTrack(dummyVideoTrack); - // pc.addTrack(dummyVideoTrack, dummyMediaStream); + return Promise.resolve(modifiedConstraints); + }) + .then(function(constraints) { + if (constraints.audio || constraints.video) { + return navigator.mediaDevices.getUserMedia(constraints); + } else{ + return Promise.resolve(null); + } + }) + .then(function(stream) { + if (stream) { + stream.getTracks().forEach(function(track) { + pc.addTrack(track, stream); + }); + } - } else { - negotiate(pc); - } + return negotiate(pc); + }) + .catch(function(err) { + alert('Could not acquire media: ' + err); + }); + + // add a fake video? + // const dummyVideoTrack = createDummyVideoTrack(); + // const dummyMediaStream = new MediaStream(); + // dummyMediaStream.addTrack(dummyVideoTrack); + // pc.addTrack(dummyVideoTrack, dummyMediaStream); // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000) // var video = document.querySelector('video'); // var print = function (e, f){console.log(e, f); video.requestVideoFrameCallback(print);}; // video.requestVideoFrameCallback(print); - var parameters = {"ordered": true}; dc = pc.createDataChannel('data', parameters); dc.onclose = function() { From a18e97e954f4cafec46f186df635a91576479cc1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 31 Aug 2023 21:50:45 -0700 Subject: [PATCH 20/45] Toyota: fix missing message check with radar disabled (#29747) * add test route for radar-disabled toyota chr hybrid tss 2 * fix bug --- selfdrive/car/tests/routes.py | 1 + selfdrive/car/toyota/carstate.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index b5fe615200..aaf5b48915 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -206,6 +206,7 @@ routes = [ CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), + # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2), # openpilot longitudinal, radar disabled CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index c96df6f10f..076668fffb 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -210,7 +210,7 @@ class CarState(CarStateBase): ("PCS_HUD", 1), ] - if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu: + if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: messages += [ ("PRE_COLLISION", 33), ] From 0bda43d71c46b02b8d9d2043243388f8a2839497 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Fri, 1 Sep 2023 11:51:59 -0700 Subject: [PATCH 21/45] encoderd: fix crash when filename is null (#29748) Use publish_name for thread name and debugging messages --- system/loggerd/encoder/ffmpeg_encoder.cc | 2 +- system/loggerd/encoder/v4l_encoder.cc | 6 +++--- system/loggerd/loggerd.cc | 1 + 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index dc20ea8791..f44f2fbed7 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -135,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { } if (env_debug_encoder) { - printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id); + printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id); } publisher_publish(this, segment_num, counter, *extra, diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 6e5cefa87d..571f5979e2 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -75,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) } void V4LEncoder::dequeue_handler(V4LEncoder *e) { - std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename); + std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name); util::set_thread_name(dequeue_thread_name.c_str()); e->segment_num++; @@ -105,7 +105,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { } if (env_debug_encoder >= 2) { - printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot()); + printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot()); } int frame_id = -1; @@ -133,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { if (env_debug_encoder) { printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n", - e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); + e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); } // requeue the buffer diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 053bc6b1eb..84d5632d5a 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -116,6 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } // 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->segment_path, encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); From f60ef530ca6571204ad4ac7e29af562cb0911c32 Mon Sep 17 00:00:00 2001 From: haram-KONA <88036668+haram-KONA@users.noreply.github.com> Date: Sat, 2 Sep 2023 03:57:02 +0900 Subject: [PATCH 22/45] CAR docs: add video for Hyundai Kona Electric 2023 (KOR) HDA2 (#29749) * CAR docs: add video for Hyundai Kona Electric 2023 (KOR) HDA2 CAR docs: add video for Hyundai Kona Electric 2023 (KOR) HDA2 update values.py * Update CARS.md * Update values.py * Update values.py --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 7b29339fb2..a23732fa21 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 524cdee159..0a636beb23 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -176,7 +176,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages - CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", car_parts=CarParts.common([CarHarness.hyundai_r])), + CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), From a774809fdb8adbf71546ff7a16206e7bb316691c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Sep 2023 16:02:57 -0700 Subject: [PATCH 23/45] Sim: fix openpilot directory (#29754) fix simulator --- tools/sim/start_openpilot_docker.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index dba89b8b70..54f4995e45 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -3,7 +3,7 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR -OPENPILOT_DIR="/openpilot" +OPENPILOT_DIR="/tmp/openpilot" if ! [[ -z "$MOUNT_OPENPILOT" ]]; then OPENPILOT_DIR="$(dirname $(dirname $DIR))" EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH" From 9bef110ca762a8be0dfcff4735f23502dd59dad4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 1 Sep 2023 17:06:31 -0700 Subject: [PATCH 24/45] comma three -> comma device --- docs/CARS.md | 2 +- selfdrive/car/CARS_template.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a23732fa21..1ecb7d5a48 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,7 +2,7 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. +A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. # 260 Supported Cars diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index ef64f6aa1e..9d045e7627 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -10,7 +10,7 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. +A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. # {{all_car_info | length}} Supported Cars From e51f50b0348ebea6f9496c0817e491c5dd63b9c7 Mon Sep 17 00:00:00 2001 From: Arun Kapil <1875270+arunkapil@users.noreply.github.com> Date: Sat, 2 Sep 2023 00:06:45 -0400 Subject: [PATCH 25/45] HKG: Add fingerprint for US Kia Sorento Hybrid 2023 (#29757) Added fwdCamera ECU fingerprint for US model of 2023 Kia Sorento HEV 4th Gen --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0a636beb23..cabdac4cf3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1930,6 +1930,7 @@ FW_VERSIONS = { CAR.KIA_SORENTO_HEV_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', From de97d32fe0a019186eee03d4bf39d85a2d62dfd8 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 2 Sep 2023 16:58:34 -0700 Subject: [PATCH 26/45] gnss raw measurements through nmea port (#29745) * gnss measurements through nmea port * document values * flags always zero * fix linter errors * fix linter errors --- system/sensord/rawgps/nmeaport.py | 169 ++++++++++++++++++++++++++++++ 1 file changed, 169 insertions(+) create mode 100644 system/sensord/rawgps/nmeaport.py diff --git a/system/sensord/rawgps/nmeaport.py b/system/sensord/rawgps/nmeaport.py new file mode 100644 index 0000000000..01b9b179b9 --- /dev/null +++ b/system/sensord/rawgps/nmeaport.py @@ -0,0 +1,169 @@ +import os +import sys +from dataclasses import dataclass, fields +from subprocess import check_output, CalledProcessError +from time import sleep +from typing import NoReturn + +DEBUG = int(os.environ.get("DEBUG", "0")) + +@dataclass +class GnssClockNmeaPort: + # flags bit mask: + # 0x01 = leap_seconds valid + # 0x02 = time_uncertainty_ns valid + # 0x04 = full_bias_ns valid + # 0x08 = bias_ns valid + # 0x10 = bias_uncertainty_ns valid + # 0x20 = drift_nsps valid + # 0x40 = drift_uncertainty_nsps valid + flags: int + leap_seconds: int + time_ns: int + time_uncertainty_ns: int # 1-sigma + full_bias_ns: int + bias_ns: float + bias_uncertainty_ns: float # 1-sigma + drift_nsps: float + drift_uncertainty_nsps: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +@dataclass +class GnssMeasNmeaPort: + messageCount: int + messageNum: int + svCount: int + # constellation enum: + # 1 = GPS + # 2 = SBAS + # 3 = GLONASS + # 4 = QZSS + # 5 = BEIDOU + # 6 = GALILEO + constellation: int + svId: int + flags: int # always zero + time_offset_ns: int + # state bit mask: + # 0x0001 = CODE LOCK + # 0x0002 = BIT SYNC + # 0x0004 = SUBFRAME SYNC + # 0x0008 = TIME OF WEEK DECODED + # 0x0010 = MSEC AMBIGUOUS + # 0x0020 = SYMBOL SYNC + # 0x0040 = GLONASS STRING SYNC + # 0x0080 = GLONASS TIME OF DAY DECODED + # 0x0100 = BEIDOU D2 BIT SYNC + # 0x0200 = BEIDOU D2 SUBFRAME SYNC + # 0x0400 = GALILEO E1BC CODE LOCK + # 0x0800 = GALILEO E1C 2ND CODE LOCK + # 0x1000 = GALILEO E1B PAGE SYNC + # 0x2000 = GALILEO E1B PAGE SYNC + state: int + time_of_week_ns: int + time_of_week_uncertainty_ns: int # 1-sigma + carrier_to_noise_ratio: float + pseudorange_rate: float + pseudorange_rate_uncertainty: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +def nmea_checksum_ok(s): + checksum = 0 + for i, c in enumerate(s[1:]): + if c == "*": + if i != len(s) - 4: # should be 3rd to last character + print("ERROR: NMEA string does not have checksum delimiter in correct location:", s) + return False + break + checksum ^= ord(c) + else: + print("ERROR: NMEA string does not have checksum delimiter:", s) + return False + + return True + +def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: + while True: + try: + with open(device, "r") as nmeaport: + for line in nmeaport: + line = line.strip() + if DEBUG: + print(line) + if not line.startswith("$"): # all NMEA messages start with $ + continue + if not nmea_checksum_ok(line): + continue + + fields = line.split(",") + match fields[0]: + case "$GNCLK": + # fields at end are reserved (not used) + gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + print(gnss_clock) + case "$GNMEAS": + # fields at end are reserved (not used) + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + print(gnss_meas) + except Exception as e: + print(e) + sleep(1) + +def main() -> NoReturn: + from openpilot.common.gpio import gpio_init, gpio_set + from openpilot.system.hardware.tici.pins import GPIO + from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + + try: + check_output(["pidof", "rawgpsd"]) + print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (boardd not running) + raise e + + print("power up antenna ...") + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) + + if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""): + print("stop location tracking ...") + at_cmd("AT+QGPSEND") + + if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""): + print("configure outport ...") + at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1 + + if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""): + print("configure gnssrawdata ...") + # AT+QGPSCFG="gnssrawdata",,' + # values: + # 0x01 = GPS + # 0x02 = GLONASS + # 0x04 = BEIDOU + # 0x08 = GALILEO + # 0x10 = QZSS + # values: + # 0 = NMEA port + # 1 = AT port + at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port + print("rebooting ...") + at_cmd('AT+CFUN=1,1') + print("re-run this script when it is back up") + sys.exit(2) + + print("starting location tracking ...") + at_cmd("AT+QGPS=1") + + process_nmea_port_messages() + +if __name__ == "__main__": + main() From f4f92f1a2fba9358f7a529b9f5c28d90c9691d08 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 3 Sep 2023 13:12:31 -0700 Subject: [PATCH 27/45] Subaru: impreza 22 fingerprint (#29765) add fingerprint --- selfdrive/car/subaru/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 73ad6aebcc..2037b24a8d 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -310,6 +310,7 @@ FW_VERSIONS = { b'\xa2 !`\000', b'\xf1\x00\xb2\x06\x04', b'\xa2 `\x00', + b'\xa2 !3\x00', ], (Ecu.eps, 0x746, None): [ b'\x9a\xc0\000\000', @@ -323,6 +324,7 @@ FW_VERSIONS = { b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xca!ap\a', @@ -337,6 +339,7 @@ FW_VERSIONS = { b'\xf3"fp\x07', b'\xe6"f0\x07', b'\xe6"fp\x07', + b'\xe6!`@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -348,6 +351,7 @@ FW_VERSIONS = { b'\xe9\xf6F0\x00', b'\xe9\xf5B0\x00', b'\xe9\xf6B0\x00', + b'\xe9\xf5"\x00\x00', ], }, CAR.CROSSTREK_HYBRID: { From 75ead2c38980437c617fbb8c02bf0e53cfbe9682 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 4 Sep 2023 11:15:06 -0700 Subject: [PATCH 28/45] Soundd: Give each alert a volume (#29767) * Give each alert a volume * Update sound.h --- selfdrive/ui/soundd/sound.cc | 3 ++- selfdrive/ui/soundd/sound.h | 21 ++++++++++++--------- selfdrive/ui/tests/test_sound.cc | 2 +- 3 files changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index d3c6486023..a5884f113f 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -15,12 +15,13 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { QSoundEffect *s = new QSoundEffect(this); QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); }); s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); + s->setVolume(volume); sounds[alert] = {s, loops}; } diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 81a5f1a86b..4fcb2e1bce 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -9,18 +9,21 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/ui.h" -const std::tuple sound_list[] = { + +const float MAX_VOLUME = 1.0; + +const std::tuple sound_list[] = { // AudibleAlert, file name, loop count - {AudibleAlert::ENGAGE, "engage.wav", 0}, - {AudibleAlert::DISENGAGE, "disengage.wav", 0}, - {AudibleAlert::REFUSE, "refuse.wav", 0}, + {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME}, + {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME}, + {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT, "prompt.wav", 