mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-22 08:02:09 +08:00
Merge branch 'master' into hkg-angle-steering-2025
# Conflicts: # common/params_keys.h # opendbc_repo
This commit is contained in:
DevTekVE
@@ -39,4 +39,4 @@ jobs:
|
||||
git config --global --add safe.directory '*'
|
||||
git lfs pull
|
||||
- name: Push __nightly
|
||||
run: BRANCH=__nightly release/build_devel.sh
|
||||
run: BRANCH=__nightly release/build_stripped.sh
|
||||
|
||||
@@ -50,6 +50,7 @@ jobs:
|
||||
- name: bump submodules
|
||||
run: |
|
||||
git config --global --add safe.directory '*'
|
||||
git config submodule.tinygrad.update none
|
||||
git submodule update --remote
|
||||
git add .
|
||||
- name: update car docs
|
||||
|
||||
@@ -27,7 +27,7 @@ env:
|
||||
|
||||
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
|
||||
|
||||
PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
|
||||
PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
@@ -52,7 +52,7 @@ jobs:
|
||||
command: git lfs pull
|
||||
- name: Build devel
|
||||
timeout-minutes: 1
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
|
||||
run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot and run checks
|
||||
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
|
||||
@@ -190,7 +190,8 @@ jobs:
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
|
||||
run: |
|
||||
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
|
||||
$PYTEST --collect-only -m 'not slow' &> /dev/null && \
|
||||
# Pre-compile Python bytecode so each pytest worker doesn't need to
|
||||
$PYTEST --collect-only -m 'not slow' -qq && \
|
||||
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
|
||||
./selfdrive/ui/tests/create_test_translations.sh && \
|
||||
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
|
||||
|
||||
Vendored
+1
-1
@@ -167,7 +167,7 @@ node {
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
|
||||
'testing-closet*', 'hotfix-*']
|
||||
'release-tici', 'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
|
||||
if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
|
||||
|
||||
+9
-5
@@ -1,18 +1,22 @@
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* Record driving feedback using LKAS button
|
||||
* Honda City 2023 support thanks to drFritz!
|
||||
|
||||
Version 0.10.0 (2025-08-05)
|
||||
========================
|
||||
* New driving model
|
||||
* New training architecture
|
||||
* Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from worldmodel
|
||||
* Described in our CVPR paper: "Learning to Drive from a World Model"
|
||||
* Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
|
||||
* Action from lateral MPC as training objective replaced by E2E planning from World Model
|
||||
* Low-speed lead car ground-truth fixes
|
||||
|
||||
* Enable live-learned steering actuation delay
|
||||
* Record driving feedback using LKAS button when MADS is disabled
|
||||
* Opt-in audio recording for dashcam video
|
||||
* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
|
||||
|
||||
Version 0.9.9 (2025-05-23)
|
||||
========================
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "Down To Ride (Default)"
|
||||
#define DEFAULT_MODEL "Steam Powered (Default)"
|
||||
|
||||
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"LastUpdateTime", {PERSISTENT, TIME}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
|
||||
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
|
||||
{"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
|
||||
{"LiveParameters", {PERSISTENT, JSON}},
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
@@ -199,7 +199,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
|
||||
// mapd
|
||||
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
|
||||
{"MapdVersion", {PERSISTENT, STRING, ""}},
|
||||
{"MapdVersion", {PERSISTENT, STRING}},
|
||||
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
|
||||
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
@@ -215,7 +215,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"OsmStateName", {PERSISTENT, STRING, "All"}},
|
||||
{"OsmStateTitle", {PERSISTENT, STRING}},
|
||||
{"OsmWayTest", {PERSISTENT, STRING}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
|
||||
{"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
|
||||
|
||||
// Tuning keys
|
||||
{"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
|
||||
+5
-2
@@ -14,8 +14,7 @@ class PIDController:
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
self.set_limits(pos_limit, neg_limit)
|
||||
|
||||
self.i_rate = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
@@ -41,6 +40,10 @@ class PIDController:
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def set_limits(self, pos_limit, neg_limit):
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
self.p = float(error) * self.k_p
|
||||
|
||||
@@ -1,4 +1,6 @@
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
@@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
|
||||
+4
-1
@@ -4,7 +4,7 @@
|
||||
|
||||
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.
|
||||
|
||||
# 323 Supported Cars
|
||||
# 326 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -82,6 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
@@ -105,6 +106,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -124,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|
||||
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
|
||||
|
||||
### Getting Started
|
||||
|
||||
* Setup your [development environment](../tools/)
|
||||
* Set up your [development environment](/tools/)
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Docs are at https://docs.comma.ai and https://blog.comma.ai
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# Turn the speed blue
|
||||
*A getting started guide for openpilot development*
|
||||
|
||||
In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
|
||||
In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
|
||||
|
||||
And if you have a comma 3/3X, we'll deploy the change to your device for testing.
|
||||
|
||||
## 1. Setup your development environment
|
||||
## 1. Set up your development environment
|
||||
|
||||
Run this to clone openpilot and install all the dependencies:
|
||||
```bash
|
||||
|
||||
+1
-1
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="12.6"
|
||||
export AGNOS_VERSION="12.8"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 33cdf39b29...e4a821f8a4
+1
-1
Submodule panda updated: 0e7a3fd8cf...f10ddc6a89
+13
-12
@@ -3,33 +3,34 @@
|
||||
```
|
||||
## release checklist
|
||||
|
||||
**Go to `devel-staging`**
|
||||
- [ ] make issue to track release
|
||||
### Go to staging
|
||||
- [ ] make a GitHub issue to track release
|
||||
- [ ] create release master branch
|
||||
- [ ] update RELEASES.md
|
||||
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
|
||||
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
|
||||
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
|
||||
- [ ] build new userdata partition from `release3-staging`
|
||||
- [ ] open a pull request from `devel-staging` to `devel`
|
||||
- [ ] post on Discord, tag `@release crew`
|
||||
|
||||
**Go to `devel`**
|
||||
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
|
||||
- [ ] before merging the pull request, test the following:
|
||||
Updating staging:
|
||||
1. either rebase on master or cherry-pick changes
|
||||
2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
|
||||
3. build new userdata partition from `release3-staging`
|
||||
|
||||
### Go to release
|
||||
- [ ] before going to release, test the following:
|
||||
- [ ] update from previous release -> new release
|
||||
- [ ] update from new release -> previous release
|
||||
- [ ] fresh install with `openpilot-test.comma.ai`
|
||||
- [ ] drive on fresh install
|
||||
- [ ] no submodules or LFS
|
||||
- [ ] check sentry, MTBF, etc.
|
||||
- [ ] stress test in production
|
||||
|
||||
**Go to `release3`**
|
||||
- [ ] stress test passes in production
|
||||
- [ ] publish the blog post
|
||||
- [ ] `git reset --hard origin/release3-staging`
|
||||
- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
|
||||
- [ ] create GitHub release
|
||||
- [ ] final test install on `openpilot.comma.ai`
|
||||
- [ ] update factory provisioning
|
||||
- [ ] close out milestone
|
||||
- [ ] close out milestone and issue
|
||||
- [ ] post on Discord, X, etc.
|
||||
```
|
||||
|
||||
@@ -17,28 +17,23 @@ rm -rf $TARGET_DIR
|
||||
mkdir -p $TARGET_DIR
|
||||
cd $TARGET_DIR
|
||||
cp -r $SOURCE_DIR/.git $TARGET_DIR
|
||||
pre-commit uninstall || true
|
||||
|
||||
echo "[-] bringing __nightly and devel in sync T=$SECONDS"
|
||||
echo "[-] setting up stripped branch sync T=$SECONDS"
|
||||
cd $TARGET_DIR
|
||||
|
||||
git fetch --depth 1 origin __nightly
|
||||
git fetch --depth 1 origin devel
|
||||
|
||||
git checkout -f --track origin/__nightly
|
||||
git reset --hard __nightly
|
||||
git checkout __nightly
|
||||
git reset --hard origin/devel
|
||||
git clean -xdff
|
||||
git lfs uninstall
|
||||
# tmp branch
|
||||
git checkout --orphan tmp
|
||||
|
||||
# remove everything except .git
|
||||
echo "[-] erasing old sunnypilot T=$SECONDS"
|
||||
git submodule deinit -f --all
|
||||
git rm -rf --cached .
|
||||
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
|
||||
|
||||
# reset source tree
|
||||
# cleanup before the copy
|
||||
cd $SOURCE_DIR
|
||||
git clean -xdff
|
||||
git submodule foreach --recursive git clean -xdff
|
||||
|
||||
# do the files copy
|
||||
echo "[-] copying files T=$SECONDS"
|
||||
@@ -47,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
|
||||
|
||||
# in the directory
|
||||
cd $TARGET_DIR
|
||||
rm -rf .git/modules/
|
||||
rm -f panda/board/obj/panda.bin.signed
|
||||
|
||||
# include source commit hash and build date in commit
|
||||
@@ -85,7 +81,7 @@ fi
|
||||
|
||||
if [ ! -z "$BRANCH" ]; then
|
||||
echo "[-] Pushing to $BRANCH T=$SECONDS"
|
||||
git push -f origin __nightly:$BRANCH
|
||||
git push -f origin tmp:$BRANCH
|
||||
fi
|
||||
|
||||
echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
|
||||
@@ -107,8 +107,10 @@ class Car:
|
||||
cached_params = _cached_params
|
||||
|
||||
fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
|
||||
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
|
||||
fixed_fingerprint, init_params_list_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
self.CP = self.CI.CP
|
||||
|
||||
@@ -3,7 +3,6 @@ import numpy as np
|
||||
|
||||
from cereal import log
|
||||
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
|
||||
from opendbc.car.interfaces import LatControlInputs
|
||||
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
|
||||
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
||||
from openpilot.common.pid import PIDController
|
||||
@@ -29,9 +28,11 @@ class LatControlTorque(LatControl):
|
||||
def __init__(self, CP, CP_SP, CI):
|
||||
super().__init__(CP, CP_SP, CI)
|
||||
self.torque_params = CP.lateralTuning.torque.as_builder()
|
||||
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
|
||||
k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
|
||||
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
|
||||
k_f=self.torque_params.kf)
|
||||
self.update_limits()
|
||||
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
|
||||
|
||||
self.extension = LatControlTorqueExt(self, CP, CP_SP)
|
||||
@@ -40,6 +41,11 @@ class LatControlTorque(LatControl):
|
||||
self.torque_params.latAccelFactor = latAccelFactor
|
||||
self.torque_params.latAccelOffset = latAccelOffset
|
||||
self.torque_params.friction = friction
|
||||
self.update_limits()
|
||||
|
||||
def update_limits(self):
|
||||
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
|
||||
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
@@ -61,13 +67,10 @@ class LatControlTorque(LatControl):
|
||||
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
|
||||
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
|
||||
gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
|
||||
torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
|
||||
gravity_adjusted=False)
|
||||
torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
|
||||
gravity_adjusted=False)
|
||||
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
|
||||
ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
|
||||
gravity_adjusted=True)
|
||||
|
||||
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
|
||||
pid_log.error = float(setpoint - measurement)
|
||||
ff = gravity_adjusted_lateral_accel
|
||||
ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
|
||||
|
||||
# Lateral acceleration torque controller extension updates
|
||||
@@ -77,17 +80,18 @@ class LatControlTorque(LatControl):
|
||||
desired_curvature, actual_curvature)
|
||||
|
||||
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
|
||||
output_torque = self.pid.update(pid_log.error,
|
||||
output_lataccel = self.pid.update(pid_log.error,
|
||||
feedforward=ff,
|
||||
speed=CS.vEgo,
|
||||
freeze_integrator=freeze_integrator)
|
||||
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
|
||||
|
||||
pid_log.active = True
|
||||
pid_log.p = float(self.pid.p)
|
||||
pid_log.i = float(self.pid.i)
|
||||
pid_log.d = float(self.pid.d)
|
||||
pid_log.f = float(self.pid.f)
|
||||
pid_log.output = float(-output_torque)
|
||||
pid_log.output = float(-output_torque) # TODO: log lat accel?
