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Merge branch 'master' into models-stuff

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This commit is contained in:
James Vecellio-Grant
2025-08-09 22:04:57 -07:00
committed by GitHub
parent 990b3d4998 1bc12f1e21
commit 1e641ba96c
7 changed files with 22 additions and 17 deletions
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.github/workflows/cereal_validation.yaml
+2 -2
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@@ -21,8 +21,8 @@ concurrency:
env:
PYTHONWARNINGS: error
BASE_IMAGE: sunnypilot-base
BUILD: release/ci/docker_build_sp.sh base
BASE_IMAGE: openpilot-base
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
jobs:
selfdrive/controls/controlsd.py
+1 -1
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@@ -97,7 +97,7 @@ class Controls(ControlsExt, ModelStateBase):
self.LaC.extension.update_model_v2(self.sm['modelV2'])
self.lat_delay = get_lat_delay(self.params, self.lat_delay, self.sm.updated["liveDelay"])
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
self.LaC.extension.update_lateral_lag(self.lat_delay)
long_plan = self.sm['longitudinalPlan']
selfdrive/locationd/torqued.py
+1 -1
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@@ -180,7 +180,7 @@ class TorqueEstimator(ParameterEstimator):
elif which == "liveCalibration":
self.calibrator.feed_live_calib(msg)
elif which == "liveDelay":
self.lag = get_lat_delay(self.params, self.lag, True)
self.lag = get_lat_delay(self.params, msg.lateralDelay)
# calculate lateral accel from past steering torque
elif which == "livePose":
if len(self.raw_points['steer_torque']) == self.hist_len:
selfdrive/modeld/modeld.py
+5 -3
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@@ -296,8 +296,10 @@ def main(demo=False):
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
v_ego = max(sm["carState"].vEgo, 0.)
model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + LAT_SMOOTH_SECONDS
lateral_control_params = np.array([v_ego, model.lat_delay], dtype=np.float32)
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -343,7 +345,7 @@ def main(demo=False):
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')
action = get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
prev_action = action
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
sunnypilot/livedelay/helpers.py
+3 -3
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@@ -7,8 +7,8 @@ See the LICENSE.md file in the root directory for more details.
from openpilot.common.params import Params
def get_lat_delay(params: Params, cur_val: float, updated: bool) -> float:
if updated and params.get_bool("LagdToggle"):
def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
if params.get_bool("LagdToggle"):
return float(params.get("LagdValueCache", return_default=True))
return cur_val
return stock_lat_delay
sunnypilot/modeld/modeld.py
+5 -4
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@@ -248,8 +248,9 @@ def main(demo=False):
v_ego = sm["carState"].vEgo
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -283,7 +284,7 @@ def main(demo=False):
}
if "lateral_control_params" in model.inputs.keys():
inputs['lateral_control_params'] = np.array([max(v_ego, 0.), model.lat_delay], dtype=np.float32)
inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)
if "driving_style" in model.inputs.keys():
inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +307,7 @@ def main(demo=False):
action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
v_ego, model.lat_delay, model.meta)
v_ego, lat_delay, model.meta)
desire_state = modelv2_send.modelV2.meta.desireState
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
sunnypilot/modeld_v2/modeld.py
+5 -3
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@@ -288,7 +288,9 @@ def main(demo=False):
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
v_ego = max(sm["carState"].vEgo, 0.)
model.lat_delay = get_lat_delay(params, model.lat_delay, sm.updated["liveDelay"]) + model.LAT_SMOOTH_SECONDS
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -325,7 +327,7 @@ def main(demo=False):
}
if "lateral_control_params" in model.numpy_inputs.keys():
inputs['lateral_control_params'] = np.array([v_ego, model.lat_delay], dtype=np.float32)
inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
mt1 = time.perf_counter()
model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -337,7 +339,7 @@ def main(demo=False):
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')
action = model.get_action_from_model(model_output, prev_action, model.lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
prev_action = action
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,