0}, - {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite}, - {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite}, + {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME}, + {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite}, + {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME}, }; class Sound : public QObject { diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc index 43599f3828..d9cb5c0a7f 100644 --- a/selfdrive/ui/tests/test_sound.cc +++ b/selfdrive/ui/tests/test_sound.cc @@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) { const int DT_CTRL = 10; // ms for (int i = 0; i < loop_cnt; ++i) { - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { printf("testing %s\n", qPrintable(fn)); for (int j = 0; j < 1000 / DT_CTRL; ++j) { MessageBuilder msg; From ca435d344714f08276f9f9da5039f730987f31fa Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Sep 2023 11:54:35 -0700 Subject: [PATCH 29/45] CI: use pytest for unittesting (#29709) * switch to pytest * static analysis * fix the helpers * static analysis * remove that * more parallel test * cleanup * static analysis * durations min and tolerance * reduce those iterations * sleep time could be decreased too * in case it's negative * try using caching * remove parallelization for first PR * PR Cleanup * reduce diff * fix that * bump panda --- .github/workflows/selfdrive_tests.yaml | 21 ++++---------------- selfdrive/athena/tests/test_athenad.py | 1 + selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/test/pytest-ci.ini | 18 +++++++++++++++++ system/logmessaged.py | 3 ++- system/swaglog.py | 4 +++- system/tests/test_logmessaged.py | 4 +++- system/ubloxd/tests/test_ublox_processing.py | 6 ++++-- 8 files changed, 36 insertions(+), 23 deletions(-) create mode 100644 selfdrive/test/pytest-ci.ini diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 08fcda1585..7d397a147d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -26,6 +26,7 @@ env: RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover + PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 jobs: build_release: @@ -248,22 +249,9 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $UNIT_TEST common && \ - $UNIT_TEST selfdrive/boardd && \ - $UNIT_TEST selfdrive/controls && \ - $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST system/loggerd && \ - $UNIT_TEST selfdrive/car && \ - $UNIT_TEST selfdrive/locationd && \ - $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \ - $UNIT_TEST system/tests && \ - $UNIT_TEST system/ubloxd && \ + $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ - $UNIT_TEST selfdrive/athena && \ - $UNIT_TEST selfdrive/thermald && \ - $UNIT_TEST system/hardware/tici && \ - $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ @@ -274,8 +262,7 @@ jobs: ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ - ./selfdrive/test/process_replay/test_fuzzy.py && \ - coverage xml" + ./selfdrive/test/process_replay/test_fuzzy.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 @@ -374,7 +361,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index f32df74217..e088bcf356 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -48,6 +48,7 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) + dispatcher["listUploadQueue"]() # ensure queue is empty at start # *** test helpers *** diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 8809994981..7d5bd85e99 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -175,7 +175,7 @@ class TestFwFingerprint(unittest.TestCase): class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.1 + TOL: float = 0.12 @staticmethod def _run_thread(thread: threading.Thread) -> float: diff --git a/selfdrive/test/pytest-ci.ini b/selfdrive/test/pytest-ci.ini new file mode 100644 index 0000000000..b96dacc54b --- /dev/null +++ b/selfdrive/test/pytest-ci.ini @@ -0,0 +1,18 @@ +[pytest] +testpaths = + common + selfdrive/athena + selfdrive/boardd + selfdrive/car + selfdrive/controls + selfdrive/locationd + selfdrive/monitoring + selfdrive/thermald + selfdrive/test/longitudinal_maneuvers + system/hardware/tici + system/loggerd + system/tests + system/ubloxd + tools/lib/tests +markers = + parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel) diff --git a/system/logmessaged.py b/system/logmessaged.py index cab8cdd80d..4799348990 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -5,6 +5,7 @@ from typing import NoReturn import cereal.messaging as messaging from openpilot.common.logging_extra import SwagLogFileFormatter from openpilot.system.swaglog import get_file_handler +from system.swaglog import SWAGLOG_IPC def main() -> NoReturn: @@ -14,7 +15,7 @@ def main() -> NoReturn: ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) - sock.bind("ipc:///tmp/logmessage") + sock.bind(f"ipc://{SWAGLOG_IPC}") # and we publish them log_message_sock = messaging.pub_sock('logMessage') diff --git a/system/swaglog.py b/system/swaglog.py index 3d45ad9826..6ccd0d9791 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -15,6 +15,8 @@ if PC: else: SWAGLOG_DIR = "/data/log/" +SWAGLOG_IPC = "/tmp/logmessage" + def get_file_handler(): Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True) base_filename = os.path.join(SWAGLOG_DIR, "swaglog") @@ -89,7 +91,7 @@ class UnixDomainSocketHandler(logging.Handler): self.zctx = zmq.Context() self.sock = self.zctx.socket(zmq.PUSH) self.sock.setsockopt(zmq.LINGER, 10) - self.sock.connect("ipc:///tmp/logmessage") + self.sock.connect(f"ipc://{SWAGLOG_IPC}") self.pid = os.getpid() def emit(self, record): diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 330f151368..0b70774bbb 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -7,7 +7,7 @@ import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.swaglog import cloudlog, ipchandler -from selfdrive.test.helpers import temporary_swaglog_dir +from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc class TestLogmessaged(unittest.TestCase): @@ -35,6 +35,7 @@ class TestLogmessaged(unittest.TestCase): return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*"))) @temporary_swaglog_dir + @temporary_swaglog_ipc def test_simple_log(self, temp_dir): self._setup(temp_dir) msgs = [f"abc {i}" for i in range(10)] @@ -46,6 +47,7 @@ class TestLogmessaged(unittest.TestCase): assert len(self._get_log_files()) >= 1 @temporary_swaglog_dir + @temporary_swaglog_ipc def test_big_log(self, temp_dir): self._setup(temp_dir) n = 10 diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index b1709cd9bb..85a4e0a426 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -9,6 +9,7 @@ from laika.opt import calc_pos_fix from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.helpers import temporary_dir import cereal.messaging as messaging def get_gnss_measurements(log_reader): @@ -54,8 +55,9 @@ class TestUbloxProcessing(unittest.TestCase): self.assertEqual(count_gps, 5036) self.assertEqual(count_glonass, 3651) - def test_get_fix(self): - dog = AstroDog() + @temporary_dir + def test_get_fix(self, temp_dir): + dog = AstroDog(cache_dir=temp_dir) position_fix_found = 0 count_processed_measurements = 0 count_corrected_measurements = 0 From ed7a0bf0f9cb6f0ea6efcf0ab3cf32a2e3dc9f2d Mon Sep 17 00:00:00 2001 From: sgtcurry <143920305+sgtcurry@users.noreply.github.com> Date: Mon, 4 Sep 2023 14:05:57 -0500 Subject: [PATCH 30/45] 2023 Ford Maverick Ecoboost engine firmware (#29762) * Update values.py 23 maverick ecoboost engine fw * Update values.py * Update values.py * sorted --------- Co-authored-by: Justin Newberry --- selfdrive/car/ford/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 8968d1dc29..e6aaa2a952 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -265,6 +265,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, From a08cdfdda7e1a2bc50024bffc45295a322da42f9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 5 Sep 2023 10:59:58 -0700 Subject: [PATCH 31/45] ui: brighten cameraview (#29744) * test * test2 * Revert "test2" This reverts commit 22e38f82ae81f625f00179413f4c5f869a6de23e. * Revert "test" This reverts commit 717490c1bcddcd5339aed85d4716a58495a5c52c. * looks fine * mid * description --------- Co-authored-by: Comma Device --- selfdrive/ui/qt/widgets/cameraview.