|
||||
pid_log.actualLateralAccel = float(actual_lateral_accel)
|
||||
pid_log.desiredLateralAccel = float(desired_lateral_accel)
|
||||
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
|
||||
|
||||
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
return x, v, a, j, throttle_prob
|
||||
|
||||
def update(self, sm):
|
||||
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
if not self.mlsim:
|
||||
self.mpc.mode = self.mode
|
||||
self.mpc.mode = mode
|
||||
LongitudinalPlannerSP.update(self, sm)
|
||||
if dec_mpc_mode := self.get_mpc_mode():
|
||||
self.mode = dec_mpc_mode
|
||||
mode = dec_mpc_mode
|
||||
if not self.mlsim:
|
||||
self.mpc.mode = dec_mpc_mode
|
||||
|
||||
@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
if self.mode == 'acc':
|
||||
if mode == 'acc':
|
||||
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
|
||||
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
|
||||
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
|
||||
@@ -173,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
if self.mode == 'acc' or not self.mlsim:
|
||||
if mode == 'acc' or not self.mlsim:
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
else:
|
||||
|
||||
+3
-1
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.nissan.values import CAR as NISSAN
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.selfdrive.car.helpers import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
@@ -17,7 +18,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
|
||||
|
||||
class TestLatControl:
|
||||
|
||||
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
|
||||
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
|
||||
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
|
||||
def test_saturation(self, car_name, controller):
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
@@ -107,15 +107,12 @@ class ModelState(ModelStateBase):
|
||||
|
||||
self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
|
||||
self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
|
||||
self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
|
||||
self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
|
||||
|
||||
# policy inputs
|
||||
self.numpy_inputs = {
|
||||
'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
|
||||
'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
|
||||
'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
|
||||
'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
|
||||
'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32),
|
||||
}
|
||||
|
||||
@@ -148,7 +145,6 @@ class ModelState(ModelStateBase):
|
||||
self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
|
||||
|
||||
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
|
||||
imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
|
||||
|
||||
if TICI and not USBGPU:
|
||||
@@ -174,11 +170,6 @@ class ModelState(ModelStateBase):
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
|
||||
# TODO model only uses last value now
|
||||
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
|
||||
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
|
||||
self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
|
||||
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
@@ -299,7 +290,6 @@ def main(demo=False):
|
||||
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))]
|
||||
@@ -332,7 +322,6 @@ def main(demo=False):
|
||||
inputs:dict[str, np.ndarray] = {
|
||||
'desire': vec_desire,
|
||||
'traffic_convention': traffic_convention,
|
||||
'lateral_control_params': lateral_control_params,
|
||||
}
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
|
||||
size 15583374
|
||||
oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
|
||||
size 12343523
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
|
||||
size 46265993
|
||||
oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
|
||||
size 46271991
|
||||
|
||||
@@ -22,9 +22,10 @@ class Parser:
|
||||
self.ignore_missing = ignore_missing
|
||||
|
||||
def check_missing(self, outs, name):
|
||||
if name not in outs and not self.ignore_missing:
|
||||
missing = name not in outs
|
||||
if missing and not self.ignore_missing:
|
||||
raise ValueError(f"Missing output {name}")
|
||||
return name not in outs
|
||||
return missing
|
||||
|
||||
def parse_categorical_crossentropy(self, name, outs, out_shape=None):
|
||||
if self.check_missing(outs, name):
|
||||
@@ -84,6 +85,13 @@ class Parser:
|
||||
outs[name] = pred_mu_final.reshape(final_shape)
|
||||
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
|
||||
|
||||
def is_mhp(self, outs, name, shape):
|
||||
if self.check_missing(outs, name):
|
||||
return False
|
||||
if outs[name].shape[1] == 2 * shape:
|
||||
return False
|
||||
return True
|
||||
|
||||
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
|
||||
@@ -94,23 +102,17 @@ class Parser:
|
||||
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
|
||||
self.parse_binary_crossentropy('meta', outs)
|
||||
self.parse_binary_crossentropy('lead_prob', outs)
|
||||
if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
|
||||
self.parse_mdn('lead', outs, in_N=0, out_N=0,
|
||||
out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
|
||||
else:
|
||||
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
|
||||
lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
|
||||
lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
|
||||
lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
|
||||
(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
|
||||
self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
|
||||
return outs
|
||||
|
||||
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
|
||||
self.parse_mdn('plan', outs, in_N=0, out_N=0,
|
||||
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
|
||||
else:
|
||||
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
|
||||
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
|
||||
if 'desired_curvature' in outs:
|
||||
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
|
||||
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
|
||||
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
|
||||
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
|
||||
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
|
||||
return outs
|
||||
|
||||
|
||||
@@ -93,7 +93,7 @@ def main() -> None:
|
||||
|
||||
# TODO: remove this in the next AGNOS
|
||||
# wait until USB is up before counting
|
||||
if time.monotonic() < 35.:
|
||||
if time.monotonic() < 60.:
|
||||
no_internal_panda_count = 0
|
||||
|
||||
# Handle missing internal panda
|
||||
|
||||
@@ -265,7 +265,10 @@ class SelfdriveD(CruiseHelper):
|
||||
if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
|
||||
self.events.add(EventName.ldw)
|
||||
|
||||
# Check for excessive actuation
|
||||
# ******************************************************************************************
|
||||
# NOTE: To fork maintainers.
|
||||
# Disabling or nerfing safety features will get you and your users banned from our servers.
|
||||
# We recommend that you do not change these numbers from the defaults.
|
||||
if self.sm.updated['liveCalibration']:
|
||||
self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
|
||||
if self.sm.updated['livePose']:
|
||||
@@ -280,6 +283,7 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
if self.excessive_actuation:
|
||||
self.events.add(EventName.excessiveActuation)
|
||||
# ******************************************************************************************
|
||||
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
|
||||
@@ -1 +1 @@
|
||||
543bd2347fa35f8300478a3893fdd0a03a7c1fe6
|
||||
6d3219bca9f66a229b38a5382d301a92b0147edb
|
||||
@@ -63,7 +63,7 @@ segments = [
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock", "body"]
|
||||
excluded_interfaces = ["mock", "body", "psa"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
|
||||
@@ -333,20 +333,18 @@ class TestOnroad:
|
||||
assert np.all(eof_sof_diff > 0)
|
||||
assert np.all(eof_sof_diff < 50*1e6)
|
||||
|
||||
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
|
||||
first_fid = {min(self.ts[c]['frameId']) for c in cams}
|
||||
assert len(first_fid) == 1, "Cameras don't start on same frame ID"
|
||||
if cam.endswith('CameraState'):
|
||||
# camerad guarantees that all cams start on frame ID 0
|
||||
# (note loggerd also needs to start up fast enough to catch it)
|
||||
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
|
||||
else:
|
||||
# encoder guarantees all cams start on the same frame ID
|
||||
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
|
||||
assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
|
||||
|
||||
# we don't do a full segment rotation, so these might not match exactly
|
||||
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
|
||||
assert max(last_fid.values()) - min(last_fid.values()) < 10
|
||||
last_fid = {max(self.ts[c]['frameId']) for c in cams}
|
||||
assert max(last_fid) - min(last_fid) < 10
|
||||
|
||||
start, end = min(first_fid.values()), min(last_fid.values())
|
||||
start, end = min(first_fid), min(last_fid)
|
||||
for i in range(end-start):
|
||||
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
|
||||
diff = (max(ts.values()) - min(ts.values()))
|
||||
|
||||
@@ -22,8 +22,9 @@ def main():
|
||||
sm.update()
|
||||
should_send_bookmark = False
|
||||
|
||||
# TODO: https://github.com/commaai/openpilot/issues/36015
|
||||
# only allow the LKAS button to record feedback when MADS is disabled
|
||||
if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
|
||||
if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
|
||||
for be in sm['carState'].buttonEvents:
|
||||
if be.type == ButtonType.lkas:
|
||||
if be.pressed:
|
||||
|
||||
@@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "?
|
||||
#define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
|
||||
#define CONTINUE_PATH "/data/continue.sh"
|
||||
|
||||
const std::string CACHE_PATH = "/data/openpilot.cache";
|
||||
const std::string INSTALL_PATH = "/data/openpilot";
|
||||
const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
|
||||
|
||||
#define INSTALL_PATH "/data/openpilot"
|
||||
#define TMP_INSTALL_PATH "/data/tmppilot"
|
||||
|
||||
const int FONT_SIZE = 120;
|
||||
|
||||
extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
|
||||
extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
|
||||
extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
|
||||
@@ -41,6 +43,16 @@ void run(const char* cmd) {
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
void finishInstall() {
|
||||
BeginDrawing();
|
||||
ClearBackground(BLACK);
|
||||
const char *m = "Finishing install...";
|
||||
int text_width = MeasureText(m, FONT_SIZE);
|
||||
DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
|
||||
EndDrawing();
|
||||
util::sleep_for(60 * 1000);
|
||||
}
|
||||
|
||||
void renderProgress(int progress) {
|
||||
BeginDrawing();
|
||||
ClearBackground(BLACK);
|
||||
@@ -62,11 +74,11 @@ int doInstall() {
|
||||
}
|
||||
|
||||
// cleanup previous install attempts
|
||||
run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
|
||||
run("rm -rf " TMP_INSTALL_PATH);
|
||||
|
||||
// do the install
|
||||
if (util::file_exists(CACHE_PATH)) {
|
||||
return cachedFetch(CACHE_PATH);
|
||||
if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
|
||||
return cachedFetch(INSTALL_PATH);
|
||||
} else {
|
||||
return freshClone();
|
||||
}
|
||||
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
|
||||
run("git submodule update --init");
|
||||
|
||||
// move into place
|
||||
run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
|
||||
run(("rm -f " + VALID_CACHE_PATH).c_str());
|
||||
run(("rm -rf " + INSTALL_PATH).c_str());
|
||||
run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
|
||||
|
||||
#ifdef INTERNAL
|
||||
run("mkdir -p /data/params/d/");
|
||||
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
|
||||
param << value;
|
||||
param.close();
|
||||
}
|
||||
run("cd " INSTALL_PATH " && "
|
||||
run(("cd " + INSTALL_PATH + " && "
|
||||
"git remote set-url origin --push " GIT_SSH_URL " && "
|
||||
"git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
|
||||
"git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
|
||||
#endif
|
||||
|
||||
// write continue.sh
|
||||
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
|
||||
run("mv /data/continue.sh.new " CONTINUE_PATH);
|
||||
|
||||
// wait for the installed software's UI to take over
|
||||
util::sleep_for(60 * 1000);
|
||||
finishInstall();
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
InitWindow(2160, 1080, "Installer");
|
||||
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
|
||||
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
|
||||
SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
|
||||
renderProgress(0);
|
||||
int result = doInstall();
|
||||
cloneFinished(result);
|
||||
|
||||
if (util::file_exists(CONTINUE_PATH)) {
|
||||
finishInstall();
|
||||
} else {
|
||||
renderProgress(0);
|
||||
int result = doInstall();
|
||||
cloneFinished(result);
|
||||
}
|
||||
|
||||
CloseWindow();
|
||||
UnloadFont(font);
|
||||
return 0;
|
||||
|
||||
@@ -23,10 +23,6 @@ DESCRIPTIONS = {
|
||||
'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
|
||||
"IsMetric": "Display speed in km/h instead of mph.",
|
||||
"RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
|
||||
"RecordAudioFeedback": (
|
||||
"Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
|
||||
"The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
@@ -85,12 +81,6 @@ class TogglesLayout(Widget):
|
||||
self._params.get_bool("RecordAudio"),
|
||||
icon="microphone.png",
|
||||
),
|
||||
toggle_item(
|
||||
"Record Audio Feedback with LKAS button",
|
||||
DESCRIPTIONS["RecordAudioFeedback"],
|
||||
self._params.get_bool("RecordAudioFeedback"),
|
||||
icon="microphone.png",
|
||||
),
|
||||
toggle_item(
|
||||
"Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
|
||||
),
|
||||
|
||||
@@ -2,12 +2,15 @@ from enum import IntEnum
|
||||
import os
|
||||
import threading
|
||||
import time
|
||||
from functools import lru_cache
|
||||
|
||||
from openpilot.common.api import Api, api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
|
||||
TOKEN_EXPIRY_HOURS = 2
|
||||
|
||||
|
||||
class PrimeType(IntEnum):
|
||||
UNKNOWN = -2,
|
||||
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
|
||||
PURPLE = 5,
|
||||
|
||||
|
||||
@lru_cache(maxsize=1)
|
||||
def get_token(dongle_id: str, t: int):
|
||||
print('getting token')
|
||||
return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
|
||||
|
||||
|
||||
class PrimeState:
|
||||
FETCH_INTERVAL = 5.0 # seconds between API calls
|
||||
API_TIMEOUT = 10.0 # seconds for API requests
|
||||
@@ -49,13 +58,15 @@ class PrimeState:
|
||||
return
|
||||
|
||||
try:
|
||||
identity_token = Api(dongle_id).get_token()
|
||||
identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
|
||||
response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
is_paired = data.get("is_paired", False)
|
||||
prime_type = data.get("prime_type", 0)
|
||||
self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
|
||||
elif response.status_code == 401:
|
||||
get_token.cache_clear()
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch prime status: {e}")
|
||||
|
||||
|
||||
@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
|
||||
self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
|
||||
)
|
||||
|
||||
self._update_experimental_gradient(self._rect.height)
|
||||
self._update_experimental_gradient()
|
||||
|
||||
def _update_experimental_gradient(self, height):
|
||||
def _update_experimental_gradient(self):
|
||||
"""Pre-calculate experimental mode gradient colors"""
|
||||
if not self._experimental_mode:
|
||||
return
|
||||
@@ -201,22 +201,21 @@ class ModelRenderer(Widget):
|
||||
|
||||
i = 0
|
||||
while i < max_len:
|
||||
track_idx = max_len - i - 1 # flip idx to start from bottom right
|
||||
track_y = self._path.projected_points[track_idx][1]
|
||||
if track_y < 0 or track_y > height:
|
||||
# Some points (screen space) are out of frame (rect space)
|
||||
track_y = self._path.projected_points[i][1]
|
||||
if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
|
||||
i += 1
|
||||
continue
|
||||
|
||||
# Calculate color based on acceleration
|
||||
lin_grad_point = (height - track_y) / height
|
||||
# Calculate color based on acceleration (0 is bottom, 1 is top)
|
||||
lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
|
||||
|
||||
# speed up: 120, slow down: 0
|
||||
path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
|
||||
path_hue = int(path_hue * 100 + 0.5) / 100
|
||||
path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
|
||||
|
||||
saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
|
||||
lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
|
||||
alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
|
||||
lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
|
||||
alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
|
||||
|
||||
# Use HSL to RGB conversion
|
||||
color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
|
||||
@@ -280,7 +279,7 @@ class ModelRenderer(Widget):
|
||||
|
||||
if self._experimental_mode:
|
||||
# Draw with acceleration coloring
|
||||
if len(self._exp_gradient['colors']) > 2:
|
||||
if len(self._exp_gradient['colors']) > 1:
|
||||
draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
|
||||
else:
|
||||
draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
|
||||
@@ -409,13 +408,6 @@ class ModelRenderer(Widget):
|
||||
|
||||
return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
|
||||
|
||||
@staticmethod
|
||||
def _map_val(x, x0, x1, y0, y1):
|
||||
x = np.clip(x, x0, x1)
|
||||
ra = x1 - x0
|
||||
rb = y1 - y0
|
||||
return (x - x0) * rb / ra + y0 if ra != 0 else y0
|
||||
|
||||
@staticmethod
|
||||
def _hsla_to_color(h, s, l, a):
|
||||
rgb = colorsys.hls_to_rgb(h, l, s)
|
||||
|
||||
@@ -75,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
"../assets/icons/microphone.png",
|
||||
true,
|
||||
},
|
||||
{
|
||||
"RecordAudioFeedback",
|
||||
tr("Record Audio Feedback with LKAS button"),
|
||||
tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
|
||||
"../assets/icons/microphone.png",
|
||||
false,
|
||||
},
|
||||
{
|
||||
"IsMetric",
|
||||
tr("Use Metric System"),
|
||||
|
||||
@@ -47,17 +47,17 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
|
||||
addItem(errorLogBtn);
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
|
||||
|
||||
is_release = params.getBool("IsReleaseBranch");
|
||||
is_tested = params.getBool("IsTestedBranch");
|
||||
is_development = params.getBool("IsDevelopmentBranch");
|
||||
}
|
||||
|
||||
void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
bool is_release = params.getBool("IsReleaseBranch");
|
||||
bool is_tested = params.getBool("IsTestedBranch");
|
||||
bool is_development = params.getBool("IsDevelopmentBranch");
|
||||
bool disable_updates = params.getBool("DisableUpdates");
|
||||
|
||||
prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
|
||||
prebuiltToggle->setEnabled(disable_updates);
|
||||
|
||||
params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
|
||||
prebuiltToggle->refresh();
|
||||
|
||||
@@ -66,6 +66,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
"it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
|
||||
"<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
|
||||
: tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
|
||||
prebuiltToggle->showDescription();
|
||||
|
||||
enableGithubRunner->setVisible(!is_release);
|
||||
errorLogBtn->setVisible(!is_release);
|
||||
@@ -74,7 +75,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
|
||||
|
||||
void DeveloperPanelSP::showEvent(QShowEvent *event) {
|
||||
DeveloperPanel::showEvent(event);
|
||||
updateToggles(!uiState()->scene.started);
|
||||
AbstractControlSP::UpdateAllAdvancedControls();
|
||||
prebuiltToggle->showDescription();
|
||||
updateToggles(!uiState()->scene.started);
|
||||
}
|
||||
|
||||
@@ -21,6 +21,9 @@ private:
|
||||
ParamControlSP *prebuiltToggle;
|
||||
Params params;
|
||||
ParamControlSP *showAdvancedControls;
|
||||
bool is_development;
|
||||
bool is_release;
|
||||
bool is_tested;
|
||||
|
||||
private slots:
|
||||
void updateToggles(bool offroad);
|
||||
|
||||
@@ -393,7 +393,7 @@ void ModelsPanel::updateLabels() {
|
||||
auto liveDelay = event.getLiveDelay();
|
||||
float lateralDelay = liveDelay.getLateralDelay();
|
||||
desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
|
||||
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
|
||||
.arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
|
||||
}
|
||||
}
|
||||
} else {
|
||||
|
||||
@@ -5,6 +5,7 @@ from openpilot.common.params import Params
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
|
||||
|
||||
@pytest.mark.skip("tmp disabled")
|
||||
class TestFeedbackd:
|
||||
def setup_method(self):
|
||||
self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
|
||||
|
||||
@@ -972,10 +972,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1020,6 +1016,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">إلغاء</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2067,6 +2095,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2212,16 +2248,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">Abbrechen</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2049,6 +2077,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2194,16 +2230,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -462,7 +462,7 @@ La calibración del retraso de la dirección está completa.</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Select a language</source>
|
||||
<translation type="unfinished"></translation>
|
||||
<translation type="unfinished">Seleccione el idioma</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Wake-Up Behavior</source>
|
||||
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">Cancelar</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2051,6 +2079,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2196,16 +2232,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -964,10 +964,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1012,6 +1008,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">Annuler</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2047,6 +2075,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2192,16 +2228,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">キャンセル</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2191,16 +2227,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -974,10 +974,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation>기본값</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation>이 기능을 켜면 차량이 스스로 핸들 반응 속도를 학습하고 맞춥니다. 끄면 고정된 핸들 반응 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다. 차량이 주행 중일 때 현재 값이 자동으로 업데이트됩니다.</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation>모델 다운로드가 백그라운드에서 시작되었습니다.</translation>
|
||||
@@ -1022,6 +1018,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation>취소</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished">새로 고침</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2060,6 +2088,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation>페어링되지 않음</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2205,18 +2241,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation>운전 중 마이크 오디오를 녹음하고 저장합니다. 이 오디오는 comma connect의 대시캠 영상에 포함됩니다.</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation>LKAS 버튼으로 오디오 피드백 녹음</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation>LKAS 버튼을 눌러 openpilot 팀과 주행 피드백을 녹음하고 공유하세요. 이 기능을 비활성화하면, 해당 버튼은 북마크 버튼 역할을 합니다. 이 이벤트는 comma connect에서 강조되며, 해당 구간 영상은 기기 저장소에 보존됩니다.
|
||||
|
||||
참고: 이 기능은 일부 차량에서만 호환됩니다.</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation>sunnypilot 사용</translation>
|
||||
|
||||
@@ -968,10 +968,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1016,6 +1012,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">Cancelar</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2051,6 +2079,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2196,16 +2232,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">ยกเลิก</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2042,6 +2070,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2187,16 +2223,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -962,10 +962,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1010,6 +1006,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2041,6 +2069,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2186,16 +2222,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">取消</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2191,16 +2227,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -966,10 +966,6 @@ The default software delay value is 0.2</source>
|
||||
<source>Default</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Model download has started in the background.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
@@ -1014,6 +1010,38 @@ The default software delay value is 0.2</source>
|
||||
<source>Cancel</source>
|
||||
<translation type="unfinished">取消</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Refresh Model List</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>REFRESH</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Fetching Latest Models</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Live Steer Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Actuator Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Software Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Total Delay:</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>MultiOptionDialog</name>
|
||||
@@ -2046,6 +2074,14 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Not Paired</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>[Don't use] Enable sunnylink uploader</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>SunnylinkSponsorPopup</name>
|
||||
@@ -2191,16 +2227,6 @@ Warning: You are on a metered connection!</source>
|
||||
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
|
||||
<translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Record Audio Feedback with LKAS button</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.
|
||||
|
||||
Note that this feature is only compatible with select cars.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>Enable sunnypilot</source>
|
||||
<translation type="unfinished"></translation>
|
||||
|
||||
@@ -34,7 +34,7 @@ class OsmMapData(BaseMapData):
|
||||
return float(self.mem_params.get("MapSpeedLimit") or 0.0)
|
||||
|
||||
def get_current_road_name(self) -> str:
|
||||
return str(self.mem_params.get("RoadName"))
|
||||
return str(self.mem_params.get("RoadName") or "")
|
||||
|
||||
def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
|
||||
next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
|
||||
|
||||
@@ -90,7 +90,7 @@ class MapdInstallManager:
|
||||
logging.error("Failed to download file after all retries")
|
||||
|
||||
def get_installed_version(self) -> str:
|
||||
return str(self._params.get("MapdVersion"))
|
||||
return str(self._params.get("MapdVersion") or "")
|
||||
|
||||
def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
|
||||
max_retries = 10
|
||||
|
||||
@@ -69,24 +69,26 @@ class ModelState(ModelStateBase):
|
||||
|
||||
# img buffers are managed in openCL transform code
|
||||
self.numpy_inputs = {}
|
||||
self.temporal_buffers = {}
|
||||
self.temporal_idxs_map = {}
|
||||
|
||||
for key, shape in self.model_runner.input_shapes.items():
|
||||
if key not in self.frames: # Managed by opencl
|
||||
self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
if self.model_runner.is_20hz_3d: # split models
|
||||
self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.FEATURE_LEN), dtype=np.float32)
|
||||
self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
|
||||
self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
|
||||
self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
|
||||
elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
|
||||
self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
|
||||
self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
|
||||
num_elements = self.numpy_inputs['features_buffer'].shape[1]
|
||||
step_size = int(-100 / num_elements)
|
||||
self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
|
||||
self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
|
||||
self.numpy_inputs['desire'].shape[2])
|
||||
# Temporal input: shape is [batch, history, features]
|
||||
if len(shape) == 3 and shape[1] > 1:
|
||||
buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1])) # Allow for higher history buffers in the future
|
||||
feature_len = shape[2]
|
||||
self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
|
||||
features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
|
||||
if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24: # 20Hz
|
||||
step = int(-buffer_history_len / shape[1])
|
||||
self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
|
||||
elif shape[1] == 25: # Split
|
||||
skip = buffer_history_len // shape[1]
|
||||
self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
|
||||
elif shape[1] == buffer_history_len: # non20hz
|
||||
self.temporal_idxs_map[key] = np.arange(buffer_history_len)
|
||||
|
||||
@property
|
||||
def mlsim(self) -> bool:
|
||||
@@ -98,19 +100,16 @@ class ModelState(ModelStateBase):
|
||||
inputs['desire'][0] = 0
|
||||
new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
|
||||
self.prev_desire[:] = inputs['desire']
|
||||
self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
|
||||
self.temporal_buffers['desire'][0,-1] = new_desire
|
||||
|
||||
if self.model_runner.is_20hz_3d: # split models
|
||||
self.full_desire[0,:-1] = self.full_desire[0,1:]
|
||||
self.full_desire[0,-1] = new_desire
|
||||
self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
|
||||
elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d: # 20hz supercombo
|
||||
self.full_desire[:-1] = self.full_desire[1:]
|
||||
self.full_desire[-1] = new_desire
|
||||
self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
|
||||
else: # not 20hz
|
||||
length = inputs['desire'].shape[0]
|
||||
self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
|
||||
self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
|
||||
# Roll buffer and assign based on desire.shape[1] value
|
||||
if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
|
||||
skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
|
||||
self.numpy_inputs['desire'][:] = (
|
||||