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 38824aa8db..fea81ab910 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -41,6 +41,8 @@ const char frame_fragment_shader[] = "out vec4 colorOut;\n" "void main() {\n" " colorOut = texture(uTexture, vTexCoord);\n" + // gamma to improve worst case visibility when dark + " colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n" "}\n"; #else const char frame_fragment_shader[] = From e0eb4d726c1f645c3694425662ecb135aa000d79 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Sep 2023 12:02:21 -0700 Subject: [PATCH 32/45] Update Python packages and pre-commit hooks (#29774) Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2cda93701f..e335fb432e 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -35,7 +35,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.286 + rev: v0.0.287 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/poetry.lock b/poetry.lock index a5f0841ba1..95dd089bce 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3152,13 +3152,13 @@ files = [ [[package]] name = "pre-commit" -version = "3.3.3" +version = "3.4.0" description = "A framework for managing and maintaining multi-language pre-commit hooks." optional = false python-versions = ">=3.8" files = [ - {file = "pre_commit-3.3.3-py2.py3-none-any.whl", hash = "sha256:10badb65d6a38caff29703362271d7dca483d01da88f9d7e05d0b97171c136cb"}, - {file = "pre_commit-3.3.3.tar.gz", hash = "sha256:a2256f489cd913d575c145132ae196fe335da32d91a8294b7afe6622335dd023"}, + {file = "pre_commit-3.4.0-py2.py3-none-any.whl", hash = "sha256:96d529a951f8b677f730a7212442027e8ba53f9b04d217c4c67dc56c393ad945"}, + {file = "pre_commit-3.4.0.tar.gz", hash = "sha256:6bbd5129a64cad4c0dfaeeb12cd8f7ea7e15b77028d985341478c8af3c759522"}, ] [package.dependencies] @@ -3745,13 +3745,13 @@ cp2110 = ["hidapi"] [[package]] name = "pytest" -version = "7.4.0" +version = "7.4.1" description = "pytest: simple powerful testing with Python" optional = false python-versions = ">=3.7" files = [ - {file = "pytest-7.4.0-py3-none-any.whl", hash = "sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32"}, - {file = "pytest-7.4.0.tar.gz", hash = "sha256:b4bf8c45bd59934ed84001ad51e11b4ee40d40a1229d2c79f9c592b0a3f6bd8a"}, + {file = "pytest-7.4.1-py3-none-any.whl", hash = "sha256:460c9a59b14e27c602eb5ece2e47bec99dc5fc5f6513cf924a7d03a578991b1f"}, + {file = "pytest-7.4.1.tar.gz", hash = "sha256:2f2301e797521b23e4d2585a0a3d7b5e50fdddaaf7e7d6773ea26ddb17c213ab"}, ] [package.dependencies] @@ -3876,13 +3876,13 @@ numpy = ["numpy (>=1.6.0)"] [[package]] name = "pytz" -version = "2023.3" +version = "2023.3.post1" description = "World timezone definitions, modern and historical" optional = false python-versions = "*" files = [ - {file = "pytz-2023.3-py2.py3-none-any.whl", hash = "sha256:a151b3abb88eda1d4e34a9814df37de2a80e301e68ba0fd856fb9b46bfbbbffb"}, - {file = "pytz-2023.3.tar.gz", hash = "sha256:1d8ce29db189191fb55338ee6d0387d82ab59f3d00eac103412d64e0ebd0c588"}, + {file = "pytz-2023.3.post1-py2.py3-none-any.whl", hash = "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7"}, + {file = "pytz-2023.3.post1.tar.gz", hash = "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b"}, ] [[package]] From dcea56bcf343344818060f0c2e6a8ff8e5119b08 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Sep 2023 12:45:18 -0700 Subject: [PATCH 33/45] Tests: speedup locationd (#29776) * speedup locationd * bump cereal --- cereal | 2 +- selfdrive/locationd/test/test_locationd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 82bca3a971..4291784b4d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d +Subproject commit 4291784b4d372782c95279e9fe7741e38633ca5e diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 6c6ac33431..99047c37f3 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -80,7 +80,7 @@ class TestLocationdProc(unittest.TestCase): for msg in sorted(msgs, key=lambda x: x.logMonoTime): self.pm.send(msg.which(), msg) if msg.which() == "cameraOdometry": - self.pm.wait_for_readers_to_update(msg.which(), 0.1) + self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005) time.sleep(1) # wait for async params write lastGPS = json.loads(self.params.get('LastGPSPosition')) From 16c99e3e7febdac58cc67726768f6413a6cbf74f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Sep 2023 14:06:03 -0700 Subject: [PATCH 34/45] Pytest: don't rerun cereal unittests (#29781) pytest don't rerun cereal --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index f0d0324d53..19b52ff235 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ From a0b49d54222c52ff0112c402bc0e0d9262e77a66 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 5 Sep 2023 17:15:18 -0400 Subject: [PATCH 35/45] Hyundai longitudinal: enable for `IONIQ` (#29778) * Hyundai longitudinal: enable for `IONIQ` * add test route --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/tests/routes.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1ecb7d5a48..e032227c46 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -83,7 +83,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq 6 (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cabdac4cf3..8cae1c6fe1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1976,7 +1976,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, CAR.KIA_OPTIMA_H} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index aaf5b48915..be46f9a807 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -129,6 +129,7 @@ routes = [ CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), + CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ), # openpilot longitudinal enabled CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), From 0908be80bda09d7cc476693ab17208cf0fca4ded Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Sep 2023 15:32:57 -0700 Subject: [PATCH 36/45] sensord: test updates for provisioning (#29768) * sensord: test updates for provisioning * fix --------- Co-authored-by: Comma Device --- system/sensord/tests/test_sensord.py | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index e3cd77a1a3..ccdce3b4e5 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -9,6 +9,7 @@ import cereal.messaging as messaging from cereal import log from cereal.services import service_list from openpilot.common.gpio import get_irqs_for_action +from openpilot.common.timeout import Timeout from openpilot.system.hardware import TICI from openpilot.selfdrive.manager.process_config import managed_processes @@ -73,15 +74,24 @@ def get_irq_count(irq: int): def read_sensor_events(duration_sec): sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] - esocks = {} + socks = {} + poller = messaging.Poller() events = defaultdict(list) for stype in sensor_types: - esocks[stype] = messaging.sub_sock(stype, timeout=0.1) + socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100) - start_time_sec = time.monotonic() - while time.monotonic() - start_time_sec < duration_sec: - for esock in esocks: - events[esock] += messaging.drain_sock(esocks[esock]) + # wait for sensors to come up + with Timeout(60, "sensors didn't come up"): + while len(poller.poll(250)) == 0: + pass + time.sleep(1) + for s in socks.values(): + messaging.drain_sock_raw(s) + + st = time.monotonic() + while time.monotonic() - st < duration_sec: + for s in socks: + events[s] += messaging.drain_sock(socks[s]) time.sleep(0.1) assert sum(map(len, events.values())) != 0, "No sensor events collected!" @@ -101,8 +111,7 @@ class TestSensord(unittest.TestCase): os.system("pkill -f ./_sensord") try: managed_processes["sensord"].start() - time.sleep(3) - cls.sample_secs = 10 + cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) cls.events = read_sensor_events(cls.sample_secs) # determine sensord's irq From 22487db9c8ad3480152785ab74fd3e1e7c41d6de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Sep 2023 16:01:28 -0700 Subject: [PATCH 37/45] bump panda (#29786) bump --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index ef1a9338a1..3ab4f43de0 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ef1a9338a17f63ad1c666364c695e2b36a47350e +Subproject commit 3ab4f43de06d7abcc4d594ee2a4efc0466e42c94 From 4e69937d0d3fbdc7d1d42cbc18d7ccf8ddb115f1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Sep 2023 16:33:26 -0700 Subject: [PATCH 38/45] Precommit: ensure executable bit is set (#29784) * precommit ensure executable * exclude tinygrad * bump submodules * exclude tinygrad globally --- .devcontainer/devcontainer.json | 0 .pre-commit-config.yaml | 3 +++ README.md | 0 cereal | 2 +- common/params_pyx.pyx | 0 laika_repo | 2 +- opendbc | 2 +- panda | 2 +- rednose_repo | 2 +- selfdrive/car/body/interface.py | 1 - selfdrive/car/body/radar_interface.py | 1 - selfdrive/car/disable_ecu.py | 1 + selfdrive/car/ford/interface.py | 1 - selfdrive/car/ford/radar_interface.py | 1 - selfdrive/car/hyundai/interface.py | 1 - selfdrive/car/hyundai/radar_interface.py | 1 - selfdrive/car/nissan/interface.py | 1 - selfdrive/car/nissan/radar_interface.py | 1 - selfdrive/car/subaru/interface.py | 1 - selfdrive/car/subaru/radar_interface.py | 1 - selfdrive/car/tests/routes.py | 0 selfdrive/car/toyota/interface.py | 1 - selfdrive/car/volkswagen/radar_interface.py | 1 - selfdrive/car/volkswagen/values.py | 0 selfdrive/controls/lib/events.py | 1 + selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 0 selfdrive/controls/tests/test_following_distance.py | 0 selfdrive/controls/tests/test_leads.py | 0 selfdrive/locationd/liblocationd.cc | 0 selfdrive/locationd/locationd.cc | 0 selfdrive/locationd/locationd.h | 0 selfdrive/locationd/models/live_kf.cc | 0 selfdrive/locationd/models/live_kf.h | 0 selfdrive/thermald/fan_controller.py | 0 system/hardware/tici/amplifier.py | 1 + system/loggerd/deleter.py | 0 system/loggerd/uploader.py | 0 system/ubloxd/tests/test_ublox_processing.py | 1 + system/ubloxd/tests/ublox.py | 0 system/version.py | 0 third_party/libyuv/build.sh | 0 tools/gpstest/test_gps.py | 0 tools/gpstest/test_gps_qcom.py | 0 tools/gpstest/test_laikad.py | 0 tools/lib/kbhit.py | 0 tools/lib/tests/test_caching.py | 0 tools/scripts/save_ubloxraw_stream.py | 0 tools/zookeeper/__init__.py | 1 - 48 files changed, 12 insertions(+), 18 deletions(-) mode change 100755 => 100644 .devcontainer/devcontainer.json mode change 100755 => 100644 README.md mode change 100755 => 100644 common/params_pyx.pyx mode change 100644 => 100755 selfdrive/car/tests/routes.py mode change 100755 => 100644 selfdrive/car/volkswagen/values.py mode change 100644 => 100755 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py mode change 100644 => 100755 selfdrive/controls/tests/test_following_distance.py mode change 100644 => 100755 selfdrive/controls/tests/test_leads.py mode change 100755 => 100644 selfdrive/locationd/liblocationd.cc mode change 100755 => 100644 selfdrive/locationd/locationd.cc mode change 100755 => 100644 selfdrive/locationd/locationd.h mode change 100755 => 100644 selfdrive/locationd/models/live_kf.cc mode change 100755 => 100644 selfdrive/locationd/models/live_kf.h mode change 100644 => 100755 selfdrive/thermald/fan_controller.py mode change 100644 => 100755 system/loggerd/deleter.py mode change 100644 => 100755 system/loggerd/uploader.py mode change 100644 => 100755 system/ubloxd/tests/ublox.py mode change 100644 => 100755 system/version.py mode change 100644 => 100755 third_party/libyuv/build.sh mode change 100644 => 100755 tools/gpstest/test_gps.py mode change 100644 => 100755 tools/gpstest/test_gps_qcom.py mode change 100644 => 100755 tools/gpstest/test_laikad.py mode change 100644 => 100755 tools/lib/kbhit.py mode change 100644 => 100755 tools/lib/tests/test_caching.py mode change 100644 => 100755 tools/scripts/save_ubloxraw_stream.py diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json old mode 100755 new mode 100644 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e335fb432e..2ea8d99c14 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,4 @@ +exclude: '^(tinygrad_repo)' repos: - repo: meta hooks: @@ -14,6 +15,8 @@ repos: - id: check-yaml - id: check-merge-conflict - id: check-symlinks + - id: check-executables-have-shebangs + - id: check-shebang-scripts-are-executable - id: check-added-large-files args: ['--maxkb=100'] - repo: https://github.com/codespell-project/codespell diff --git a/README.md b/README.md old mode 100755 new mode 100644 diff --git a/cereal b/cereal index 4291784b4d..d469732b3b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 4291784b4d372782c95279e9fe7741e38633ca5e +Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx old mode 100755 new mode 100644 diff --git a/laika_repo b/laika_repo index c9baa95ca9..8861844c9b 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit c9baa95ca9b58222370fcccb24bce1d3722c8e73 +Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9 diff --git a/opendbc b/opendbc index ef302f7183..5ebf73ebed 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit ef302f7183cb05820b27e41cd4919cb6c319cd52 +Subproject commit 5ebf73ebed8d1693aadffe97bd2dd012da3b3c1c diff --git a/panda b/panda index 3ab4f43de0..104d708547 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3ab4f43de06d7abcc4d594ee2a4efc0466e42c94 +Subproject commit 104d70854717fa7ea7db16ee4db66445d925bd65 diff --git a/rednose_repo b/rednose_repo