self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
|
||||
else:
|
||||
self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
|
||||
|
||||
for key in self.numpy_inputs:
|
||||
if key in inputs and key not in ['desire']:
|
||||
@@ -127,42 +126,27 @@ class ModelState(ModelStateBase):
|
||||
# Run model inference
|
||||
outputs = self.model_runner.run_model()
|
||||
|
||||
if self.model_runner.is_20hz_3d: # split models
|
||||
self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
|
||||
self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
|
||||
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
|
||||
elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d: # 20hz supercombo
|
||||
self.full_features_buffer[:-1] = self.full_features_buffer[1:]
|
||||
self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
|
||||
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
|
||||
else: # not 20hz
|
||||
feature_len = outputs['hidden_state'].shape[1]
|
||||
self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
|
||||
self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
|
||||
# Update features_buffer
|
||||
self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
|
||||
self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
|
||||
self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
|
||||
|
||||
if "desired_curvature" in outputs:
|
||||
input_name_prev = None
|
||||
|
||||
if "prev_desired_curvs" in self.numpy_inputs.keys():
|
||||
input_name_prev = 'prev_desired_curvs'
|
||||
elif "prev_desired_curv" in self.numpy_inputs.keys():
|
||||
input_name_prev = 'prev_desired_curv'
|
||||
|
||||
if input_name_prev is not None:
|
||||
if input_name_prev and input_name_prev in self.temporal_buffers:
|
||||
self.process_desired_curvature(outputs, input_name_prev)
|
||||
return outputs
|
||||
|
||||
def process_desired_curvature(self, outputs, input_name_prev):
|
||||
if self.model_runner.is_20hz_3d: # split models
|
||||
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
|
||||
self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
|
||||
self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
|
||||
if self.mlsim:
|
||||
self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
|
||||
else:
|
||||
length = outputs['desired_curvature'][0].size
|
||||
self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
|
||||
self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
|
||||
self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
|
||||
self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
|
||||
self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
|
||||
if self.mlsim:
|
||||
self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
|
||||
|
||||
def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
|
||||
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import numpy as np
|
||||
from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
|
||||
|
||||
def safe_exp(x, out=None):
|
||||
@@ -25,8 +24,6 @@ def softmax(x, axis=-1):
|
||||
class Parser:
|
||||
def __init__(self, ignore_missing=False):
|
||||
self.ignore_missing = ignore_missing
|
||||
model_bundle = get_active_bundle()
|
||||
self.generation = model_bundle.generation if model_bundle is not None else None
|
||||
|
||||
def check_missing(self, outs, name):
|
||||
if name not in outs and not self.ignore_missing:
|
||||
@@ -91,26 +88,26 @@ class Parser:
|
||||
outs[name] = pred_mu_final.reshape(final_shape)
|
||||
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
|
||||
|
||||
def _parse_plan_mhp(self, outs):
|
||||
self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
|
||||
out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
|
||||
def is_mhp(self, outs, name, shape):
|
||||
if self.check_missing(outs, name):
|
||||
return False
|
||||
if outs[name].shape[1] == 2 * shape:
|
||||
return False
|
||||
return True
|
||||
|
||||
def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
|
||||
if 'lead' in outs:
|
||||
if self.generation >= 12 and \
|
||||
outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
|
||||
self.parse_mdn('lead', outs, in_N=0, out_N=0,
|
||||
out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
|
||||
else:
|
||||
self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
|
||||
out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
|
||||
lead_mhp = self.is_mhp(outs, 'lead',
|
||||
SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
|
||||
lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
|
||||
lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
|
||||
(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
|
||||
self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
|
||||
if 'plan' in outs:
|
||||
if self.generation >= 12 and \
|
||||
outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
|
||||
self.parse_mdn('plan', outs, in_N=0, out_N=0,
|
||||
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
|
||||
else:
|
||||
self._parse_plan_mhp(outs)
|
||||
plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
|
||||
plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
|
||||
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
|
||||
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
|
||||
|
||||
def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
|
||||
if 'desired_curvature' in outs:
|
||||
|
||||
@@ -0,0 +1,256 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
from typing import Any
|
||||
|
||||
import openpilot.sunnypilot.models.helpers as helpers
|
||||
import openpilot.sunnypilot.models.runners.helpers as runner_helpers
|
||||
import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
|
||||
|
||||
ModelState = modeld_module.ModelState
|
||||
|
||||
|
||||
# These are the shapes extracted/loaded from the model onnx
|
||||
SHAPE_MODE_PARAMS = [
|
||||
({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
|
||||
({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
|
||||
({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
|
||||
]
|
||||
|
||||
|
||||
# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
|
||||
class DummyOverride:
|
||||
def __init__(self, key: str, value: str) -> None:
|
||||
self.key = key
|
||||
self.value = value
|
||||
|
||||
|
||||
class DummyBundle:
|
||||
def __init__(self) -> None:
|
||||
self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
|
||||
self.generation = 10 # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
|
||||
|
||||
|
||||
class DummyModelRunner:
|
||||
def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
|
||||
self.input_shapes = input_shapes
|
||||
self.constants = constants or type('C', (), {
|
||||
'FULL_HISTORY_BUFFER_LEN': 100,
|
||||
'FEATURE_LEN': 512,
|
||||
'DESIRE_LEN': 8,
|
||||
'PREV_DESIRED_CURV_LEN': 1,
|
||||
'INPUT_HISTORY_BUFFER_LEN': 25,
|
||||
'TEMPORAL_SKIP': 4,
|
||||
})()
|
||||
self.vision_input_names: list[str] = []
|
||||
shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
|
||||
if shape[1] == 25:
|
||||
self.is_20hz = True
|
||||
else:
|
||||
self.is_20hz = False
|
||||
|
||||
# Minimal prepare/run methods so ModelState can be run without actually running the model
|
||||
def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
|
||||
return None
|
||||
|
||||
def run_model(self):
|
||||
return {
|
||||
'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
|
||||
'desired_curvature': np.zeros((1, 1), dtype=np.float32),
|
||||
}
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def shapes(request):
|
||||
return request.param
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bundle() -> DummyBundle:
|
||||
return DummyBundle()
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def runner(shapes) -> DummyModelRunner:
|
||||
return DummyModelRunner(shapes)
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
|
||||
monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
|
||||
monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
|
||||
monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
|
||||
monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
|
||||
|
||||
|
||||
# These are expected shapes and indices based on the time the model was presented
|
||||
def get_expected_indices(shape, constants, mode, key=None):
|
||||
if mode == 'split':
|
||||
start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
|
||||
arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
|
||||
idxs = arr[start::constants.TEMPORAL_SKIP]
|
||||
return idxs
|
||||
elif mode == '20hz':
|
||||
num_elements = shape[1]
|
||||
step_size = int(-100 / num_elements)
|
||||
idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
|
||||
return idxs
|
||||
elif mode == 'non20hz':
|
||||
if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
|
||||
return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
|
||||
return None
|
||||
return None
|
||||
|
||||
|
||||
@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
|
||||
def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
|
||||
state = ModelState(None)
|
||||
constants = DummyModelRunner(shapes).constants
|
||||
for key in shapes:
|
||||
buf = state.temporal_buffers.get(key, None)
|
||||
idxs = state.temporal_idxs_map.get(key, None)
|
||||
# Buffer shape logic
|
||||
if mode == 'split':
|
||||
expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
|
||||
expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
|
||||
elif mode == '20hz':
|
||||
expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
|
||||
expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
|
||||
elif mode == 'non20hz':
|
||||
if key == 'features_buffer':
|
||||
expected_shape = (1, shapes[key][1]*4, shapes[key][2])
|
||||
else:
|
||||
expected_shape = (1, shapes[key][1], shapes[key][2])
|
||||
expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
|
||||
|
||||
assert buf is not None, f"{key}: buffer not found"
|
||||
assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
|
||||
if expected_idxs is not None:
|
||||
assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
|
||||
else:
|
||||
assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
|
||||
|
||||
|
||||
def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
|
||||
# This is what we compare the new dynamic logic to, to ensure it does the same thing
|
||||
if mode == 'split':
|
||||
if key == 'desire':
|
||||
buf[0,:-1] = buf[0,1:]
|
||||
buf[0,-1] = new_val
|
||||
return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
|
||||
elif key == 'features_buffer':
|
||||
buf[0,:-1] = buf[0,1:]
|
||||
buf[0,-1] = new_val
|
||||
return buf[0, idxs]
|
||||
elif key == 'prev_desired_curv':
|
||||
buf[0,:-1] = buf[0,1:]
|
||||
buf[0,-1,:] = new_val
|
||||
return buf[0, idxs]
|
||||
elif mode == '20hz':
|
||||
if key == 'desire':
|
||||
buf[:-1] = buf[1:]
|
||||
buf[-1] = new_val
|
||||
reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
|
||||
reshaped = buf.reshape(reshape_dims).max(axis=2)
|
||||
# Slice to last shape[1] elements to match model input shape
|
||||
input_len = reshaped.shape[1]
|
||||
model_input_len = 25 # For 20hz mode, desire shape[1] is 25
|
||||
if input_len > model_input_len:
|
||||
reshaped = reshaped[:, -model_input_len:, :]
|
||||
return reshaped
|
||||
elif key == 'features_buffer':
|
||||
buffer_history_len = buf.shape[1]
|
||||
legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
|
||||
legacy_buf[:] = buf[0]
|
||||
legacy_buf[:-1] = legacy_buf[1:]
|
||||
legacy_buf[-1] = new_val
|
||||
return legacy_buf[idxs]
|
||||
elif key == 'prev_desired_curv':
|
||||
buffer_history_len = buf.shape[1]
|
||||
legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
|
||||
legacy_buf[:] = buf[0]
|
||||
legacy_buf[:-1] = legacy_buf[1:]
|
||||
legacy_buf[-1,:] = new_val
|
||||
return legacy_buf[idxs]
|
||||
elif mode == 'non20hz':
|
||||
if key == 'desire':
|
||||
length = new_val.shape[0]
|
||||
buf[0,:-1,:length] = buf[0,1:,:length]
|
||||
buf[0,-1,:length] = new_val[:length]
|
||||
return buf[0]
|
||||
elif key == 'features_buffer':
|
||||
feature_len = new_val.shape[0]
|
||||
buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
|
||||
buf[0,-1,:feature_len] = new_val[:feature_len]
|
||||
return buf[0]
|
||||
elif key == 'prev_desired_curv':
|
||||
length = new_val.shape[0]
|
||||
buf[0,:-length,0] = buf[0,length:,0]
|
||||
buf[0,-length:,0] = new_val[:length]
|
||||
return buf[0]
|
||||
return None
|
||||
|
||||
|
||||
def dynamic_buffer_update(state, key, new_val, mode):
|
||||
if key == 'desire':
|
||||
state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
|
||||
state.temporal_buffers['desire'][0,-1] = new_val
|
||||
if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
|
||||
skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
|
||||
return state.temporal_buffers['desire'][0].reshape(
|
||||
state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
|
||||
).max(axis=2)
|
||||
else:
|
||||
return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
|
||||
|
||||
inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
|
||||
for k, tb in state.temporal_buffers.items():
|
||||
if k in state.temporal_idxs_map:
|
||||
continue
|
||||
buf_len = tb.shape[1]
|
||||
if k in state.numpy_inputs:
|
||||
out_len = state.numpy_inputs[k].shape[1]
|
||||
if out_len <= buf_len:
|
||||
state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
|
||||
else:
|
||||
state.temporal_idxs_map[k] = np.arange(buf_len)
|
||||
else:
|
||||
state.temporal_idxs_map[k] = np.arange(buf_len)
|
||||
|
||||
if key == 'features_buffer':
|
||||
def run_model_stub():
|
||||
return {
|
||||
'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
|
||||
}
|
||||
state.model_runner.run_model = run_model_stub
|
||||
state.run({}, {}, inputs, prepare_only=False)
|
||||
return state.numpy_inputs['features_buffer'][0]
|
||||
|
||||
if key == 'prev_desired_curv':
|
||||
def run_model_stub():
|
||||
return {
|
||||
'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
|
||||
'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
|
||||
}
|
||||
state.model_runner.run_model = run_model_stub
|
||||
state.run({}, {}, inputs, prepare_only=False)
|
||||
return state.numpy_inputs['prev_desired_curv'][0]
|
||||
return None
|
||||
|
||||
|
||||
@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
|
||||
@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
|
||||
def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
|
||||
state = ModelState(None)
|
||||
constants = DummyModelRunner(shapes).constants
|
||||
buf = state.temporal_buffers.get(key, None)
|
||||
idxs = state.temporal_idxs_map.get(key, None)
|
||||
input_shape = shapes[key]
|
||||
for step in range(20): # multiple steps to ensure history is built up
|
||||
new_val = np.full((input_shape[2],), step, dtype=np.float32)
|
||||
expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
|
||||
actual = dynamic_buffer_update(state, key, new_val, mode)
|
||||
# Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
|
||||
if expected is not None and actual is not None and expected.shape != actual.shape:
|
||||
if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
|
||||
expected = expected[-actual.shape[0]:]
|
||||
assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
|
||||
@@ -83,7 +83,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
|
||||
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""Runs the Tinygrad model inference and parses the outputs."""