index e32658ed91..8658bed296 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit e32658ed9164d6e8dde882c05c5ece9707acde82 +Subproject commit 8658bed29686b2ddae191fd18302986c85542431 diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index bf33eea38f..12a2d5f304 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import math from cereal import car from openpilot.common.realtime import DT_CTRL diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/body/radar_interface.py +++ b/selfdrive/car/body/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 1a1252327f..c11075342c 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from openpilot.system.swaglog import cloudlog diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 755d7d1d00..3045c317ff 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.common.conversions import Conversions as CV diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index a166fc20dd..716c9b6e58 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from math import cos, sin from cereal import car from opendbc.can.parser import CANParser diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index ff278d54e8..9b4ae508e5 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.common.conversions import Conversions as CV diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index e1cae9ffaf..754993a459 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import math from cereal import car diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 3d6b6cb70c..d65771a2ba 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/nissan/radar_interface.py +++ b/selfdrive/car/nissan/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 5d03a920a8..75bbc8ae91 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/subaru/radar_interface.py +++ b/selfdrive/car/subaru/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py old mode 100644 new mode 100755 diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index ab242a09a2..101e446e9c 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from cereal import car from openpilot.common.conversions import Conversions as CV from panda import Panda diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py index b461fcd5f8..e654bd61fd 100644 --- a/selfdrive/car/volkswagen/radar_interface.py +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py old mode 100755 new mode 100644 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 7c30effce5..1095c880cb 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import math import os from enum import IntEnum diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py old mode 100644 new mode 100755 diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py old mode 100644 new mode 100755 diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py old mode 100644 new mode 100755 diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc old mode 100755 new mode 100644 diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h old mode 100755 new mode 100644 diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py old mode 100644 new mode 100755 diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 5b656a40fa..e003f131cc 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import time from smbus2 import SMBus from collections import namedtuple diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py old mode 100644 new mode 100755 diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py old mode 100644 new mode 100755 diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index 85a4e0a426..01be79f0d4 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import unittest import time import numpy as np diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py old mode 100644 new mode 100755 diff --git a/system/version.py b/system/version.py old mode 100644 new mode 100755 diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh old mode 100644 new mode 100755 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py old mode 100644 new mode 100755 diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py old mode 100644 new mode 100755 diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py old mode 100644 new mode 100755 diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py old mode 100644 new mode 100755 diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py old mode 100644 new mode 100755 diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py old mode 100644 new mode 100755 diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py index 42438cb209..598e0a0587 100644 --- a/tools/zookeeper/__init__.py +++ b/tools/zookeeper/__init__.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import ft4222 import ft4222.I2CMaster From 7b6afbc1623b8c159a92f6a5a951fb4d688045ee Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Sep 2023 18:52:40 -0700 Subject: [PATCH 39/45] pytest: use a clean environment for all tests (#29788) * pytest: use a clean environment for all tests * rm that * fix pj * put build back * fix params * fix that * handle no key * that was removed --------- Co-authored-by: Justin Newberry --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 5 ++-- .../helpers.py => common/prefix.py | 23 +++++-------------- common/tests/test_params.py | 17 ++++---------- conftest.py | 10 ++++++++ pyproject.toml | 16 +++++++++++++ .../test/process_replay/process_replay.py | 14 ++++++++++- selfdrive/test/process_replay/regen_all.py | 2 +- selfdrive/test/pytest-ci.ini | 18 --------------- .../thermald/tests/test_power_monitoring.py | 3 --- 10 files changed, 54 insertions(+), 56 deletions(-) rename selfdrive/test/process_replay/helpers.py => common/prefix.py (70%) create mode 100644 conftest.py delete mode 100644 selfdrive/test/pytest-ci.ini diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7d397a147d..b2c1bac822 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,7 @@ jobs: timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \ + $PYTEST && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ ./selfdrive/ui/tests/create_test_translations.sh && \ diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e71a4e397f..ccdbef0044 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -33,11 +33,10 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Build openpilot timeout-minutes: 5 - run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal" + run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal" - name: Test PlotJuggler timeout-minutes: 2 run: | diff --git a/selfdrive/test/process_replay/helpers.py b/common/prefix.py similarity index 70% rename from selfdrive/test/process_replay/helpers.py rename to common/prefix.py index 0af8ff6c76..702b0feae4 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/common/prefix.py @@ -2,11 +2,11 @@ import os import shutil import uuid -from typing import List, Optional +from typing import Optional from openpilot.common.params import Params -class OpenpilotPrefix(object): +class OpenpilotPrefix: def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): self.prefix = prefix if prefix else str(uuid.uuid4()) self.msgq_path = os.path.join('/dev/shm', self.prefix) @@ -24,7 +24,10 @@ class OpenpilotPrefix(object): def __exit__(self, exc_type, exc_obj, exc_tb): if self.clean_dirs_on_exit: self.clean_dirs() - del os.environ['OPENPILOT_PREFIX'] + try: + del os.environ['OPENPILOT_PREFIX'] + except KeyError: + pass return False def clean_dirs(self): @@ -33,17 +36,3 @@ class OpenpilotPrefix(object): shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) - - -class DummySocket: - def __init__(self): - self.data: List[bytes] = [] - - def receive(self, non_blocking: bool = False) -> Optional[bytes]: - if non_blocking: - return None - - return self.data.pop() - - def send(self, data: bytes): - self.data.append(data) diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 72fa4e3f72..fb6f320ea4 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,8 +1,6 @@ import os import threading import time -import tempfile -import shutil import uuid import unittest @@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no class TestParams(unittest.TestCase): def setUp(self): - self.tmpdir = tempfile.mkdtemp() - print("using", self.tmpdir) - self.params = Params(self.tmpdir) - - def tearDown(self): - shutil.rmtree(self.tmpdir) + self.params = Params() def test_params_put_and_get(self): self.params.put("DongleId", "cb38263377b873ee") @@ -90,19 +83,19 @@ class TestParams(unittest.TestCase): self.assertFalse(self.params.get_bool("IsMetric")) def test_put_non_blocking_with_get_block(self): - q = Params(self.tmpdir) + q = Params() def _delayed_writer(): time.sleep(0.1) - put_nonblocking("CarParams", "test", self.tmpdir) + put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" def test_put_bool_non_blocking_with_get_block(self): - q = Params(self.tmpdir) + q = Params() def _delayed_writer(): time.sleep(0.1) - put_bool_nonblocking("CarParams", True, self.tmpdir) + put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/conftest.py b/conftest.py new file mode 100644 index 0000000000..e139ab8400 --- /dev/null +++ b/conftest.py @@ -0,0 +1,10 @@ +import pytest + +from openpilot.common.prefix import OpenpilotPrefix + + +@pytest.fixture(scope="function", autouse=True) +def global_setup_and_teardown(): + # setup a clean environment for each test + with OpenpilotPrefix(): + yield diff --git a/pyproject.toml b/pyproject.toml index 19b52ff235..ebcf350ce6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -6,6 +6,22 @@ python_files = "test_*.py" markers = [ "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)" ] +testpaths = [ + "common", + "selfdrive/athena", + "selfdrive/boardd", + "selfdrive/car", + "selfdrive/controls", + "selfdrive/locationd", + "selfdrive/monitoring", + "selfdrive/thermald", + "selfdrive/test/longitudinal_maneuvers", + "system/hardware/tici", + "system/loggerd", + "system/tests", + "system/ubloxd", + "tools/lib/tests" +] [tool.mypy] python_version = "3.11" diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8ad27d5135..eb49d0dedb 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,12 +17,12 @@ from cereal import car from cereal.services import service_list from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from openpilot.common.params import Params +from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.car.car_helpers import get_car, interfaces from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture @@ -33,6 +33,18 @@ NUMPY_TOLERANCE = 1e-7 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") +class DummySocket: + def __init__(self): + self.data: List[bytes] = [] + + def receive(self, non_blocking: bool = False) -> Optional[bytes]: + if non_blocking: + return None + + return self.data.pop() + + def send(self, data: bytes): + self.data.append(data) class LauncherWithCapture: def __init__(self, capture: ProcessOutputCapture, launcher: Callable): diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f42686ac6a..df7c76a14d 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -6,7 +6,7 @@ import random import traceback from tqdm import tqdm -from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix +from openpilot.common.prefix import OpenpilotPrefix from openpilot.selfdrive.test.process_replay.regen import regen_and_save from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments from openpilot.tools.lib.route import SegmentName diff --git a/selfdrive/test/pytest-ci.ini b/selfdrive/test/pytest-ci.ini deleted file mode 100644 index b96dacc54b..0000000000 --- a/selfdrive/test/pytest-ci.ini +++ /dev/null @@ -1,18 +0,0 @@ -[pytest] -testpaths = - common - selfdrive/athena - selfdrive/boardd - selfdrive/car - selfdrive/controls - selfdrive/locationd - selfdrive/monitoring - selfdrive/thermald - selfdrive/test/longitudinal_maneuvers - system/hardware/tici - system/loggerd - system/tests - system/ubloxd - tools/lib/tests -markers = - parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel) diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 5d6531ff49..c3a890f068 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -25,12 +25,9 @@ def pm_patch(name, value, constant=False): @patch("time.monotonic", new=mock_time_monotonic) -@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y)) class TestPowerMonitoring(unittest.TestCase): def setUp(self): self.params = Params() - self.params.remove("CarBatteryCapacity") - self.params.remove("DisablePowerDown") # Test to see that it doesn't do anything when pandaState is None def test_pandaState_present(self): From 5d1550de871b0ac036b1dd44545fd7ff17fb91cd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Sep 2023 21:22:36 -0700 Subject: [PATCH 40/45] test_models: detect when OBD multiplexing/fingerprinting (#29759) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * wait to leave elm mode before checking relay malfunction * clean up * clean up * pycharm is best * clean up * more * use pandaStatesDEPRECATED * fix * use constant * only radar * cmt * set inline * comment and re-arrange * enable for relay malfunc check * down here * Update selfdrive/car/tests/test_models.py * rm * don't affect other tests * up here * one line * update cmt * no tolerance * Revert "no tolerance" This reverts commit 41b1c7e8beda87a878c3bb1f37ec96b256965966. * comment is real solution --------- Co-authored-by: Kacper Rączy --- selfdrive/car/tests/test_models.py | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index d2198dc27b..6cebdde77b 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -24,6 +24,7 @@ from panda.tests.libpanda import libpanda_py from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR PandaType = log.PandaState.PandaType +SafetyModel = car.CarParams.SafetyModel NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) @@ -70,6 +71,7 @@ class TestCarModelBase(unittest.TestCase): ci: bool = True can_msgs: List[capnp.lib.capnp._DynamicStructReader] + elm_frame: Optional[int] @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run") @classmethod @@ -105,6 +107,7 @@ class TestCarModelBase(unittest.TestCase): car_fw = [] can_msgs = [] + cls.elm_frame = None fingerprint = defaultdict(dict) experimental_long = False enabled_toggle = True @@ -130,6 +133,16 @@ class TestCarModelBase(unittest.TestCase): if param.key == 'OpenpilotEnabledToggle': enabled_toggle = param.value.strip(b'\x00') == b'1' + # Log