|
||||
outputs = self.model_run(**self.inputs).numpy().flatten()
|
||||
outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
return self._parse_outputs(outputs)
|
||||
|
||||
def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
|
||||
@@ -1 +1 @@
|
||||
cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
|
||||
2ff2f49176a13bc7f856645d785b3b838a5c7ecf7f6cb37699fa0459ebf12453
|
||||
@@ -4,11 +4,10 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from typing import Any
|
||||
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
|
||||
from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
|
||||
@@ -23,22 +22,6 @@ def log_fingerprint(CP: structs.CarParams) -> None:
|
||||
sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
|
||||
|
||||
|
||||
def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
|
||||
params: Params = None) -> None:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
# Hyundai Custom Longitudinal Tuning
|
||||
if CP.brand == 'hyundai':
|
||||
hyundai_longitudinal_tuning = params.get("HyundaiLongitudinalTuning")
|
||||
if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
|
||||
CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
|
||||
if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
|
||||
CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
|
||||
|
||||
CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
|
||||
|
||||
|
||||
def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
|
||||
params: Params = None, enabled: bool = False) -> None:
|
||||
if params is None:
|
||||
@@ -64,5 +47,15 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
|
||||
CP = CI.CP
|
||||
CP_SP = CI.CP_SP
|
||||
|
||||
_initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
|
||||
_initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
|
||||
|
||||
|
||||
def initialize_params(params) -> list[dict[str, Any]]:
|
||||
keys: list = []
|
||||
|
||||
# hyundai
|
||||
keys.extend([
|
||||
"HyundaiLongitudinalTuning"
|
||||
])
|
||||
|
||||
return [{k: params.get(k, return_default=True)} for k in keys]
|
||||
|
||||
@@ -24,11 +24,16 @@ class ParamStore:
|
||||
self.values = {}
|
||||
self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
|
||||
|
||||
self.frame = 0
|
||||
|
||||
def update(self, params: Params) -> None:
|
||||
old_values = dict(self.values)
|
||||
self.values = {k: params.get(k) or "0" for k in self.keys}
|
||||
if old_values != self.values:
|
||||
self.cached_params_list = None
|
||||
if self.frame % 300 == 0:
|
||||
old_values = dict(self.values)
|
||||
self.values = {k: params.get(k) or "0" for k in self.keys}
|
||||
if old_values != self.values:
|
||||
self.cached_params_list = None
|
||||
|
||||
self.frame += 1
|
||||
|
||||
def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
|
||||
if self.cached_params_list is None:
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
#if SENSOR_ID == 1
|
||||
|
||||
#define VIGNETTE_PROFILE_8DT0MM
|
||||
|
||||
#define BIT_DEPTH 12
|
||||
#define PV_MAX 4096
|
||||
#define BLACK_LVL 168
|
||||
|
||||
float4 normalize_pv(int4 parsed, float vignette_factor) {
|
||||
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
|
||||
return clamp(pv*vignette_factor, 0.0, 1.0);
|
||||
}
|
||||
|
||||
float3 color_correct(float3 rgb) {
|
||||
float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
|
||||
corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
|
||||
corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
|
||||
return corrected;
|
||||
}
|
||||
|
||||
float3 apply_gamma(float3 rgb, int expo_time) {
|
||||
// tone mapping params
|
||||
const float gamma_k = 0.75;
|
||||
const float gamma_b = 0.125;
|
||||
const float mp = 0.01; // ideally midpoint should be adaptive
|
||||
const float rk = 9 - 100*mp;
|
||||
|
||||
// poly approximation for s curve
|
||||
return (rgb > mp) ?
|
||||
((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
|
||||
((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -1,58 +0,0 @@
|
||||
#if SENSOR_ID == 3
|
||||
|
||||
#define BGGR
|
||||
#define VIGNETTE_PROFILE_4DT6MM
|
||||
|
||||
#define BIT_DEPTH 12
|
||||
#define PV_MAX10 1023
|
||||
#define PV_MAX12 4095
|
||||
#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
|
||||
#define BLACK_LVL 48
|
||||
|
||||
float combine_dual_pvs(float lv, float sv, int expo_time) {
|
||||
float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
|
||||
float svd = sv * fmin(expo_time, 8.0) / 8;
|
||||
|
||||
if (expo_time > 64) {
|
||||
if (lv < PV_MAX10 - BLACK_LVL) {
|
||||
return lv / (PV_MAX16 - BLACK_LVL);
|
||||
} else {
|
||||
return (svc / 64) / (PV_MAX16 - BLACK_LVL);
|
||||
}
|
||||
} else {
|
||||
if (lv > 32) {
|
||||
return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
|
||||
} else {
|
||||
return svd / (PV_MAX16 - BLACK_LVL);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
|
||||
float4 pl = convert_float4(parsed - BLACK_LVL);
|
||||
float4 ps = convert_float4(short_parsed - BLACK_LVL);
|
||||
float4 pv;
|
||||
pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
|
||||
pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
|
||||
pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
|
||||
pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
|
||||
return clamp(pv*vignette_factor, 0.0, 1.0);
|
||||
}
|
||||
|
||||
float4 normalize_pv(int4 parsed, float vignette_factor) {
|
||||
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
|
||||
return clamp(pv*vignette_factor, 0.0, 1.0);
|
||||
}
|
||||
|
||||
float3 color_correct(float3 rgb) {
|
||||
float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
|
||||
corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
|
||||
corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
|
||||
return corrected;
|
||||
}
|
||||
|
||||
float3 apply_gamma(float3 rgb, int expo_time) {
|
||||
return (10 * rgb) / (1 + 9 * rgb);
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -1,47 +0,0 @@
|
||||
#if SENSOR_ID == 2
|
||||
|
||||
#define VIGNETTE_PROFILE_8DT0MM
|
||||
|
||||
#define BIT_DEPTH 12
|
||||
#define BLACK_LVL 64
|
||||
|
||||
float ox_lut_func(int x) {
|
||||
if (x < 512) {
|
||||
return x * 5.94873e-8;
|
||||
} else if (512 <= x && x < 768) {
|
||||
return 3.0458e-05 + (x-512) * 1.19913e-7;
|
||||
} else if (768 <= x && x < 1536) {
|
||||
return 6.1154e-05 + (x-768) * 2.38493e-7;
|
||||
} else if (1536 <= x && x < 1792) {
|
||||
return 0.0002448 + (x-1536) * 9.56930e-7;
|
||||
} else if (1792 <= x && x < 2048) {
|
||||
return 0.00048977 + (x-1792) * 1.91441e-6;
|
||||
} else if (2048 <= x && x < 2304) {
|
||||
return 0.00097984 + (x-2048) * 3.82937e-6;
|
||||
} else if (2304 <= x && x < 2560) {
|
||||
return 0.0019601 + (x-2304) * 7.659055e-6;
|
||||
} else if (2560 <= x && x < 2816) {
|
||||
return 0.0039207 + (x-2560) * 1.525e-5;
|
||||
} else {
|
||||
return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
|
||||
}
|
||||
}
|
||||
|
||||
float4 normalize_pv(int4 parsed, float vignette_factor) {
|
||||
// PWL
|
||||
float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
|
||||
return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
|
||||
}
|
||||
|
||||
float3 color_correct(float3 rgb) {
|
||||
float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
|
||||
corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
|
||||
corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
|
||||
return corrected;
|
||||
}
|
||||
|
||||
float3 apply_gamma(float3 rgb, int expo_time) {
|
||||
return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -21,16 +21,16 @@ class TiciFanController(BaseFanController):
|
||||
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
|
||||
|
||||
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||
self.controller.neg_limit = -(100 if ignition else 30)
|
||||
self.controller.pos_limit = -(30 if ignition else 0)
|
||||
self.controller.pos_limit = 100 if ignition else 30
|
||||
self.controller.neg_limit = 30 if ignition else 0
|
||||
|
||||
if ignition != self.last_ignition:
|
||||
self.controller.reset()
|
||||
|
||||
error = 75 - cur_temp
|
||||
fan_pwr_out = -int(self.controller.update(
|
||||
error = cur_temp - 75
|
||||
fan_pwr_out = int(self.controller.update(
|
||||
error=error,
|
||||
feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
|
||||
feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
|
||||
))
|
||||
|
||||
self.last_ignition = ignition
|
||||
|
||||
@@ -67,17 +67,17 @@
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
|
||||
"hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
|
||||
"hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
|
||||
"hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
|
||||
"hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
|
||||
"size": 5368709120,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
|
||||
"ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
|
||||
"alt": {
|
||||
"hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
|
||||
"hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
|
||||
"size": 5368709120
|
||||
}
|
||||
}
|
||||
|
||||
@@ -350,51 +350,51 @@
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
|
||||
"hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
|
||||
"hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
|
||||
"hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
|
||||
"hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
|
||||
"size": 5368709120,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
|
||||
"ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
|
||||
"alt": {
|
||||
"hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
|
||||
"hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
|
||||
"size": 5368709120
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "userdata_90",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz",
|
||||
"hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7",
|
||||
"hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
|
||||
"hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
|
||||
"hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
|
||||
"size": 96636764160,
|
||||
"sparse": true,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1"
|
||||
"ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
|
||||
},
|
||||
{
|
||||
"name": "userdata_89",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz",
|
||||
"hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484",
|
||||
"hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
|
||||
"hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
|
||||
"hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
|
||||
"size": 95563022336,
|
||||
"sparse": true,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0"
|
||||
"ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
|
||||
},
|
||||
{
|
||||
"name": "userdata_30",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz",
|
||||
"hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113",
|
||||
"hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
|
||||
"hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
|
||||
"hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
|
||||
"size": 32212254720,
|
||||
"sparse": true,
|
||||
"full_check": true,
|
||||
"has_ab": false,
|
||||
"ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b"
|
||||
"ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
|
||||
}
|
||||
]
|
||||
@@ -44,7 +44,7 @@ def manager_init() -> None:
|
||||
# set unset params to their default value
|
||||
for k in params.all_keys():
|
||||
default_value = params.get_default_value(k)
|
||||
if default_value and params.get(k) is None:
|
||||
if default_value is not None and params.get(k) is None:
|
||||
params.put(k, default_value)
|
||||
|
||||
# Create folders needed for msgq
|
||||
|
||||
@@ -46,9 +46,10 @@ class TestManager:
|
||||
manager.main()
|
||||
for k in params.all_keys():
|
||||
default_value = params.get_default_value(k)
|
||||
if default_value:
|
||||
if default_value is not None:
|
||||
assert params.get(k) == default_value
|
||||
assert params.get("OpenpilotEnabledToggle")
|
||||
assert params.get("RouteCount") == 0
|
||||
|
||||
@pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
|
||||
def test_clean_exit(self, subtests):
|
||||
|
||||
@@ -67,7 +67,8 @@ class MouseEvent(NamedTuple):
|
||||
|
||||
|
||||
class MouseState:
|
||||
def __init__(self):
|
||||
def __init__(self, scale: float = 1.0):
|
||||
self._scale = scale
|
||||
self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list
|
||||
self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS
|
||||
|
||||
@@ -102,8 +103,10 @@ class MouseState:
|
||||
def _handle_mouse_event(self):
|
||||
for slot in range(MAX_TOUCH_SLOTS):
|
||||
mouse_pos = rl.get_touch_position(slot)
|
||||
x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
|
||||
y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
|
||||
ev = MouseEvent(
|
||||
MousePos(mouse_pos.x, mouse_pos.y),
|
||||
MousePos(x, y),
|
||||
slot,
|
||||
rl.is_mouse_button_pressed(slot),
|
||||
rl.is_mouse_button_released(slot),
|
||||
@@ -133,7 +136,7 @@ class GuiApplication:
|
||||
self._trace_log_callback = None
|
||||
self._modal_overlay = ModalOverlay()
|
||||
|
||||
self._mouse = MouseState()
|
||||
self._mouse = MouseState(self._scale)
|
||||
self._mouse_events: list[MouseEvent] = []
|
||||
|
||||
# Debug variables
|
||||
|
||||
@@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) {
|
||||
float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);
|
||||
|
||||
if (gradientColorCount <= 1) return gradientColors[0];
|
||||
|
||||
// handle t before first / after last stop
|
||||
if (t <= gradientStops[0]) return gradientColors[0];
|
||||
if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
|
||||
for (int i = 0; i < gradientColorCount - 1; i++) {
|
||||
if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
|
||||
float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
|
||||
|
||||
@@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
|
||||
NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
|
||||
|
||||
TETHERING_IP_ADDRESS = "192.168.43.1"
|
||||
DEFAULT_TETHERING_PASSWORD = "12345678"
|
||||
DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
|
||||
|
||||
|
||||
# NetworkManager device states
|
||||
|
||||
+75
-19
@@ -6,10 +6,14 @@ import time
|
||||
import urllib.request
|
||||
from urllib.parse import urlparse
|
||||
from enum import IntEnum
|
||||
import shutil
|
||||
|
||||
import pyray as rl
|
||||
|
||||
from cereal import log
|
||||
from openpilot.common.run import run_cmd
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
|
||||
@@ -30,6 +34,19 @@ BUTTON_SPACING = 50
|
||||
OPENPILOT_URL = "https://openpilot.comma.ai"
|
||||
USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
|
||||
|
||||
CONTINUE_PATH = "/data/continue.sh"
|
||||
TMP_CONTINUE_PATH = "/data/continue.sh.new"
|
||||
INSTALL_PATH = "/data/openpilot"
|
||||
VALID_CACHE_PATH = "/data/.openpilot_cache"
|
||||
INSTALLER_SOURCE_PATH = "/usr/comma/installer"
|
||||
INSTALLER_DESTINATION_PATH = "/tmp/installer"
|
||||
INSTALLER_URL_PATH = "/tmp/installer_url"
|
||||
|
||||
CONTINUE = """#!/usr/bin/env bash
|
||||
|
||||
cd /data/openpilot
|
||||
exec ./launch_openpilot.sh
|
||||
"""
|
||||
|
||||
class SetupState(IntEnum):
|
||||
LOW_VOLTAGE = 0
|
||||
@@ -93,14 +110,21 @@ class Setup(Widget):
|
||||
self._network_setup_continue_button.set_enabled(False)
|
||||
self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)
|
||||
|
||||
self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback)
|
||||
self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
|
||||
button_style=ButtonStyle.PRIMARY)
|
||||
self._custom_software_warning_continue_button.set_enabled(False)
|
||||
self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
|
||||
self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255),
|
||||
text_padding=60)
|
||||
self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma,"
|
||||
+ " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai "
|
||||
self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
|
||||
+ "⚠️ It has not been tested by comma.\n\n"
|
||||
+ "⚠️ It may not comply with relevant safety standards.\n\n"
|
||||
+ "⚠️ It may cause damage to your device and/or vehicle.\n\n"
|
||||
+ "If you'd like to proceed, use https://flash.comma.ai "
|
||||
+ "to restore your device to a factory state later.",
|
||||
85, text_alignment=TextAlignment.LEFT, text_padding=60)
|
||||
self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
|
||||
|
||||
self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM)
|
||||
|
||||
try:
|
||||
@@ -136,21 +160,19 @@ class Setup(Widget):
|
||||
self.state = SetupState.SOFTWARE_SELECTION
|
||||
|
||||
def _custom_software_warning_continue_button_callback(self):
|
||||
self.state = SetupState.CUSTOM_SOFTWARE
|
||||
self.state = SetupState.NETWORK_SETUP
|
||||
self.stop_network_check_thread.clear()
|
||||
self.start_network_check()
|
||||
|
||||
def _getting_started_button_callback(self):
|
||||
self.state = SetupState.NETWORK_SETUP
|
||||
self.stop_network_check_thread.clear()
|
||||
self.start_network_check()
|
||||
self.state = SetupState.SOFTWARE_SELECTION
|
||||
|
||||
def _software_selection_back_button_callback(self):
|
||||
self.state = SetupState.NETWORK_SETUP
|
||||
self.stop_network_check_thread.clear()
|
||||
self.start_network_check()
|
||||
self.state = SetupState.GETTING_STARTED
|
||||
|
||||
def _software_selection_continue_button_callback(self):
|
||||
if self._software_selection_openpilot_button.selected:
|
||||
self.download(OPENPILOT_URL)
|
||||
self.use_openpilot()
|
||||
else:
|
||||
self.state = SetupState.CUSTOM_SOFTWARE_WARNING
|
||||
|
||||
@@ -158,11 +180,14 @@ class Setup(Widget):
|
||||
self.state = SetupState.GETTING_STARTED
|
||||
|
||||
def _network_setup_back_button_callback(self):
|
||||
self.state = SetupState.GETTING_STARTED
|
||||
self.state = SetupState.SOFTWARE_SELECTION
|
||||
|
||||
def _network_setup_continue_button_callback(self):
|
||||
self.state = SetupState.SOFTWARE_SELECTION
|
||||
self.stop_network_check_thread.set()
|
||||
if self._software_selection_openpilot_button.selected:
|
||||
self.download(OPENPILOT_URL)
|
||||
else:
|
||||
self.state = SetupState.CUSTOM_SOFTWARE
|
||||
|
||||
def render_low_voltage(self, rect: rl.Rectangle):
|
||||
rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
|
||||
@@ -274,13 +299,23 @@ class Setup(Widget):
|
||||
self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
|
||||
|
||||
def render_custom_software_warning(self, rect: rl.Rectangle):
|
||||
self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE))
|
||||
self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
|
||||
warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
|
||||
offset = self._custom_software_warning_body_scroll_panel.handle_scroll(rect, warn_rect)
|
||||
|
||||
button_width = (rect.width - MARGIN * 3) / 2
|
||||
button_y = rect.height - MARGIN - BUTTON_HEIGHT
|
||||
|
||||
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE))
|
||||
y_offset = rect.y + offset.y
|
||||
self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE))
|
||||
self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
|
||||
rl.end_scissor_mode()
|
||||
|
||||
self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
|
||||
self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
|
||||
if offset.y < (rect.height - warn_rect.height):
|
||||
self._custom_software_warning_continue_button.set_enabled(True)
|
||||
self._custom_software_warning_continue_button.set_text("Continue")
|
||||
|
||||
def render_custom_software(self):
|
||||
def handle_keyboard_result(result):
|
||||
@@ -299,6 +334,23 @@ class Setup(Widget):
|
||||
self.keyboard.set_title("Enter URL", "for Custom Software")
|
||||
gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)
|
||||
|
||||
def use_openpilot(self):
|
||||
if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
|
||||
os.remove(VALID_CACHE_PATH)
|
||||
with open(TMP_CONTINUE_PATH, "w") as f:
|
||||
f.write(CONTINUE)
|
||||
run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
|
||||
shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
|
||||
shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
|
||||
|
||||
# give time for installer UI to take over
|
||||
time.sleep(1)
|
||||
gui_app.request_close()
|
||||
else:
|
||||
self.state = SetupState.NETWORK_SETUP
|
||||
self.stop_network_check_thread.clear()
|
||||
self.start_network_check()
|
||||
|
||||
def download(self, url: str):
|
||||
# autocomplete incomplete URLs
|
||||
if re.match("^([^/.]+)/([^/]+)$", url):
|
||||
@@ -316,7 +368,7 @@ class Setup(Widget):
|
||||
try:
|
||||
import tempfile
|
||||
|
||||
_, tmpfile = tempfile.mkstemp(prefix="installer_")
|
||||
fd, tmpfile = tempfile.mkstemp(prefix="installer_")
|
||||
|
||||
headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
|
||||
req = urllib.request.Request(self.download_url, headers=headers)
|
||||
@@ -346,12 +398,16 @@ class Setup(Widget):
|
||||
self.download_failed(self.download_url, "No custom software found at this URL.")
|
||||
return
|
||||
|
||||
os.rename(tmpfile, "/tmp/installer")
|
||||
os.chmod("/tmp/installer", 0o755)
|
||||
# AGNOS might try to execute the installer before this process exits.
|
||||
# Therefore, important to close the fd before renaming the installer.
|
||||
os.close(fd)
|
||||
os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
|
||||
|
||||
with open("/tmp/installer_url", "w") as f:
|
||||
with open(INSTALLER_URL_PATH, "w") as f:
|
||||
f.write(self.download_url)
|
||||
|
||||
# give time for installer UI to take over
|
||||
time.sleep(5)
|
||||
gui_app.request_close()
|
||||
|
||||
except Exception:
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
from dataclasses import dataclass
|
||||
from enum import IntEnum
|
||||
from functools import partial
|
||||
from threading import Lock
|
||||
from typing import Literal
|
||||
from typing import cast
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
|
||||
from openpilot.system.ui.widgets.button import ButtonStyle, Button
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
from openpilot.system.ui.widgets.keyboard import Keyboard
|
||||
from openpilot.system.ui.widgets.label import gui_label
|
||||
from openpilot.system.ui.widgets.label import TextAlignment, gui_label
|
||||
|
||||
NM_DEVICE_STATE_NEED_AUTH = 60
|
||||
MIN_PASSWORD_LENGTH = 8
|
||||
@@ -27,43 +27,20 @@ STRENGTH_ICONS = [
|
||||
]
|
||||
|
||||
|
||||
@dataclass
|
||||
class StateIdle:
|
||||
action: Literal["idle"] = "idle"
|
||||
|
||||
|
||||
@dataclass
|
||||
class StateConnecting:
|
||||
network: NetworkInfo
|
||||
action: Literal["connecting"] = "connecting"
|
||||
|
||||
|
||||
@dataclass
|
||||
class StateNeedsAuth:
|
||||
network: NetworkInfo
|
||||
retry: bool
|
||||
action: Literal["needs_auth"] = "needs_auth"
|
||||
|
||||
|
||||
@dataclass
|
||||
class StateShowForgetConfirm:
|
||||
network: NetworkInfo
|
||||
action: Literal["show_forget_confirm"] = "show_forget_confirm"
|
||||
|
||||
|
||||
@dataclass
|
||||
class StateForgetting:
|
||||
network: NetworkInfo
|
||||
action: Literal["forgetting"] = "forgetting"
|
||||
|
||||
|
||||
UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
|
||||
class UIState(IntEnum):
|
||||
IDLE = 0
|
||||
CONNECTING = 1
|
||||
NEEDS_AUTH = 2
|
||||
SHOW_FORGET_CONFIRM = 3
|
||||
FORGETTING = 4
|
||||
|
||||
|
||||
class WifiManagerUI(Widget):
|
||||
def __init__(self, wifi_manager: WifiManagerWrapper):
|
||||
super().__init__()
|
||||
self.state: UIState = StateIdle()
|
||||
self.state: UIState = UIState.IDLE
|
||||
self._state_network: NetworkInfo | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
|
||||
self._password_retry: bool = False # for NEEDS_AUTH
|
||||
self.btn_width: int = 200
|
||||
self.scroll_panel = GuiScrollPanel()
|
||||
self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
|
||||
@@ -93,17 +70,16 @@ class WifiManagerUI(Widget):
|
||||
gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
|
||||
return
|
||||
|
||||
match self.state:
|
||||
case StateNeedsAuth(network, retry):
|
||||
self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
|
||||
self.keyboard.reset()
|
||||
gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
|
||||
case StateShowForgetConfirm(network):
|
||||
self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?')
|
||||
self._confirm_dialog.reset()
|
||||
gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
|
||||
case _:
|
||||
self._draw_network_list(rect)
|
||||
if self.state == UIState.NEEDS_AUTH and self._state_network:
|
||||
self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
|
||||
self.keyboard.reset()
|
||||
gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result))
|
||||
elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
|
||||
self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
|
||||
self._confirm_dialog.reset()
|
||||
gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
|
||||
else:
|
||||
self._draw_network_list(rect)
|
||||
|
||||
def _on_password_entered(self, network: NetworkInfo, result: int):
|
||||
if result == 1:
|
||||
@@ -113,13 +89,13 @@ class WifiManagerUI(Widget):
|
||||
if len(password) >= MIN_PASSWORD_LENGTH:
|
||||
self.connect_to_network(network, password)
|
||||
elif result == 0:
|
||||
self.state = StateIdle()
|
||||
self.state = UIState.IDLE
|
||||
|
||||
def on_forgot_confirm_finished(self, network, result: int):
|
||||
if result == 1:
|
||||
self.forget_network(network)
|
||||
elif result == 0:
|
||||
self.state = StateIdle()
|
||||
self.state = UIState.IDLE
|
||||
|
||||
def _draw_network_list(self, rect: rl.Rectangle):
|
||||
content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
|
||||
@@ -147,17 +123,18 @@ class WifiManagerUI(Widget):
|
||||
security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
|
||||
|
||||
status_text = ""
|
||||
match self.state:
|
||||
case StateConnecting(network=connecting):
|
||||
if connecting.ssid == network.ssid:
|
||||
self._networks_buttons[network.ssid].set_enabled(False)
|
||||
status_text = "CONNECTING..."
|
||||
case StateForgetting(network=forgetting):
|
||||
if forgetting.ssid == network.ssid:
|
||||
self._networks_buttons[network.ssid].set_enabled(False)
|
||||
status_text = "FORGETTING..."
|
||||
case _:
|
||||
self._networks_buttons[network.ssid].set_enabled(True)
|
||||
if self.state == UIState.CONNECTING and self._state_network:
|
||||
if self._state_network.ssid == network.ssid:
|
||||
self._networks_buttons[network.ssid].set_enabled(False)
|
||||
status_text = "CONNECTING..."
|
||||
elif self.state == UIState.FORGETTING and self._state_network:
|
||||
if self._state_network.ssid == network.ssid:
|
||||
self._networks_buttons[network.ssid].set_enabled(False)
|
||||
status_text = "FORGETTING..."
|
||||
elif network.security_type == SecurityType.UNSUPPORTED:
|
||||
self._networks_buttons[network.ssid].set_enabled(False)
|
||||
else:
|
||||
self._networks_buttons[network.ssid].set_enabled(True)
|
||||
|
||||
self._networks_buttons[network.ssid].render(ssid_rect)
|
||||
|
||||
@@ -181,13 +158,16 @@ class WifiManagerUI(Widget):
|
||||
def _networks_buttons_callback(self, network):
|
||||
if self.scroll_panel.is_touch_valid():
|
||||
if not network.is_saved and network.security_type != SecurityType.OPEN:
|
||||
self.state = StateNeedsAuth(network, False)
|
||||
self.state = UIState.NEEDS_AUTH
|
||||
self._state_network = network
|
||||
self._password_retry = False
|
||||
elif not network.is_connected:
|
||||
self.connect_to_network(network)
|
||||
|
||||
def _forget_networks_buttons_callback(self, network):
|
||||
if self.scroll_panel.is_touch_valid():
|
||||
self.state = StateShowForgetConfirm(network)
|
||||
self.state = UIState.SHOW_FORGET_CONFIRM
|
||||
self._state_network = network
|
||||
|
||||
def _draw_status_icon(self, rect, network: NetworkInfo):
|
||||
"""Draw the status icon based on network's connection state"""
|
||||
@@ -212,14 +192,16 @@ class WifiManagerUI(Widget):
|
||||
rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)
|
||||
|
||||
def connect_to_network(self, network: NetworkInfo, password=''):
|
||||
self.state = StateConnecting(network)
|
||||
self.state = UIState.CONNECTING
|
||||
self._state_network = network
|
||||
if network.is_saved and not password:
|
||||
self.wifi_manager.activate_connection(network.ssid)
|
||||
else:
|
||||
self.wifi_manager.connect_to_network(network.ssid, password)
|
||||
|
||||
def forget_network(self, network: NetworkInfo):
|
||||
self.state = StateForgetting(network)
|
||||
self.state = UIState.FORGETTING
|
||||
self._state_network = network
|
||||
network.is_saved = False
|
||||
self.wifi_manager.forget_connection(network.ssid)
|
||||
|
||||
@@ -236,22 +218,24 @@ class WifiManagerUI(Widget):
|
||||
with self._lock:
|
||||
network = next((n for n in self._networks if n.ssid == ssid), None)
|
||||
if network:
|
||||
self.state = StateNeedsAuth(network, True)
|
||||
self.state = UIState.NEEDS_AUTH
|
||||
self._state_network = network
|
||||
self._password_retry = True
|
||||
|
||||
def _on_activated(self):
|
||||
with self._lock:
|
||||
if isinstance(self.state, StateConnecting):
|
||||
self.state = StateIdle()
|
||||
if self.state == UIState.CONNECTING:
|
||||
self.state = UIState.IDLE
|
||||
|
||||
def _on_forgotten(self, ssid):
|
||||
with self._lock:
|
||||
if isinstance(self.state, StateForgetting):
|
||||
self.state = StateIdle()
|
||||
if self.state == UIState.FORGETTING:
|
||||
self.state = UIState.IDLE
|
||||
|
||||
def _on_connection_failed(self, ssid: str, error: str):
|
||||
with self._lock:
|
||||
if isinstance(self.state, StateConnecting):
|
||||
self.state = StateIdle()
|
||||
if self.state == UIState.CONNECTING:
|
||||
self.state = UIState.IDLE
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
@@ -242,6 +242,9 @@ class Updater:
|
||||
b: str | None = self.params.get("UpdaterTargetBranch")
|
||||
if b is None:
|
||||
b = self.get_branch(BASEDIR)
|
||||
b = {
|
||||
("tici", "release3"): "release-tici"
|
||||
}.get((HARDWARE.get_device_type(), b), b)
|
||||
return b
|
||||
|
||||
@property
|
||||
@@ -283,8 +286,8 @@ class Updater:
|
||||
self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
|
||||
self.params.put("LastUpdateRouteCount", last_route_count)
|
||||
else:
|
||||
last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad
|
||||
last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count
|
||||
last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
|
||||
last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
|
||||
|
||||
if exception is None:
|
||||
self.params.remove("LastUpdateException")
|
||||
|
||||
+1
-1
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
|
||||
RELEASE_SP_BRANCHES = ['release-c3']
|
||||
TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
|
||||
MASTER_SP_BRANCHES = ['master']
|
||||
RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
|
||||
RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
|
||||
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
|
||||
|
||||
BUILD_METADATA_FILENAME = "build.json"
|
||||
|
||||
@@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
|
||||
|
||||
|
||||
class CompressedVipc:
|
||||
def __init__(self, addr, vision_streams, nvidia=False, debug=False):
|
||||
def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
|
||||
print("getting frame sizes")
|
||||
os.environ["ZMQ"] = "1"
|
||||
messaging.reset_context()
|
||||
@@ -117,7 +117,7 @@ class CompressedVipc:
|
||||
os.environ.pop("ZMQ")
|
||||
messaging.reset_context()
|
||||
|
||||
self.vipc_server = VisionIpcServer("camerad")
|
||||
self.vipc_server = VisionIpcServer(server_name)
|
||||
for vst in vision_streams:
|
||||
ed = sm[ENCODE_SOCKETS[vst]]
|
||||
self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
|
||||
@@ -144,6 +144,7 @@ if __name__ == "__main__":
|
||||
parser.add_argument("addr", help="Address of comma three")
|
||||
parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
|
||||
parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
|
||||
parser.add_argument("--server", default="camerad", help="choose vipc server name")
|
||||
parser.add_argument("--silent", action="store_true", help="Suppress debug output")
|
||||
args = parser.parse_args()
|
||||
|
||||
@@ -154,7 +155,7 @@ if __name__ == "__main__":
|
||||
]
|
||||
|
||||
vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
|
||||
cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
|
||||
cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
|
||||
|
||||
# register exit handler
|
||||
signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
|
||||
|
||||
+34
-53
@@ -1,6 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import atexit
|
||||
import logging
|
||||
import os
|
||||
import platform
|
||||
@@ -11,13 +10,14 @@ from argparse import ArgumentParser, ArgumentTypeError
|
||||
from collections.abc import Sequence
|
||||
from pathlib import Path
|
||||
from random import randint
|
||||
from subprocess import Popen, PIPE
|
||||
from subprocess import Popen
|
||||
from typing import Literal
|
||||
|
||||
from cereal.messaging import SubMaster
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params, UnknownKeyName
|
||||
from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.common.run import managed_proc
|
||||
from openpilot.tools.lib.route import Route
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
|
||||
@@ -38,22 +38,23 @@ UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
|
||||
logger = logging.getLogger('clip.py')
|
||||
|
||||
|
||||
def check_for_failure(proc: Popen):
|
||||
exit_code = proc.poll()
|
||||
if exit_code is not None and exit_code != 0:
|
||||
cmd = str(proc.args)
|
||||
if isinstance(proc.args, str):
|
||||
cmd = proc.args
|
||||
elif isinstance(proc.args, Sequence):
|
||||
cmd = str(proc.args[0])
|
||||
msg = f'{cmd} failed, exit code {exit_code}'
|
||||
logger.error(msg)
|
||||
stdout, stderr = proc.communicate()
|
||||
if stdout:
|
||||
logger.error(stdout.decode())
|
||||
if stderr:
|
||||
logger.error(stderr.decode())
|
||||
raise ChildProcessError(msg)
|
||||
def check_for_failure(procs: list[Popen]):
|
||||
for proc in procs:
|
||||
exit_code = proc.poll()
|
||||
if exit_code is not None and exit_code != 0:
|
||||
cmd = str(proc.args)
|
||||
if isinstance(proc.args, str):
|
||||
cmd = proc.args
|
||||
elif isinstance(proc.args, Sequence):
|
||||
cmd = str(proc.args[0])
|
||||
msg = f'{cmd} failed, exit code {exit_code}'
|
||||
logger.error(msg)
|
||||
stdout, stderr = proc.communicate()
|
||||
if stdout:
|
||||
logger.error(stdout.decode())
|
||||
if stderr:
|
||||
logger.error(stderr.decode())
|
||||
raise ChildProcessError(msg)
|
||||
|
||||
|
||||
def escape_ffmpeg_text(value: str):
|
||||
@@ -137,10 +138,6 @@ def populate_car_params(lr: LogReader):
|
||||
logger.debug('persisted CarParams')
|
||||
|
||||
|
||||
def start_proc(args: list[str], env: dict[str, str]):
|
||||
return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
|
||||
|
||||
|
||||
def validate_env(parser: ArgumentParser):
|
||||
if platform.system() not in ['Linux']:
|
||||
parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
|
||||
@@ -176,8 +173,7 @@ def wait_for_frames(procs: list[Popen]):
|
||||
while no_frames_drawn:
|
||||
sm.update()
|
||||
no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
|
||||
for proc in procs:
|
||||
check_for_failure(proc)
|
||||
check_for_failure(procs)
|
||||
|
||||
|
||||
def clip(
|
||||
@@ -253,35 +249,22 @@ def clip(
|
||||
|
||||
with OpenpilotPrefix(prefix, shared_download_cache=True):
|
||||
populate_car_params(lr)
|
||||
|
||||
env = os.environ.copy()
|
||||
env['DISPLAY'] = display
|
||||
|
||||
xvfb_proc = start_proc(xvfb_cmd, env)
|
||||
atexit.register(lambda: xvfb_proc.terminate())
|
||||
ui_proc = start_proc(ui_cmd, env)
|
||||
atexit.register(lambda: ui_proc.terminate())
|
||||
replay_proc = start_proc(replay_cmd, env)
|
||||
atexit.register(lambda: replay_proc.terminate())
|
||||
procs = [replay_proc, ui_proc, xvfb_proc]
|
||||
|
||||
logger.info('waiting for replay to begin (loading segments, may take a while)...')
|
||||
wait_for_frames(procs)
|
||||
|
||||
logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
|
||||
time.sleep(SECONDS_TO_WARM)
|
||||
for proc in procs:
|
||||
check_for_failure(proc)
|
||||
|
||||
ffmpeg_proc = start_proc(ffmpeg_cmd, env)
|
||||
procs.append(ffmpeg_proc)
|
||||
atexit.register(lambda: ffmpeg_proc.terminate())
|
||||
|
||||
logger.info(f'recording in progress ({duration}s)...')
|
||||
ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
|
||||
for proc in procs:
|
||||
check_for_failure(proc)
|
||||
logger.info(f'recording complete: {Path(out).resolve()}')
|
||||
with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc:
|
||||
procs = [xvfb_proc, ui_proc, replay_proc]
|
||||
logger.info('waiting for replay to begin (loading segments, may take a while)...')
|
||||
wait_for_frames(procs)
|
||||
logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
|
||||
time.sleep(SECONDS_TO_WARM)
|
||||
check_for_failure(procs)
|
||||
with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
|
||||
procs.append(ffmpeg_proc)
|
||||
logger.info(f'recording in progress ({duration}s)...')
|
||||
ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
|
||||
check_for_failure(procs)
|
||||
logger.info(f'recording complete: {Path(out).resolve()}')
|
||||
|
||||
|
||||
def main():
|
||||
@@ -319,9 +302,7 @@ def main():
|
||||
logger.exception('interrupted by user', exc_info=e)
|
||||
except Exception as e:
|
||||
logger.exception('encountered error', exc_info=e)
|
||||
finally:
|
||||
atexit._run_exitfuncs()
|
||||
sys.exit(exit_code)
|
||||
sys.exit(exit_code)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
Executable
+57
@@ -0,0 +1,57 @@
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
|
||||
from openpilot.tools.lib.route import Route, SegmentRange, FileName
|
||||
|
||||
# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
|
||||
FileNames = tuple[str, ...]
|
||||
Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
|
||||
|
||||
InternalUnavailableException = Exception("Internal source not available")
|
||||
|
||||
|
||||
def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
|
||||
route = Route(sr.route_name)
|
||||
|
||||
# comma api will have already checked if the file exists
|
||||
if fns == FileName.RLOG:
|
||||
return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
|
||||
else:
|
||||
return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
|
||||
|
||||
|
||||
def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
|
||||
if not internal_source_available(endpoint_url):
|
||||
raise InternalUnavailableException
|
||||
|
||||
def get_internal_url(sr: SegmentRange, seg, file):
|
||||
return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
|
||||
|
||||
return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
|
||||
|
||||
|
||||
def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
|
||||
return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
|
||||
|
||||
|
||||
def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
|
||||
return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
|
||||
|
||||
|
||||
def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
|
||||
# Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
|
||||
valid_files: dict[int, str] = {}
|
||||
|
||||
for seg_idx, urls in files.items():
|
||||
if isinstance(urls, str):
|
||||
urls = [urls]
|
||||
|
||||
# Add first valid file URL
|
||||
for url in urls:
|
||||
if file_exists(url):
|
||||
valid_files[seg_idx] = url
|
||||
break
|
||||
|
||||
return valid_files
|
||||
+22
-74
@@ -12,16 +12,15 @@ import urllib.parse
|
||||
import warnings
|
||||
import zstandard as zstd
|
||||
|
||||
from collections.abc import Callable, Iterable, Iterator
|
||||
from collections.abc import Iterable, Iterator
|
||||
from typing import cast
|
||||
from urllib.parse import parse_qs, urlparse
|
||||
|
||||
from cereal import log as capnp_log
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available
|
||||
from openpilot.tools.lib.route import Route, SegmentRange, FileName
|
||||
from openpilot.tools.lib.filereader import FileReader
|
||||
from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
|
||||
from openpilot.tools.lib.route import SegmentRange, FileName
|
||||
from openpilot.tools.lib.log_time_series import msgs_to_time_series
|
||||
|
||||
LogMessage = type[capnp._DynamicStructReader]
|
||||
@@ -40,6 +39,7 @@ def save_log(dest, log_msgs, compress=True):
|
||||
with open(dest, "wb") as f:
|
||||
f.write(dat)
|
||||
|
||||
|
||||
def decompress_stream(data: bytes):
|
||||
dctx = zstd.ZstdDecompressor()
|
||||
decompressed_data = b""
|
||||
@@ -139,73 +139,22 @@ class ReadMode(enum.StrEnum):
|
||||
AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user
|
||||
|
||||
|
||||
LogPath = str | None
|
||||
LogFileName = tuple[str, ...]
|
||||
Source = Callable[[SegmentRange, LogFileName], list[LogPath]]
|
||||
|
||||
InternalUnavailableException = Exception("Internal source not available")
|
||||
|
||||
|
||||
class LogsUnavailable(Exception):
|
||||
pass
|
||||
|
||||
|
||||
def comma_api_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
|
||||
route = Route(sr.route_name)
|
||||
|
||||
# comma api will have already checked if the file exists
|
||||
if fns == FileName.RLOG:
|
||||
return [route.log_paths()[seg] for seg in sr.seg_idxs]
|
||||
else:
|
||||
return [route.qlog_paths()[seg] for seg in sr.seg_idxs]
|
||||
|
||||
|
||||
def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]:
|
||||
if not internal_source_available(endpoint_url):
|
||||
raise InternalUnavailableException
|
||||
|
||||
def get_internal_url(sr: SegmentRange, seg, file):
|
||||
return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
|
||||
|
||||
return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs])
|
||||
|
||||
|
||||
def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
|
||||
return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs])
|
||||
|
||||
|
||||
def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
|
||||
return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs])
|
||||
|
||||
|
||||
def direct_source(file_or_url: str) -> list[str]:
|
||||
return [file_or_url]
|
||||
|
||||
|
||||
def eval_source(files: list[list[str] | str]) -> list[LogPath]:
|
||||
# Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
|
||||
valid_files: list[LogPath] = []
|
||||
|
||||
for urls in files:
|
||||
if isinstance(urls, str):
|
||||
urls = [urls]
|
||||
|
||||
for url in urls:
|
||||
if file_exists(url):
|
||||
valid_files.append(url)
|
||||
break
|
||||
else:
|
||||
valid_files.append(None)
|
||||
|
||||
return valid_files
|
||||
|
||||
|
||||
# TODO this should apply to camera files as well
|
||||
def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
|
||||
exceptions = {}
|
||||
|
||||
sr = SegmentRange(identifier)
|
||||
mode = default_mode if sr.selector is None else ReadMode(sr.selector)
|
||||
needed_seg_idxs = sr.seg_idxs
|
||||
|
||||
mode = default_mode if sr.selector is None else ReadMode(sr.selector)
|
||||
if mode == ReadMode.QLOG:
|
||||
try_fns = [FileName.QLOG]
|
||||
else:
|
||||
@@ -217,37 +166,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)
|
||||
|
||||
# Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
|
||||
# This function only returns when we've sourced all files, or throws an exception
|
||||
valid_files: dict[int, LogPath] = {}
|
||||
valid_files: dict[int, str] = {}
|
||||
for fn in try_fns:
|
||||
for source in sources:
|
||||
try:
|
||||
files = source(sr, fn)
|
||||
|
||||
# Check every source returns an expected number of files
|
||||
assert len(files) == len(valid_files) or len(valid_files) == 0, f"Source {source.__name__} returned unexpected number of files"
|
||||
files = source(sr, needed_seg_idxs, fn)
|
||||
|
||||
# Build a dict of valid files
|
||||
for idx, f in enumerate(files):
|
||||
if valid_files.get(idx) is None:
|
||||
valid_files[idx] = f
|
||||
valid_files |= files
|
||||
|
||||
# Don't check for segment files that have already been found
|
||||
needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]
|
||||
|
||||
# We've found all files, return them
|
||||
if all(f is not None for f in valid_files.values()):
|
||||
if len(needed_seg_idxs) == 0:
|
||||
return cast(list[str], list(valid_files.values()))
|
||||
|
||||
except Exception as e:
|
||||
exceptions[source.__name__] = e
|
||||
|
||||
if fn == try_fns[0]:
|
||||
missing_logs = list(valid_files.values()).count(None)
|
||||
missing_logs = len(needed_seg_idxs)
|
||||
if mode == ReadMode.AUTO:
|
||||
cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...")
|
||||
cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
|
||||
elif mode == ReadMode.AUTO_INTERACTIVE:
|
||||
if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
|
||||
if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
|
||||
break
|
||||
|
||||
missing_logs = list(valid_files.values()).count(None)
|
||||
raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " +
|
||||
missing_logs = len(needed_seg_idxs)
|
||||
raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
|
||||
"are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
|
||||
"Exceptions for sources:\n - " + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
|
||||
|
||||
@@ -298,7 +245,7 @@ class LogReader:
|
||||
def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
|
||||
sources: list[Source] = None, sort_by_time=False, only_union_types=False):
|
||||
if sources is None:
|
||||
sources = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]
|
||||
sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]
|
||||
|
||||
self.default_mode = default_mode
|
||||
self.sources = sources
|
||||
@@ -351,6 +298,7 @@ class LogReader:
|
||||
def time_series(self):
|
||||
return msgs_to_time_series(self)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import codecs
|
||||
|
||||
|
||||
+3
-4
@@ -231,7 +231,6 @@ class RouteName:
|
||||
def __str__(self) -> str: return self._canonical_name
|
||||
|
||||
|
||||
|
||||
class SegmentName:
|
||||
# TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
|
||||
# of this class instead of manually constructing a segment name (use canonical_name prop instead)
|
||||
@@ -252,7 +251,7 @@ class SegmentName:
|
||||
@property
|
||||
def canonical_name(self) -> str: return self._canonical_name
|
||||
|
||||
#TODO should only use one name
|
||||
# TODO should only use one name
|
||||
@property
|
||||
def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"
|
||||
|
||||
@@ -283,7 +282,7 @@ class SegmentName:
|
||||
@staticmethod
|
||||
def from_file_name(file_name):
|
||||
# ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
|
||||
dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1]
|
||||
dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
|
||||
return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
|
||||
|
||||
@staticmethod
|
||||
@@ -304,6 +303,7 @@ class SegmentName:
|
||||
dongle_id, route_name, segment_num = prefix.split("/")
|
||||
return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
|
||||
|
||||
|
||||
@cache
|
||||
def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
|
||||
try:
|
||||
@@ -365,4 +365,3 @@ class SegmentRange:
|
||||
|
||||
def __repr__(self) -> str:
|
||||
return self.__str__()
|
||||
|
||||
|
||||
@@ -10,7 +10,8 @@ import requests
|
||||
from parameterized import parameterized
|
||||
|
||||
from cereal import log as capnp_log
|
||||
from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
|
||||
from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
|
||||
from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
|
||||
from openpilot.tools.lib.route import SegmentRange
|
||||
from openpilot.tools.lib.url_file import URLFileException
|
||||
|
||||
@@ -36,12 +37,12 @@ def setup_source_scenario(mocker, is_internal=False):
|
||||
comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
|
||||
|
||||
if is_internal:
|
||||
internal_source_mock.return_value = [QLOG_FILE]
|
||||
internal_source_mock.return_value = {3: QLOG_FILE}
|
||||
else:
|
||||
internal_source_mock.side_effect = InternalUnavailableException
|
||||
|
||||
openpilotci_source_mock.return_value = [None]
|
||||
comma_api_source_mock.return_value = [QLOG_FILE]
|
||||
openpilotci_source_mock.return_value = {}
|
||||
comma_api_source_mock.return_value = {3: QLOG_FILE}
|
||||
|
||||
yield
|
||||
|
||||
@@ -90,7 +91,7 @@ class TestLogReader:
|
||||
|
||||
@pytest.mark.parametrize("cache_enabled", [True, False])
|
||||
def test_direct_parsing(self, mocker, cache_enabled):
|
||||
file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
|
||||
file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
|
||||
os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
|
||||
qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
|
||||
|
||||
@@ -208,13 +209,12 @@ class TestLogReader:
|
||||
assert qlog_len == log_len
|
||||
|
||||
@pytest.mark.parametrize("is_internal", [True, False])
|
||||
@pytest.mark.slow
|
||||
def test_auto_source_scenarios(self, mocker, is_internal):
|
||||
lr = LogReader(QLOG_FILE)
|
||||
qlog_len = len(list(lr))
|
||||
|
||||
with setup_source_scenario(mocker, is_internal=is_internal):
|
||||
lr = LogReader(f"{TEST_ROUTE}/0/q")
|
||||
lr = LogReader(f"{TEST_ROUTE}/3/q")
|
||||
log_len = len(list(lr))
|
||||
assert qlog_len == log_len
|
||||
|
||||
|
||||
+10
-8
@@ -9,12 +9,14 @@ from urllib3.util import Timeout
|
||||
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
# Cache chunk size
|
||||
K = 1000
|
||||
CHUNK_SIZE = 1000 * K
|
||||
|
||||
logging.getLogger("urllib3").setLevel(logging.WARNING)
|
||||
|
||||
|
||||
def hash_256(link: str) -> str:
|
||||
return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()
|
||||
|
||||
@@ -24,7 +26,7 @@ class URLFileException(Exception):
|
||||
|
||||
|
||||
class URLFile:
|
||||
_pool_manager: PoolManager|None = None
|
||||
_pool_manager: PoolManager | None = None
|
||||
|
||||
@staticmethod
|
||||
def reset() -> None:
|
||||
@@ -33,16 +35,16 @@ class URLFile:
|
||||
@staticmethod
|
||||
def pool_manager() -> PoolManager:
|
||||
if URLFile._pool_manager is None:
|
||||
socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
|
||||
socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
|
||||
retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
|
||||
URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
|
||||
return URLFile._pool_manager
|
||||
|
||||
def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
|
||||
def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
|
||||
self._url = url
|
||||
self._timeout = Timeout(connect=timeout, read=timeout)
|
||||
self._pos = 0
|
||||
self._length: int|None = None
|
||||
self._length: int | None = None
|
||||
self._debug = debug
|
||||
# True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
|
||||
self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
|
||||
@@ -58,7 +60,7 @@ class URLFile:
|
||||
def __exit__(self, exc_type, exc_value, traceback) -> None:
|
||||
pass
|
||||
|
||||
def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
|
||||
def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
|
||||
return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
|
||||
|
||||
def get_length_online(self) -> int:
|
||||
@@ -85,7 +87,7 @@ class URLFile:
|
||||
file_length.write(str(self._length))
|
||||
return self._length
|
||||
|
||||
def read(self, ll: int|None=None) -> bytes:
|
||||
def read(self, ll: int | None = None) -> bytes:
|
||||
if self._force_download:
|
||||
return self.read_aux(ll=ll)
|
||||
|
||||
@@ -117,7 +119,7 @@ class URLFile:
|
||||
self._pos = file_end
|
||||
return response
|
||||
|
||||
def read_aux(self, ll: int|None=None) -> bytes:
|
||||
def read_aux(self, ll: int | None = None) -> bytes:
|
||||
download_range = False
|
||||
headers = {}
|
||||
if self._pos != 0 or ll is not None:
|
||||
@@ -152,7 +154,7 @@ class URLFile:
|
||||
self._pos += len(ret)
|
||||
return ret
|
||||
|
||||
def seek(self, pos:int) -> None:
|
||||
def seek(self, pos: int) -> None:
|
||||
self._pos = pos
|
||||
|
||||
@property
|
||||
|
||||
@@ -763,40 +763,48 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "lxml"
|
||||
version = "6.0.0"
|
||||
version = "6.0.1"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/c5/ed/60eb6fa2923602fba988d9ca7c5cdbd7cf25faa795162ed538b527a35411/lxml-6.0.0.tar.gz", hash = "sha256:032e65120339d44cdc3efc326c9f660f5f7205f3a535c1fdbf898b29ea01fb72", size = 4096938, upload-time = "2025-06-26T16:28:19.373Z" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/8f/bd/f9d01fd4132d81c6f43ab01983caea69ec9614b913c290a26738431a015d/lxml-6.0.1.tar.gz", hash = "sha256:2b3a882ebf27dd026df3801a87cf49ff791336e0f94b0fad195db77e01240690", size = 4070214, upload-time = "2025-08-22T10:37:53.525Z" }
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||||
wheels = [
|
||||
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{ url = "https://files.pythonhosted.org/packages/f1/33/5ac521212c5bcb097d573145d54b2b4a3c9766cda88af5a0e91f66037c6e/lxml-6.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b8dd6dd0e9c1992613ccda2bcb74fc9d49159dbe0f0ca4753f37527749885c25", size = 4590317, upload-time = "2025-06-26T16:25:38.103Z" },
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{ url = "https://files.pythonhosted.org/packages/2b/2e/45b7ca8bee304c07f54933c37afe7dd4d39ff61ba2757f519dcc71bc5d44/lxml-6.0.0-cp311-cp311-manylinux2010_i686.manylinux2014_i686.manylinux_2_12_i686.manylinux_2_17_i686.whl", hash = "sha256:d7ae472f74afcc47320238b5dbfd363aba111a525943c8a34a1b657c6be934c3", size = 5221628, upload-time = "2025-06-26T16:25:40.878Z" },
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{ url = "https://files.pythonhosted.org/packages/32/23/526d19f7eb2b85da1f62cffb2556f647b049ebe2a5aa8d4d41b1fb2c7d36/lxml-6.0.0-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:5592401cdf3dc682194727c1ddaa8aa0f3ddc57ca64fd03226a430b955eab6f6", size = 4949429, upload-time = "2025-06-28T18:47:20.046Z" },
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{ url = "https://files.pythonhosted.org/packages/99/b6/3a7971aa05b7be7dfebc7ab57262ec527775c2c3c5b2f43675cac0458cad/lxml-6.0.0-cp312-cp312-manylinux_2_27_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:d6e200909a119626744dd81bae409fc44134389e03fbf1d68ed2a55a2fb10991", size = 5657016, upload-time = "2025-07-03T19:19:06.008Z" },
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{ url = "https://files.pythonhosted.org/packages/69/f8/693b1a10a891197143c0673fcce5b75fc69132afa81a36e4568c12c8faba/lxml-6.0.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:ca50bd612438258a91b5b3788c6621c1f05c8c478e7951899f492be42defc0da", size = 5257565, upload-time = "2025-06-26T16:26:17.906Z" },
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Reference in New Issue
Block a user