which can frame the panda safety mode left ELM327, for CAN validity checks + if msg.which() == 'pandaStates': + for ps in msg.pandaStates: + if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + + elif msg.which() == 'pandaStateDEPRECATED': + if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if len(can_msgs) > int(50 / DT_CTRL): break else: @@ -204,8 +217,10 @@ class TestCarModelBase(unittest.TestCase): RI = RadarInterface(self.CP) assert RI + # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, + # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 - for i, msg in enumerate(self.can_msgs): + for i, msg in enumerate(self.can_msgs[self.elm_frame:]): rr = RI.update((msg.as_builder().to_bytes(),)) if rr is not None and i > 50: error_cnt += car.RadarData.Error.canError in rr.errors @@ -238,9 +253,9 @@ class TestCarModelBase(unittest.TestCase): if t > 1e6: self.assertTrue(self.safety.addr_checks_valid()) - # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time - # TODO: detect when relay has flipped to properly check relay malfunction - if self.openpilot_enabled and t > 5e6: + # No need to check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (1s of tolerance to exit silent mode) + if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): self.assertFalse(self.safety.get_relay_malfunction()) else: self.safety.set_relay_malfunction(False) From 77f050bb4c0694d6e6f8c81c1c6ab734016b92de Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 6 Sep 2023 09:04:31 +0200 Subject: [PATCH 41/45] Hyundai: Ioniq 2020 PHEV EUR fingerprint (#29775) --- selfdrive/car/hyundai/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 8cae1c6fe1..6869df2cfc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -576,11 +576,13 @@ FW_VERSIONS = { b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -593,6 +595,7 @@ FW_VERSIONS = { b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', ], }, CAR.IONIQ_EV_2020: { From a552fafd8864bfb31a6e0f042f2816f276f6e66e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 6 Sep 2023 03:05:44 -0400 Subject: [PATCH 42/45] Hyundai longitudinal: enable for `IONIQ_PHEV` (#29777) * Hyundai longitudinal: enable for `IONIQ_PHEV` * add test route --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/tests/routes.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e032227c46..e99cdcf071 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -86,7 +86,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 6869df2cfc..f34b7dfbf7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1979,7 +1979,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, CAR.KIA_OPTIMA_H} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index be46f9a807..e5bec76bbf 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -126,6 +126,7 @@ routes = [ CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), + CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV), # openpilot longitudinal enabled CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), From d7d751160de3899c52a51654701505e3aa24eb66 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 6 Sep 2023 03:48:17 -0400 Subject: [PATCH 43/45] Nissan Altima: specify panda flag for alternate EPS bus (#29783) * Nissan Altima: Specify panda flag for alt bus safety config * bump --------- Co-authored-by: Shane Smiskol --- panda | 2 +- selfdrive/car/nissan/interface.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 104d708547..39bc5a4886 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 104d70854717fa7ea7db16ee4db66445d925bd65 +Subproject commit 39bc5a488686dc28b6bd7b53f555fa22ae9e5860 diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index d65771a2ba..aedcaa1887 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,4 +1,5 @@ from cereal import car +from panda import Panda from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.nissan.values import CAR @@ -30,7 +31,7 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.44 elif candidate == CAR.ALTIMA: # Altima has EPS on C-CAN unlike the others that have it on V-CAN - ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS ret.mass = 1492 ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 From 2c87cd24cecf28da8cb5291c731a8c9e949b0c72 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Sep 2023 01:33:52 -0700 Subject: [PATCH 44/45] PlotJuggler: add control gains to longitudinal layout (#29794) * add longitudinal control gains to long layout * needless changes * needless changes * needless changes --- tools/plotjuggler/layouts/longitudinal.xml | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml index ff8f3ad193..33a24f76d6 100644 --- a/tools/plotjuggler/layouts/longitudinal.xml +++ b/tools/plotjuggler/layouts/longitudinal.xml @@ -3,10 +3,10 @@ - + - + @@ -15,7 +15,16 @@ - + + + + + + + + + + @@ -23,7 +32,7 @@ - + From 89d6bc6c7b6b4e55cf573dc1ebcf88533d7baee4 Mon Sep 17 00:00:00 2001 From: Eric Day Date: Wed, 6 Sep 2023 16:36:16 +0800 Subject: [PATCH 45/45] Toyota: detect TSS-P CAN filter device as smartDsu to enable long (#28387) * detect tss-p canfilter device as smartDsu to enable long * Add canfilter test case * add comment, behind alpha long * add doc * safe * update check * cmt --------- Co-authored-by: Shane Smiskol --- selfdrive/car/tests/routes.py | 1 + selfdrive/car/toyota/interface.py | 11 +++++++---- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e5bec76bbf..dc4def327a 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -168,6 +168,7 @@ routes = [ CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2), CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), + CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2), CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH), diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 101e446e9c..d6f428ab1d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -204,7 +204,8 @@ class CarInterface(CarInterfaceBase): ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it - if 0x2FF in fingerprint[0]: + # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs + if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): ret.flags |= ToyotaFlags.SMART_DSU.value # No radar dbc for cars without DSU which are not TSS 2.0 @@ -218,13 +219,14 @@ class CarInterface(CarInterfaceBase): ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. - # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle + # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) - if candidate in RADAR_ACC_CAR: + if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): ret.experimentalLongitudinalAvailable = use_sdsu if not use_sdsu: - if experimental_long and False: # TODO: disabling radar isn't supported yet + # Disabling radar is only supported on TSS2 radar-ACC cars + if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet ret.flags |= ToyotaFlags.DISABLE_RADAR.value else: use_sdsu = use_sdsu and experimental_long @@ -236,6 +238,7 @@ class CarInterface(CarInterfaceBase): # openpilot longitudinal behind experimental long toggle: # - TSS2 radar ACC cars w/ smartDSU installed # - TSS2 radar ACC cars w/o smartDSU installed (disables radar) + # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR