From 4486947e811bd09903795b5b76e7e2846062a64c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 9 May 2024 10:51:15 -0700 Subject: [PATCH 001/159] [bot] Fingerprints: add missing FW versions from new users (#32384) Export fingerprints --- selfdrive/car/volkswagen/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index e20fa4fc1c..fdc375fc8d 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -228,6 +228,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891601', b'\xf1\x870GC300012A \xf1\x891401', b'\xf1\x870GC300012A \xf1\x891403', + b'\xf1\x870GC300012A \xf1\x891422', b'\xf1\x870GC300012M \xf1\x892301', b'\xf1\x870GC300014B \xf1\x892401', b'\xf1\x870GC300014B \xf1\x892403', From ef1693433f0e89818bbc8dabf83f16841e28ec6e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 10 May 2024 21:00:01 -0700 Subject: [PATCH 002/159] controlsd: use latest actuatorsOutput (#32390) use current actuatorsOutput --- selfdrive/car/card.py | 2 +- selfdrive/controls/controlsd.py | 7 ++----- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 8d1ef70d62..8820df5fba 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -78,7 +78,7 @@ class CarD: """Initialize CarInterface, once controls are ready""" self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - def state_update(self): + def state_update(self) -> car.CarState: """carState update loop, driven by can""" # Update carState from CAN diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 725a433dc6..438463d9f2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -142,7 +142,6 @@ class Controls: self.logged_comm_issue = None self.not_running_prev = None self.steer_limited = False - self.last_actuators = car.CarControl.Actuators.new_message() self.desired_curvature = 0.0 self.experimental_mode = False self.personality = self.read_personality_param() @@ -620,7 +619,7 @@ class Controls: undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 turning = abs(lac_log.desiredLateralAccel) > 1.0 good_speed = CS.vEgo > 5 - max_torque = abs(self.last_actuators.steer) > 0.99 + max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99 if undershooting and turning and good_speed and max_torque: lac_log.active and self.events.add(EventName.steerSaturated) elif lac_log.saturated: @@ -661,8 +660,6 @@ class Controls: def publish_logs(self, CS, start_time, CC, lac_log): """Send actuators and hud commands to the car, send controlsstate and MPC logging""" - CO = self.sm['carOutput'] - # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value) @@ -727,7 +724,7 @@ class Controls: if not self.CP.passive and self.initialized: self.card.controls_update(CC) - self.last_actuators = CO.actuatorsOutput + CO = self.sm['carOutput'] if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ STEER_ANGLE_SATURATION_THRESHOLD From d28624fe5b4145b48add862f1f29a3bcf7568b8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 10 May 2024 23:07:12 -0700 Subject: [PATCH 003/159] card: more final structure --- selfdrive/car/card.py | 19 +++++++++---------- selfdrive/controls/controlsd.py | 2 +- 2 files changed, 10 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 8820df5fba..ff1950fbef 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -20,7 +20,6 @@ REPLAY = "REPLAY" in os.environ class CarD: CI: CarInterfaceBase - CS: car.CarState def __init__(self, CI=None): self.can_sock = messaging.sub_sock('can', timeout=20) @@ -83,7 +82,7 @@ class CarD: # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - self.CS = self.CI.update(self.CC_prev, can_strs) + CS = self.CI.update(self.CC_prev, can_strs) self.sm.update(0) @@ -101,21 +100,21 @@ class CarD: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime - self.state_publish() + self.state_publish(CS) - return self.CS + return CS - def state_publish(self): + def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" # carState cs_send = messaging.new_message('carState') - cs_send.valid = self.CS.canValid - cs_send.carState = self.CS + cs_send.valid = CS.canValid + cs_send.carState = CS self.pm.send('carState', cs_send) # carParams - logged every 50 seconds (> 1 per segment) - if (self.sm.frame % int(50. / DT_CTRL) == 0): + if self.sm.frame % int(50. / DT_CTRL) == 0: cp_send = messaging.new_message('carParams') cp_send.valid = True cp_send.carParams = self.CP @@ -128,12 +127,12 @@ class CarD: co_send.carOutput.actuatorsOutput = self.last_actuators self.pm.send('carOutput', co_send) - def controls_update(self, CC: car.CarControl): + def controls_update(self, CS: car.CarState, CC: car.CarControl): """control update loop, driven by carControl""" # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) - self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) self.CC_prev = CC diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 438463d9f2..d36c969f60 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -723,7 +723,7 @@ class Controls: hudControl.visualAlert = current_alert.visual_alert if not self.CP.passive and self.initialized: - self.card.controls_update(CC) + self.card.controls_update(CS, CC) CO = self.sm['carOutput'] if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ From 3fd549f30a3528a1dfb2dbe2d8590b4bc5af43b6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 11 May 2024 10:54:24 -0700 Subject: [PATCH 004/159] [bot] Fingerprints: add missing FW versions from new users (#32397) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 95f878a5b6..368b6703d8 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -422,6 +422,7 @@ FW_VERSIONS = { b'68527403AD', b'68546047AF', b'68631938AA', + b'68631939AA', b'68631940AA', b'68631942AA', b'68631943AB', @@ -552,6 +553,7 @@ FW_VERSIONS = { b'68539651AD', b'68586101AA ', b'68586105AB ', + b'68629919AC ', b'68629922AC ', b'68629925AC ', b'68629926AC ', @@ -589,6 +591,7 @@ FW_VERSIONS = { b'68520870AC', b'68540431AB', b'68540433AB', + b'68629935AB', b'68629936AC', ], }, From 4af50cee6385022e93dca261af7485c36bb5744b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 May 2024 13:15:50 -0700 Subject: [PATCH 005/159] boardd: fix SPI return code on some transfer failures (#32401) --- selfdrive/boardd/spi.cc | 17 +++++++---------- 1 file changed, 7 insertions(+), 10 deletions(-) diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index e02252018f..ecf32bef5d 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -345,13 +345,13 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx ret = lltransfer(transfer); if (ret < 0) { LOGE("SPI: failed to send header"); - goto transfer_fail; + return ret; } // Wait for (N)ACK ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1); if (ret < 0) { - goto transfer_fail; + return ret; } // Send data @@ -363,20 +363,20 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx ret = lltransfer(transfer); if (ret < 0) { LOGE("SPI: failed to send data"); - goto transfer_fail; + return ret; } // Wait for (N)ACK ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3); if (ret < 0) { - goto transfer_fail; + return ret; } // Read data rx_data_len = *(uint16_t *)(rx_buf+1); if (rx_data_len >= SPI_BUF_SIZE) { LOGE("SPI: RX data len larger than buf size %d", rx_data_len); - goto transfer_fail; + return -1; } transfer.len = rx_data_len + 1; @@ -384,11 +384,11 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx ret = lltransfer(transfer); if (ret < 0) { LOGE("SPI: failed to read rx data"); - goto transfer_fail; + return ret; } if (!check_checksum(rx_buf, rx_data_len + 4)) { LOGE("SPI: bad checksum"); - goto transfer_fail; + return -1; } if (rx_data != NULL) { @@ -396,8 +396,5 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } return rx_data_len; - -transfer_fail: - return ret; } #endif From 07aad1799391e080ef9592441cae69a000ad60a4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 May 2024 13:43:16 -0700 Subject: [PATCH 006/159] bump cereal (#32403) --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 84af7ef665..16cc134f60 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 84af7ef6654b2e810a2871b8ddd27ad170696599 +Subproject commit 16cc134f607c53aea9bcf89595fe0ab34abc833b From dcfb206a38eb5719b872f1b7a60c25681f6d734f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 May 2024 14:24:28 -0700 Subject: [PATCH 007/159] boardd: SPI corruption test (#32404) * simple test * little more --------- Co-authored-by: Comma Device --- Jenkinsfile | 1 + selfdrive/boardd/spi.cc | 12 ++- .../boardd/tests/test_boardd_loopback.py | 87 +++++++++++-------- selfdrive/boardd/tests/test_boardd_spi.py | 72 +++++++++++++++ 4 files changed, 132 insertions(+), 40 deletions(-) create mode 100755 selfdrive/boardd/tests/test_boardd_spi.py diff --git a/Jenkinsfile b/Jenkinsfile index 9d12b77746..2e672e1a23 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -237,6 +237,7 @@ node { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ ["build openpilot", "cd selfdrive/manager && ./build.py"], ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index ecf32bef5d..66e6a0f0ab 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -301,7 +301,11 @@ int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) { } if ((static_cast(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) { printf("corrupting TX\n"); - memset((uint8_t*)t.tx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1)); + for (int i = 0; i < t.len; i++) { + if ((static_cast(rand()) / RAND_MAX) > 0.9) { + ((uint8_t*)t.tx_buf)[i] = (uint8_t)(rand() % 256); + } + } } } @@ -310,7 +314,11 @@ int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) { if (err_prob > 0) { if ((static_cast(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) { printf("corrupting RX\n"); - memset((uint8_t*)t.rx_buf, (uint8_t)(rand() % 256), rand() % (t.len+1)); + for (int i = 0; i < t.len; i++) { + if ((static_cast(rand()) / RAND_MAX) > 0.9) { + ((uint8_t*)t.rx_buf)[i] = (uint8_t)(rand() % 256); + } + } } } diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 148ce9a25d..3ab3a9c5b1 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -3,6 +3,7 @@ import os import copy import random import time +import pytest import unittest from collections import defaultdict from pprint import pprint @@ -17,42 +18,61 @@ from openpilot.system.hardware import TICI from openpilot.selfdrive.test.helpers import phone_only, with_processes -class TestBoardd(unittest.TestCase): +def setup_boardd(num_pandas): + params = Params() + params.put_bool("IsOnroad", False) + with Timeout(90, "boardd didn't start"): + sm = messaging.SubMaster(['pandaStates']) + while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ + any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): + sm.update(1000) + + found_pandas = len(sm['pandaStates']) + assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \ + connect another panda for multipanda tests." + + # boardd safety setting relies on these params + cp = car.CarParams.new_message() + + safety_config = car.CarParams.SafetyConfig.new_message() + safety_config.safetyModel = car.CarParams.SafetyModel.allOutput + cp.safetyConfigs = [safety_config]*num_pandas + + params.put_bool("IsOnroad", True) + params.put_bool("FirmwareQueryDone", True) + params.put_bool("ControlsReady", True) + params.put("CarParams", cp.to_bytes()) + + +def send_random_can_messages(sendcan, count, num_pandas=1): + sent_msgs = defaultdict(set) + for _ in range(count): + to_send = [] + for __ in range(random.randrange(20)): + bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) + addr = random.randrange(1, 1<<29) + dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) + if (addr, dat) in sent_msgs[bus]: + continue + sent_msgs[bus].add((addr, dat)) + to_send.append(make_can_msg(addr, dat, bus)) + sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) + return sent_msgs + + +@pytest.mark.tici +class TestBoarddLoopback: @classmethod - def setUpClass(cls): + def setup_class(cls): os.environ['STARTED'] = '1' os.environ['BOARDD_LOOPBACK'] = '1' @phone_only @with_processes(['pandad']) def test_loopback(self): - params = Params() - params.put_bool("IsOnroad", False) - - with Timeout(90, "boardd didn't start"): - sm = messaging.SubMaster(['pandaStates']) - while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ - any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): - sm.update(1000) - - num_pandas = len(sm['pandaStates']) - expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 - self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \ - connect another panda for multipanda tests.") - - # boardd safety setting relies on these params - cp = car.CarParams.new_message() - - safety_config = car.CarParams.SafetyConfig.new_message() - safety_config.safetyModel = car.CarParams.SafetyModel.allOutput - cp.safetyConfigs = [safety_config]*num_pandas - - params.put_bool("IsOnroad", True) - params.put_bool("FirmwareQueryDone", True) - params.put_bool("ControlsReady", True) - params.put("CarParams", cp.to_bytes()) - + num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 + setup_boardd(num_pandas) sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) sm = messaging.SubMaster(['pandaStates']) @@ -62,16 +82,7 @@ class TestBoardd(unittest.TestCase): for i in range(n): print(f"boardd loopback {i}/{n}") - sent_msgs = defaultdict(set) - for _ in range(random.randrange(20, 100)): - to_send = [] - for __ in range(random.randrange(20)): - bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) - addr = random.randrange(1, 1<<29) - dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) - sent_msgs[bus].add((addr, dat)) - to_send.append(make_can_msg(addr, dat, bus)) - sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) + sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas) sent_loopback = copy.deepcopy(sent_msgs) sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()}) diff --git a/selfdrive/boardd/tests/test_boardd_spi.py b/selfdrive/boardd/tests/test_boardd_spi.py new file mode 100755 index 0000000000..d384caaddd --- /dev/null +++ b/selfdrive/boardd/tests/test_boardd_spi.py @@ -0,0 +1,72 @@ +#!/usr/bin/env python3 +import os +import time +import numpy as np +import pytest + +import cereal.messaging as messaging +from cereal.services import SERVICE_LIST +from openpilot.system.hardware import HARDWARE +from openpilot.selfdrive.test.helpers import phone_only, with_processes +from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd + + +@pytest.mark.tici +class TestBoarddSpi: + @classmethod + def setup_class(cls): + if HARDWARE.get_device_type() == 'tici': + pytest.skip("only for spi pandas") + os.environ['STARTED'] = '1' + os.environ['BOARDD_LOOPBACK'] = '1' + os.environ['SPI_ERR_PROB'] = '0.001' + + @phone_only + @with_processes(['pandad']) + def test_spi_corruption(self, subtests): + setup_boardd(1) + + socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')} + time.sleep(2) + for s in socks.values(): + messaging.drain_sock_raw(s) + + st = time.monotonic() + ts = {s: list() for s in socks.keys()} + for _ in range(20): + for service, sock in socks.items(): + for m in messaging.drain_sock(sock): + ts[service].append(m.logMonoTime) + + # sanity check for corruption + assert m.valid + if service == "can": + assert len(m.can) == 0 + elif service == "pandaStates": + assert len(m.pandaStates) == 1 + ps = m.pandaStates[0] + assert ps.uptime < 100 + assert ps.pandaType == "tres" + assert ps.ignitionLine + assert not ps.ignitionCan + assert ps.voltage < 14000 + elif service == "peripheralState": + ps = m.peripheralState + assert ps.pandaType == "tres" + assert 4000 < ps.voltage < 14000 + assert 100 < ps.current < 1000 + assert ps.fanSpeedRpm < 8000 + + time.sleep(0.5) + et = time.monotonic() - st + + print("\n======== timing report ========") + for service, times in ts.items(): + dts = np.diff(times)/1e6 + print(service.ljust(17), f"{np.mean(dts):7.2f} {np.min(dts):7.2f} {np.max(dts):7.2f}") + with subtests.test(msg="timing check", service=service): + edt = 1e3 / SERVICE_LIST[service].frequency + assert edt*0.9 < np.mean(dts) < edt*1.1 + assert np.max(dts) < edt*3 + assert np.min(dts) < edt + assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8) From 6aa17ab10a182fac671b9aaef3d4ac0aebb24af2 Mon Sep 17 00:00:00 2001 From: Julio Salamanca Date: Sun, 12 May 2024 17:00:17 -0700 Subject: [PATCH 008/159] Remove qlog param from demo example (#32406) Remove qlog param from demo instructions qlog param was removed in this commit https://github.com/commaai/openpilot/commit/d7e7659852f14ca458605f13c2bdae90f5de5a45 --- tools/plotjuggler/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index dcf2bbbac7..dc301efcb7 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -58,7 +58,7 @@ If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py - For a quick demo, go through the installation step and run this command: -`./juggle.py --demo --qlog --layout=layouts/demo.xml` +`./juggle.py --demo --layout=layouts/demo.xml` ## Layouts From ced3fab7d54463aa9536d5f81d72f6229f548711 Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Mon, 13 May 2024 07:43:34 +0300 Subject: [PATCH 009/159] ui: don't show PrimeUserWidget on PrimeType.UNKNOWN (#31976) From e548742701bac60f872ee4a1043b014e1ae00731 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 May 2024 13:01:08 +0800 Subject: [PATCH 010/159] boardd: Improve performance of `can_list_to_can_capnp()` (#32356) --- selfdrive/boardd/boardd_api_impl.pyx | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx index 6a552bb447..cbac8cc5a3 100644 --- a/selfdrive/boardd/boardd_api_impl.pyx +++ b/selfdrive/boardd/boardd_api_impl.pyx @@ -15,16 +15,17 @@ cdef extern from "can_list_to_can_capnp.cc": void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): + cdef can_frame *f cdef vector[can_frame] can_list - can_list.reserve(len(can_msgs)) - cdef can_frame f + can_list.reserve(len(can_msgs)) for can_msg in can_msgs: + f = &(can_list.emplace_back()) f.address = can_msg[0] f.busTime = can_msg[1] f.dat = can_msg[2] f.src = can_msg[3] - can_list.push_back(f) + cdef string out can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid) return out From f770f55a4e742da9a3ea474f9ccb330ba4fde64a Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 13 May 2024 01:06:03 -0400 Subject: [PATCH 011/159] VW MQB: Support for preempted HCA state (#32298) * bump opendbc * VW MQB: Support for preempted HCA state --- selfdrive/car/volkswagen/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index b169970fed..ec6403496f 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -259,7 +259,7 @@ class CarState(CarStateBase): # DISABLED means the EPS hasn't been configured to support Lane Assist self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600) perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT")) - temp_fault = hca_status == "REJECTED" or not self.eps_init_complete + temp_fault = hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete return temp_fault, perm_fault @staticmethod From acd84e0f9ceba9315f08fa8d6221130b8a7f03f8 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 13 May 2024 08:39:34 -0700 Subject: [PATCH 012/159] [bot] Bump submodules (#32410) bump submodules Co-authored-by: Vehicle Researcher --- cereal | 2 +- opendbc | 2 +- panda | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 16cc134f60..591e389bf8 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 16cc134f607c53aea9bcf89595fe0ab34abc833b +Subproject commit 591e389bf8e31f6f6ab921ec6598cafa53c19d36 diff --git a/opendbc b/opendbc index d058bc9a9f..e2408cb272 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit d058bc9a9f156d55ee6e4b90ceb292d087267414 +Subproject commit e2408cb2725671ad63e827e02f37e0f1739b68c6 diff --git a/panda b/panda index 2b70e283c1..2cf3b84c77 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2b70e283c17e8e661f471cfe7994dfca8a4457d3 +Subproject commit 2cf3b84c77f6ba541619d53edc291b5b94033821 From be3e99e2d3ab3e39030f88f5450b955885a01772 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 08:39:49 -0700 Subject: [PATCH 013/159] [bot] Fingerprints: add missing FW versions from new users (#32412) Export fingerprints --- selfdrive/car/toyota/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index a57e58fbb7..d239294392 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1141,6 +1141,7 @@ FW_VERSIONS = { CAR.TOYOTA_RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + b'\x01F15260R50000\x00\x00\x00\x00', b'\x01F15260R51000\x00\x00\x00\x00', b'\x01F15264283200\x00\x00\x00\x00', b'\x01F15264283300\x00\x00\x00\x00', @@ -1162,6 +1163,7 @@ FW_VERSIONS = { b'\x01896634AJ2000\x00\x00\x00\x00', b'\x01896634AL5000\x00\x00\x00\x00', b'\x01896634AL6000\x00\x00\x00\x00', + b'\x01896634AL8000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R03100\x00\x00\x00\x00', From 6a9be0185792955fa3f1211b3a314c9f3273e76c Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 13 May 2024 08:40:23 -0700 Subject: [PATCH 014/159] [bot] Update Python packages and pre-commit hooks (#32411) Update Python packages and pre-commit hooks Co-authored-by: Vehicle Researcher --- .pre-commit-config.yaml | 4 +- poetry.lock | 433 +++++++++++++++++++--------------------- 2 files changed, 211 insertions(+), 226 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e9c7d93d88..692c694560 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -33,7 +33,7 @@ repos: - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.4.3 + rev: v0.4.4 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' @@ -98,6 +98,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.2 + rev: 0.28.3 hooks: - id: check-github-workflows diff --git a/poetry.lock b/poetry.lock index 70e91f2cc2..978574a1e2 100644 --- a/poetry.lock +++ b/poetry.lock @@ -291,23 +291,23 @@ msal-extensions = ">=0.3.0" [[package]] name = "azure-storage-blob" -version = "12.19.1" +version = "12.20.0" description = 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description = "Retry code until it succeeds" optional = false -python-versions = ">=3.7" +python-versions = ">=3.8" files = [ - {file = "tenacity-8.2.3-py3-none-any.whl", hash = "sha256:ce510e327a630c9e1beaf17d42e6ffacc88185044ad85cf74c0a8887c6a0f88c"}, - {file = "tenacity-8.2.3.tar.gz", hash = "sha256:5398ef0d78e63f40007c1fb4c0bff96e1911394d2fa8d194f77619c05ff6cc8a"}, + {file = "tenacity-8.3.0-py3-none-any.whl", hash = "sha256:3649f6443dbc0d9b01b9d8020a9c4ec7a1ff5f6f3c6c8a036ef371f573fe9185"}, + {file = "tenacity-8.3.0.tar.gz", hash = "sha256:953d4e6ad24357bceffbc9707bc74349aca9d245f68eb65419cf0c249a1949a2"}, ] [package.extras] -doc = ["reno", "sphinx", "tornado (>=4.5)"] +doc = ["reno", "sphinx"] +test = ["pytest", "tornado (>=4.5)", "typeguard"] [[package]] name = "timezonefinder" From d98ab4ddb1beebdf7079d403a837aabbf7d86918 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 12:16:53 -0700 Subject: [PATCH 015/159] Events: use sorted container (#32395) * use SortedList * Update ref_commit --- selfdrive/controls/lib/events.py | 13 +++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 40796dd8ff..bb1a54f232 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -3,6 +3,7 @@ import math import os from enum import IntEnum from collections.abc import Callable +from sortedcontainers import SortedList from cereal import log, car import cereal.messaging as messaging @@ -48,12 +49,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} class Events: def __init__(self): - self.events: list[int] = [] - self.static_events: list[int] = [] + self.events: SortedList[int] = SortedList() + self.static_events: SortedList[int] = SortedList() self.events_prev = dict.fromkeys(EVENTS.keys(), 0) @property - def names(self) -> list[int]: + def names(self) -> SortedList[int]: return self.events def __len__(self) -> int: @@ -61,8 +62,8 @@ class Events: def add(self, event_name: int, static: bool=False) -> None: if static: - self.static_events.append(event_name) - self.events.append(event_name) + self.static_events.add(event_name) + self.events.add(event_name) def clear(self) -> None: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} @@ -92,7 +93,7 @@ class Events: def add_from_msg(self, events): for e in events: - self.events.append(e.name.raw) + self.events.add(e.name.raw) def to_msg(self): ret = [] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a0d3cc6bb2..51e85b1350 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -685a2bb9aacdd790e26d14aa49d3792c3ed65125 \ No newline at end of file +cb76a8e9844becc5024985c61bad4ec3518eebf5 From 3dfb6d7931711c51ecfe0d8c32f0ff928b17a5c9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 12:50:42 -0700 Subject: [PATCH 016/159] CarInterface: move stateless, common car events to car interface (#32394) * move stateless, common car events to car interface * try to reduce process replay diff a bit * Revert "try to reduce process replay diff a bit" This reverts commit b12798deabea67c5a636d6e70e80a3c21c7225ff. * update refs --- selfdrive/car/interfaces.py | 4 ++++ selfdrive/controls/controlsd.py | 6 ------ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index b6a626edec..a8a6f0b238 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -282,6 +282,10 @@ class CarInterfaceBase(ABC): events.add(EventName.accFaulted) if cs_out.steeringPressed: events.add(EventName.steerOverride) + if cs_out.brakePressed and cs_out.standstill: + events.add(EventName.preEnableStandstill) + if cs_out.gasPressed: + events.add(EventName.gasPressedOverride) # Handle button presses for b in cs_out.buttonEvents: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d36c969f60..370a3e1e95 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -211,12 +211,6 @@ class Controls: (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) - if CS.brakePressed and CS.standstill: - self.events.add(EventName.preEnableStandstill) - - if CS.gasPressed: - self.events.add(EventName.gasPressedOverride) - if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 51e85b1350..f3298b2ac8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cb76a8e9844becc5024985c61bad4ec3518eebf5 +ef0c8cb36b9cda6381412493555c21a87360e539 \ No newline at end of file From 79c8fb0236a1468cf1f7396a8a120ccd4fb10f40 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 May 2024 13:27:05 -0700 Subject: [PATCH 017/159] ui: fix brightness when there's no camera (#32413) --- selfdrive/ui/ui.cc | 4 +++- selfdrive/ui/ui.h | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 9afd22f13a..e5309c9690 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -205,6 +205,8 @@ static void update_state(UIState *s) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); + } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) { + scene.light_sensor = -1; } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; @@ -320,7 +322,7 @@ void Device::resetInteractiveTimeout(int timeout) { void Device::updateBrightness(const UIState &s) { float clipped_brightness = offroad_brightness; - if (s.scene.started) { + if (s.scene.started && s.scene.light_sensor > 0) { clipped_brightness = s.scene.light_sensor; // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index f5028a280f..7238159dda 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -97,7 +97,7 @@ typedef struct UIScene { cereal::LongitudinalPersonality personality; - float light_sensor; + float light_sensor = -1; bool started, ignition, is_metric, map_on_left, longitudinal_control; bool world_objects_visible = false; uint64_t started_frame; From d18da895d3b70dc62ee3cd8ebeb75de6cf48e7a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 14:15:26 -0700 Subject: [PATCH 018/159] card: create pedal pressed event (#32393) * move pedalPressed to card * rm * needs to be a builder * move these * clean up * reader later * Update ref_commit --- selfdrive/car/card.py | 26 ++++++++++++++++++++++-- selfdrive/car/interfaces.py | 5 ++--- selfdrive/controls/controlsd.py | 10 --------- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 27 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index ff1950fbef..ed916a6fe1 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -14,9 +14,12 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.controls.lib.events import Events REPLAY = "REPLAY" in os.environ +EventName = car.CarEvent.EventName + class CarD: CI: CarInterfaceBase @@ -47,9 +50,9 @@ class CarD: self.CI, self.CP = CI, CI.CP # set alternative experiences from parameters - disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 - if not disengage_on_accelerator: + if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") @@ -73,6 +76,9 @@ class CarD: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + self.CS_prev = car.CarState.new_message() + self.events = Events() + def initialize(self): """Initialize CarInterface, once controls are ready""" self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) @@ -100,10 +106,26 @@ class CarD: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + self.update_events(CS) self.state_publish(CS) + CS = CS.as_reader() + self.CS_prev = CS return CS + def update_events(self, CS: car.CarState) -> car.CarState: + self.events.clear() + + self.events.add_from_msg(CS.events) + + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 + if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): + self.events.add(EventName.pedalPressed) + + CS.events = self.events.to_msg() + def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a8a6f0b238..982d987d61 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -242,11 +242,10 @@ class CarInterfaceBase(ABC): ret.cruiseState.speedCluster = ret.cruiseState.speed # copy back for next iteration - reader = ret.as_reader() if self.CS is not None: - self.CS.out = reader + self.CS.out = ret.as_reader() - return reader + return ret def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 370a3e1e95..95985dc3c2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -96,7 +96,6 @@ class Controls: self.joystick_mode = self.params.get_bool("JoystickDebugMode") # read params - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") @@ -111,7 +110,6 @@ class Controls: if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") - self.CS_prev = car.CarState.new_message() self.AM = AlertManager() self.events = Events() @@ -205,12 +203,6 @@ class Controls: if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: self.events.add(EventName.resumeBlocked) - # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 - if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ - (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ - (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): - self.events.add(EventName.pedalPressed) - if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) @@ -815,8 +807,6 @@ class Controls: # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.CS_prev = CS - def read_personality_param(self): try: return int(self.params.get('LongitudinalPersonality')) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f3298b2ac8..a61fd8e23b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ef0c8cb36b9cda6381412493555c21a87360e539 \ No newline at end of file +e5a385503e4307ae77c73736a602380b08e61334 From 9287a6962479b63f1628086a73459b4e7e933d59 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 14:25:22 -0700 Subject: [PATCH 019/159] Revert "card: create pedal pressed event" (#32414) Revert "card: create pedal pressed event (#32393)" This reverts commit d18da895d3b70dc62ee3cd8ebeb75de6cf48e7a9. --- selfdrive/car/card.py | 26 ++---------------------- selfdrive/car/interfaces.py | 5 +++-- selfdrive/controls/controlsd.py | 10 +++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 16 insertions(+), 27 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index ed916a6fe1..ff1950fbef 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -14,12 +14,9 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.controls.lib.events import Events REPLAY = "REPLAY" in os.environ -EventName = car.CarEvent.EventName - class CarD: CI: CarInterfaceBase @@ -50,9 +47,9 @@ class CarD: self.CI, self.CP = CI, CI.CP # set alternative experiences from parameters - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 - if not self.disengage_on_accelerator: + if not disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") @@ -76,9 +73,6 @@ class CarD: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.CS_prev = car.CarState.new_message() - self.events = Events() - def initialize(self): """Initialize CarInterface, once controls are ready""" self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) @@ -106,26 +100,10 @@ class CarD: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime - self.update_events(CS) self.state_publish(CS) - CS = CS.as_reader() - self.CS_prev = CS return CS - def update_events(self, CS: car.CarState) -> car.CarState: - self.events.clear() - - self.events.add_from_msg(CS.events) - - # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 - if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ - (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ - (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): - self.events.add(EventName.pedalPressed) - - CS.events = self.events.to_msg() - def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 982d987d61..a8a6f0b238 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -242,10 +242,11 @@ class CarInterfaceBase(ABC): ret.cruiseState.speedCluster = ret.cruiseState.speed # copy back for next iteration + reader = ret.as_reader() if self.CS is not None: - self.CS.out = ret.as_reader() + self.CS.out = reader - return ret + return reader def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 95985dc3c2..370a3e1e95 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -96,6 +96,7 @@ class Controls: self.joystick_mode = self.params.get_bool("JoystickDebugMode") # read params + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") @@ -110,6 +111,7 @@ class Controls: if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") + self.CS_prev = car.CarState.new_message() self.AM = AlertManager() self.events = Events() @@ -203,6 +205,12 @@ class Controls: if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: self.events.add(EventName.resumeBlocked) + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 + if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): + self.events.add(EventName.pedalPressed) + if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) @@ -807,6 +815,8 @@ class Controls: # Publish data self.publish_logs(CS, start_time, CC, lac_log) + self.CS_prev = CS + def read_personality_param(self): try: return int(self.params.get('LongitudinalPersonality')) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a61fd8e23b..f3298b2ac8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a385503e4307ae77c73736a602380b08e61334 +ef0c8cb36b9cda6381412493555c21a87360e539 \ No newline at end of file From 1c481c5ad32bc6c643ff7bd193b39f207e2acdf7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 May 2024 15:04:37 -0700 Subject: [PATCH 020/159] rerun.io proof of concept (#32416) * Adding demo version for acceleration only * Adding, plot any event * Adding dynamic blueprint creation and menu to choose what to plot * Adding, pool of processes for faster data visualization * Adding, install rerun if not present * Adding. thumbnail support * Refactoring, minor cleanup * -Use rerun pre-release -Remove json as a middle format -Replace recursion with stack-based approach * Refactoring, using services from cereal instead of hardcoding them * Use of lr.run_across_segments instead of pool, Use of python dict instead of capnp objs - better performance Use LogReader syntax * Enable logging of liveTracks, pandaStates * Use of plotjuggler user experience * Fixing bug in log_msg function * cleanup --------- Co-authored-by: savojovic Co-authored-by: savojovic <74861870+savojovic@users.noreply.github.com> --- tools/rerun/run.py | 104 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 104 insertions(+) create mode 100755 tools/rerun/run.py diff --git a/tools/rerun/run.py b/tools/rerun/run.py new file mode 100755 index 0000000000..271f127d33 --- /dev/null +++ b/tools/rerun/run.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python3 +import subprocess +import sys +import argparse +import multiprocessing +from functools import partial + +from openpilot.tools.lib.logreader import LogReader +from cereal.services import SERVICE_LIST + + +NUM_CPUS = multiprocessing.cpu_count() +DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" +WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels" + + +def install(): + # currently requires a preview release build + subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True) + print("Rerun installed") + + +def log_msg(msg, parent_key=''): + stack = [(msg, parent_key)] + while stack: + current_msg, current_parent_key = stack.pop() + if isinstance(current_msg, list): + for index, item in enumerate(current_msg): + new_key = f"{current_parent_key}/{index}" + if isinstance(item, (int, float)): + rr.log(str(new_key), rr.Scalar(item)) + elif isinstance(item, dict): + stack.append((item, new_key)) + elif isinstance(current_msg, dict): + for key, value in current_msg.items(): + new_key = f"{current_parent_key}/{key}" + if isinstance(value, (int, float)): + rr.log(str(new_key), rr.Scalar(value)) + elif isinstance(value, dict): + stack.append((value, new_key)) + elif isinstance(value, list): + for index, item in enumerate(value): + if isinstance(item, (int, float)): + rr.log(f"{new_key}/{index}", rr.Scalar(item)) + else: + pass # Not a plottable value + + +def createBlueprint(): + timeSeriesViews = [] + for topic in sorted(SERVICE_LIST.keys()): + timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False)) + rr.log(topic, rr.SeriesLine(name=topic), timeless=True) + blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)), + rrb.Spatial2DView(name="thumbnail", origin="/thumbnail"))) + return blueprint + + +def log_thumbnail(thumbnailMsg): + bytesImgData = thumbnailMsg.get('thumbnail') + rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData)) + + +def process(blueprint, lr): + ret = [] + rr.init("rerun_test", spawn=True, default_blueprint=blueprint) + for msg in lr: + ret.append(msg) + rr.set_time_nanos("TIMELINE", msg.logMonoTime) + if msg.which() != "thumbnail": + log_msg(msg.to_dict()[msg.which()], msg.which()) + else: + log_thumbnail(msg.to_dict()[msg.which()]) + return ret + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") + parser.add_argument("--install", action="store_true", help="Install or update rerun") + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") + + if len(sys.argv) == 1: + parser.print_help() + sys.exit() + + args = parser.parse_args() + if args.install: + install() + sys.exit() + + try: + import rerun as rr + import rerun.blueprint as rrb + except ImportError: + print("Rerun is not installed, run with --install first") + sys.exit() + + route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() + blueprint = createBlueprint() + print("Getting route log paths") + lr = LogReader(route_or_segment_name) + lr.run_across_segments(NUM_CPUS, partial(process, blueprint)) From 7f9ad78ac852fc68850c313218758ee431e04462 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 May 2024 15:39:31 -0700 Subject: [PATCH 021/159] let's be more decisive --- .github/workflows/stale.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index b33945cae2..3c86b8e854 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -5,8 +5,8 @@ on: workflow_dispatch: env: - DAYS_BEFORE_PR_CLOSE: 7 - DAYS_BEFORE_PR_STALE: 30 + DAYS_BEFORE_PR_CLOSE: 3 + DAYS_BEFORE_PR_STALE: 14 jobs: stale: From 2a46d71fc885201d88ca63bc52d26ef715545a23 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 13 May 2024 16:02:28 -0700 Subject: [PATCH 022/159] logreader: skip internal source if connection refused (#32418) * logreader: skip internal source if connection refused * fix indentation * fix spacing * explicit ipv4 and tcp --- tools/lib/filereader.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index e9b8b4b2ce..3bfdc75feb 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -10,10 +10,11 @@ DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") def internal_source_available(): try: hostname = urlparse(DATA_ENDPOINT).hostname - if hostname: - socket.gethostbyname(hostname) - return True - except socket.gaierror: + port = urlparse(DATA_ENDPOINT).port or 80 + with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s: + s.connect((hostname, port)) + return True + except (socket.gaierror, ConnectionRefusedError): pass return False From 06c581e202322f7d3a9e21cb59ebe57418e5abe9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 16:02:47 -0700 Subject: [PATCH 023/159] Hyundai Kona: add min speed (#32420) * add min speed for kona * update docs --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 7e5324d322..36abc382ce 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -100,7 +100,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 2518d3807b..47c5ea6c91 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -216,7 +216,7 @@ class CAR(Platforms): ) HYUNDAI_KONA = HyundaiPlatformConfig( [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))], - CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385, minEnableSpeed=6 * CV.MPH_TO_MS), flags=HyundaiFlags.CLUSTER_GEARS, ) HYUNDAI_KONA_EV = HyundaiPlatformConfig( From 82e70db47c06ee3c447e6bceebadbde5b5e92b2f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 16:18:29 -0700 Subject: [PATCH 024/159] Car docs: gate auto resume star on enable down to stop (#32421) * this star doesn't make sense * only docs for now * flip --- docs/CARS.md | 36 +++++++++++++++---------------- selfdrive/car/docs_definitions.py | 2 +- selfdrive/car/hyundai/values.py | 4 ++-- 3 files changed, 21 insertions(+), 21 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 36abc382ce..de9320594a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -49,7 +49,7 @@ A supported vehicle is one that just works when you install a comma device. All |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2019-21|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G90 2017-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -83,12 +83,12 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Azera Hybrid 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Azera Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Custin 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -100,7 +100,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -115,12 +115,12 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Staria 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -139,11 +139,11 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -232,14 +232,14 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -247,18 +247,18 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2023-24|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index b66d2a16e0..971338e9b5 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -275,7 +275,7 @@ class CarDocs: self.min_enable_speed = CP.minEnableSpeed if self.auto_resume is None: - self.auto_resume = CP.autoResumeSng + self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0 # hardware column hardware_col = "None" diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 47c5ea6c91..db90559704 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -215,8 +215,8 @@ class CAR(Platforms): flags=HyundaiFlags.HYBRID, ) HYUNDAI_KONA = HyundaiPlatformConfig( - [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))], - CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385, minEnableSpeed=6 * CV.MPH_TO_MS), + [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))], + CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CLUSTER_GEARS, ) HYUNDAI_KONA_EV = HyundaiPlatformConfig( From d0d44a51a0ff66c1b2da56b3d9864e10ecc2174d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 16:18:55 -0700 Subject: [PATCH 025/159] card: create pedal pressed event (#32417) * card: create pedal pressed event (#32393) * move pedalPressed to card * rm * needs to be a builder * move these * clean up * reader later * Update ref_commit * moved to card --- selfdrive/car/card.py | 26 ++++++++++++++++++++++-- selfdrive/car/interfaces.py | 5 ++--- selfdrive/car/tests/test_models.py | 11 +++++----- selfdrive/controls/controlsd.py | 10 --------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 32 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index ff1950fbef..ed916a6fe1 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -14,9 +14,12 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.controls.lib.events import Events REPLAY = "REPLAY" in os.environ +EventName = car.CarEvent.EventName + class CarD: CI: CarInterfaceBase @@ -47,9 +50,9 @@ class CarD: self.CI, self.CP = CI, CI.CP # set alternative experiences from parameters - disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 - if not disengage_on_accelerator: + if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") @@ -73,6 +76,9 @@ class CarD: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + self.CS_prev = car.CarState.new_message() + self.events = Events() + def initialize(self): """Initialize CarInterface, once controls are ready""" self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) @@ -100,10 +106,26 @@ class CarD: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + self.update_events(CS) self.state_publish(CS) + CS = CS.as_reader() + self.CS_prev = CS return CS + def update_events(self, CS: car.CarState) -> car.CarState: + self.events.clear() + + self.events.add_from_msg(CS.events) + + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 + if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): + self.events.add(EventName.pedalPressed) + + CS.events = self.events.to_msg() + def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a8a6f0b238..982d987d61 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -242,11 +242,10 @@ class CarInterfaceBase(ABC): ret.cruiseState.speedCluster = ret.cruiseState.speed # copy back for next iteration - reader = ret.as_reader() if self.CS is not None: - self.CS.out = reader + self.CS.out = ret.as_reader() - return reader + return ret def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True, diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 2a0626c590..dc3d4256a2 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -15,12 +15,12 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.card import CarD from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform -from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source @@ -406,8 +406,7 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) - controlsd = Controls(CI=self.CI) - controlsd.initialized = True + card = CarD(CI=self.CI) for idx, can in enumerate(self.can_msgs): CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) for msg in filter(lambda m: m.src in range(64), can.can): @@ -452,10 +451,10 @@ class TestCarModelBase(unittest.TestCase): checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for enable events on rising edge of controls allowed - controlsd.update_events(CS) - controlsd.CS_prev = CS + card.update_events(CS) + card.CS_prev = CS button_enable = (any(evt.enable for evt in CS.events) and - not any(evt == EventName.pedalPressed for evt in controlsd.events.names)) + not any(evt == EventName.pedalPressed for evt in card.events.names)) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 370a3e1e95..95985dc3c2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -96,7 +96,6 @@ class Controls: self.joystick_mode = self.params.get_bool("JoystickDebugMode") # read params - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") @@ -111,7 +110,6 @@ class Controls: if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") - self.CS_prev = car.CarState.new_message() self.AM = AlertManager() self.events = Events() @@ -205,12 +203,6 @@ class Controls: if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: self.events.add(EventName.resumeBlocked) - # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 - if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ - (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ - (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): - self.events.add(EventName.pedalPressed) - if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) @@ -815,8 +807,6 @@ class Controls: # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.CS_prev = CS - def read_personality_param(self): try: return int(self.params.get('LongitudinalPersonality')) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f3298b2ac8..a61fd8e23b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ef0c8cb36b9cda6381412493555c21a87360e539 \ No newline at end of file +e5a385503e4307ae77c73736a602380b08e61334 From 46eda641773a1e00b54d4b2d58c64bed3480a24a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 May 2024 18:56:15 -0700 Subject: [PATCH 026/159] Fix test_time_to_onroad (#32423) * this star doesn't make sense * only docs for now * flip * fix spotty test_time_to_onroad.py * better fix fix fix fix * already there -_- * we can fp again --- selfdrive/test/test_time_to_onroad.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index a3f803e221..b85d40dbc8 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -4,11 +4,14 @@ import pytest import time import subprocess +from cereal import car import cereal.messaging as messaging from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout from openpilot.selfdrive.test.helpers import set_params_enabled +EventName = car.CarEvent.EventName + @pytest.mark.tici def test_time_to_onroad(): @@ -18,7 +21,7 @@ def test_time_to_onroad(): proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() - sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan']) + sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents']) try: # wait for onroad. timeout assumes panda is up to date with Timeout(10, "timed out waiting to go onroad"): @@ -28,15 +31,14 @@ def test_time_to_onroad(): # wait for engageability try: with Timeout(10, "timed out waiting for engageable"): - sendcan_frame = None + initialized = False while True: sm.update(100) - # sendcan is only sent once we're initialized - if sm.seen['controlsState'] and sendcan_frame is None: - sendcan_frame = sm.frame + if sm.seen['onroadEvents'] and not any(EventName.controlsInitializing == e.name for e in sm['onroadEvents']): + initialized = True - if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame: + if initialized: sm.update(100) assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" break From db8273823d5fea3c8a66fd428bb642f61e69a3c9 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 14 May 2024 09:31:09 -0700 Subject: [PATCH 027/159] python deps: add sortedcontainers (#32428) --- poetry.lock | 15 ++------------- pyproject.toml | 1 + 2 files changed, 3 insertions(+), 13 deletions(-) diff --git a/poetry.lock b/poetry.lock index 978574a1e2..7947f48cf7 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. [[package]] name = "aiohttp" @@ -6890,7 +6890,6 @@ files = [ {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"}, {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"}, {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"}, - {file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"}, {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"}, {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"}, {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"}, @@ -6898,16 +6897,8 @@ files = [ {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"}, {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"}, {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"}, - 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{file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"}, {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"}, {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"}, {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"}, @@ -7987,4 +7976,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d" +content-hash = "c37bfb79c177dce06c46186b6ff04e29415d0d35c844674d79f93141693d9d91" diff --git a/pyproject.toml b/pyproject.toml index a25fcc1645..5bacc88b92 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -107,6 +107,7 @@ sounddevice = "*" spidev = { version = "*", platform = "linux" } sympy = "*" websocket_client = "*" +sortedcontainers = "*" # acados deps casadi = "*" From 0f6bbcaa2e412a1330a0411169119cb1bd91388c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 May 2024 12:41:54 -0700 Subject: [PATCH 028/159] bump opendbc (#32426) bump --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index e2408cb272..91a9bb4824 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e2408cb2725671ad63e827e02f37e0f1739b68c6 +Subproject commit 91a9bb4824381c39b8a15b443d5b265ec550b62b From 6f3cd143efdec89524e603a181f2a7cbf02e8588 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 May 2024 14:01:38 -0700 Subject: [PATCH 029/159] controlsd: use already initialized params (#32429) --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 95985dc3c2..92c9331121 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -166,7 +166,7 @@ class Controls: def set_initial_state(self): if REPLAY: - controls_state = Params().get("ReplayControlsState") + controls_state = self.params.get("ReplayControlsState") if controls_state is not None: with log.ControlsState.from_bytes(controls_state) as controls_state: self.v_cruise_helper.v_cruise_kph = controls_state.vCruise From e9bf36232bf587cacc1282837afbe82600c0977f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 May 2024 15:19:02 -0700 Subject: [PATCH 030/159] Events: remove dependency (#32430) * Revert "Events: use sorted container (#32395)" This reverts commit d98ab4ddb1beebdf7079d403a837aabbf7d86918. * remove implicit dependency --- selfdrive/controls/lib/events.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index bb1a54f232..f1bd07c69b 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 +import bisect import math import os from enum import IntEnum from collections.abc import Callable -from sortedcontainers import SortedList from cereal import log, car import cereal.messaging as messaging @@ -49,12 +49,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} class Events: def __init__(self): - self.events: SortedList[int] = SortedList() - self.static_events: SortedList[int] = SortedList() + self.events: list[int] = [] + self.static_events: list[int] = [] self.events_prev = dict.fromkeys(EVENTS.keys(), 0) @property - def names(self) -> SortedList[int]: + def names(self) -> list[int]: return self.events def __len__(self) -> int: @@ -62,8 +62,8 @@ class Events: def add(self, event_name: int, static: bool=False) -> None: if static: - self.static_events.add(event_name) - self.events.add(event_name) + bisect.insort(self.static_events, event_name) + bisect.insort(self.events, event_name) def clear(self) -> None: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} @@ -93,7 +93,7 @@ class Events: def add_from_msg(self, events): for e in events: - self.events.add(e.name.raw) + bisect.insort(self.events, e.name.raw) def to_msg(self): ret = [] From 8f46028bd4b71c619bac654d6f2a4f8006b7508d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 May 2024 15:20:03 -0700 Subject: [PATCH 031/159] card: move all car events (#32427) * move last event over * fix --- selfdrive/car/card.py | 10 +++++++++- selfdrive/controls/controlsd.py | 22 ++++++++-------------- 2 files changed, 17 insertions(+), 15 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index ed916a6fe1..4dcd5ad0b4 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -14,11 +14,13 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper from openpilot.selfdrive.controls.lib.events import Events REPLAY = "REPLAY" in os.environ EventName = car.CarEvent.EventName +ButtonType = car.CarState.ButtonEvent.Type class CarD: @@ -33,6 +35,7 @@ class CarD: self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count self.CC_prev = car.CarControl.new_message() + self.CS_prev = car.CarState.new_message() self.last_actuators = None @@ -76,8 +79,8 @@ class CarD: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.CS_prev = car.CarState.new_message() self.events = Events() + self.v_cruise_helper = VCruiseHelper(self.CP) def initialize(self): """Initialize CarInterface, once controls are ready""" @@ -118,6 +121,11 @@ class CarD: self.events.add_from_msg(CS.events) + # Block resume if cruise never previously enabled + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: + self.events.add(EventName.resumeBlocked) + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 92c9331121..eba4142ca8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -21,7 +21,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.car.car_helpers import get_startup_event from openpilot.selfdrive.car.card import CarD from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature +from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature from openpilot.selfdrive.controls.lib.events import Events, ET from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -143,7 +143,6 @@ class Controls: self.desired_curvature = 0.0 self.experimental_mode = False self.personality = self.read_personality_param() - self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False self.can_log_mono_time = 0 @@ -169,7 +168,7 @@ class Controls: controls_state = self.params.get("ReplayControlsState") if controls_state is not None: with log.ControlsState.from_bytes(controls_state) as controls_state: - self.v_cruise_helper.v_cruise_kph = controls_state.vCruise + self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled @@ -198,11 +197,6 @@ class Controls: if self.CP.passive: return - # Block resume if cruise never previously enabled - resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) - if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: - self.events.add(EventName.resumeBlocked) - if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) @@ -431,7 +425,7 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) + self.card.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -506,7 +500,7 @@ class Controls: else: self.state = State.enabled self.current_alert_types.append(ET.ENABLE) - self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode) + self.card.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode) # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES @@ -562,7 +556,7 @@ class Controls: if not self.joystick_mode: # accel PID loop - pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.card.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) @@ -665,7 +659,7 @@ class Controls: CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 hudControl = CC.hudControl - hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) + hudControl.setSpeed = float(self.card.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) hudControl.speedVisible = self.enabled hudControl.lanesVisible = self.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead @@ -749,8 +743,8 @@ class Controls: controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) - controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) - controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) + controlsState.vCruise = float(self.card.v_cruise_helper.v_cruise_kph) + controlsState.vCruiseCluster = float(self.card.v_cruise_helper.v_cruise_cluster_kph) controlsState.upAccelCmd = float(self.LoC.pid.p) controlsState.uiAccelCmd = float(self.LoC.pid.i) controlsState.ufAccelCmd = float(self.LoC.pid.f) From 84c15e9d316a5e9686160c85b79c193b5ebb58d2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 May 2024 16:40:15 -0700 Subject: [PATCH 032/159] Revert "python deps: add sortedcontainers" (#32433) Revert "python deps: add sortedcontainers (#32428)" This reverts commit db8273823d5fea3c8a66fd428bb642f61e69a3c9. --- poetry.lock | 15 +++++++++++++-- pyproject.toml | 1 - 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7947f48cf7..978574a1e2 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. 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+content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d" diff --git a/pyproject.toml b/pyproject.toml index 5bacc88b92..a25fcc1645 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -107,7 +107,6 @@ sounddevice = "*" spidev = { version = "*", platform = "linux" } sympy = "*" websocket_client = "*" -sortedcontainers = "*" # acados deps casadi = "*" From 1bf2d2e1f978103242a8629ba6fa3f6b5eb1d137 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 May 2024 10:28:28 -0700 Subject: [PATCH 033/159] [bot] Fingerprints: add missing FW versions from new users (#32438) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 368b6703d8..0dafbbaa6f 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -266,6 +266,7 @@ FW_VERSIONS = { (Ecu.combinationMeter, 0x742, None): [ b'68302211AC', b'68302212AD', + b'68302223AC', b'68302246AC', b'68331511AC', b'68331574AC', From 6605743b48fedf934ecf998ea10855978e979ab4 Mon Sep 17 00:00:00 2001 From: Kirito3481 <47619491+Kirito3481@users.noreply.github.com> Date: Thu, 16 May 2024 02:29:38 +0900 Subject: [PATCH 034/159] Fix incorrect korean translation (#32436) --- selfdrive/ui/translations/main_ko.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b2d07b770b..56fc5014ee 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -809,7 +809,7 @@ This may take up to a minute. Sidebar CONNECT - 연결됨 + 커넥트 OFFLINE From 407791113d10d2f9fea9b68c8313271fefa1e36e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 May 2024 14:32:52 -0700 Subject: [PATCH 035/159] Revert "card: move all car events (#32427)" (#32439) * Revert "card: move all car events (#32427)" This reverts commit 8f46028bd4b71c619bac654d6f2a4f8006b7508d. * keep the event here * oops * Revert "oops" This reverts commit ea99a2768fbeb7a6123dd755585157b530e7a2a1. * Revert "keep the event here" This reverts commit ec089b4e1afdf09b2e6b184de8f23584ef931601. --- selfdrive/car/card.py | 10 +--------- selfdrive/controls/controlsd.py | 22 ++++++++++++++-------- 2 files changed, 15 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 4dcd5ad0b4..ed916a6fe1 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -14,13 +14,11 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper from openpilot.selfdrive.controls.lib.events import Events REPLAY = "REPLAY" in os.environ EventName = car.CarEvent.EventName -ButtonType = car.CarState.ButtonEvent.Type class CarD: @@ -35,7 +33,6 @@ class CarD: self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count self.CC_prev = car.CarControl.new_message() - self.CS_prev = car.CarState.new_message() self.last_actuators = None @@ -79,8 +76,8 @@ class CarD: self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + self.CS_prev = car.CarState.new_message() self.events = Events() - self.v_cruise_helper = VCruiseHelper(self.CP) def initialize(self): """Initialize CarInterface, once controls are ready""" @@ -121,11 +118,6 @@ class CarD: self.events.add_from_msg(CS.events) - # Block resume if cruise never previously enabled - resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) - if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: - self.events.add(EventName.resumeBlocked) - # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index eba4142ca8..92c9331121 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -21,7 +21,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.car.car_helpers import get_startup_event from openpilot.selfdrive.car.card import CarD from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert -from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.events import Events, ET from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -143,6 +143,7 @@ class Controls: self.desired_curvature = 0.0 self.experimental_mode = False self.personality = self.read_personality_param() + self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False self.can_log_mono_time = 0 @@ -168,7 +169,7 @@ class Controls: controls_state = self.params.get("ReplayControlsState") if controls_state is not None: with log.ControlsState.from_bytes(controls_state) as controls_state: - self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise + self.v_cruise_helper.v_cruise_kph = controls_state.vCruise if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled @@ -197,6 +198,11 @@ class Controls: if self.CP.passive: return + # Block resume if cruise never previously enabled + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: + self.events.add(EventName.resumeBlocked) + if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) @@ -425,7 +431,7 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - self.card.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -500,7 +506,7 @@ class Controls: else: self.state = State.enabled self.current_alert_types.append(ET.ENABLE) - self.card.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode) + self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode) # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES @@ -556,7 +562,7 @@ class Controls: if not self.joystick_mode: # accel PID loop - pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.card.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) @@ -659,7 +665,7 @@ class Controls: CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 hudControl = CC.hudControl - hudControl.setSpeed = float(self.card.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) + hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) hudControl.speedVisible = self.enabled hudControl.lanesVisible = self.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead @@ -743,8 +749,8 @@ class Controls: controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) - controlsState.vCruise = float(self.card.v_cruise_helper.v_cruise_kph) - controlsState.vCruiseCluster = float(self.card.v_cruise_helper.v_cruise_cluster_kph) + controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) + controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) controlsState.upAccelCmd = float(self.LoC.pid.p) controlsState.uiAccelCmd = float(self.LoC.pid.i) controlsState.ufAccelCmd = float(self.LoC.pid.f) From 288a3fcd8b2f5b8e62af7b29a58bfddebb82f69a Mon Sep 17 00:00:00 2001 From: Shotaro Watanabe Date: Fri, 17 May 2024 03:10:22 +0900 Subject: [PATCH 036/159] fix(ui): fix build error in onroad_home.cc without ENABLE_MAPS (#32441) --- selfdrive/ui/qt/onroad/onroad_home.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc index 1c12a2c3a2..66eb1812e6 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/qt/onroad/onroad_home.cc @@ -1,6 +1,7 @@ #include "selfdrive/ui/qt/onroad/onroad_home.h" #include +#include #ifdef ENABLE_MAPS #include "selfdrive/ui/qt/maps/map_helpers.h" From b8171a1e9cb1696377e33657052ee75655f771f9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 16 May 2024 13:55:40 -0700 Subject: [PATCH 037/159] DM: improve e2e predictions (#32431) * good but need to freeze quant weights * pass ref * pg * update model reply --- selfdrive/modeld/models/dmonitoring_model.current | 4 ++-- selfdrive/modeld/models/dmonitoring_model.onnx | 4 ++-- selfdrive/modeld/models/dmonitoring_model_q.dlc | 4 ++-- selfdrive/monitoring/driver_monitor.py | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 5 files changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index ed495df3a8..f935ab06b3 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -60abed33-9f25-4e34-9937-aaf918d41dfc -50887963963a3022e85ac0c94b0801aef955a608 \ No newline at end of file +5ec97a39-0095-4cea-adfa-6d72b1966cc1 +26cac7a9757a27c783a365403040a1bd27ccdaea \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 3e94e7d36a..dd3a6aba2e 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9a667cbde6eca86c5b653f57853e3d33b9a875bceb557e193d1bef78c2df9c37 -size 16132779 +oid sha256:3dd3982940d823c4fbb0429b733a0b78b0688d7d67aa76ff7b754a3e2f3d8683 +size 16132780 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 041949ad94..fc285954d4 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f5729c457dd47f6c35e2a818eae14113526fd0bfac6417a809cbaf9d38697d9b -size 4488413 +oid sha256:7c26f13816b143f5bb29ac2980f8557bd5687a75729e4d895313fb9a5a1f0f46 +size 4488449 diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 7db0bd6c9f..9faa5f4d05 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -31,8 +31,8 @@ class DRIVER_MONITOR_SETTINGS(): self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 - self._EE_THRESH11 = 0.241 - self._EE_THRESH12 = 4.7 + self._EE_THRESH11 = 0.25 + self._EE_THRESH12 = 7.5 self._EE_MAX_OFFSET1 = 0.06 self._EE_MIN_OFFSET1 = 0.025 self._EE_THRESH21 = 0.01 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 47571656e5..87f1adfada 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -69a3b169ebc478285dad5eea87658ed2cb8fee13 +73eb11111fb6407fa307c3f2bdd3331f2514c707 From 593ea504e7a9a23b81b9a03fe8a2dffddfe7c8ac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 May 2024 15:41:20 -0700 Subject: [PATCH 038/159] test_car_interface: run CC once (#32449) run once --- selfdrive/car/tests/test_car_interfaces.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 72c1e27ab9..dfcd9b0527 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -93,7 +93,6 @@ class TestCarInterfaces(unittest.TestCase): for _ in range(10): car_interface.update(CC, []) car_interface.apply(CC, now_nanos) - car_interface.apply(CC, now_nanos) now_nanos += DT_CTRL * 1e9 # 10 ms CC = car.CarControl.new_message(**cc_msg) @@ -101,7 +100,6 @@ class TestCarInterfaces(unittest.TestCase): for _ in range(10): car_interface.update(CC, []) car_interface.apply(CC, now_nanos) - car_interface.apply(CC, now_nanos) now_nanos += DT_CTRL * 1e9 # 10ms # Test controller initialization From b17ec494b20245c821081a7be0651f655c005576 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 May 2024 16:13:12 -0700 Subject: [PATCH 039/159] Toyota: remove redundant cancel code (#32448) saw no cases where this was non-zero while cruise_active was false --- selfdrive/car/toyota/carcontroller.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index f2d8a4a7bc..354d10a90e 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -102,11 +102,6 @@ class CarController(CarControllerBase): # *** gas and brake *** pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX) - # TODO: probably can delete this. CS.pcm_acc_status uses a different signal - # than CS.cruiseState.enabled. confirm they're not meaningfully different - if not CC.enabled and CS.pcm_acc_status: - pcm_cancel_cmd = 1 - # on entering standstill, send standstill request if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR): self.standstill_req = True From 3d64a7e3d1ee720cf73ca66479616b238b01dcb2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 May 2024 20:11:49 -0700 Subject: [PATCH 040/159] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2cf3b84c77..cade0d5e75 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2cf3b84c77f6ba541619d53edc291b5b94033821 +Subproject commit cade0d5e75cdd6a659e1ded21a45d8f3c6c62c18 From eb50b1a8719fb6d0b451bbd128ef0100bafd9073 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 May 2024 20:29:11 -0700 Subject: [PATCH 041/159] Revert "bump panda" This reverts commit 3d64a7e3d1ee720cf73ca66479616b238b01dcb2. --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index cade0d5e75..2cf3b84c77 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit cade0d5e75cdd6a659e1ded21a45d8f3c6c62c18 +Subproject commit 2cf3b84c77f6ba541619d53edc291b5b94033821 From ac81467c5c2c7ca0f340ee8d2aff81e330eb803a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 May 2024 21:11:55 -0700 Subject: [PATCH 042/159] process replay: check missing services (#32452) * add check to check * don't forget to raise * skip this segment --- selfdrive/test/process_replay/test_processes.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5fa80f0e09..7a482c1bdc 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -111,6 +111,12 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non if segment not in ("regen6CA24BC3035|2023-10-30--23-14-28--0", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"): return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs + if cfg.proc_name != 'ubloxd' or segment != 'regen6CA24BC3035|2023-10-30--23-14-28--0': + seen_msgs = {m.which() for m in log_msgs} + expected_msgs = set(cfg.subs) + if seen_msgs != expected_msgs: + return f"Expected messages: {expected_msgs}, but got: {seen_msgs}", log_msgs + try: return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs except Exception as e: From 42861f6683cf80b7ec0a1f05fc821e4cc5327962 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 May 2024 21:17:37 -0700 Subject: [PATCH 043/159] events: reduce priority of resumeRequired (#32450) CC --- selfdrive/controls/lib/events.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index f1bd07c69b..99246a1397 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -487,7 +487,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { "Press Resume to Exit Standstill", "", AlertStatus.userPrompt, AlertSize.small, - Priority.MID, VisualAlert.none, AudibleAlert.none, .2), + Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, EventName.belowSteerSpeed: { From 1a60b63b7d9be96b890c7e59a77fd10504ab15ab Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 18 May 2024 00:17:22 +0800 Subject: [PATCH 044/159] Mutilang: update CHS/CHT translation (#32455) update translations for chinese --- selfdrive/ui/translations/main_zh-CHS.ts | 20 ++++----- selfdrive/ui/translations/main_zh-CHT.ts | 56 ++++++++++++------------ 2 files changed, 38 insertions(+), 38 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 306678363a..32119ee10f 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -299,11 +299,11 @@ Pair Device - + 配对设备 PAIR - + 配对 @@ -487,23 +487,23 @@ OnroadAlerts openpilot Unavailable - + 无法使用 openpilot Waiting for controls to start - + 等待控制服务啟動 TAKE CONTROL IMMEDIATELY - + 立即接管 Controls Unresponsive - + 控制服务无响应 Reboot Device - + 重启设备 @@ -628,7 +628,7 @@ now - + 现在 @@ -1152,11 +1152,11 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - + 推荐使用标准模式。在积极模式下，openpilot 会更靠近前方车辆，并在油门和刹车方面更加激进。在放松模式下，openpilot 会与前方车辆保持更远距离。在支持的车型上，你可以使用方向盘上的距离按钮来循环切换这些驾驶风格。 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + 在低速时，驾驶可视化将转换为道路朝向的广角摄像头，以更好地展示某些转弯。测试模式标志也将显示在右上角。 Always-On Driver Monitoring diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 8d0df30f94..9d1c16db9f 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -247,11 +247,11 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重設的情況。 + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 Your device is pointed %1° %2 and %3° %4. - 你的設備目前朝%2 %1° 以及朝%4 %3° 。 + 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 down @@ -295,15 +295,15 @@ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + 將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 Pair Device - + 配對裝置 PAIR - + 配對 @@ -437,11 +437,11 @@ An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - 一個給您設備的操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 + 一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - 設備註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方設備，請訪問 https://comma.ai/support 。 + 裝置註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方裝置，請訪問 https://comma.ai/support 。 NVMe drive not mounted. @@ -449,7 +449,7 @@ Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - 檢測到不支援的 NVMe 固態硬碟。您的設備因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。 + 檢測到不支援的 NVMe 固態硬碟。您的裝置因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。 openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. @@ -461,11 +461,11 @@ openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 + openpilot 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - 設備溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 + 裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 @@ -487,30 +487,30 @@ OnroadAlerts openpilot Unavailable - + 無法使用 openpilot Waiting for controls to start - + 等待操控服務開始 TAKE CONTROL IMMEDIATELY - + 立即接管 Controls Unresponsive - + 操控服務沒有反應 Reboot Device - + 請重新啟裝置 PairingPopup Pair your device to your comma account - 將設備與您的 comma 帳號配對 + 將裝置與您的 comma 帳號配對 Go to https://connect.comma.ai on your phone @@ -628,7 +628,7 @@ now - + 現在 @@ -639,7 +639,7 @@ Are you sure you want to reset your device? - 您確定要重設你的設備嗎？ + 您確定要重設你的裝置嗎？ System Reset @@ -659,12 +659,12 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。 + 無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重置。 Resetting device... This may take up to a minute. - 設備重設中… + 重置中… 這可能需要一分鐘的時間。 @@ -680,7 +680,7 @@ This may take up to a minute. Device - 設備 + 裝置 Network @@ -755,7 +755,7 @@ This may take up to a minute. Ensure the entered URL is valid, and the device’s internet connection is good. - 請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。 + 請確定您輸入的是有效的安裝網址，並且確定裝置的網路連線狀態良好。 Reboot device @@ -771,7 +771,7 @@ This may take up to a minute. Something went wrong. Reboot the device. - 發生了一些錯誤。請重新啟動您的設備。 + 發生了一些錯誤。請重新啟動您的裝置。 Select a language @@ -798,11 +798,11 @@ This may take up to a minute. Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + 將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 Pair device - 配對設備 + 配對裝置 @@ -1152,11 +1152,11 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - + 建議使用標準模式。在積極模式下，openpilot 會更接近前車並更積極地使用油門和剎車。在輕鬆模式下，openpilot 會與前車保持較遠距離。對於支援的汽車，您可以使用方向盤上的距離按鈕來切換這些駕駛風格。 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + 在低速時，駕駛可視化將切換至道路朝向的廣角攝影機，以更好地顯示某些彎道。在右上角還會顯示「實驗模式」的標誌。 Always-On Driver Monitoring @@ -1175,7 +1175,7 @@ This may take up to a minute. An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - 設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。 + 需要進行作業系統更新。建議將您的裝置連接上 Wi-Fi 獲得更快的更新下載。下載大小約為 1GB。 Connect to Wi-Fi From f5bca9c08c549e502f5684c112ce9b02b9d33420 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 10:45:04 -0700 Subject: [PATCH 045/159] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2cf3b84c77..cade0d5e75 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2cf3b84c77f6ba541619d53edc291b5b94033821 +Subproject commit cade0d5e75cdd6a659e1ded21a45d8f3c6c62c18 From dd9d5d4528ff0a61c7699abc1b63ba8fd282632f Mon Sep 17 00:00:00 2001 From: cl0cks4fe <108313040+cl0cks4fe@users.noreply.github.com> Date: Fri, 17 May 2024 11:01:44 -0700 Subject: [PATCH 046/159] Unittest to pytest (#32366) * add pytest-asyncio * switch common * switch selfdrive * switch system * switch tools * small fixes * fix setUp and valgrind pytest * switch to setup * fix random * switch mock * switch test_lateral_limits * revert test_ui * fix poetry.lock * add unittest to banned-api * add inline ignores to remaining unittest imports * revert test_models * revert check_can_parser_performance * one more skip --------- Co-authored-by: Adeeb Shihadeh --- .github/workflows/selfdrive_tests.yaml | 2 +- common/tests/test_file_helpers.py | 9 +- common/tests/test_numpy_fast.py | 7 +- common/tests/test_params.py | 28 +-- common/tests/test_simple_kalman.py | 14 +- .../transformations/tests/test_coordinates.py | 13 +- .../transformations/tests/test_orientation.py | 7 +- opendbc | 2 +- poetry.lock | 39 ++- pyproject.toml | 3 + selfdrive/athena/tests/test_athenad.py | 184 +++++++------- selfdrive/athena/tests/test_athenad_ping.py | 39 ++- selfdrive/athena/tests/test_registration.py | 68 +++-- .../boardd/tests/test_boardd_loopback.py | 5 - selfdrive/boardd/tests/test_pandad.py | 16 +- selfdrive/car/ford/tests/test_ford.py | 37 ++- selfdrive/car/gm/tests/test_gm.py | 13 +- selfdrive/car/honda/tests/test_honda.py | 9 +- selfdrive/car/hyundai/tests/test_hyundai.py | 85 +++---- selfdrive/car/subaru/tests/test_subaru.py | 8 +- selfdrive/car/tests/test_can_fingerprint.py | 23 +- selfdrive/car/tests/test_car_interfaces.py | 45 ++-- selfdrive/car/tests/test_docs.py | 67 +++-- selfdrive/car/tests/test_fw_fingerprint.py | 145 ++++++----- selfdrive/car/tests/test_lateral_limits.py | 37 +-- selfdrive/car/tests/test_models.py | 2 +- selfdrive/car/tests/test_platform_configs.py | 22 +- selfdrive/car/toyota/tests/test_toyota.py | 73 +++--- .../car/volkswagen/tests/test_volkswagen.py | 35 ++- .../controls/lib/tests/test_alertmanager.py | 9 +- .../controls/lib/tests/test_latcontrol.py | 10 +- .../controls/lib/tests/test_vehicle_model.py | 15 +- selfdrive/controls/tests/test_alerts.py | 38 ++- selfdrive/controls/tests/test_cruise_speed.py | 28 +-- .../controls/tests/test_following_distance.py | 10 +- selfdrive/controls/tests/test_lateral_mpc.py | 24 +- selfdrive/controls/tests/test_leads.py | 10 +- .../controls/tests/test_state_machine.py | 25 +- selfdrive/locationd/test/test_calibrationd.py | 36 ++- selfdrive/locationd/test/test_locationd.py | 21 +- .../test/test_locationd_scenarios.py | 63 +++-- selfdrive/manager/test/test_manager.py | 27 +- selfdrive/modeld/tests/test_modeld.py | 35 ++- selfdrive/monitoring/test_monitoring.py | 110 ++++---- selfdrive/navd/tests/test_map_renderer.py | 18 +- selfdrive/navd/tests/test_navd.py | 11 +- selfdrive/test/helpers.py | 7 +- .../test_longitudinal.py | 13 +- selfdrive/test/process_replay/test_fuzzy.py | 6 +- selfdrive/test/process_replay/test_regen.py | 10 +- selfdrive/test/test_onroad.py | 51 ++-- selfdrive/test/test_updated.py | 35 ++- selfdrive/test/test_valgrind_replay.py | 9 +- .../thermald/tests/test_fan_controller.py | 57 ++--- .../thermald/tests/test_power_monitoring.py | 236 +++++++++--------- selfdrive/ui/tests/test_soundd.py | 10 +- selfdrive/ui/tests/test_translations.py | 44 ++-- selfdrive/ui/tests/test_ui/run.py | 2 +- selfdrive/updated/tests/test_base.py | 53 ++-- system/camerad/test/test_exposure.py | 10 +- .../hardware/tici/tests/test_agnos_updater.py | 9 +- system/hardware/tici/tests/test_amplifier.py | 18 +- system/hardware/tici/tests/test_hardware.py | 7 +- system/hardware/tici/tests/test_power_draw.py | 19 +- system/loggerd/tests/loggerd_tests_common.py | 5 +- system/loggerd/tests/test_deleter.py | 15 +- system/loggerd/tests/test_encoder.py | 39 ++- system/loggerd/tests/test_uploader.py | 55 ++-- system/qcomgpsd/tests/test_qcomgpsd.py | 24 +- system/sensord/tests/test_sensord.py | 22 +- system/tests/test_logmessaged.py | 10 +- system/ubloxd/tests/test_pigeond.py | 9 +- system/updated/casync/tests/test_casync.py | 86 +++---- system/webrtc/tests/test_stream_session.py | 74 +++--- system/webrtc/tests/test_webrtcd.py | 26 +- tools/car_porting/test_car_model.py | 2 +- tools/lib/tests/test_caching.py | 47 ++-- tools/lib/tests/test_comma_car_segments.py | 11 +- tools/lib/tests/test_logreader.py | 136 +++++----- tools/lib/tests/test_readers.py | 23 +- tools/lib/tests/test_route_library.py | 12 +- tools/plotjuggler/test_plotjuggler.py | 15 +- tools/sim/tests/test_metadrive_bridge.py | 5 - tools/sim/tests/test_sim_bridge.py | 24 +- 84 files changed, 1215 insertions(+), 1548 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2be83b1654..85c4073072 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -147,7 +147,7 @@ jobs: - name: Run valgrind timeout-minutes: 1 run: | - ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py" + ${{ env.RUN }} "pytest selfdrive/test/test_valgrind_replay.py" - name: Print logs if: always() run: cat selfdrive/test/valgrind_logs.txt diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index 1817f77cd2..a9977c2362 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -1,11 +1,10 @@ import os -import unittest from uuid import uuid4 from openpilot.common.file_helpers import atomic_write_in_dir -class TestFileHelpers(unittest.TestCase): +class TestFileHelpers: def run_atomic_write_func(self, atomic_write_func): path = f"/tmp/tmp{uuid4()}" with atomic_write_func(path) as f: @@ -13,12 +12,8 @@ class TestFileHelpers(unittest.TestCase): assert not os.path.exists(path) with open(path) as f: - self.assertEqual(f.read(), "test") + assert f.read() == "test" os.remove(path) def test_atomic_write_in_dir(self): self.run_atomic_write_func(atomic_write_in_dir) - - -if __name__ == "__main__": - unittest.main() diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py index de7bb972e7..aa53851db0 100644 --- a/common/tests/test_numpy_fast.py +++ b/common/tests/test_numpy_fast.py @@ -1,10 +1,9 @@ import numpy as np -import unittest from openpilot.common.numpy_fast import interp -class InterpTest(unittest.TestCase): +class TestInterp: def test_correctness_controls(self): _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.]) _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30]) @@ -20,7 +19,3 @@ class InterpTest(unittest.TestCase): expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) np.testing.assert_equal(actual, expected) - - -if __name__ == "__main__": - unittest.main() diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 490ee122be..16cbc45295 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,13 +1,13 @@ +import pytest import os import threading import time import uuid -import unittest from openpilot.common.params import Params, ParamKeyType, UnknownKeyName -class TestParams(unittest.TestCase): - def setUp(self): +class TestParams: + def setup_method(self): self.params = Params() def test_params_put_and_get(self): @@ -49,16 +49,16 @@ class TestParams(unittest.TestCase): assert self.params.get("CarParams", True) == b"test" def test_params_unknown_key_fails(self): - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.get("swag") - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.get_bool("swag") - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.put("swag", "abc") - with self.assertRaises(UnknownKeyName): + with pytest.raises(UnknownKeyName): self.params.put_bool("swag", True) def test_remove_not_there(self): @@ -68,19 +68,19 @@ class TestParams(unittest.TestCase): def test_get_bool(self): self.params.remove("IsMetric") - self.assertFalse(self.params.get_bool("IsMetric")) + assert not self.params.get_bool("IsMetric") self.params.put_bool("IsMetric", True) - self.assertTrue(self.params.get_bool("IsMetric")) + assert self.params.get_bool("IsMetric") self.params.put_bool("IsMetric", False) - self.assertFalse(self.params.get_bool("IsMetric")) + assert not self.params.get_bool("IsMetric") self.params.put("IsMetric", "1") - self.assertTrue(self.params.get_bool("IsMetric")) + assert self.params.get_bool("IsMetric") self.params.put("IsMetric", "0") - self.assertFalse(self.params.get_bool("IsMetric")) + assert not self.params.get_bool("IsMetric") def test_put_non_blocking_with_get_block(self): q = Params() @@ -107,7 +107,3 @@ class TestParams(unittest.TestCase): assert len(keys) > 20 assert len(keys) == len(set(keys)) assert b"CarParams" in keys - - -if __name__ == "__main__": - unittest.main() diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py index f641cd19e6..f4a967e58a 100644 --- a/common/tests/test_simple_kalman.py +++ b/common/tests/test_simple_kalman.py @@ -1,10 +1,8 @@ -import unittest - from openpilot.common.simple_kalman import KF1D -class TestSimpleKalman(unittest.TestCase): - def setUp(self): +class TestSimpleKalman: + def setup_method(self): dt = 0.01 x0_0 = 0.0 x1_0 = 0.0 @@ -24,12 +22,8 @@ class TestSimpleKalman(unittest.TestCase): def test_getter_setter(self): self.kf.set_x([[1.0], [1.0]]) - self.assertEqual(self.kf.x, [[1.0], [1.0]]) + assert self.kf.x == [[1.0], [1.0]] def update_returns_state(self): x = self.kf.update(100) - self.assertEqual(x, self.kf.x) - - -if __name__ == "__main__": - unittest.main() + assert x == self.kf.x diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index 7ae79403bd..41076d9b3f 100755 --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import numpy as np -import unittest import openpilot.common.transformations.coordinates as coord @@ -44,7 +43,7 @@ ned_offsets_batch = np.array([[ 53.88103168, 43.83445935, -46.27488057], [ 78.56272609, 18.53100158, -43.25290759]]) -class TestNED(unittest.TestCase): +class TestNED: def test_small_distances(self): start_geodetic = np.array([33.8042184, -117.888593, 0.0]) local_coord = coord.LocalCoord.from_geodetic(start_geodetic) @@ -54,13 +53,13 @@ class TestNED(unittest.TestCase): west_geodetic = start_geodetic + [0, -0.0005, 0] west_ned = local_coord.geodetic2ned(west_geodetic) - self.assertLess(np.abs(west_ned[0]), 1e-3) - self.assertLess(west_ned[1], 0) + assert np.abs(west_ned[0]) < 1e-3 + assert west_ned[1] < 0 southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0] southwest_ned = local_coord.geodetic2ned(southwest_geodetic) - self.assertLess(southwest_ned[0], 0) - self.assertLess(southwest_ned[1], 0) + assert southwest_ned[0] < 0 + assert southwest_ned[1] < 0 def test_ecef_geodetic(self): # testing single @@ -105,5 +104,3 @@ class TestNED(unittest.TestCase): np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch), ecef_positions_offset_batch, rtol=1e-9, atol=1e-7) -if __name__ == "__main__": - unittest.main() diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py index f77827d2f9..695642774e 100755 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import numpy as np -import unittest from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ @@ -32,7 +31,7 @@ ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808], [ 2.50450101, 0.36304151, 0.33136365]]) -class TestOrientation(unittest.TestCase): +class TestOrientation: def test_quat_euler(self): for i, eul in enumerate(eulers): np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7) @@ -62,7 +61,3 @@ class TestOrientation(unittest.TestCase): np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7) #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7) # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc b/opendbc index 91a9bb4824..e2408cb272 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 91a9bb4824381c39b8a15b443d5b265ec550b62b +Subproject commit e2408cb2725671ad63e827e02f37e0f1739b68c6 diff --git a/poetry.lock b/poetry.lock index 978574a1e2..f1f8d9f518 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. [[package]] name = "aiohttp" @@ -6641,6 +6641,24 @@ pluggy = ">=1.5,<2.0" [package.extras] dev = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"] +[[package]] +name = "pytest-asyncio" +version = "0.23.6" +description = "Pytest support for asyncio" +optional = false +python-versions = ">=3.8" +files = [ + {file = "pytest-asyncio-0.23.6.tar.gz", hash = "sha256:ffe523a89c1c222598c76856e76852b787504ddb72dd5d9b6617ffa8aa2cde5f"}, + {file = "pytest_asyncio-0.23.6-py3-none-any.whl", hash = "sha256:68516fdd1018ac57b846c9846b954f0393b26f094764a28c955eabb0536a4e8a"}, +] + +[package.dependencies] +pytest = ">=7.0.0,<9" + +[package.extras] +docs = ["sphinx (>=5.3)", "sphinx-rtd-theme (>=1.0)"] +testing = ["coverage (>=6.2)", "hypothesis (>=5.7.1)"] + [[package]] name = "pytest-cov" version = "5.0.0" @@ -6674,6 +6692,23 @@ files = [ colorama = "*" pytest = ">=7.0" +[[package]] +name = "pytest-mock" +version = "3.14.0" +description = "Thin-wrapper around the mock package for easier use with pytest" +optional = false +python-versions = ">=3.8" +files = [ + {file = "pytest-mock-3.14.0.tar.gz", hash = "sha256:2719255a1efeceadbc056d6bf3df3d1c5015530fb40cf347c0f9afac88410bd0"}, + {file = "pytest_mock-3.14.0-py3-none-any.whl", hash = "sha256:0b72c38033392a5f4621342fe11e9219ac11ec9d375f8e2a0c164539e0d70f6f"}, +] + +[package.dependencies] +pytest = ">=6.2.5" + +[package.extras] +dev = ["pre-commit", "pytest-asyncio", "tox"] + [[package]] name = "pytest-randomly" version = "3.15.0" @@ -7987,4 +8022,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d" +content-hash = "9f69dc7862f33f61e94e960f0ead2cbcd306b4502163d1934381d476143344f4" diff --git a/pyproject.toml b/pyproject.toml index a25fcc1645..a4e31145de 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -154,6 +154,8 @@ pytest-subtests = "*" pytest-xdist = "*" pytest-timeout = "*" pytest-randomly = "*" +pytest-asyncio = "*" +pytest-mock = "*" ruff = "*" sphinx = "*" sphinx-rtd-theme = "*" @@ -197,6 +199,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false "third_party".msg = "Use openpilot.third_party" "tools".msg = "Use openpilot.tools" "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" +"unittest".msg = "Use pytest" [tool.coverage.run] concurrency = ["multiprocessing", "thread"] diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 4850ab9a3f..bdce3dccef 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 -from functools import partial, wraps +import pytest +from functools import wraps import json import multiprocessing import os @@ -8,12 +9,9 @@ import shutil import time import threading import queue -import unittest from dataclasses import asdict, replace from datetime import datetime, timedelta -from parameterized import parameterized -from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException @@ -24,7 +22,7 @@ from openpilot.common.timeout import Timeout from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket -from openpilot.selfdrive.test.helpers import with_http_server +from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths @@ -37,10 +35,6 @@ def seed_athena_server(host, port): except requests.exceptions.ConnectionError: time.sleep(0.1) - -with_mock_athena = partial(with_http_server, handler=HTTPRequestHandler, setup=seed_athena_server) - - def with_upload_handler(func): @wraps(func) def wrapper(*args, **kwargs): @@ -54,15 +48,23 @@ def with_upload_handler(func): thread.join() return wrapper +@pytest.fixture +def mock_create_connection(mocker): + return mocker.patch('openpilot.selfdrive.athena.athenad.create_connection') -class TestAthenadMethods(unittest.TestCase): +@pytest.fixture +def host(): + with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port): + yield f"http://{host}:{port}" + +class TestAthenadMethods: @classmethod - def setUpClass(cls): + def setup_class(cls): cls.SOCKET_PORT = 45454 athenad.Api = MockApi athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} - def setUp(self): + def setup_method(self): self.default_params = { "DongleId": "0000000000000000", "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 @@ -109,8 +111,8 @@ class TestAthenadMethods(unittest.TestCase): def test_echo(self): assert dispatcher["echo"]("bob") == "bob" - def test_getMessage(self): - with self.assertRaises(TimeoutError) as _: + def test_get_message(self): + with pytest.raises(TimeoutError) as _: dispatcher["getMessage"]("controlsState") end_event = multiprocessing.Event() @@ -133,7 +135,7 @@ class TestAthenadMethods(unittest.TestCase): end_event.set() p.join() - def test_listDataDirectory(self): + def test_list_data_directory(self): route = '2021-03-29--13-32-47' segments = [0, 1, 2, 3, 11] @@ -143,69 +145,66 @@ class TestAthenadMethods(unittest.TestCase): self._create_file(file) resp = dispatcher["listDataDirectory"]() - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, files) + assert resp, 'list empty!' + assert len(resp) == len(files) resp = dispatcher["listDataDirectory"](f'{route}--123') - self.assertCountEqual(resp, []) + assert len(resp) == 0 prefix = f'{route}' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) prefix = f'{route}--1' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) prefix = f'{route}--1/' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) prefix = f'{route}--1/q' - expected = filter(lambda f: f.startswith(prefix), files) + expected = list(filter(lambda f: f.startswith(prefix), files)) resp = dispatcher["listDataDirectory"](prefix) - self.assertTrue(resp, 'list empty!') - self.assertCountEqual(resp, expected) + assert resp, 'list empty!' + assert len(resp) == len(expected) def test_strip_bz2_extension(self): fn = self._create_file('qlog.bz2') if fn.endswith('.bz2'): - self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) + assert athenad.strip_bz2_extension(fn) == fn[:-4] - @parameterized.expand([(True,), (False,)]) - @with_mock_athena - def test_do_upload(self, compress, host): + @pytest.mark.parametrize("compress", [True, False]) + def test_do_upload(self, host, compress): # random bytes to ensure rather large object post-compression fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) upload_fn = fn + ('.bz2' if compress else '') item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') - with self.assertRaises(requests.exceptions.ConnectionError): + with pytest.raises(requests.exceptions.ConnectionError): athenad._do_upload(item) item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='') resp = athenad._do_upload(item) - self.assertEqual(resp.status_code, 201) + assert resp.status_code == 201 - @with_mock_athena - def test_uploadFileToUrl(self, host): + def test_upload_file_to_url(self, host): fn = self._create_file('qlog.bz2') resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) - self.assertEqual(resp['enqueued'], 1) - self.assertNotIn('failed', resp) - self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items()) - self.assertIsNotNone(resp['items'][0].get('id')) - self.assertEqual(athenad.upload_queue.qsize(), 1) + assert resp['enqueued'] == 1 + assert 'failed' not in resp + assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items() + assert resp['items'][0].get('id') is not None + assert athenad.upload_queue.qsize() == 1 - @with_mock_athena - def test_uploadFileToUrl_duplicate(self, host): + def test_upload_file_to_url_duplicate(self, host): self._create_file('qlog.bz2') url1 = f"{host}/qlog.bz2?sig=sig1" @@ -214,14 +213,12 @@ class TestAthenadMethods(unittest.TestCase): # Upload same file again, but with different signature url2 = f"{host}/qlog.bz2?sig=sig2" resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) - self.assertEqual(resp, {'enqueued': 0, 'items': []}) + assert resp == {'enqueued': 0, 'items': []} - @with_mock_athena - def test_uploadFileToUrl_does_not_exist(self, host): + def test_upload_file_to_url_does_not_exist(self, host): not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) - self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) + assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']} - @with_mock_athena @with_upload_handler def test_upload_handler(self, host): fn = self._create_file('qlog.bz2') @@ -233,13 +230,12 @@ class TestAthenadMethods(unittest.TestCase): # TODO: verify that upload actually succeeded # TODO: also check that end_event and metered network raises AbortTransferException - self.assertEqual(athenad.upload_queue.qsize(), 0) + assert athenad.upload_queue.qsize() == 0 - @parameterized.expand([(500, True), (412, False)]) - @with_mock_athena - @mock.patch('requests.put') + @pytest.mark.parametrize("status,retry", [(500,True), (412,False)]) @with_upload_handler - def test_upload_handler_retry(self, status, retry, mock_put, host): + def test_upload_handler_retry(self, mocker, host, status, retry): + mock_put = mocker.patch('requests.put') mock_put.return_value.status_code = status fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -248,10 +244,10 @@ class TestAthenadMethods(unittest.TestCase): self._wait_for_upload() time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0) + assert athenad.upload_queue.qsize() == (1 if retry else 0) if retry: - self.assertEqual(athenad.upload_queue.get().retry_count, 1) + assert athenad.upload_queue.get().retry_count == 1 @with_upload_handler def test_upload_handler_timeout(self): @@ -265,33 +261,33 @@ class TestAthenadMethods(unittest.TestCase): time.sleep(0.1) # Check that upload with retry count exceeded is not put back - self.assertEqual(athenad.upload_queue.qsize(), 0) + assert athenad.upload_queue.qsize() == 0 athenad.upload_queue.put_nowait(item) self._wait_for_upload() time.sleep(0.1) # Check that upload item was put back in the queue with incremented retry count - self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertEqual(athenad.upload_queue.get().retry_count, 1) + assert athenad.upload_queue.qsize() == 1 + assert athenad.upload_queue.get().retry_count == 1 @with_upload_handler - def test_cancelUpload(self): + def test_cancel_upload(self): item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) dispatcher["cancelUpload"](item.id) - self.assertIn(item.id, athenad.cancelled_uploads) + assert item.id in athenad.cancelled_uploads self._wait_for_upload() time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 0) - self.assertEqual(len(athenad.cancelled_uploads), 0) + assert athenad.upload_queue.qsize() == 0 + assert len(athenad.cancelled_uploads) == 0 @with_upload_handler - def test_cancelExpiry(self): + def test_cancel_expiry(self): t_future = datetime.now() - timedelta(days=40) ts = int(t_future.strftime("%s")) * 1000 @@ -303,15 +299,14 @@ class TestAthenadMethods(unittest.TestCase): self._wait_for_upload() time.sleep(0.1) - self.assertEqual(athenad.upload_queue.qsize(), 0) + assert athenad.upload_queue.qsize() == 0 - def test_listUploadQueueEmpty(self): + def test_list_upload_queue_empty(self): items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 0) + assert len(items) == 0 - @with_http_server @with_upload_handler - def test_listUploadQueueCurrent(self, host: str): + def test_list_upload_queue_current(self, host: str): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -319,22 +314,22 @@ class TestAthenadMethods(unittest.TestCase): self._wait_for_upload() items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 1) - self.assertTrue(items[0]['current']) + assert len(items) == 1 + assert items[0]['current'] - def test_listUploadQueue(self): + def test_list_upload_queue(self): item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 1) - self.assertDictEqual(items[0], asdict(item)) - self.assertFalse(items[0]['current']) + assert len(items) == 1 + assert items[0] == asdict(item) + assert not items[0]['current'] athenad.cancelled_uploads.add(item.id) items = dispatcher["listUploadQueue"]() - self.assertEqual(len(items), 0) + assert len(items) == 0 def test_upload_queue_persistence(self): item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') @@ -353,11 +348,10 @@ class TestAthenadMethods(unittest.TestCase): athenad.upload_queue.queue.clear() athenad.UploadQueueCache.initialize(athenad.upload_queue) - self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) + assert athenad.upload_queue.qsize() == 1 + assert asdict(athenad.upload_queue.queue[-1]) == asdict(item1) - @mock.patch('openpilot.selfdrive.athena.athenad.create_connection') - def test_startLocalProxy(self, mock_create_connection): + def test_start_local_proxy(self, mock_create_connection): end_event = threading.Event() ws_recv = queue.Queue() @@ -380,21 +374,21 @@ class TestAthenadMethods(unittest.TestCase): ws_recv.put_nowait(WebSocketConnectionClosedException()) socket_thread.join() - def test_getSshAuthorizedKeys(self): + def test_get_ssh_authorized_keys(self): keys = dispatcher["getSshAuthorizedKeys"]() - self.assertEqual(keys, self.default_params["GithubSshKeys"].decode('utf-8')) + assert keys == self.default_params["GithubSshKeys"].decode('utf-8') - def test_getGithubUsername(self): + def test_get_github_username(self): keys = dispatcher["getGithubUsername"]() - self.assertEqual(keys, self.default_params["GithubUsername"].decode('utf-8')) + assert keys == self.default_params["GithubUsername"].decode('utf-8') - def test_getVersion(self): + def test_get_version(self): resp = dispatcher["getVersion"]() keys = ["version", "remote", "branch", "commit"] - self.assertEqual(list(resp.keys()), keys) + assert list(resp.keys()) == keys for k in keys: - self.assertIsInstance(resp[k], str, f"{k} is not a string") - self.assertTrue(len(resp[k]) > 0, f"{k} has no value") + assert isinstance(resp[k], str), f"{k} is not a string" + assert len(resp[k]) > 0, f"{k} has no value" def test_jsonrpc_handler(self): end_event = threading.Event() @@ -405,15 +399,15 @@ class TestAthenadMethods(unittest.TestCase): # with params athenad.recv_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0})) resp = athenad.send_queue.get(timeout=3) - self.assertDictEqual(json.loads(resp), {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'}) + assert json.loads(resp) == {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'} # without params athenad.recv_queue.put_nowait(json.dumps({"method": "getNetworkType", "jsonrpc": "2.0", "id": 0})) resp = athenad.send_queue.get(timeout=3) - self.assertDictEqual(json.loads(resp), {'result': 1, 'id': 0, 'jsonrpc': '2.0'}) + assert json.loads(resp) == {'result': 1, 'id': 0, 'jsonrpc': '2.0'} # log forwarding athenad.recv_queue.put_nowait(json.dumps({'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'})) resp = athenad.log_recv_queue.get(timeout=3) - self.assertDictEqual(json.loads(resp), {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'}) + assert json.loads(resp) == {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'} finally: end_event.set() thread.join() @@ -427,8 +421,4 @@ class TestAthenadMethods(unittest.TestCase): # ensure the list is all logs except most recent sl = athenad.get_logs_to_send_sorted() - self.assertListEqual(sl, fl[:-1]) - - -if __name__ == '__main__': - unittest.main() + assert sl == fl[:-1] diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index f56fcac8b5..44fa0b8481 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -1,10 +1,9 @@ #!/usr/bin/env python3 +import pytest import subprocess import threading import time -import unittest from typing import cast -from unittest import mock from openpilot.common.params import Params from openpilot.common.timeout import Timeout @@ -22,7 +21,7 @@ def wifi_radio(on: bool) -> None: subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True) -class TestAthenadPing(unittest.TestCase): +class TestAthenadPing: params: Params dongle_id: str @@ -39,10 +38,10 @@ class TestAthenadPing(unittest.TestCase): return self._get_ping_time() is not None @classmethod - def tearDownClass(cls) -> None: + def teardown_class(cls) -> None: wifi_radio(True) - def setUp(self) -> None: + def setup_method(self) -> None: self.params = Params() self.dongle_id = self.params.get("DongleId", encoding="utf-8") @@ -52,21 +51,23 @@ class TestAthenadPing(unittest.TestCase): self.exit_event = threading.Event() self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,)) - def tearDown(self) -> None: + def teardown_method(self) -> None: if self.athenad.is_alive(): self.exit_event.set() self.athenad.join() - @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection)) - def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None: + def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None: self.athenad.start() + mock_create_connection = mocker.patch('openpilot.selfdrive.athena.athenad.create_connection', + new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection)) + time.sleep(1) mock_create_connection.assert_called_once() mock_create_connection.reset_mock() # check normal behaviour, server pings on connection - with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"): + with subtests.test("Wi-Fi: receives ping"), Timeout(70, "no ping received"): while not self._received_ping(): time.sleep(0.1) print("ping received") @@ -74,7 +75,7 @@ class TestAthenadPing(unittest.TestCase): mock_create_connection.assert_not_called() # websocket should attempt reconnect after short time - with self.subTest("LTE: attempt reconnect"): + with subtests.test("LTE: attempt reconnect"): wifi_radio(False) print("waiting for reconnect attempt") start_time = time.monotonic() @@ -86,21 +87,17 @@ class TestAthenadPing(unittest.TestCase): self._clear_ping_time() # check ping received after reconnect - with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"): + with subtests.test("LTE: receives ping"), Timeout(70, "no ping received"): while not self._received_ping(): time.sleep(0.1) print("ping received") - @unittest.skipIf(not TICI, "only run on desk") - def test_offroad(self) -> None: + @pytest.mark.skipif(not TICI, reason="only run on desk") + def test_offroad(self, subtests, mocker) -> None: write_onroad_params(False, self.params) - self.assertTimeout(60 + TIMEOUT_TOLERANCE) # based using TCP keepalive settings + self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker) # based using TCP keepalive settings - @unittest.skipIf(not TICI, "only run on desk") - def test_onroad(self) -> None: + @pytest.mark.skipif(not TICI, reason="only run on desk") + def test_onroad(self, subtests, mocker) -> None: write_onroad_params(True, self.params) - self.assertTimeout(21 + TIMEOUT_TOLERANCE) - - -if __name__ == "__main__": - unittest.main() + self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker) diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py index e7ad63a370..a808dd5668 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/selfdrive/athena/tests/test_registration.py @@ -1,9 +1,7 @@ #!/usr/bin/env python3 import json -import unittest from Crypto.PublicKey import RSA from pathlib import Path -from unittest import mock from openpilot.common.params import Params from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID @@ -11,9 +9,9 @@ from openpilot.selfdrive.athena.tests.helpers import MockResponse from openpilot.system.hardware.hw import Paths -class TestRegistration(unittest.TestCase): +class TestRegistration: - def setUp(self): + def setup_method(self): # clear params and setup key paths self.params = Params() self.params.clear_all() @@ -32,50 +30,46 @@ class TestRegistration(unittest.TestCase): with open(self.pub_key, "wb") as f: f.write(k.publickey().export_key()) - def test_valid_cache(self): + def test_valid_cache(self, mocker): # if all params are written, return the cached dongle id self.params.put("IMEI", "imei") self.params.put("HardwareSerial", "serial") self._generate_keys() - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - dongle = "DONGLE_ID_123" - self.params.put("DongleId", dongle) - self.assertEqual(register(), dongle) - self.assertFalse(m.called) + m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + dongle = "DONGLE_ID_123" + self.params.put("DongleId", dongle) + assert register() == dongle + assert not m.called - def test_no_keys(self): + def test_no_keys(self, mocker): # missing pubkey - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - dongle = register() - self.assertEqual(m.call_count, 0) - self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) - self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle) + m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + dongle = register() + assert m.call_count == 0 + assert dongle == UNREGISTERED_DONGLE_ID + assert self.params.get("DongleId", encoding='utf-8') == dongle - def test_missing_cache(self): + def test_missing_cache(self, mocker): # keys exist but no dongle id self._generate_keys() - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - dongle = "DONGLE_ID_123" - m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) - self.assertEqual(register(), dongle) - self.assertEqual(m.call_count, 1) + m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + dongle = "DONGLE_ID_123" + m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) + assert register() == dongle + assert m.call_count == 1 - # call again, shouldn't hit the API this time - self.assertEqual(register(), dongle) - self.assertEqual(m.call_count, 1) - self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle) + # call again, shouldn't hit the API this time + assert register() == dongle + assert m.call_count == 1 + assert self.params.get("DongleId", encoding='utf-8') == dongle - def test_unregistered(self): + def test_unregistered(self, mocker): # keys exist, but unregistered self._generate_keys() - with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: - m.return_value = MockResponse(None, 402) - dongle = register() - self.assertEqual(m.call_count, 1) - self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) - self.assertEqual(self.params.get("DongleId", encoding='utf-8'), dongle) - - -if __name__ == "__main__": - unittest.main() + m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + m.return_value = MockResponse(None, 402) + dongle = register() + assert m.call_count == 1 + assert dongle == UNREGISTERED_DONGLE_ID + assert self.params.get("DongleId", encoding='utf-8') == dongle diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 3ab3a9c5b1..fa9eb957c2 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -4,7 +4,6 @@ import copy import random import time import pytest -import unittest from collections import defaultdict from pprint import pprint @@ -107,7 +106,3 @@ class TestBoarddLoopback: pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow for bus in sent_loopback.keys(): assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages" - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 3434be3fe4..65f3ad657c 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -2,7 +2,6 @@ import os import pytest import time -import unittest import cereal.messaging as messaging from cereal import log @@ -16,16 +15,16 @@ HERE = os.path.dirname(os.path.realpath(__file__)) @pytest.mark.tici -class TestPandad(unittest.TestCase): +class TestPandad: - def setUp(self): + def setup_method(self): # ensure panda is up if len(Panda.list()) == 0: self._run_test(60) self.spi = HARDWARE.get_device_type() != 'tici' - def tearDown(self): + def teardown_method(self): managed_processes['pandad'].stop() def _run_test(self, timeout=30) -> float: @@ -65,7 +64,7 @@ class TestPandad(unittest.TestCase): assert Panda.wait_for_panda(None, 10) if expect_mismatch: - with self.assertRaises(PandaProtocolMismatch): + with pytest.raises(PandaProtocolMismatch): Panda() else: with Panda() as p: @@ -108,9 +107,10 @@ class TestPandad(unittest.TestCase): assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0) print("startup times", ts, sum(ts) / len(ts)) + def test_protocol_version_check(self): if not self.spi: - raise unittest.SkipTest("SPI test") + pytest.skip("SPI test") # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") self._flash_bootstub_and_test(fn, expect_mismatch=True) @@ -127,7 +127,3 @@ class TestPandad(unittest.TestCase): self._assert_no_panda() self._run_test(60) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index 5d7b2c3332..72dd69980a 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import random -import unittest from collections.abc import Iterable import capnp @@ -43,31 +42,31 @@ ECU_PART_NUMBER = { } -class TestFordFW(unittest.TestCase): +class TestFordFW: def test_fw_query_config(self): for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus: - self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") - self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") - self.assertIsNone(subaddr, "Unexpected ECU subaddress") + assert ecu in ECU_ADDRESSES, "Unknown ECU" + assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch" + assert subaddr is None, "Unexpected ECU subaddress" @parameterized.expand(FW_VERSIONS.items()) def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]): for (ecu, addr, subaddr), fws in fw_versions.items(): - self.assertIn(ecu, ECU_PART_NUMBER, "Unexpected ECU") - self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") - self.assertIsNone(subaddr, "Unexpected ECU subaddress") + assert ecu in ECU_PART_NUMBER, "Unexpected ECU" + assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch" + assert subaddr is None, "Unexpected ECU subaddress" for fw in fws: - self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes") + assert len(fw) == 24, "Expected ECU response to be 24 bytes" match = FW_PATTERN.match(fw) - self.assertIsNotNone(match, f"Unable to parse FW: {fw!r}") + assert match is not None, f"Unable to parse FW: {fw!r}" if match: part_number = match.group("part_number") - self.assertIn(part_number, ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}") + assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}" codes = get_platform_codes([fw]) - self.assertEqual(1, len(codes), f"Unable to parse FW: {fw!r}") + assert 1 == len(codes), f"Unable to parse FW: {fw!r}" @settings(max_examples=100) @given(data=st.data()) @@ -85,7 +84,7 @@ class TestFordFW(unittest.TestCase): b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00", b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}) + assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")} def test_fuzzy_match(self): for platform, fw_by_addr in FW_VERSIONS.items(): @@ -100,7 +99,7 @@ class TestFordFW(unittest.TestCase): CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) - self.assertEqual(matches, {platform}) + assert matches == {platform} def test_match_fw_fuzzy(self): offline_fw = { @@ -132,18 +131,14 @@ class TestFordFW(unittest.TestCase): (0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}, } candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw}) - self.assertEqual(candidates, {expected_fingerprint}) + assert candidates == {expected_fingerprint} # model year hint in between the range should match live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"} candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,}) - self.assertEqual(candidates, {expected_fingerprint}) + assert candidates == {expected_fingerprint} # unseen model year hint should not match live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"} candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw}) - self.assertEqual(len(candidates), 0, "Should not match new model year hint") - - -if __name__ == "__main__": - unittest.main() + assert len(candidates) == 0, "Should not match new model year hint" diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py index 01ec8533b8..389d0636c9 100755 --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 from parameterized import parameterized -import unittest from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET @@ -8,19 +7,15 @@ from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b -class TestGMFingerprint(unittest.TestCase): +class TestGMFingerprint: @parameterized.expand(FINGERPRINTS.items()) def test_can_fingerprints(self, car_model, fingerprints): - self.assertGreater(len(fingerprints), 0) + assert len(fingerprints) > 0 - self.assertTrue(all(len(finger) for finger in fingerprints)) + assert all(len(finger) for finger in fingerprints) # The camera can sometimes be communicating on startup if car_model in CAMERA_ACC_CAR: for finger in fingerprints: for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET): - self.assertEqual(finger.get(required_addr), 8, required_addr) - - -if __name__ == "__main__": - unittest.main() + assert finger.get(required_addr) == 8, required_addr diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py index 60d91b84a8..54d177d2ed 100755 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -1,20 +1,15 @@ #!/usr/bin/env python3 import re -import unittest from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" -class TestHondaFingerprint(unittest.TestCase): +class TestHondaFingerprint: def test_fw_version_format(self): # Asserts all FW versions follow an expected format for fw_by_ecu in FW_VERSIONS.values(): for fws in fw_by_ecu.values(): for fw in fws: - self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw) - - -if __name__ == "__main__": - unittest.main() + assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 0753b372e1..db2110b0de 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 from hypothesis import settings, given, strategies as st -import unittest + +import pytest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict @@ -39,19 +40,19 @@ NO_DATES_PLATFORMS = { CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar} -class TestHyundaiFingerprint(unittest.TestCase): +class TestHyundaiFingerprint: def test_can_features(self): # Test no EV/HEV in any gear lists (should all use ELECT_GEAR) - self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set()) + assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set() # Test CAN FD car not in CAN feature lists can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR) for car_model in CANFD_CAR: - self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") + assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list" def test_hybrid_ev_sets(self): - self.assertEqual(HYBRID_CAR & EV_CAR, set(), "Shared cars between hybrid and EV") - self.assertEqual(CANFD_CAR & HYBRID_CAR, set(), "Hard coding CAN FD cars as hybrid is no longer supported") + assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV" + assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported" def test_canfd_ecu_whitelist(self): # Asserts only expected Ecus can exist in database for CAN-FD cars @@ -59,34 +60,34 @@ class TestHyundaiFingerprint(unittest.TestCase): ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist]) - self.assertEqual(len(ecus_not_in_whitelist), 0, - f"{car_model}: Car model has unexpected ECUs: {ecu_strings}") + assert len(ecus_not_in_whitelist) == 0, \ + f"{car_model}: Car model has unexpected ECUs: {ecu_strings}" - def test_blacklisted_parts(self): + def test_blacklisted_parts(self, subtests): # Asserts no ECUs known to be shared across platforms exist in the database. # Tucson having Santa Cruz camera and EPS for example for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: - raise unittest.SkipTest("Skip checking Santa Cruz for its parts") + pytest.skip("Skip checking Santa Cruz for its parts") for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]): if b"-" not in code: continue part = code.split(b"-")[1] - self.assertFalse(part.startswith(b'CW'), "Car has bad part number") + assert not part.startswith(b'CW'), "Car has bad part number" - def test_correct_ecu_response_database(self): + def test_correct_ecu_response_database(self, subtests): """ Assert standard responses for certain ECUs, since they can respond to multiple queries with different data """ expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:] for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): - self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws), - f"FW from unexpected request in database: {(ecu, fws)}") + assert all(fw.startswith(expected_fw_prefix) for fw in fws), \ + f"FW from unexpected request in database: {(ecu, fws)}" @settings(max_examples=100) @given(data=st.data()) @@ -96,10 +97,10 @@ class TestHyundaiFingerprint(unittest.TestCase): fws = data.draw(fw_strategy) get_platform_codes(fws) - def test_expected_platform_codes(self): + def test_expected_platform_codes(self, subtests): # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue @@ -107,37 +108,37 @@ class TestHyundaiFingerprint(unittest.TestCase): # Third and fourth character are usually EV/hybrid identifiers codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)} if car_model == CAR.HYUNDAI_PALISADE: - self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}") + assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}" elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera: - self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}") + assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}" else: - self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}") + assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}" # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy # fingerprint in the absence of full FW matches: - def test_platform_code_ecus_available(self): + def test_platform_code_ecus_available(self, subtests): # TODO: add queries for these non-CAN FD cars to get EPS no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA} # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for platform_code_ecu in PLATFORM_CODE_ECUS: if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS: continue if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms: continue - self.assertIn(platform_code_ecu, [e[0] for e in ecus]) + assert platform_code_ecu in [e[0] for e in ecus] - def test_fw_format(self): + def test_fw_format(self, subtests): # Asserts: # - every supported ECU FW version returns one platform code # - every supported ECU FW version has a part number # - expected parsing of ECU FW dates for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue @@ -145,40 +146,40 @@ class TestHyundaiFingerprint(unittest.TestCase): codes = set() for fw in fws: result = get_platform_codes([fw]) - self.assertEqual(1, len(result), f"Unable to parse FW: {fw}") + assert 1 == len(result), f"Unable to parse FW: {fw}" codes |= result if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS: - self.assertTrue(all(date is None for _, date in codes)) + assert all(date is None for _, date in codes) else: - self.assertTrue(all(date is not None for _, date in codes)) + assert all(date is not None for _, date in codes) if car_model == CAR.HYUNDAI_GENESIS: - raise unittest.SkipTest("No part numbers for car model") + pytest.skip("No part numbers for car model") # Hyundai places the ECU part number in their FW versions, assert all parsable # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300" - self.assertTrue(all(b"-" in code for code, _ in codes), - f"FW does not have part number: {fw}") + assert all(b"-" in code for code, _ in codes), \ + f"FW does not have part number: {fw}" def test_platform_codes_spot_check(self): # Asserts basic platform code parsing behavior for a few cases results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"]) - self.assertEqual(results, {(b"DH", b"150210")}) + assert results == {(b"DH", b"150210")} # Some cameras and all radars do not have dates results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "]) - self.assertEqual(results, {(b"AEhe-G2000", None)}) + assert results == {(b"AEhe-G2000", None)} results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "]) - self.assertEqual(results, {(b"CV1-CV000", None)}) + assert results == {(b"CV1-CV000", None)} results = get_platform_codes([ b"\xf1\x00DH LKAS 1.1 -150210", b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ", b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ", ]) - self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}) + assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)} results = get_platform_codes([ b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222", @@ -186,8 +187,8 @@ class TestHyundaiFingerprint(unittest.TestCase): b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405", b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720", ]) - self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"), - (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}) + assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"), + (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")} def test_fuzzy_excluded_platforms(self): # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. @@ -211,12 +212,8 @@ class TestHyundaiFingerprint(unittest.TestCase): CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) if len(matches) == 1: - self.assertEqual(list(matches)[0], platform) + assert list(matches)[0] == platform else: platforms_with_shared_codes.add(platform) - self.assertEqual(platforms_with_shared_codes, excluded_platforms) - - -if __name__ == "__main__": - unittest.main() + assert platforms_with_shared_codes == excluded_platforms diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py index c8cdf66065..33040442b6 100644 --- a/selfdrive/car/subaru/tests/test_subaru.py +++ b/selfdrive/car/subaru/tests/test_subaru.py @@ -1,5 +1,4 @@ from cereal import car -import unittest from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS Ecu = car.CarParams.Ecu @@ -7,14 +6,11 @@ Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} -class TestSubaruFingerprint(unittest.TestCase): +class TestSubaruFingerprint: def test_fw_version_format(self): for platform, fws_per_ecu in FW_VERSIONS.items(): for (ecu, _, _), fws in fws_per_ecu.items(): fw_size = len(fws[0]) for fw in fws: - self.assertEqual(len(fw), fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}") + assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}" - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py index 8df7007339..bb585d567f 100755 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 from parameterized import parameterized -import unittest from cereal import log, messaging from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS -class TestCanFingerprint(unittest.TestCase): +class TestCanFingerprint: @parameterized.expand(list(FINGERPRINTS.items())) def test_can_fingerprint(self, car_model, fingerprints): """Tests online fingerprinting function on offline fingerprints""" @@ -21,12 +20,12 @@ class TestCanFingerprint(unittest.TestCase): empty_can = messaging.new_message('can', 0) car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can)) # noqa: B023 - self.assertEqual(car_fingerprint, car_model) - self.assertEqual(finger[0], fingerprint) - self.assertEqual(finger[1], fingerprint) - self.assertEqual(finger[2], {}) + assert car_fingerprint == car_model + assert finger[0] == fingerprint + assert finger[1] == fingerprint + assert finger[2] == {} - def test_timing(self): + def test_timing(self, subtests): # just pick any CAN fingerprinting car car_model = "CHEVROLET_BOLT_EUV" fingerprint = FINGERPRINTS[car_model][0] @@ -50,7 +49,7 @@ class TestCanFingerprint(unittest.TestCase): cases.append((FRAME_FINGERPRINT * 2, None, can)) for expected_frames, car_model, can in cases: - with self.subTest(expected_frames=expected_frames, car_model=car_model): + with subtests.test(expected_frames=expected_frames, car_model=car_model): frames = 0 def test(): @@ -59,9 +58,5 @@ class TestCanFingerprint(unittest.TestCase): return can # noqa: B023 car_fingerprint, _ = can_fingerprint(test) - self.assertEqual(car_fingerprint, car_model) - self.assertEqual(frames, expected_frames + 2) # TODO: fix extra frames - - -if __name__ == "__main__": - unittest.main() + assert car_fingerprint == car_model + assert frames == expected_frames + 2# TODO: fix extra frames diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index dfcd9b0527..4bbecd99fe 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import os import math -import unittest import hypothesis.strategies as st from hypothesis import Phase, given, settings import importlib @@ -45,7 +44,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: return params -class TestCarInterfaces(unittest.TestCase): +class TestCarInterfaces: # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause # many generated examples to overrun when max_examples > ~20, don't use it @parameterized.expand([(car,) for car in sorted(all_known_cars())]) @@ -63,28 +62,28 @@ class TestCarInterfaces(unittest.TestCase): assert car_params assert car_interface - self.assertGreater(car_params.mass, 1) - self.assertGreater(car_params.wheelbase, 0) + assert car_params.mass > 1 + assert car_params.wheelbase > 0 # centerToFront is center of gravity to front wheels, assert a reasonable range - self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7) - self.assertGreater(car_params.maxLateralAccel, 0) + assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7 + assert car_params.maxLateralAccel > 0 # Longitudinal sanity checks - self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP)) - self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP)) - self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP)) + assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) + assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) + assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP) # Lateral sanity checks if car_params.steerControlType != car.CarParams.SteerControlType.angle: tune = car_params.lateralTuning if tune.which() == 'pid': - self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0) - self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)) - self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)) + assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0 + assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP) + assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP) elif tune.which() == 'torque': - self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) - self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) + assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0 + assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0 cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface @@ -128,33 +127,29 @@ class TestCarInterfaces(unittest.TestCase): if not car_params.radarUnavailable and radar_interface.rcp is not None: cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] rr = radar_interface.update(cans) - self.assertTrue(rr is None or len(rr.errors) > 0) + assert rr is None or len(rr.errors) > 0 def test_interface_attrs(self): """Asserts basic behavior of interface attribute getter""" num_brands = len(get_interface_attr('CAR')) - self.assertGreaterEqual(num_brands, 13) + assert num_brands >= 13 # Should return value for all brands when not combining, even if attribute doesn't exist ret = get_interface_attr('FAKE_ATTR') - self.assertEqual(len(ret), num_brands) + assert len(ret) == num_brands # Make sure we can combine dicts ret = get_interface_attr('DBC', combine_brands=True) - self.assertGreaterEqual(len(ret), 160) + assert len(ret) >= 160 # We don't support combining non-dicts ret = get_interface_attr('CAR', combine_brands=True) - self.assertEqual(len(ret), 0) + assert len(ret) == 0 # If brand has None value, it shouldn't return when ignore_none=True is specified none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None} - self.assertGreaterEqual(len(none_brands), 1) + assert len(none_brands) >= 1 ret = get_interface_attr('FINGERPRINTS', ignore_none=True) none_brands_in_ret = none_brands.intersection(ret) - self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}') - - -if __name__ == "__main__": - unittest.main() + assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}' diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 143b402d5f..0ed95e18f2 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from collections import defaultdict import os +import pytest import re -import unittest from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.car.car_helpers import interfaces @@ -14,9 +14,9 @@ from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff -class TestCarDocs(unittest.TestCase): +class TestCarDocs: @classmethod - def setUpClass(cls): + def setup_class(cls): cls.all_cars = get_all_car_docs() def test_generator(self): @@ -24,8 +24,7 @@ class TestCarDocs(unittest.TestCase): with open(CARS_MD_OUT) as f: current_cars_md = f.read() - self.assertEqual(generated_cars_md, current_cars_md, - "Run selfdrive/car/docs.py to update the compatibility documentation") + assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation" def test_docs_diff(self): dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") @@ -33,65 +32,61 @@ class TestCarDocs(unittest.TestCase): print_car_docs_diff(dump_path) os.remove(dump_path) - def test_duplicate_years(self): + def test_duplicate_years(self, subtests): make_model_years = defaultdict(list) for car in self.all_cars: - with self.subTest(car_docs_name=car.name): + with subtests.test(car_docs_name=car.name): make_model = (car.make, car.model) for year in car.year_list: - self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year") + assert year not in make_model_years[make_model], f"{car.name}: Duplicate model year" make_model_years[make_model].append(year) - def test_missing_car_docs(self): + def test_missing_car_docs(self, subtests): all_car_docs_platforms = [name for name, config in PLATFORMS.items()] for platform in sorted(interfaces.keys()): - with self.subTest(platform=platform): - self.assertTrue(platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry") + with subtests.test(platform=platform): + assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry" - def test_naming_conventions(self): + def test_naming_conventions(self, subtests): # Asserts market-standard car naming conventions by brand for car in self.all_cars: - with self.subTest(car=car): + with subtests.test(car=car.name): tokens = car.model.lower().split(" ") if car.car_name == "hyundai": - self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`") - self.assertNotIn("hev", tokens, "Use `Hybrid`") + assert "phev" not in tokens, "Use `Plug-in Hybrid`" + assert "hev" not in tokens, "Use `Hybrid`" if "plug-in hybrid" in car.model.lower(): - self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization") + assert "Plug-in Hybrid" in car.model, "Use correct capitalization" if car.make != "Kia": - self.assertNotIn("ev", tokens, "Use `Electric`") + assert "ev" not in tokens, "Use `Electric`" elif car.car_name == "toyota": if "rav4" in tokens: - self.assertIn("RAV4", car.model, "Use correct capitalization") + assert "RAV4" in car.model, "Use correct capitalization" - def test_torque_star(self): + def test_torque_star(self, subtests): # Asserts brand-specific assumptions around steering torque star for car in self.all_cars: - with self.subTest(car=car): + with subtests.test(car=car.name): # honda sanity check, it's the definition of a no torque star if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT): - self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star") + assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star" elif car.car_name in ("toyota", "hyundai"): - self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star") + assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star" - def test_year_format(self): + def test_year_format(self, subtests): for car in self.all_cars: - with self.subTest(car=car): - self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}") + with subtests.test(car=car.name): + assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}" - def test_harnesses(self): + def test_harnesses(self, subtests): for car in self.all_cars: - with self.subTest(car=car): + with subtests.test(car=car.name): if car.name == "comma body": - raise unittest.SkipTest + pytest.skip() car_part_type = [p.part_type for p in car.car_parts.all_parts()] car_parts = list(car.car_parts.all_parts()) - self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}") - self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") - self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") - self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") - - -if __name__ == "__main__": - unittest.main() + assert len(car_parts) > 0, f"Need to specify car parts: {car.name}" + assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}" + assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}" + assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}" diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index ed5edbef31..230e6f10e1 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,10 +1,9 @@ #!/usr/bin/env python3 +import pytest import random import time -import unittest from collections import defaultdict from parameterized import parameterized -from unittest import mock from cereal import car from openpilot.selfdrive.car.car_helpers import interfaces @@ -27,11 +26,11 @@ class FakeSocket: pass -class TestFwFingerprint(unittest.TestCase): +class TestFwFingerprint: def assertFingerprints(self, candidates, expected): candidates = list(candidates) - self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}") - self.assertEqual(candidates[0], expected) + assert len(candidates) == 1, f"got more than one candidate: {candidates}" + assert candidates[0] == expected @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)]) def test_exact_match(self, brand, car_model, ecus, test_non_essential): @@ -62,7 +61,7 @@ class TestFwFingerprint(unittest.TestCase): # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function config = FW_QUERY_CONFIGS[brand] if config.match_fw_to_car_fuzzy is None: - raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function") + pytest.skip("Brand does not implement custom fuzzy fingerprinting function") CP = car.CarParams.new_message() for _ in range(5): @@ -77,14 +76,14 @@ class TestFwFingerprint(unittest.TestCase): # If both have matches, they must agree if len(matches) == 1 and len(brand_matches) == 1: - self.assertEqual(matches, brand_matches) + assert matches == brand_matches @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) def test_fuzzy_match_ecu_count(self, brand, car_model, ecus): # Asserts that fuzzy matching does not count matching FW, but ECU address keys valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS] if not len(valid_ecus): - raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching") + pytest.skip("Car model has no compatible ECUs for fuzzy matching") fw = [] for ecu in valid_ecus: @@ -99,19 +98,19 @@ class TestFwFingerprint(unittest.TestCase): # Assert no match if there are not enough unique ECUs unique_ecus = {(f['address'], f['subAddress']) for f in fw} if len(unique_ecus) < 2: - self.assertEqual(len(matches), 0, car_model) + assert len(matches) == 0, car_model # There won't always be a match due to shared FW, but if there is it should be correct elif len(matches): self.assertFingerprints(matches, car_model) - def test_fw_version_lists(self): + def test_fw_version_lists(self, subtests): for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, ecu_fw in ecus.items(): - with self.subTest(ecu): + with subtests.test(ecu): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}') - self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}') + assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}' + assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}' def test_all_addrs_map_to_one_ecu(self): for brand, cars in VERSIONS.items(): @@ -121,59 +120,59 @@ class TestFwFingerprint(unittest.TestCase): addr_to_ecu[(addr, sub_addr)].add(ecu_type) ecus_for_addr = addr_to_ecu[(addr, sub_addr)] ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr]) - self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})") + assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})" - def test_data_collection_ecus(self): + def test_data_collection_ecus(self, subtests): # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): for car_model, ecus in VERSIONS[brand].items(): bad_ecus = set(ecus).intersection(config.extra_ecus) - with self.subTest(car_model=car_model.value): - self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}') + with subtests.test(car_model=car_model.value): + assert not len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}' - def test_blacklisted_ecus(self): + def test_blacklisted_ecus(self, subtests): blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): CP = interfaces[car_model][0].get_non_essential_params(car_model) if CP.carName == 'subaru': for ecu in ecus.keys(): - self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})') + assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})' elif CP.carName == "chrysler": # Some HD trucks have a combined TCM and ECM if CP.carFingerprint.startswith("RAM HD"): for ecu in ecus.keys(): - self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})") + assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})" - def test_non_essential_ecus(self): + def test_non_essential_ecus(self, subtests): for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand): + with subtests.test(brand): # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS) - self.assertEqual(unnecessary_non_essential_ecus, set(), "Declaring non-essential ECUs non-essential is not required: " + - f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}") + assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \ + f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}" - def test_missing_versions_and_configs(self): + def test_missing_versions_and_configs(self, subtests): brand_versions = set(VERSIONS.keys()) brand_configs = set(FW_QUERY_CONFIGS.keys()) if len(brand_configs - brand_versions): - with self.subTest(): - self.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}") + with subtests.test(): + pytest.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}") if len(brand_versions - brand_configs): - with self.subTest(): - self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") + with subtests.test(): + pytest.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval for brand, config in FW_QUERY_CONFIGS.items(): - self.assertEqual(len(config.get_all_ecus({}, include_extra_ecus=False)), 0) - self.assertEqual(config.get_all_ecus({}), set(config.extra_ecus)) - self.assertGreater(len(config.get_all_ecus(VERSIONS[brand])), 0) + assert len(config.get_all_ecus({}, include_extra_ecus=False)) == 0 + assert config.get_all_ecus({}) == set(config.extra_ecus) + assert len(config.get_all_ecus(VERSIONS[brand])) > 0 - def test_fw_request_ecu_whitelist(self): + def test_fw_request_ecu_whitelist(self, subtests): for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand=brand): + with subtests.test(brand=brand): whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus} brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw} brand_ecus |= {ecu[0] for ecu in config.extra_ecus} @@ -182,30 +181,30 @@ class TestFwFingerprint(unittest.TestCase): ecus_not_whitelisted = brand_ecus - whitelisted_ecus ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) - self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted), - f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}') + assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \ + f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}' - def test_fw_requests(self): + def test_fw_requests(self, subtests): # Asserts equal length request and response lists for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand=brand): + with subtests.test(brand=brand): for request_obj in config.requests: - self.assertEqual(len(request_obj.request), len(request_obj.response)) + assert len(request_obj.request) == len(request_obj.response) # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda - self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing, - f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}") + assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), \ + f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}" def test_brand_ecu_matches(self): empty_response = {brand: set() for brand in FW_QUERY_CONFIGS} - self.assertEqual(get_brand_ecu_matches(set()), empty_response) + assert get_brand_ecu_matches(set()) == empty_response # we ignore bus expected_response = empty_response | {'toyota': {(0x750, 0xf)}} - self.assertEqual(get_brand_ecu_matches({(0x758, 0xf, 99)}), expected_response) + assert get_brand_ecu_matches({(0x758, 0xf, 99)}) == expected_response -class TestFwFingerprintTiming(unittest.TestCase): +class TestFwFingerprintTiming: N: int = 5 TOL: float = 0.05 @@ -223,26 +222,26 @@ class TestFwFingerprintTiming(unittest.TestCase): self.total_time += timeout return {} - def _benchmark_brand(self, brand, num_pandas): + def _benchmark_brand(self, brand, num_pandas, mocker): fake_socket = FakeSocket() self.total_time = 0 - with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), - mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): - for _ in range(self.N): - # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on - self.current_obd_multiplexing = True + mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing) + mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) + for _ in range(self.N): + # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on + self.current_obd_multiplexing = True - t = time.perf_counter() - get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) - self.total_time += time.perf_counter() - t + t = time.perf_counter() + get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) + self.total_time += time.perf_counter() - t return self.total_time / self.N def _assert_timing(self, avg_time, ref_time): - self.assertLess(avg_time, ref_time + self.TOL) - self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.") + assert avg_time < ref_time + self.TOL + assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs." - def test_startup_timing(self): + def test_startup_timing(self, subtests, mocker): # Tests worse-case VIN query time and typical present ECU query time vin_ref_times = {'worst': 1.4, 'best': 0.7} # best assumes we go through all queries to get a match present_ecu_ref_time = 0.45 @@ -253,24 +252,24 @@ class TestFwFingerprintTiming(unittest.TestCase): fake_socket = FakeSocket() self.total_time = 0.0 - with (mock.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing), - mock.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs)): - for _ in range(self.N): - self.current_obd_multiplexing = True - get_present_ecus(fake_socket, fake_socket, num_pandas=2) + mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing) + mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs) + for _ in range(self.N): + self.current_obd_multiplexing = True + get_present_ecus(fake_socket, fake_socket, num_pandas=2) self._assert_timing(self.total_time / self.N, present_ecu_ref_time) print(f'get_present_ecus, query time={self.total_time / self.N} seconds') for name, args in (('worst', {}), ('best', {'retry': 1})): - with self.subTest(name=name): + with subtests.test(name=name): self.total_time = 0.0 - with (mock.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data)): - for _ in range(self.N): - get_vin(fake_socket, fake_socket, (0, 1), **args) + mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) + for _ in range(self.N): + get_vin(fake_socket, fake_socket, (0, 1), **args) self._assert_timing(self.total_time / self.N, vin_ref_times[name]) print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') - def test_fw_query_timing(self): + def test_fw_query_timing(self, subtests, mocker): total_ref_time = {1: 7.2, 2: 7.8} brand_ref_times = { 1: { @@ -297,8 +296,8 @@ class TestFwFingerprintTiming(unittest.TestCase): total_times = {1: 0.0, 2: 0.0} for num_pandas in (1, 2): for brand, config in FW_QUERY_CONFIGS.items(): - with self.subTest(brand=brand, num_pandas=num_pandas): - avg_time = self._benchmark_brand(brand, num_pandas) + with subtests.test(brand=brand, num_pandas=num_pandas): + avg_time = self._benchmark_brand(brand, num_pandas, mocker) total_times[num_pandas] += avg_time avg_time = round(avg_time, 2) @@ -311,11 +310,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') for num_pandas in (1, 2): - with self.subTest(brand='all_brands', num_pandas=num_pandas): + with subtests.test(brand='all_brands', num_pandas=num_pandas): total_time = round(total_times[num_pandas], 2) self._assert_timing(total_time, total_ref_time[num_pandas]) print(f'all brands, total FW query time={total_time} seconds') - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index e5cfd972bd..a478bc601a 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -2,8 +2,7 @@ from collections import defaultdict import importlib from parameterized import parameterized_class -import sys -import unittest +import pytest from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces @@ -25,23 +24,23 @@ car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)]) -class TestLateralLimits(unittest.TestCase): +class TestLateralLimits: car_model: str @classmethod - def setUpClass(cls): + def setup_class(cls): CarInterface, _, _ = interfaces[cls.car_model] CP = CarInterface.get_non_essential_params(cls.car_model) if CP.dashcamOnly: - raise unittest.SkipTest("Platform is behind dashcamOnly") + pytest.skip("Platform is behind dashcamOnly") # TODO: test all platforms if CP.lateralTuning.which() != 'torque': - raise unittest.SkipTest + pytest.skip() if CP.notCar: - raise unittest.SkipTest + pytest.skip() CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams cls.control_params = CarControllerParams(CP) @@ -66,26 +65,8 @@ class TestLateralLimits(unittest.TestCase): def test_jerk_limits(self): up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} - self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE) - self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN) + assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE + assert down_jerk <= MAX_LAT_JERK_DOWN def test_max_lateral_accel(self): - self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL) - - -if __name__ == "__main__": - result = unittest.main(exit=False) - - print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n") - - max_car_model_len = max([len(car_model) for car_model in car_model_jerks]) - for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): - violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ - _jerks["down_jerk"] > MAX_LAT_JERK_DOWN - violation_str = " - VIOLATION" if violation else "" - - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + - f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") - - # exit with test result - sys.exit(not result.result.wasSuccessful()) + assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index dc3d4256a2..026693bdce 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -4,7 +4,7 @@ import os import importlib import pytest import random -import unittest +import unittest # noqa: TID251 from collections import defaultdict, Counter import hypothesis.strategies as st from hypothesis import Phase, given, settings diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py index 523c331b9e..217189255e 100755 --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -1,25 +1,19 @@ #!/usr/bin/env python3 -import unittest - from openpilot.selfdrive.car.values import PLATFORMS -class TestPlatformConfigs(unittest.TestCase): - def test_configs(self): +class TestPlatformConfigs: + def test_configs(self, subtests): for name, platform in PLATFORMS.items(): - with self.subTest(platform=str(platform)): - self.assertTrue(platform.config._frozen) + with subtests.test(platform=str(platform)): + assert platform.config._frozen if platform != "MOCK": - self.assertIn("pt", platform.config.dbc_dict) - self.assertTrue(len(platform.config.platform_str) > 0) + assert "pt" in platform.config.dbc_dict + assert len(platform.config.platform_str) > 0 - self.assertEqual(name, platform.config.platform_str) + assert name == platform.config.platform_str - self.assertIsNotNone(platform.config.specs) - - -if __name__ == "__main__": - unittest.main() + assert platform.config.specs is not None diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index e2a9b46eb4..ef49e00551 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 from hypothesis import given, settings, strategies as st -import unittest from cereal import car from openpilot.selfdrive.car.fw_versions import build_fw_dict @@ -17,59 +16,58 @@ def check_fw_version(fw_version: bytes) -> bool: return b'?' not in fw_version -class TestToyotaInterfaces(unittest.TestCase): +class TestToyotaInterfaces: def test_car_sets(self): - self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) - self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) + assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0 + assert len(RADAR_ACC_CAR - TSS2_CAR) == 0 def test_lta_platforms(self): # At this time, only RAV4 2023 is expected to use LTA/angle control - self.assertEqual(ANGLE_CONTROL_CAR, {CAR.TOYOTA_RAV4_TSS2_2023}) + assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023} def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, # like looking up certain signals only in this DBC for car_model, dbc in DBC.items(): if car_model in TSS2_CAR: - self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated") + assert dbc["pt"] == "toyota_nodsu_pt_generated" - def test_essential_ecus(self): + def test_essential_ecus(self, subtests): # Asserts standard ECUs exist for each platform common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera} for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): present_ecus = {ecu[0] for ecu in ecus} missing_ecus = common_ecus - present_ecus - self.assertEqual(len(missing_ecus), 0) + assert len(missing_ecus) == 0 # Some exceptions for other common ECUs if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,): - self.assertIn(Ecu.abs, present_ecus) + assert Ecu.abs in present_ecus if car_model not in (CAR.TOYOTA_MIRAI,): - self.assertIn(Ecu.engine, present_ecus) + assert Ecu.engine in present_ecus if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH): - self.assertIn(Ecu.eps, present_ecus) + assert Ecu.eps in present_ecus -class TestToyotaFingerprint(unittest.TestCase): - def test_non_essential_ecus(self): +class TestToyotaFingerprint: + def test_non_essential_ecus(self, subtests): # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine} - self.assertEqual(len(engine_ecus) > 1, - car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine], - f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list") + assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \ + f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list" - def test_valid_fw_versions(self): + def test_valid_fw_versions(self, subtests): # Asserts all FW versions are valid for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for fws in ecus.values(): for fw in fws: - self.assertTrue(check_fw_version(fw), fw) + assert check_fw_version(fw), fw # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy # fingerprint in the absence of full FW matches: @@ -80,25 +78,25 @@ class TestToyotaFingerprint(unittest.TestCase): fws = data.draw(fw_strategy) get_platform_codes(fws) - def test_platform_code_ecus_available(self): + def test_platform_code_ecus_available(self, subtests): # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for platform_code_ecu in PLATFORM_CODE_ECUS: if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,): continue if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,): continue - self.assertIn(platform_code_ecu, [e[0] for e in ecus]) + assert platform_code_ecu in [e[0] for e in ecus] - def test_fw_format(self): + def test_fw_format(self, subtests): # Asserts: # - every supported ECU FW version returns one platform code # - every supported ECU FW version has a part number # - expected parsing of ECU sub-versions for car_model, ecus in FW_VERSIONS.items(): - with self.subTest(car_model=car_model.value): + with subtests.test(car_model=car_model.value): for ecu, fws in ecus.items(): if ecu[0] not in PLATFORM_CODE_ECUS: continue @@ -107,15 +105,14 @@ class TestToyotaFingerprint(unittest.TestCase): for fw in fws: result = get_platform_codes([fw]) # Check only one platform code and sub-version - self.assertEqual(1, len(result), f"Unable to parse FW: {fw}") - self.assertEqual(1, len(list(result.values())[0]), f"Unable to parse FW: {fw}") + assert 1 == len(result), f"Unable to parse FW: {fw}" + assert 1 == len(list(result.values())[0]), f"Unable to parse FW: {fw}" codes |= result # Toyota places the ECU part number in their FW versions, assert all parsable # Note that there is only one unique part number per ECU across the fleet, so this # is not important for identification, just a sanity check. - self.assertTrue(all(code.count(b"-") > 1 for code in codes), - f"FW does not have part number: {fw} {codes}") + assert all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}" def test_platform_codes_spot_check(self): # Asserts basic platform code parsing behavior for a few cases @@ -125,20 +122,20 @@ class TestToyotaFingerprint(unittest.TestCase): b"F152607110\x00\x00\x00\x00\x00\x00", b"F152607180\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"F1526-07-1": {b"10", b"40", b"71", b"80"}}) + assert results == {b"F1526-07-1": {b"10", b"40", b"71", b"80"}} results = get_platform_codes([ b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"8646F-41-04": {b"100"}}) + assert results == {b"8646F-41-04": {b"100"}} # Short version has no part number results = get_platform_codes([ b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"58-70": {b"000"}, b"58-83": {b"000"}}) + assert results == {b"58-70": {b"000"}, b"58-83": {b"000"}} results = get_platform_codes([ b"F152607110\x00\x00\x00\x00\x00\x00", @@ -146,7 +143,7 @@ class TestToyotaFingerprint(unittest.TestCase): b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00", ]) - self.assertEqual(results, {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}}) + assert results == {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}} def test_fuzzy_excluded_platforms(self): # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. @@ -162,13 +159,9 @@ class TestToyotaFingerprint(unittest.TestCase): CP = car.CarParams.new_message(carFw=car_fw) matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) if len(matches) == 1: - self.assertEqual(list(matches)[0], platform) + assert list(matches)[0] == platform else: # If a platform has multiple matches, add it and its matches platforms_with_shared_codes |= {str(platform), *matches} - self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS))) - - -if __name__ == "__main__": - unittest.main() + assert platforms_with_shared_codes == FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)) diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py index 17331203bb..561d28b9fb 100755 --- a/selfdrive/car/volkswagen/tests/test_volkswagen.py +++ b/selfdrive/car/volkswagen/tests/test_volkswagen.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import random import re -import unittest from cereal import car from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI @@ -14,35 +13,35 @@ CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}') SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P[0-9][0-9A-Z]{2})(?P[0-9][0-9A-Z][0-9])(?P[0-9A-Z]{2}[0-9])([A-Z0-9]| )') -class TestVolkswagenPlatformConfigs(unittest.TestCase): - def test_spare_part_fw_pattern(self): +class TestVolkswagenPlatformConfigs: + def test_spare_part_fw_pattern(self, subtests): # Relied on for determining if a FW is likely VW for platform, ecus in FW_VERSIONS.items(): - with self.subTest(platform=platform): + with subtests.test(platform=platform.value): for fws in ecus.values(): for fw in fws: - self.assertNotEqual(SPARE_PART_FW_PATTERN.match(fw), None, f"Bad FW: {fw}") + assert SPARE_PART_FW_PATTERN.match(fw) is not None, f"Bad FW: {fw}" - def test_chassis_codes(self): + def test_chassis_codes(self, subtests): for platform in CAR: - with self.subTest(platform=platform): - self.assertTrue(len(platform.config.wmis) > 0, "WMIs not set") - self.assertTrue(len(platform.config.chassis_codes) > 0, "Chassis codes not set") - self.assertTrue(all(CHASSIS_CODE_PATTERN.match(cc) for cc in - platform.config.chassis_codes), "Bad chassis codes") + with subtests.test(platform=platform.value): + assert len(platform.config.wmis) > 0, "WMIs not set" + assert len(platform.config.chassis_codes) > 0, "Chassis codes not set" + assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \ + platform.config.chassis_codes), "Bad chassis codes" # No two platforms should share chassis codes for comp in CAR: if platform == comp: continue - self.assertEqual(set(), platform.config.chassis_codes & comp.config.chassis_codes, - f"Shared chassis codes: {comp}") + assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \ + f"Shared chassis codes: {comp}" - def test_custom_fuzzy_fingerprinting(self): + def test_custom_fuzzy_fingerprinting(self, subtests): all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]}) for platform in CAR: - with self.subTest(platform=platform): + with subtests.test(platform=platform.name): for wmi in WMI: for chassis_code in platform.config.chassis_codes | {"00"}: vin = ["0"] * 17 @@ -59,8 +58,4 @@ class TestVolkswagenPlatformConfigs(unittest.TestCase): matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS) expected_matches = {platform} if should_match else set() - self.assertEqual(expected_matches, matches, "Bad match") - - -if __name__ == "__main__": - unittest.main() + assert expected_matches == matches, "Bad match" diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py index dbd42858a0..c234cc49d6 100755 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -1,12 +1,11 @@ #!/usr/bin/env python3 import random -import unittest from openpilot.selfdrive.controls.lib.events import Alert, EVENTS from openpilot.selfdrive.controls.lib.alertmanager import AlertManager -class TestAlertManager(unittest.TestCase): +class TestAlertManager: def test_duration(self): """ @@ -38,8 +37,4 @@ class TestAlertManager(unittest.TestCase): shown = current_alert is not None should_show = frame <= show_duration - self.assertEqual(shown, should_show, msg=f"{frame=} {add_duration=} {duration=}") - - -if __name__ == "__main__": - unittest.main() + assert shown == should_show, f"{frame=} {add_duration=} {duration=}" diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 838023af72..b731bbd950 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -1,6 +1,4 @@ #!/usr/bin/env python3 -import unittest - from parameterized import parameterized from cereal import car, log @@ -15,7 +13,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel from openpilot.common.mock.generators import generate_liveLocationKalman -class TestLatControl(unittest.TestCase): +class TestLatControl: @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)]) def test_saturation(self, car_name, controller): @@ -36,8 +34,4 @@ class TestLatControl(unittest.TestCase): for _ in range(1000): _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk) - self.assertTrue(lac_log.saturated) - - -if __name__ == "__main__": - unittest.main() + assert lac_log.saturated diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index c3997afdf3..2efcf2fbbd 100755 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 +import pytest import math -import unittest import numpy as np from control import StateSpace @@ -10,8 +10,8 @@ from openpilot.selfdrive.car.honda.values import CAR from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices -class TestVehicleModel(unittest.TestCase): - def setUp(self): +class TestVehicleModel: + def setup_method(self): CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC) self.VM = VehicleModel(CP) @@ -23,7 +23,7 @@ class TestVehicleModel(unittest.TestCase): yr = self.VM.yaw_rate(sa, u, roll) new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll) - self.assertAlmostEqual(sa, new_sa) + assert sa == pytest.approx(new_sa) def test_dyn_ss_sol_against_yaw_rate(self): """Verify that the yaw_rate helper function matches the results @@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase): # Compute yaw rate using direct computations yr2 = self.VM.yaw_rate(sa, u, roll) - self.assertAlmostEqual(float(yr1[0]), yr2) + assert float(yr1[0]) == pytest.approx(yr2) def test_syn_ss_sol_simulate(self): """Verifies that dyn_ss_sol matches a simulation""" @@ -63,8 +63,3 @@ class TestVehicleModel(unittest.TestCase): x2 = dyn_ss_sol(sa, u, roll, self.VM) np.testing.assert_almost_equal(x1, x2, decimal=3) - - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 7b4fba0dce..e29a6322ab 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -2,7 +2,6 @@ import copy import json import os -import unittest import random from PIL import Image, ImageDraw, ImageFont @@ -25,10 +24,10 @@ for event_types in EVENTS.values(): ALERTS.append(alert) -class TestAlerts(unittest.TestCase): +class TestAlerts: @classmethod - def setUpClass(cls): + def setup_class(cls): with open(OFFROAD_ALERTS_PATH) as f: cls.offroad_alerts = json.loads(f.read()) @@ -45,7 +44,7 @@ class TestAlerts(unittest.TestCase): for name, e in events.items(): if not name.endswith("DEPRECATED"): fail_msg = "%s @%d not in EVENTS" % (name, e) - self.assertTrue(e in EVENTS.keys(), msg=fail_msg) + assert e in EVENTS.keys(), fail_msg # ensure alert text doesn't exceed allowed width def test_alert_text_length(self): @@ -80,7 +79,7 @@ class TestAlerts(unittest.TestCase): left, _, right, _ = draw.textbbox((0, 0), txt, font) width = right - left msg = f"type: {alert.alert_type} msg: {txt}" - self.assertLessEqual(width, max_text_width, msg=msg) + assert width <= max_text_width, msg def test_alert_sanity_check(self): for event_types in EVENTS.values(): @@ -90,21 +89,21 @@ class TestAlerts(unittest.TestCase): continue if a.alert_size == AlertSize.none: - self.assertEqual(len(a.alert_text_1), 0) - self.assertEqual(len(a.alert_text_2), 0) + assert len(a.alert_text_1) == 0 + assert len(a.alert_text_2) == 0 elif a.alert_size == AlertSize.small: - self.assertGreater(len(a.alert_text_1), 0) - self.assertEqual(len(a.alert_text_2), 0) + assert len(a.alert_text_1) > 0 + assert len(a.alert_text_2) == 0 elif a.alert_size == AlertSize.mid: - self.assertGreater(len(a.alert_text_1), 0) - self.assertGreater(len(a.alert_text_2), 0) + assert len(a.alert_text_1) > 0 + assert len(a.alert_text_2) > 0 else: - self.assertGreater(len(a.alert_text_1), 0) + assert len(a.alert_text_1) > 0 - self.assertGreaterEqual(a.duration, 0.) + assert a.duration >= 0. if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE): - self.assertEqual(a.creation_delay, 0.) + assert a.creation_delay == 0. def test_offroad_alerts(self): params = Params() @@ -113,11 +112,11 @@ class TestAlerts(unittest.TestCase): alert = copy.copy(self.offroad_alerts[a]) set_offroad_alert(a, True) alert['extra'] = '' - self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8')) + assert json.dumps(alert) == params.get(a, encoding='utf8') # then delete it set_offroad_alert(a, False) - self.assertTrue(params.get(a) is None) + assert params.get(a) is None def test_offroad_alerts_extra_text(self): params = Params() @@ -128,8 +127,5 @@ class TestAlerts(unittest.TestCase): set_offroad_alert(a, True, extra_text="a"*i) written_alert = json.loads(params.get(a, encoding='utf8')) - self.assertTrue("a"*i == written_alert['extra']) - self.assertTrue(alert["text"] == written_alert['text']) - -if __name__ == "__main__": - unittest.main() + assert "a"*i == written_alert['extra'] + assert alert["text"] == written_alert['text'] diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index c46d03ad1e..6c46285e81 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 +import pytest import itertools import numpy as np -import unittest from parameterized import parameterized_class from cereal import log @@ -36,19 +36,19 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.): [True, False], # e2e log.LongitudinalPersonality.schema.enumerants, # personality [5,35])) # speed -class TestCruiseSpeed(unittest.TestCase): +class TestCruiseSpeed: def test_cruise_speed(self): print(f'Testing {self.speed} m/s') cruise_speed = float(self.speed) simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality) - self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s') + assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s' # TODO: test pcmCruise @parameterized_class(('pcm_cruise',), [(False,)]) -class TestVCruiseHelper(unittest.TestCase): - def setUp(self): +class TestVCruiseHelper: + def setup_method(self): self.CP = car.CarParams(pcmCruise=self.pcm_cruise) self.v_cruise_helper = VCruiseHelper(self.CP) self.reset_cruise_speed_state() @@ -75,7 +75,7 @@ class TestVCruiseHelper(unittest.TestCase): CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)] self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) - self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + assert pressed == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) def test_rising_edge_enable(self): """ @@ -94,7 +94,7 @@ class TestVCruiseHelper(unittest.TestCase): self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False) # Expected diff on enabling. Speed should not change on falling edge of pressed - self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last def test_resume_in_standstill(self): """ @@ -111,7 +111,7 @@ class TestVCruiseHelper(unittest.TestCase): # speed should only update if not at standstill and button falling edge should_equal = standstill or pressed - self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + assert should_equal == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) def test_set_gas_pressed(self): """ @@ -135,7 +135,7 @@ class TestVCruiseHelper(unittest.TestCase): # TODO: fix skipping first run due to enabled on rising edge exception if v_ego == 0.0: continue - self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph) + assert expected_v_cruise_kph == self.v_cruise_helper.v_cruise_kph def test_initialize_v_cruise(self): """ @@ -145,12 +145,8 @@ class TestVCruiseHelper(unittest.TestCase): for experimental_mode in (True, False): for v_ego in np.linspace(0, 100, 101): self.reset_cruise_speed_state() - self.assertFalse(self.v_cruise_helper.v_cruise_initialized) + assert not self.v_cruise_helper.v_cruise_initialized self.enable(float(v_ego), experimental_mode) - self.assertTrue(V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX) - self.assertTrue(self.v_cruise_helper.v_cruise_initialized) - - -if __name__ == "__main__": - unittest.main() + assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX + assert self.v_cruise_helper.v_cruise_initialized diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index f58e6383c4..5d60911805 100755 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -import unittest +import pytest import itertools from parameterized import parameterized_class @@ -32,14 +32,10 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit log.LongitudinalPersonality.standard, log.LongitudinalPersonality.aggressive], [0,10,35])) # speed -class TestFollowingDistance(unittest.TestCase): +class TestFollowingDistance(): def test_following_distance(self): v_lead = float(self.speed) simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality) correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) err_ratio = 0.2 if self.e2e else 0.1 - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) - - -if __name__ == "__main__": - unittest.main() + assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5) diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index 8c09f46b60..3aa0fd1bce 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -1,4 +1,4 @@ -import unittest +import pytest import numpy as np from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS @@ -27,20 +27,20 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur return lat_mpc.x_sol -class TestLateralMpc(unittest.TestCase): +class TestLateralMpc: def _assert_null(self, sol, curvature=1e-6): for i in range(len(sol)): - self.assertAlmostEqual(sol[0,i,1], 0., delta=curvature) - self.assertAlmostEqual(sol[0,i,2], 0., delta=curvature) - self.assertAlmostEqual(sol[0,i,3], 0., delta=curvature) + assert sol[0,i,1] == pytest.approx(0, abs=curvature) + assert sol[0,i,2] == pytest.approx(0, abs=curvature) + assert sol[0,i,3] == pytest.approx(0, abs=curvature) def _assert_simmetry(self, sol, curvature=1e-6): for i in range(len(sol)): - self.assertAlmostEqual(sol[0,i,1], -sol[1,i,1], delta=curvature) - self.assertAlmostEqual(sol[0,i,2], -sol[1,i,2], delta=curvature) - self.assertAlmostEqual(sol[0,i,3], -sol[1,i,3], delta=curvature) - self.assertAlmostEqual(sol[0,i,0], sol[1,i,0], delta=curvature) + assert sol[0,i,1] == pytest.approx(-sol[1,i,1], abs=curvature) + assert sol[0,i,2] == pytest.approx(-sol[1,i,2], abs=curvature) + assert sol[0,i,3] == pytest.approx(-sol[1,i,3], abs=curvature) + assert sol[0,i,0] == pytest.approx(sol[1,i,0], abs=curvature) def test_straight(self): sol = run_mpc() @@ -74,7 +74,7 @@ class TestLateralMpc(unittest.TestCase): y_init = 1. sol = run_mpc(y_init=y_init) for y in list(sol[:,1]): - self.assertGreaterEqual(y_init, abs(y)) + assert y_init >= abs(y) def test_switch_convergence(self): lat_mpc = LateralMpc() @@ -83,7 +83,3 @@ class TestLateralMpc(unittest.TestCase): sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0) left_psi_deg = np.degrees(sol[:,2]) np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py index a06387a087..f4e97725ff 100755 --- a/selfdrive/controls/tests/test_leads.py +++ b/selfdrive/controls/tests/test_leads.py @@ -1,13 +1,11 @@ #!/usr/bin/env python3 -import unittest - import cereal.messaging as messaging from openpilot.selfdrive.test.process_replay import replay_process_with_name from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -class TestLeads(unittest.TestCase): +class TestLeads: def test_radar_fault(self): # if there's no radar-related can traffic, radard should either not respond or respond with an error # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check @@ -29,8 +27,4 @@ class TestLeads(unittest.TestCase): states = [m for m in out if m.which() == "radarState"] failures = [not state.valid and len(state.radarState.radarErrors) for state in states] - self.assertTrue(len(states) == 0 or all(failures)) - - -if __name__ == "__main__": - unittest.main() + assert len(states) == 0 or all(failures) diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index d49111752d..b92724ce43 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import unittest from cereal import car, log from openpilot.common.realtime import DT_CTRL @@ -28,9 +27,9 @@ def make_event(event_types): return 0 -class TestStateMachine(unittest.TestCase): +class TestStateMachine: - def setUp(self): + def setup_method(self): CarInterface, CarController, CarState = interfaces[MOCK.MOCK] CP = CarInterface.get_non_essential_params(MOCK.MOCK) CI = CarInterface(CP, CarController, CarState) @@ -46,7 +45,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE])) self.controlsd.state = state self.controlsd.state_transition(self.CS) - self.assertEqual(State.disabled, self.controlsd.state) + assert State.disabled == self.controlsd.state self.controlsd.events.clear() def test_user_disable(self): @@ -55,7 +54,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([et, ET.USER_DISABLE])) self.controlsd.state = state self.controlsd.state_transition(self.CS) - self.assertEqual(State.disabled, self.controlsd.state) + assert State.disabled == self.controlsd.state self.controlsd.events.clear() def test_soft_disable(self): @@ -66,7 +65,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE])) self.controlsd.state = state self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling) + assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling self.controlsd.events.clear() def test_soft_disable_timer(self): @@ -74,17 +73,17 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.add(make_event([ET.SOFT_DISABLE])) self.controlsd.state_transition(self.CS) for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)): - self.assertEqual(self.controlsd.state, State.softDisabling) + assert self.controlsd.state == State.softDisabling self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled) + assert self.controlsd.state == State.disabled def test_no_entry(self): # Make sure noEntry keeps us disabled for et in ENABLE_EVENT_TYPES: self.controlsd.events.add(make_event([ET.NO_ENTRY, et])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled) + assert self.controlsd.state == State.disabled self.controlsd.events.clear() def test_no_entry_pre_enable(self): @@ -92,7 +91,7 @@ class TestStateMachine(unittest.TestCase): self.controlsd.state = State.preEnabled self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.preEnabled) + assert self.controlsd.state == State.preEnabled def test_maintain_states(self): # Given current state's event type, we should maintain state @@ -101,9 +100,5 @@ class TestStateMachine(unittest.TestCase): self.controlsd.state = state self.controlsd.events.add(make_event([et])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, state) + assert self.controlsd.state == state self.controlsd.events.clear() - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index e2db094397..598d5d2d5f 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import random -import unittest import numpy as np @@ -31,7 +30,7 @@ def process_messages(c, cam_odo_calib, cycles, [0.0, 0.0, HEIGHT_INIT.item()], [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std]) -class TestCalibrationd(unittest.TestCase): +class TestCalibrationd: def test_read_saved_params(self): msg = messaging.new_message('liveCalibration') @@ -43,13 +42,13 @@ class TestCalibrationd(unittest.TestCase): np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) np.testing.assert_allclose(msg.liveCalibration.height, c.height) - self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) + assert msg.liveCalibration.validBlocks == c.valid_blocks def test_calibration_basics(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED) - self.assertEqual(c.valid_blocks, INPUTS_WANTED) + assert c.valid_blocks == INPUTS_WANTED np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.height, HEIGHT_INIT) c.reset() @@ -59,7 +58,7 @@ class TestCalibrationd(unittest.TestCase): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1) - self.assertEqual(c.valid_blocks, 0) + assert c.valid_blocks == 0 np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.height, HEIGHT_INIT) @@ -67,7 +66,7 @@ class TestCalibrationd(unittest.TestCase): def test_calibration_yaw_rate_reject(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER) - self.assertEqual(c.valid_blocks, 0) + assert c.valid_blocks == 0 np.testing.assert_allclose(c.rpy, np.zeros(3)) np.testing.assert_allclose(c.height, HEIGHT_INIT) @@ -75,43 +74,40 @@ class TestCalibrationd(unittest.TestCase): def test_calibration_speed_std_reject(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, np.zeros(3)) def test_calibration_speed_std_height_reject(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, np.zeros(3)) def test_calibration_auto_reset(self): c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3) process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED + 1) - self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.calibrated) + assert c.valid_blocks == INPUTS_NEEDED + 1 + assert c.cal_status == log.LiveCalibrationData.Status.calibrated c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10) - self.assertEqual(c.valid_blocks, 1) - self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) + assert c.valid_blocks == 1 + assert c.cal_status == log.LiveCalibrationData.Status.recalibrating np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2) c = Calibrator(param_put=False) process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + assert c.valid_blocks == INPUTS_NEEDED np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10) - self.assertEqual(c.valid_blocks, 1) - self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) + assert c.valid_blocks == 1 + assert c.cal_status == log.LiveCalibrationData.Status.recalibrating np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2) - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index cd032dbaf0..bac824bada 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 +import pytest import json import random -import unittest import time import capnp @@ -13,13 +13,11 @@ from openpilot.common.transformations.coordinates import ecef2geodetic from openpilot.selfdrive.manager.process_config import managed_processes -class TestLocationdProc(unittest.TestCase): +class TestLocationdProc: LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] - def setUp(self): - random.seed(123489234) - + def setup_method(self): self.pm = messaging.PubMaster(self.LLD_MSGS) self.params = Params() @@ -27,7 +25,7 @@ class TestLocationdProc(unittest.TestCase): managed_processes['locationd'].prepare() managed_processes['locationd'].start() - def tearDown(self): + def teardown_method(self): managed_processes['locationd'].stop() def get_msg(self, name, t): @@ -65,6 +63,7 @@ class TestLocationdProc(unittest.TestCase): return msg def test_params_gps(self): + random.seed(123489234) self.params.remove('LastGPSPosition') self.x = -2710700 + (random.random() * 1e5) @@ -86,10 +85,6 @@ class TestLocationdProc(unittest.TestCase): time.sleep(1) # wait for async params write lastGPS = json.loads(self.params.get('LastGPSPosition')) - self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3) - self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3) - self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3) - - -if __name__ == "__main__": - unittest.main() + assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001) + assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001) + assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001) diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index 3fdd47275f..be95c6fffb 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import pytest -import unittest import numpy as np from collections import defaultdict from enum import Enum @@ -99,7 +98,7 @@ def run_scenarios(scenario, logs): @pytest.mark.xdist_group("test_locationd_scenarios") @pytest.mark.shared_download_cache -class TestLocationdScenarios(unittest.TestCase): +class TestLocationdScenarios: """ Test locationd with different scenarios. In all these scenarios, we expect the following: - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK) @@ -107,7 +106,7 @@ class TestLocationdScenarios(unittest.TestCase): """ @classmethod - def setUpClass(cls): + def setup_class(cls): cls.logs = migrate_all(LogReader(TEST_ROUTE)) def test_base(self): @@ -118,8 +117,8 @@ class TestLocationdScenarios(unittest.TestCase): - roll: unchanged """ orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) def test_gps_off(self): """ @@ -130,9 +129,9 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: False """ orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0)) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.all(replayed_data['gps_flag'] == 0.0) def test_gps_off_midway(self): """ @@ -143,9 +142,9 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: True for the first half, False for the second half """ orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.diff(replayed_data['gps_flag'])[512] == -1.0 def test_gps_on_midway(self): """ @@ -156,9 +155,9 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: False for the first half, True for the second half """ orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))) - self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)) + assert np.diff(replayed_data['gps_flag'])[505] == 1.0 def test_gps_tunnel(self): """ @@ -169,10 +168,10 @@ class TestLocationdScenarios(unittest.TestCase): - gpsOK: False for the middle section, True for the rest """ orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0) - self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.diff(replayed_data['gps_flag'])[213] == -1.0 + assert np.diff(replayed_data['gps_flag'])[805] == 1.0 def test_gyro_off(self): """ @@ -183,9 +182,9 @@ class TestLocationdScenarios(unittest.TestCase): - sensorsOK: False """ _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs) - self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) - self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) - self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + assert np.allclose(replayed_data['yaw_rate'], 0.0) + assert np.allclose(replayed_data['roll'], 0.0) + assert np.all(replayed_data['sensors_flag'] == 0.0) def test_gyro_spikes(self): """ @@ -196,10 +195,10 @@ class TestLocationdScenarios(unittest.TestCase): - inputsOK: False for some time after the spike, True for the rest """ orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0) - self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0) + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) + assert np.diff(replayed_data['inputs_flag'])[500] == -1.0 + assert np.diff(replayed_data['inputs_flag'])[694] == 1.0 def test_accel_off(self): """ @@ -210,9 +209,9 @@ class TestLocationdScenarios(unittest.TestCase): - sensorsOK: False """ _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs) - self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) - self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) - self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + assert np.allclose(replayed_data['yaw_rate'], 0.0) + assert np.allclose(replayed_data['roll'], 0.0) + assert np.all(replayed_data['sensors_flag'] == 0.0) def test_accel_spikes(self): """ @@ -221,9 +220,5 @@ class TestLocationdScenarios(unittest.TestCase): Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes. """ orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs) - self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) - self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) - - -if __name__ == "__main__": - unittest.main() + assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) + assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 1ae94b26a1..4cdc99c240 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -3,7 +3,6 @@ import os import pytest import signal import time -import unittest from parameterized import parameterized @@ -21,15 +20,15 @@ BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] @pytest.mark.tici -class TestManager(unittest.TestCase): - def setUp(self): +class TestManager: + def setup_method(self): HARDWARE.set_power_save(False) # ensure clean CarParams params = Params() params.clear_all() - def tearDown(self): + def teardown_method(self): manager.manager_cleanup() def test_manager_prepare(self): @@ -38,7 +37,7 @@ class TestManager(unittest.TestCase): def test_blacklisted_procs(self): # TODO: ensure there are blacklisted procs until we have a dedicated test - self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run") + assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run" @parameterized.expand([(i,) for i in range(10)]) def test_startup_time(self, index): @@ -48,8 +47,8 @@ class TestManager(unittest.TestCase): t = time.monotonic() - start assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" - @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad") - def test_clean_exit(self): + @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): """ Ensure all processes exit cleanly when stopped. """ @@ -62,21 +61,17 @@ class TestManager(unittest.TestCase): time.sleep(10) for p in procs: - with self.subTest(proc=p.name): + with subtests.test(proc=p.name): state = p.get_process_state_msg() - self.assertTrue(state.running, f"{p.name} not running") + assert state.running, f"{p.name} not running" exit_code = p.stop(retry=False) - self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started") + assert p.name not in BLACKLIST_PROCS, f"{p.name} was started" - self.assertTrue(exit_code is not None, f"{p.name} failed to exit") + assert exit_code is not None, f"{p.name} failed to exit" # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code exit_codes = [0, 1] if p.sigkill: exit_codes = [-signal.SIGKILL] - self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}") - - -if __name__ == "__main__": - unittest.main() + assert exit_code in exit_codes, f"{p.name} died with {exit_code}" diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 67c6f71038..a18ce8fa42 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import unittest import numpy as np import random @@ -16,9 +15,9 @@ IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() -class TestModeld(unittest.TestCase): +class TestModeld: - def setUp(self): + def setup_method(self): self.vipc_server = VisionIpcServer("camerad") self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height) self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height) @@ -32,7 +31,7 @@ class TestModeld(unittest.TestCase): managed_processes['modeld'].start() self.pm.wait_for_readers_to_update("roadCameraState", 10) - def tearDown(self): + def teardown_method(self): managed_processes['modeld'].stop() del self.vipc_server @@ -65,15 +64,15 @@ class TestModeld(unittest.TestCase): self._wait() mdl = self.sm['modelV2'] - self.assertEqual(mdl.frameId, n) - self.assertEqual(mdl.frameIdExtra, n) - self.assertEqual(mdl.timestampEof, cs.timestampEof) - self.assertEqual(mdl.frameAge, 0) - self.assertEqual(mdl.frameDropPerc, 0) + assert mdl.frameId == n + assert mdl.frameIdExtra == n + assert mdl.timestampEof == cs.timestampEof + assert mdl.frameAge == 0 + assert mdl.frameDropPerc == 0 odo = self.sm['cameraOdometry'] - self.assertEqual(odo.frameId, n) - self.assertEqual(odo.timestampEof, cs.timestampEof) + assert odo.frameId == n + assert odo.timestampEof == cs.timestampEof def test_dropped_frames(self): """ @@ -95,13 +94,9 @@ class TestModeld(unittest.TestCase): mdl = self.sm['modelV2'] odo = self.sm['cameraOdometry'] - self.assertEqual(mdl.frameId, frame_id) - self.assertEqual(mdl.frameIdExtra, frame_id) - self.assertEqual(odo.frameId, frame_id) + assert mdl.frameId == frame_id + assert mdl.frameIdExtra == frame_id + assert odo.frameId == frame_id if n != frame_id: - self.assertFalse(self.sm.updated['modelV2']) - self.assertFalse(self.sm.updated['cameraOdometry']) - - -if __name__ == "__main__": - unittest.main() + assert not self.sm.updated['modelV2'] + assert not self.sm.updated['cameraOdometry'] diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 50b2746e2d..9395960b65 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import unittest import numpy as np from cereal import car, log @@ -53,7 +52,7 @@ always_true = [True] * int(TEST_TIMESPAN / DT_DMON) always_false = [False] * int(TEST_TIMESPAN / DT_DMON) # TODO: this only tests DriverStatus -class TestMonitoring(unittest.TestCase): +class TestMonitoring: def _run_seq(self, msgs, interaction, engaged, standstill): DS = DriverStatus() events = [] @@ -69,7 +68,7 @@ class TestMonitoring(unittest.TestCase): return events, DS def _assert_no_events(self, events): - self.assertTrue(all(not len(e) for e in events)) + assert all(not len(e) for e in events) # engaged, driver is attentive all the time def test_fully_aware_driver(self): @@ -79,27 +78,27 @@ class TestMonitoring(unittest.TestCase): # engaged, driver is distracted and does nothing def test_fully_distracted_driver(self): events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false) - self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], - EventName.preDriverDistracted) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + - ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME + - ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted) - self.assertIs(type(d_status.awareness), float) + assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \ + ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ + EventName.preDriverDistracted + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \ + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((d_status.settings._DISTRACTED_TIME + \ + ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted + assert isinstance(d_status.awareness, float) # engaged, no face detected the whole time, no action def test_fully_invisible_driver(self): events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false) - self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0) - self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], - EventName.preDriverUnresponsive) - self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + - ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertEqual(events[int((d_status.settings._AWARENESS_TIME + - ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive) + assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 + assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \ + ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ + EventName.preDriverUnresponsive + assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \ + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((d_status.settings._AWARENESS_TIME + \ + ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention @@ -111,12 +110,12 @@ class TestMonitoring(unittest.TestCase): interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \ [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]), 0) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0) + assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0 # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ # driver dodges, and then touches wheel to no avail, disengages and reengages @@ -135,10 +134,10 @@ class TestMonitoring(unittest.TestCase): op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted) - self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0], EventName.driverDistracted) - self.assertTrue(len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0) + assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted + assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted + assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0 # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears # - both actions should clear the alert, but momentary appearance should not @@ -150,15 +149,15 @@ class TestMonitoring(unittest.TestCase): [msg_ATTENTIVE] * int(_visible_time/DT_DMON) interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) - self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0) + assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0 if _visible_time == 0.5: - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive) + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive elif _visible_time == 10: - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0) + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0 # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages # - only disengage will clear the alert @@ -171,18 +170,18 @@ class TestMonitoring(unittest.TestCase): interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON) op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0], EventName.driverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0], EventName.driverUnresponsive) - self.assertEqual(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0], EventName.driverUnresponsive) - self.assertTrue(len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0) + assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0 # disengaged, always distracted driver # - dm should stay quiet when not engaged def test_pure_dashcam_user(self): events, _ = self._run_seq(always_distracted, always_false, always_false, always_false) - self.assertTrue(sum(len(event) for event in events) == 0) + assert sum(len(event) for event in events) == 0 # engaged, car stops at traffic light, down to orange, no action, then car starts moving # - should only reach green when stopped, but continues counting down on launch @@ -191,10 +190,10 @@ class TestMonitoring(unittest.TestCase): standstill_vector = always_true[:] standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON) events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], - EventName.preDriverDistracted) - self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted) - self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted) + assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \ + EventName.preDriverDistracted + assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted + assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted # engaged, model is somehow uncertain and driver is distracted # - should fall back to wheel touch after uncertain alert @@ -202,13 +201,10 @@ class TestMonitoring(unittest.TestCase): ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - self.assertTrue(EventName.preDriverUnresponsive in - events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names) - self.assertTrue(EventName.promptDriverUnresponsive in - events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) - self.assertTrue(EventName.driverUnresponsive in - events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) + assert EventName.preDriverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names + assert EventName.promptDriverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names + assert EventName.driverUnresponsive in \ + events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index 832e0d1eab..52b594a57e 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -3,7 +3,6 @@ import time import numpy as np import os import pytest -import unittest import requests import threading import http.server @@ -66,11 +65,11 @@ class MapBoxInternetDisabledServer(threading.Thread): @pytest.mark.skip(reason="not used") -class TestMapRenderer(unittest.TestCase): +class TestMapRenderer: server: MapBoxInternetDisabledServer @classmethod - def setUpClass(cls): + def setup_class(cls): assert "MAPBOX_TOKEN" in os.environ cls.original_token = os.environ["MAPBOX_TOKEN"] cls.server = MapBoxInternetDisabledServer() @@ -78,10 +77,10 @@ class TestMapRenderer(unittest.TestCase): time.sleep(0.5) # wait for server to startup @classmethod - def tearDownClass(cls) -> None: + def teardown_class(cls) -> None: cls.server.stop() - def setUp(self): + def setup_method(self): self.server.enable_internet() os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}' @@ -203,15 +202,12 @@ class TestMapRenderer(unittest.TestCase): def assert_stat(stat, nominal, tol=0.3): tol = (nominal / (1+tol)), (nominal * (1+tol)) - self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}") + assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}" assert_stat(_mean, 0.030) assert_stat(_median, 0.027) assert_stat(_stddev, 0.0078) - self.assertLess(_max, 0.065) - self.assertGreater(_min, 0.015) + assert _max < 0.065 + assert _min > 0.015 - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py index 61be6cc387..07f9303653 100755 --- a/selfdrive/navd/tests/test_navd.py +++ b/selfdrive/navd/tests/test_navd.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import json import random -import unittest import numpy as np from parameterized import parameterized @@ -11,12 +10,12 @@ from openpilot.common.params import Params from openpilot.selfdrive.manager.process_config import managed_processes -class TestNavd(unittest.TestCase): - def setUp(self): +class TestNavd: + def setup_method(self): self.params = Params() self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) - def tearDown(self): + def teardown_method(self): managed_processes['navd'].stop() def _check_route(self, start, end, check_coords=True): @@ -57,7 +56,3 @@ class TestNavd(unittest.TestCase): start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} self._check_route(start, end, check_coords=False) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index ce8918aec3..148d142bb6 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -3,6 +3,7 @@ import http.server import os import threading import time +import pytest from functools import wraps @@ -32,15 +33,15 @@ def phone_only(f): @wraps(f) def wrap(self, *args, **kwargs): if PC: - self.skipTest("This test is not meant to run on PC") - f(self, *args, **kwargs) + pytest.skip("This test is not meant to run on PC") + return f(self, *args, **kwargs) return wrap def release_only(f): @wraps(f) def wrap(self, *args, **kwargs): if "RELEASE" not in os.environ: - self.skipTest("This test is only for release branches") + pytest.skip("This test is only for release branches") f(self, *args, **kwargs) return wrap diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 713b7801f8..0ad6d6d4fd 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import itertools -import unittest from parameterized import parameterized_class from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE @@ -144,17 +143,13 @@ def create_maneuvers(kwargs): @parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2)) -class LongitudinalControl(unittest.TestCase): +class TestLongitudinalControl: e2e: bool force_decel: bool - def test_maneuver(self): + def test_maneuver(self, subtests): for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}): - with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): + with subtests.test(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode') valid, _ = maneuver.evaluate() - self.assertTrue(valid) - - -if __name__ == "__main__": - unittest.main(failfast=True) + assert valid diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 6c81119fbf..d295092b20 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -3,7 +3,6 @@ import copy from hypothesis import given, HealthCheck, Phase, settings import hypothesis.strategies as st from parameterized import parameterized -import unittest from cereal import log from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA @@ -17,7 +16,7 @@ NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd' TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] -class TestFuzzProcesses(unittest.TestCase): +class TestFuzzProcesses: # TODO: make this faster and increase examples @parameterized.expand(TEST_CASES) @@ -28,6 +27,3 @@ class TestFuzzProcesses(unittest.TestCase): lr = [log.Event.new_message(**m).as_reader() for m in msgs] cfg.timeout = 5 pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True) - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py index d989635497..c27d9e8f7b 100755 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 -import unittest - from parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader @@ -30,7 +28,7 @@ def ci_setup_data_readers(route, sidx): return lr, frs -class TestRegen(unittest.TestCase): +class TestRegen: @parameterized.expand(TESTED_SEGMENTS) def test_engaged(self, case_name, segment): route, sidx = segment.rsplit("--", 1) @@ -38,8 +36,4 @@ class TestRegen(unittest.TestCase): output_logs = regen_segment(lr, frs, disable_tqdm=True) engaged = check_openpilot_enabled(output_logs) - self.assertTrue(engaged, f"openpilot not engaged in {case_name}") - - -if __name__=='__main__': - unittest.main() + assert engaged, f"openpilot not engaged in {case_name}" diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index cd0846c894..9aca9afcd9 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -10,7 +10,6 @@ import shutil import subprocess import time import numpy as np -import unittest from collections import Counter, defaultdict from functools import cached_property from pathlib import Path @@ -102,10 +101,10 @@ def cputime_total(ct): @pytest.mark.tici -class TestOnroad(unittest.TestCase): +class TestOnroad: @classmethod - def setUpClass(cls): + def setup_class(cls): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) @@ -181,7 +180,7 @@ class TestOnroad(unittest.TestCase): msgs[m.which()].append(m) return msgs - def test_service_frequencies(self): + def test_service_frequencies(self, subtests): for s, msgs in self.service_msgs.items(): if s in ('initData', 'sentinel'): continue @@ -190,18 +189,18 @@ class TestOnroad(unittest.TestCase): if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'): continue - with self.subTest(service=s): + with subtests.test(service=s): assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55) def test_cloudlog_size(self): msgs = [m for m in self.lr if m.which() == 'logMessage'] total_size = sum(len(m.as_builder().to_bytes()) for m in msgs) - self.assertLess(total_size, 3.5e5) + assert total_size < 3.5e5 cnt = Counter(json.loads(m.logMessage)['filename'] for m in msgs) big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.] - self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}") + assert len(big_logs) == 0, f"Log spam: {big_logs}" def test_log_sizes(self): for f, sz in self.log_sizes.items(): @@ -230,15 +229,15 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) - self.assertLess(max(ts), 250.) - self.assertLess(np.mean(ts), 10.) + assert max(ts) < 250. + assert np.mean(ts) < 10. #self.assertLess(np.std(ts), 5.) # some slow frames are expected since camerad/modeld can preempt ui veryslow = [x for x in ts if x > 40.] assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}" - def test_cpu_usage(self): + def test_cpu_usage(self, subtests): result = "\n" result += "------------------------------------------------\n" result += "------------------ CPU Usage -------------------\n" @@ -286,12 +285,12 @@ class TestOnroad(unittest.TestCase): # Ensure there's no missing procs all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning} for p in all_procs: - with self.subTest(proc=p): + with subtests.test(proc=p): assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" # total CPU check procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()]) - with self.subTest(name="total CPU"): + with subtests.test(name="total CPU"): assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded" result += "------------------------------------------------\n" result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n" @@ -299,7 +298,7 @@ class TestOnroad(unittest.TestCase): print(result) - self.assertTrue(cpu_ok) + assert cpu_ok def test_memory_usage(self): mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']] @@ -307,10 +306,10 @@ class TestOnroad(unittest.TestCase): # check for big leaks. note that memory usage is # expected to go up while the MSGQ buffers fill up - self.assertLessEqual(max(mems) - min(mems), 3.0) + assert max(mems) - min(mems) <= 3.0 def test_gpu_usage(self): - self.assertEqual(self.gpu_procs, {"weston", "ui", "camerad", "selfdrive.modeld.modeld"}) + assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} def test_camera_processing_time(self): result = "\n" @@ -319,14 +318,14 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()] - self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}") + assert min(ts) < 0.025, f"high execution time: {min(ts)}" result += f"execution time: min {min(ts):.5f}s\n" result += f"execution time: max {max(ts):.5f}s\n" result += f"execution time: mean {np.mean(ts):.5f}s\n" result += "------------------------------------------------\n" print(result) - @unittest.skip("TODO: enable once timings are fixed") + @pytest.mark.skip("TODO: enable once timings are fixed") def test_camera_frame_timings(self): result = "\n" result += "------------------------------------------------\n" @@ -336,7 +335,7 @@ class TestOnroad(unittest.TestCase): ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] d_ms = np.diff(ts) / 1e6 d50 = np.abs(d_ms-50) - self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") + assert max(d50) < 1.0, f"high sof delta vs 50ms: {max(d50)}" result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" @@ -352,8 +351,8 @@ class TestOnroad(unittest.TestCase): cfgs = [("longitudinalPlan", 0.05, 0.05),] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] - self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") - self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") + assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" + assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" result += f"'{s}' execution time: min {min(ts):.5f}s\n" result += f"'{s}' execution time: max {max(ts):.5f}s\n" result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" @@ -372,8 +371,8 @@ class TestOnroad(unittest.TestCase): ] for (s, instant_max, avg_max) in cfgs: ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]] - self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") - self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") + assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" + assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" result += f"'{s}' execution time: min {min(ts):.5f}s\n" result += f"'{s}' execution time: max {max(ts):.5f}s\n" result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" @@ -409,7 +408,7 @@ class TestOnroad(unittest.TestCase): result += f"{''.ljust(40)} {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n" result += "="*67 print(result) - self.assertTrue(passed) + assert passed @release_only def test_startup(self): @@ -420,7 +419,7 @@ class TestOnroad(unittest.TestCase): startup_alert = msg.controlsState.alertText1 break expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1 - self.assertEqual(startup_alert, expected, "wrong startup alert") + assert startup_alert == expected, "wrong startup alert" def test_engagable(self): no_entries = Counter() @@ -432,7 +431,3 @@ class TestOnroad(unittest.TestCase): eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']] assert all(eng), \ f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}" - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index dd79e03de4..5220cfb288 100755 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -4,7 +4,6 @@ import os import pytest import time import tempfile -import unittest import shutil import signal import subprocess @@ -15,9 +14,9 @@ from openpilot.common.params import Params @pytest.mark.tici -class TestUpdated(unittest.TestCase): +class TestUpdated: - def setUp(self): + def setup_method(self): self.updated_proc = None self.tmp_dir = tempfile.TemporaryDirectory() @@ -59,7 +58,7 @@ class TestUpdated(unittest.TestCase): self.params.clear_all() os.sync() - def tearDown(self): + def teardown_method(self): try: if self.updated_proc is not None: self.updated_proc.terminate() @@ -167,7 +166,7 @@ class TestUpdated(unittest.TestCase): t = self._read_param("LastUpdateTime") last_update_time = datetime.datetime.fromisoformat(t) td = datetime.datetime.utcnow() - last_update_time - self.assertLess(td.total_seconds(), 10) + assert td.total_seconds() < 10 self.params.remove("LastUpdateTime") # wait a bit for the rest of the params to be written @@ -175,13 +174,13 @@ class TestUpdated(unittest.TestCase): # check params update = self._read_param("UpdateAvailable") - self.assertEqual(update == "1", update_available, f"UpdateAvailable: {repr(update)}") - self.assertEqual(self._read_param("UpdateFailedCount"), "0") + assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}" + assert self._read_param("UpdateFailedCount") == "0" # TODO: check that the finalized update actually matches remote # check the .overlay_init and .overlay_consistent flags - self.assertTrue(os.path.isfile(os.path.join(self.basedir, ".overlay_init"))) - self.assertEqual(os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")), update_available) + assert os.path.isfile(os.path.join(self.basedir, ".overlay_init")) + assert os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")) == update_available # *** test cases *** @@ -214,7 +213,7 @@ class TestUpdated(unittest.TestCase): self._check_update_state(True) # Let the updater run for 10 cycles, and write an update every cycle - @unittest.skip("need to make this faster") + @pytest.mark.skip("need to make this faster") def test_update_loop(self): self._start_updater() @@ -243,12 +242,12 @@ class TestUpdated(unittest.TestCase): # run another cycle, should have a new mtime self._wait_for_update(clear_param=True) second_mtime = os.path.getmtime(overlay_init_fn) - self.assertTrue(first_mtime != second_mtime) + assert first_mtime != second_mtime # run another cycle, mtime should be same as last cycle self._wait_for_update(clear_param=True) new_mtime = os.path.getmtime(overlay_init_fn) - self.assertTrue(second_mtime == new_mtime) + assert second_mtime == new_mtime # Make sure updated exits if another instance is running def test_multiple_instances(self): @@ -260,7 +259,7 @@ class TestUpdated(unittest.TestCase): # start another instance second_updated = self._get_updated_proc() ret_code = second_updated.wait(timeout=5) - self.assertTrue(ret_code is not None) + assert ret_code is not None # *** test cases with NEOS updates *** @@ -277,10 +276,10 @@ class TestUpdated(unittest.TestCase): self._start_updater() self._wait_for_update(clear_param=True) self._check_update_state(False) - self.assertFalse(os.path.isdir(self.neosupdate_dir)) + assert not os.path.isdir(self.neosupdate_dir) # Let the updater run with no update for a cycle, then write an update - @unittest.skip("TODO: only runs on device") + @pytest.mark.skip("TODO: only runs on device") def test_update_with_neos_update(self): # bump the NEOS version and commit it self._run([ @@ -295,8 +294,4 @@ class TestUpdated(unittest.TestCase): self._check_update_state(True) # TODO: more comprehensive check - self.assertTrue(os.path.isdir(self.neosupdate_dir)) - - -if __name__ == "__main__": - unittest.main() + assert os.path.isdir(self.neosupdate_dir) diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 75520df91b..dffd60df97 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -2,7 +2,6 @@ import os import threading import time -import unittest import subprocess import signal @@ -35,7 +34,7 @@ CONFIGS = [ ] -class TestValgrind(unittest.TestCase): +class TestValgrind: def extract_leak_sizes(self, log): if "All heap blocks were freed -- no leaks are possible" in log: return (0,0,0) @@ -110,8 +109,4 @@ class TestValgrind(unittest.TestCase): while self.leak is None: time.sleep(0.1) # Wait for the valgrind to finish - self.assertFalse(self.leak) - - -if __name__ == "__main__": - unittest.main() + assert not self.leak diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py index 7081e1353e..c2b1a64509 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/selfdrive/thermald/tests/test_fan_controller.py @@ -1,17 +1,15 @@ #!/usr/bin/env python3 -import unittest -from unittest.mock import Mock, patch -from parameterized import parameterized +import pytest from openpilot.selfdrive.thermald.fan_controller import TiciFanController -ALL_CONTROLLERS = [(TiciFanController,)] +ALL_CONTROLLERS = [TiciFanController] -def patched_controller(controller_class): - with patch("os.system", new=Mock()): - return controller_class() +def patched_controller(mocker, controller_class): + mocker.patch("os.system", new=mocker.Mock()) + return controller_class() -class TestFanController(unittest.TestCase): +class TestFanController: def wind_up(self, controller, ignition=True): for _ in range(1000): controller.update(100, ignition) @@ -20,37 +18,34 @@ class TestFanController(unittest.TestCase): for _ in range(1000): controller.update(10, ignition) - @parameterized.expand(ALL_CONTROLLERS) - def test_hot_onroad(self, controller_class): - controller = patched_controller(controller_class) + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_hot_onroad(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) self.wind_up(controller) - self.assertGreaterEqual(controller.update(100, True), 70) + assert controller.update(100, True) >= 70 - @parameterized.expand(ALL_CONTROLLERS) - def test_offroad_limits(self, controller_class): - controller = patched_controller(controller_class) + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_offroad_limits(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) self.wind_up(controller) - self.assertLessEqual(controller.update(100, False), 30) + assert controller.update(100, False) <= 30 - @parameterized.expand(ALL_CONTROLLERS) - def test_no_fan_wear(self, controller_class): - controller = patched_controller(controller_class) + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_no_fan_wear(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) self.wind_down(controller) - self.assertEqual(controller.update(10, False), 0) + assert controller.update(10, False) == 0 - @parameterized.expand(ALL_CONTROLLERS) - def test_limited(self, controller_class): - controller = patched_controller(controller_class) + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_limited(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) self.wind_up(controller, True) - self.assertEqual(controller.update(100, True), 100) + assert controller.update(100, True) == 100 - @parameterized.expand(ALL_CONTROLLERS) - def test_windup_speed(self, controller_class): - controller = patched_controller(controller_class) + @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) + def test_windup_speed(self, mocker, controller_class): + controller = patched_controller(mocker, controller_class) self.wind_down(controller, True) for _ in range(10): controller.update(90, True) - self.assertGreaterEqual(controller.update(90, True), 60) - -if __name__ == "__main__": - unittest.main() + assert controller.update(90, True) >= 60 diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index c3a890f068..f68191475b 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -1,12 +1,10 @@ #!/usr/bin/env python3 -import unittest -from unittest.mock import patch +import pytest from openpilot.common.params import Params from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S - # Create fake time ssb = 0. def mock_time_monotonic(): @@ -18,163 +16,169 @@ TEST_DURATION_S = 50 GOOD_VOLTAGE = 12 * 1e3 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 -def pm_patch(name, value, constant=False): +def pm_patch(mocker, name, value, constant=False): if constant: - return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) - return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) + mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) + else: + mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) -@patch("time.monotonic", new=mock_time_monotonic) -class TestPowerMonitoring(unittest.TestCase): - def setUp(self): +@pytest.fixture(autouse=True) +def mock_time(mocker): + mocker.patch("time.monotonic", mock_time_monotonic) + + +class TestPowerMonitoring: + def setup_method(self): self.params = Params() # Test to see that it doesn't do anything when pandaState is None - def test_pandaState_present(self): + def test_panda_state_present(self): pm = PowerMonitoring() for _ in range(10): pm.calculate(None, None) - self.assertEqual(pm.get_power_used(), 0) - self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10)) + assert pm.get_power_used() == 0 + assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10) # Test to see that it doesn't integrate offroad when ignition is True def test_offroad_ignition(self): pm = PowerMonitoring() for _ in range(10): pm.calculate(GOOD_VOLTAGE, True) - self.assertEqual(pm.get_power_used(), 0) + assert pm.get_power_used() == 0 # Test to see that it integrates with discharging battery - def test_offroad_integration_discharging(self): + def test_offroad_integration_discharging(self, mocker): POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) - self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, False) + expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) + assert abs(pm.get_power_used() - expected_power_usage) < 10 # Test to check positive integration of car_battery_capacity - def test_car_battery_integration_onroad(self): + def test_car_battery_integration_onroad(self, mocker): POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 0 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, True) - expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 0 + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, True) + expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6) + assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10 # Test to check positive integration upper limit - def test_car_battery_integration_upper_limit(self): + def test_car_battery_integration_upper_limit(self, mocker): POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, True) - estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000 + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, True) + estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6) + assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10 # Test to check negative integration of car_battery_capacity - def test_car_battery_integration_offroad(self): + def test_car_battery_integration_offroad(self, mocker): POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, False) + expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) + assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10 # Test to check negative integration lower limit - def test_car_battery_integration_lower_limit(self): + def test_car_battery_integration_lower_limit(self, mocker): POWER_DRAW = 4 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 1000 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6) - self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 1000 + for _ in range(TEST_DURATION_S + 1): + pm.calculate(GOOD_VOLTAGE, False) + estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6) + assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10 # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S - def test_max_time_offroad(self): + def test_max_time_offroad(self, mocker): MOCKED_MAX_OFFROAD_TIME = 3600 POWER_DRAW = 0 # To stop shutting down for other reasons - with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - start_time = ssb - ignition = False - while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: - pm.calculate(GOOD_VOLTAGE, ignition) - if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: - self.assertFalse(pm.should_shutdown(ignition, True, start_time, False)) - self.assertTrue(pm.should_shutdown(ignition, True, start_time, False)) + pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + start_time = ssb + ignition = False + while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: + pm.calculate(GOOD_VOLTAGE, ignition) + if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: + assert not pm.should_shutdown(ignition, True, start_time, False) + assert pm.should_shutdown(ignition, True, start_time, False) - def test_car_voltage(self): + def test_car_voltage(self, mocker): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 350 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 - with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \ - pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - start_time = ssb - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertEqual(pm.should_shutdown(ignition, True, start_time, True), - (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and - (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and - (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)) - self.assertTrue(pm.should_shutdown(ignition, True, start_time, True)) + pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + ignition = False + start_time = ssb + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert pm.should_shutdown(ignition, True, start_time, True) == \ + (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \ + (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \ + (ssb - start_time) > DELAY_SHUTDOWN_TIME_S) + assert pm.should_shutdown(ignition, True, start_time, True) # Test to check policy of not stopping charging when DisablePowerDown is set - def test_disable_power_down(self): + def test_disable_power_down(self, mocker): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 self.params.put_bool("DisablePowerDown", True) - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + ignition = False + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert not pm.should_shutdown(ignition, True, ssb, False) + assert not pm.should_shutdown(ignition, True, ssb, False) # Test to check policy of not stopping charging when ignition - def test_ignition(self): + def test_ignition(self, mocker): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = True - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) - self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + ignition = True + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert not pm.should_shutdown(ignition, True, ssb, False) + assert not pm.should_shutdown(ignition, True, ssb, False) # Test to check policy of not stopping charging when harness is not connected - def test_harness_connection(self): + def test_harness_connection(self, mocker): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh + pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) - self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) + ignition = False + for i in range(TEST_TIME): + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + if i % 10 == 0: + assert not pm.should_shutdown(ignition, False, ssb, False) + assert not pm.should_shutdown(ignition, False, ssb, False) def test_delay_shutdown_time(self): pm = PowerMonitoring() @@ -186,15 +190,11 @@ class TestPowerMonitoring(unittest.TestCase): pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: - self.assertFalse(pm.should_shutdown(ignition, in_car, + assert not pm.should_shutdown(ignition, in_car, offroad_timestamp, - started_seen), - f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time") - self.assertTrue(pm.should_shutdown(ignition, in_car, + started_seen), \ + f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time" + assert pm.should_shutdown(ignition, in_car, offroad_timestamp, - started_seen), - f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time") - - -if __name__ == "__main__": - unittest.main() + started_seen), \ + f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time" diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index 94ce26eb47..d15a6c1831 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import unittest from cereal import car from cereal import messaging @@ -11,7 +10,7 @@ import time AudibleAlert = car.CarControl.HUDControl.AudibleAlert -class TestSoundd(unittest.TestCase): +class TestSoundd: def test_check_controls_timeout_alert(self): sm = SubMaster(['controlsState']) pm = PubMaster(['controlsState']) @@ -26,16 +25,13 @@ class TestSoundd(unittest.TestCase): sm.update(0) - self.assertFalse(check_controls_timeout_alert(sm)) + assert not check_controls_timeout_alert(sm) for _ in range(CONTROLS_TIMEOUT * 110): sm.update(0) time.sleep(0.01) - self.assertTrue(check_controls_timeout_alert(sm)) + assert check_controls_timeout_alert(sm) # TODO: add test with micd for checking that soundd actually outputs sounds - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 8e50695e70..57de069d0b 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 +import pytest import json import os import re -import unittest import shutil import tempfile import xml.etree.ElementTree as ET @@ -21,7 +21,7 @@ FORMAT_ARG = re.compile("%[0-9]+") @parameterized_class(("name", "file"), translation_files.items()) -class TestTranslations(unittest.TestCase): +class TestTranslations: name: str file: str @@ -32,8 +32,8 @@ class TestTranslations(unittest.TestCase): return f.read() def test_missing_translation_files(self): - self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), - f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py") + assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \ + f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py" def test_translations_updated(self): with tempfile.TemporaryDirectory() as tmpdir: @@ -42,19 +42,19 @@ class TestTranslations(unittest.TestCase): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) new_translations = self._read_translation_file(tmpdir, self.file) - self.assertEqual(cur_translations, new_translations, - f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") + assert cur_translations == new_translations, \ + f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files" - @unittest.skip("Only test unfinished translations before going to release") + @pytest.mark.skip("Only test unfinished translations before going to release") def test_unfinished_translations(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) - self.assertTrue(UNFINISHED_TRANSLATION_TAG not in cur_translations, - f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") + assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \ + f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist" def test_vanished_translations(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) - self.assertTrue("" not in cur_translations, - f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + assert "" not in cur_translations, \ + f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them" def test_finished_translations(self): """ @@ -81,27 +81,27 @@ class TestTranslations(unittest.TestCase): numerusform = [t.text for t in translation.findall("numerusform")] for nf in numerusform: - self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") - self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") - self.assertIsNone(FORMAT_ARG.search(nf), f"Plural translations must use %n, not %1, %2, etc.: {numerusform}") + assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}" + assert "%n" in nf, "Ensure numerus argument (%n) exists in translation." + assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}" else: - self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + assert translation.text is not None, f"Ensure translation is completed: {source_text}" source_args = FORMAT_ARG.findall(source_text) translation_args = FORMAT_ARG.findall(translation.text) - self.assertEqual(sorted(source_args), sorted(translation_args), - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") + assert sorted(source_args) == sorted(translation_args), \ + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`" def test_no_locations(self): for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): - self.assertFalse(line.strip().startswith(LOCATION_TAG), - f"Line contains location tag: {line.strip()}, remove all line numbers.") + assert not line.strip().startswith(LOCATION_TAG), \ + f"Line contains location tag: {line.strip()}, remove all line numbers." def test_entities_error(self): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) matches = re.findall(r'@(\w+);', cur_translations) - self.assertEqual(len(matches), 0, f"The string(s) {matches} were found with '@' instead of '&'") + assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'" def test_bad_language(self): IGNORED_WORDS = {'pédale'} @@ -128,7 +128,3 @@ class TestTranslations(unittest.TestCase): words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) bad_words_found = words & (banned_words - IGNORED_WORDS) assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index c834107780..79f30e79bf 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -8,7 +8,7 @@ import numpy as np import os import pywinctl import time -import unittest +import unittest # noqa: TID251 from parameterized import parameterized from cereal import messaging, car, log diff --git a/selfdrive/updated/tests/test_base.py b/selfdrive/updated/tests/test_base.py index b59f03fe77..615d0de99c 100644 --- a/selfdrive/updated/tests/test_base.py +++ b/selfdrive/updated/tests/test_base.py @@ -6,9 +6,6 @@ import stat import subprocess import tempfile import time -import unittest -from unittest import mock - import pytest from openpilot.common.params import Params @@ -52,13 +49,13 @@ def get_version(path: str) -> str: @pytest.mark.slow # TODO: can we test overlayfs in GHA? -class BaseUpdateTest(unittest.TestCase): +class TestBaseUpdate: @classmethod - def setUpClass(cls): + def setup_class(cls): if "Base" in cls.__name__: - raise unittest.SkipTest + pytest.skip() - def setUp(self): + def setup_method(self): self.tmpdir = tempfile.mkdtemp() run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs @@ -76,8 +73,6 @@ class BaseUpdateTest(unittest.TestCase): self.remote_dir = self.mock_update_path / "remote" self.remote_dir.mkdir() - mock.patch("openpilot.common.basedir.BASEDIR", self.basedir).start() - os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root) os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock") @@ -86,6 +81,10 @@ class BaseUpdateTest(unittest.TestCase): "master": ("0.1.3", "1.2", "0.1.3 release notes"), } + @pytest.fixture(autouse=True) + def mock_basedir(self, mocker): + mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir) + def set_target_branch(self, branch): self.params.put("UpdaterTargetBranch", branch) @@ -102,8 +101,7 @@ class BaseUpdateTest(unittest.TestCase): def additional_context(self): raise NotImplementedError("") - def tearDown(self): - mock.patch.stopall() + def teardown_method(self): try: run(["sudo", "umount", "-l", str(self.staging_root / "merged")]) run(["sudo", "umount", "-l", self.tmpdir]) @@ -125,17 +123,17 @@ class BaseUpdateTest(unittest.TestCase): time.sleep(1) def _test_finalized_update(self, branch, version, agnos_version, release_notes): - self.assertEqual(get_version(str(self.staging_root / "finalized")), version) - self.assertEqual(get_consistent_flag(str(self.staging_root / "finalized")), True) - self.assertTrue(os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK)) + assert get_version(str(self.staging_root / "finalized")) == version + assert get_consistent_flag(str(self.staging_root / "finalized")) + assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK) with open(self.staging_root / "finalized" / "test_symlink") as f: - self.assertIn(version, f.read()) + assert version in f.read() -class ParamsBaseUpdateTest(BaseUpdateTest): +class ParamsBaseUpdateTest(TestBaseUpdate): def _test_finalized_update(self, branch, version, agnos_version, release_notes): - self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")) - self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"

{release_notes}

\n") + assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}") + assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"

{release_notes}

\n" super()._test_finalized_update(branch, version, agnos_version, release_notes) def send_check_for_updates_signal(self, updated: ManagerProcess): @@ -145,9 +143,9 @@ class ParamsBaseUpdateTest(BaseUpdateTest): updated.signal(signal.SIGHUP.value) def _test_params(self, branch, fetch_available, update_available): - self.assertEqual(self.params.get("UpdaterTargetBranch", encoding="utf-8"), branch) - self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available) - self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available) + assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch + assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available + assert self.params.get_bool("UpdateAvailable") == update_available def wait_for_idle(self): self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle") @@ -229,17 +227,16 @@ class ParamsBaseUpdateTest(BaseUpdateTest): self._test_params("master", False, True) self._test_finalized_update("master", *self.MOCK_RELEASES["master"]) - def test_agnos_update(self): + def test_agnos_update(self, mocker): # Start on release3, push an update with an agnos change self.setup_remote_release("release3") self.setup_basedir_release("release3") - with self.additional_context(), \ - mock.patch("openpilot.system.hardware.AGNOS", "True"), \ - mock.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2"), \ - mock.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number"), \ - mock.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update"), \ - processes_context(["updated"]) as [updated]: + with self.additional_context(), processes_context(["updated"]) as [updated]: + mocker.patch("openpilot.system.hardware.AGNOS", "True") + mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2") + mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number") + mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update") self._test_params("release3", False, False) self.wait_for_idle() diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index 50467f9db4..36e8522b1d 100755 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import time -import unittest import numpy as np from openpilot.selfdrive.test.helpers import with_processes, phone_only @@ -9,9 +8,9 @@ from openpilot.system.camerad.snapshot.snapshot import get_snapshots TEST_TIME = 45 REPEAT = 5 -class TestCamerad(unittest.TestCase): +class TestCamerad: @classmethod - def setUpClass(cls): + def setup_class(cls): pass def _numpy_rgb2gray(self, im): @@ -49,7 +48,4 @@ class TestCamerad(unittest.TestCase): passed += int(res) time.sleep(2) - self.assertGreaterEqual(passed, REPEAT) - -if __name__ == "__main__": - unittest.main() + assert passed >= REPEAT diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py index 86bc78881e..462cf6cb5c 100755 --- a/system/hardware/tici/tests/test_agnos_updater.py +++ b/system/hardware/tici/tests/test_agnos_updater.py @@ -1,14 +1,13 @@ #!/usr/bin/env python3 import json import os -import unittest import requests TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) MANIFEST = os.path.join(TEST_DIR, "../agnos.json") -class TestAgnosUpdater(unittest.TestCase): +class TestAgnosUpdater: def test_manifest(self): with open(MANIFEST) as f: @@ -17,10 +16,6 @@ class TestAgnosUpdater(unittest.TestCase): for img in m: r = requests.head(img['url'], timeout=10) r.raise_for_status() - self.assertEqual(r.headers['Content-Type'], "application/x-xz") + assert r.headers['Content-Type'] == "application/x-xz" if not img['sparse']: assert img['hash'] == img['hash_raw'] - - -if __name__ == "__main__": - unittest.main() diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index cd3b0f90fe..dfba84b942 100755 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 +import pytest import time import random -import unittest import subprocess from panda import Panda @@ -10,14 +10,14 @@ from openpilot.system.hardware.tici.hardware import Tici from openpilot.system.hardware.tici.amplifier import Amplifier -class TestAmplifier(unittest.TestCase): +class TestAmplifier: @classmethod - def setUpClass(cls): + def setup_class(cls): if not TICI: - raise unittest.SkipTest + pytest.skip() - def setUp(self): + def setup_method(self): # clear dmesg subprocess.check_call("sudo dmesg -C", shell=True) @@ -25,7 +25,7 @@ class TestAmplifier(unittest.TestCase): Panda.wait_for_panda(None, 30) self.panda = Panda() - def tearDown(self): + def teardown_method(self): HARDWARE.reset_internal_panda() def _check_for_i2c_errors(self, expected): @@ -68,8 +68,4 @@ class TestAmplifier(unittest.TestCase): if self._check_for_i2c_errors(True): break else: - self.fail("didn't hit any i2c errors") - - -if __name__ == "__main__": - unittest.main() + pytest.fail("didn't hit any i2c errors") diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py index 6c41c383a0..49d4ac7699 100755 --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import pytest import time -import unittest import numpy as np from openpilot.system.hardware.tici.hardware import Tici @@ -10,7 +9,7 @@ HARDWARE = Tici() @pytest.mark.tici -class TestHardware(unittest.TestCase): +class TestHardware: def test_power_save_time(self): ts = [] @@ -22,7 +21,3 @@ class TestHardware(unittest.TestCase): assert 0.1 < np.mean(ts) < 0.25 assert max(ts) < 0.3 - - -if __name__ == "__main__": - unittest.main() diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index ba7e0a6d9d..104329da42 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 from collections import defaultdict, deque import pytest -import unittest import time import numpy as np from dataclasses import dataclass @@ -40,15 +39,15 @@ PROCS = [ @pytest.mark.tici -class TestPowerDraw(unittest.TestCase): +class TestPowerDraw: - def setUp(self): + def setup_method(self): write_car_param() # wait a bit for power save to disable time.sleep(5) - def tearDown(self): + def teardown_method(self): manager_cleanup() def get_expected_messages(self, proc): @@ -97,7 +96,7 @@ class TestPowerDraw(unittest.TestCase): return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME @mock_messages(['liveLocationKalman']) - def test_camera_procs(self): + def test_camera_procs(self, subtests): baseline = get_power() prev = baseline @@ -122,12 +121,8 @@ class TestPowerDraw(unittest.TestCase): expected = proc.power msgs_received = sum(msg_counts[msg] for msg in proc.msgs) tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)]) - with self.subTest(proc=proc.name): - self.assertTrue(self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs") - self.assertTrue(self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W") + with subtests.test(proc=proc.name): + assert self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs" + assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W" print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") - - -if __name__ == "__main__": - unittest.main() diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 877c872b6b..e8a6d031c4 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -1,6 +1,5 @@ import os import random -import unittest from pathlib import Path @@ -54,7 +53,7 @@ class MockApiIgnore(): def get_token(self): return "fake-token" -class UploaderTestCase(unittest.TestCase): +class UploaderTestCase: f_type = "UNKNOWN" root: Path @@ -66,7 +65,7 @@ class UploaderTestCase(unittest.TestCase): def set_ignore(self): uploader.Api = MockApiIgnore - def setUp(self): + def setup_method(self): uploader.Api = MockApi uploader.fake_upload = True uploader.force_wifi = True diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 37d25507e0..3ba6ad4031 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import time import threading -import unittest from collections import namedtuple from pathlib import Path from collections.abc import Sequence @@ -17,9 +16,9 @@ class TestDeleter(UploaderTestCase): def fake_statvfs(self, d): return self.fake_stats - def setUp(self): + def setup_method(self): self.f_type = "fcamera.hevc" - super().setUp() + super().setup_method() self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096) deleter.os.statvfs = self.fake_statvfs @@ -64,7 +63,7 @@ class TestDeleter(UploaderTestCase): finally: self.join_thread() - self.assertEqual(deleted_order, f_paths, "Files not deleted in expected order") + assert deleted_order == f_paths, "Files not deleted in expected order" def test_delete_order(self): self.assertDeleteOrder([ @@ -105,7 +104,7 @@ class TestDeleter(UploaderTestCase): time.sleep(0.01) self.join_thread() - self.assertTrue(f_path.exists(), "File deleted with available space") + assert f_path.exists(), "File deleted with available space" def test_no_delete_with_lock_file(self): f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True) @@ -116,8 +115,4 @@ class TestDeleter(UploaderTestCase): time.sleep(0.01) self.join_thread() - self.assertTrue(f_path.exists(), "File deleted when locked") - - -if __name__ == "__main__": - unittest.main() + assert f_path.exists(), "File deleted when locked" diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index bd076dc5f3..f6eb9b9011 100755 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -6,7 +6,6 @@ import random import shutil import subprocess import time -import unittest from pathlib import Path from parameterized import parameterized @@ -33,14 +32,14 @@ FILE_SIZE_TOLERANCE = 0.5 @pytest.mark.tici # TODO: all of loggerd should work on PC -class TestEncoder(unittest.TestCase): +class TestEncoder: - def setUp(self): + def setup_method(self): self._clear_logs() os.environ["LOGGERD_TEST"] = "1" os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH) - def tearDown(self): + def teardown_method(self): self._clear_logs() def _clear_logs(self): @@ -85,7 +84,7 @@ class TestEncoder(unittest.TestCase): file_path = f"{route_prefix_path}--{i}/{camera}" # check file exists - self.assertTrue(os.path.exists(file_path), f"segment #{i}: '{file_path}' missing") + assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing" # TODO: this ffprobe call is really slow # check frame count @@ -98,13 +97,13 @@ class TestEncoder(unittest.TestCase): frame_count = int(probe.split('\n')[0].strip()) counts.append(frame_count) - self.assertEqual(frame_count, expected_frames, - f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}") + assert frame_count == expected_frames, \ + f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}" # sanity check file size file_size = os.path.getsize(file_path) - self.assertTrue(math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), - f"{file_path} size {file_size} isn't close to target size {size}") + assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \ + f"{file_path} size {file_size} isn't close to target size {size}" # Check encodeIdx if encode_idx_name is not None: @@ -118,24 +117,24 @@ class TestEncoder(unittest.TestCase): frame_idxs = [m.frameId for m in encode_msgs] # Check frame count - self.assertEqual(frame_count, len(segment_idxs)) - self.assertEqual(frame_count, len(encode_idxs)) + assert frame_count == len(segment_idxs) + assert frame_count == len(encode_idxs) # Check for duplicates or skips - self.assertEqual(0, segment_idxs[0]) - self.assertEqual(len(set(segment_idxs)), len(segment_idxs)) + assert 0 == segment_idxs[0] + assert len(set(segment_idxs)) == len(segment_idxs) - self.assertTrue(all(valid)) + assert all(valid) - self.assertEqual(expected_frames * i, encode_idxs[0]) + assert expected_frames * i == encode_idxs[0] first_frames.append(frame_idxs[0]) - self.assertEqual(len(set(encode_idxs)), len(encode_idxs)) + assert len(set(encode_idxs)) == len(encode_idxs) - self.assertEqual(1, len(set(first_frames))) + assert 1 == len(set(first_frames)) if TICI: expected_frames = fps * SEGMENT_LENGTH - self.assertEqual(min(counts), expected_frames) + assert min(counts) == expected_frames shutil.rmtree(f"{route_prefix_path}--{i}") try: @@ -150,7 +149,3 @@ class TestEncoder(unittest.TestCase): managed_processes['encoderd'].stop() managed_processes['camerad'].stop() managed_processes['sensord'].stop() - - -if __name__ == "__main__": - unittest.main() diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 73917a30cf..c0a9770e53 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -2,7 +2,6 @@ import os import time import threading -import unittest import logging import json from pathlib import Path @@ -38,8 +37,8 @@ cloudlog.addHandler(log_handler) class TestUploader(UploaderTestCase): - def setUp(self): - super().setUp() + def setup_method(self): + super().setup_method() log_handler.reset() def start_thread(self): @@ -80,13 +79,13 @@ class TestUploader(UploaderTestCase): exp_order = self.gen_order([self.seg_num], []) - self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") - self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") - self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + assert len(log_handler.upload_ignored) == 0, "Some files were ignored" + assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" + assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" def test_upload_with_wrong_xattr(self): self.gen_files(lock=False, xattr=b'0') @@ -98,13 +97,13 @@ class TestUploader(UploaderTestCase): exp_order = self.gen_order([self.seg_num], []) - self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") - self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") - self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + assert len(log_handler.upload_ignored) == 0, "Some files were ignored" + assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" + assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" def test_upload_ignored(self): self.set_ignore() @@ -117,13 +116,13 @@ class TestUploader(UploaderTestCase): exp_order = self.gen_order([self.seg_num], []) - self.assertTrue(len(log_handler.upload_order) == 0, "Some files were not ignored") - self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore") - self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice") + assert len(log_handler.upload_order) == 0, "Some files were not ignored" + assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore" + assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not ignored" - self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order") + assert log_handler.upload_ignored == exp_order, "Files ignored in wrong order" def test_upload_files_in_create_order(self): seg1_nums = [0, 1, 2, 10, 20] @@ -142,13 +141,13 @@ class TestUploader(UploaderTestCase): time.sleep(5) self.join_thread() - self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored") - self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload") - self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice") + assert len(log_handler.upload_ignored) == 0, "Some files were ignored" + assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" + assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" for f_path in exp_order: - self.assertEqual(os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded") + assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order") + assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" def test_no_upload_with_lock_file(self): self.start_thread() @@ -163,7 +162,7 @@ class TestUploader(UploaderTestCase): for f_path in f_paths: fn = f_path.with_suffix(f_path.suffix.replace(".bz2", "")) uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE - self.assertFalse(uploaded, "File upload when locked") + assert not uploaded, "File upload when locked" def test_no_upload_with_xattr(self): self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE) @@ -173,7 +172,7 @@ class TestUploader(UploaderTestCase): time.sleep(5) self.join_thread() - self.assertEqual(len(log_handler.upload_order), 0, "File uploaded again") + assert len(log_handler.upload_order) == 0, "File uploaded again" def test_clear_locks_on_startup(self): f_paths = self.gen_files(lock=True, boot=False) @@ -183,8 +182,4 @@ class TestUploader(UploaderTestCase): for f_path in f_paths: lock_path = f_path.with_suffix(f_path.suffix + ".lock") - self.assertFalse(lock_path.is_file(), "File lock not cleared on startup") - - -if __name__ == "__main__": - unittest.main() + assert not lock_path.is_file(), "File lock not cleared on startup" diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py index 6c93f7dd93..d47ea5d634 100755 --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -4,7 +4,6 @@ import pytest import json import time import datetime -import unittest import subprocess import cereal.messaging as messaging @@ -15,24 +14,24 @@ GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) @pytest.mark.tici -class TestRawgpsd(unittest.TestCase): +class TestRawgpsd: @classmethod - def setUpClass(cls): + def setup_class(cls): os.system("sudo systemctl start systemd-resolved") os.system("sudo systemctl restart ModemManager lte") wait_for_modem() @classmethod - def tearDownClass(cls): + def teardown_class(cls): managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart ModemManager lte") - def setUp(self): + def setup_method(self): at_cmd("AT+QGPSDEL=0") self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) - def tearDown(self): + def teardown_method(self): managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") @@ -57,18 +56,18 @@ class TestRawgpsd(unittest.TestCase): os.system("sudo systemctl restart ModemManager") assert self._wait_for_output(30) - def test_startup_time(self): + def test_startup_time(self, subtests): for internet in (True, False): if not internet: os.system("sudo systemctl stop systemd-resolved") - with self.subTest(internet=internet): + with subtests.test(internet=internet): managed_processes['qcomgpsd'].start() assert self._wait_for_output(7) managed_processes['qcomgpsd'].stop() - def test_turns_off_gnss(self): + def test_turns_off_gnss(self, subtests): for s in (0.1, 1, 5): - with self.subTest(runtime=s): + with subtests.test(runtime=s): managed_processes['qcomgpsd'].start() time.sleep(s) managed_processes['qcomgpsd'].stop() @@ -87,7 +86,7 @@ class TestRawgpsd(unittest.TestCase): if should_be_loaded: assert valid_duration == "10080" # should be max time injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S") - self.assertLess(abs((datetime.datetime.utcnow() - injected_time).total_seconds()), 60*60*12) + assert abs((datetime.datetime.utcnow() - injected_time).total_seconds()) < 60*60*12 else: valid_duration, injected_time_str = out.split(",", 1) injected_time_str = injected_time_str.replace('\"', '').replace('\'', '') @@ -119,6 +118,3 @@ class TestRawgpsd(unittest.TestCase): time.sleep(15) managed_processes['qcomgpsd'].stop() self.check_assistance(True) - -if __name__ == "__main__": - unittest.main(failfast=True) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 3075c8a343..1b3b78da88 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -2,7 +2,6 @@ import os import pytest import time -import unittest import numpy as np from collections import namedtuple, defaultdict @@ -99,9 +98,9 @@ def read_sensor_events(duration_sec): return {k: v for k, v in events.items() if len(v) > 0} @pytest.mark.tici -class TestSensord(unittest.TestCase): +class TestSensord: @classmethod - def setUpClass(cls): + def setup_class(cls): # enable LSM self test os.environ["LSM_SELF_TEST"] = "1" @@ -119,10 +118,10 @@ class TestSensord(unittest.TestCase): managed_processes["sensord"].stop() @classmethod - def tearDownClass(cls): + def teardown_class(cls): managed_processes["sensord"].stop() - def tearDown(self): + def teardown_method(self): managed_processes["sensord"].stop() def test_sensors_present(self): @@ -133,9 +132,9 @@ class TestSensord(unittest.TestCase): m = getattr(measurement, measurement.which()) seen.add((str(m.source), m.which())) - self.assertIn(seen, SENSOR_CONFIGURATIONS) + assert seen in SENSOR_CONFIGURATIONS - def test_lsm6ds3_timing(self): + def test_lsm6ds3_timing(self, subtests): # verify measurements are sampled and published at 104Hz sensor_t = { @@ -152,7 +151,7 @@ class TestSensord(unittest.TestCase): sensor_t[m.sensor].append(m.timestamp) for s, vals in sensor_t.items(): - with self.subTest(sensor=s): + with subtests.test(sensor=s): assert len(vals) > 0 tdiffs = np.diff(vals) / 1e6 # millis @@ -166,9 +165,9 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 2.0, f"Standard-dev to big {stddev}" - def test_sensor_frequency(self): + def test_sensor_frequency(self, subtests): for s, msgs in self.events.items(): - with self.subTest(sensor=s): + with subtests.test(sensor=s): freq = len(msgs) / self.sample_secs ef = SERVICE_LIST[s].frequency assert ef*0.85 <= freq <= ef*1.15 @@ -246,6 +245,3 @@ class TestSensord(unittest.TestCase): state_two = get_irq_count(self.sensord_irq) assert state_one == state_two, "Interrupts received after sensord stop!" - -if __name__ == "__main__": - unittest.main() diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index d27dae46ad..6d59bdcb08 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -2,7 +2,6 @@ import glob import os import time -import unittest import cereal.messaging as messaging from openpilot.selfdrive.manager.process_config import managed_processes @@ -10,8 +9,8 @@ from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog, ipchandler -class TestLogmessaged(unittest.TestCase): - def setUp(self): +class TestLogmessaged: + def setup_method(self): # clear the IPC buffer in case some other tests used cloudlog and filled it ipchandler.close() ipchandler.connect() @@ -25,7 +24,7 @@ class TestLogmessaged(unittest.TestCase): messaging.drain_sock(self.sock) messaging.drain_sock(self.error_sock) - def tearDown(self): + def teardown_method(self): del self.sock del self.error_sock managed_processes['logmessaged'].stop(block=True) @@ -55,6 +54,3 @@ class TestLogmessaged(unittest.TestCase): logsize = sum([os.path.getsize(f) for f in self._get_log_files()]) assert (n*len(msg)) < logsize < (n*(len(msg)+1024)) - -if __name__ == "__main__": - unittest.main() diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py index 742e20bb90..a24414466a 100755 --- a/system/ubloxd/tests/test_pigeond.py +++ b/system/ubloxd/tests/test_pigeond.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import pytest import time -import unittest import cereal.messaging as messaging from cereal.services import SERVICE_LIST @@ -13,9 +12,9 @@ from openpilot.system.hardware.tici.pins import GPIO # TODO: test TTFF when we have good A-GNSS @pytest.mark.tici -class TestPigeond(unittest.TestCase): +class TestPigeond: - def tearDown(self): + def teardown_method(self): managed_processes['pigeond'].stop() @with_processes(['pigeond']) @@ -54,7 +53,3 @@ class TestPigeond(unittest.TestCase): assert gpio_read(GPIO.UBLOX_RST_N) == 0 assert gpio_read(GPIO.GNSS_PWR_EN) == 0 - - -if __name__ == "__main__": - unittest.main() diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py index 34427d5625..80c5d2705c 100755 --- a/system/updated/casync/tests/test_casync.py +++ b/system/updated/casync/tests/test_casync.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 +import pytest import os import pathlib -import unittest import tempfile import subprocess @@ -14,9 +14,9 @@ from openpilot.system.updated.casync import tar LOOPBACK = os.environ.get('LOOPBACK', None) -class TestCasync(unittest.TestCase): +class TestCasync: @classmethod - def setUpClass(cls): + def setup_class(cls): cls.tmpdir = tempfile.TemporaryDirectory() # Build example contents @@ -43,7 +43,7 @@ class TestCasync(unittest.TestCase): # Ensure we have chunk reuse assert len(hashes) > len(set(hashes)) - def setUp(self): + def setup_method(self): # Clear target_lo if LOOPBACK is not None: self.target_lo = LOOPBACK @@ -53,7 +53,7 @@ class TestCasync(unittest.TestCase): self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) - def tearDown(self): + def teardown_method(self): for fn in [self.target_fn, self.seed_fn]: try: os.unlink(fn) @@ -67,9 +67,9 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as target_f: - self.assertEqual(target_f.read(), self.contents) + assert target_f.read() == self.contents - self.assertEqual(stats['remote'], len(self.contents)) + assert stats['remote'] == len(self.contents) def test_seed(self): target = casync.parse_caibx(self.manifest_fn) @@ -83,10 +83,10 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as target_f: - self.assertEqual(target_f.read(), self.contents) + assert target_f.read() == self.contents - self.assertGreater(stats['seed'], 0) - self.assertLess(stats['remote'], len(self.contents)) + assert stats['seed'] > 0 + assert stats['remote'] < len(self.contents) def test_already_done(self): """Test that an already flashed target doesn't download any chunks""" @@ -101,9 +101,9 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as f: - self.assertEqual(f.read(), self.contents) + assert f.read() == self.contents - self.assertEqual(stats['target'], len(self.contents)) + assert stats['target'] == len(self.contents) def test_chunk_reuse(self): """Test that chunks that are reused are only downloaded once""" @@ -119,11 +119,11 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_fn) with open(self.target_fn, 'rb') as f: - self.assertEqual(f.read(), self.contents) + assert f.read() == self.contents - self.assertLess(stats['remote'], len(self.contents)) + assert stats['remote'] < len(self.contents) - @unittest.skipUnless(LOOPBACK, "requires loopback device") + @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") def test_lo_simple_extract(self): target = casync.parse_caibx(self.manifest_fn) sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] @@ -131,11 +131,11 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_lo) with open(self.target_lo, 'rb') as target_f: - self.assertEqual(target_f.read(len(self.contents)), self.contents) + assert target_f.read(len(self.contents)) == self.contents - self.assertEqual(stats['remote'], len(self.contents)) + assert stats['remote'] == len(self.contents) - @unittest.skipUnless(LOOPBACK, "requires loopback device") + @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") def test_lo_chunk_reuse(self): """Test that chunks that are reused are only downloaded once""" target = casync.parse_caibx(self.manifest_fn) @@ -146,12 +146,12 @@ class TestCasync(unittest.TestCase): stats = casync.extract(target, sources, self.target_lo) with open(self.target_lo, 'rb') as f: - self.assertEqual(f.read(len(self.contents)), self.contents) + assert f.read(len(self.contents)) == self.contents - self.assertLess(stats['remote'], len(self.contents)) + assert stats['remote'] < len(self.contents) -class TestCasyncDirectory(unittest.TestCase): +class TestCasyncDirectory: """Tests extracting a directory stored as a casync tar archive""" NUM_FILES = 16 @@ -174,7 +174,7 @@ class TestCasyncDirectory(unittest.TestCase): os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt")) @classmethod - def setUpClass(cls): + def setup_class(cls): cls.tmpdir = tempfile.TemporaryDirectory() # Create casync files @@ -190,16 +190,16 @@ class TestCasyncDirectory(unittest.TestCase): subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) @classmethod - def tearDownClass(cls): + def teardown_class(cls): cls.tmpdir.cleanup() cls.directory_to_extract.cleanup() - def setUp(self): + def setup_method(self): self.cache_dir = tempfile.TemporaryDirectory() self.working_dir = tempfile.TemporaryDirectory() self.out_dir = tempfile.TemporaryDirectory() - def tearDown(self): + def teardown_method(self): self.cache_dir.cleanup() self.working_dir.cleanup() self.out_dir.cleanup() @@ -216,32 +216,32 @@ class TestCasyncDirectory(unittest.TestCase): stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename) with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f: - self.assertEqual(f.read(), self.contents) + assert f.read() == self.contents with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f: - self.assertEqual(f.read(), self.contents) - self.assertEqual(os.readlink(os.path.join(self.out_dir.name, "link_0.txt")), "file_0.txt") + assert f.read() == self.contents + assert os.readlink(os.path.join(self.out_dir.name, "link_0.txt")) == "file_0.txt" return stats def test_no_cache(self): self.setup_cache(self.cache_dir.name, []) stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertEqual(stats['cache'], 0) + assert stats['remote'] > 0 + assert stats['cache'] == 0 def test_full_cache(self): self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) stats = self.run_test() - self.assertEqual(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) + assert stats['remote'] == 0 + assert stats['cache'] > 0 def test_one_file_cache(self): self.setup_cache(self.cache_dir.name, range(1)) stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) - self.assertLess(stats['cache'], stats['remote']) + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] < stats['remote'] def test_one_file_incorrect_cache(self): self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) @@ -249,19 +249,15 @@ class TestCasyncDirectory(unittest.TestCase): f.write(b"1234") stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) - self.assertGreater(stats['cache'], stats['remote']) + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] > stats['remote'] def test_one_file_missing_cache(self): self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) os.unlink(os.path.join(self.cache_dir.name, "file_12.txt")) stats = self.run_test() - self.assertGreater(stats['remote'], 0) - self.assertGreater(stats['cache'], 0) - self.assertGreater(stats['cache'], stats['remote']) - - -if __name__ == "__main__": - unittest.main() + assert stats['remote'] > 0 + assert stats['cache'] > 0 + assert stats['cache'] > stats['remote'] diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py index 2173c3806b..d8defab13f 100755 --- a/system/webrtc/tests/test_stream_session.py +++ b/system/webrtc/tests/test_stream_session.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 import asyncio -import unittest -from unittest.mock import Mock, MagicMock, patch import json # for aiortc and its dependencies import warnings @@ -20,15 +18,15 @@ from openpilot.system.webrtc.device.audio import AudioInputStreamTrack from openpilot.common.realtime import DT_DMON -class TestStreamSession(unittest.TestCase): - def setUp(self): +class TestStreamSession: + def setup_method(self): self.loop = asyncio.new_event_loop() - def tearDown(self): + def teardown_method(self): self.loop.stop() self.loop.close() - def test_outgoing_proxy(self): + def test_outgoing_proxy(self, mocker): test_msg = log.Event.new_message() test_msg.logMonoTime = 123 test_msg.valid = True @@ -36,27 +34,27 @@ class TestStreamSession(unittest.TestCase): expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"} expected_json = json.dumps(expected_dict).encode() - channel = Mock(spec=RTCDataChannel) + channel = mocker.Mock(spec=RTCDataChannel) mocked_submaster = messaging.SubMaster(["customReservedRawData0"]) def mocked_update(t): mocked_submaster.update_msgs(0, [test_msg]) - with patch.object(messaging.SubMaster, "update", side_effect=mocked_update): - proxy = CerealOutgoingMessageProxy(mocked_submaster) - proxy.add_channel(channel) + mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update) + proxy = CerealOutgoingMessageProxy(mocked_submaster) + proxy.add_channel(channel) - proxy.update() + proxy.update() - channel.send.assert_called_once_with(expected_json) + channel.send.assert_called_once_with(expected_json) - def test_incoming_proxy(self): + def test_incoming_proxy(self, mocker): tested_msgs = [ {"type": "customReservedRawData0", "data": "test"}, # primitive {"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict ] - mocked_pubmaster = MagicMock(spec=messaging.PubMaster) + mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster) proxy = CerealIncomingMessageProxy(mocked_pubmaster) @@ -65,44 +63,40 @@ class TestStreamSession(unittest.TestCase): mocked_pubmaster.send.assert_called_once() mt, md = mocked_pubmaster.send.call_args.args - self.assertEqual(mt, msg["type"]) - self.assertIsInstance(md, capnp._DynamicStructBuilder) - self.assertTrue(hasattr(md, msg["type"])) + assert mt == msg["type"] + assert isinstance(md, capnp._DynamicStructBuilder) + assert hasattr(md, msg["type"]) mocked_pubmaster.reset_mock() - def test_livestream_track(self): + def test_livestream_track(self, mocker): fake_msg = messaging.new_message("livestreamDriverEncodeData") config = {"receive.return_value": fake_msg.to_bytes()} - with patch("cereal.messaging.SubSocket", spec=True, **config): - track = LiveStreamVideoStreamTrack("driver") + mocker.patch("cereal.messaging.SubSocket", spec=True, **config) + track = LiveStreamVideoStreamTrack("driver") - self.assertTrue(track.id.startswith("driver")) - self.assertEqual(track.codec_preference(), "H264") + assert track.id.startswith("driver") + assert track.codec_preference() == "H264" - for i in range(5): - packet = self.loop.run_until_complete(track.recv()) - self.assertEqual(packet.time_base, VIDEO_TIME_BASE) - self.assertEqual(packet.pts, int(i * DT_DMON * VIDEO_CLOCK_RATE)) - self.assertEqual(packet.size, 0) + for i in range(5): + packet = self.loop.run_until_complete(track.recv()) + assert packet.time_base == VIDEO_TIME_BASE + assert packet.pts == int(i * DT_DMON * VIDEO_CLOCK_RATE) + assert packet.size == 0 - def test_input_audio_track(self): + def test_input_audio_track(self, mocker): packet_time, rate = 0.02, 16000 sample_count = int(packet_time * rate) - mocked_stream = MagicMock(spec=pyaudio.Stream) + mocked_stream = mocker.MagicMock(spec=pyaudio.Stream) mocked_stream.read.return_value = b"\x00" * 2 * sample_count config = {"open.side_effect": lambda *args, **kwargs: mocked_stream} - with patch("pyaudio.PyAudio", spec=True, **config): - track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) + mocker.patch("pyaudio.PyAudio", spec=True, **config) + track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) - for i in range(5): - frame = self.loop.run_until_complete(track.recv()) - self.assertEqual(frame.rate, rate) - self.assertEqual(frame.samples, sample_count) - self.assertEqual(frame.pts, i * sample_count) - - -if __name__ == "__main__": - unittest.main() + for i in range(5): + frame = self.loop.run_until_complete(track.recv()) + assert frame.rate == rate + assert frame.samples == sample_count + assert frame.pts == i * sample_count diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py index e5742dba07..684c7cf359 100755 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -1,8 +1,7 @@ #!/usr/bin/env python +import pytest import asyncio import json -import unittest -from unittest.mock import MagicMock, AsyncMock # for aiortc and its dependencies import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) @@ -20,19 +19,20 @@ from parameterized import parameterized_class (["testJoystick"], []), ([], []), ]) -class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): +@pytest.mark.asyncio +class TestWebrtcdProc(): async def assertCompletesWithTimeout(self, awaitable, timeout=1): try: async with asyncio.timeout(timeout): await awaitable except TimeoutError: - self.fail("Timeout while waiting for awaitable to complete") + pytest.fail("Timeout while waiting for awaitable to complete") - async def test_webrtcd(self): - mock_request = MagicMock() + async def test_webrtcd(self, mocker): + mock_request = mocker.MagicMock() async def connect(offer): body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services} - mock_request.json.side_effect = AsyncMock(return_value=body) + mock_request.json.side_effect = mocker.AsyncMock(return_value=body) response = await get_stream(mock_request) response_json = json.loads(response.text) return aiortc.RTCSessionDescription(**response_json) @@ -48,9 +48,9 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): await self.assertCompletesWithTimeout(stream.start()) await self.assertCompletesWithTimeout(stream.wait_for_connection()) - self.assertTrue(stream.has_incoming_video_track("road")) - self.assertTrue(stream.has_incoming_audio_track()) - self.assertEqual(stream.has_messaging_channel(), len(self.in_services) > 0 or len(self.out_services) > 0) + assert stream.has_incoming_video_track("road") + assert stream.has_incoming_audio_track() + assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0) video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() await self.assertCompletesWithTimeout(video_track.recv()) @@ -59,10 +59,6 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): await self.assertCompletesWithTimeout(stream.stop()) # cleanup, very implementation specific, test may break if it changes - self.assertTrue(mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test") + assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test" _, session = mock_request.app["streams"].__setitem__.call_args.args await self.assertCompletesWithTimeout(session.post_run_cleanup()) - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py index 5f8294fd3c..cf0be1a80a 100755 --- a/tools/car_porting/test_car_model.py +++ b/tools/car_porting/test_car_model.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse import sys -import unittest +import unittest # noqa: TID251 from openpilot.selfdrive.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModel diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 5d3dfeba42..32f55df5d1 100755 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,13 +1,11 @@ #!/usr/bin/env python3 -from functools import partial import http.server import os import shutil import socket -import unittest +import pytest -from parameterized import parameterized -from openpilot.selfdrive.test.helpers import with_http_server +from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.url_file import URLFile @@ -31,22 +29,23 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): self.end_headers() -with_caching_server = partial(with_http_server, handler=CachingTestRequestHandler) +@pytest.fixture +def host(): + with http_server_context(handler=CachingTestRequestHandler) as (host, port): + yield f"http://{host}:{port}" +class TestFileDownload: -class TestFileDownload(unittest.TestCase): - - @with_caching_server def test_pipeline_defaults(self, host): # TODO: parameterize the defaults so we don't rely on hard-coded values in xx - self.assertEqual(URLFile.pool_manager().pools._maxsize, 10) # PoolManager num_pools param + assert URLFile.pool_manager().pools._maxsize == 10# PoolManager num_pools param pool_manager_defaults = { "maxsize": 100, "socket_options": [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),], } for k, v in pool_manager_defaults.items(): - self.assertEqual(URLFile.pool_manager().connection_pool_kw.get(k), v) + assert URLFile.pool_manager().connection_pool_kw.get(k) == v retry_defaults = { "total": 5, @@ -54,7 +53,7 @@ class TestFileDownload(unittest.TestCase): "status_forcelist": [409, 429, 503, 504], } for k, v in retry_defaults.items(): - self.assertEqual(getattr(URLFile.pool_manager().connection_pool_kw["retries"], k), v) + assert getattr(URLFile.pool_manager().connection_pool_kw["retries"], k) == v # ensure caching off by default and cache dir doesn't get created os.environ.pop("FILEREADER_CACHE", None) @@ -62,7 +61,7 @@ class TestFileDownload(unittest.TestCase): shutil.rmtree(Paths.download_cache_root()) URLFile(f"{host}/test.txt").get_length() URLFile(f"{host}/test.txt").read() - self.assertEqual(os.path.exists(Paths.download_cache_root()), False) + assert not os.path.exists(Paths.download_cache_root()) def compare_loads(self, url, start=0, length=None): """Compares range between cached and non cached version""" @@ -72,21 +71,21 @@ class TestFileDownload(unittest.TestCase): file_cached.seek(start) file_downloaded.seek(start) - self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) - self.assertLessEqual(length + start if length is not None else 0, file_downloaded.get_length()) + assert file_cached.get_length() == file_downloaded.get_length() + assert length + start if length is not None else 0 <= file_downloaded.get_length() response_cached = file_cached.read(ll=length) response_downloaded = file_downloaded.read(ll=length) - self.assertEqual(response_cached, response_downloaded) + assert response_cached == response_downloaded # Now test with cache in place file_cached = URLFile(url, cache=True) file_cached.seek(start) response_cached = file_cached.read(ll=length) - self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) - self.assertEqual(response_cached, response_downloaded) + assert file_cached.get_length() == file_downloaded.get_length() + assert response_cached == response_downloaded def test_small_file(self): # Make sure we don't force cache @@ -117,22 +116,16 @@ class TestFileDownload(unittest.TestCase): self.compare_loads(large_file_url, length - 100, 100) self.compare_loads(large_file_url) - @parameterized.expand([(True, ), (False, )]) - @with_caching_server - def test_recover_from_missing_file(self, cache_enabled, host): + @pytest.mark.parametrize("cache_enabled", [True, False]) + def test_recover_from_missing_file(self, host, cache_enabled): os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" file_url = f"{host}/test.png" CachingTestRequestHandler.FILE_EXISTS = False length = URLFile(file_url).get_length() - self.assertEqual(length, -1) + assert length == -1 CachingTestRequestHandler.FILE_EXISTS = True length = URLFile(file_url).get_length() - self.assertEqual(length, 4) - - - -if __name__ == "__main__": - unittest.main() + assert length == 4 diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py index 91bab94343..b9a4def75f 100644 --- a/tools/lib/tests/test_comma_car_segments.py +++ b/tools/lib/tests/test_comma_car_segments.py @@ -1,5 +1,4 @@ import pytest -import unittest import requests from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url @@ -8,7 +7,7 @@ from openpilot.tools.lib.route import SegmentRange @pytest.mark.skip(reason="huggingface is flaky, run this test manually to check for issues") -class TestCommaCarSegments(unittest.TestCase): +class TestCommaCarSegments: def test_database(self): database = get_comma_car_segments_database() @@ -28,12 +27,8 @@ class TestCommaCarSegments(unittest.TestCase): url = get_url(sr.route_name, sr.slice) resp = requests.get(url) - self.assertEqual(resp.status_code, 200) + assert resp.status_code == 200 lr = LogReader(url) CP = lr.first("carParams") - self.assertEqual(MIGRATION.get(CP.carFingerprint, CP.carFingerprint), fp) - - -if __name__ == "__main__": - unittest.main() + assert MIGRATION.get(CP.carFingerprint, CP.carFingerprint) == fp diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index fc72202b26..58d22a07ef 100755 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -5,12 +5,10 @@ import io import shutil import tempfile import os -import unittest import pytest import requests from parameterized import parameterized -from unittest import mock from cereal import log as capnp_log from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException @@ -28,24 +26,22 @@ def noop(segment: LogIterable): @contextlib.contextmanager -def setup_source_scenario(is_internal=False): - with ( - mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock, - mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock, - mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock, - ): - if is_internal: - internal_source_mock.return_value = [QLOG_FILE] - else: - internal_source_mock.side_effect = InternalUnavailableException +def setup_source_scenario(mocker, is_internal=False): + internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source") + openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source") + comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source") + if is_internal: + internal_source_mock.return_value = [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 = [None] + comma_api_source_mock.return_value = [QLOG_FILE] - yield + yield -class TestLogReader(unittest.TestCase): +class TestLogReader: @parameterized.expand([ (f"{TEST_ROUTE}", ALL_SEGS), (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS), @@ -74,7 +70,7 @@ class TestLogReader(unittest.TestCase): def test_indirect_parsing(self, identifier, expected): parsed, _, _ = parse_indirect(identifier) sr = SegmentRange(parsed) - self.assertListEqual(list(sr.seg_idxs), expected, identifier) + assert list(sr.seg_idxs) == expected, identifier @parameterized.expand([ (f"{TEST_ROUTE}", f"{TEST_ROUTE}"), @@ -86,11 +82,11 @@ class TestLogReader(unittest.TestCase): ]) def test_canonical_name(self, identifier, expected): sr = SegmentRange(identifier) - self.assertEqual(str(sr), expected) + assert str(sr) == expected - @parameterized.expand([(True,), (False,)]) - @mock.patch("openpilot.tools.lib.logreader.file_exists") - def test_direct_parsing(self, cache_enabled, file_exists_mock): + @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") os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) @@ -100,13 +96,13 @@ class TestLogReader(unittest.TestCase): for f in [QLOG_FILE, qlog.name]: l = len(list(LogReader(f))) - self.assertGreater(l, 100) + assert l > 100 - with self.assertRaises(URLFileException) if not cache_enabled else self.assertRaises(AssertionError): + with pytest.raises(URLFileException) if not cache_enabled else pytest.raises(AssertionError): l = len(list(LogReader(QLOG_FILE.replace("/3/", "/200/")))) # file_exists should not be called for direct files - self.assertEqual(file_exists_mock.call_count, 0) + assert file_exists_mock.call_count == 0 @parameterized.expand([ (f"{TEST_ROUTE}///",), @@ -121,110 +117,110 @@ class TestLogReader(unittest.TestCase): (f"{TEST_ROUTE}--3a",), ]) def test_bad_ranges(self, segment_range): - with self.assertRaises(AssertionError): + with pytest.raises(AssertionError): _ = SegmentRange(segment_range).seg_idxs - @parameterized.expand([ + @pytest.mark.parametrize("segment_range, api_call", [ (f"{TEST_ROUTE}/0", False), (f"{TEST_ROUTE}/:2", False), (f"{TEST_ROUTE}/0:", True), (f"{TEST_ROUTE}/-1", True), (f"{TEST_ROUTE}", True), ]) - def test_slicing_api_call(self, segment_range, api_call): - with mock.patch("openpilot.tools.lib.route.get_max_seg_number_cached") as max_seg_mock: - max_seg_mock.return_value = NUM_SEGS - _ = SegmentRange(segment_range).seg_idxs - self.assertEqual(api_call, max_seg_mock.called) + def test_slicing_api_call(self, mocker, segment_range, api_call): + max_seg_mock = mocker.patch("openpilot.tools.lib.route.get_max_seg_number_cached") + max_seg_mock.return_value = NUM_SEGS + _ = SegmentRange(segment_range).seg_idxs + assert api_call == max_seg_mock.called @pytest.mark.slow def test_modes(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) - self.assertLess(qlog_len * 6, rlog_len) + assert qlog_len * 6 < rlog_len @pytest.mark.slow def test_modes_from_name(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) - self.assertLess(qlog_len * 6, rlog_len) + assert qlog_len * 6 < rlog_len @pytest.mark.slow def test_list(self): qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"]))) - self.assertEqual(qlog_len * 2, qlog_len_2) + assert qlog_len * 2 == qlog_len_2 @pytest.mark.slow - @mock.patch("openpilot.tools.lib.logreader._LogFileReader") - def test_multiple_iterations(self, init_mock): + def test_multiple_iterations(self, mocker): + init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader") lr = LogReader(f"{TEST_ROUTE}/0/q") qlog_len1 = len(list(lr)) qlog_len2 = len(list(lr)) # ensure we don't create multiple instances of _LogFileReader, which means downloading the files twice - self.assertEqual(init_mock.call_count, 1) + assert init_mock.call_count == 1 - self.assertEqual(qlog_len1, qlog_len2) + assert qlog_len1 == qlog_len2 @pytest.mark.slow def test_helpers(self): lr = LogReader(f"{TEST_ROUTE}/0/q") - self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN") - self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr))) + assert lr.first("carParams").carFingerprint == "SUBARU OUTBACK 6TH GEN" + assert 0 < len(list(lr.filter("carParams"))) < len(list(lr)) @parameterized.expand([(True,), (False,)]) @pytest.mark.slow def test_run_across_segments(self, cache_enabled): os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0" lr = LogReader(f"{TEST_ROUTE}/0:4") - self.assertEqual(len(lr.run_across_segments(4, noop)), len(list(lr))) + assert len(lr.run_across_segments(4, noop)) == len(list(lr)) @pytest.mark.slow - def test_auto_mode(self): + def test_auto_mode(self, subtests, mocker): lr = LogReader(f"{TEST_ROUTE}/0/q") qlog_len = len(list(lr)) - with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock: - log_paths_mock.return_value = [None] * NUM_SEGS - # Should fall back to qlogs since rlogs are not available + log_paths_mock = mocker.patch("openpilot.tools.lib.route.Route.log_paths") + log_paths_mock.return_value = [None] * NUM_SEGS + # Should fall back to qlogs since rlogs are not available - with self.subTest("interactive_yes"): - with mock.patch("sys.stdin", new=io.StringIO("y\n")): - lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) - log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + with subtests.test("interactive_yes"): + mocker.patch("sys.stdin", new=io.StringIO("y\n")) + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) + log_len = len(list(lr)) + assert qlog_len == log_len - with self.subTest("interactive_no"): - with mock.patch("sys.stdin", new=io.StringIO("n\n")): - with self.assertRaises(AssertionError): - lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) + with subtests.test("interactive_no"): + mocker.patch("sys.stdin", new=io.StringIO("n\n")) + with pytest.raises(AssertionError): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) - with self.subTest("non_interactive"): - lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source) - log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + with subtests.test("non_interactive"): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source) + log_len = len(list(lr)) + assert qlog_len == log_len - @parameterized.expand([(True,), (False,)]) + @pytest.mark.parametrize("is_internal", [True, False]) @pytest.mark.slow - def test_auto_source_scenarios(self, is_internal): + def test_auto_source_scenarios(self, mocker, is_internal): lr = LogReader(QLOG_FILE) qlog_len = len(list(lr)) - with setup_source_scenario(is_internal=is_internal): + with setup_source_scenario(mocker, is_internal=is_internal): lr = LogReader(f"{TEST_ROUTE}/0/q") log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + assert qlog_len == log_len @pytest.mark.slow def test_sort_by_time(self): msgs = list(LogReader(f"{TEST_ROUTE}/0/q")) - self.assertNotEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime)) + assert msgs != sorted(msgs, key=lambda m: m.logMonoTime) msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True)) - self.assertEqual(msgs, sorted(msgs, key=lambda m: m.logMonoTime)) + assert msgs == sorted(msgs, key=lambda m: m.logMonoTime) def test_only_union_types(self): with tempfile.NamedTemporaryFile() as qlog: @@ -234,7 +230,7 @@ class TestLogReader(unittest.TestCase): f.write(b"".join(capnp_log.Event.new_message().to_bytes() for _ in range(num_msgs))) msgs = list(LogReader(qlog.name)) - self.assertEqual(len(msgs), num_msgs) + assert len(msgs) == num_msgs [m.which() for m in msgs] # append non-union Event message @@ -246,15 +242,11 @@ class TestLogReader(unittest.TestCase): # ensure new message is added, but is not a union type msgs = list(LogReader(qlog.name)) - self.assertEqual(len(msgs), num_msgs + 1) - with self.assertRaises(capnp.KjException): + assert len(msgs) == num_msgs + 1 + with pytest.raises(capnp.KjException): [m.which() for m in msgs] # should not be added when only_union_types=True msgs = list(LogReader(qlog.name, only_union_types=True)) - self.assertEqual(len(msgs), num_msgs) + assert len(msgs) == num_msgs [m.which() for m in msgs] - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py index 1f24ae5c8e..f92554872f 100755 --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -1,5 +1,5 @@ #!/usr/bin/env python -import unittest +import pytest import requests import tempfile @@ -9,16 +9,16 @@ from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.logreader import LogReader -class TestReaders(unittest.TestCase): - @unittest.skip("skip for bandwidth reasons") +class TestReaders: + @pytest.mark.skip("skip for bandwidth reasons") def test_logreader(self): def _check_data(lr): hist = defaultdict(int) for l in lr: hist[l.which()] += 1 - self.assertEqual(hist['carControl'], 6000) - self.assertEqual(hist['logMessage'], 6857) + assert hist['carControl'] == 6000 + assert hist['logMessage'] == 6857 with tempfile.NamedTemporaryFile(suffix=".bz2") as fp: r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10) @@ -31,15 +31,15 @@ class TestReaders(unittest.TestCase): lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") _check_data(lr_url) - @unittest.skip("skip for bandwidth reasons") + @pytest.mark.skip("skip for bandwidth reasons") def test_framereader(self): def _check_data(f): - self.assertEqual(f.frame_count, 1200) - self.assertEqual(f.w, 1164) - self.assertEqual(f.h, 874) + assert f.frame_count == 1200 + assert f.w == 1164 + assert f.h == 874 frame_first_30 = f.get(0, 30) - self.assertEqual(len(frame_first_30), 30) + assert len(frame_first_30) == 30 print(frame_first_30[15]) @@ -62,6 +62,3 @@ class TestReaders(unittest.TestCase): fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true") _check_data(fr_url) - -if __name__ == "__main__": - unittest.main() diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py index 7977f17be2..8f75fa19c0 100755 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -1,10 +1,9 @@ #!/usr/bin/env python -import unittest from collections import namedtuple from openpilot.tools.lib.route import SegmentName -class TestRouteLibrary(unittest.TestCase): +class TestRouteLibrary: def test_segment_name_formats(self): Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir']) @@ -21,12 +20,9 @@ class TestRouteLibrary(unittest.TestCase): s = SegmentName(route_or_segment_name, allow_route_name=True) - self.assertEqual(str(s.route_name), case.expected_route) - self.assertEqual(s.segment_num, case.expected_segment_num) - self.assertEqual(s.data_dir, case.expected_data_dir) + assert str(s.route_name) == case.expected_route + assert s.segment_num == case.expected_segment_num + assert s.data_dir == case.expected_data_dir for case in cases: _validate(case) - -if __name__ == "__main__": - unittest.main() diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 17287fb803..8b811f4847 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -4,7 +4,6 @@ import glob import signal import subprocess import time -import unittest from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout @@ -12,7 +11,7 @@ from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") -class TestPlotJuggler(unittest.TestCase): +class TestPlotJuggler: def test_demo(self): install() @@ -28,13 +27,13 @@ class TestPlotJuggler(unittest.TestCase): # ensure plotjuggler didn't crash after exiting the plugin time.sleep(15) - self.assertEqual(p.poll(), None) + assert p.poll() is None os.killpg(os.getpgid(p.pid), signal.SIGTERM) - self.assertNotIn("Raw file read failed", output) + assert "Raw file read failed" not in output # TODO: also test that layouts successfully load - def test_layouts(self): + def test_layouts(self, subtests): bad_strings = ( # if a previously loaded file is defined, # PJ will throw a warning when loading the layout @@ -43,12 +42,8 @@ class TestPlotJuggler(unittest.TestCase): ) for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")): name = os.path.basename(fn) - with self.subTest(layout=name): + with subtests.test(layout=name): with open(fn) as f: layout = f.read() violations = [s for s in bad_strings if s in layout] assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}" - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 6cb8e1465e..28fa462a1c 100755 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import pytest -import unittest from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase @@ -9,7 +8,3 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase class TestMetaDriveBridge(TestSimBridgeBase): def create_bridge(self): return MetaDriveBridge(False, False) - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index d9653d5cfd..6b8b811fbb 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -1,7 +1,7 @@ import os import subprocess import time -import unittest +import pytest from multiprocessing import Queue @@ -10,13 +10,13 @@ from openpilot.common.basedir import BASEDIR SIM_DIR = os.path.join(BASEDIR, "tools/sim") -class TestSimBridgeBase(unittest.TestCase): +class TestSimBridgeBase: @classmethod - def setUpClass(cls): + def setup_class(cls): if cls is TestSimBridgeBase: - raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead") + raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead") - def setUp(self): + def setup_method(self): self.processes = [] def test_engage(self): @@ -36,7 +36,7 @@ class TestSimBridgeBase(unittest.TestCase): start_waiting = time.monotonic() while not bridge.started.value and time.monotonic() < start_waiting + max_time_per_step: time.sleep(0.1) - self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}") + assert p_bridge.exitcode is None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}" start_time = time.monotonic() no_car_events_issues_once = False @@ -52,8 +52,8 @@ class TestSimBridgeBase(unittest.TestCase): no_car_events_issues_once = True break - self.assertTrue(no_car_events_issues_once, - f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'") + assert no_car_events_issues_once, \ + f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'" start_time = time.monotonic() min_counts_control_active = 100 @@ -68,9 +68,9 @@ class TestSimBridgeBase(unittest.TestCase): if control_active == min_counts_control_active: break - self.assertEqual(min_counts_control_active, control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}") + assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}" - def tearDown(self): + def teardown_method(self): print("Test shutting down. CommIssues are acceptable") for p in reversed(self.processes): p.terminate() @@ -80,7 +80,3 @@ class TestSimBridgeBase(unittest.TestCase): p.wait(15) else: p.join(15) - - -if __name__ == "__main__": - unittest.main() From 6303d42535cd57cc6e763bcc4d878f6517179ac3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 11:02:26 -0700 Subject: [PATCH 047/159] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index e2408cb272..d53c8f558c 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e2408cb2725671ad63e827e02f37e0f1739b68c6 +Subproject commit d53c8f558cc4861ce6563498a3663ee9b57daf4b From 5cfaae771d02846c273797795a737ac22e312ec1 Mon Sep 17 00:00:00 2001 From: Curtis Jiang Date: Fri, 17 May 2024 16:17:24 -0400 Subject: [PATCH 048/159] HKG: Add FW version for Canada Hyundai Tucson PHEV 2024 (#32440) * Car port for Hyundai Tucson PHEV 2024 * Fix doc --- docs/CARS.md | 3 ++- selfdrive/car/hyundai/fingerprints.py | 1 + selfdrive/car/hyundai/values.py | 1 + 3 files changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index de9320594a..4364f10b08 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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. -# 286 Supported Cars +# 287 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -120,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Tucson 2023-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Tucson Hybrid 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Plug-in Hybrid 2024[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 0c43b8e340..b6318eb8fa 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1003,6 +1003,7 @@ FW_VERSIONS = { CAR.HYUNDAI_TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index db90559704..1e752185e6 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -323,6 +323,7 @@ class CAR(Platforms): HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385), ) From 4388a2aa68a59cdcf7c7577a4ee38e71aac611bd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 19:20:18 -0700 Subject: [PATCH 049/159] CI: use less parallel jobs for cars (#32458) * CI: use less parallel jobs for cars * 2 --- .github/workflows/selfdrive_tests.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 85c4073072..c94bcbb7ce 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -298,7 +298,7 @@ jobs: strategy: fail-fast: false matrix: - job: [0, 1, 2, 3, 4] + job: [0, 1] steps: - uses: actions/checkout@v4 with: @@ -318,7 +318,7 @@ jobs: ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: - NUM_JOBS: 5 + NUM_JOBS: 2 JOB_ID: ${{ matrix.job }} - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 From 27da6bd752817a2af5df86cf1366c083ff732ffe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 19:31:55 -0700 Subject: [PATCH 050/159] CI: move model tests (#32459) --- .github/workflows/selfdrive_tests.yaml | 40 +++++--------------------- 1 file changed, 7 insertions(+), 33 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index c94bcbb7ce..c4b0d33d29 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -225,6 +225,13 @@ jobs: if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + # PYTHONWARNINGS triggers a SyntaxError in onnxruntime + - name: Run model replay with ONNX + timeout-minutes: 4 + run: | + ${{ env.RUN }} "unset PYTHONWARNINGS && \ + ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + coverage combine && coverage xml" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 with: @@ -257,39 +264,6 @@ jobs: ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ chmod -R 777 /tmp/comma_download_cache" - test_modeld: - name: model tests - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build base Docker image - run: eval "$BUILD" - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - - name: Run model replay with ONNX - timeout-minutes: 4 - run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && \ - ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ - coverage combine && \ - coverage xml" - - name: Run unit tests - timeout-minutes: 4 - run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && \ - $PYTEST selfdrive/modeld" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - test_cars: name: cars runs-on: ${{ ((github.repository == 'commaai/openpilot') && From e1a697fee521eedad2210d8e01d668e2bb020ace Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 19:43:47 -0700 Subject: [PATCH 051/159] remove old valgrind replay test --- .github/workflows/selfdrive_tests.yaml | 18 ---- selfdrive/test/test_valgrind_replay.py | 112 ------------------------- tools/install_ubuntu_dependencies.sh | 3 +- 3 files changed, 1 insertion(+), 132 deletions(-) delete mode 100755 selfdrive/test/test_valgrind_replay.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index c4b0d33d29..af4a9e1131 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -134,24 +134,6 @@ jobs: timeout-minutes: 4 run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" - valgrind: - name: valgrind - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Run valgrind - timeout-minutes: 1 - run: | - ${{ env.RUN }} "pytest selfdrive/test/test_valgrind_replay.py" - - name: Print logs - if: always() - run: cat selfdrive/test/valgrind_logs.txt - unit_tests: name: unit tests runs-on: ${{ ((github.repository == 'commaai/openpilot') && diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py deleted file mode 100755 index dffd60df97..0000000000 --- a/selfdrive/test/test_valgrind_replay.py +++ /dev/null @@ -1,112 +0,0 @@ -#!/usr/bin/env python3 -import os -import threading -import time -import subprocess -import signal - -if "CI" in os.environ: - def tqdm(x): - return x -else: - from tqdm import tqdm # type: ignore - -import cereal.messaging as messaging -from collections import namedtuple -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.openpilotci import get_url -from openpilot.common.basedir import BASEDIR - -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) - -CONFIGS = [ - ProcessConfig( - proc_name="ubloxd", - pub_sub={ - "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"], - }, - ignore=[], - command="./ubloxd", - path="system/ubloxd", - segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", - wait_for_response=True - ), -] - - -class TestValgrind: - def extract_leak_sizes(self, log): - if "All heap blocks were freed -- no leaks are possible" in log: - return (0,0,0) - - log = log.replace(",","") # fixes casting to int issue with large leaks - err_lost1 = log.split("definitely lost: ")[1] - err_lost2 = log.split("indirectly lost: ")[1] - err_lost3 = log.split("possibly lost: ")[1] - definitely_lost = int(err_lost1.split(" ")[0]) - indirectly_lost = int(err_lost2.split(" ")[0]) - possibly_lost = int(err_lost3.split(" ")[0]) - return (definitely_lost, indirectly_lost, possibly_lost) - - def valgrindlauncher(self, arg, cwd): - os.chdir(os.path.join(BASEDIR, cwd)) - # Run valgrind on a process - command = "valgrind --leak-check=full " + arg - p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid) - - while not self.replay_done: - time.sleep(0.1) - - # Kill valgrind and extract leak output - os.killpg(os.getpgid(p.pid), signal.SIGINT) - _, err = p.communicate() - error_msg = str(err, encoding='utf-8') - with open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "a") as f: - f.write(error_msg) - f.write(5 * "\n") - definitely_lost, indirectly_lost, possibly_lost = self.extract_leak_sizes(error_msg) - if max(definitely_lost, indirectly_lost, possibly_lost) > 0: - self.leak = True - print("LEAKS from", arg, "\nDefinitely lost:", definitely_lost, "\nIndirectly lost", indirectly_lost, "\nPossibly lost", possibly_lost) - else: - self.leak = False - - def replay_process(self, config, logreader): - pub_sockets = list(config.pub_sub.keys()) # We dump data from logs here - sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub] # We get responses here - pm = messaging.PubMaster(pub_sockets) - sm = messaging.SubMaster(sub_sockets) - - print("Sorting logs") - all_msgs = sorted(logreader, key=lambda msg: msg.logMonoTime) - pub_msgs = [msg for msg in all_msgs if msg.which() in list(config.pub_sub.keys())] - - thread = threading.Thread(target=self.valgrindlauncher, args=(config.command, config.path)) - thread.daemon = True - thread.start() - - while not all(pm.all_readers_updated(s) for s in config.pub_sub.keys()): - time.sleep(0) - - for msg in tqdm(pub_msgs): - pm.send(msg.which(), msg.as_builder()) - if config.wait_for_response: - sm.update(100) - - self.replay_done = True - - def test_config(self): - open(os.path.join(BASEDIR, "selfdrive/test/valgrind_logs.txt"), "w").close() - - for cfg in CONFIGS: - self.leak = None - self.replay_done = False - - r, n = cfg.segment.rsplit("--", 1) - lr = LogReader(get_url(r, n)) - self.replay_process(cfg, lr) - - while self.leak is None: - time.sleep(0.1) # Wait for the valgrind to finish - - assert not self.leak diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 75d19141b6..70a7ff2ea7 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -77,8 +77,7 @@ function install_ubuntu_common_requirements() { libqt5x11extras5-dev \ libqt5opengl5-dev \ libreadline-dev \ - libdw1 \ - valgrind + libdw1 } # Install Ubuntu 24.04 LTS packages From 57c8510a42b086bd2479f90f8d7a26b010454c89 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 19:48:14 -0700 Subject: [PATCH 052/159] CI: move regen into replay job (#32460) --- .github/workflows/selfdrive_tests.yaml | 32 +++++--------------------- 1 file changed, 6 insertions(+), 26 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index af4a9e1131..e8c7766429 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -182,7 +182,7 @@ jobs: uses: actions/cache@v4 with: path: .ci_cache/comma_download_cache - key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} + key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }} - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" @@ -214,6 +214,11 @@ jobs: ${{ env.RUN }} "unset PYTHONWARNINGS && \ ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ coverage combine && coverage xml" + - name: Run regen + timeout-minutes: 4 + run: | + ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ + chmod -R 777 /tmp/comma_download_cache" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 with: @@ -221,31 +226,6 @@ jobs: env: CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - regen: - name: regen - runs-on: 'ubuntu-latest' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Cache test routes - id: dependency-cache - uses: actions/cache@v4 - with: - path: .ci_cache/comma_download_cache - key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }} - - name: Build base Docker image - run: eval "$BUILD" - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Run regen - timeout-minutes: 30 - run: | - ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ - chmod -R 777 /tmp/comma_download_cache" - test_cars: name: cars runs-on: ${{ ((github.repository == 'commaai/openpilot') && From 630e1529008ce0c996ba6a111df44877596acfea Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Fri, 17 May 2024 22:51:07 -0400 Subject: [PATCH 053/159] Simulator: standardize queue messages (#32313) * standardize queue messages * update control_command_gen * fix * fix logic * update closing type * qmessagetype -> enum * update type hint * old close() makes more sense * cleanup * fix * revert that * revert that * better name * actually this is better --- tools/sim/bridge/common.py | 71 +++++++++++-------- .../sim/bridge/metadrive/metadrive_bridge.py | 4 +- tools/sim/bridge/metadrive/metadrive_world.py | 17 ++--- tools/sim/lib/keyboard_ctrl.py | 31 ++++---- tools/sim/lib/manual_ctrl.py | 16 +++-- 5 files changed, 76 insertions(+), 63 deletions(-) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 46d09c7b9d..275a9a7640 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -2,6 +2,8 @@ import signal import threading import functools +from collections import namedtuple +from enum import Enum from multiprocessing import Process, Queue, Value from abc import ABC, abstractmethod @@ -14,6 +16,16 @@ from openpilot.tools.sim.lib.common import SimulatorState, World from openpilot.tools.sim.lib.simulated_car import SimulatedCar from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors +QueueMessage = namedtuple("QueueMessage", ["type", "info"], defaults=[None]) + +class QueueMessageType(Enum): + START_STATUS = 0 + CONTROL_COMMAND = 1 + TERMINATION_INFO = 2 + CLOSE_STATUS = 3 + +def control_cmd_gen(cmd: str): + return QueueMessage(QueueMessageType.CONTROL_COMMAND, cmd) def rk_loop(function, hz, exit_event: threading.Event): rk = Ratekeeper(hz, None) @@ -80,11 +92,11 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga """) @abstractmethod - def spawn_world(self) -> World: + def spawn_world(self, q: Queue) -> World: pass def _run(self, q: Queue): - self.world = self.spawn_world() + self.world = self.spawn_world(q) self.simulated_car = SimulatedCar() self.simulated_sensors = SimulatedSensors(self.dual_camera) @@ -114,33 +126,34 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga # Read manual controls if not q.empty(): message = q.get() - m = message.split('_') - if m[0] == "steer": - steer_manual = float(m[1]) - elif m[0] == "throttle": - throttle_manual = float(m[1]) - elif m[0] == "brake": - brake_manual = float(m[1]) - elif m[0] == "cruise": - if m[1] == "down": - self.simulator_state.cruise_button = CruiseButtons.DECEL_SET - elif m[1] == "up": - self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL - elif m[1] == "cancel": - self.simulator_state.cruise_button = CruiseButtons.CANCEL - elif m[1] == "main": - self.simulator_state.cruise_button = CruiseButtons.MAIN - elif m[0] == "blinker": - if m[1] == "left": - self.simulator_state.left_blinker = True - elif m[1] == "right": - self.simulator_state.right_blinker = True - elif m[0] == "ignition": - self.simulator_state.ignition = not self.simulator_state.ignition - elif m[0] == "reset": - self.world.reset() - elif m[0] == "quit": - break + if message.type == QueueMessageType.CONTROL_COMMAND: + m = message.info.split('_') + if m[0] == "steer": + steer_manual = float(m[1]) + elif m[0] == "throttle": + throttle_manual = float(m[1]) + elif m[0] == "brake": + brake_manual = float(m[1]) + elif m[0] == "cruise": + if m[1] == "down": + self.simulator_state.cruise_button = CruiseButtons.DECEL_SET + elif m[1] == "up": + self.simulator_state.cruise_button = CruiseButtons.RES_ACCEL + elif m[1] == "cancel": + self.simulator_state.cruise_button = CruiseButtons.CANCEL + elif m[1] == "main": + self.simulator_state.cruise_button = CruiseButtons.MAIN + elif m[0] == "blinker": + if m[1] == "left": + self.simulator_state.left_blinker = True + elif m[1] == "right": + self.simulator_state.right_blinker = True + elif m[0] == "ignition": + self.simulator_state.ignition = not self.simulator_state.ignition + elif m[0] == "reset": + self.world.reset() + elif m[0] == "quit": + break self.simulator_state.user_brake = brake_manual self.simulator_state.user_gas = throttle_manual diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 5c91238c55..cbac215092 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -53,7 +53,7 @@ class MetaDriveBridge(SimulatorBridge): super().__init__(dual_camera, high_quality) - def spawn_world(self): + def spawn_world(self, queue: Queue): sensors = { "rgb_road": (RGBCameraRoad, W, H, ) } @@ -83,4 +83,4 @@ class MetaDriveBridge(SimulatorBridge): preload_models=False ) - return MetaDriveWorld(Queue(), config, self.dual_camera) + return MetaDriveWorld(queue, config, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 3570205069..35a8288680 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -5,6 +5,8 @@ import numpy as np import time from multiprocessing import Pipe, Array + +from openpilot.tools.sim.bridge.common import QueueMessage, QueueMessageType from openpilot.tools.sim.bridge.metadrive.metadrive_process import (metadrive_process, metadrive_simulation_state, metadrive_vehicle_state) from openpilot.tools.sim.lib.common import SimulatorState, World @@ -35,14 +37,14 @@ class MetaDriveWorld(World): self.vehicle_state_send, self.exit_event)) self.metadrive_process.start() - self.status_q.put({"status": "starting"}) + self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting")) print("----------------------------------------------------------") print("---- Spawning Metadrive world, this might take awhile ----") print("----------------------------------------------------------") self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched - self.status_q.put({"status": "started"}) + self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "started")) self.steer_ratio = 15 self.vc = [0.0,0.0] @@ -68,11 +70,7 @@ class MetaDriveWorld(World): while self.simulation_state_recv.poll(0): md_state: metadrive_simulation_state = self.simulation_state_recv.recv() if md_state.done: - self.status_q.put({ - "status": "terminating", - "reason": "done", - "done_info": md_state.done_info - }) + self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, md_state.done_info)) self.exit_event.set() def read_sensors(self, state: SimulatorState): @@ -94,9 +92,6 @@ class MetaDriveWorld(World): self.should_reset = True def close(self, reason: str): - self.status_q.put({ - "status": "terminating", - "reason": reason, - }) + self.status_q.put(QueueMessage(QueueMessageType.CLOSE_STATUS, reason)) self.exit_event.set() self.metadrive_process.join() diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index ea255d9ce4..0a17f0ee85 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/tools/sim/lib/keyboard_ctrl.py @@ -2,10 +2,13 @@ import sys import termios import time +from multiprocessing import Queue from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK, ISTRIP, IXON, PARENB, VMIN, VTIME) from typing import NoReturn +from openpilot.tools.sim.bridge.common import QueueMessage, control_cmd_gen + # Indexes for termios list. IFLAG = 0 OFLAG = 1 @@ -52,35 +55,35 @@ def getch() -> str: def print_keyboard_help(): print(f"Keyboard Commands:\n{KEYBOARD_HELP}") -def keyboard_poll_thread(q: 'Queue[str]'): +def keyboard_poll_thread(q: 'Queue[QueueMessage]'): print_keyboard_help() while True: c = getch() if c == '1': - q.put("cruise_up") + q.put(control_cmd_gen("cruise_up")) elif c == '2': - q.put("cruise_down") + q.put(control_cmd_gen("cruise_down")) elif c == '3': - q.put("cruise_cancel") + q.put(control_cmd_gen("cruise_cancel")) elif c == 'w': - q.put("throttle_%f" % 1.0) + q.put(control_cmd_gen(f"throttle_{1.0}")) elif c == 'a': - q.put("steer_%f" % -0.15) + q.put(control_cmd_gen(f"steer_{-0.15}")) elif c == 's': - q.put("brake_%f" % 1.0) + q.put(control_cmd_gen(f"brake_{1.0}")) elif c == 'd': - q.put("steer_%f" % 0.15) + q.put(control_cmd_gen(f"steer_{0.15}")) elif c == 'z': - q.put("blinker_left") + q.put(control_cmd_gen("blinker_left")) elif c == 'x': - q.put("blinker_right") + q.put(control_cmd_gen("blinker_right")) elif c == 'i': - q.put("ignition") + q.put(control_cmd_gen("ignition")) elif c == 'r': - q.put("reset") + q.put(control_cmd_gen("reset")) elif c == 'q': - q.put("quit") + q.put(control_cmd_gen("quit")) break else: print_keyboard_help() @@ -92,7 +95,7 @@ def test(q: 'Queue[str]') -> NoReturn: if __name__ == '__main__': from multiprocessing import Process, Queue - q: Queue[str] = Queue() + q: 'Queue[QueueMessage]' = Queue() p = Process(target=test, args=(q,)) p.daemon = True p.start() diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 8a72296538..972f7023bb 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -6,6 +6,8 @@ import struct from fcntl import ioctl from typing import NoReturn +from openpilot.tools.sim.bridge.common import control_cmd_gen + # Iterate over the joystick devices. print('Available devices:') for fn in os.listdir('/dev/input'): @@ -153,33 +155,33 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = (1 - fvalue) * 50 - q.put(f"throttle_{normalized:f}") + q.put(control_cmd_gen(f"throttle_{normalized:f}")) elif axis == "rz": # brake fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = (1 - fvalue) * 50 - q.put(f"brake_{normalized:f}") + q.put(control_cmd_gen(f"brake_{normalized:f}")) elif axis == "x": # steer angle fvalue = value / 32767.0 axis_states[axis] = fvalue normalized = fvalue - q.put(f"steer_{normalized:f}") + q.put(control_cmd_gen(f"steer_{normalized:f}")) elif mtype & 0x01: # buttons if value == 1: # press down if number in [0, 19]: # X - q.put("cruise_down") + q.put(control_cmd_gen("cruise_down")) elif number in [3, 18]: # triangle - q.put("cruise_up") + q.put(control_cmd_gen("cruise_up")) elif number in [1, 6]: # square - q.put("cruise_cancel") + q.put(control_cmd_gen("cruise_cancel")) elif number in [10, 21]: # R3 - q.put("reverse_switch") + q.put(control_cmd_gen("reverse_switch")) if __name__ == '__main__': from multiprocessing import Process, Queue From 52acae579763a15510b6788b31c22de975d54271 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 20:00:10 -0700 Subject: [PATCH 054/159] remove dead webcam dockerfile --- tools/webcam/Dockerfile | 41 ----------------------------------------- tools/webcam/README.md | 3 --- 2 files changed, 44 deletions(-) delete mode 100644 tools/webcam/Dockerfile diff --git a/tools/webcam/Dockerfile b/tools/webcam/Dockerfile deleted file mode 100644 index 78a25e836d..0000000000 --- a/tools/webcam/Dockerfile +++ /dev/null @@ -1,41 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -ENV PYTHONUNBUFFERED 1 -ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH} - -# Install opencv -ENV OPENCV_VERSION '4.2.0' -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - libvtk6-dev \ - libdc1394-22-dev \ - libavcodec-dev \ - libavformat-dev \ - libswscale-dev \ - libtheora-dev \ - libvorbis-dev \ - libxvidcore-dev \ - libx264-dev \ - yasm \ - libopencore-amrnb-dev \ - libopencore-amrwb-dev \ - libv4l-dev \ - libxine2-dev \ - libtbb-dev \ - && rm -rf /var/lib/apt/lists/* && \ - - mkdir /tmp/opencv_build && \ - cd /tmp/opencv_build && \ - - curl -L -O https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.tar.gz && \ - tar -xvf ${OPENCV_VERSION}.tar.gz && \ - mv opencv-${OPENCV_VERSION} OpenCV && \ - cd OpenCV && mkdir build && cd build && \ - cmake -DWITH_OPENGL=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON \ - -DWITH_XINE=ON -DENABLE_PRECOMPILED_HEADERS=OFF -DBUILD_TESTS=OFF \ - -DBUILD_PERF_TESTS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_opencv_apps=OFF .. && \ - make -j8 && \ - make install && \ - ldconfig && \ - - cd / && rm -rf /tmp/* diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 709e8514c7..76733b173d 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -14,10 +14,7 @@ cd ~ git clone https://github.com/commaai/openpilot.git ``` - Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements -- Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc -- Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5 - Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz) -- Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part) ## Build openpilot for webcam ``` From dd6e2a400b1b9543fad0c3c4a78463abf756da6b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 18 May 2024 11:18:41 +0800 Subject: [PATCH 055/159] ui: single-threaded CameraView (#32291) single thread cameraview --- selfdrive/ui/qt/offroad/driverview.cc | 13 +- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/onroad/annotated_camera.cc | 30 +-- selfdrive/ui/qt/onroad/annotated_camera.h | 1 - selfdrive/ui/qt/widgets/cameraview.cc | 213 ++++++++------------- selfdrive/ui/qt/widgets/cameraview.h | 60 +++--- selfdrive/ui/watch3.cc | 8 +- tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 4 +- 9 files changed, 138 insertions(+), 198 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index df9bb24651..f14d059332 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -7,7 +7,7 @@ const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { @@ -20,22 +20,20 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VI void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); - CameraWidget::showEvent(event); + CameraView::showEvent(event); } void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - stopVipcThread(); - CameraWidget::hideEvent(event); + CameraView::hideEvent(event); } void DriverViewWindow::paintGL() { - CameraWidget::paintGL(); + CameraView::paintGL(); - std::lock_guard lk(frame_lock); QPainter p(this); // startup msg - if (frames.empty()) { + if (recent_frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -47,7 +45,6 @@ void DriverViewWindow::paintGL() { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); - bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { auto fxy_list = driver_data.getFacePosition(); diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 155e4ede32..97dd2faa78 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -2,7 +2,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewWindow : public CameraWidget { +class DriverViewWindow : public CameraView { Q_OBJECT public: diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index f7fb6b480f..637d727581 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -6,11 +6,11 @@ #include #include "common/swaglog.h" -#include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/util.h" // Window that shows camera view and variety of info drawn on top -AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent) + : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); main_layout = new QVBoxLayout(this); @@ -76,6 +76,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { map_settings_btn->setVisible(!hideBottomIcons); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); } + + update(); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -353,25 +355,8 @@ void AnnotatedCameraWidget::paintGL() { UIState *s = uiState(); SubMaster &sm = *(s->sm); const double start_draw_t = millis_since_boot(); - const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); - // draw camera frame { - std::lock_guard lk(frame_lock); - - if (frames.empty()) { - if (skip_frame_count > 0) { - skip_frame_count--; - qDebug() << "skipping frame, not ready"; - return; - } - } else { - // skip drawing up to this many frames if we're - // missing camera frames. this smooths out the - // transitions from the narrow and wide cameras - skip_frame_count = 5; - } - // Wide or narrow cam dependent on speed bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); if (has_wide_cam) { @@ -387,14 +372,16 @@ void AnnotatedCameraWidget::paintGL() { } CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; + s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD; if (s->scene.calibration_valid) { auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } - CameraWidget::setFrameId(model.getFrameId()); + + // Draw the frame based on the UI plan's frame ID + CameraWidget::setFrameId(sm["uiPlan"].getUiPlan().getFrameId()); CameraWidget::paintGL(); } @@ -403,6 +390,7 @@ void AnnotatedCameraWidget::paintGL() { painter.setPen(Qt::NoPen); if (s->scene.world_objects_visible) { + const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); update_model(s, model, sm["uiPlan"].getUiPlan()); drawLaneLines(painter, s); diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 0be4adfffa..b25846001e 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -37,7 +37,6 @@ private: int status = STATUS_DISENGAGED; std::unique_ptr pm; - int skip_frame_count = 0; bool wide_cam_requested = false; protected: diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index e4f1396268..a7d4432de0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -97,37 +97,22 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : - stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - qRegisterMetaType>("availableStreams"); - QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); - QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); - QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent) + : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { } CameraWidget::~CameraWidget() { makeCurrent(); - stopVipcThread(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); glDeleteBuffers(2, textures); } + clearEGLImages(); doneCurrent(); } -// Qt uses device-independent pixels, depending on platform this may be -// different to what OpenGL uses -int CameraWidget::glWidth() { - return width() * devicePixelRatio(); -} - -int CameraWidget::glHeight() { - return height() * devicePixelRatio(); -} - void CameraWidget::initializeGL() { initializeOpenGLFunctions(); @@ -141,7 +126,7 @@ void CameraWidget::initializeGL() { GLint frame_pos_loc = program->attributeLocation("aPosition"); GLint frame_texcoord_loc = program->attributeLocation("aTexCoord"); - auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); + auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; const float frame_coords[4][4] = { {-1.0, -1.0, x2, y1}, // bl @@ -178,45 +163,11 @@ void CameraWidget::initializeGL() { #endif } -void CameraWidget::showEvent(QShowEvent *event) { - if (!vipc_thread) { - clearFrames(); - vipc_thread = new QThread(); - connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); - connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); - vipc_thread->start(); - } -} - -void CameraWidget::stopVipcThread() { - makeCurrent(); - if (vipc_thread) { - vipc_thread->requestInterruption(); - vipc_thread->quit(); - vipc_thread->wait(); - vipc_thread = nullptr; - } - -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - assert(egl_display != EGL_NO_DISPLAY); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - assert(eglGetError() == EGL_SUCCESS); - } - egl_images.clear(); -#endif -} - -void CameraWidget::availableStreamsUpdated(std::set streams) { - available_streams = streams; -} - void CameraWidget::updateFrameMat() { int w = glWidth(), h = glHeight(); if (zoomed_view) { - if (active_stream_type == VISION_STREAM_DRIVER) { + if (streamType() == VISION_STREAM_DRIVER) { if (stream_width > 0 && stream_height > 0) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } @@ -225,7 +176,7 @@ void CameraWidget::updateFrameMat() { // to ensure this ends up in the middle of the screen // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? - if (active_stream_type == VISION_STREAM_WIDE_ROAD) { + if (streamType() == VISION_STREAM_WIDE_ROAD) { intrinsic_matrix = ECAM_INTRINSIC_MATRIX; zoom = 2.0; } else { @@ -247,13 +198,12 @@ void CameraWidget::updateFrameMat() { float zx = zoom * 2 * intrinsic_matrix.v[2] / w; float zy = zoom * 2 * intrinsic_matrix.v[5] / h; - const mat4 frame_transform = {{ + frame_mat = {{ zx, 0.0, 0.0, -x_offset / w * 2, 0.0, zy, 0.0, y_offset / h * 2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; - frame_mat = frame_transform; } } else if (stream_width > 0 && stream_height > 0) { // fit frame to widget size @@ -271,25 +221,15 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - std::lock_guard lk(frame_lock); - if (frames.empty()) return; - - int frame_idx = frames.size() - 1; - - // Always draw latest frame until sync logic is more stable - // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - // if (frames[frame_idx].first == draw_frame_id) break; - // } + VisionBuf *frame = receiveFrame(draw_frame_id); + if (!frame) return; // Log duplicate/dropped frames - if (frames[frame_idx].first == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frames[frame_idx].first; + uint32_t frame_id = frame->get_frame_id(); + if (prev_frame_id != INVALID_FRAME_ID && frame_id != prev_frame_id + 1) { + qDebug() << (frame_id == prev_frame_id ? "Drawing same frame twice" : "Skip frame") << frame_id; } - prev_frame_id = frames[frame_idx].first; - VisionBuf *frame = frames[frame_idx].second; - assert(frame != nullptr); + prev_frame_id = frame_id; updateFrameMat(); @@ -329,20 +269,14 @@ void CameraWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { - makeCurrent(); +void CameraWidget::vipcConnected() { stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; stream_stride = vipc_client->buffers[0].stride; #ifdef QCOM2 + clearEGLImages(); EGLDisplay egl_display = eglGetCurrentDisplay(); - assert(egl_display != EGL_NO_DISPLAY); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); - for (int i = 0; i < vipc_client->num_buffers; i++) { // import buffers into OpenGL int fd = dup(vipc_client->buffers[i].fd); // eglDestroyImageKHR will close, so duplicate EGLint img_attrs[] = { @@ -379,59 +313,78 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { #endif } -void CameraWidget::vipcFrameReceived() { - update(); -} +VisionBuf *CameraWidget::receiveFrame(uint64_t request_frame_id) { + if (!ensureConnection()) { + return nullptr; + } -void CameraWidget::vipcThread() { - VisionStreamType cur_stream = requested_stream_type; - std::unique_ptr vipc_client; - VisionIpcBufExtra meta_main = {0}; - - while (!QThread::currentThread()->isInterruptionRequested()) { - if (!vipc_client || cur_stream != requested_stream_type) { - clearFrames(); - qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; - cur_stream = requested_stream_type; - vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); - } - active_stream_type = cur_stream; - - if (!vipc_client->connected) { - clearFrames(); - auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); - if (streams.empty()) { - QThread::msleep(100); - continue; - } - emit vipcAvailableStreamsUpdated(streams); - - if (!vipc_client->connect(false)) { - QThread::msleep(100); - continue; - } - emit vipcThreadConnected(vipc_client.get()); - } - - if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { - { - std::lock_guard lk(frame_lock); - frames.push_back(std::make_pair(meta_main.frame_id, buf)); - while (frames.size() > FRAME_BUFFER_SIZE) { - frames.pop_front(); - } - } - emit vipcThreadFrameReceived(); - } else { - if (!isVisible()) { - vipc_client->connected = false; - } + // Receive frames and store them in recent_frames + while (auto buf = vipc_client->recv(nullptr, 0)) { + recent_frames.emplace_back(buf); + if (recent_frames.size() > FRAME_BUFFER_SIZE) { + recent_frames.pop_front(); } } + if (!vipc_client->connected || recent_frames.empty()) { + return nullptr; + } + + // Find the requested frame + auto it = std::find_if(recent_frames.rbegin(), recent_frames.rend(), + [request_frame_id](VisionBuf *buf) { return buf->get_frame_id() == request_frame_id; }); + return it != recent_frames.rend() ? *it : recent_frames.back(); +} + +bool CameraWidget::ensureConnection() { + // Reconnect if the client is not initialized or the stream type has changed + if (!vipc_client || vipc_client->type != stream_type) { + qDebug() << "connecting to stream" << stream_type; + vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false)); + } + + // Re-establish connection if not connected + if (!vipc_client->connected) { + clearFrames(); + available_streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (available_streams.empty() || !vipc_client->connect(false)) { + return false; + } + emit vipcAvailableStreamsUpdated(); + vipcConnected(); + } + return true; } void CameraWidget::clearFrames() { - std::lock_guard lk(frame_lock); - frames.clear(); - available_streams.clear(); + recent_frames.clear(); + draw_frame_id = INVALID_FRAME_ID; + prev_frame_id = INVALID_FRAME_ID; +} + +void CameraWidget::clearEGLImages() { +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + } + egl_images.clear(); +#endif +} + +// Cameraview + +CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent) + : CameraWidget(name, stream_type, zoom, parent) { + timer = new QTimer(this); + timer->setInterval(1000.0 / UI_FREQ); + timer->callOnTimeout(this, [this]() { update(); }); +} + +void CameraView::showEvent(QShowEvent *event) { + timer->start(); +} + +void CameraView::hideEvent(QHideEvent *event) { + timer->stop(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index c97038cf43..fb31d094bb 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include #include @@ -11,7 +10,7 @@ #include #include #include -#include +#include #ifdef QCOM2 #define EGL_EGLEXT_PROTOTYPES @@ -27,40 +26,40 @@ #include "selfdrive/ui/ui.h" const int FRAME_BUFFER_SIZE = 5; +const uint32_t INVALID_FRAME_ID = -1; static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: - using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); ~CameraWidget(); void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } - void setStreamType(VisionStreamType type) { requested_stream_type = type; } - VisionStreamType getStreamType() { return active_stream_type; } - void stopVipcThread(); + void setStreamType(VisionStreamType type) { stream_type = type; } + inline VisionStreamType streamType() const { return stream_type; } + inline const std::set &availableStreams() const { return available_streams; } + VisionBuf *receiveFrame(uint64_t request_frame_id = INVALID_FRAME_ID); signals: + void vipcAvailableStreamsUpdated(); void clicked(); - void vipcThreadConnected(VisionIpcClient *); - void vipcThreadFrameReceived(); - void vipcAvailableStreamsUpdated(std::set); protected: + bool ensureConnection(); void paintGL() override; void initializeGL() override; + void vipcConnected(); + void clearFrames(); + void clearEGLImages(); + void resizeGL(int w, int h) override { updateFrameMat(); } - void showEvent(QShowEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); - void vipcThread(); - void clearFrames(); - - int glWidth(); - int glHeight(); + int glWidth() const { return width() * devicePixelRatio(); } + int glHeight() const { return height() * devicePixelRatio(); } bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; @@ -77,10 +76,7 @@ protected: int stream_width = 0; int stream_height = 0; int stream_stride = 0; - std::atomic active_stream_type; - std::atomic requested_stream_type; - std::set available_streams; - QThread *vipc_thread = nullptr; + VisionStreamType stream_type; // Calibration float x_offset = 0; @@ -89,15 +85,21 @@ protected: mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; - std::recursive_mutex frame_lock; - std::deque> frames; - uint32_t draw_frame_id = 0; - uint32_t prev_frame_id = 0; - -protected slots: - void vipcConnected(VisionIpcClient *vipc_client); - void vipcFrameReceived(); - void availableStreamsUpdated(std::set streams); + std::set available_streams; + std::unique_ptr vipc_client; + std::deque recent_frames; + uint32_t draw_frame_id = INVALID_FRAME_ID; + uint32_t prev_frame_id = INVALID_FRAME_ID; }; -Q_DECLARE_METATYPE(std::set); +// update frames based on timer +class CameraView : public CameraWidget { + Q_OBJECT +public: + CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); + void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; + +private: + QTimer *timer; +}; diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index ec35c29b6b..cb12f82ea8 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index cd412f7271..8ce812282f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -161,12 +161,13 @@ QWidget *VideoWidget::createCameraWidget() { return w; } -void VideoWidget::vipcAvailableStreamsUpdated(std::set streams) { +void VideoWidget::vipcAvailableStreamsUpdated() { static const QString stream_names[] = { [VISION_STREAM_ROAD] = "Road camera", [VISION_STREAM_WIDE_ROAD] = "Wide road camera", [VISION_STREAM_DRIVER] = "Driver camera"}; + const auto &streams = cam_widget->availableStreams(); for (int i = 0; i < streams.size(); ++i) { if (camera_tab->count() <= i) { camera_tab->addTab(QString()); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index b2039e09a4..ae095fd559 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -73,9 +73,9 @@ protected: QWidget *createCameraWidget(); QHBoxLayout *createPlaybackController(); void loopPlaybackClicked(); - void vipcAvailableStreamsUpdated(std::set streams); + void vipcAvailableStreamsUpdated(); - CameraWidget *cam_widget; + CameraView *cam_widget; double maximum_time = 0; QToolButton *time_btn = nullptr; ToolButton *seek_backward_btn = nullptr; From 861c52e01579f4ce86a2f19f2014afa2af1ae501 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 20:53:52 -0700 Subject: [PATCH 056/159] bump up cars timeout for the GHA runners --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e8c7766429..d3c8009bc2 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,7 +249,7 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models - timeout-minutes: 10 + timeout-minutes: 20 run: | ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" From 173d96644436c9c4e36b3adbc38acf03811dc4a5 Mon Sep 17 00:00:00 2001 From: cl0cks4fe <108313040+cl0cks4fe@users.noreply.github.com> Date: Fri, 17 May 2024 20:54:08 -0700 Subject: [PATCH 057/159] remove unittest dependency from test_ui (#32432) --- selfdrive/ui/tests/test_ui/run.py | 21 ++++++++------------- 1 file changed, 8 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 79f30e79bf..871333563d 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -8,9 +8,7 @@ import numpy as np import os import pywinctl import time -import unittest # noqa: TID251 -from parameterized import parameterized from cereal import messaging, car, log from cereal.visionipc import VisionIpcServer, VisionStreamType @@ -122,16 +120,11 @@ TEST_OUTPUT_DIR = TEST_DIR / "report" SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" -class TestUI(unittest.TestCase): - @classmethod - def setUpClass(cls): +class TestUI: + def __init__(self): os.environ["SCALE"] = "1" sys.modules["mouseinfo"] = False - @classmethod - def tearDownClass(cls): - del sys.modules["mouseinfo"] - def setup(self): self.sm = SubMaster(["uiDebug"]) self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman']) @@ -147,8 +140,8 @@ class TestUI(unittest.TestCase): def screenshot(self): import pyautogui im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) - self.assertEqual(im.width, 2160) - self.assertEqual(im.height, 1080) + assert im.width == 2160 + assert im.height == 1080 img = np.array(im) im.close() return img @@ -158,7 +151,6 @@ class TestUI(unittest.TestCase): pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) time.sleep(UI_DELAY) # give enough time for the UI to react - @parameterized.expand(CASES.items()) @with_processes(["ui"]) def test_ui(self, name, setup_case): self.setup() @@ -188,7 +180,10 @@ def create_screenshots(): shutil.rmtree(TEST_OUTPUT_DIR) SCREENSHOTS_DIR.mkdir(parents=True) - unittest.main(exit=False) + + t = TestUI() + for name, setup in CASES.items(): + t.test_ui(name, setup) if __name__ == "__main__": print("creating test screenshots") From 3e023146d24364daf0a40311b3fe366e7bcd36cd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 21:06:18 -0700 Subject: [PATCH 058/159] remove gcc from mac_setup.sh --- tools/mac_setup.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 9ec2097ea4..d26ec3cfe2 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -63,7 +63,6 @@ brew "pyenv" brew "pyenv-virtualenv" brew "qt@5" brew "zeromq" -brew "gcc@13" cask "gcc-arm-embedded" brew "portaudio" EOS From 8e87655a128f6b2ebcc6fdcf639167d647c99fe0 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 17 May 2024 21:38:03 -0700 Subject: [PATCH 059/159] dmonitoringd: don't check for buttonEvents or vCruise change (#32454) * drop check for carState.buttonEvents * 100% people not use this * huge oof * ref comit --------- Co-authored-by: Shane Smiskol --- selfdrive/monitoring/dmonitoringd.py | 9 ++------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 8 deletions(-) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c18bbf29b9..91a4932584 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -19,7 +19,6 @@ def dmonitoringd_thread(): driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) - v_cruise_last = 0 driver_engaged = False # 20Hz <- dmonitoringmodeld @@ -30,12 +29,8 @@ def dmonitoringd_thread(): # Get interaction if sm.updated['carState']: - v_cruise = sm['carState'].cruiseState.speed - driver_engaged = len(sm['carState'].buttonEvents) > 0 or \ - v_cruise != v_cruise_last or \ - sm['carState'].steeringPressed or \ - sm['carState'].gasPressed - v_cruise_last = v_cruise + driver_engaged = sm['carState'].steeringPressed or \ + sm['carState'].gasPressed if sm.updated['modelV2']: driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a61fd8e23b..3fc6acc3cb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a385503e4307ae77c73736a602380b08e61334 +f1ecdf9048fb12e289baf4933cb3ef12e486252c From 985b22d4b77c20a81a6329fe8cf810103f871aa6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 May 2024 21:43:57 -0700 Subject: [PATCH 060/159] add [project] section to pyproject.toml --- pyproject.toml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index a4e31145de..eb27017606 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,3 +1,12 @@ +[project] +name = "openpilot" +requires-python = ">= 3.11" +readme = "README.md" +license = {text = "MIT License"} + +[project.urls] +Homepage = "https://comma.ai" + [tool.pytest.ini_options] minversion = "6.0" addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" From 1a4e022d70610acbd74602f80d76876d94a4fdaa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 18 May 2024 16:03:50 -0500 Subject: [PATCH 061/159] [bot] Fingerprints: add missing FW versions from new users (#32468) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + selfdrive/car/hyundai/fingerprints.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 0dafbbaa6f..95565ebf9d 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -425,6 +425,7 @@ FW_VERSIONS = { b'68631938AA', b'68631939AA', b'68631940AA', + b'68631940AB', b'68631942AA', b'68631943AB', ], diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index b6318eb8fa..e0680ba829 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1002,8 +1002,8 @@ FW_VERSIONS = { }, CAR.HYUNDAI_TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ - b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y', + b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', From 950aeae5443123e59177444d06a7654a41504373 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Sat, 18 May 2024 17:04:22 -0400 Subject: [PATCH 062/159] CI: fix metadrive test (#32457) * fix test * this? * fix * this? * deprecation warning inside * comment --- .github/workflows/tools_tests.yaml | 2 +- tools/sim/tests/test_metadrive_bridge.py | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index ccd3368cb0..f33f8b7757 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -76,7 +76,7 @@ jobs: ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ source selfdrive/test/setup_xvfb.sh && \ source selfdrive/test/setup_vsound.sh && \ - CI=1 tools/sim/tests/test_metadrive_bridge.py" + CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning" devcontainer: name: devcontainer diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 28fa462a1c..b53f4524a0 100755 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,5 +1,8 @@ #!/usr/bin/env python3 import pytest +import warnings +# Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API +warnings.filterwarnings("ignore", category=DeprecationWarning) from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase From 48e24321e814b4b8a805276a0adb3ea2ca19d2f8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 May 2024 14:29:49 -0700 Subject: [PATCH 063/159] remove libopencv-dev (#32469) --- tools/install_ubuntu_dependencies.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 70a7ff2ea7..72402b3bf7 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -51,7 +51,6 @@ function install_ubuntu_common_requirements() { libncurses5-dev \ libncursesw5-dev \ libomp-dev \ - libopencv-dev \ libpng16-16 \ libportaudio2 \ libssl-dev \ From 1e08132cdf0e1b6182ac935295fafcea83bfbfbd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 May 2024 14:51:49 -0700 Subject: [PATCH 064/159] gc unused python deps --- poetry.lock | 230 +++++++++++++++++-------------------------------- pyproject.toml | 3 - 2 files changed, 79 insertions(+), 154 deletions(-) diff --git a/poetry.lock b/poetry.lock index f1f8d9f518..6a3f66be4d 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. 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| 23 ++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 23 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 6a3f66be4d..0e3c760c3f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -733,6 +733,27 @@ mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.8.0)", "types-Pill test = ["Pillow", "contourpy[test-no-images]", "matplotlib"] test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"] +[[package]] +name = "control" +version = "0.10.0" +description = "Python Control Systems Library" +optional = false +python-versions = ">=3.10" +files = [ + {file = "control-0.10.0-py3-none-any.whl", hash = "sha256:ed1e0eb73f1e2945fc9af9d7b9121ef328fe980e7903b2a14b149d4f1855a808"}, + {file = "control-0.10.0.tar.gz", hash = "sha256:2c18b767537f45c7fd07b2e4afe8fbe5964019499b5f52f888edb5d8560bab53"}, +] + +[package.dependencies] +matplotlib = ">=3.6" +numpy = ">=1.23" +scipy = ">=1.8" + +[package.extras] +cvxopt = ["cvxopt (>=1.2.0)"] +slycot = ["slycot (>=0.4.0)"] +test = ["pytest", "pytest-timeout"] + [[package]] name = "coverage" version = "7.5.1" @@ -7950,4 +7971,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "50879c7afcb98ba425147a816ae74d05979f443e32c2ffd4c348d29adf2cb579" +content-hash = "0afca2f38c4c3da806ff0b42f10f981455c29e2166b4ff2f5f8d9ef82c10358d" diff --git a/pyproject.toml b/pyproject.toml index 720c6a4d23..54f5fdf7ee 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -131,6 +131,7 @@ av = "*" azure-identity = "*" azure-storage-blob = "*" breathe = "*" +control = "*" coverage = "*" dictdiffer = "*" flaky = "*" From 04d8a4ecad7d9554c5968535ce3760728a6ff1a7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 May 2024 16:08:10 -0700 Subject: [PATCH 066/159] CI: remove redundant pj job --- .github/workflows/tools_tests.yaml | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index f33f8b7757..4466260af1 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -20,23 +20,6 @@ env: jobs: - plotjuggler: - name: plotjuggler - runs-on: ubuntu-latest - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - timeout-minutes: 5 - run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal" - - name: Test PlotJuggler - timeout-minutes: 2 - run: | - ${{ env.RUN }} "pytest tools/plotjuggler/" - simulator_build: name: simulator docker build runs-on: ubuntu-latest From c9531b463a6cb4a2a56792046fd69f9041006d81 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 May 2024 16:34:03 -0700 Subject: [PATCH 067/159] Revert "ui: single-threaded CameraView (#32291)" This reverts commit dd6e2a400b1b9543fad0c3c4a78463abf756da6b. --- selfdrive/ui/qt/offroad/driverview.cc | 13 +- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/onroad/annotated_camera.cc | 30 ++- selfdrive/ui/qt/onroad/annotated_camera.h | 1 + selfdrive/ui/qt/widgets/cameraview.cc | 209 +++++++++++++-------- selfdrive/ui/qt/widgets/cameraview.h | 60 +++--- selfdrive/ui/watch3.cc | 8 +- tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 4 +- 9 files changed, 196 insertions(+), 136 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index f14d059332..df9bb24651 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -7,7 +7,7 @@ const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { @@ -20,20 +20,22 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISI void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); - CameraView::showEvent(event); + CameraWidget::showEvent(event); } void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - CameraView::hideEvent(event); + stopVipcThread(); + CameraWidget::hideEvent(event); } void DriverViewWindow::paintGL() { - CameraView::paintGL(); + CameraWidget::paintGL(); + std::lock_guard lk(frame_lock); QPainter p(this); // startup msg - if (recent_frames.empty()) { + if (frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -45,6 +47,7 @@ void DriverViewWindow::paintGL() { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { auto fxy_list = driver_data.getFacePosition(); diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 97dd2faa78..155e4ede32 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -2,7 +2,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewWindow : public CameraView { +class DriverViewWindow : public CameraWidget { Q_OBJECT public: diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 637d727581..f7fb6b480f 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -6,11 +6,11 @@ #include #include "common/swaglog.h" +#include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/util.h" // Window that shows camera view and variety of info drawn on top -AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent) - : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); main_layout = new QVBoxLayout(this); @@ -76,8 +76,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { map_settings_btn->setVisible(!hideBottomIcons); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); } - - update(); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -355,8 +353,25 @@ void AnnotatedCameraWidget::paintGL() { UIState *s = uiState(); SubMaster &sm = *(s->sm); const double start_draw_t = millis_since_boot(); + const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); + // draw camera frame { + std::lock_guard lk(frame_lock); + + if (frames.empty()) { + if (skip_frame_count > 0) { + skip_frame_count--; + qDebug() << "skipping frame, not ready"; + return; + } + } else { + // skip drawing up to this many frames if we're + // missing camera frames. this smooths out the + // transitions from the narrow and wide cameras + skip_frame_count = 5; + } + // Wide or narrow cam dependent on speed bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); if (has_wide_cam) { @@ -372,16 +387,14 @@ void AnnotatedCameraWidget::paintGL() { } CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD; + s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; if (s->scene.calibration_valid) { auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } - - // Draw the frame based on the UI plan's frame ID - CameraWidget::setFrameId(sm["uiPlan"].getUiPlan().getFrameId()); + CameraWidget::setFrameId(model.getFrameId()); CameraWidget::paintGL(); } @@ -390,7 +403,6 @@ void AnnotatedCameraWidget::paintGL() { painter.setPen(Qt::NoPen); if (s->scene.world_objects_visible) { - const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); update_model(s, model, sm["uiPlan"].getUiPlan()); drawLaneLines(painter, s); diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index b25846001e..0be4adfffa 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -37,6 +37,7 @@ private: int status = STATUS_DISENGAGED; std::unique_ptr pm; + int skip_frame_count = 0; bool wide_cam_requested = false; protected: diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index a7d4432de0..e4f1396268 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -97,22 +97,37 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent) - : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : + stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { + setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); + QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { makeCurrent(); + stopVipcThread(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); glDeleteBuffers(2, textures); } - clearEGLImages(); doneCurrent(); } +// Qt uses device-independent pixels, depending on platform this may be +// different to what OpenGL uses +int CameraWidget::glWidth() { + return width() * devicePixelRatio(); +} + +int CameraWidget::glHeight() { + return height() * devicePixelRatio(); +} + void CameraWidget::initializeGL() { initializeOpenGLFunctions(); @@ -126,7 +141,7 @@ void CameraWidget::initializeGL() { GLint frame_pos_loc = program->attributeLocation("aPosition"); GLint frame_texcoord_loc = program->attributeLocation("aTexCoord"); - auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); + auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; const float frame_coords[4][4] = { {-1.0, -1.0, x2, y1}, // bl @@ -163,11 +178,45 @@ void CameraWidget::initializeGL() { #endif } +void CameraWidget::showEvent(QShowEvent *event) { + if (!vipc_thread) { + clearFrames(); + vipc_thread = new QThread(); + connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); + connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); + vipc_thread->start(); + } +} + +void CameraWidget::stopVipcThread() { + makeCurrent(); + if (vipc_thread) { + vipc_thread->requestInterruption(); + vipc_thread->quit(); + vipc_thread->wait(); + vipc_thread = nullptr; + } + +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + assert(eglGetError() == EGL_SUCCESS); + } + egl_images.clear(); +#endif +} + +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { int w = glWidth(), h = glHeight(); if (zoomed_view) { - if (streamType() == VISION_STREAM_DRIVER) { + if (active_stream_type == VISION_STREAM_DRIVER) { if (stream_width > 0 && stream_height > 0) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } @@ -176,7 +225,7 @@ void CameraWidget::updateFrameMat() { // to ensure this ends up in the middle of the screen // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? - if (streamType() == VISION_STREAM_WIDE_ROAD) { + if (active_stream_type == VISION_STREAM_WIDE_ROAD) { intrinsic_matrix = ECAM_INTRINSIC_MATRIX; zoom = 2.0; } else { @@ -198,12 +247,13 @@ void CameraWidget::updateFrameMat() { float zx = zoom * 2 * intrinsic_matrix.v[2] / w; float zy = zoom * 2 * intrinsic_matrix.v[5] / h; - frame_mat = {{ + const mat4 frame_transform = {{ zx, 0.0, 0.0, -x_offset / w * 2, 0.0, zy, 0.0, y_offset / h * 2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; + frame_mat = frame_transform; } } else if (stream_width > 0 && stream_height > 0) { // fit frame to widget size @@ -221,15 +271,25 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - VisionBuf *frame = receiveFrame(draw_frame_id); - if (!frame) return; + std::lock_guard lk(frame_lock); + if (frames.empty()) return; + + int frame_idx = frames.size() - 1; + + // Always draw latest frame until sync logic is more stable + // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { + // if (frames[frame_idx].first == draw_frame_id) break; + // } // Log duplicate/dropped frames - uint32_t frame_id = frame->get_frame_id(); - if (prev_frame_id != INVALID_FRAME_ID && frame_id != prev_frame_id + 1) { - qDebug() << (frame_id == prev_frame_id ? "Drawing same frame twice" : "Skip frame") << frame_id; + if (frames[frame_idx].first == prev_frame_id) { + qDebug() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_frame_id + 1) { + qDebug() << "Skipped frame" << frames[frame_idx].first; } - prev_frame_id = frame_id; + prev_frame_id = frames[frame_idx].first; + VisionBuf *frame = frames[frame_idx].second; + assert(frame != nullptr); updateFrameMat(); @@ -269,14 +329,20 @@ void CameraWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraWidget::vipcConnected() { +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { + makeCurrent(); stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; stream_stride = vipc_client->buffers[0].stride; #ifdef QCOM2 - clearEGLImages(); EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + } + egl_images.clear(); + for (int i = 0; i < vipc_client->num_buffers; i++) { // import buffers into OpenGL int fd = dup(vipc_client->buffers[i].fd); // eglDestroyImageKHR will close, so duplicate EGLint img_attrs[] = { @@ -313,78 +379,59 @@ void CameraWidget::vipcConnected() { #endif } -VisionBuf *CameraWidget::receiveFrame(uint64_t request_frame_id) { - if (!ensureConnection()) { - return nullptr; - } - - // Receive frames and store them in recent_frames - while (auto buf = vipc_client->recv(nullptr, 0)) { - recent_frames.emplace_back(buf); - if (recent_frames.size() > FRAME_BUFFER_SIZE) { - recent_frames.pop_front(); - } - } - if (!vipc_client->connected || recent_frames.empty()) { - return nullptr; - } - - // Find the requested frame - auto it = std::find_if(recent_frames.rbegin(), recent_frames.rend(), - [request_frame_id](VisionBuf *buf) { return buf->get_frame_id() == request_frame_id; }); - return it != recent_frames.rend() ? *it : recent_frames.back(); +void CameraWidget::vipcFrameReceived() { + update(); } -bool CameraWidget::ensureConnection() { - // Reconnect if the client is not initialized or the stream type has changed - if (!vipc_client || vipc_client->type != stream_type) { - qDebug() << "connecting to stream" << stream_type; - vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false)); - } +void CameraWidget::vipcThread() { + VisionStreamType cur_stream = requested_stream_type; + std::unique_ptr vipc_client; + VisionIpcBufExtra meta_main = {0}; - // Re-establish connection if not connected - if (!vipc_client->connected) { - clearFrames(); - available_streams = VisionIpcClient::getAvailableStreams(stream_name, false); - if (available_streams.empty() || !vipc_client->connect(false)) { - return false; + while (!QThread::currentThread()->isInterruptionRequested()) { + if (!vipc_client || cur_stream != requested_stream_type) { + clearFrames(); + qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; + cur_stream = requested_stream_type; + vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); + } + active_stream_type = cur_stream; + + if (!vipc_client->connected) { + clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); + + if (!vipc_client->connect(false)) { + QThread::msleep(100); + continue; + } + emit vipcThreadConnected(vipc_client.get()); + } + + if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { + { + std::lock_guard lk(frame_lock); + frames.push_back(std::make_pair(meta_main.frame_id, buf)); + while (frames.size() > FRAME_BUFFER_SIZE) { + frames.pop_front(); + } + } + emit vipcThreadFrameReceived(); + } else { + if (!isVisible()) { + vipc_client->connected = false; + } } - emit vipcAvailableStreamsUpdated(); - vipcConnected(); } - return true; } void CameraWidget::clearFrames() { - recent_frames.clear(); - draw_frame_id = INVALID_FRAME_ID; - prev_frame_id = INVALID_FRAME_ID; -} - -void CameraWidget::clearEGLImages() { -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - assert(egl_display != EGL_NO_DISPLAY); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); -#endif -} - -// Cameraview - -CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent) - : CameraWidget(name, stream_type, zoom, parent) { - timer = new QTimer(this); - timer->setInterval(1000.0 / UI_FREQ); - timer->callOnTimeout(this, [this]() { update(); }); -} - -void CameraView::showEvent(QShowEvent *event) { - timer->start(); -} - -void CameraView::hideEvent(QHideEvent *event) { - timer->stop(); + std::lock_guard lk(frame_lock); + frames.clear(); + available_streams.clear(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index fb31d094bb..c97038cf43 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -10,7 +11,7 @@ #include #include #include -#include +#include #ifdef QCOM2 #define EGL_EGLEXT_PROTOTYPES @@ -26,40 +27,40 @@ #include "selfdrive/ui/ui.h" const int FRAME_BUFFER_SIZE = 5; -const uint32_t INVALID_FRAME_ID = -1; static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: + using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); ~CameraWidget(); void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } - void setStreamType(VisionStreamType type) { stream_type = type; } - inline VisionStreamType streamType() const { return stream_type; } - inline const std::set &availableStreams() const { return available_streams; } - VisionBuf *receiveFrame(uint64_t request_frame_id = INVALID_FRAME_ID); + void setStreamType(VisionStreamType type) { requested_stream_type = type; } + VisionStreamType getStreamType() { return active_stream_type; } + void stopVipcThread(); signals: - void vipcAvailableStreamsUpdated(); void clicked(); + void vipcThreadConnected(VisionIpcClient *); + void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); protected: - bool ensureConnection(); void paintGL() override; void initializeGL() override; - void vipcConnected(); - void clearFrames(); - void clearEGLImages(); - void resizeGL(int w, int h) override { updateFrameMat(); } + void showEvent(QShowEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); - int glWidth() const { return width() * devicePixelRatio(); } - int glHeight() const { return height() * devicePixelRatio(); } + void vipcThread(); + void clearFrames(); + + int glWidth(); + int glHeight(); bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; @@ -76,7 +77,10 @@ protected: int stream_width = 0; int stream_height = 0; int stream_stride = 0; - VisionStreamType stream_type; + std::atomic active_stream_type; + std::atomic requested_stream_type; + std::set available_streams; + QThread *vipc_thread = nullptr; // Calibration float x_offset = 0; @@ -85,21 +89,15 @@ protected: mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; - std::set available_streams; - std::unique_ptr vipc_client; - std::deque recent_frames; - uint32_t draw_frame_id = INVALID_FRAME_ID; - uint32_t prev_frame_id = INVALID_FRAME_ID; + std::recursive_mutex frame_lock; + std::deque> frames; + uint32_t draw_frame_id = 0; + uint32_t prev_frame_id = 0; + +protected slots: + void vipcConnected(VisionIpcClient *vipc_client); + void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); }; -// update frames based on timer -class CameraView : public CameraWidget { - Q_OBJECT -public: - CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; - -private: - QTimer *timer; -}; +Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index cb12f82ea8..ec35c29b6b 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 8ce812282f..cd412f7271 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -161,13 +161,12 @@ QWidget *VideoWidget::createCameraWidget() { return w; } -void VideoWidget::vipcAvailableStreamsUpdated() { +void VideoWidget::vipcAvailableStreamsUpdated(std::set streams) { static const QString stream_names[] = { [VISION_STREAM_ROAD] = "Road camera", [VISION_STREAM_WIDE_ROAD] = "Wide road camera", [VISION_STREAM_DRIVER] = "Driver camera"}; - const auto &streams = cam_widget->availableStreams(); for (int i = 0; i < streams.size(); ++i) { if (camera_tab->count() <= i) { camera_tab->addTab(QString()); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index ae095fd559..b2039e09a4 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -73,9 +73,9 @@ protected: QWidget *createCameraWidget(); QHBoxLayout *createPlaybackController(); void loopPlaybackClicked(); - void vipcAvailableStreamsUpdated(); + void vipcAvailableStreamsUpdated(std::set streams); - CameraView *cam_widget; + CameraWidget *cam_widget; double maximum_time = 0; QToolButton *time_btn = nullptr; ToolButton *seek_backward_btn = nullptr; From bd6bea39bf9ff61ac0c5e942e929d12851c5c4b7 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Sat, 18 May 2024 17:21:04 -0700 Subject: [PATCH 068/159] deps: add rerun-sdk into pyproject.toml (#32472) * add rerun-sdk into pyproject.toml * install/wheel cleanup * unpin version --- poetry.lock | 74 +++++++++++++++++++++++++++++++++++++++++++++- pyproject.toml | 1 + tools/rerun/run.py | 26 ++-------------- 3 files changed, 76 insertions(+), 25 deletions(-) diff --git a/poetry.lock b/poetry.lock index 0e3c760c3f..471994a723 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3217,6 +3217,54 @@ files = [ [package.extras] test = ["enum34", 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["pytest (==7.1.2)"] + [[package]] name = "rubicon-objc" version = "0.4.9" @@ -7971,4 +8043,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "0afca2f38c4c3da806ff0b42f10f981455c29e2166b4ff2f5f8d9ef82c10358d" +content-hash = "debffdd8b49091d256508f53c11e9d79fb4164995678d7e02d1720175cf265ec" diff --git a/pyproject.toml b/pyproject.toml index 54f5fdf7ee..544f9ee18c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -108,6 +108,7 @@ pycryptodome = "*" PyJWT = "*" pyserial = "*" pyzmq = "*" +rerun-sdk = "*" requests = "*" scons = "*" sentry-sdk = "*" diff --git a/tools/rerun/run.py b/tools/rerun/run.py index 271f127d33..8a002f68ba 100755 --- a/tools/rerun/run.py +++ b/tools/rerun/run.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 -import subprocess import sys import argparse import multiprocessing +import rerun as rr +import rerun.blueprint as rrb from functools import partial from openpilot.tools.lib.logreader import LogReader @@ -11,14 +12,6 @@ from cereal.services import SERVICE_LIST NUM_CPUS = multiprocessing.cpu_count() DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" -WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels" - - -def install(): - # currently requires a preview release build - subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True) - print("Rerun installed") - def log_msg(msg, parent_key=''): stack = [(msg, parent_key)] @@ -45,7 +38,6 @@ def log_msg(msg, parent_key=''): else: pass # Not a plottable value - def createBlueprint(): timeSeriesViews = [] for topic in sorted(SERVICE_LIST.keys()): @@ -55,12 +47,10 @@ def createBlueprint(): rrb.Spatial2DView(name="thumbnail", origin="/thumbnail"))) return blueprint - def log_thumbnail(thumbnailMsg): bytesImgData = thumbnailMsg.get('thumbnail') rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData)) - def process(blueprint, lr): ret = [] rr.init("rerun_test", spawn=True, default_blueprint=blueprint) @@ -73,12 +63,10 @@ def process(blueprint, lr): log_thumbnail(msg.to_dict()[msg.which()]) return ret - if __name__ == '__main__': parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--install", action="store_true", help="Install or update rerun") parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") if len(sys.argv) == 1: @@ -86,16 +74,6 @@ if __name__ == '__main__': sys.exit() args = parser.parse_args() - if args.install: - install() - sys.exit() - - try: - import rerun as rr - import rerun.blueprint as rrb - except ImportError: - print("Rerun is not installed, run with --install first") - sys.exit() route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() blueprint = createBlueprint() From b742776bffb3e49649c17b54197a993e9d547403 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 19 May 2024 08:46:34 +0800 Subject: [PATCH 069/159] encoderd: publish i-frame as thumbnail (#32202) * pusblish i-frame as thumbnail * generic * disable for now * fix --------- Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- system/loggerd/encoder/encoder.cc | 20 ++++++++++++++++++-- system/loggerd/encoder/encoder.h | 2 ++ system/loggerd/loggerd.h | 2 ++ 4 files changed, 23 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 591e389bf8..0a9b426e55 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 591e389bf8e31f6f6ab921ec6598cafa53c19d36 +Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49 diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index c4bd91bcf7..313a0f57a1 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width; out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height; - pm.reset(new PubMaster({encoder_info.publish_name})); + + std::vector pubs = {encoder_info.publish_name}; + if (encoder_info.thumbnail_name != NULL) { + pubs.push_back(encoder_info.thumbnail_name); + } + pm.reset(new PubMaster(pubs)); } void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, @@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t kj::ArrayOutputStream output_stream(kj::ArrayPtr(e->msg_cache.data(), bytes_size)); capnp::writeMessage(output_stream, msg); e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); -} + + // Publish keyframe thumbnail + if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) { + MessageBuilder tm; + auto thumbnail = tm.initEvent().initThumbnail(); + thumbnail.setFrameId(extra.frame_id); + thumbnail.setTimestampEof(extra.timestamp_eof); + thumbnail.setThumbnail(dat); + thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME); + pm->send(e->encoder_info.thumbnail_name, tm); + } +} \ No newline at end of file diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 7c203f9193..75183611b3 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -25,6 +25,8 @@ public: void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); protected: + void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr dat); + int in_width, in_height; int out_width, out_height; const EncoderInfo encoder_info; diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index ea288f4861..5eef161834 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -33,6 +33,7 @@ constexpr char PRESERVE_ATTR_VALUE = '1'; class EncoderInfo { public: const char *publish_name; + const char *thumbnail_name = NULL; const char *filename = NULL; bool record = true; int frame_width = -1; @@ -76,6 +77,7 @@ const EncoderInfo main_driver_encoder_info = { const EncoderInfo stream_road_encoder_info = { .publish_name = "livestreamRoadEncodeData", + //.thumbnail_name = "thumbnail", .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .record = false, .bitrate = LIVESTREAM_BITRATE, From 075176f869088f9e2021aadc9e236edd8cac7d3e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 May 2024 17:55:52 -0700 Subject: [PATCH 070/159] define alert for actuatorsApiUnavailable --- selfdrive/controls/lib/events.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 99246a1397..e697eb010c 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -331,6 +331,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** EventName.stockFcw: {}, + EventName.actuatorsApiUnavailable: {}, # ********** events only containing alerts displayed in all states ********** From 220fcc16753ce87c8997275733f62bc385342a7e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 19 May 2024 03:07:12 -0500 Subject: [PATCH 071/159] process replay: regen routes (#32464) * regen * regen * update * undo * update refs * fix * real fix * test * test2 * test3 * stash * Revert "stash" This reverts commit bf6765f526b48426f49a4b29c4042097f57fc4b0. * rk.lagging can not be trusted. BODY segment has radarFault while modelV2 is not valid, causing radarState to not be valid * order * update refs again * we never logged carOutput! * bump * add back checks --- selfdrive/controls/controlsd.py | 2 +- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 40 +++++++++---------- 4 files changed, 22 insertions(+), 24 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 92c9331121..e3c456766e 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -296,7 +296,7 @@ class Controls: self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])): + if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 233f5d746a..f55f2c4e2a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -466,7 +466,7 @@ CONFIGS = [ "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope" ], - subs=["controlsState", "carState", "carControl", "sendcan", "onroadEvents", "carParams"], + subs=["controlsState", "carState", "carControl", "carOutput", "sendcan", "onroadEvents", "carParams"], ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"], config_callback=controlsd_config_callback, init_callback=controlsd_fingerprint_callback, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3fc6acc3cb..2af30b5b47 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f1ecdf9048fb12e289baf4933cb3ef12e486252c +cc4e23ca0fceb300a3048c187ae9bc793794c095 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 7a482c1bdc..b3dcbb03db 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -41,23 +41,23 @@ source_segments = [ ] segments = [ - ("BODY", "regen997DF2697CB|2023-10-30--23-14-29--0"), - ("HYUNDAI", "regen2A9D2A8E0B4|2023-10-30--23-13-34--0"), - ("HYUNDAI2", "regen6CA24BC3035|2023-10-30--23-14-28--0"), - ("TOYOTA", "regen5C019D76307|2023-10-30--23-13-31--0"), - ("TOYOTA2", "regen5DCADA88A96|2023-10-30--23-14-57--0"), - ("TOYOTA3", "regen7204CA3A498|2023-10-30--23-15-55--0"), - ("HONDA", "regen048F8FA0B24|2023-10-30--23-15-53--0"), - ("HONDA2", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"), - ("CHRYSLER", "regen7125C42780C|2023-10-30--23-16-21--0"), - ("RAM", "regen2731F3213D2|2023-10-30--23-18-11--0"), - ("SUBARU", "regen86E4C1B4DDD|2023-10-30--23-18-14--0"), - ("GM", "regenF6393D64745|2023-10-30--23-17-18--0"), - ("GM2", "regen220F830C05B|2023-10-30--23-18-39--0"), - ("NISSAN", "regen4F671F7C435|2023-10-30--23-18-40--0"), - ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"), - ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"), - ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"), + ("BODY", "regen02ECB79BACC|2024-05-18--04-29-29--0"), + ("HYUNDAI", "regen845DC1916E6|2024-05-18--04-30-52--0"), + ("HYUNDAI2", "regenBAE0915FE22|2024-05-18--04-33-11--0"), + ("TOYOTA", "regen1108D19FC2E|2024-05-18--04-34-34--0"), + ("TOYOTA2", "regen846521F39C7|2024-05-18--04-35-58--0"), + ("TOYOTA3", "regen788C3623D11|2024-05-18--04-38-21--0"), + ("HONDA", "regenDE43F170E99|2024-05-18--04-39-47--0"), + ("HONDA2", "regen1EE0FA383C3|2024-05-18--04-41-12--0"), + ("CHRYSLER", "regen9C5A30F471C|2024-05-18--04-42-36--0"), + ("RAM", "regenCCA313D117D|2024-05-18--04-44-53--0"), + ("SUBARU", "regenA41511F882A|2024-05-18--04-47-14--0"), + ("GM", "regen9D7B9CE4A66|2024-05-18--04-48-36--0"), + ("GM2", "regen07CECA52D41|2024-05-18--04-50-55--0"), + ("NISSAN", "regen2D6B856D0AE|2024-05-18--04-52-17--0"), + ("VOLKSWAGEN", "regen2D3AC6A6F05|2024-05-18--04-53-41--0"), + ("MAZDA", "regen0D5A777DD16|2024-05-18--04-56-02--0"), + ("FORD", "regen235D0937965|2024-05-18--04-58-16--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -107,11 +107,9 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": if not check_openpilot_enabled(log_msgs): - # FIXME: these segments should work, but the replay enabling logic is too brittle - if segment not in ("regen6CA24BC3035|2023-10-30--23-14-28--0", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"): - return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs + return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs - if cfg.proc_name != 'ubloxd' or segment != 'regen6CA24BC3035|2023-10-30--23-14-28--0': + if cfg.proc_name != 'ubloxd' or segment != 'regenBAE0915FE22|2024-05-18--04-33-11--0': seen_msgs = {m.which() for m in log_msgs} expected_msgs = set(cfg.subs) if seen_msgs != expected_msgs: From 09f2077f587e9c3abfb1cc1d9420dcb6d452938e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 19 May 2024 12:39:29 -0500 Subject: [PATCH 072/159] [bot] Fingerprints: add missing FW versions from new users (#32477) Export fingerprints --- selfdrive/car/honda/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 052b4b60a3..4d70c2c35f 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -882,6 +882,7 @@ FW_VERSIONS = { b'37805-5YF-A430\x00\x00', b'37805-5YF-A750\x00\x00', b'37805-5YF-A760\x00\x00', + b'37805-5YF-A770\x00\x00', b'37805-5YF-A850\x00\x00', b'37805-5YF-A860\x00\x00', b'37805-5YF-A870\x00\x00', From 833316835aedaf259e6d6333a1be57cc31dce360 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 May 2024 11:48:51 -0500 Subject: [PATCH 073/159] [bot] Fingerprints: add missing FW versions from new users (#32486) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 95565ebf9d..a5b81650e3 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -68,6 +68,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'68267018AO ', b'68267020AJ ', + b'68303534AG ', b'68303534AJ ', b'68340762AD ', b'68340764AD ', @@ -106,6 +107,7 @@ FW_VERSIONS = { b'68405565AB', b'68405565AC', b'68444299AC', + b'68480707AC', b'68480708AC', b'68526663AB', ], @@ -147,6 +149,7 @@ FW_VERSIONS = { b'68443120AE ', b'68443123AC ', b'68443125AC ', + b'68496647AI ', b'68496647AJ ', b'68496650AH ', b'68496650AI ', From f3f22a56980d7a3fb2cd7c07fec8ac0e9e376a38 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Mon, 20 May 2024 17:41:31 -0400 Subject: [PATCH 074/159] CI/simulator: Fix metadrive test `pyopencl.CompilerWarning` (#32487) * add pytest.mark.filterwarnings * remove -W pyopencl.CompilerWarning * add comment --- .github/workflows/tools_tests.yaml | 2 +- tools/sim/tests/test_metadrive_bridge.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 4466260af1..c2e900fb12 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -59,7 +59,7 @@ jobs: ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ source selfdrive/test/setup_xvfb.sh && \ source selfdrive/test/setup_vsound.sh && \ - CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning" + CI=1 pytest tools/sim/tests/test_metadrive_bridge.py" devcontainer: name: devcontainer diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index b53f4524a0..37bae63780 100755 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -8,6 +8,7 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase @pytest.mark.slow +@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log class TestMetaDriveBridge(TestSimBridgeBase): def create_bridge(self): return MetaDriveBridge(False, False) From 3279dbeff7d4f696804c94de1573be2b5f3f2f9d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 14:59:43 -0700 Subject: [PATCH 075/159] athena: move to system/ (#32488) * athena: move to system/ * slash --- pyproject.toml | 2 +- release/files_common | 8 ++++---- selfdrive/manager/manager.py | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/sentry.py | 2 +- {selfdrive => system}/athena/__init__.py | 0 {selfdrive => system}/athena/athenad.py | 0 {selfdrive => system}/athena/manage_athenad.py | 2 +- {selfdrive => system}/athena/registration.py | 0 {selfdrive => system}/athena/tests/__init__.py | 0 {selfdrive => system}/athena/tests/helpers.py | 0 {selfdrive => system}/athena/tests/test_athenad.py | 8 ++++---- .../athena/tests/test_athenad_ping.py | 4 ++-- .../athena/tests/test_registration.py | 12 ++++++------ 14 files changed, 21 insertions(+), 21 deletions(-) rename {selfdrive => system}/athena/__init__.py (100%) rename {selfdrive => system}/athena/athenad.py (100%) rename {selfdrive => system}/athena/manage_athenad.py (92%) rename {selfdrive => system}/athena/registration.py (100%) rename {selfdrive => system}/athena/tests/__init__.py (100%) rename {selfdrive => system}/athena/tests/helpers.py (100%) rename {selfdrive => system}/athena/tests/test_athenad.py (97%) rename {selfdrive => system}/athena/tests/test_athenad_ping.py (95%) rename {selfdrive => system}/athena/tests/test_registration.py (80%) diff --git a/pyproject.toml b/pyproject.toml index 544f9ee18c..2578d0a853 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -20,7 +20,6 @@ markers = [ ] testpaths = [ "common", - "selfdrive/athena", "selfdrive/boardd", "selfdrive/car", "selfdrive/controls", @@ -31,6 +30,7 @@ testpaths = [ "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", "selfdrive/updated", + "system/athena", "system/camerad", "system/hardware/tici", "system/loggerd", diff --git a/release/files_common b/release/files_common index 34d8f00973..7dfccceb82 100644 --- a/release/files_common +++ b/release/files_common @@ -65,10 +65,10 @@ system/version.py selfdrive/SConscript -selfdrive/athena/__init__.py -selfdrive/athena/athenad.py -selfdrive/athena/manage_athenad.py -selfdrive/athena/registration.py +system/athena/__init__.py +system/athena/athenad.py +system/athena/manage_athenad.py +system/athena/registration.py selfdrive/boardd/.gitignore selfdrive/boardd/SConscript diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 512320a8db..33c9ce9f5b 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -14,7 +14,7 @@ from openpilot.system.hardware import HARDWARE, PC from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog from openpilot.selfdrive.manager.process import ensure_running from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 4c34e7339e..5a501c2160 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -42,7 +42,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool: return not started procs = [ - DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), + DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 204d9cab09..5f4772fa71 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -4,7 +4,7 @@ from enum import Enum from sentry_sdk.integrations.threading import ThreadingIntegration from openpilot.common.params import Params -from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.system.athena.registration import is_registered_device from openpilot.system.hardware import HARDWARE, PC from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata, get_version diff --git a/selfdrive/athena/__init__.py b/system/athena/__init__.py similarity index 100% rename from selfdrive/athena/__init__.py rename to system/athena/__init__.py diff --git a/selfdrive/athena/athenad.py b/system/athena/athenad.py similarity index 100% rename from selfdrive/athena/athenad.py rename to system/athena/athenad.py diff --git a/selfdrive/athena/manage_athenad.py b/system/athena/manage_athenad.py similarity index 92% rename from selfdrive/athena/manage_athenad.py rename to system/athena/manage_athenad.py index 2ec92cc3e0..853a7cd953 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/system/athena/manage_athenad.py @@ -28,7 +28,7 @@ def main(): try: while 1: cloudlog.info("starting athena daemon") - proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad')) + proc = Process(name='athenad', target=launcher, args=('system.athena.athenad', 'athenad')) proc.start() proc.join() cloudlog.event("athenad exited", exitcode=proc.exitcode) diff --git a/selfdrive/athena/registration.py b/system/athena/registration.py similarity index 100% rename from selfdrive/athena/registration.py rename to system/athena/registration.py diff --git a/selfdrive/athena/tests/__init__.py b/system/athena/tests/__init__.py similarity index 100% rename from selfdrive/athena/tests/__init__.py rename to system/athena/tests/__init__.py diff --git a/selfdrive/athena/tests/helpers.py b/system/athena/tests/helpers.py similarity index 100% rename from selfdrive/athena/tests/helpers.py rename to system/athena/tests/helpers.py diff --git a/selfdrive/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py similarity index 97% rename from selfdrive/athena/tests/test_athenad.py rename to system/athena/tests/test_athenad.py index bdce3dccef..895cd8eb56 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -19,9 +19,9 @@ from cereal import messaging from openpilot.common.params import Params from openpilot.common.timeout import Timeout -from openpilot.selfdrive.athena import athenad -from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket +from openpilot.system.athena import athenad +from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher +from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket from openpilot.selfdrive.test.helpers import http_server_context from openpilot.system.hardware.hw import Paths @@ -50,7 +50,7 @@ def with_upload_handler(func): @pytest.fixture def mock_create_connection(mocker): - return mocker.patch('openpilot.selfdrive.athena.athenad.create_connection') + return mocker.patch('openpilot.system.athena.athenad.create_connection') @pytest.fixture def host(): diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py similarity index 95% rename from selfdrive/athena/tests/test_athenad_ping.py rename to system/athena/tests/test_athenad_ping.py index 44fa0b8481..3152ca4271 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/system/athena/tests/test_athenad_ping.py @@ -7,7 +7,7 @@ from typing import cast from openpilot.common.params import Params from openpilot.common.timeout import Timeout -from openpilot.selfdrive.athena import athenad +from openpilot.system.athena import athenad from openpilot.selfdrive.manager.helpers import write_onroad_params from openpilot.system.hardware import TICI @@ -59,7 +59,7 @@ class TestAthenadPing: def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None: self.athenad.start() - mock_create_connection = mocker.patch('openpilot.selfdrive.athena.athenad.create_connection', + mock_create_connection = mocker.patch('openpilot.system.athena.athenad.create_connection', new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection)) time.sleep(1) diff --git a/selfdrive/athena/tests/test_registration.py b/system/athena/tests/test_registration.py similarity index 80% rename from selfdrive/athena/tests/test_registration.py rename to system/athena/tests/test_registration.py index a808dd5668..85c065c1bf 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/system/athena/tests/test_registration.py @@ -4,8 +4,8 @@ from Crypto.PublicKey import RSA from pathlib import Path from openpilot.common.params import Params -from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from openpilot.selfdrive.athena.tests.helpers import MockResponse +from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.system.athena.tests.helpers import MockResponse from openpilot.system.hardware.hw import Paths @@ -36,7 +36,7 @@ class TestRegistration: self.params.put("HardwareSerial", "serial") self._generate_keys() - m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) dongle = "DONGLE_ID_123" self.params.put("DongleId", dongle) assert register() == dongle @@ -44,7 +44,7 @@ class TestRegistration: def test_no_keys(self, mocker): # missing pubkey - m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) dongle = register() assert m.call_count == 0 assert dongle == UNREGISTERED_DONGLE_ID @@ -53,7 +53,7 @@ class TestRegistration: def test_missing_cache(self, mocker): # keys exist but no dongle id self._generate_keys() - m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) dongle = "DONGLE_ID_123" m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) assert register() == dongle @@ -67,7 +67,7 @@ class TestRegistration: def test_unregistered(self, mocker): # keys exist, but unregistered self._generate_keys() - m = mocker.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) + m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) m.return_value = MockResponse(None, 402) dongle = register() assert m.call_count == 1 From 19c8e72c7494307c311fd2fc0cdb229e89a7ed0e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 15:50:54 -0700 Subject: [PATCH 076/159] Update BOUNTIES.md --- docs/BOUNTIES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index 7e7ee3b8d3..9d0718c572 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -9,6 +9,7 @@ Get paid to improve openpilot! * once you open a PR, the bounty is locked to you until you stop working on it * open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim * get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders) +* for bounties >$100, the first PR gets a lock, which times out after a week of no progress We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation. From 332542fad842a4d12ef289c89d5e8a8709c3c7a7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 16:01:17 -0700 Subject: [PATCH 077/159] cleanup old ignore paths --- .gitignore | 4 ---- .pre-commit-config.yaml | 2 +- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/.gitignore b/.gitignore index 98fc70d029..693c532c54 100644 --- a/.gitignore +++ b/.gitignore @@ -55,12 +55,8 @@ selfdrive/modeld/_modeld selfdrive/modeld/_dmonitoringmodeld /src/ -one notebooks -xx -yy hyperthneed -panda_jungle provisioning .coverage* diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 692c694560..c08ab1d5d1 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -47,7 +47,7 @@ repos: args: - --local-partial-types - --explicit-package-bases - exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' + exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck From af991b143ae4b89a15217cee77fcf8e93ec2508f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 16:46:34 -0700 Subject: [PATCH 078/159] fix pre-commit warning --- .pre-commit-config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c08ab1d5d1..190425285d 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -89,7 +89,7 @@ repos: entry: selfdrive/ui/tests/test_translations.py language: script pass_filenames: false - files: 'selfdrive/ui/translations/*' + files: '^selfdrive/ui/translations/' - repo: https://github.com/python-poetry/poetry rev: '1.8.0' hooks: From e0fa26b1a44bf54388392d54c8437459d870d78c Mon Sep 17 00:00:00 2001 From: macdoos <127897805+macdoos@users.noreply.github.com> Date: Tue, 21 May 2024 02:35:33 +0200 Subject: [PATCH 079/159] split out dev apt dependencies (#32476) * init * add more extra packages * update Dockerfile * cleanup * Update Dockerfile.openpilot_base * needed to build --------- Co-authored-by: Adeeb Shihadeh --- Dockerfile.openpilot_base | 12 ++++------ tools/install_ubuntu_dependencies.sh | 35 +++++++++++++++++++++------- 2 files changed, 30 insertions(+), 17 deletions(-) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index a6c4c71790..0789a39c3e 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -13,14 +13,10 @@ ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN cd /tmp && \ - tools/install_ubuntu_dependencies.sh && \ - rm -rf /var/lib/apt/lists/* && \ - rm -rf /tmp/* && \ - # remove unused architectures from gcc for panda +RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \ + rm -rf /var/lib/apt/lists/* /tmp/* && \ cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ - rm -rf arm/ && \ - rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp + rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp # Add OpenCL RUN apt-get update && apt-get install -y --no-install-recommends \ @@ -83,4 +79,4 @@ RUN cd /tmp && \ rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test USER root -RUN sudo git config --global --add safe.directory /tmp/openpilot \ No newline at end of file +RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 72402b3bf7..7abfbf51c8 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -12,21 +12,17 @@ if [[ ! $(id -u) -eq 0 ]]; then SUDO="sudo" fi -# Install packages present in all supported versions of Ubuntu +# Install common packages function install_ubuntu_common_requirements() { $SUDO apt-get update $SUDO apt-get install -y --no-install-recommends \ autoconf \ build-essential \ ca-certificates \ - casync \ clang \ - cmake \ - make \ cppcheck \ libtool \ gcc-arm-none-eabi \ - bzip2 \ liblzma-dev \ libarchive-dev \ libbz2-dev \ @@ -62,9 +58,7 @@ function install_ubuntu_common_requirements() { opencl-headers \ ocl-icd-libopencl1 \ ocl-icd-opencl-dev \ - clinfo \ portaudio19-dev \ - qml-module-qtquick2 \ qtmultimedia5-dev \ qtlocation5-dev \ qtpositioning5-dev \ @@ -75,7 +69,18 @@ function install_ubuntu_common_requirements() { libqt5serialbus5-dev \ libqt5x11extras5-dev \ libqt5opengl5-dev \ - libreadline-dev \ + libreadline-dev +} + +# Install extra packages +function install_extra_packages() { + echo "Installing extra packages..." + $SUDO apt-get install -y --no-install-recommends \ + bzip2 \ + clinfo \ + casync \ + cmake \ + make \ libdw1 } @@ -125,7 +130,19 @@ if [ -f "/etc/os-release" ]; then install_ubuntu_lts_latest_requirements fi esac + + # Install extra packages + if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then + read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r + echo "" + if [[ $REPLY =~ ^[Yy]$ ]]; then + INSTALL_EXTRA_PACKAGES="yes" + fi + fi + if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then + install_extra_packages + fi else - echo "No /etc/os-release in the system" + echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar." exit 1 fi From 1ea2411575a04176637856af5ce54aae01b1cd8e Mon Sep 17 00:00:00 2001 From: LostEon <86137295+LostEon@users.noreply.github.com> Date: Mon, 20 May 2024 18:38:47 -0600 Subject: [PATCH 080/159] Fingerprint 2016 Jeep Grand Cherokee (#32491) * Fingerprint 2016 Grand Cherokee * sort --------- Co-authored-by: Shane Smiskol --- selfdrive/car/chrysler/fingerprints.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index a5b81650e3..b974d3dd4d 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -267,6 +267,7 @@ FW_VERSIONS = { }, CAR.JEEP_GRAND_CHEROKEE: { (Ecu.combinationMeter, 0x742, None): [ + b'68243549AG', b'68302211AC', b'68302212AD', b'68302223AC', @@ -278,18 +279,22 @@ FW_VERSIONS = { b'68340272AD', ], (Ecu.srs, 0x744, None): [ + b'68309533AA', b'68316742AB', b'68355363AB', ], (Ecu.abs, 0x747, None): [ + b'68252642AG', b'68306178AD', b'68336276AB', ], (Ecu.fwdRadar, 0x753, None): [ b'04672627AB', + b'68251506AF', b'68332015AB', ], (Ecu.eps, 0x75a, None): [ + b'68276201AG', b'68321644AB', b'68321644AC', b'68321646AC', @@ -297,6 +302,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'05035920AE ', + b'68252272AG ', b'68284455AI ', b'68284456AI ', b'68284477AF ', @@ -307,6 +313,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'05035517AH', + b'68253222AF', b'68311218AC', b'68311223AF', b'68311223AG', From 788c4edeecc0f35d8c74f486f664c1835098cdf4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 17:40:46 -0700 Subject: [PATCH 081/159] ruff: enable NPY --- pyproject.toml | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 2578d0a853..e445df0479 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -184,8 +184,16 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 -lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] +lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "NPY", "RUF008", "RUF100", "A", "B", "TID251"] +lint.ignore = [ + "E741", + "E402", + "C408", + "ISC003", + "B027", + "B024", + "NPY002", # new numpy random syntax is worse +] line-length = 160 target-version="py311" exclude = [ From b2e4c64cf8fe3256d1e411e8715c29e2eb6f4f00 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 17:43:54 -0700 Subject: [PATCH 082/159] ruff: enable UP --- common/api/__init__.py | 2 +- common/gpio.py | 4 ++-- common/spinner.py | 2 +- common/stat_live.py | 4 ++-- pyproject.toml | 3 ++- selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | 2 +- selfdrive/controls/lib/pid.py | 2 +- selfdrive/controls/radard.py | 4 ++-- selfdrive/controls/tests/test_following_distance.py | 2 +- selfdrive/debug/vw_mqb_config.py | 2 +- selfdrive/locationd/models/car_kf.py | 2 +- selfdrive/locationd/models/live_kf.py | 4 ++-- selfdrive/modeld/modeld.py | 5 ++--- selfdrive/monitoring/driver_monitor.py | 8 ++++---- selfdrive/statsd.py | 4 ++-- selfdrive/test/longitudinal_maneuvers/plant.py | 2 +- selfdrive/test/process_replay/test_imgproc.py | 4 ++-- selfdrive/test/profiling/lib.py | 4 ++-- system/athena/tests/helpers.py | 6 +++--- system/loggerd/tests/loggerd_tests_common.py | 6 +++--- system/ubloxd/pigeond.py | 2 +- system/updated/casync/tar.py | 3 ++- system/version.py | 2 +- system/webrtc/tests/test_webrtcd.py | 2 +- tools/lib/api.py | 2 +- 25 files changed, 42 insertions(+), 41 deletions(-) diff --git a/common/api/__init__.py b/common/api/__init__.py index 79875023a2..f3a7d83842 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -7,7 +7,7 @@ from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') -class Api(): +class Api: def __init__(self, dongle_id): self.dongle_id = dongle_id with open(Paths.persist_root()+'/comma/id_rsa') as f: diff --git a/common/gpio.py b/common/gpio.py index 68932cb87a..66b2adf438 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,5 +1,5 @@ import os -from functools import lru_cache +from functools import cache def gpio_init(pin: int, output: bool) -> None: try: @@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None: except Exception: print(f"Failed to export gpio {pin}") -@lru_cache(maxsize=None) +@cache def get_irq_action(irq: int) -> list[str]: try: with open(f"/sys/kernel/irq/{irq}/actions") as f: diff --git a/common/spinner.py b/common/spinner.py index 43d4bb2cc2..dcf22641c4 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -3,7 +3,7 @@ import subprocess from openpilot.common.basedir import BASEDIR -class Spinner(): +class Spinner: def __init__(self): try: self.spinner_proc = subprocess.Popen(["./spinner"], diff --git a/common/stat_live.py b/common/stat_live.py index a91c1819bb..3901c448d8 100644 --- a/common/stat_live.py +++ b/common/stat_live.py @@ -1,6 +1,6 @@ import numpy as np -class RunningStat(): +class RunningStat: # tracks realtime mean and standard deviation without storing any data def __init__(self, priors=None, max_trackable=-1): self.max_trackable = max_trackable @@ -51,7 +51,7 @@ class RunningStat(): def params_to_save(self): return [self.M, self.S, self.n] -class RunningStatFilter(): +class RunningStatFilter: def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1): self.raw_stat = RunningStat(raw_priors, -1) self.filtered_stat = RunningStat(filtered_priors, max_trackable) diff --git a/pyproject.toml b/pyproject.toml index e445df0479..ce3cf4b6c3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -184,7 +184,7 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 -lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "NPY", "RUF008", "RUF100", "A", "B", "TID251"] +lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "NPY", "UP", "RUF008", "RUF100", "A", "B", "TID251"] lint.ignore = [ "E741", "E402", @@ -193,6 +193,7 @@ lint.ignore = [ "B027", "B024", "NPY002", # new numpy random syntax is worse + "UP038", # (x, y) -> x|y for isinstance ] line-length = 160 target-version="py311" diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 83ec3b3a13..ad60861088 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -128,7 +128,7 @@ def gen_lat_ocp(): return ocp -class LateralMpc(): +class LateralMpc: def __init__(self, x0=None): if x0 is None: x0 = np.zeros(X_DIM) diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index f4ec7e5996..29c4d8bd46 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -4,7 +4,7 @@ from numbers import Number from openpilot.common.numpy_fast import clip, interp -class PIDController(): +class PIDController: def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100): self._k_p = k_p self._k_i = k_i diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 16c9e0635c..7420f666f7 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -2,7 +2,7 @@ import importlib import math from collections import deque -from typing import Any, Optional +from typing import Any import capnp from cereal import messaging, log, car @@ -208,7 +208,7 @@ class RadarD: self.ready = False - def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]): + def update(self, sm: messaging.SubMaster, rr): self.ready = sm.seen['modelV2'] self.current_time = 1e-9*max(sm.logMonoTime.values()) diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 5d60911805..89a575a9ad 100755 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -32,7 +32,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit log.LongitudinalPersonality.standard, log.LongitudinalPersonality.aggressive], [0,10,35])) # speed -class TestFollowingDistance(): +class TestFollowingDistance: def test_following_distance(self): v_lead = float(self.speed) simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality) diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 64bc2bc638..6df1e57ce3 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -139,7 +139,7 @@ if __name__ == "__main__": # so fib a little and say that same tester did the programming current_date = date.today() formatted_date = current_date.strftime('%y-%m-%d') - year, month, day = [int(part) for part in formatted_date.split('-')] + year, month, day = (int(part) for part in formatted_date.split('-')) prog_date = bytes([year, month, day]) uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 1f3e447a19..87a93cdd0c 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -28,7 +28,7 @@ def _slice(n): return s -class States(): +class States: # Vehicle model params STIFFNESS = _slice(1) # [-] STEER_RATIO = _slice(1) # [-] diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index c4933a6129..0cc3eca61d 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -20,7 +20,7 @@ def numpy2eigenstring(arr): return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()" -class States(): +class States: ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters ECEF_ORIENTATION = slice(3, 7) # quat for pose of phone in ecef ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s @@ -39,7 +39,7 @@ class States(): ACC_BIAS_ERR = slice(18, 21) -class LiveKalman(): +class LiveKalman: name = 'live' initial_x = np.array([3.88e6, -3.37e6, 3.76e6, diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 35e2a29aa1..66563a3c1c 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -206,9 +206,8 @@ def main(demo=False): continue if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: - cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( - meta_main.frame_id, meta_main.timestamp_sof / 1e9, - meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) + cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ + extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") else: # Use single camera diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 9faa5f4d05..85cc19eb8b 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -15,7 +15,7 @@ EventName = car.CarEvent.EventName # We recommend that you do not change these numbers from the defaults. # ****************************************************************************************** -class DRIVER_MONITOR_SETTINGS(): +class DRIVER_MONITOR_SETTINGS: def __init__(self): self._DT_DMON = DT_DMON # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2 @@ -102,7 +102,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): yaw -= rpy_calib[2] return roll_net, pitch, yaw -class DriverPose(): +class DriverPose: def __init__(self, max_trackable): self.yaw = 0. self.pitch = 0. @@ -116,12 +116,12 @@ class DriverPose(): self.cfactor_pitch = 1. self.cfactor_yaw = 1. -class DriverBlink(): +class DriverBlink: def __init__(self): self.left_blink = 0. self.right_blink = 0. -class DriverStatus(): +class DriverStatus: def __init__(self, rhd_saved=False, settings=None, always_on=False): if settings is None: settings = DRIVER_MONITOR_SETTINGS() diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 2f9149b096..2b5a7bb3a7 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -4,7 +4,7 @@ import zmq import time from pathlib import Path from collections import defaultdict -from datetime import datetime, timezone +from datetime import datetime, UTC from typing import NoReturn from openpilot.common.params import Params @@ -133,7 +133,7 @@ def main() -> NoReturn: # flush when started state changes or after FLUSH_TIME_S if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): result = "" - current_time = datetime.utcnow().replace(tzinfo=timezone.utc) + current_time = datetime.utcnow().replace(tzinfo=UTC) tags['started'] = sm['deviceState'].started for key, value in gauges.items(): diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index ac54967f88..daf7cec32b 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -83,7 +83,7 @@ class Plant: lead = log.RadarState.LeadData.new_message() lead.dRel = float(d_rel) - lead.yRel = float(0.0) + lead.yRel = 0.0 lead.vRel = float(v_rel) lead.aRel = float(a_lead - self.acceleration) lead.vLead = float(v_lead) diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py index a980548baa..036f21b9e5 100755 --- a/selfdrive/test/process_replay/test_imgproc.py +++ b/selfdrive/test/process_replay/test_imgproc.py @@ -93,7 +93,7 @@ if __name__ == "__main__": if pix_hash != ref_hash: print("result changed! please check kernel") - print("ref: %s" % ref_hash) - print("new: %s" % pix_hash) + print(f"ref: {ref_hash}") + print(f"new: {pix_hash}") else: print("test passed") diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py index 7f3b0126ff..93ba215386 100644 --- a/selfdrive/test/profiling/lib.py +++ b/selfdrive/test/profiling/lib.py @@ -8,7 +8,7 @@ class ReplayDone(Exception): pass -class SubSocket(): +class SubSocket: def __init__(self, msgs, trigger): self.i = 0 self.trigger = trigger @@ -28,7 +28,7 @@ class SubSocket(): return msg -class PubSocket(): +class PubSocket: def send(self, data): pass diff --git a/system/athena/tests/helpers.py b/system/athena/tests/helpers.py index 322e9d81dd..a0a9cccdc1 100644 --- a/system/athena/tests/helpers.py +++ b/system/athena/tests/helpers.py @@ -9,7 +9,7 @@ class MockResponse: self.status_code = status_code -class EchoSocket(): +class EchoSocket: def __init__(self, port): self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.socket.bind(('127.0.0.1', port)) @@ -34,7 +34,7 @@ class EchoSocket(): self.socket.close() -class MockApi(): +class MockApi: def __init__(self, dongle_id): pass @@ -42,7 +42,7 @@ class MockApi(): return "fake-token" -class MockWebsocket(): +class MockWebsocket: sock = socket.socket() def __init__(self, recv_queue, send_queue): diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index e8a6d031c4..15fd997eb8 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -28,12 +28,12 @@ def create_random_file(file_path: Path, size_mb: float, lock: bool = False, uplo if upload_xattr is not None: setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr) -class MockResponse(): +class MockResponse: def __init__(self, text, status_code): self.text = text self.status_code = status_code -class MockApi(): +class MockApi: def __init__(self, dongle_id): pass @@ -43,7 +43,7 @@ class MockApi(): def get_token(self): return "fake-token" -class MockApiIgnore(): +class MockApiIgnore: def __init__(self, dongle_id): pass diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py index 21b3a86f97..5711992cfb 100755 --- a/system/ubloxd/pigeond.py +++ b/system/ubloxd/pigeond.py @@ -61,7 +61,7 @@ def get_assistnow_messages(token: bytes) -> list[bytes]: return msgs -class TTYPigeon(): +class TTYPigeon: def __init__(self): self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0) diff --git a/system/updated/casync/tar.py b/system/updated/casync/tar.py index 5c547e73a2..a5a8238bba 100644 --- a/system/updated/casync/tar.py +++ b/system/updated/casync/tar.py @@ -1,6 +1,7 @@ import pathlib import tarfile -from typing import IO, Callable +from typing import IO +from collections.abc import Callable def include_default(_) -> bool: diff --git a/system/version.py b/system/version.py index f5b8cd49e8..d258fe0492 100755 --- a/system/version.py +++ b/system/version.py @@ -27,7 +27,7 @@ def get_version(path: str = BASEDIR) -> str: def get_release_notes(path: str = BASEDIR) -> str: - with open(os.path.join(path, "RELEASES.md"), "r") as f: + with open(os.path.join(path, "RELEASES.md")) as f: return f.read().split('\n\n', 1)[0] diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py index 684c7cf359..b0bc7b1966 100755 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -20,7 +20,7 @@ from parameterized import parameterized_class ([], []), ]) @pytest.mark.asyncio -class TestWebrtcdProc(): +class TestWebrtcdProc: async def assertCompletesWithTimeout(self, awaitable, timeout=1): try: async with asyncio.timeout(timeout): diff --git a/tools/lib/api.py b/tools/lib/api.py index 6ff9242f29..92a75d2a3b 100644 --- a/tools/lib/api.py +++ b/tools/lib/api.py @@ -2,7 +2,7 @@ import os import requests API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') -class CommaApi(): +class CommaApi: def __init__(self, token=None): self.session = requests.Session() self.session.headers['User-agent'] = 'OpenpilotTools' From 0e3df5ae4d673c3644f04861a73e3aa599dd03ae Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 17:47:48 -0700 Subject: [PATCH 083/159] ruff: enable TRY --- pyproject.toml | 9 ++++++++- system/webrtc/webrtcd.py | 12 ++++++------ 2 files changed, 14 insertions(+), 7 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index ce3cf4b6c3..2b183c983e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -184,7 +184,14 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] indent-width = 2 -lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "NPY", "UP", "RUF008", "RUF100", "A", "B", "TID251"] +lint.select = [ + "E", "F", "W", "PIE", "C4", "ISC", "A", "B", + "NPY", # numpy + "UP", # pyupgrade + "TRY302", "TRY400", "TRY401", # try/excepts + "RUF008", "RUF100", + "TID251" +] lint.ignore = [ "E741", "E402", diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 51c86aacc6..76c3cd8470 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -97,8 +97,8 @@ class CerealProxyRunner: except InvalidStateError: self.logger.warning("Cereal outgoing proxy invalid state (connection closed)") break - except Exception as ex: - self.logger.error("Cereal outgoing proxy failure: %s", ex) + except Exception: + self.logger.exception("Cereal outgoing proxy failure") await asyncio.sleep(0.01) @@ -175,8 +175,8 @@ class StreamSession: assert self.incoming_bridge is not None try: self.incoming_bridge.send(message) - except Exception as ex: - self.logger.error("Cereal incoming proxy failure: %s", ex) + except Exception: + self.logger.exception("Cereal incoming proxy failure") async def run(self): try: @@ -200,8 +200,8 @@ class StreamSession: await self.post_run_cleanup() self.logger.info("Stream session (%s) ended", self.identifier) - except Exception as ex: - self.logger.error("Stream session failure: %s", ex) + except Exception: + self.logger.exception("Stream session failure") async def post_run_cleanup(self): await self.stream.stop() From 0678644a8f1c5292d7904ecde6e55aeb90550b52 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 21 May 2024 10:38:24 +0800 Subject: [PATCH 084/159] ui: improve `update_line_data()` (#32354) improve update_line_data --- selfdrive/ui/ui.cc | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index e5309c9690..c4ddd17e25 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -57,26 +57,23 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - QPolygonF left_points, right_points; - left_points.reserve(max_idx + 1); - right_points.reserve(max_idx + 1); - + QPointF left, right; + pvd->clear(); for (int i = 0; i <= max_idx; i++) { // highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera if (line_x[i] < 0) continue; - QPointF left, right; + bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); if (l && r) { // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts - if (!allow_invert && left_points.size() && left.y() > left_points.back().y()) { + if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) { continue; } - left_points.push_back(left); - right_points.push_front(right); + pvd->push_back(left); + pvd->push_front(right); } } - *pvd = left_points + right_points; } void update_model(UIState *s, From 1203f5eeb363f4ccdf149d6fa1c32380c0c90027 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Mon, 20 May 2024 20:47:53 -0700 Subject: [PATCH 085/159] minimize ubuntu deps. needed to run build openpilot (#32492) * minimize common deps list * fix * fix endline error * add portaudio3 * add build-essential * upload old loggerd deps * libqt5charts5-dev * libncurses5-dev * libbz2-dev * libsqlite3-dev --- tools/install_ubuntu_dependencies.sh | 33 ++++++++++++++-------------- 1 file changed, 17 insertions(+), 16 deletions(-) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 7abfbf51c8..0e3d453ce4 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -16,16 +16,12 @@ fi function install_ubuntu_common_requirements() { $SUDO apt-get update $SUDO apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ ca-certificates \ clang \ cppcheck \ - libtool \ + build-essential \ gcc-arm-none-eabi \ liblzma-dev \ - libarchive-dev \ - libbz2-dev \ capnproto \ libcapnp-dev \ curl \ @@ -38,21 +34,21 @@ function install_ubuntu_common_requirements() { libavdevice-dev \ libavutil-dev \ libavfilter-dev \ + libbz2-dev \ libeigen3-dev \ libffi-dev \ libglew-dev \ libgles2-mesa-dev \ libglfw3-dev \ libglib2.0-0 \ - libncurses5-dev \ - libncursesw5-dev \ libomp-dev \ libpng16-16 \ - libportaudio2 \ + libqt5charts5-dev \ + libncurses5-dev \ libssl-dev \ - libsqlite3-dev \ libusb-1.0-0-dev \ libzmq3-dev \ + libsqlite3-dev \ libsystemd-dev \ locales \ opencl-headers \ @@ -63,25 +59,30 @@ function install_ubuntu_common_requirements() { qtlocation5-dev \ qtpositioning5-dev \ qttools5-dev-tools \ - libqt5sql5-sqlite \ libqt5svg5-dev \ - libqt5charts5-dev \ libqt5serialbus5-dev \ libqt5x11extras5-dev \ - libqt5opengl5-dev \ - libreadline-dev + libqt5opengl5-dev } # Install extra packages function install_extra_packages() { echo "Installing extra packages..." $SUDO apt-get install -y --no-install-recommends \ - bzip2 \ - clinfo \ casync \ cmake \ make \ - libdw1 + clinfo \ + libqt5sql5-sqlite \ + libreadline-dev \ + libdw1 \ + autoconf \ + libtool \ + bzip2 \ + libarchive-dev \ + libncursesw5-dev \ + libportaudio2 \ + locales } # Install Ubuntu 24.04 LTS packages From da6fd751257bcd3aa087ac4114e9f1529f7d3d12 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 22:39:25 -0700 Subject: [PATCH 086/159] move sentry/stats to system/ (#32490) * move sentry/stats to system/ * fix --- release/files_common | 7 ++++--- selfdrive/manager/manager.py | 2 +- selfdrive/manager/process.py | 2 +- selfdrive/manager/process_config.py | 4 ++-- selfdrive/modeld/modeld.py | 2 +- selfdrive/test/test_onroad.py | 4 ++-- selfdrive/thermald/power_monitoring.py | 2 +- selfdrive/thermald/thermald.py | 2 +- {selfdrive => system}/sentry.py | 0 {selfdrive => system}/statsd.py | 0 {selfdrive => system}/tombstoned.py | 2 +- 11 files changed, 14 insertions(+), 13 deletions(-) rename {selfdrive => system}/sentry.py (100%) rename {selfdrive => system}/statsd.py (100%) rename {selfdrive => system}/tombstoned.py (99%) diff --git a/release/files_common b/release/files_common index 7dfccceb82..19a93bc7da 100644 --- a/release/files_common +++ b/release/files_common @@ -53,9 +53,6 @@ tools/replay/*.cc tools/replay/*.h selfdrive/__init__.py -selfdrive/sentry.py -selfdrive/tombstoned.py -selfdrive/statsd.py selfdrive/updated/** @@ -162,6 +159,10 @@ selfdrive/controls/lib/longitudinal_mpc_lib/* system/__init__.py system/*.py +system/sentry.py +system/tombstoned.py +system/statsd.py + system/hardware/__init__.py system/hardware/base.h system/hardware/base.py diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 33c9ce9f5b..408314d62f 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -7,7 +7,7 @@ import traceback from cereal import log import cereal.messaging as messaging -import openpilot.selfdrive.sentry as sentry +import openpilot.system.sentry as sentry from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE, PC diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 7964f5229d..36f299ae62 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -12,7 +12,7 @@ from setproctitle import setproctitle from cereal import car, log import cereal.messaging as messaging -import openpilot.selfdrive.sentry as sentry +import openpilot.system.sentry as sentry from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 5a501c2160..5ea4b81b80 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -76,10 +76,10 @@ procs = [ PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), PythonProcess("radard", "selfdrive.controls.radard", only_onroad), PythonProcess("thermald", "selfdrive.thermald.thermald", always_run), - PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC), + PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), - PythonProcess("statsd", "selfdrive.statsd", always_run), + PythonProcess("statsd", "system.statsd", always_run), # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 66563a3c1c..526fd4d218 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -15,7 +15,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix -from openpilot.selfdrive import sentry +from openpilot.system import sentry from openpilot.selfdrive.car.car_helpers import get_demo_car_params from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 9aca9afcd9..53db737fc1 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -54,12 +54,12 @@ PROCS = { "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, - "selfdrive.tombstoned": 0, + "system.tombstoned": 0, "./logcatd": 0, "system.micd": 6.0, "system.timed": 0, "selfdrive.boardd.pandad": 0, - "selfdrive.statsd": 0.4, + "system.statsd": 0.4, "selfdrive.navd.navd": 0.4, "system.loggerd.uploader": (0.5, 15.0), "system.loggerd.deleter": 0.1, diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 073589edb7..5a94625b48 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -4,7 +4,7 @@ import threading from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.statsd import statlog +from openpilot.system.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index f5fc949637..d44ce6c18d 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -19,7 +19,7 @@ from openpilot.common.realtime import DT_TRML from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.loggerd.config import get_available_percent -from openpilot.selfdrive.statsd import statlog +from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring from openpilot.selfdrive.thermald.fan_controller import TiciFanController diff --git a/selfdrive/sentry.py b/system/sentry.py similarity index 100% rename from selfdrive/sentry.py rename to system/sentry.py diff --git a/selfdrive/statsd.py b/system/statsd.py similarity index 100% rename from selfdrive/statsd.py rename to system/statsd.py diff --git a/selfdrive/tombstoned.py b/system/tombstoned.py similarity index 99% rename from selfdrive/tombstoned.py rename to system/tombstoned.py index 2c99c7eafe..5bcced2666 100755 --- a/selfdrive/tombstoned.py +++ b/system/tombstoned.py @@ -9,7 +9,7 @@ import time import glob from typing import NoReturn -import openpilot.selfdrive.sentry as sentry +import openpilot.system.sentry as sentry from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata From b2cf9b35f68061587fd6ab7a94a58f7b433b2da2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 22:51:29 -0700 Subject: [PATCH 087/159] thermald: move to system/ (#32494) * thermald: move to system/ * fix path * revert --- pyproject.toml | 2 +- release/files_common | 6 +++--- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_onroad.py | 2 +- {selfdrive => system}/thermald/__init__.py | 0 {selfdrive => system}/thermald/fan_controller.py | 0 {selfdrive => system}/thermald/power_monitoring.py | 0 {selfdrive => system}/thermald/tests/__init__.py | 0 {selfdrive => system}/thermald/tests/test_fan_controller.py | 2 +- .../thermald/tests/test_power_monitoring.py | 6 +++--- {selfdrive => system}/thermald/thermald.py | 4 ++-- 11 files changed, 12 insertions(+), 12 deletions(-) rename {selfdrive => system}/thermald/__init__.py (100%) rename {selfdrive => system}/thermald/fan_controller.py (100%) rename {selfdrive => system}/thermald/power_monitoring.py (100%) rename {selfdrive => system}/thermald/tests/__init__.py (100%) rename {selfdrive => system}/thermald/tests/test_fan_controller.py (96%) rename {selfdrive => system}/thermald/tests/test_power_monitoring.py (96%) rename {selfdrive => system}/thermald/thermald.py (99%) diff --git a/pyproject.toml b/pyproject.toml index 2b183c983e..db1b4195a3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -26,10 +26,10 @@ testpaths = [ "selfdrive/locationd", "selfdrive/monitoring", "selfdrive/navd/tests", - "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", "selfdrive/updated", + "system/thermald", "system/athena", "system/camerad", "system/hardware/tici", diff --git a/release/files_common b/release/files_common index 19a93bc7da..8636959da5 100644 --- a/release/files_common +++ b/release/files_common @@ -253,9 +253,9 @@ system/webrtc/schema.py system/webrtc/device/audio.py system/webrtc/device/video.py -selfdrive/thermald/thermald.py -selfdrive/thermald/power_monitoring.py -selfdrive/thermald/fan_controller.py +system/thermald/thermald.py +system/thermald/power_monitoring.py +system/thermald/fan_controller.py selfdrive/test/__init__.py selfdrive/test/fuzzy_generation.py diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 5ea4b81b80..c2aa3b44e2 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -75,7 +75,7 @@ procs = [ PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), PythonProcess("radard", "selfdrive.controls.radard", only_onroad), - PythonProcess("thermald", "selfdrive.thermald.thermald", always_run), + PythonProcess("thermald", "system.thermald.thermald", always_run), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 53db737fc1..14f7773302 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -47,7 +47,7 @@ PROCS = { "selfdrive.controls.radard": 7.0, "selfdrive.modeld.modeld": 13.0, "selfdrive.modeld.dmonitoringmodeld": 8.0, - "selfdrive.thermald.thermald": 3.87, + "system.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.ui.soundd": 3.5, diff --git a/selfdrive/thermald/__init__.py b/system/thermald/__init__.py similarity index 100% rename from selfdrive/thermald/__init__.py rename to system/thermald/__init__.py diff --git a/selfdrive/thermald/fan_controller.py b/system/thermald/fan_controller.py similarity index 100% rename from selfdrive/thermald/fan_controller.py rename to system/thermald/fan_controller.py diff --git a/selfdrive/thermald/power_monitoring.py b/system/thermald/power_monitoring.py similarity index 100% rename from selfdrive/thermald/power_monitoring.py rename to system/thermald/power_monitoring.py diff --git a/selfdrive/thermald/tests/__init__.py b/system/thermald/tests/__init__.py similarity index 100% rename from selfdrive/thermald/tests/__init__.py rename to system/thermald/tests/__init__.py diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/system/thermald/tests/test_fan_controller.py similarity index 96% rename from selfdrive/thermald/tests/test_fan_controller.py rename to system/thermald/tests/test_fan_controller.py index c2b1a64509..5c858132a2 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/system/thermald/tests/test_fan_controller.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import pytest -from openpilot.selfdrive.thermald.fan_controller import TiciFanController +from openpilot.system.thermald.fan_controller import TiciFanController ALL_CONTROLLERS = [TiciFanController] diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/system/thermald/tests/test_power_monitoring.py similarity index 96% rename from selfdrive/thermald/tests/test_power_monitoring.py rename to system/thermald/tests/test_power_monitoring.py index f68191475b..0795a29c8f 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/system/thermald/tests/test_power_monitoring.py @@ -2,7 +2,7 @@ import pytest from openpilot.common.params import Params -from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ +from openpilot.system.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S # Create fake time @@ -18,9 +18,9 @@ VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 def pm_patch(mocker, name, value, constant=False): if constant: - mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) + mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", value) else: - mocker.patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) + mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", return_value=value) @pytest.fixture(autouse=True) diff --git a/selfdrive/thermald/thermald.py b/system/thermald/thermald.py similarity index 99% rename from selfdrive/thermald/thermald.py rename to system/thermald/thermald.py index d44ce6c18d..90f6494a26 100755 --- a/selfdrive/thermald/thermald.py +++ b/system/thermald/thermald.py @@ -21,8 +21,8 @@ from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.loggerd.config import get_available_percent from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring -from openpilot.selfdrive.thermald.fan_controller import TiciFanController +from openpilot.system.thermald.power_monitoring import PowerMonitoring +from openpilot.system.thermald.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus From 936e8d3d801e3ef52660eb0940293197598514bf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 23:01:42 -0700 Subject: [PATCH 088/159] CI: merge build jobs (#32495) --- .github/workflows/selfdrive_tests.yaml | 24 +++++------------------- 1 file changed, 5 insertions(+), 19 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d3c8009bc2..1c83c39bbb 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -76,24 +76,8 @@ jobs: - uses: actions/checkout@v4 with: submodules: true - - uses: ./.github/workflows/setup-with-retry - with: - docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - - uses: ./.github/workflows/compile-openpilot - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache - - docker_push: - name: docker push - strategy: - matrix: - arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - name: Setup to push to repo + - name: Setup docker push + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" @@ -101,12 +85,14 @@ jobs: - uses: ./.github/workflows/setup-with-retry with: docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} + - uses: ./.github/workflows/compile-openpilot + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache docker_push_multiarch: name: docker push multiarch tag runs-on: ubuntu-latest if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - needs: [docker_push] + needs: [build] steps: - uses: actions/checkout@v4 with: From da42c4a561343749a4970d7908ed7a3b2ed0402e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 23:11:19 -0700 Subject: [PATCH 089/159] CI: move car docs diff job (#32496) * CI: move car docs diff job * no if --- .github/workflows/auto_pr_review.yaml | 54 +++++++++++++++++++++++++- .github/workflows/selfdrive_tests.yaml | 54 -------------------------- 2 files changed, 53 insertions(+), 55 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 8316fedda0..2c41dc8bdb 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -54,6 +54,59 @@ jobs: comment_tag: run_id GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + car_docs_diff: + name: PR comments + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + with: + submodules: true + ref: ${{ github.event.pull_request.base.ref }} + - run: git lfs pull + - uses: ./.github/workflows/setup-with-retry + - name: Get base car info + run: | + ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" + sudo chown -R $USER:$USER ${{ github.workspace }} + - uses: actions/checkout@v4 + with: + submodules: true + path: current + - run: cd current && git lfs pull + - name: Save car docs diff + id: save_diff + run: | + cd current + ${{ env.RUN }} "scons -j$(nproc)" + output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") + output="${output//$'\n'/'%0A'}" + echo "::set-output name=diff::$output" + - name: Find comment + if: ${{ env.AZURE_TOKEN != '' }} + uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e + id: fc + with: + issue-number: ${{ github.event.pull_request.number }} + body-includes: This PR makes changes to + - name: Update comment + if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} + uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043 + with: + comment-id: ${{ steps.fc.outputs.comment-id }} + issue-number: ${{ github.event.pull_request.number }} + body: "${{ steps.save_diff.outputs.diff }}" + edit-mode: replace + - name: Delete comment + if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} + uses: actions/github-script@v7 + with: + script: | + github.rest.issues.deleteComment({ + owner: context.repo.owner, + repo: context.repo.repo, + comment_id: ${{ steps.fc.outputs.comment-id }} + }) + check-pr-template: runs-on: ubuntu-latest permissions: @@ -224,4 +277,3 @@ jobs: console.log("Label 'in-bot-review' not found, ignoring"); }); } - diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1c83c39bbb..2068eeb012 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,60 +249,6 @@ jobs: env: CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - car_docs_diff: - name: PR comments - runs-on: ubuntu-latest - if: github.event_name == 'pull_request' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - ref: ${{ github.event.pull_request.base.ref }} - - run: git lfs pull - - uses: ./.github/workflows/setup-with-retry - - name: Get base car info - run: | - ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" - sudo chown -R $USER:$USER ${{ github.workspace }} - - uses: actions/checkout@v4 - with: - submodules: true - path: current - - run: cd current && git lfs pull - - name: Save car docs diff - id: save_diff - run: | - cd current - ${{ env.RUN }} "scons -j$(nproc)" - output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") - output="${output//$'\n'/'%0A'}" - echo "::set-output name=diff::$output" - - name: Find comment - if: ${{ env.AZURE_TOKEN != '' }} - uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e - id: fc - with: - issue-number: ${{ github.event.pull_request.number }} - body-includes: This PR makes changes to - - name: Update comment - if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} - uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043 - with: - comment-id: ${{ steps.fc.outputs.comment-id }} - issue-number: ${{ github.event.pull_request.number }} - body: "${{ steps.save_diff.outputs.diff }}" - edit-mode: replace - - name: Delete comment - if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} - uses: actions/github-script@v7 - with: - script: | - github.rest.issues.deleteComment({ - owner: context.repo.owner, - repo: context.repo.repo, - comment_id: ${{ steps.fc.outputs.comment-id }} - }) - create_ui_report: name: Create UI Report runs-on: ubuntu-latest From ce136317d8e7c9d1c2981dacc77df414859c0e21 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 01:26:47 -0500 Subject: [PATCH 090/159] regen: use existing carParams msg (#32493) use existing msg --- selfdrive/test/process_replay/migration.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 152f281948..be78c92d73 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -183,9 +183,7 @@ def migrate_carParams(lr, old_logtime=False): all_msgs = [] for msg in lr: if msg.which() == 'carParams': - CP = messaging.new_message('carParams') - CP.valid = True - CP.carParams = msg.carParams.as_builder() + CP = msg.as_builder() CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint) for car_fw in CP.carParams.carFw: car_fw.brand = CP.carParams.carName From 5e98d9e2895330264a42c90c81c347b7d5bd1f5c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 23:19:09 -0700 Subject: [PATCH 091/159] also tag as latest --- selfdrive/test/docker_build.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index 5f77ceb10d..4d58a1507c 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,7 +17,7 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG From 49d7edfe11add9abc09b46b271ea8b646797c080 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 May 2024 23:33:16 -0700 Subject: [PATCH 092/159] Revert "CI: move car docs diff job (#32496)" This reverts commit da42c4a561343749a4970d7908ed7a3b2ed0402e. --- .github/workflows/auto_pr_review.yaml | 54 +------------------------- .github/workflows/selfdrive_tests.yaml | 54 ++++++++++++++++++++++++++ 2 files changed, 55 insertions(+), 53 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 2c41dc8bdb..8316fedda0 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -54,59 +54,6 @@ jobs: comment_tag: run_id GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - car_docs_diff: - name: PR comments - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - ref: ${{ github.event.pull_request.base.ref }} - - run: git lfs pull - - uses: ./.github/workflows/setup-with-retry - - name: Get base car info - run: | - ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" - sudo chown -R $USER:$USER ${{ github.workspace }} - - uses: actions/checkout@v4 - with: - submodules: true - path: current - - run: cd current && git lfs pull - - name: Save car docs diff - id: save_diff - run: | - cd current - ${{ env.RUN }} "scons -j$(nproc)" - output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") - output="${output//$'\n'/'%0A'}" - echo "::set-output name=diff::$output" - - name: Find comment - if: ${{ env.AZURE_TOKEN != '' }} - uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e - id: fc - with: - issue-number: ${{ github.event.pull_request.number }} - body-includes: This PR makes changes to - - name: Update comment - if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} - uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043 - with: - comment-id: ${{ steps.fc.outputs.comment-id }} - issue-number: ${{ github.event.pull_request.number }} - body: "${{ steps.save_diff.outputs.diff }}" - edit-mode: replace - - name: Delete comment - if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} - uses: actions/github-script@v7 - with: - script: | - github.rest.issues.deleteComment({ - owner: context.repo.owner, - repo: context.repo.repo, - comment_id: ${{ steps.fc.outputs.comment-id }} - }) - check-pr-template: runs-on: ubuntu-latest permissions: @@ -277,3 +224,4 @@ jobs: console.log("Label 'in-bot-review' not found, ignoring"); }); } + diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 2068eeb012..1c83c39bbb 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -249,6 +249,60 @@ jobs: env: CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} + car_docs_diff: + name: PR comments + runs-on: ubuntu-latest + if: github.event_name == 'pull_request' + steps: + - uses: actions/checkout@v4 + with: + submodules: true + ref: ${{ github.event.pull_request.base.ref }} + - run: git lfs pull + - uses: ./.github/workflows/setup-with-retry + - name: Get base car info + run: | + ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" + sudo chown -R $USER:$USER ${{ github.workspace }} + - uses: actions/checkout@v4 + with: + submodules: true + path: current + - run: cd current && git lfs pull + - name: Save car docs diff + id: save_diff + run: | + cd current + ${{ env.RUN }} "scons -j$(nproc)" + output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") + output="${output//$'\n'/'%0A'}" + echo "::set-output name=diff::$output" + - name: Find comment + if: ${{ env.AZURE_TOKEN != '' }} + uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e + id: fc + with: + issue-number: ${{ github.event.pull_request.number }} + body-includes: This PR makes changes to + - name: Update comment + if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} + uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043 + with: + comment-id: ${{ steps.fc.outputs.comment-id }} + issue-number: ${{ github.event.pull_request.number }} + body: "${{ steps.save_diff.outputs.diff }}" + edit-mode: replace + - name: Delete comment + if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} + uses: actions/github-script@v7 + with: + script: | + github.rest.issues.deleteComment({ + owner: context.repo.owner, + repo: context.repo.repo, + comment_id: ${{ steps.fc.outputs.comment-id }} + }) + create_ui_report: name: Create UI Report runs-on: ubuntu-latest From 71f5c441fe32184d94a9f26565a36c661e2ccf28 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 03:18:10 -0500 Subject: [PATCH 093/159] card: process that abstracts car interface and CAN (#32380) * format card * standalone process * no class member CS, there's no point also can be confusing; what else could be using this? * rename CoS * Update selfdrive/controls/controlsd.py * never works first time :D * canRcvTimeout is bool * hack * add cpu * see what testing closet comes up with * first * some clean up * support passable CI, fix test models * fix startup alert * process replay changes * test_fuzzy * gate carOutput valid on carControl valid * we should publish after we update carOutput * controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date * check all checks for carControl in case controlsd dies * log more timestamps * more generic latency logger; needs some clean up latency_logger.py was difficult to understand and modify * card polls on can and carControl to get latest carControl possible * temp try to send earlier * add log * remove latencylogger * no mpld3! * old loop * detect first event * normal send * revert "card polls on can and carControl to get latest carControl possible" how it was is best * sheesh! update should be first * first timestamp * temp comment ( timestamp is slow :( ) * more final ordering, and make polling on/off test repeatable * Received can * new plot timestamps * clean up * no poll * add controllers (draft) * Revert "add controllers (draft)" This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3. * fix that * conventions * just use CS * consider controlsd state machine in card: not fully done * hmm it's just becoming controlsd * rm debugging * Revert "hmm it's just becoming controlsd" This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7. * Revert "just use CS" This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9. * add vCruise * migrate car state * Revert "migrate car state" This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b. * Revert "add vCruise" This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633. * simple state machine in card (doesn't work as is) * Revert "simple state machine in card (doesn't work as is)" This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24. * poll carState without conflate * bump * remove state transition * fix * update refs * ignore cumLagMs and don't ignore valid * fix controls mismatch; controlsd used to set alt exp * controlsd_config_callback not needed for card * revert ref temp * update refs * no poll * not builder! * test fix * need to migrate initialized * CC will be a reader * more as_reader! * fix None * init after publish like before - no real difference * controlsd clean up * remove redundant check and check passive for init * stash * flip * migrate missing carOutput for controlsd * Update ref_commit * bump cereal * comment * no class params * no class * Revert "no class" This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d. * add todo * regen and update refs * fix * update refs * and fix that * should be controlsstate * remove controlsState migration CoS.initialized isn't needed yet * fix * flip! * bump * fix that * update refs * fix * if canValid goes false, controlsd would still send * bump * rm diff * need to be very careful with initializing * update refs --- cereal | 2 +- selfdrive/car/body/carcontroller.py | 2 +- selfdrive/car/card.py | 104 ++++++++++++------ selfdrive/car/chrysler/carcontroller.py | 2 +- selfdrive/car/ford/carcontroller.py | 2 +- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/mazda/carcontroller.py | 2 +- selfdrive/car/mock/carcontroller.py | 2 +- selfdrive/car/nissan/carcontroller.py | 2 +- selfdrive/car/subaru/carcontroller.py | 2 +- selfdrive/car/tesla/carcontroller.py | 2 +- selfdrive/car/tests/test_car_interfaces.py | 4 +- selfdrive/car/tests/test_models.py | 12 +- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/controls/controlsd.py | 42 +++---- selfdrive/controls/tests/test_startup.py | 3 +- selfdrive/manager/process_config.py | 1 + selfdrive/test/process_replay/migration.py | 18 +++ .../test/process_replay/process_replay.py | 32 ++++-- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_fuzzy.py | 2 +- .../test/process_replay/test_processes.py | 36 +++--- selfdrive/test/test_onroad.py | 3 +- 26 files changed, 181 insertions(+), 106 deletions(-) diff --git a/cereal b/cereal index 0a9b426e55..5812f2c075 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49 +Subproject commit 5812f2c075a5364cecafe4e8ed68a12b12a5631f diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index db34320caa..259126c416 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -75,7 +75,7 @@ class CarController(CarControllerBase): can_sends = [] can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r)) - new_actuators = CC.actuators.copy() + new_actuators = CC.actuators.as_builder() new_actuators.accel = torque_l new_actuators.steer = torque_r new_actuators.steerOutputCan = torque_r diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index ed916a6fe1..2705a3c01c 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -9,7 +9,7 @@ from cereal import car from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can @@ -21,22 +21,24 @@ REPLAY = "REPLAY" in os.environ EventName = car.CarEvent.EventName -class CarD: +class Car: CI: CarInterfaceBase def __init__(self, CI=None): self.can_sock = messaging.sub_sock('can', timeout=20) - self.sm = messaging.SubMaster(['pandaStates']) + self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) self.can_rcv_timeout_counter = 0 # consecutive timeout count self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count self.CC_prev = car.CarControl.new_message() + self.CS_prev = car.CarState.new_message() + self.initialized_prev = False - self.last_actuators = None + self.last_actuators_output = car.CarControl.Actuators.new_message() - self.params = Params() + params = Params() if CI is None: # wait for one pandaState and one CAN packet @@ -44,18 +46,18 @@ class CarD: get_one_can(self.can_sock) num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") + experimental_long_allowed = params.get_bool("ExperimentalLongitudinalEnabled") self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) else: self.CI, self.CP = CI, CI.CP # set alternative experiences from parameters - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle") controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly @@ -66,22 +68,20 @@ class CarD: self.CP.safetyConfigs = [safety_config] # Write previous route's CarParams - prev_cp = self.params.get("CarParamsPersistent") + prev_cp = params.get("CarParamsPersistent") if prev_cp is not None: - self.params.put("CarParamsPrevRoute", prev_cp) + params.put("CarParamsPrevRoute", prev_cp) # Write CarParams for controls and radard cp_bytes = self.CP.to_bytes() - self.params.put("CarParams", cp_bytes) - self.params.put_nonblocking("CarParamsCache", cp_bytes) - self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + params.put("CarParams", cp_bytes) + params.put_nonblocking("CarParamsCache", cp_bytes) + params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.CS_prev = car.CarState.new_message() self.events = Events() - def initialize(self): - """Initialize CarInterface, once controls are ready""" - self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + # card is driven by can recv, expected at 100Hz + self.rk = Ratekeeper(100, print_delay_threshold=None) def state_update(self) -> car.CarState: """carState update loop, driven by can""" @@ -106,11 +106,6 @@ class CarD: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime - self.update_events(CS) - self.state_publish(CS) - - CS = CS.as_reader() - self.CS_prev = CS return CS def update_events(self, CS: car.CarState) -> car.CarState: @@ -129,12 +124,6 @@ class CarD: def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" - # carState - cs_send = messaging.new_message('carState') - cs_send.valid = CS.canValid - cs_send.carState = CS - self.pm.send('carState', cs_send) - # carParams - logged every 50 seconds (> 1 per segment) if self.sm.frame % int(50. / DT_CTRL) == 0: cp_send = messaging.new_message('carParams') @@ -144,17 +133,60 @@ class CarD: # publish new carOutput co_send = messaging.new_message('carOutput') - co_send.valid = True - if self.last_actuators is not None: - co_send.carOutput.actuatorsOutput = self.last_actuators + co_send.valid = self.sm.all_checks(['carControl']) + co_send.carOutput.actuatorsOutput = self.last_actuators_output self.pm.send('carOutput', co_send) + # kick off controlsd step while we actuate the latest carControl packet + cs_send = messaging.new_message('carState') + cs_send.valid = CS.canValid + cs_send.carState = CS + cs_send.carState.canRcvTimeout = self.can_rcv_timeout + cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter + cs_send.carState.cumLagMs = -self.rk.remaining * 1000. + self.pm.send('carState', cs_send) + def controls_update(self, CS: car.CarState, CC: car.CarControl): """control update loop, driven by carControl""" - # send car controls over can - now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) - self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + if not self.initialized_prev: + # Initialize CarInterface, once controls are ready + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - self.CC_prev = CC + if self.sm.all_alive(['carControl']): + # send car controls over can + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) + self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + + self.CC_prev = CC + + def step(self): + CS = self.state_update() + + self.update_events(CS) + + self.state_publish(CS) + + initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and + self.sm.seen['onroadEvents']) + if not self.CP.passive and initialized: + self.controls_update(CS, self.sm['carControl']) + + self.initialized_prev = initialized + self.CS_prev = CS.as_reader() + + def card_thread(self): + while True: + self.step() + self.rk.monitor_time() + + +def main(): + config_realtime_process(4, Priority.CTRL_HIGH) + car = Car() + car.card_thread() + + +if __name__ == "__main__": + main() diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 39248f3f75..85f53f68eb 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -78,7 +78,7 @@ class CarController(CarControllerBase): self.frame += 1 - new_actuators = CC.actuators.copy() + new_actuators = CC.actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 47082fb56f..7be3b2ebe9 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -113,7 +113,7 @@ class CarController(CarControllerBase): self.steer_alert_last = steer_alert self.lead_distance_bars_last = hud_control.leadDistanceBars - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.curvature = self.apply_curvature_last self.frame += 1 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f8d747029b..b204d3b80f 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -155,7 +155,7 @@ class CarController(CarControllerBase): if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 6fe8c27585..fe023ea17d 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -244,7 +244,7 @@ class CarController(CarControllerBase): self.speed = pcm_speed self.gas = pcm_accel / self.params.NIDEC_GAS_MAX - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.speed = self.speed new_actuators.accel = self.accel new_actuators.gas = self.gas diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 7829d764b0..4038ddcca9 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -163,7 +163,7 @@ class CarController(CarControllerBase): if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl: can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer new_actuators.accel = accel diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 8d3a59b4ea..3d41634879 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -58,7 +58,7 @@ class CarController(CarControllerBase): can_sends.append(mazdacan.create_steering_control(self.packer, self.CP, self.frame, apply_steer, CS.cam_lkas)) - new_actuators = CC.actuators.copy() + new_actuators = CC.actuators.as_builder() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX new_actuators.steerOutputCan = apply_steer diff --git a/selfdrive/car/mock/carcontroller.py b/selfdrive/car/mock/carcontroller.py index 2b2da954ff..0cd37c0369 100644 --- a/selfdrive/car/mock/carcontroller.py +++ b/selfdrive/car/mock/carcontroller.py @@ -2,4 +2,4 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase class CarController(CarControllerBase): def update(self, CC, CS, now_nanos): - return CC.actuators.copy(), [] + return CC.actuators.as_builder(), [] diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 83775462b7..c7bd231398 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -75,7 +75,7 @@ class CarController(CarControllerBase): self.packer, CS.lkas_hud_info_msg, steer_hud_alert )) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steeringAngleDeg = apply_angle self.frame += 1 diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 22a1475b5b..d89ae8c639 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -136,7 +136,7 @@ class CarController(CarControllerBase): if self.frame % 2 == 0: can_sends.append(subarucan.create_es_static_2(self.packer)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index f217c4692d..e460111e32 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -60,7 +60,7 @@ class CarController(CarControllerBase): # TODO: HUD control - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steeringAngleDeg = self.apply_angle_last self.frame += 1 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 4bbecd99fe..dfdf44215d 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -91,14 +91,14 @@ class TestCarInterfaces: CC = car.CarControl.new_message(**cc_msg) for _ in range(10): car_interface.update(CC, []) - car_interface.apply(CC, now_nanos) + car_interface.apply(CC.as_reader(), now_nanos) now_nanos += DT_CTRL * 1e9 # 10 ms CC = car.CarControl.new_message(**cc_msg) CC.enabled = True for _ in range(10): car_interface.update(CC, []) - car_interface.apply(CC, now_nanos) + car_interface.apply(CC.as_reader(), now_nanos) now_nanos += DT_CTRL * 1e9 # 10ms # Test controller initialization diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 026693bdce..8807db69d9 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -15,7 +15,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.card import CarD +from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags @@ -215,7 +215,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 can_valid = False - CC = car.CarControl.new_message() + CC = car.CarControl.new_message().as_reader() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(CC, (msg.as_builder().to_bytes(),)) @@ -308,17 +308,17 @@ class TestCarModelBase(unittest.TestCase): # Make sure we can send all messages while inactive CC = car.CarControl.new_message() - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) self.safety.set_cruise_engaged_prev(True) CC = car.CarControl.new_message(cruiseControl={'cancel': True}) - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Test resume + general messages (controls_allowed=True & cruise_engaged=True) self.safety.set_controls_allowed(True) CC = car.CarControl.new_message(cruiseControl={'resume': True}) - test_car_controller(CC) + test_car_controller(CC.as_reader()) # Skip stdout/stderr capture with pytest, causes elevated memory usage @pytest.mark.nocapture @@ -406,7 +406,7 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(int) - card = CarD(CI=self.CI) + card = Car(CI=self.CI) for idx, can in enumerate(self.can_msgs): CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) for msg in filter(lambda m: m.src in range(64), can.can): diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 354d10a90e..f9b7a478e0 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -168,7 +168,7 @@ class CarController(CarControllerBase): if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer new_actuators.steeringAngleDeg = self.last_angle diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 5fc47c51c6..a4e0c8946a 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -112,7 +112,7 @@ class CarController(CarControllerBase): can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values, cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) - new_actuators = actuators.copy() + new_actuators = actuators.as_builder() new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e3c456766e..d007cd9478 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -18,8 +18,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.car.car_helpers import get_startup_event -from openpilot.selfdrive.car.card import CarD +from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.events import Events, ET @@ -61,16 +60,19 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) class Controls: def __init__(self, CI=None): - self.card = CarD(CI) - self.params = Params() - with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg: - # TODO: this shouldn't need to be a builder - self.CP = msg.as_builder() - - self.CI = self.card.CI + if CI is None: + cloudlog.info("controlsd is waiting for CarParams") + with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg: + # TODO: this shouldn't need to be a builder + self.CP = msg.as_builder() + cloudlog.info("controlsd got CarParams") + # Uses car interface helper functions, altering state won't be considered by card for actuation + self.CI = get_car_interface(self.CP) + else: + self.CI, self.CP = CI, CI.CP # Ensure the current branch is cached, otherwise the first iteration of controlsd lags self.branch = get_short_branch() @@ -83,6 +85,9 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') + # TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches + self.car_state_sock = messaging.sub_sock('carState', timeout=20) + ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] @@ -110,6 +115,7 @@ class Controls: if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") + self.CS_prev = car.CarState.new_message() self.AM = AlertManager() self.events = Events() @@ -161,7 +167,7 @@ class Controls: elif self.CP.passive: self.events.add(EventName.dashcamMode, static=True) - # controlsd is driven by can recv, expected at 100Hz + # controlsd is driven by carState, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) def set_initial_state(self): @@ -308,7 +314,7 @@ class Controls: # generic catch-all. ideally, a more specific event should be added above instead has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) - if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors: + if (not self.sm.all_checks() or CS.canRcvTimeout) and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): @@ -320,7 +326,7 @@ class Controls: 'invalid': [s for s, valid in self.sm.valid.items() if not valid], 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - 'can_rcv_timeout': self.card.can_rcv_timeout, + 'can_rcv_timeout': CS.canRcvTimeout, } if logs != self.logged_comm_issue: cloudlog.event("commIssue", error=True, **logs) @@ -380,9 +386,10 @@ class Controls: self.events.add(EventName.modeldLagging) def data_sample(self): - """Receive data from sockets and update carState""" + """Receive data from sockets""" - CS = self.card.state_update() + car_state = messaging.recv_one(self.car_state_sock) + CS = car_state.carState if car_state else self.CS_prev self.sm.update(0) @@ -396,9 +403,6 @@ class Controls: if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: self.sm.ignore_alive.append('wideRoadCameraState') - if not self.CP.passive: - self.card.initialize() - self.initialized = True self.set_initial_state() self.params.put_bool_nonblocking("ControlsReady", True) @@ -709,7 +713,6 @@ class Controls: hudControl.visualAlert = current_alert.visual_alert if not self.CP.passive and self.initialized: - self.card.controls_update(CS, CC) CO = self.sm['carOutput'] if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ @@ -757,7 +760,6 @@ class Controls: controlsState.cumLagMs = -self.rk.remaining * 1000. controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) - controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter controlsState.experimentalMode = self.experimental_mode controlsState.personality = self.personality @@ -807,6 +809,8 @@ class Controls: # Publish data self.publish_logs(CS, start_time, CC, lac_log) + self.CS_prev = CS + def read_personality_param(self): try: return int(self.params.get('LongitudinalPersonality')) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 23cc96a2e4..5b69a7cd82 100644 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -87,6 +87,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): os.environ['SKIP_FW_QUERY'] = '1' managed_processes['controlsd'].start() + managed_processes['card'].start() assert pm.wait_for_readers_to_update('can', 5) pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) @@ -104,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] for _ in range(1000): - # controlsd waits for boardd to echo back that it has changed the multiplexing mode + # card waits for boardd to echo back that it has changed the multiplexing mode if not params.get_bool("ObdMultiplexingChanged"): params.put_bool("ObdMultiplexingChanged", True) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index c2aa3b44e2..a8ab204da4 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -64,6 +64,7 @@ procs = [ PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), + PythonProcess("card", "selfdrive.car.card", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index be78c92d73..c8d0504def 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -14,6 +14,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, msgs = migrate_carParams(msgs, old_logtime) msgs = migrate_gpsLocation(msgs) msgs = migrate_deviceState(msgs) + msgs = migrate_carOutput(msgs) if manager_states: msgs = migrate_managerState(msgs) if panda_states: @@ -69,6 +70,23 @@ def migrate_deviceState(lr): return all_msgs +def migrate_carOutput(lr): + # migration needed only for routes before carOutput + if any(msg.which() == 'carOutput' for msg in lr): + return lr + + all_msgs = [] + for msg in lr: + if msg.which() == 'carControl': + co = messaging.new_message('carOutput') + co.valid = msg.valid + co.logMonoTime = msg.logMonoTime + co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED + all_msgs.append(co.as_reader()) + all_msgs.append(msg) + return all_msgs + + def migrate_pandaStates(lr): all_msgs = [] # TODO: safety param migration should be handled automatically diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index f55f2c4e2a..fd1d753467 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -317,12 +317,12 @@ class ProcessContainer: return output_msgs -def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint): +def card_fingerprint_callback(rc, pm, msgs, fingerprint): print("start fingerprinting") params = Params() canmsgs = [msg for msg in msgs if msg.which() == "can"][:300] - # controlsd expects one arbitrary can and pandaState + # card expects one arbitrary can and pandaState rc.send_sync(pm, "can", messaging.new_message("can", 1)) pm.send("pandaStates", messaging.new_message("pandaStates", 1)) rc.send_sync(pm, "can", messaging.new_message("can", 1)) @@ -356,12 +356,20 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) + + if not params.get_bool("DisengageOnAccelerator"): + CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + params.put("CarParams", CP.to_bytes()) return CP def controlsd_rcv_callback(msg, cfg, frame): - # no sendcan until controlsd is initialized + return (frame - 1) == 0 or msg.which() == 'carState' + + +def card_rcv_callback(msg, cfg, frame): + # no sendcan until card is initialized if msg.which() != "can": return False @@ -461,18 +469,28 @@ CONFIGS = [ ProcessConfig( proc_name="controlsd", pubs=[ - "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", + "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState", "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", - "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope" + "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput" ], - subs=["controlsState", "carState", "carControl", "carOutput", "sendcan", "onroadEvents", "carParams"], + subs=["controlsState", "carControl", "onroadEvents"], ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"], config_callback=controlsd_config_callback, - init_callback=controlsd_fingerprint_callback, + init_callback=get_car_params_callback, should_recv_callback=controlsd_rcv_callback, tolerance=NUMPY_TOLERANCE, processing_time=0.004, + ), + ProcessConfig( + proc_name="card", + pubs=["pandaStates", "carControl", "onroadEvents", "can"], + subs=["sendcan", "carState", "carParams", "carOutput"], + ignore=["logMonoTime", "carState.cumLagMs"], + init_callback=card_fingerprint_callback, + should_recv_callback=card_rcv_callback, + tolerance=NUMPY_TOLERANCE, + processing_time=0.004, main_pub="can", ), ProcessConfig( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2af30b5b47..dc7e59b54f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cc4e23ca0fceb300a3048c187ae9bc793794c095 \ No newline at end of file +c84b55c256ccb0ee042643a8a7f7f4dc429ff157 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index d295092b20..6bcc94911f 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -12,7 +12,7 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... # TODO: Make each one testable -NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] +NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index b3dcbb03db..c0a425b599 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -41,23 +41,23 @@ source_segments = [ ] segments = [ - ("BODY", "regen02ECB79BACC|2024-05-18--04-29-29--0"), - ("HYUNDAI", "regen845DC1916E6|2024-05-18--04-30-52--0"), - ("HYUNDAI2", "regenBAE0915FE22|2024-05-18--04-33-11--0"), - ("TOYOTA", "regen1108D19FC2E|2024-05-18--04-34-34--0"), - ("TOYOTA2", "regen846521F39C7|2024-05-18--04-35-58--0"), - ("TOYOTA3", "regen788C3623D11|2024-05-18--04-38-21--0"), - ("HONDA", "regenDE43F170E99|2024-05-18--04-39-47--0"), - ("HONDA2", "regen1EE0FA383C3|2024-05-18--04-41-12--0"), - ("CHRYSLER", "regen9C5A30F471C|2024-05-18--04-42-36--0"), - ("RAM", "regenCCA313D117D|2024-05-18--04-44-53--0"), - ("SUBARU", "regenA41511F882A|2024-05-18--04-47-14--0"), - ("GM", "regen9D7B9CE4A66|2024-05-18--04-48-36--0"), - ("GM2", "regen07CECA52D41|2024-05-18--04-50-55--0"), - ("NISSAN", "regen2D6B856D0AE|2024-05-18--04-52-17--0"), - ("VOLKSWAGEN", "regen2D3AC6A6F05|2024-05-18--04-53-41--0"), - ("MAZDA", "regen0D5A777DD16|2024-05-18--04-56-02--0"), - ("FORD", "regen235D0937965|2024-05-18--04-58-16--0"), + ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"), + ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"), + ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"), + ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"), + ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"), + ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"), + ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"), + ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"), + ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"), + ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"), + ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"), + ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"), + ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"), + ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"), + ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"), + ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"), + ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -109,7 +109,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non if not check_openpilot_enabled(log_msgs): return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs - if cfg.proc_name != 'ubloxd' or segment != 'regenBAE0915FE22|2024-05-18--04-33-11--0': + if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0': seen_msgs = {m.which() for m in log_msgs} expected_msgs = set(cfg.subs) if seen_msgs != expected_msgs: diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 14f7773302..038bba7b2e 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -35,7 +35,8 @@ CPU usage budget MAX_TOTAL_CPU = 250. # total for all 8 cores PROCS = { # Baseline CPU usage by process - "selfdrive.controls.controlsd": 46.0, + "selfdrive.controls.controlsd": 32.0, + "selfdrive.car.card": 22.0, "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, From e836845f02adc7abab05de8852859c315780c9d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 01:19:55 -0700 Subject: [PATCH 094/159] update TOTAL_SCONS_NODES --- selfdrive/manager/build.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 859d0920c3..ac7822d51b 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2560 +TOTAL_SCONS_NODES = 2410 MAX_BUILD_PROGRESS = 100 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: From b9c1c1dd37a195660ce44fbb24aaf5057155a6bf Mon Sep 17 00:00:00 2001 From: Shotaro Watanabe Date: Wed, 22 May 2024 02:59:15 +0900 Subject: [PATCH 095/159] devcontainer: mount /dev (#32500) --- .devcontainer/devcontainer.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 7174ee2800..3f5b38d12e 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -14,6 +14,7 @@ "force_color_prompt": "1" }, "runArgs": [ + "--volume=/dev:/dev", "--volume=/tmp/.X11-unix:/tmp/.X11-unix", "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority", "--volume=${localEnv:HOME}/.comma:/home/batman/.comma", @@ -49,4 +50,4 @@ "mounts": [ "type=volume,source=scons_cache,target=/tmp/scons_cache" ] -} \ No newline at end of file +} From e29ed6849e4bd8e53b6ce03cfb860af071d75b16 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 16:37:24 -0500 Subject: [PATCH 096/159] [bot] Fingerprints: add missing FW versions from new users (#32501) Export fingerprints --- selfdrive/car/hyundai/fingerprints.py | 1 + selfdrive/car/toyota/fingerprints.py | 1 + 2 files changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index e0680ba829..8e574f7a25 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -864,6 +864,7 @@ FW_VERSIONS = { b'\xf1\x00CN7_ SCC FNCUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA050 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index d239294392..38105e0d9d 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1476,6 +1476,7 @@ FW_VERSIONS = { b'\x01896630E41200\x00\x00\x00\x00', b'\x01896630E41500\x00\x00\x00\x00', b'\x01896630EA3100\x00\x00\x00\x00', + b'\x01896630EA3300\x00\x00\x00\x00', b'\x01896630EA3400\x00\x00\x00\x00', b'\x01896630EA4100\x00\x00\x00\x00', b'\x01896630EA4300\x00\x00\x00\x00', From 527cd74b21a182d423f41db2a04e5f4af3632d16 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 May 2024 15:25:50 -0700 Subject: [PATCH 097/159] CI: cleanup PR review jobs (#32503) --- .github/workflows/auto_pr_review.yaml | 222 +++----------------------- 1 file changed, 24 insertions(+), 198 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 8316fedda0..447e559c90 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -5,7 +5,7 @@ on: jobs: labeler: - name: apply labels + name: review permissions: contents: read pull-requests: write @@ -14,17 +14,17 @@ jobs: - uses: actions/checkout@v4 with: submodules: false + + # Label PRs - uses: actions/labeler@v5.0.0 with: dot: true configuration-path: .github/labeler.yaml - pr_branch_check: - name: check branch - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - steps: - - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5 + # Check PR target branch + - name: check branch + uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5 + if: github.repository == 'commaai/openpilot' env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} with: @@ -34,194 +34,20 @@ jobs: already-exists-action: close_this already-exists-comment: "Your PR should be made against the `master` branch" - comment: - runs-on: ubuntu-latest - steps: - - name: comment - uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 - if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' - with: - message: | - - Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: - * Convert your PR to a draft unless it's ready to review - * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) - * Before marking as "ready for review", ensure: - * the goal is clearly stated in the description - * all the tests are passing - * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) - * include a route or your device' dongle ID if relevant - comment_tag: run_id - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - - check-pr-template: - runs-on: ubuntu-latest - permissions: - contents: read - issues: write - pull-requests: write - actions: read - if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot' - steps: - - uses: actions/github-script@v7 - with: - script: | - // Comment to add to the PR if no template has been used - const NO_TEMPLATE_MESSAGE = - "It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \ - Also make sure that you didn't modify any of the checkboxes or headings within the template."; - // body data for future requests - const body_data = { - issue_number: context.issue.number, - owner: context.repo.owner, - repo: context.repo.repo, - }; - - // Utility function to extract all headings - const extractHeadings = (markdown) => { - const headingRegex = /^(#{1,6})\s+(.+)$/gm; - const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm; - const headings = []; - let headingMatch; - while ((headingMatch = headingRegex.exec(markdown))) { - headings.push(headingMatch[2].trim()); - } - let boldMatch; - while ((boldMatch = boldTextRegex.exec(markdown))) { - headings.push(boldMatch[1].trim()); - } - return headings; - }; - - // Utility function to extract all check box descriptions - const extractCheckBoxTexts = (markdown) => { - const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm; - const checkboxes = []; - let match; - while ((match = checkboxRegex.exec(markdown))) { - checkboxes.push(match[2].trim()); - } - return checkboxes; - }; - - // Utility function to check if a list is a subset of another list - isSubset = (subset, superset) => { - return subset.every((item) => superset.includes(item)); - }; - - // Utility function to check if a list of checkboxes is a subset of another list of checkboxes - isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => { - // Check if each template checkbox text is a substring of at least one PR checkbox text - // (user should be allowed to add additional text) - return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item))) - } - - // Get filenames of all currently checked-in PR templates - const template_contents = await github.rest.repos.getContent({ - owner: context.repo.owner, - repo: context.repo.repo, - path: ".github/PULL_REQUEST_TEMPLATE", - }); - var template_filenames = []; - for (const content of template_contents.data) { - template_filenames.push(content.path); - } - console.debug("Received template filenames: " + template_filenames); - // Retrieve templates - var templates = []; - for (const template_filename of template_filenames) { - const template_response = await github.rest.repos.getContent({ - owner: context.repo.owner, - repo: context.repo.repo, - path: template_filename, - }); - // Convert Base64 content back - const decoded_template = atob(template_response.data.content); - const headings = extractHeadings(decoded_template); - const checkboxes = extractCheckBoxTexts(decoded_template); - if (!headings.length && !checkboxes.length) { - console.warn( - "Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" + - decoded_template - ); - } else { - templates.push({ headings: headings, checkboxes: checkboxes }); - } - } - // Retrieve the PR Body - const pull_request = await github.rest.issues.get({ - ...body_data, - }); - const pull_request_text = pull_request.data.body; - console.debug("Received Pull Request body: \n" + pull_request_text); - - /* Check if the PR Body matches one of the templates - A template is defined by all headings and checkboxes it contains - We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that - */ - const pr_headings = extractHeadings(pull_request_text); - const pr_checkboxes = extractCheckBoxTexts(pull_request_text); - console.debug("Found Headings in PR body:\n" + pr_headings); - console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes); - var template_found = false; - // Iterate over each template to check if it applies - for (const template of templates) { - console.log( - "Checking for headings: [" + - template.headings + - "] and checkboxes: [" + - template.checkboxes + "]" - ); - if ( - isCheckboxSubset(template.checkboxes, pr_checkboxes) && - isSubset(template.headings, pr_headings) - ) { - console.debug("Found matching template!"); - template_found = true; - } - } - - // List comments from previous runs - var existing_comments = []; - const comments = await github.rest.issues.listComments({ - ...body_data, - }); - for (const comment of comments.data) { - if (comment.body === NO_TEMPLATE_MESSAGE) { - existing_comments.push(comment); - } - } - - // Add a comment to the PR that it is not using a the template (but only if this comment does not exist already) - if (!template_found) { - var comment_already_sent = false; - - // Add an 'in-bot-review' label since this PR doesn't have the template - github.rest.issues.addLabels({ - ...body_data, - labels: ["in-bot-review"], - }); - - if (existing_comments.length < 1) { - github.rest.issues.createComment({ - ...body_data, - body: NO_TEMPLATE_MESSAGE, - }); - } - } else { - // If template has been found, delete any old comment about missing template - for (const existing_comment of existing_comments) { - github.rest.issues.deleteComment({ - ...body_data, - comment_id: existing_comment.id, - }); - } - // Remove the 'in-bot-review' label after the review is done and the PR has passed - github.rest.issues.removeLabel({ - ...body_data, - name: "in-bot-review", - }).catch((error) => { - console.log("Label 'in-bot-review' not found, ignoring"); - }); - } - + # Welcome comment + - name: comment + uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 + if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + with: + message: | + + Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: + * Convert your PR to a draft unless it's ready to review + * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) + * Before marking as "ready for review", ensure: + * the goal is clearly stated in the description + * all the tests are passing + * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) + * include a route or your device' dongle ID if relevant + comment_tag: run_id + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} From 406f30add493006b99569bfbf49562e3192038cc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 May 2024 15:40:00 -0700 Subject: [PATCH 098/159] more apt dependency cleanup (#32502) rm --- tools/install_ubuntu_dependencies.sh | 2 -- 1 file changed, 2 deletions(-) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 0e3d453ce4..1f8ef24eaf 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -41,8 +41,6 @@ function install_ubuntu_common_requirements() { libgles2-mesa-dev \ libglfw3-dev \ libglib2.0-0 \ - libomp-dev \ - libpng16-16 \ libqt5charts5-dev \ libncurses5-dev \ libssl-dev \ From 9f327aeb4824576497a57f077fe9b8243b95e8c0 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 22 May 2024 01:01:04 +0100 Subject: [PATCH 099/159] Ford: detect missing LKAS from EPS configuration (#31821) * debug: disable FW cache * Ford: detect missing TJA/LCA config and disable LKAS * set dashcamOnly * revert * clean up * clean up * some CAN FD do not have 0x01 block for PSCM * bump cereal (fork) * remove confusing comment * add flags/event * remove duplicate from events * copy can be next pr * dashcamOnly if no config comes back either (this shouldn't happen) * flipped * can do this * Revert "can do this" This reverts commit c3d311b2ffb7bbc346c7f702ac5c1934bc495c65. * Revert "flipped" This reverts commit 75c01fb4c5f7fdc9222ea13b8901f76b5b419c99. * Revert "dashcamOnly if no config comes back either (this shouldn't happen)" This reverts commit f82624a0eb28bf683660f86b3ddfd44717a6915f. --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/interface.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7dca458083..1ae57965e7 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase): if ret.flags & FordFlags.CANFD: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD + else: + # Lock out if the car does not have needed lateral and longitudinal control APIs. + # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists + pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None) + if pscm_config: + if len(pscm_config.response) != 24: + ret.dashcamOnly = True + else: + config_tja = pscm_config.response[7] # Traffic Jam Assist + config_lca = pscm_config.response[8] # Lane Centering Assist + if config_tja != 0xFF or config_lca != 0xFF: + ret.dashcamOnly = True # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] From d2340854967197836d6cc8f27d55039c1f205243 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 22 May 2024 08:27:25 +0800 Subject: [PATCH 100/159] ui/update_dmonitoring: Improve readability of r_xyz matrix initialization (#32359) --- selfdrive/ui/ui.cc | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c4ddd17e25..0ff4f3111a 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -125,25 +125,27 @@ void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &drivers scene.driver_pose_coss[i] = cosf(scene.driver_pose_vals[i]*(1.0-dm_fade_state)); } + auto [sin_y, sin_x, sin_z] = scene.driver_pose_sins; + auto [cos_y, cos_x, cos_z] = scene.driver_pose_coss; + const mat3 r_xyz = (mat3){{ - scene.driver_pose_coss[1]*scene.driver_pose_coss[2], - scene.driver_pose_coss[1]*scene.driver_pose_sins[2], - -scene.driver_pose_sins[1], + cos_x * cos_z, + cos_x * sin_z, + -sin_x, - -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_coss[0]*scene.driver_pose_sins[2], - -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_coss[0]*scene.driver_pose_coss[2], - -scene.driver_pose_sins[0]*scene.driver_pose_coss[1], + -sin_y * sin_x * cos_z - cos_y * sin_z, + -sin_y * sin_x * sin_z + cos_y * cos_z, + -sin_y * cos_x, - scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_sins[0]*scene.driver_pose_sins[2], - scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_sins[0]*scene.driver_pose_coss[2], - scene.driver_pose_coss[0]*scene.driver_pose_coss[1], + cos_y * sin_x * cos_z - sin_y * sin_z, + cos_y * sin_x * sin_z + sin_y * cos_z, + cos_y * cos_x, }}; // transform vertices for (int kpi = 0; kpi < std::size(default_face_kpts_3d); kpi++) { - vec3 kpt_this = default_face_kpts_3d[kpi]; - kpt_this = matvecmul3(r_xyz, kpt_this); - scene.face_kpts_draw[kpi] = (vec3){{(float)kpt_this.v[0], (float)kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}}; + vec3 kpt_this = matvecmul3(r_xyz, default_face_kpts_3d[kpi]); + scene.face_kpts_draw[kpi] = (vec3){{kpt_this.v[0], kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}}; } } From 25cc8a96ef22df5c8d6951c159045ae4e6d94807 Mon Sep 17 00:00:00 2001 From: 19igari <71631129+19igari@users.noreply.github.com> Date: Wed, 22 May 2024 10:41:04 +0900 Subject: [PATCH 101/159] fix(modeld): Fix for unpredictable behavior in commonmodel_pyx.pyx (#32482) Avoid undefined behavior Co-authored-by: 19igari --- selfdrive/modeld/models/commonmodel_pyx.pyx | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index e33d301aff..bc59b7a233 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -37,7 +37,11 @@ cdef class ModelFrame: def prepare(self, VisionBuf buf, float[:] projection, CLMem output): cdef mat3 cprojection memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef float * data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + cdef float * data + if output is None: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) + else: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) if not data: return None return np.asarray( data) From 5e63906a3f4ef4eb01c99f23592aa87f2cc419a9 Mon Sep 17 00:00:00 2001 From: Marcin Perlikowski Date: Wed, 22 May 2024 05:24:45 +0200 Subject: [PATCH 102/159] Hyundai: add fingerprint for 2020 IONIQ PHEV (#31301) add fingerprint for 2020 Hyundai IONIQ PHEV Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 8e574f7a25..a4b84361a7 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -117,6 +117,7 @@ FW_VERSIONS = { b'\xf1\x00AEhe SCC FHCUP 1.00 1.02 99110-G2100 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2210 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', From b059f2eda807aca543b7e33031d52fc5a45be31f Mon Sep 17 00:00:00 2001 From: roberttruong Date: Wed, 22 May 2024 13:31:47 +1000 Subject: [PATCH 103/159] Additional Subaru Impreza 2022 Fingerprint (#31916) * Update fingerprints.py Add fingerprint for Subaru Impreza 2022 Australia * auto_fingerprint --------- Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/fingerprints.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index 41727d7623..e3bd9d9099 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -164,6 +164,7 @@ FW_VERSIONS = { b'\xa2 \x194\x00', b'\xa2 `\x00', b'\xa2 !3\x00', + b'\xa2 !6\x00', b'\xa2 !`\x00', b'\xa2 !i\x00', ], @@ -172,6 +173,7 @@ FW_VERSIONS = { b'\n\xc0\x04\x01', b'\x9a\xc0\x00\x00', b'\x9a\xc0\x04\x00', + b'\x9a\xc0\n\x01', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00eb\x1f@ "', @@ -181,6 +183,7 @@ FW_VERSIONS = { b'\x00\x00e\x8f\x1f@ )', b'\x00\x00e\x92\x00\x00\x00\x00', b'\x00\x00e\xa4\x00\x00\x00\x00', + b'\x00\x00e\xa4\x1f@ (', ], (Ecu.engine, 0x7e0, None): [ b'\xca!`0\x07', @@ -188,6 +191,7 @@ FW_VERSIONS = { b'\xca!ap\x07', b'\xca!f@\x07', b'\xca!fp\x07', + b'\xcaacp\x07', b'\xcc!`p\x07', b'\xcc!fp\x07', b'\xcc"f0\x07', @@ -200,6 +204,7 @@ FW_VERSIONS = { b'\xf3"fr\x07', ], (Ecu.transmission, 0x7e1, None): [ + b'\xe6\x15\x042\x00', b'\xe6\xf5\x04\x00\x00', b'\xe6\xf5$\x00\x00', b'\xe6\xf5D0\x00', From 9fa92c222513731a19009781ce463bb9e69158db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 23:23:14 -0500 Subject: [PATCH 104/159] card: only exit ELM once done with ECU knock outs (#32505) * only exit elm once done with knock outs * comments! --- selfdrive/car/card.py | 21 ++++++++++++--------- selfdrive/controls/controlsd.py | 1 - 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2705a3c01c..199c425782 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -38,7 +38,7 @@ class Car: self.last_actuators_output = car.CarControl.Actuators.new_message() - params = Params() + self.params = Params() if CI is None: # wait for one pandaState and one CAN packet @@ -46,18 +46,18 @@ class Car: get_one_can(self.can_sock) num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - experimental_long_allowed = params.get_bool("ExperimentalLongitudinalEnabled") + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) else: self.CI, self.CP = CI, CI.CP # set alternative experiences from parameters - self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle") + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly @@ -68,15 +68,15 @@ class Car: self.CP.safetyConfigs = [safety_config] # Write previous route's CarParams - prev_cp = params.get("CarParamsPersistent") + prev_cp = self.params.get("CarParamsPersistent") if prev_cp is not None: - params.put("CarParamsPrevRoute", prev_cp) + self.params.put("CarParamsPrevRoute", prev_cp) # Write CarParams for controls and radard cp_bytes = self.CP.to_bytes() - params.put("CarParams", cp_bytes) - params.put_nonblocking("CarParamsCache", cp_bytes) - params.put_nonblocking("CarParamsPersistent", cp_bytes) + self.params.put("CarParams", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) self.events = Events() @@ -151,7 +151,10 @@ class Car: if not self.initialized_prev: # Initialize CarInterface, once controls are ready + # TODO: this can make us miss at least a few cycles when doing an ECU knockout self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + # signal boardd to switch to car safety mode + self.params.put_bool_nonblocking("ControlsReady", True) if self.sm.all_alive(['carControl']): # send car controls over can diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d007cd9478..110826d949 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -405,7 +405,6 @@ class Controls: self.initialized = True self.set_initial_state() - self.params.put_bool_nonblocking("ControlsReady", True) cloudlog.event( "controlsd.initialized", From ffb34e558fe369bb5a5d6d7ff476c3b8e601f6db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 May 2024 23:21:31 -0700 Subject: [PATCH 105/159] Revert "Ford: detect missing LKAS from EPS configuration (#31821)" This reverts commit 9f327aeb4824576497a57f077fe9b8243b95e8c0. --- selfdrive/car/ford/interface.py | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 1ae57965e7..7dca458083 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -39,18 +39,6 @@ class CarInterface(CarInterfaceBase): if ret.flags & FordFlags.CANFD: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD - else: - # Lock out if the car does not have needed lateral and longitudinal control APIs. - # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists - pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None) - if pscm_config: - if len(pscm_config.response) != 24: - ret.dashcamOnly = True - else: - config_tja = pscm_config.response[7] # Traffic Jam Assist - config_lca = pscm_config.response[8] # Lane Centering Assist - if config_tja != 0xFF or config_lca != 0xFF: - ret.dashcamOnly = True # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] From a5ff4a94a6686dacfe0edc3c91951c2b56d2952e Mon Sep 17 00:00:00 2001 From: Shotaro Watanabe Date: Wed, 22 May 2024 23:40:10 +0900 Subject: [PATCH 106/159] devcontainer: add bash-completion (#32510) --- .devcontainer/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 2bd1ccfd62..af67bdbe5d 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,6 +1,6 @@ FROM ghcr.io/commaai/openpilot-base:latest -RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb +RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion RUN pip install ipython jupyter jupyterlab RUN cd /tmp && \ From d96b8bbc01f8c18c38b52cb440f8d72f1d211398 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 May 2024 12:02:26 -0500 Subject: [PATCH 107/159] [bot] Fingerprints: add missing FW versions from new users (#32511) Export fingerprints --- selfdrive/car/hyundai/fingerprints.py | 1 + selfdrive/car/toyota/fingerprints.py | 1 + 2 files changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index a4b84361a7..c1880567b0 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -976,6 +976,7 @@ FW_VERSIONS = { b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 38105e0d9d..6319535714 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -521,6 +521,7 @@ FW_VERSIONS = { ], (Ecu.abs, 0x7b0, None): [ b'\x01F152602280\x00\x00\x00\x00\x00\x00', + b'\x01F152602281\x00\x00\x00\x00\x00\x00', b'\x01F152602470\x00\x00\x00\x00\x00\x00', b'\x01F152602560\x00\x00\x00\x00\x00\x00', b'\x01F152602590\x00\x00\x00\x00\x00\x00', From fe9a091f116dc0c3bb55d35b31512866663af6af Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Wed, 22 May 2024 13:04:43 -0400 Subject: [PATCH 108/159] CI: Drive a loop in MetaDrive (#32308) * finish failure on crossing any line * update * standardize queue messages * update control_command_gen * fix * fix logic * update closing type * update test * update logic * update test * add out of lane to local * ci arrive_dest * pytest integration * update ci_config * fix ruff * move test termination to time * better * better order * curve_len * add buffer * cleanup * cleanup * cleanup * cleanup * out_of_lane * cleanup * merge tests * run 90s * change test name * local out of lane detect * out_of_lane * static anal * cleanup * test_duration * change setup_class -> setup_create_bridge * no print state during test * new out_of_lane detect * cleanup print in common.py * fix * fix * check distance vs time * cleanup * cleanup increase check time * minimum bridge test time * wording * cleanup --- tools/sim/bridge/common.py | 5 +- .../sim/bridge/metadrive/metadrive_bridge.py | 22 +++-- .../sim/bridge/metadrive/metadrive_process.py | 31 +++++-- tools/sim/bridge/metadrive/metadrive_world.py | 41 ++++++++- tools/sim/scenarios/metadrive/stay_in_lane.py | 92 ------------------- tools/sim/tests/conftest.py | 8 ++ tools/sim/tests/test_metadrive_bridge.py | 10 +- tools/sim/tests/test_sim_bridge.py | 15 ++- 8 files changed, 110 insertions(+), 114 deletions(-) delete mode 100755 tools/sim/scenarios/metadrive/stay_in_lane.py create mode 100644 tools/sim/tests/conftest.py diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 275a9a7640..64407143f7 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -60,6 +60,8 @@ class SimulatorBridge(ABC): self.past_startup_engaged = False self.startup_button_prev = True + self.test_run = False + def _on_shutdown(self, signal, frame): self.shutdown() @@ -193,7 +195,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga self.world.tick() self.world.read_cameras() - if self.rk.frame % 25 == 0: + # don't print during test, so no print/IO Block between OP and metadrive processes + if not self.test_run and self.rk.frame % 25 == 0: self.print_status() self.started.value = True diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index cbac215092..74dc1210b9 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -1,3 +1,4 @@ +import math from multiprocessing import Queue from metadrive.component.sensors.base_camera import _cuda_enable @@ -27,20 +28,21 @@ def curve_block(length, angle=45, direction=0): } def create_map(track_size=60): + curve_len = track_size * 2 return dict( type=MapGenerateMethod.PG_MAP_FILE, lane_num=2, - lane_width=3.5, + lane_width=4.5, config=[ None, straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), straight_block(track_size), - curve_block(track_size*2, 90), + curve_block(curve_len, 90), ] ) @@ -48,11 +50,13 @@ def create_map(track_size=60): class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 - def __init__(self, dual_camera, high_quality): - self.should_render = False - + def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False): super().__init__(dual_camera, high_quality) + self.should_render = False + self.test_run = test_run + self.test_duration = test_duration if self.test_run else math.inf + def spawn_world(self, queue: Queue): sensors = { "rgb_road": (RGBCameraRoad, W, H, ) @@ -83,4 +87,4 @@ class MetaDriveBridge(SimulatorBridge): preload_models=False ) - return MetaDriveWorld(queue, config, self.dual_camera) + return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 79eefcd545..ec10b96b3e 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -1,4 +1,5 @@ import math +import time import numpy as np from collections import namedtuple @@ -49,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True): def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, - exit_event): + exit_event, start_time, test_duration, test_run): arrive_dest_done = config.pop("arrive_dest_done", True) apply_metadrive_patches(arrive_dest_done) @@ -60,9 +61,15 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera env = MetaDriveEnv(config) + def get_current_lane_info(vehicle): + _, lane_info, on_lane = vehicle.navigation._get_current_lane(vehicle) + lane_idx = lane_info[2] if lane_info is not None else None + return lane_idx, on_lane + def reset(): env.reset() env.vehicle.config["max_speed_km_h"] = 1000 + lane_idx_prev, _ = get_current_lane_info(env.vehicle) simulation_state = metadrive_simulation_state( running=True, @@ -71,7 +78,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera ) simulation_state_send.send(simulation_state) - reset() + return lane_idx_prev + + lane_idx_prev = reset() def get_cam_as_rgb(cam): cam = env.engine.sensors[cam] @@ -108,13 +117,23 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera vc = [steer_metadrive, gas] if should_reset: - reset() + lane_idx_prev = reset() if rk.frame % 5 == 0: - obs, _, terminated, _, info = env.step(vc) + _, _, terminated, _, _ = env.step(vc) + timeout = True if time.monotonic() - start_time >= test_duration else False + lane_idx_curr, on_lane = get_current_lane_info(env.vehicle) + out_of_lane = lane_idx_curr != lane_idx_prev or not on_lane + lane_idx_prev = lane_idx_curr + + if terminated or ((out_of_lane or timeout) and test_run): + if terminated: + done_result = env.done_function("default_agent") + elif out_of_lane: + done_result = (True, {"out_of_lane" : True}) + elif timeout: + done_result = (True, {"timeout" : True}) - if terminated: - done_result = env.done_function("default_agent") simulation_state = metadrive_simulation_state( running=False, done=done_result[0], diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 35a8288680..5d1a2f3074 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H class MetaDriveWorld(World): - def __init__(self, status_q, config, dual_camera = False): + def __init__(self, status_q, config, test_duration, test_run, dual_camera=False): super().__init__(dual_camera) self.status_q = status_q self.camera_array = Array(ctypes.c_uint8, W*H*3) @@ -30,11 +30,18 @@ class MetaDriveWorld(World): self.exit_event = multiprocessing.Event() + self.test_run = test_run + + self.start_time = time.monotonic() + self.first_engage = None + self.last_check_timestamp = 0 + self.distance_moved = 0 + self.metadrive_process = multiprocessing.Process(name="metadrive process", target= functools.partial(metadrive_process, dual_camera, config, self.camera_array, self.wide_camera_array, self.image_lock, self.controls_recv, self.simulation_state_send, - self.vehicle_state_send, self.exit_event)) + self.vehicle_state_send, self.exit_event, self.start_time, test_duration, self.test_run)) self.metadrive_process.start() self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting")) @@ -43,7 +50,7 @@ class MetaDriveWorld(World): print("---- Spawning Metadrive world, this might take awhile ----") print("----------------------------------------------------------") - self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched + self.vehicle_last_pos = self.vehicle_state_recv.recv().position # wait for a state message to ensure metadrive is launched self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "started")) self.steer_ratio = 15 @@ -76,12 +83,38 @@ class MetaDriveWorld(World): def read_sensors(self, state: SimulatorState): while self.vehicle_state_recv.poll(0): md_vehicle: metadrive_vehicle_state = self.vehicle_state_recv.recv() + curr_pos = md_vehicle.position + state.velocity = md_vehicle.velocity state.bearing = md_vehicle.bearing state.steering_angle = md_vehicle.steering_angle - state.gps.from_xy(md_vehicle.position) + state.gps.from_xy(curr_pos) state.valid = True + is_engaged = state.is_engaged + if is_engaged and self.first_engage is None: + self.first_engage = time.monotonic() + # check moving 5 seconds after engaged, doesn't move right away + after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run + + x_dist = abs(curr_pos[0] - self.vehicle_last_pos[0]) + y_dist = abs(curr_pos[1] - self.vehicle_last_pos[1]) + dist_threshold = 1 + if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving + self.distance_moved += x_dist + y_dist + + time_check_threshold = 30 + current_time = time.monotonic() + since_last_check = current_time - self.last_check_timestamp + if since_last_check >= time_check_threshold: + if after_engaged_check and self.distance_moved == 0: + self.status_q.put(QueueMessage(QueueMessageType.TERMINATION_INFO, {"vehicle_not_moving" : True})) + self.exit_event.set() + + self.last_check_timestamp = current_time + self.distance_moved = 0 + self.vehicle_last_pos = curr_pos + def read_cameras(self): pass diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py deleted file mode 100755 index 683ce55162..0000000000 --- a/tools/sim/scenarios/metadrive/stay_in_lane.py +++ /dev/null @@ -1,92 +0,0 @@ -#!/usr/bin/env python - -from multiprocessing import Queue - -from metadrive.component.sensors.base_camera import _cuda_enable -from metadrive.component.map.pg_map import MapGenerateMethod - -from openpilot.tools.sim.bridge.common import SimulatorBridge -from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide -from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld -from openpilot.tools.sim.lib.camerad import W, H - - -def create_map(): - return dict( - type=MapGenerateMethod.PG_MAP_FILE, - lane_num=2, - lane_width=3.5, - config=[ - { - "id": "S", - "pre_block_socket_index": 0, - "length": 60, - }, - { - "id": "C", - "pre_block_socket_index": 0, - "length": 60, - "radius": 600, - "angle": 45, - "dir": 0, - }, - ] - ) - - -class MetaDriveBridge(SimulatorBridge): - TICKS_PER_FRAME = 5 - - def __init__(self, world_status_q, dual_camera, high_quality): - self.world_status_q = world_status_q - self.should_render = False - - super().__init__(dual_camera, high_quality) - - def spawn_world(self): - sensors = { - "rgb_road": (RGBCameraRoad, W, H, ) - } - - if self.dual_camera: - sensors["rgb_wide"] = (RGBCameraWide, W, H) - - config = dict( - use_render=self.should_render, - vehicle_config=dict( - enable_reverse=False, - image_source="rgb_road", - ), - sensors=sensors, - image_on_cuda=_cuda_enable, - image_observation=True, - interface_panel=[], - out_of_route_done=True, - on_continuous_line_done=True, - crash_vehicle_done=True, - crash_object_done=True, - arrive_dest_done=True, - traffic_density=0.0, - map_config=create_map(), - map_region_size=2048, - decision_repeat=1, - physics_world_step_size=self.TICKS_PER_FRAME/100, - preload_models=False - ) - - return MetaDriveWorld(world_status_q, config, self.dual_camera) - - -if __name__ == "__main__": - command_queue: Queue = Queue() - world_status_q: Queue = Queue() - simulator_bridge = MetaDriveBridge(world_status_q, True, False) - simulator_process = simulator_bridge.run(command_queue) - - while True: - world_status = world_status_q.get() - print(f"World Status: {str(world_status)}") - if world_status["status"] == "terminating": - break - - simulator_process.join() diff --git a/tools/sim/tests/conftest.py b/tools/sim/tests/conftest.py new file mode 100644 index 0000000000..ddf6635276 --- /dev/null +++ b/tools/sim/tests/conftest.py @@ -0,0 +1,8 @@ +import pytest + +def pytest_addoption(parser): + parser.addoption("--test_duration", action="store", default=60, type=int, help="Seconds to run metadrive drive") + +@pytest.fixture +def test_duration(request): + return request.config.getoption("--test_duration") diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 37bae63780..f06110184b 100755 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import pytest import warnings + # Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API warnings.filterwarnings("ignore", category=DeprecationWarning) @@ -10,5 +11,12 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase @pytest.mark.slow @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log class TestMetaDriveBridge(TestSimBridgeBase): + @pytest.fixture(autouse=True) + def setup_create_bridge(self, test_duration): + # run bridge test for at least 60s, since not-moving check runs every 30s + if test_duration < 60: + test_duration = 60 + self.test_duration = test_duration + def create_bridge(self): - return MetaDriveBridge(False, False) + return MetaDriveBridge(False, False, self.test_duration, True) diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index 6b8b811fbb..aaa90f153f 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -7,6 +7,7 @@ from multiprocessing import Queue from cereal import messaging from openpilot.common.basedir import BASEDIR +from openpilot.tools.sim.bridge.common import QueueMessageType SIM_DIR = os.path.join(BASEDIR, "tools/sim") @@ -19,7 +20,7 @@ class TestSimBridgeBase: def setup_method(self): self.processes = [] - def test_engage(self): + def test_driving(self): # Startup manager and bridge.py. Check processes are running, then engage and verify. p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR) self.processes.append(p_manager) @@ -70,6 +71,18 @@ class TestSimBridgeBase: assert min_counts_control_active == control_active, f"Simulator did not engage a minimal of {min_counts_control_active} steps was {control_active}" + failure_states = [] + while bridge.started.value: + continue + + while not q.empty(): + state = q.get() + if state.type == QueueMessageType.TERMINATION_INFO: + done_info = state.info + failure_states = [done_state for done_state in done_info if done_state != "timeout" and done_info[done_state]] + break + assert len(failure_states) == 0, f"Simulator fails to finish a loop. Failure states: {failure_states}" + def teardown_method(self): print("Test shutting down. CommIssues are acceptable") for p in reversed(self.processes): From fa2d5bca57a10bc54667d7e5e3e2ef5fbe80992f Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 22 May 2024 15:18:06 -0700 Subject: [PATCH 109/159] controlsd: explicitly ignore camera states in process replay (#32515) * explicitly ignore * Update selfdrive/controls/controlsd.py Co-authored-by: Shane Smiskol --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/controlsd.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 110826d949..1fb7f59496 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -91,6 +91,9 @@ class Controls: ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] + if REPLAY: + # no vipc in replay will make them ignored anyways + ignore += ['roadCameraState', 'wideRoadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', From 749455c91dc27ed876d1b194c1d84bd481eefb00 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 22 May 2024 15:47:11 -0700 Subject: [PATCH 110/159] Update process replay refs with updated submaster alive behavior (#32508) * add cereal * update cereal * cereal master * lol really * ref com * ref --- cereal | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 5812f2c075..51cbf6294e 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5812f2c075a5364cecafe4e8ed68a12b12a5631f +Subproject commit 51cbf6294efb356347b2c18b3df9904d11a7ff43 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index fd1d753467..4b754b9899 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -555,7 +555,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["liveLocationKalman", "carState", "carControl"], + pubs=["liveLocationKalman", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dc7e59b54f..c3ab383967 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c84b55c256ccb0ee042643a8a7f7f4dc429ff157 \ No newline at end of file +da1b19b2d1d54412ac72f2e9645046d262f9c7ab \ No newline at end of file From ef1b6b47032b862ca220e7c2ca6d9ccfd41d6957 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 May 2024 19:12:54 -0500 Subject: [PATCH 111/159] test car interfaces: catch more FW-related failures (#32514) * only pick ecus from brand * use superset of all requests * much better * clean up * clean up * try 150 * ? * ??? * faster debug * wtf * no clue * run push! * this shouldn't catch it * clean up * rm --- selfdrive/car/tests/test_car_interfaces.py | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index dfdf44215d..618bcd9627 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -11,7 +11,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars -from openpilot.selfdrive.car.fw_versions import FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -19,7 +19,10 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator -ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) +ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} +ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus} + +ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests} MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40')) @@ -31,7 +34,7 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: gen_empty_fingerprint()}) # only pick from possible ecus to reduce search space - car_fw_strategy = st.lists(st.sampled_from(ALL_ECUS)) + car_fw_strategy = st.lists(st.sampled_from(sorted(ALL_ECUS))) params_strategy = st.fixed_dictionaries({ 'fingerprints': fingerprint_strategy, @@ -40,7 +43,9 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: }) params: dict = draw(params_strategy) - params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']] + params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0, + request=draw(st.sampled_from(sorted(ALL_REQUESTS)))) + for fw in params['car_fw']] return params From 423016d6e9213e10fe7ababa128ee8a99b168540 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 22 May 2024 17:16:05 -0700 Subject: [PATCH 112/159] rm disabled notebooks test --- .github/workflows/tools_tests.yaml | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index c2e900fb12..fd05300f0c 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -87,21 +87,3 @@ jobs: devcontainer exec --workspace-folder . pip install pip-install-test devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json devcontainer exec --workspace-folder . sudo touch /root/test.txt - - notebooks: - name: notebooks - runs-on: ubuntu-latest - if: false && github.repository == 'commaai/openpilot' - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Test notebooks - timeout-minutes: 3 - run: | - ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/" From 7a6818da7edc888ab51f5631775af1eb452375c7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 May 2024 19:27:22 -0500 Subject: [PATCH 113/159] Reapply "Ford: detect missing LKAS from EPS configuration (#31821)" (#32518) * Reapply "Ford: detect missing LKAS from EPS configuration (#31821)" This reverts commit ffb34e558fe369bb5a5d6d7ff476c3b8e601f6db. * catch * now fix * clean up --- selfdrive/car/ford/interface.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7dca458083..2ef5d427e6 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -39,6 +39,18 @@ class CarInterface(CarInterfaceBase): if ret.flags & FordFlags.CANFD: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD + else: + # Lock out if the car does not have needed lateral and longitudinal control APIs. + # Note that we also check CAN for adaptive cruise, but no known signal for LCA exists + pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None) + if pscm_config: + if len(pscm_config.fwVersion) != 24: + ret.dashcamOnly = True + else: + config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist + config_lca = pscm_config.fwVersion[8] # Lane Centering Assist + if config_tja != 0xFF or config_lca != 0xFF: + ret.dashcamOnly = True # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] From f5752121f8a2029050c63cfa04f2533901ae4f3a Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Thu, 23 May 2024 07:56:18 -0700 Subject: [PATCH 114/159] Removal of pyenv (#32512) * initial removal of pyenv * remove .python-version copy in dockerfile * successful image build with ppa * update prompt * pip install scons * apt install scons * finally fix dockerfile to work with venv * cleanup userflow * increase memory to 100m * typos * wrong variable * lmao --- .python-version | 1 - Dockerfile.openpilot_base | 13 +++----- selfdrive/test/ci_shell.sh | 1 + tools/install_python_dependencies.sh | 46 +++------------------------- tools/install_ubuntu_dependencies.sh | 26 +++++++++++++++- tools/mac_setup.sh | 5 ++- 6 files changed, 38 insertions(+), 54 deletions(-) delete mode 100644 .python-version diff --git a/.python-version b/.python-version deleted file mode 100644 index 0c7d5f5f5d..0000000000 --- a/.python-version +++ /dev/null @@ -1 +0,0 @@ -3.11.4 diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 0789a39c3e..857f796fd4 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \ +RUN INSTALL_EXTRA_PACKAGES=no INSTALL_DEADSNAKES_PPA=yes /tmp/tools/install_ubuntu_dependencies.sh && \ rm -rf /var/lib/apt/lists/* /tmp/* && \ cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp @@ -64,19 +64,16 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers USER $USER ENV POETRY_VIRTUALENVS_CREATE=false -ENV PYENV_VERSION=3.11.4 -ENV PYENV_ROOT="/home/$USER/pyenv" -ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" +ENV VIRTUAL_ENV_ROOT="/home/$USER/venv" +ENV PATH="$VIRTUAL_ENV_ROOT/bin:$PYENV_ROOT/lib:$PATH" -COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/ +COPY --chown=$USER pyproject.toml poetry.lock /tmp/ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ tools/install_python_dependencies.sh && \ rm -rf /tmp/* && \ - rm -rf /home/$USER/.cache && \ - find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \ - rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test + rm -rf /home/$USER/.cache USER root RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh index a5ff714b2d..1f3fa1f650 100755 --- a/selfdrive/test/ci_shell.sh +++ b/selfdrive/test/ci_shell.sh @@ -11,6 +11,7 @@ fi docker run \ -it \ + --shm-size=100m \ --rm \ --volume $OP_ROOT:$OP_ROOT \ --workdir $PWD \ diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index df815b582f..0a2ae0d580 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -10,50 +10,15 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then RC_FILE="$HOME/.bash_profile" fi -if ! command -v "pyenv" > /dev/null 2>&1; then - echo "pyenv install ..." - curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash - PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH" -fi - -if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then - echo "pyenvrc setup ..." - cat < "${HOME}/.pyenvrc" -if [ -z "\$PYENV_ROOT" ]; then - $PYENV_PATH_SETUP - export PYENV_ROOT="\$HOME/.pyenv" - eval "\$(pyenv init -)" - eval "\$(pyenv virtualenv-init -)" -fi -EOF - - SOURCE_PYENVRC="source ~/.pyenvrc" - if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then - printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE - fi - - eval "$SOURCE_PYENVRC" - # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS - if [ $(uname) == "Darwin" ]; then - unset -f pyenv - fi -fi - export MAKEFLAGS="-j$(nproc)" -PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) -if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then - # no pyenv update on mac - if [ "$(uname)" == "Linux" ]; then - echo "pyenv update ..." - pyenv update - fi - echo "python ${PYENV_PYTHON_VERSION} install ..." - CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION} -fi -eval "$(pyenv init --path)" + echo "update pip" +if [ ! -z "\$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then + python3 -m venv --system-site-packages $VIRTUAL_ENV_ROOT + source $VIRTUAL_ENV_ROOT/bin/activate +fi pip install pip==24.0 pip install poetry==1.7.0 @@ -71,7 +36,6 @@ poetry self add poetry-dotenv-plugin@^0.1.0 echo "pip packages install..." poetry install --no-cache --no-root -pyenv rehash [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 1f8ef24eaf..cd3ba29342 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -99,13 +99,37 @@ function install_ubuntu_lts_latest_requirements() { # Install Ubuntu 20.04 packages function install_ubuntu_focal_requirements() { install_ubuntu_common_requirements - + install_deadsnakes_ppa $SUDO apt-get install -y --no-install-recommends \ libavresample-dev \ qt5-default \ python-dev } +# Remove once on Ubuntu 24.04 +function install_deadsnakes_ppa(){ + if [[ -z "$INSTALL_DEADSNAKES_PPA" ]]; then + read -p "Do you want to use deadsnakes python@3.11? [Y/n]: " -n 1 -r + echo "" + if [[ $REPLY =~ ^[Yy]$ ]]; then + INSTALL_DEADSNAKES_PPA="yes" + export VIRTUAL_ENV_ROOT=".venv" + fi + fi + if [[ "$INSTALL_DEADSNAKES_PPA" == "yes" ]]; then + $SUDO apt-get install software-properties-common -y --no-install-recommends + $SUDO add-apt-repository ppa:deadsnakes/ppa + $SUDO apt-get install -y --no-install-recommends \ + python3.11-dev \ + python3.11 \ + python3.11-venv \ + python3.11-distutils \ + python3-pip + $SUDO update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 20 + curl -sS https://bootstrap.pypa.io/get-pip.py | python3.11 + fi +} + # Detect OS using /etc/os-release file if [ -f "/etc/os-release" ]; then source /etc/os-release diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index d26ec3cfe2..b021866855 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -6,7 +6,7 @@ if [ -z "$SKIP_PROMPT" ]; then echo "--------------- macOS support ---------------" echo "Running openpilot natively on macOS is not officially supported." echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." - echo + echo echo "Check out devcontainers for a seamless experience (see tools/README.md)." echo "-------------------------------------------------" echo -n "Are you sure you want to continue? [y/N] " @@ -59,8 +59,7 @@ brew "libusb" brew "libtool" brew "llvm" brew "openssl@3.0" -brew "pyenv" -brew "pyenv-virtualenv" +brew "python@3.11" brew "qt@5" brew "zeromq" cask "gcc-arm-embedded" From 278c31287618d79a8908cac475f57905f8538ab5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 23 May 2024 11:24:10 -0700 Subject: [PATCH 115/159] remove a pyenv reference --- Dockerfile.openpilot_base | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 857f796fd4..2e839e7589 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -65,7 +65,7 @@ USER $USER ENV POETRY_VIRTUALENVS_CREATE=false ENV VIRTUAL_ENV_ROOT="/home/$USER/venv" -ENV PATH="$VIRTUAL_ENV_ROOT/bin:$PYENV_ROOT/lib:$PATH" +ENV PATH="$VIRTUAL_ENV_ROOT/bin" COPY --chown=$USER pyproject.toml poetry.lock /tmp/ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ From 38c0fdac473797d81277a7a8d448f2b663277289 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 23 May 2024 11:30:56 -0700 Subject: [PATCH 116/159] fix PATH --- Dockerfile.openpilot_base | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 2e839e7589..2c5f9a035b 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -65,7 +65,7 @@ USER $USER ENV POETRY_VIRTUALENVS_CREATE=false ENV VIRTUAL_ENV_ROOT="/home/$USER/venv" -ENV PATH="$VIRTUAL_ENV_ROOT/bin" +ENV PATH="$VIRTUAL_ENV_ROOT/bin:$PATH" COPY --chown=$USER pyproject.toml poetry.lock /tmp/ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ From e0d20d2cf33a4398426e7ca4886bf6231d1220ad Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 23 May 2024 15:30:21 -0700 Subject: [PATCH 117/159] process_replay: most messages valid check (#32521) * check_most_messages_valid impl * Add to both regen and test_processes * Refactor * Bring back carOutput * Use Counter * Use get(k, 0) --- selfdrive/test/process_replay/process_replay.py | 17 ++++++++++++++++- selfdrive/test/process_replay/regen.py | 4 +++- selfdrive/test/process_replay/test_processes.py | 5 ++++- 3 files changed, 23 insertions(+), 3 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 4b754b9899..529ed91f7e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -6,7 +6,7 @@ import json import heapq import signal import platform -from collections import OrderedDict +from collections import Counter, OrderedDict from dataclasses import dataclass, field from typing import Any from collections.abc import Callable, Iterable @@ -816,3 +816,18 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool: max_enabled_count = max(max_enabled_count, cur_enabled_count) return max_enabled_count > int(10. / DT_CTRL) + + +def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool: + msgs_counts = Counter(msg.which() for msg in msgs) + msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid) + + most_valid_for_service = {} + for msg_type in msgs_counts.keys(): + valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type] + ok = valid_share >= threshold + if not ok: + print(f"WARNING: Service {msg_type} has {valid_share * 100:.2f}% valid messages, which is below threshold of {threshold * 100:.2f}%") + most_valid_for_service[msg_type] = ok + + return all(most_valid_for_service.values()) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index ec3023c5dc..bf7a4bfd97 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -9,7 +9,7 @@ from typing import Any from collections.abc import Iterable from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ - check_openpilot_enabled, get_custom_params_from_lr + check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES from openpilot.selfdrive.test.update_ci_routes import upload_route from openpilot.tools.lib.route import Route @@ -129,6 +129,8 @@ def regen_and_save( if not check_openpilot_enabled(output_logs): raise Exception("Route did not engage for long enough") + if not check_most_messages_valid(output_logs): + raise Exception("Route has too many invalid messages") if upload: upload_route(rel_log_dir) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index c0a425b599..533ab125f9 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -11,7 +11,8 @@ from openpilot.common.git import get_commit from openpilot.selfdrive.car.car_helpers import interface_names from openpilot.tools.lib.openpilotci import get_url, upload_file from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ + check_openpilot_enabled, check_most_messages_valid from openpilot.tools.lib.filereader import FileReader from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.helpers import save_log @@ -108,6 +109,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non if cfg.proc_name == "controlsd": if not check_openpilot_enabled(log_msgs): return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs + if not check_most_messages_valid(log_msgs): + return f"Route did not have enough valid messages: {new_log_path}", log_msgs if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0': seen_msgs = {m.which() for m in log_msgs} From 204219695f57f6ba76347df4df99e00a28b51e9f Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 23 May 2024 20:14:28 -0700 Subject: [PATCH 118/159] dmonitoringd: simplify main loop (#32517) * one call does all * no need * update etst * filename * dbf5b05ff480145a79b5941e360d0698b70979cd --- release/files_common | 2 +- selfdrive/monitoring/dmonitoringd.py | 66 +----- .../{driver_monitor.py => helpers.py} | 205 +++++++++++------- selfdrive/monitoring/test_monitoring.py | 15 +- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 150 insertions(+), 140 deletions(-) rename selfdrive/monitoring/{driver_monitor.py => helpers.py} (82%) diff --git a/release/files_common b/release/files_common index 8636959da5..f6afd9390e 100644 --- a/release/files_common +++ b/release/files_common @@ -357,7 +357,7 @@ selfdrive/modeld/runners/*.h selfdrive/modeld/runners/*.py selfdrive/monitoring/dmonitoringd.py -selfdrive/monitoring/driver_monitor.py +selfdrive/monitoring/helpers.py selfdrive/navd/.gitignore selfdrive/navd/__init__.py diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 91a4932584..e572bf5bd9 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -2,11 +2,9 @@ import gc import cereal.messaging as messaging -from cereal import car from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority -from openpilot.selfdrive.controls.lib.events import Events -from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus +from openpilot.selfdrive.monitoring.helpers import DriverMonitoring def dmonitoringd_thread(): @@ -17,70 +15,30 @@ def dmonitoringd_thread(): pm = messaging.PubMaster(['driverMonitoringState']) sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2') - driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) - - driver_engaged = False + DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) # 20Hz <- dmonitoringmodeld while True: sm.update() - if not sm.updated['driverStateV2']: + if (not sm.updated['driverStateV2']) or (not sm.all_checks()): + # iterate when model has new output continue - # Get interaction - if sm.updated['carState']: - driver_engaged = sm['carState'].steeringPressed or \ - sm['carState'].gasPressed + DM.run_step(sm) - if sm.updated['modelV2']: - driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo) - - # Get data from dmonitoringmodeld - events = Events() - - if sm.all_checks() and len(sm['liveCalibration'].rpyCalib): - driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) - - # Block engaging after max number of distrations or when alert active - if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ - driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION or \ - driver_status.always_on and driver_status.awareness <= driver_status.threshold_prompt: - events.add(car.CarEvent.EventName.tooDistracted) - - # Update events from driver state - driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, - sm['carState'].standstill, sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], sm['carState'].vEgo) - - # build driverMonitoringState packet - dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks()) - dat.driverMonitoringState = { - "events": events.to_msg(), - "faceDetected": driver_status.face_detected, - "isDistracted": driver_status.driver_distracted, - "distractedType": sum(driver_status.distracted_types), - "awarenessStatus": driver_status.awareness, - "posePitchOffset": driver_status.pose.pitch_offseter.filtered_stat.mean(), - "posePitchValidCount": driver_status.pose.pitch_offseter.filtered_stat.n, - "poseYawOffset": driver_status.pose.yaw_offseter.filtered_stat.mean(), - "poseYawValidCount": driver_status.pose.yaw_offseter.filtered_stat.n, - "stepChange": driver_status.step_change, - "awarenessActive": driver_status.awareness_active, - "awarenessPassive": driver_status.awareness_passive, - "isLowStd": driver_status.pose.low_std, - "hiStdCount": driver_status.hi_stds, - "isActiveMode": driver_status.active_monitoring_mode, - "isRHD": driver_status.wheel_on_right, - } + # publish + dat = DM.get_state_packet() pm.send('driverMonitoringState', dat) + # load live always-on toggle if sm['driverStateV2'].frameId % 40 == 1: - driver_status.always_on = params.get_bool("AlwaysOnDM") + DM.always_on = params.get_bool("AlwaysOnDM") # save rhd virtual toggle every 5 mins if (sm['driverStateV2'].frameId % 6000 == 0 and - driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and - driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): - params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) + DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and + DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)): + params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right) def main(): dmonitoringd_thread() diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/helpers.py similarity index 82% rename from selfdrive/monitoring/driver_monitor.py rename to selfdrive/monitoring/helpers.py index 85cc19eb8b..347cb245d1 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/helpers.py @@ -1,6 +1,8 @@ from math import atan2 from cereal import car +import cereal.messaging as messaging +from openpilot.selfdrive.controls.lib.events import Events from openpilot.common.numpy_fast import interp from openpilot.common.realtime import DT_DMON from openpilot.common.filter_simple import FirstOrderFilter @@ -71,19 +73,38 @@ class DRIVER_MONITOR_SETTINGS: self._MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts +class DistractedType: + NOT_DISTRACTED = 0 + DISTRACTED_POSE = 1 << 0 + DISTRACTED_BLINK = 1 << 1 + DISTRACTED_E2E = 1 << 2 + +class DriverPose: + def __init__(self, max_trackable): + self.yaw = 0. + self.pitch = 0. + self.roll = 0. + self.yaw_std = 0. + self.pitch_std = 0. + self.roll_std = 0. + self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) + self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) + self.calibrated = False + self.low_std = True + self.cfactor_pitch = 1. + self.cfactor_yaw = 1. + +class DriverBlink: + def __init__(self): + self.left = 0. + self.right = 0. + -# TODO: get these live # model output refers to center of undistorted+leveled image EFL = 598.0 # focal length in K cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw -class DistractedType: - NOT_DISTRACTED = 0 - DISTRACTED_POSE = 1 - DISTRACTED_BLINK = 2 - DISTRACTED_E2E = 4 - def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): # the output of these angles are in device frame # so from driver's perspective, pitch is up and yaw is right @@ -102,26 +123,8 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): yaw -= rpy_calib[2] return roll_net, pitch, yaw -class DriverPose: - def __init__(self, max_trackable): - self.yaw = 0. - self.pitch = 0. - self.roll = 0. - self.yaw_std = 0. - self.pitch_std = 0. - self.roll_std = 0. - self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable) - self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable) - self.low_std = True - self.cfactor_pitch = 1. - self.cfactor_yaw = 1. -class DriverBlink: - def __init__(self): - self.left_blink = 0. - self.right_blink = 0. - -class DriverStatus: +class DriverMonitoring: def __init__(self, rhd_saved=False, settings=None, always_on=False): if settings is None: settings = DRIVER_MONITOR_SETTINGS() @@ -131,7 +134,6 @@ class DriverStatus: # init driver status self.wheelpos_learner = RunningStatFilter() self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) - self.pose_calibrated = False self.blink = DriverBlink() self.eev1 = 0. self.eev2 = 1. @@ -141,9 +143,6 @@ class DriverStatus: self.ee2_calibrated = False self.always_on = always_on - self.awareness = 1. - self.awareness_active = 1. - self.awareness_passive = 1. self.distracted_types = [] self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) @@ -160,13 +159,18 @@ class DriverStatus: self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + self._reset_awareness() self._set_timers(active_monitoring=True) + self._reset_events() def _reset_awareness(self): self.awareness = 1. self.awareness_active = 1. self.awareness_passive = 1. + def _reset_events(self): + self.current_events = Events() + def _set_timers(self, active_monitoring): if self.active_monitoring_mode and self.awareness <= self.threshold_prompt: if active_monitoring: @@ -197,41 +201,7 @@ class DriverStatus: self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME self.active_monitoring_mode = False - def _get_distracted_types(self): - distracted_types = [] - - if not self.pose_calibrated: - pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET - yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET - else: - pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(), - self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) - yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(), - self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) - pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit - yaw_error = abs(yaw_error) - if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ - yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: - distracted_types.append(DistractedType.DISTRACTED_POSE) - - if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: - distracted_types.append(DistractedType.DISTRACTED_BLINK) - - if self.ee1_calibrated: - ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ - * self.settings._EE_THRESH12 - else: - ee1_dist = self.eev1 > self.settings._EE_THRESH11 - # if self.ee2_calibrated: - # ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 - # else: - # ee2_dist = self.eev2 < self.settings._EE_THRESH21 - if ee1_dist: - distracted_types.append(DistractedType.DISTRACTED_E2E) - - return distracted_types - - def set_policy(self, model_data, car_speed): + def _set_policy(self, model_data, car_speed): bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2) bp_normal = max(min(bp / k1, 0.5),0) @@ -242,7 +212,37 @@ class DriverStatus: [self.settings._POSE_YAW_THRESHOLD_SLACK, self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD - def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): + def _get_distracted_types(self): + distracted_types = [] + + if not self.pose.calibrated: + pitch_error = self.pose.pitch - self.settings._PITCH_NATURAL_OFFSET + yaw_error = self.pose.yaw - self.settings._YAW_NATURAL_OFFSET + else: + pitch_error = self.pose.pitch - min(max(self.pose.pitch_offseter.filtered_stat.mean(), + self.settings._PITCH_MIN_OFFSET), self.settings._PITCH_MAX_OFFSET) + yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(), + self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) + pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit + yaw_error = abs(yaw_error) + if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ + yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: + distracted_types.append(DistractedType.DISTRACTED_POSE) + + if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: + distracted_types.append(DistractedType.DISTRACTED_BLINK) + + if self.ee1_calibrated: + ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ + * self.settings._EE_THRESH12 + else: + ee1_dist = self.eev1 > self.settings._EE_THRESH11 + if ee1_dist: + distracted_types.append(DistractedType.DISTRACTED_E2E) + + return distracted_types + + def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged): rhd_pred = driver_state.wheelOnRightProb # calibrates only when there's movement and either face detected if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or @@ -270,9 +270,9 @@ class DriverStatus: self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD - self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ + self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ + self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] @@ -291,7 +291,7 @@ class DriverStatus: self.ee1_offseter.push_and_update(self.eev1) self.ee2_offseter.push_and_update(self.eev2) - self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ + self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT @@ -303,11 +303,18 @@ class DriverStatus: elif self.face_detected and self.pose.low_std: self.hi_stds = 0 - def update_events(self, events, driver_engaged, ctrl_active, standstill, wrong_gear, car_speed): + def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed): + self._reset_events() + # Block engaging after max number of distrations or when alert active + if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \ + self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \ + self.always_on and self.awareness <= self.threshold_prompt: + self.current_events.add(EventName.tooDistracted) + always_on_valid = self.always_on and not wrong_gear if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or \ - (not always_on_valid and not ctrl_active) or \ - (always_on_valid and not ctrl_active and self.awareness <= 0): + (not always_on_valid and not op_engaged) or \ + (always_on_valid and not op_engaged and self.awareness <= 0): # always reset on disengage with normal mode; disengage resets only on red if always on self._reset_awareness() return @@ -331,8 +338,8 @@ class DriverStatus: _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt _reaching_terminal = self.awareness - self.step_change <= 0 standstill_exemption = standstill and _reaching_audible - always_on_red_exemption = always_on_valid and not ctrl_active and _reaching_terminal - always_on_lowspeed_exemption = always_on_valid and not ctrl_active and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible + always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal + always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED and _reaching_audible certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected @@ -358,4 +365,52 @@ class DriverStatus: alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive if alert is not None: - events.add(alert) + self.current_events.add(alert) + + + def get_state_packet(self): + # build driverMonitoringState packet + dat = messaging.new_message('driverMonitoringState', valid=True) + dat.driverMonitoringState = { + "events": self.current_events.to_msg(), + "faceDetected": self.face_detected, + "isDistracted": self.driver_distracted, + "distractedType": sum(self.distracted_types), + "awarenessStatus": self.awareness, + "posePitchOffset": self.pose.pitch_offseter.filtered_stat.mean(), + "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, + "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), + "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, + "stepChange": self.step_change, + "awarenessActive": self.awareness_active, + "awarenessPassive": self.awareness_passive, + "isLowStd": self.pose.low_std, + "hiStdCount": self.hi_stds, + "isActiveMode": self.active_monitoring_mode, + "isRHD": self.wheel_on_right, + } + return dat + + def run_step(self, sm): + # Set strictness + self._set_policy( + model_data=sm['modelV2'], + car_speed=sm['carState'].vEgo + ) + + # Parse data from dmonitoringmodeld + self._update_states( + driver_state=sm['driverStateV2'], + cal_rpy=sm['liveCalibration'].rpyCalib, + car_speed=sm['carState'].vEgo, + op_engaged=sm['controlsState'].enabled + ) + + # Update distraction events + self._update_events( + driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed, + op_engaged=sm['controlsState'].enabled, + standstill=sm['carState'].standstill, + wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], + car_speed=sm['carState'].vEgo + ) diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 9395960b65..a960a379e2 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -3,8 +3,7 @@ import numpy as np from cereal import car, log from openpilot.common.realtime import DT_DMON -from openpilot.selfdrive.controls.lib.events import Events -from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS +from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS EventName = car.CarEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() @@ -51,21 +50,19 @@ always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON) always_true = [True] * int(TEST_TIMESPAN / DT_DMON) always_false = [False] * int(TEST_TIMESPAN / DT_DMON) -# TODO: this only tests DriverStatus class TestMonitoring: def _run_seq(self, msgs, interaction, engaged, standstill): - DS = DriverStatus() + DM = DriverMonitoring() events = [] for idx in range(len(msgs)): - e = Events() - DS.update_states(msgs[idx], [0, 0, 0], 0, engaged[idx]) + DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx]) # cal_rpy and car_speed don't matter here # evaluate events at 10Hz for tests - DS.update_events(e, interaction[idx], engaged[idx], standstill[idx], 0, 0) - events.append(e) + DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0) + events.append(DM.current_events) assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs" - return events, DS + return events, DM def _assert_no_events(self, events): assert all(not len(e) for e in events) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c3ab383967..4fec7453fc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -da1b19b2d1d54412ac72f2e9645046d262f9c7ab \ No newline at end of file +dbf5b05ff480145a79b5941e360d0698b70979cd \ No newline at end of file From 652f15d54ee92c83e98b7bce2f0f82e241b14cd2 Mon Sep 17 00:00:00 2001 From: cipioh <30559882+cipioh@users.noreply.github.com> Date: Fri, 24 May 2024 16:39:42 -0400 Subject: [PATCH 119/159] Added ecu firmware data for 2024 Kia EV6 GT (#32524) * Update fingerprints.py added KIA EV6 GT 2024 * Update fingerprints.py added firmware from 2024 Kia EV6 GT * format * update my --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 6 +++--- selfdrive/car/hyundai/fingerprints.py | 1 + selfdrive/car/hyundai/values.py | 6 +++--- 3 files changed, 7 insertions(+), 6 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 4364f10b08..2fe3497f00 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -127,9 +127,9 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Carnival 2022-24[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Carnival (China only) 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index c1880567b0..4518f8b04e 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -967,6 +967,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV200 230510', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', ], diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1e752185e6..9f281f7726 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -478,9 +478,9 @@ class CAR(Platforms): ) KIA_EV6 = HyundaiCanFDPlatformConfig( [ - HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), - HyundaiCarDocs("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarDocs("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) + HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV, From 937ff7f4187aff657d6e447c2f87b28c3d08bc3a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 May 2024 17:48:26 -0500 Subject: [PATCH 120/159] Kia: update Forte 2019-21 min enable speed (#32528) * forte enable speed fix * update docs --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 2fe3497f00..c32bd5c41b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -130,7 +130,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|EV6 (Southeast Asia only) 2022-24[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 9f281f7726..3157aa6aca 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -341,7 +341,7 @@ class CAR(Platforms): # Kia KIA_FORTE = HyundaiPlatformConfig( [ - HyundaiCarDocs("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) From a7065d158b22a6a64ec914bad16546349c952206 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 May 2024 15:49:45 -0700 Subject: [PATCH 121/159] Kia: add 2022 Forte model year The minimum enable speed is also 0 mph with a lead like the 2023, so it's likely supported with this harness --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c32bd5c41b..899c6f8219 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -131,7 +131,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|EV6 (with HDA II) 2022-24[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|EV6 (without HDA II) 2022-24[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K8 Hybrid (with HDA II) 2023[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3157aa6aca..72513c8497 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -342,7 +342,7 @@ class CAR(Platforms): KIA_FORTE = HyundaiPlatformConfig( [ HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), - HyundaiCarDocs("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) ) From 8183715beb961658755b2f19dbba6b07582830cd Mon Sep 17 00:00:00 2001 From: Yassine Date: Fri, 24 May 2024 19:44:14 -0700 Subject: [PATCH 122/159] wip /500 --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index c0f8b16fb1..46bc5d1abe 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6 -size 51452435 +oid sha256:fb503a5698dc76fa992da2b4d5d3f163b2371756dc6e8bc5522eacf76f5cbe4f +size 50229837 From 8bd4540636cf36eb59efcc0ee3a0f0ad81fbb680 Mon Sep 17 00:00:00 2001 From: Yassine Date: Fri, 24 May 2024 19:45:00 -0700 Subject: [PATCH 123/159] Revert "wip /500" This reverts commit 8183715beb961658755b2f19dbba6b07582830cd. --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 46bc5d1abe..c0f8b16fb1 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fb503a5698dc76fa992da2b4d5d3f163b2371756dc6e8bc5522eacf76f5cbe4f -size 50229837 +oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6 +size 51452435 From f4322666c6adc4dd2da569f483f6e108f18fe32a Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Fri, 24 May 2024 21:38:23 -0700 Subject: [PATCH 124/159] `ubuntu_setup`: fix `No module apt_pkg` error when setting up (#32526) * no apt_pkg fix * check arch * fix if * cleanup * reorder * increase shm size for selfdrive tests * add comment explaining reinstall * refine --- .github/workflows/selfdrive_tests.yaml | 2 +- tools/install_python_dependencies.sh | 5 ++++- tools/install_ubuntu_dependencies.sh | 6 ++++-- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1c83c39bbb..1aa08f205b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -19,7 +19,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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 + RUN: docker run --shm-size 1.5G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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 $BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index 0a2ae0d580..eaa32a0a4b 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -15,7 +15,10 @@ export MAKEFLAGS="-j$(nproc)" echo "update pip" -if [ ! -z "\$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then +if [ ! -z "$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then + if [ -z "$VIRTUAL_ENV_ROOT" ]; then + export VIRTUAL_ENV_ROOT="venv" + fi python3 -m venv --system-site-packages $VIRTUAL_ENV_ROOT source $VIRTUAL_ENV_ROOT/bin/activate fi diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index cd3ba29342..2469168c74 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -113,11 +113,13 @@ function install_deadsnakes_ppa(){ echo "" if [[ $REPLY =~ ^[Yy]$ ]]; then INSTALL_DEADSNAKES_PPA="yes" - export VIRTUAL_ENV_ROOT=".venv" fi fi if [[ "$INSTALL_DEADSNAKES_PPA" == "yes" ]]; then - $SUDO apt-get install software-properties-common -y --no-install-recommends + # The reinstall ensures that apt_pkg.cpython-35m-x86_64-linux-gnu.so exists + # by reinstalling python3-minimal since it's not present in /usr/lib/python3/dist-packages. + $SUDO apt install -y --no-install-recommends --reinstall python3-minimal + $SUDO apt-get install -y --no-install-recommends python3-apt software-properties-common $SUDO add-apt-repository ppa:deadsnakes/ppa $SUDO apt-get install -y --no-install-recommends \ python3.11-dev \ From 6ecb7103057073a11dfa0e93262d22f8d41228e5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 25 May 2024 05:29:54 -0500 Subject: [PATCH 125/159] LongitudinalMpc: use DT_MDL (#32532) bad magic number --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 6 ++++-- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 39cfda4e8a..bad37add63 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -4,6 +4,7 @@ import time import numpy as np from cereal import log from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_MDL from openpilot.common.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild from openpilot.selfdrive.modeld.constants import index_function @@ -220,8 +221,9 @@ def gen_long_ocp(): class LongitudinalMpc: - def __init__(self, mode='acc'): + def __init__(self, mode='acc', dt=DT_MDL): self.mode = mode + self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() self.source = SOURCES[2] @@ -440,7 +442,7 @@ class LongitudinalMpc: self.a_solution = self.x_sol[:,2] self.j_solution = self.u_sol[:,0] - self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) + self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) t = time.monotonic() if self.solution_status != 0: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 6cc6e80d3d..9113bb5a96 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -47,7 +47,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP - self.mpc = LongitudinalMpc() + self.mpc = LongitudinalMpc(dt=dt) self.fcw = False self.dt = dt From 95aa7c4b681c8ca0f23c7396e4d7a5840383c929 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 25 May 2024 11:42:23 -0500 Subject: [PATCH 126/159] [bot] Fingerprints: add missing FW versions from new users (#32533) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 2 ++ selfdrive/car/honda/fingerprints.py | 1 + 2 files changed, 3 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index b974d3dd4d..d71ec5d306 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -153,6 +153,7 @@ FW_VERSIONS = { b'68496647AJ ', b'68496650AH ', b'68496650AI ', + b'68496652AH ', b'68526752AD ', b'68526752AE ', b'68526754AE ', @@ -168,6 +169,7 @@ FW_VERSIONS = { b'68443155AC', b'68443158AB', b'68501050AD', + b'68501051AD', b'68501055AD', b'68527221AB', b'68527223AB', diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 4d70c2c35f..26433a8b90 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -794,6 +794,7 @@ FW_VERSIONS = { b'37805-RLV-L350\x00\x00', b'37805-RLV-L410\x00\x00', b'37805-RLV-L430\x00\x00', + b'37805-RLV-L830\x00\x00', b'37805-RLV-L850\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ From 613f73c53fa1cd3525a0cb3af0615783bd213fd0 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Sat, 25 May 2024 13:37:07 -0400 Subject: [PATCH 127/159] CI/simulator: metadrive test starts when OP engaged and world is initialized (#32523) * fix metadrive start time * fix --- tools/sim/bridge/metadrive/metadrive_process.py | 11 ++++++++--- tools/sim/bridge/metadrive/metadrive_world.py | 6 ++++-- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index ec10b96b3e..2b9203c30d 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -50,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True): def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, - exit_event, start_time, test_duration, test_run): + exit_event, op_engaged, test_duration, test_run): arrive_dest_done = config.pop("arrive_dest_done", True) apply_metadrive_patches(arrive_dest_done) @@ -81,6 +81,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera return lane_idx_prev lane_idx_prev = reset() + start_time = None def get_cam_as_rgb(cam): cam = env.engine.sensors[cam] @@ -104,7 +105,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera bearing=float(math.degrees(env.vehicle.heading_theta)), steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING ) - vehicle_state_send.send(vehicle_state) if controls_recv.poll(0): @@ -118,10 +118,15 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera if should_reset: lane_idx_prev = reset() + start_time = None + + is_engaged = op_engaged.is_set() + if is_engaged and start_time is None: + start_time = time.monotonic() if rk.frame % 5 == 0: _, _, terminated, _, _ = env.step(vc) - timeout = True if time.monotonic() - start_time >= test_duration else False + timeout = True if start_time is not None and time.monotonic() - start_time >= test_duration else False lane_idx_curr, on_lane = get_current_lane_info(env.vehicle) out_of_lane = lane_idx_curr != lane_idx_prev or not on_lane lane_idx_prev = lane_idx_curr diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 5d1a2f3074..5bb4555dc1 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -29,10 +29,10 @@ class MetaDriveWorld(World): self.vehicle_state_send, self.vehicle_state_recv = Pipe() self.exit_event = multiprocessing.Event() + self.op_engaged = multiprocessing.Event() self.test_run = test_run - self.start_time = time.monotonic() self.first_engage = None self.last_check_timestamp = 0 self.distance_moved = 0 @@ -41,7 +41,7 @@ class MetaDriveWorld(World): functools.partial(metadrive_process, dual_camera, config, self.camera_array, self.wide_camera_array, self.image_lock, self.controls_recv, self.simulation_state_send, - self.vehicle_state_send, self.exit_event, self.start_time, test_duration, self.test_run)) + self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run)) self.metadrive_process.start() self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting")) @@ -94,6 +94,8 @@ class MetaDriveWorld(World): is_engaged = state.is_engaged if is_engaged and self.first_engage is None: self.first_engage = time.monotonic() + self.op_engaged.set() + # check moving 5 seconds after engaged, doesn't move right away after_engaged_check = is_engaged and time.monotonic() - self.first_engage >= 5 and self.test_run From b9244f103114607c0ca8e543660a284339c045f1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 11:09:08 -0700 Subject: [PATCH 128/159] move rerun to dev dependencies (#32534) --- poetry.lock | 340 ++++++++++++++++++++++++------------------------- pyproject.toml | 2 +- 2 files changed, 168 insertions(+), 174 deletions(-) diff --git a/poetry.lock b/poetry.lock index 471994a723..01ec394f22 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. 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fastapi = ["fastapi (>=0.79.0)"] flask = ["blinker (>=1.1)", "flask (>=0.11)", "markupsafe"] -grpcio = ["grpcio (>=1.21.1)"] +grpcio = ["grpcio (>=1.21.1)", "protobuf (>=3.8.0)"] httpx = ["httpx (>=0.16.0)"] huey = ["huey (>=2)"] huggingface-hub = ["huggingface-hub (>=0.22)"] @@ -7397,19 +7392,18 @@ test = ["pytest"] [[package]] name = "setuptools" -version = "69.5.1" +version = "70.0.0" description = "Easily download, build, install, upgrade, and uninstall Python packages" optional = false python-versions = ">=3.8" files = [ - {file = "setuptools-69.5.1-py3-none-any.whl", hash = "sha256:c636ac361bc47580504644275c9ad802c50415c7522212252c033bd15f301f32"}, - {file = "setuptools-69.5.1.tar.gz", hash = "sha256:6c1fccdac05a97e598fb0ae3bbed5904ccb317337a51139dcd51453611bbb987"}, + {file = "setuptools-70.0.0-py3-none-any.whl", hash = "sha256:54faa7f2e8d2d11bcd2c07bed282eef1046b5c080d1c32add737d7b5817b1ad4"}, + {file = "setuptools-70.0.0.tar.gz", hash = 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[[package]] name = "shapely" @@ -7808,13 +7802,13 @@ telegram = ["requests"] [[package]] name = "types-requests" -version = "2.31.0.20240406" +version = "2.32.0.20240523" description = "Typing stubs for requests" optional = false python-versions = ">=3.8" files = [ - {file = "types-requests-2.31.0.20240406.tar.gz", hash = "sha256:4428df33c5503945c74b3f42e82b181e86ec7b724620419a2966e2de604ce1a1"}, - {file = "types_requests-2.31.0.20240406-py3-none-any.whl", hash = "sha256:6216cdac377c6b9a040ac1c0404f7284bd13199c0e1bb235f4324627e8898cf5"}, + {file = "types-requests-2.32.0.20240523.tar.gz", hash = "sha256:26b8a6de32d9f561192b9942b41c0ab2d8010df5677ca8aa146289d11d505f57"}, + {file = "types_requests-2.32.0.20240523-py3-none-any.whl", hash = "sha256:f19ed0e2daa74302069bbbbf9e82902854ffa780bc790742a810a9aaa52f65ec"}, ] [package.dependencies] @@ -7833,13 +7827,13 @@ files = [ [[package]] name = "typing-extensions" -version = "4.11.0" +version = "4.12.0" description = "Backported and Experimental Type Hints for Python 3.8+" optional = false python-versions = ">=3.8" files = [ - {file = "typing_extensions-4.11.0-py3-none-any.whl", hash = "sha256:c1f94d72897edaf4ce775bb7558d5b79d8126906a14ea5ed1635921406c0387a"}, - {file = "typing_extensions-4.11.0.tar.gz", hash = "sha256:83f085bd5ca59c80295fc2a82ab5dac679cbe02b9f33f7d83af68e241bea51b0"}, + {file = "typing_extensions-4.12.0-py3-none-any.whl", hash = "sha256:b349c66bea9016ac22978d800cfff206d5f9816951f12a7d0ec5578b0a819594"}, + {file = "typing_extensions-4.12.0.tar.gz", hash = "sha256:8cbcdc8606ebcb0d95453ad7dc5065e6237b6aa230a31e81d0f440c30fed5fd8"}, ] [[package]] @@ -8043,4 +8037,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "debffdd8b49091d256508f53c11e9d79fb4164995678d7e02d1720175cf265ec" +content-hash = "1b15d2bb9465282294cd503c019a7d023f16dbb3e44ddde7b9899c45195c6cb8" diff --git a/pyproject.toml b/pyproject.toml index db1b4195a3..16908b11d0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -108,7 +108,6 @@ pycryptodome = "*" PyJWT = "*" pyserial = "*" pyzmq = "*" -rerun-sdk = "*" requests = "*" scons = "*" sentry-sdk = "*" @@ -165,6 +164,7 @@ pytest-timeout = "*" pytest-randomly = "*" pytest-asyncio = "*" pytest-mock = "*" +rerun-sdk = "*" ruff = "*" sphinx = "*" sphinx-rtd-theme = "*" From cd21d64058d161614b7504f344e8a26df28240c2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 11:40:10 -0700 Subject: [PATCH 129/159] speedup pj demo test --- tools/plotjuggler/test_plotjuggler.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 8b811f4847..b9a55297e5 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -26,7 +26,7 @@ class TestPlotJuggler: output += p.stderr.readline().decode("utf-8") # ensure plotjuggler didn't crash after exiting the plugin - time.sleep(15) + time.sleep(2) assert p.poll() is None os.killpg(os.getpgid(p.pid), signal.SIGTERM) From 73b02f2cda858d4ad08bc7fa4116d0d11ff79a02 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 12:22:02 -0700 Subject: [PATCH 130/159] updated: finish system/ move (#32535) * updated: finish system/ move * add those back * skip that * skip whole file * one more time --- pyproject.toml | 2 +- release/files_common | 4 +--- scripts/stop_updater.sh | 2 +- scripts/update_now.sh | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_updated.py | 2 +- selfdrive/ui/qt/offroad/software_settings.cc | 4 ++-- system/updated/casync/tests/test_casync.py | 2 ++ {selfdrive => system}/updated/tests/test_base.py | 0 {selfdrive => system}/updated/tests/test_git.py | 2 +- {selfdrive => system}/updated/updated.py | 0 11 files changed, 11 insertions(+), 11 deletions(-) rename {selfdrive => system}/updated/tests/test_base.py (100%) rename {selfdrive => system}/updated/tests/test_git.py (88%) rename {selfdrive => system}/updated/updated.py (100%) diff --git a/pyproject.toml b/pyproject.toml index 16908b11d0..da7f1021e6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -28,7 +28,7 @@ testpaths = [ "selfdrive/navd/tests", "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", - "selfdrive/updated", + "system/updated", "system/thermald", "system/athena", "system/camerad", diff --git a/release/files_common b/release/files_common index f6afd9390e..ff3e62aa15 100644 --- a/release/files_common +++ b/release/files_common @@ -54,8 +54,6 @@ tools/replay/*.h selfdrive/__init__.py -selfdrive/updated/** - system/logmessaged.py system/micd.py system/version.py @@ -189,7 +187,7 @@ system/ubloxd/generated/* system/ubloxd/*.h system/ubloxd/*.cc -system/updated/* +system/updated/** selfdrive/locationd/__init__.py selfdrive/locationd/SConscript diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh index 7f82191823..703b363928 100755 --- a/scripts/stop_updater.sh +++ b/scripts/stop_updater.sh @@ -1,7 +1,7 @@ #!/usr/bin/env sh # Stop updater -pkill -2 -f selfdrive.updated.updated +pkill -2 -f system.updated.updated # Remove pending update rm -f /data/safe_staging/finalized/.overlay_consistent diff --git a/scripts/update_now.sh b/scripts/update_now.sh index 3f0193f081..c34228976a 100755 --- a/scripts/update_now.sh +++ b/scripts/update_now.sh @@ -1,4 +1,4 @@ #!/usr/bin/env sh # Send SIGHUP to updater -pkill -1 -f selfdrive.updated +pkill -1 -f system.updated diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index a8ab204da4..b6567c2f72 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -78,7 +78,7 @@ procs = [ PythonProcess("radard", "selfdrive.controls.radard", only_onroad), PythonProcess("thermald", "system.thermald.thermald", always_run), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), - PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC), + PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), PythonProcess("statsd", "system.statsd", always_run), diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index 5220cfb288..12619d4246 100755 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -89,7 +89,7 @@ class TestUpdated: os.environ["UPDATER_STAGING_ROOT"] = self.staging_dir os.environ["UPDATER_NEOS_VERSION"] = self.neos_version os.environ["UPDATER_NEOSUPDATE_DIR"] = self.neosupdate_dir - updated_path = os.path.join(self.basedir, "selfdrive/updated.py") + updated_path = os.path.join(self.basedir, "system/updated.py") return subprocess.Popen(updated_path, env=os.environ) def _start_updater(self, offroad=True, nosleep=False): diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index d12db3f878..c8245205ce 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -17,7 +17,7 @@ void SoftwarePanel::checkForUpdates() { - std::system("pkill -SIGUSR1 -f selfdrive.updated.updated"); + std::system("pkill -SIGUSR1 -f system.updated.updated"); } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { @@ -36,7 +36,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { if (downloadBtn->text() == tr("CHECK")) { checkForUpdates(); } else { - std::system("pkill -SIGHUP -f selfdrive.updated.updated"); + std::system("pkill -SIGHUP -f system.updated.updated"); } }); addItem(downloadBtn); diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py index 80c5d2705c..29cf78f0f1 100755 --- a/system/updated/casync/tests/test_casync.py +++ b/system/updated/casync/tests/test_casync.py @@ -14,6 +14,7 @@ from openpilot.system.updated.casync import tar LOOPBACK = os.environ.get('LOOPBACK', None) +@pytest.mark.skip("not used yet") class TestCasync: @classmethod def setup_class(cls): @@ -151,6 +152,7 @@ class TestCasync: assert stats['remote'] < len(self.contents) +@pytest.mark.skip("not used yet") class TestCasyncDirectory: """Tests extracting a directory stored as a casync tar archive""" diff --git a/selfdrive/updated/tests/test_base.py b/system/updated/tests/test_base.py similarity index 100% rename from selfdrive/updated/tests/test_base.py rename to system/updated/tests/test_base.py diff --git a/selfdrive/updated/tests/test_git.py b/system/updated/tests/test_git.py similarity index 88% rename from selfdrive/updated/tests/test_git.py rename to system/updated/tests/test_git.py index 51ea77fb81..5a5a27000b 100644 --- a/selfdrive/updated/tests/test_git.py +++ b/system/updated/tests/test_git.py @@ -1,5 +1,5 @@ import contextlib -from openpilot.selfdrive.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release +from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release class TestUpdateDGitStrategy(ParamsBaseUpdateTest): diff --git a/selfdrive/updated/updated.py b/system/updated/updated.py similarity index 100% rename from selfdrive/updated/updated.py rename to system/updated/updated.py From accdade4cfe73cdca41f5afa73cf4ad085802930 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 12:41:17 -0700 Subject: [PATCH 131/159] manager: move to system/ (#32538) * manager: move to system/ * one more --- .github/workflows/selfdrive_tests.yaml | 2 +- Jenkinsfile | 20 +++++++++---------- conftest.py | 2 +- launch_chffrplus.sh | 2 +- release/build_release.sh | 2 +- release/files_common | 10 ++-------- selfdrive/boardd/tests/test_pandad.py | 2 +- selfdrive/controls/tests/test_startup.py | 2 +- selfdrive/debug/cpu_usage_stat.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/debug/uiview.py | 2 +- selfdrive/locationd/test/test_locationd.py | 2 +- selfdrive/modeld/tests/test_modeld.py | 2 +- selfdrive/modeld/tests/timing/benchmark.py | 2 +- selfdrive/navd/tests/test_navd.py | 2 +- selfdrive/test/helpers.py | 2 +- selfdrive/test/process_replay/migration.py | 2 +- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/test_onroad.py | 2 +- selfdrive/test/test_time_to_onroad.py | 2 +- system/athena/manage_athenad.py | 2 +- system/athena/tests/test_athenad_ping.py | 2 +- system/camerad/snapshot/snapshot.py | 2 +- system/camerad/test/test_camerad.py | 2 +- system/hardware/tici/tests/test_power_draw.py | 4 ++-- system/loggerd/tests/test_encoder.py | 2 +- system/loggerd/tests/test_loggerd.py | 2 +- {selfdrive => system}/manager/__init__.py | 0 {selfdrive => system}/manager/build.py | 0 {selfdrive => system}/manager/helpers.py | 0 {selfdrive => system}/manager/manager.py | 6 +++--- {selfdrive => system}/manager/process.py | 0 .../manager/process_config.py | 2 +- .../manager/test/__init__.py | 0 .../manager/test/test_manager.py | 6 +++--- system/qcomgpsd/tests/test_qcomgpsd.py | 2 +- system/sensord/tests/test_sensord.py | 2 +- system/sensord/tests/ttff_test.py | 2 +- system/tests/test_logmessaged.py | 2 +- system/ubloxd/tests/test_pigeond.py | 2 +- system/updated/tests/test_base.py | 2 +- tools/sim/launch_openpilot.sh | 2 +- tools/webcam/README.md | 2 +- 43 files changed, 53 insertions(+), 59 deletions(-) rename {selfdrive => system}/manager/__init__.py (100%) rename {selfdrive => system}/manager/build.py (100%) rename {selfdrive => system}/manager/helpers.py (100%) rename {selfdrive => system}/manager/manager.py (96%) rename {selfdrive => system}/manager/process.py (100%) rename {selfdrive => system}/manager/process_config.py (97%) rename {selfdrive => system}/manager/test/__init__.py (100%) rename {selfdrive => system}/manager/test/test_manager.py (91%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1aa08f205b..4f7e57b5ff 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -47,7 +47,7 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR - ${{ env.RUN }} "python selfdrive/manager/build.py" + ${{ env.RUN }} "python system/manager/build.py" - name: Run tests timeout-minutes: 3 run: | diff --git a/Jenkinsfile b/Jenkinsfile index 2e672e1a23..0a044ff039 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -183,7 +183,7 @@ node { deviceStage("onroad", "tici-needs-can", [], [ // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"], - ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["build openpilot", "cd system/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], @@ -191,51 +191,51 @@ node { }, 'HW + Unit Tests': { deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"], - ["test manager", "pytest selfdrive/manager/test/test_manager.py"], + ["test manager", "pytest system/manager/test/test_manager.py"], ]) }, 'loopback': { deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [ - ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["build openpilot", "cd system/manager && ./build.py"], ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], ]) }, 'camerad': { deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test camerad", "pytest system/camerad/test/test_camerad.py"], ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test camerad", "pytest system/camerad/test/test_camerad.py"], ["test exposure", "pytest system/camerad/test/test_exposure.py"], ]) }, 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) }, 'replay': { deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ - ["build", "cd selfdrive/manager && ./build.py"], + ["build", "cd system/manager && ./build.py"], ["model replay", "selfdrive/test/process_replay/model_replay.py"], ]) }, 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ - ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["build openpilot", "cd system/manager && ./build.py"], ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], diff --git a/conftest.py b/conftest.py index 0d2a4a8fc4..fc4931fb54 100644 --- a/conftest.py +++ b/conftest.py @@ -5,7 +5,7 @@ import pytest import random from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.manager import manager +from openpilot.system.manager import manager from openpilot.system.hardware import TICI, HARDWARE diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index a7f61411c8..9256f463af 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -82,7 +82,7 @@ function launch { tmux capture-pane -pq -S-1000 > /tmp/launch_log # start manager - cd selfdrive/manager + cd system/manager if [ ! -f $DIR/prebuilt ]; then ./build.py fi diff --git a/release/build_release.sh b/release/build_release.sh index fc15cf6cdf..b381ff7325 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -93,7 +93,7 @@ cd $SOURCE_DIR cp -pR -n --parents $TEST_FILES $BUILD_DIR/ cd $BUILD_DIR RELEASE=1 selfdrive/test/test_onroad.py -#selfdrive/manager/test/test_manager.py +#system/manager/test/test_manager.py selfdrive/car/tests/test_car_interfaces.py rm -rf $TEST_FILES diff --git a/release/files_common b/release/files_common index ff3e62aa15..cc797fb20b 100644 --- a/release/files_common +++ b/release/files_common @@ -303,14 +303,8 @@ system/camerad/cameras/camera_common.cc system/camerad/sensors/*.h system/camerad/sensors/*.cc -selfdrive/manager/__init__.py -selfdrive/manager/build.py -selfdrive/manager/helpers.py -selfdrive/manager/manager.py -selfdrive/manager/process_config.py -selfdrive/manager/process.py -selfdrive/manager/test/__init__.py -selfdrive/manager/test/test_manager.py +system/manager/__init__.py +system/manager/** selfdrive/modeld/.gitignore selfdrive/modeld/__init__.py diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 65f3ad657c..581b9813a4 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -7,7 +7,7 @@ import cereal.messaging as messaging from cereal import log from openpilot.common.gpio import gpio_set, gpio_init from panda import Panda, PandaDFU, PandaProtocolMismatch -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.tici.pins import GPIO diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 5b69a7cd82..fc9f8ab125 100644 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -9,7 +9,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.mazda.values import CAR as MAZDA from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index ec9d02e8f4..baf44b9082 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -24,7 +24,7 @@ import argparse import re from collections import defaultdict -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes # Do statistics every 5 seconds PRINT_INTERVAL = 5 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index d66f83ad5d..93b0430c1e 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -8,7 +8,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.honda.interface import CarInterface from openpilot.selfdrive.controls.lib.events import ET, Events from openpilot.selfdrive.controls.lib.alertmanager import AlertManager -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes EventName = car.CarEvent.EventName diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py index 958ee72e04..8e75769a85 100755 --- a/selfdrive/debug/uiview.py +++ b/selfdrive/debug/uiview.py @@ -3,7 +3,7 @@ import time from cereal import car, log, messaging from openpilot.common.params import Params -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import HARDWARE if __name__ == "__main__": diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index bac824bada..f88f423cf1 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -10,7 +10,7 @@ from cereal.services import SERVICE_LIST from openpilot.common.params import Params from openpilot.common.transformations.coordinates import ecef2geodetic -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes class TestLocationdProc: diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index a18ce8fa42..5cbdbc2bb4 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,7 +7,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.car.car_helpers import write_car_param -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index 4ab0afacbc..c629ec2fff 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -6,7 +6,7 @@ import time import numpy as np import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes N = int(os.getenv("N", "5")) diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py index 07f9303653..3d899ba282 100755 --- a/selfdrive/navd/tests/test_navd.py +++ b/selfdrive/navd/tests/test_navd.py @@ -7,7 +7,7 @@ from parameterized import parameterized import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes class TestNavd: diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 148d142bb6..b7f5bb183b 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -9,7 +9,7 @@ from functools import wraps import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index c8d0504def..0715fcf7b4 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -4,7 +4,7 @@ from cereal import messaging from openpilot.selfdrive.car.fingerprints import MIGRATION from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index from openpilot.selfdrive.car.toyota.values import EPS_SCALE -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from panda import Panda diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 529ed91f7e..b325e6e693 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -23,7 +23,7 @@ from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.car.car_helpers import get_car, interfaces -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 038bba7b2e..8b60b9650b 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -125,7 +125,7 @@ class TestOnroad: # start manager and run openpilot for a minute proc = None try: - manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + manager_path = os.path.join(BASEDIR, "system/manager/manager.py") proc = subprocess.Popen(["python", manager_path]) sm = messaging.SubMaster(['carState']) diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index b85d40dbc8..11de5283b5 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -17,7 +17,7 @@ EventName = car.CarEvent.EventName def test_time_to_onroad(): # launch set_params_enabled() - manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py") + manager_path = os.path.join(BASEDIR, "system/manager/manager.py") proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py index 853a7cd953..f5ab817206 100755 --- a/system/athena/manage_athenad.py +++ b/system/athena/manage_athenad.py @@ -4,7 +4,7 @@ import time from multiprocessing import Process from openpilot.common.params import Params -from openpilot.selfdrive.manager.process import launcher +from openpilot.system.manager.process import launcher from openpilot.common.swaglog import cloudlog from openpilot.system.hardware import HARDWARE from openpilot.system.version import get_build_metadata diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py index 3152ca4271..4fda13dfe8 100755 --- a/system/athena/tests/test_athenad_ping.py +++ b/system/athena/tests/test_athenad_ping.py @@ -8,7 +8,7 @@ from typing import cast from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.system.athena import athenad -from openpilot.selfdrive.manager.helpers import write_onroad_params +from openpilot.system.manager.helpers import write_onroad_params from openpilot.system.hardware import TICI TIMEOUT_TOLERANCE = 20 # seconds diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 8c1b6084c7..d9377eebe9 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -11,7 +11,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.system.hardware import PC from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes VISION_STREAMS = { diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 408115607e..dcc9825632 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -8,7 +8,7 @@ from collections import defaultdict import cereal.messaging as messaging from cereal import log from cereal.services import SERVICE_LIST -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes TEST_TIMESPAN = 30 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 104329da42..1fe063c8e8 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -11,8 +11,8 @@ from cereal.services import SERVICE_LIST from openpilot.common.mock import mock_messages from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.system.hardware.tici.power_monitor import get_power -from openpilot.selfdrive.manager.process_config import managed_processes -from openpilot.selfdrive.manager.manager import manager_cleanup +from openpilot.system.manager.process_config import managed_processes +from openpilot.system.manager.manager import manager_cleanup SAMPLE_TIME = 8 # seconds to sample power MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid samples diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index f6eb9b9011..ddf074d3b5 100755 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -14,7 +14,7 @@ from tqdm import trange from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.system.hardware import TICI -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.tools.lib.logreader import LogReader from openpilot.system.hardware.hw import Paths diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index fdea60a282..d3789badb7 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -19,7 +19,7 @@ from openpilot.common.timeout import Timeout from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.version import get_version from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader diff --git a/selfdrive/manager/__init__.py b/system/manager/__init__.py similarity index 100% rename from selfdrive/manager/__init__.py rename to system/manager/__init__.py diff --git a/selfdrive/manager/build.py b/system/manager/build.py similarity index 100% rename from selfdrive/manager/build.py rename to system/manager/build.py diff --git a/selfdrive/manager/helpers.py b/system/manager/helpers.py similarity index 100% rename from selfdrive/manager/helpers.py rename to system/manager/helpers.py diff --git a/selfdrive/manager/manager.py b/system/manager/manager.py similarity index 96% rename from selfdrive/manager/manager.py rename to system/manager/manager.py index 408314d62f..93fab3ad17 100755 --- a/selfdrive/manager/manager.py +++ b/system/manager/manager.py @@ -11,9 +11,9 @@ import openpilot.system.sentry as sentry from openpilot.common.params import Params, ParamKeyType from openpilot.common.text_window import TextWindow from openpilot.system.hardware import HARDWARE, PC -from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog -from openpilot.selfdrive.manager.process import ensure_running -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog +from openpilot.system.manager.process import ensure_running +from openpilot.system.manager.process_config import managed_processes from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version diff --git a/selfdrive/manager/process.py b/system/manager/process.py similarity index 100% rename from selfdrive/manager/process.py rename to system/manager/process.py diff --git a/selfdrive/manager/process_config.py b/system/manager/process_config.py similarity index 97% rename from selfdrive/manager/process_config.py rename to system/manager/process_config.py index b6567c2f72..5e153ffb92 100644 --- a/selfdrive/manager/process_config.py +++ b/system/manager/process_config.py @@ -3,7 +3,7 @@ import os from cereal import car from openpilot.common.params import Params from openpilot.system.hardware import PC, TICI -from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None diff --git a/selfdrive/manager/test/__init__.py b/system/manager/test/__init__.py similarity index 100% rename from selfdrive/manager/test/__init__.py rename to system/manager/test/__init__.py diff --git a/selfdrive/manager/test/test_manager.py b/system/manager/test/test_manager.py similarity index 91% rename from selfdrive/manager/test/test_manager.py rename to system/manager/test/test_manager.py index 4cdc99c240..af8397b246 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/system/manager/test/test_manager.py @@ -8,9 +8,9 @@ from parameterized import parameterized from cereal import car from openpilot.common.params import Params -import openpilot.selfdrive.manager.manager as manager -from openpilot.selfdrive.manager.process import ensure_running -from openpilot.selfdrive.manager.process_config import managed_processes +import openpilot.system.manager.manager as manager +from openpilot.system.manager.process import ensure_running +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py index d47ea5d634..33d6e5b78f 100755 --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -8,7 +8,7 @@ import subprocess import cereal.messaging as messaging from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 1b3b78da88..aed3b07b32 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -10,7 +10,7 @@ from cereal import log from cereal.services import SERVICE_LIST from openpilot.common.gpio import get_irqs_for_action from openpilot.common.timeout import Timeout -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes BMX = { ('bmx055', 'acceleration'), diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py index e023489ed5..a9cc16d707 100755 --- a/system/sensord/tests/ttff_test.py +++ b/system/sensord/tests/ttff_test.py @@ -4,7 +4,7 @@ import time import atexit from cereal import messaging -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes TIMEOUT = 10*60 diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 6d59bdcb08..f8c5be09b0 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -4,7 +4,7 @@ import os import time import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog, ipchandler diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py index a24414466a..cd3ad9305c 100755 --- a/system/ubloxd/tests/test_pigeond.py +++ b/system/ubloxd/tests/test_pigeond.py @@ -6,7 +6,7 @@ import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.common.gpio import gpio_read from openpilot.selfdrive.test.helpers import with_processes -from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.manager.process_config import managed_processes from openpilot.system.hardware.tici.pins import GPIO diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py index 615d0de99c..928d07cbe3 100644 --- a/system/updated/tests/test_base.py +++ b/system/updated/tests/test_base.py @@ -9,7 +9,7 @@ import time import pytest from openpilot.common.params import Params -from openpilot.selfdrive.manager.process import ManagerProcess +from openpilot.system.manager.process import ManagerProcess from openpilot.selfdrive.test.helpers import processes_context diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 86d9607bb0..1b4ac4ef84 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -18,4 +18,4 @@ SCRIPT_DIR=$(dirname "$0") OPENPILOT_DIR=$SCRIPT_DIR/../../ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py +cd $OPENPILOT_DIR/system/manager && exec ./manager.py diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 76733b173d..7334d87b38 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -29,7 +29,7 @@ USE_WEBCAM=1 scons -j$(nproc) ## GO ``` -cd ~/openpilot/selfdrive/manager +cd ~/openpilot/system/manager NOSENSOR=1 USE_WEBCAM=1 ./manager.py ``` - Start the car, then the UI should show the road webcam's view From 2ff94ec374514fb5054099288cb3a070e7286e56 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Sat, 25 May 2024 18:50:10 -0400 Subject: [PATCH 132/159] CI/tools: Remove redundant build step (#32539) --- .github/workflows/tools_tests.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index fd05300f0c..224b0c9d5f 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -49,8 +49,6 @@ jobs: submodules: true - run: git lfs pull - uses: ./.github/workflows/setup-with-retry - - name: Build base docker image - run: eval "$BUILD" - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" From fe7d3429abd85c120f0205093149eb9eabc81cb1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 18:47:16 -0700 Subject: [PATCH 133/159] Make release files a blacklist (#32540) * blacklist * little nicer * whitelist * cleanup * igore body * more skip --- .github/workflows/selfdrive_tests.yaml | 4 +- .pre-commit-config.yaml | 2 +- release/build_devel.sh | 4 +- release/build_release.sh | 14 +- release/files_common | 560 ------------------------- release/files_pc | 4 - release/files_tici | 15 - release/release_files.py | 67 +++ selfdrive/modeld/SConscript | 8 +- 9 files changed, 82 insertions(+), 596 deletions(-) delete mode 100644 release/files_common delete mode 100644 release/files_pc delete mode 100644 release/files_tici create mode 100755 release/release_files.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 4f7e57b5ff..e73e0df2a8 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -53,7 +53,7 @@ jobs: run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST selfdrive/car" + MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car" - name: pre-commit timeout-minutes: 3 run: | @@ -62,7 +62,7 @@ jobs: cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit" + ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit" build: strategy: diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 190425285d..28f8acd6e2 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -47,7 +47,7 @@ repos: args: - --local-partial-types - --explicit-package-bases - exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' + exclude: '^(third_party/)|(body/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck diff --git a/release/build_devel.sh b/release/build_devel.sh index 8b6816e423..18d99bb1cf 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -1,5 +1,4 @@ #!/usr/bin/bash - set -ex DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" @@ -44,11 +43,12 @@ git clean -xdff # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -cp -pR --parents $(cat release/files_*) $TARGET_DIR/ +cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ # in the directory cd $TARGET_DIR rm -f panda/board/obj/panda.bin.signed +git submodule status # include source commit hash and build date in commit GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD) diff --git a/release/build_release.sh b/release/build_release.sh index b381ff7325..c2745ea287 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -9,13 +9,6 @@ cd $DIR BUILD_DIR=/data/openpilot SOURCE_DIR="$(git rev-parse --show-toplevel)" -if [ -f /TICI ]; then - FILES_SRC="release/files_tici" -else - echo "no release files set" - exit 1 -fi - if [ -z "$RELEASE_BRANCH" ]; then echo "RELEASE_BRANCH is not set" exit 1 @@ -36,8 +29,7 @@ git checkout --orphan $RELEASE_BRANCH # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -cp -pR --parents $(cat release/files_common) $BUILD_DIR/ -cp -pR --parents $(cat $FILES_SRC) $BUILD_DIR/ +cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ # in the directory cd $BUILD_DIR @@ -77,6 +69,10 @@ find . -name '__pycache__' -delete rm -rf .sconsign.dblite Jenkinsfile release/ rm selfdrive/modeld/models/supercombo.onnx +find third_party/ -name '*x86*' -exec rm -r {} + +find third_party/ -name '*Darwin*' -exec rm -r {} + + + # Restore third_party git checkout third_party/ diff --git a/release/files_common b/release/files_common deleted file mode 100644 index cc797fb20b..0000000000 --- a/release/files_common +++ /dev/null @@ -1,560 +0,0 @@ -.gitignore -LICENSE -launch_env.sh -launch_chffrplus.sh -launch_openpilot.sh - -Jenkinsfile -SConstruct -pyproject.toml - -README.md -RELEASES.md -docs/CARS.md -docs/CONTRIBUTING.md -docs/INTEGRATION.md -docs/LIMITATIONS.md -site_scons/site_tools/cython.py - -openpilot/__init__.py -openpilot/** - -common/.gitignore -common/__init__.py -common/*.py -common/*.pyx -common/mock/* - -common/transformations/__init__.py -common/transformations/camera.py -common/transformations/model.py - -common/transformations/SConscript -common/transformations/coordinates.py -common/transformations/coordinates.cc -common/transformations/coordinates.hpp -common/transformations/orientation.py -common/transformations/orientation.cc -common/transformations/orientation.hpp -common/transformations/transformations.pxd -common/transformations/transformations.pyx - -common/api/__init__.py - -release/* - -tools/__init__.py -tools/lib/* -tools/bodyteleop/.gitignore -tools/bodyteleop/web.py -tools/bodyteleop/static/* -tools/joystick/* -tools/replay/*.cc -tools/replay/*.h - -selfdrive/__init__.py - -system/logmessaged.py -system/micd.py -system/version.py - -selfdrive/SConscript - -system/athena/__init__.py -system/athena/athenad.py -system/athena/manage_athenad.py -system/athena/registration.py - -selfdrive/boardd/.gitignore -selfdrive/boardd/SConscript -selfdrive/boardd/__init__.py -selfdrive/boardd/boardd.cc -selfdrive/boardd/boardd.h -selfdrive/boardd/main.cc -selfdrive/boardd/boardd.py -selfdrive/boardd/boardd_api_impl.pyx -selfdrive/boardd/can_list_to_can_capnp.cc -selfdrive/boardd/panda.cc -selfdrive/boardd/panda.h -selfdrive/boardd/spi.cc -selfdrive/boardd/panda_comms.h -selfdrive/boardd/panda_comms.cc -selfdrive/boardd/pandad.py -selfdrive/boardd/tests/test_boardd_loopback.py - -selfdrive/car/__init__.py -selfdrive/car/card.py -selfdrive/car/docs_definitions.py -selfdrive/car/car_helpers.py -selfdrive/car/fingerprints.py -selfdrive/car/interfaces.py -selfdrive/car/values.py -selfdrive/car/vin.py -selfdrive/car/disable_ecu.py -selfdrive/car/fw_versions.py -selfdrive/car/fw_query_definitions.py -selfdrive/car/ecu_addrs.py -selfdrive/car/isotp_parallel_query.py -selfdrive/car/tests/__init__.py -selfdrive/car/tests/test_car_interfaces.py -selfdrive/car/torque_data/* - -selfdrive/car/body/*.py -selfdrive/car/chrysler/*.py -selfdrive/car/ford/*.py -selfdrive/car/gm/*.py -selfdrive/car/honda/*.py -selfdrive/car/hyundai/*.py -selfdrive/car/mazda/*.py -selfdrive/car/mock/*.py -selfdrive/car/nissan/*.py -selfdrive/car/subaru/*.py -selfdrive/car/tesla/*.py -selfdrive/car/toyota/*.py -selfdrive/car/volkswagen/*.py - -selfdrive/debug/can_printer.py -selfdrive/debug/check_freq.py -selfdrive/debug/dump.py -selfdrive/debug/filter_log_message.py -selfdrive/debug/format_fingerprints.py -selfdrive/debug/get_fingerprint.py -selfdrive/debug/uiview.py - -selfdrive/debug/hyundai_enable_radar_points.py -selfdrive/debug/vw_mqb_config.py - -common/SConscript -common/version.h - -common/*.h -common/*.cc - -selfdrive/controls/__init__.py -selfdrive/controls/controlsd.py -selfdrive/controls/plannerd.py -selfdrive/controls/radard.py -selfdrive/controls/lib/__init__.py -selfdrive/controls/lib/alertmanager.py -selfdrive/controls/lib/alerts_offroad.json -selfdrive/controls/lib/desire_helper.py -selfdrive/controls/lib/drive_helpers.py -selfdrive/controls/lib/events.py -selfdrive/controls/lib/latcontrol_angle.py -selfdrive/controls/lib/latcontrol_torque.py -selfdrive/controls/lib/latcontrol_pid.py -selfdrive/controls/lib/latcontrol.py -selfdrive/controls/lib/longcontrol.py -selfdrive/controls/lib/longitudinal_planner.py -selfdrive/controls/lib/pid.py -selfdrive/controls/lib/vehicle_model.py - -selfdrive/controls/lib/lateral_mpc_lib/.gitignore -selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore -selfdrive/controls/lib/lateral_mpc_lib/* -selfdrive/controls/lib/longitudinal_mpc_lib/* - -system/__init__.py -system/*.py - -system/sentry.py -system/tombstoned.py -system/statsd.py - -system/hardware/__init__.py -system/hardware/base.h -system/hardware/base.py -system/hardware/hw.h -system/hardware/hw.py -system/hardware/tici/__init__.py -system/hardware/tici/hardware.h -system/hardware/tici/hardware.py -system/hardware/tici/pins.py -system/hardware/tici/agnos.py -system/hardware/tici/agnos.json -system/hardware/tici/amplifier.py -system/hardware/tici/updater -system/hardware/tici/iwlist.py -system/hardware/tici/esim.nmconnection -system/hardware/pc/__init__.py -system/hardware/pc/hardware.h -system/hardware/pc/hardware.py - -system/ubloxd/.gitignore -system/ubloxd/SConscript -system/ubloxd/pigeond.py -system/ubloxd/generated/* -system/ubloxd/*.h -system/ubloxd/*.cc - -system/updated/** - -selfdrive/locationd/__init__.py -selfdrive/locationd/SConscript -selfdrive/locationd/.gitignore -selfdrive/locationd/locationd.h -selfdrive/locationd/locationd.cc -selfdrive/locationd/paramsd.py -selfdrive/locationd/models/__init__.py -selfdrive/locationd/models/.gitignore -selfdrive/locationd/models/car_kf.py -selfdrive/locationd/models/live_kf.py -selfdrive/locationd/models/live_kf.h -selfdrive/locationd/models/live_kf.cc -selfdrive/locationd/models/constants.py - -selfdrive/locationd/torqued.py -selfdrive/locationd/calibrationd.py -selfdrive/locationd/helpers.py - -system/logcatd/.gitignore -system/logcatd/SConscript -system/logcatd/logcatd_systemd.cc - -system/proclogd/SConscript -system/proclogd/main.cc -system/proclogd/proclog.cc -system/proclogd/proclog.h - -system/loggerd/.gitignore -system/loggerd/SConscript -system/loggerd/encoder/encoder.cc -system/loggerd/encoder/encoder.h -system/loggerd/encoder/v4l_encoder.cc -system/loggerd/encoder/v4l_encoder.h -system/loggerd/video_writer.cc -system/loggerd/video_writer.h -system/loggerd/logger.cc -system/loggerd/logger.h -system/loggerd/loggerd.cc -system/loggerd/loggerd.h -system/loggerd/encoderd.cc -system/loggerd/bootlog.cc -system/loggerd/encoder/ffmpeg_encoder.cc -system/loggerd/encoder/ffmpeg_encoder.h - -system/loggerd/__init__.py -system/loggerd/config.py -system/loggerd/uploader.py -system/loggerd/deleter.py -system/loggerd/xattr_cache.py - -system/sensord/.gitignore -system/sensord/SConscript -system/sensord/sensors_qcom2.cc -system/sensord/sensors/*.cc -system/sensord/sensors/*.h - -system/webrtc/__init__.py -system/webrtc/webrtcd.py -system/webrtc/schema.py -system/webrtc/device/audio.py -system/webrtc/device/video.py - -system/thermald/thermald.py -system/thermald/power_monitoring.py -system/thermald/fan_controller.py - -selfdrive/test/__init__.py -selfdrive/test/fuzzy_generation.py -selfdrive/test/helpers.py -selfdrive/test/setup_device_ci.sh -selfdrive/test/test_onroad.py -selfdrive/test/test_time_to_onroad.py - -selfdrive/ui/.gitignore -selfdrive/ui/SConscript -selfdrive/ui/*.cc -selfdrive/ui/*.h -selfdrive/ui/text -selfdrive/ui/spinner -selfdrive/ui/soundd.py -selfdrive/ui/translations/*.ts -selfdrive/ui/translations/languages.json -selfdrive/ui/update_translations.py -selfdrive/ui/tests/test_translations.py - -selfdrive/ui/qt/*.cc -selfdrive/ui/qt/*.h -selfdrive/ui/qt/network/*.cc -selfdrive/ui/qt/network/*.h -selfdrive/ui/qt/offroad/*.cc -selfdrive/ui/qt/offroad/*.h -selfdrive/ui/qt/offroad/*.qml -selfdrive/ui/qt/onroad/*.cc -selfdrive/ui/qt/onroad/*.h -selfdrive/ui/qt/widgets/*.cc -selfdrive/ui/qt/widgets/*.h -selfdrive/ui/qt/maps/*.cc -selfdrive/ui/qt/maps/*.h -selfdrive/ui/qt/setup/*.cc -selfdrive/ui/qt/setup/*.h - -selfdrive/ui/installer/*.cc -selfdrive/ui/installer/*.h -selfdrive/ui/installer/*.cc - -system/camerad/SConscript -system/camerad/main.cc - -system/camerad/snapshot/* -system/camerad/cameras/camera_common.h -system/camerad/cameras/camera_common.cc -system/camerad/sensors/*.h -system/camerad/sensors/*.cc - -system/manager/__init__.py -system/manager/** - -selfdrive/modeld/.gitignore -selfdrive/modeld/__init__.py -selfdrive/modeld/SConscript -selfdrive/modeld/modeld.py -selfdrive/modeld/parse_model_outputs.py -selfdrive/modeld/fill_model_msg.py -selfdrive/modeld/get_model_metadata.py -selfdrive/modeld/dmonitoringmodeld.py -selfdrive/modeld/constants.py -selfdrive/modeld/modeld - -selfdrive/modeld/models/__init__.py -selfdrive/modeld/models/*.pxd -selfdrive/modeld/models/*.pyx - -selfdrive/modeld/models/commonmodel.cc -selfdrive/modeld/models/commonmodel.h - -selfdrive/modeld/models/supercombo.onnx - -selfdrive/modeld/models/dmonitoring_model_q.dlc - -selfdrive/modeld/transforms/loadyuv.cc -selfdrive/modeld/transforms/loadyuv.h -selfdrive/modeld/transforms/loadyuv.cl -selfdrive/modeld/transforms/transform.cc -selfdrive/modeld/transforms/transform.h -selfdrive/modeld/transforms/transform.cl - -selfdrive/modeld/thneed/*.py -selfdrive/modeld/thneed/thneed.h -selfdrive/modeld/thneed/thneed_common.cc -selfdrive/modeld/thneed/thneed_qcom2.cc -selfdrive/modeld/thneed/serialize.cc - -selfdrive/modeld/runners/__init__.py -selfdrive/modeld/runners/*.pxd -selfdrive/modeld/runners/*.pyx -selfdrive/modeld/runners/*.cc -selfdrive/modeld/runners/*.h -selfdrive/modeld/runners/*.py - -selfdrive/monitoring/dmonitoringd.py -selfdrive/monitoring/helpers.py - -selfdrive/navd/.gitignore -selfdrive/navd/__init__.py -selfdrive/navd/** - -selfdrive/assets/.gitignore -selfdrive/assets/assets.qrc -selfdrive/assets/*.png -selfdrive/assets/*.svg -selfdrive/assets/body/* -selfdrive/assets/fonts/*.ttf -selfdrive/assets/icons/* -selfdrive/assets/images/* -selfdrive/assets/offroad/* -selfdrive/assets/sounds/* -selfdrive/assets/training/* -selfdrive/assets/navigation/* - -third_party/.gitignore -third_party/SConscript - -third_party/linux/** -third_party/opencl/** - -third_party/json11/json11.cpp -third_party/json11/json11.hpp - -third_party/qrcode/*.cc -third_party/qrcode/*.hpp - -third_party/kaitai/*.h -third_party/kaitai/*.cpp - -third_party/libyuv/include/** - -third_party/snpe/include/** -third_party/snpe/dsp** - -third_party/acados/.gitignore -third_party/acados/include/** -third_party/acados/acados_template/** - -third_party/bootstrap/** -third_party/qt5/larch64/bin/** -third_party/maplibre-native-qt/** - -scripts/update_now.sh -scripts/stop_updater.sh - -teleoprtc/** - -rednose_repo/site_scons/site_tools/rednose_filter.py -rednose/.gitignore -rednose/** - -body/.gitignore -body/board/SConscript -body/board/*.h -body/board/*.c -body/board/*.s -body/board/*.ld -body/board/inc/** -body/board/obj/ -body/board/bldc/** -body/board/drivers/** -body/certs/** -body/crypto/** - -cereal/.gitignore -cereal/__init__.py -cereal/car.capnp -cereal/custom.capnp -cereal/legacy.capnp -cereal/log.capnp -cereal/services.py -cereal/SConscript -cereal/include/** -cereal/logger/logger.h -cereal/messaging/.gitignore -cereal/messaging/__init__.py -cereal/messaging/bridge.cc -cereal/messaging/event.cc -cereal/messaging/event.h -cereal/messaging/impl_fake.cc -cereal/messaging/impl_fake.h -cereal/messaging/impl_msgq.cc -cereal/messaging/impl_msgq.h -cereal/messaging/impl_zmq.cc -cereal/messaging/impl_zmq.h -cereal/messaging/messaging.cc -cereal/messaging/messaging.h -cereal/messaging/messaging.pxd -cereal/messaging/messaging_pyx.pyx -cereal/messaging/msgq.cc -cereal/messaging/msgq.h -cereal/messaging/socketmaster.cc -cereal/visionipc/.gitignore -cereal/visionipc/__init__.py -cereal/visionipc/*.cc -cereal/visionipc/*.h -cereal/visionipc/*.pyx -cereal/visionipc/*.pxd - -panda/.gitignore -panda/__init__.py -panda/SConscript -panda/board/** -panda/certs/** -panda/crypto/** -panda/examples/query_fw_versions.py -panda/python/** - -opendbc/.gitignore -opendbc/__init__.py -opendbc/can/__init__.py -opendbc/can/SConscript -opendbc/can/can_define.py -opendbc/can/common.cc -opendbc/can/common.h -opendbc/can/common.pxd -opendbc/can/common_dbc.h -opendbc/can/dbc.cc -opendbc/can/packer.cc -opendbc/can/packer.py -opendbc/can/packer_pyx.pyx -opendbc/can/parser.cc -opendbc/can/parser.py -opendbc/can/parser_pyx.pyx - -opendbc/comma_body.dbc - -opendbc/chrysler_ram_hd_generated.dbc -opendbc/chrysler_ram_dt_generated.dbc -opendbc/chrysler_pacifica_2017_hybrid_generated.dbc -opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc - -opendbc/gm_global_a_powertrain_generated.dbc -opendbc/gm_global_a_object.dbc -opendbc/gm_global_a_chassis.dbc - -opendbc/FORD_CADS.dbc -opendbc/ford_fusion_2018_adas.dbc -opendbc/ford_lincoln_base_pt.dbc - -opendbc/honda_accord_2018_can_generated.dbc -opendbc/acura_ilx_2016_can_generated.dbc -opendbc/acura_rdx_2018_can_generated.dbc -opendbc/acura_rdx_2020_can_generated.dbc -opendbc/honda_civic_touring_2016_can_generated.dbc -opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc -opendbc/honda_crv_touring_2016_can_generated.dbc -opendbc/honda_crv_ex_2017_can_generated.dbc -opendbc/honda_crv_ex_2017_body_generated.dbc -opendbc/honda_crv_executive_2016_can_generated.dbc -opendbc/honda_fit_ex_2018_can_generated.dbc -opendbc/honda_odyssey_exl_2018_generated.dbc -opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc -opendbc/honda_insight_ex_2019_can_generated.dbc -opendbc/acura_ilx_2016_nidec.dbc -opendbc/honda_civic_ex_2022_can_generated.dbc - -opendbc/hyundai_canfd.dbc -opendbc/hyundai_kia_generic.dbc -opendbc/hyundai_kia_mando_front_radar_generated.dbc - -opendbc/mazda_2017.dbc - -opendbc/nissan_x_trail_2017_generated.dbc -opendbc/nissan_leaf_2018_generated.dbc - -opendbc/subaru_global_2017_generated.dbc -opendbc/subaru_global_2020_hybrid_generated.dbc -opendbc/subaru_outback_2015_generated.dbc -opendbc/subaru_outback_2019_generated.dbc -opendbc/subaru_forester_2017_generated.dbc - -opendbc/toyota_tnga_k_pt_generated.dbc -opendbc/toyota_new_mc_pt_generated.dbc -opendbc/toyota_nodsu_pt_generated.dbc -opendbc/toyota_adas.dbc -opendbc/toyota_tss2_adas.dbc - -opendbc/vw_golf_mk4.dbc -opendbc/vw_mqb_2010.dbc - -opendbc/tesla_can.dbc -opendbc/tesla_radar_bosch_generated.dbc -opendbc/tesla_radar_continental_generated.dbc -opendbc/tesla_powertrain.dbc - -tinygrad_repo/openpilot/compile2.py -tinygrad_repo/extra/onnx.py -tinygrad_repo/extra/onnx_ops.py -tinygrad_repo/extra/thneed.py -tinygrad_repo/extra/utils.py -tinygrad_repo/tinygrad/codegen/kernel.py -tinygrad_repo/tinygrad/codegen/linearizer.py -tinygrad_repo/tinygrad/features/image.py -tinygrad_repo/tinygrad/features/search.py -tinygrad_repo/tinygrad/nn/* -tinygrad_repo/tinygrad/renderer/cstyle.py -tinygrad_repo/tinygrad/renderer/opencl.py -tinygrad_repo/tinygrad/runtime/lib.py -tinygrad_repo/tinygrad/runtime/ops_cpu.py -tinygrad_repo/tinygrad/runtime/ops_disk.py -tinygrad_repo/tinygrad/runtime/ops_gpu.py -tinygrad_repo/tinygrad/shape/* -tinygrad_repo/tinygrad/*.py diff --git a/release/files_pc b/release/files_pc deleted file mode 100644 index f2bf090f2c..0000000000 --- a/release/files_pc +++ /dev/null @@ -1,4 +0,0 @@ -third_party/libyuv/x86_64/** -third_party/snpe/x86_64/** -third_party/snpe/x86_64-linux-clang/** -third_party/acados/x86_64/** diff --git a/release/files_tici b/release/files_tici deleted file mode 100644 index 18860e20af..0000000000 --- a/release/files_tici +++ /dev/null @@ -1,15 +0,0 @@ -third_party/libyuv/larch64/** -third_party/snpe/larch64** -third_party/snpe/aarch64-ubuntu-gcc7.5/* -third_party/acados/larch64/** - -system/camerad/cameras/camera_qcom2.cc -system/camerad/cameras/camera_qcom2.h -system/camerad/cameras/camera_util.cc -system/camerad/cameras/camera_util.h -system/camerad/cameras/process_raw.cl - -system/qcomgpsd/* - -selfdrive/ui/qt/spinner_larch64 -selfdrive/ui/qt/text_larch64 diff --git a/release/release_files.py b/release/release_files.py new file mode 100755 index 0000000000..bf6cd56a90 --- /dev/null +++ b/release/release_files.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +import os +import re +from pathlib import Path + +HERE = os.path.abspath(os.path.dirname(__file__)) +ROOT = HERE + "/.." + +# blacklisting is for two purposes: +# - minimizing release download size +# - keeping the diff readable +blacklist = [ + "^scripts/", + "body/STL/", + "tools/cabana/", + "panda/examples/", + "opendbc/generator/", + + "^tools/", + "^tinygrad_repo/", + + "matlab.*.md", + + ".git$", # for submodules + ".git/", + ".github/", + ".devcontainer/", + "Darwin/", + ".vscode", +] + +# gets you through the blacklist +whitelist = [ + "tools/lib/", + + "tinygrad_repo/openpilot/compile2.py", + "tinygrad_repo/extra/onnx.py", + "tinygrad_repo/extra/onnx_ops.py", + "tinygrad_repo/extra/thneed.py", + "tinygrad_repo/extra/utils.py", + "tinygrad_repo/tinygrad/codegen/kernel.py", + "tinygrad_repo/tinygrad/codegen/linearizer.py", + "tinygrad_repo/tinygrad/features/image.py", + "tinygrad_repo/tinygrad/features/search.py", + "tinygrad_repo/tinygrad/nn/*", + "tinygrad_repo/tinygrad/renderer/cstyle.py", + "tinygrad_repo/tinygrad/renderer/opencl.py", + "tinygrad_repo/tinygrad/runtime/lib.py", + "tinygrad_repo/tinygrad/runtime/ops_cpu.py", + "tinygrad_repo/tinygrad/runtime/ops_disk.py", + "tinygrad_repo/tinygrad/runtime/ops_gpu.py", + "tinygrad_repo/tinygrad/shape/*", + "tinygrad_repo/tinygrad/*.py", +] + +if __name__ == "__main__": + for f in Path(ROOT).rglob("**/*"): + if not (f.is_file() or f.is_symlink()): + continue + + rf = str(f.relative_to(ROOT)) + blacklisted = any(re.search(p, rf) for p in blacklist) + whitelisted = any(re.search(p, rf) for p in whitelist) + if blacklisted and not whitelisted: + continue + + print(rf) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 2d15223d1e..deb84d5952 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,3 +1,5 @@ +import glob + Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') lenv = env.Clone() lenvCython = envCython.Clone() @@ -50,11 +52,12 @@ lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=c lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)] + # Get model metadata fn = File("models/supercombo").abspath cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' -files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.endswith("get_model_metadata.py")], []) -lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"]+files, cmd) +lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) # Build thneed model if arch == "larch64" or GetOption('pc_thneed'): @@ -64,7 +67,6 @@ if arch == "larch64" or GetOption('pc_thneed'): tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed" - tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], []) lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl']) From 390caeb01169c4213d097ec9ddda724a58a93634 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 21:00:29 -0700 Subject: [PATCH 134/159] pyproject: support >= 3.11 --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index da7f1021e6..5ebd2d89e2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -89,7 +89,7 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] -python = "~3.11" +python = ">=3.11" aiohttp = "*" aiortc = "*" cffi = "*" From ccbca2ac95027afefd5a5c7ab190bbb1c332ac61 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 25 May 2024 21:20:15 -0700 Subject: [PATCH 135/159] Revert "pyproject: support >= 3.11" This reverts commit 390caeb01169c4213d097ec9ddda724a58a93634. --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 5ebd2d89e2..da7f1021e6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -89,7 +89,7 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] -python = ">=3.11" +python = "~3.11" aiohttp = "*" aiortc = "*" cffi = "*" From 93963207f22e5724fb334ca495591ecc51529a82 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 26 May 2024 10:41:19 -0500 Subject: [PATCH 136/159] [bot] Fingerprints: add missing FW versions from new users (#32542) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 2 ++ selfdrive/car/honda/fingerprints.py | 1 + 2 files changed, 3 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index d71ec5d306..eb9602bcc4 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -493,6 +493,7 @@ FW_VERSIONS = { b'68440789AC', b'68466110AA', b'68466110AB', + b'68466113AA', b'68469901AA', b'68469907AA', b'68522583AA', @@ -605,6 +606,7 @@ FW_VERSIONS = { b'68520870AC', b'68540431AB', b'68540433AB', + b'68551676AA', b'68629935AB', b'68629936AC', ], diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 26433a8b90..4395688883 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -770,6 +770,7 @@ FW_VERSIONS = { b'37805-RLV-4070\x00\x00', b'37805-RLV-5140\x00\x00', b'37805-RLV-5230\x00\x00', + b'37805-RLV-5250\x00\x00', b'37805-RLV-A630\x00\x00', b'37805-RLV-A830\x00\x00', b'37805-RLV-A840\x00\x00', From 1eb938b8e81a3321adf1064e8ef348b8c7073d4c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 26 May 2024 21:21:50 -0700 Subject: [PATCH 137/159] Revert no pyenv (#32547) * Revert "`ubuntu_setup`: fix `No module apt_pkg` error when setting up (#32526)" This reverts commit f4322666c6adc4dd2da569f483f6e108f18fe32a. * Revert "Removal of pyenv (#32512)" This reverts commit f5752121f8a2029050c63cfa04f2533901ae4f3a. --- .github/workflows/selfdrive_tests.yaml | 2 +- .python-version | 1 + Dockerfile.openpilot_base | 13 ++++--- selfdrive/test/ci_shell.sh | 1 - tools/install_python_dependencies.sh | 49 +++++++++++++++++++++----- tools/install_ubuntu_dependencies.sh | 28 +-------------- tools/mac_setup.sh | 5 +-- 7 files changed, 55 insertions(+), 44 deletions(-) create mode 100644 .python-version diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e73e0df2a8..9001ca86fc 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -19,7 +19,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1.5G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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 + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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 --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical diff --git a/.python-version b/.python-version new file mode 100644 index 0000000000..0c7d5f5f5d --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.11.4 diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 2c5f9a035b..0789a39c3e 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN INSTALL_EXTRA_PACKAGES=no INSTALL_DEADSNAKES_PPA=yes /tmp/tools/install_ubuntu_dependencies.sh && \ +RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \ rm -rf /var/lib/apt/lists/* /tmp/* && \ cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp @@ -64,16 +64,19 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers USER $USER ENV POETRY_VIRTUALENVS_CREATE=false -ENV VIRTUAL_ENV_ROOT="/home/$USER/venv" -ENV PATH="$VIRTUAL_ENV_ROOT/bin:$PATH" +ENV PYENV_VERSION=3.11.4 +ENV PYENV_ROOT="/home/$USER/pyenv" +ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" -COPY --chown=$USER pyproject.toml poetry.lock /tmp/ +COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/ COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ RUN cd /tmp && \ tools/install_python_dependencies.sh && \ rm -rf /tmp/* && \ - rm -rf /home/$USER/.cache + rm -rf /home/$USER/.cache && \ + find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \ + rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test USER root RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh index 1f3fa1f650..a5ff714b2d 100755 --- a/selfdrive/test/ci_shell.sh +++ b/selfdrive/test/ci_shell.sh @@ -11,7 +11,6 @@ fi docker run \ -it \ - --shm-size=100m \ --rm \ --volume $OP_ROOT:$OP_ROOT \ --workdir $PWD \ diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index eaa32a0a4b..df815b582f 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -10,18 +10,50 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then RC_FILE="$HOME/.bash_profile" fi +if ! command -v "pyenv" > /dev/null 2>&1; then + echo "pyenv install ..." + curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash + PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH" +fi + +if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then + echo "pyenvrc setup ..." + cat < "${HOME}/.pyenvrc" +if [ -z "\$PYENV_ROOT" ]; then + $PYENV_PATH_SETUP + export PYENV_ROOT="\$HOME/.pyenv" + eval "\$(pyenv init -)" + eval "\$(pyenv virtualenv-init -)" +fi +EOF + + SOURCE_PYENVRC="source ~/.pyenvrc" + if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then + printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE + fi + + eval "$SOURCE_PYENVRC" + # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS + if [ $(uname) == "Darwin" ]; then + unset -f pyenv + fi +fi + export MAKEFLAGS="-j$(nproc)" - +PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) +if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then + # no pyenv update on mac + if [ "$(uname)" == "Linux" ]; then + echo "pyenv update ..." + pyenv update + fi + echo "python ${PYENV_PYTHON_VERSION} install ..." + CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION} +fi +eval "$(pyenv init --path)" echo "update pip" -if [ ! -z "$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then - if [ -z "$VIRTUAL_ENV_ROOT" ]; then - export VIRTUAL_ENV_ROOT="venv" - fi - python3 -m venv --system-site-packages $VIRTUAL_ENV_ROOT - source $VIRTUAL_ENV_ROOT/bin/activate -fi pip install pip==24.0 pip install poetry==1.7.0 @@ -39,6 +71,7 @@ poetry self add poetry-dotenv-plugin@^0.1.0 echo "pip packages install..." poetry install --no-cache --no-root +pyenv rehash [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 2469168c74..1f8ef24eaf 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -99,39 +99,13 @@ function install_ubuntu_lts_latest_requirements() { # Install Ubuntu 20.04 packages function install_ubuntu_focal_requirements() { install_ubuntu_common_requirements - install_deadsnakes_ppa + $SUDO apt-get install -y --no-install-recommends \ libavresample-dev \ qt5-default \ python-dev } -# Remove once on Ubuntu 24.04 -function install_deadsnakes_ppa(){ - if [[ -z "$INSTALL_DEADSNAKES_PPA" ]]; then - read -p "Do you want to use deadsnakes python@3.11? [Y/n]: " -n 1 -r - echo "" - if [[ $REPLY =~ ^[Yy]$ ]]; then - INSTALL_DEADSNAKES_PPA="yes" - fi - fi - if [[ "$INSTALL_DEADSNAKES_PPA" == "yes" ]]; then - # The reinstall ensures that apt_pkg.cpython-35m-x86_64-linux-gnu.so exists - # by reinstalling python3-minimal since it's not present in /usr/lib/python3/dist-packages. - $SUDO apt install -y --no-install-recommends --reinstall python3-minimal - $SUDO apt-get install -y --no-install-recommends python3-apt software-properties-common - $SUDO add-apt-repository ppa:deadsnakes/ppa - $SUDO apt-get install -y --no-install-recommends \ - python3.11-dev \ - python3.11 \ - python3.11-venv \ - python3.11-distutils \ - python3-pip - $SUDO update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 20 - curl -sS https://bootstrap.pypa.io/get-pip.py | python3.11 - fi -} - # Detect OS using /etc/os-release file if [ -f "/etc/os-release" ]; then source /etc/os-release diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index b021866855..d26ec3cfe2 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -6,7 +6,7 @@ if [ -z "$SKIP_PROMPT" ]; then echo "--------------- macOS support ---------------" echo "Running openpilot natively on macOS is not officially supported." echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." - echo + echo echo "Check out devcontainers for a seamless experience (see tools/README.md)." echo "-------------------------------------------------" echo -n "Are you sure you want to continue? [y/N] " @@ -59,7 +59,8 @@ brew "libusb" brew "libtool" brew "llvm" brew "openssl@3.0" -brew "python@3.11" +brew "pyenv" +brew "pyenv-virtualenv" brew "qt@5" brew "zeromq" cask "gcc-arm-embedded" From d6a738bef7b8d8cfacfe8f7edf9fc01ba435f05a Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Mon, 27 May 2024 12:22:41 -0400 Subject: [PATCH 138/159] tools/simulator: Remove superseded build script for sim docker (#32546) * remove * add those back --- tools/sim/build_container.sh | 10 ---------- 1 file changed, 10 deletions(-) delete mode 100755 tools/sim/build_container.sh diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh deleted file mode 100755 index 451277d590..0000000000 --- a/tools/sim/build_container.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/bash - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" -cd $DIR/../../ - -docker pull ghcr.io/commaai/openpilot-base:latest -docker build \ - --cache-from ghcr.io/commaai/openpilot-sim:latest \ - -t ghcr.io/commaai/openpilot-sim:latest \ - -f tools/sim/Dockerfile.sim . From 30792577cd6c65c243f22bf1013a012e22b1da38 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 27 May 2024 10:38:53 -0700 Subject: [PATCH 139/159] [bot] Bump submodules (#32549) bump submodules Co-authored-by: Vehicle Researcher --- opendbc | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index d53c8f558c..9a92d7a232 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit d53c8f558cc4861ce6563498a3663ee9b57daf4b +Subproject commit 9a92d7a232e3abe54c501e01c960462dd04588ea diff --git a/panda b/panda index cade0d5e75..d37d25e057 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit cade0d5e75cdd6a659e1ded21a45d8f3c6c62c18 +Subproject commit d37d25e0575f9f76d3ab0aaded832646ddc6459d From 521ee46c4704057365a6e08c4571a6eafd5d8dde Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 May 2024 00:01:31 -0500 Subject: [PATCH 140/159] [bot] Fingerprints: add missing FW versions from new users (#32552) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index eb9602bcc4..1789054580 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -145,6 +145,7 @@ FW_VERSIONS = { b'68413871AE ', b'68413871AH ', b'68413871AI ', + b'68413873AH ', b'68413873AI ', b'68443120AE ', b'68443123AC ', @@ -165,6 +166,7 @@ FW_VERSIONS = { b'68414271AC', b'68414271AD', b'68414275AC', + b'68414275AD', b'68443154AB', b'68443155AC', b'68443158AB', From 6b3d2b5a80c61e83a925ff28cc2394f9a9c0a996 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 May 2024 03:02:15 +0800 Subject: [PATCH 141/159] cabana: fix panda stream issues (#32537) fix segfault --- tools/cabana/streams/abstractstream.h | 5 +++++ tools/cabana/streams/livestream.cc | 9 +++++++- tools/cabana/streams/livestream.h | 1 + tools/cabana/streams/pandastream.cc | 31 +++++++++++++++++--------- tools/cabana/streams/pandastream.h | 5 +++-- tools/cabana/streams/socketcanstream.h | 1 + tools/cabana/streamselector.cc | 5 +++-- tools/cabana/streamselector.h | 2 ++ 8 files changed, 44 insertions(+), 15 deletions(-) diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 3d63ee49bd..cfd423b368 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -64,6 +64,7 @@ public: AbstractStream(QObject *parent); virtual ~AbstractStream() {} virtual void start() = 0; + virtual void stop() {} virtual bool liveStreaming() const { return true; } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; @@ -128,11 +129,15 @@ private: }; class AbstractOpenStreamWidget : public QWidget { + Q_OBJECT public: AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} virtual bool open() = 0; virtual QString title() = 0; +signals: + void enableOpenButton(bool); + protected: AbstractStream **stream = nullptr; }; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 4e1f6d77d9..d9d96e23b0 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -42,6 +42,10 @@ LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); } +LiveStream::~LiveStream() { + stop(); +} + void LiveStream::startUpdateTimer() { update_timer.stop(); update_timer.start(1000.0 / settings.fps, this); @@ -55,11 +59,14 @@ void LiveStream::start() { begin_date_time = QDateTime::currentDateTime(); } -LiveStream::~LiveStream() { +void LiveStream::stop() { + if (!stream_thread) return; + update_timer.stop(); stream_thread->requestInterruption(); stream_thread->quit(); stream_thread->wait(); + stream_thread = nullptr; } // called in streamThread diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 7a0f8cd834..9ca7e8d745 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -14,6 +14,7 @@ public: LiveStream(QObject *parent); virtual ~LiveStream(); void start() override; + void stop() override; inline QDateTime beginDateTime() const { return begin_date_time; } inline double routeStartTime() const override { return begin_event_ts / 1e9; } void setSpeed(float speed) override { speed_ = speed; } diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index 308391a10c..030783a899 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -6,12 +6,17 @@ #include #include #include +#include -PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {} +PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { + if (!connect()) { + throw std::runtime_error("Failed to connect to panda"); + } +} bool PandaStream::connect() { try { - qDebug() << "Connecting to panda with serial" << config.serial; + qDebug() << "Connecting to panda " << config.serial; panda.reset(new Panda(config.serial.toStdString())); config.bus_config.resize(3); qDebug() << "Connected"; @@ -80,6 +85,13 @@ AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) { OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { form_layout = new QFormLayout(this); + if (can && dynamic_cast(can) != nullptr) { + form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName()))); + form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda.")); + QTimer::singleShot(0, [this]() { emit enableOpenButton(false); }); + return; + } + QHBoxLayout *serial_layout = new QHBoxLayout(); serial_layout->addWidget(serial_edit = new QComboBox()); @@ -116,6 +128,7 @@ void OpenPandaWidget::buildConfigForm() { Panda panda(serial.toStdString()); has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); } catch (const std::exception& e) { + qDebug() << "failed to open panda" << serial; has_panda = false; } } @@ -170,13 +183,11 @@ void OpenPandaWidget::buildConfigForm() { } bool OpenPandaWidget::open() { - if (!config.serial.isEmpty()) { - auto panda_stream = std::make_unique(qApp, config); - if (panda_stream->connect()) { - *stream = panda_stream.release(); - return true; - } + try { + *stream = new PandaStream(qApp, config); + return true; + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); + return false; } - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda")); - return false; } diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index ce0adfc9f8..c50407be1a 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -21,13 +21,14 @@ class PandaStream : public LiveStream { Q_OBJECT public: PandaStream(QObject *parent, PandaStreamConfig config_ = {}); - bool connect(); + ~PandaStream() { stop(); } static AbstractOpenStreamWidget *widget(AbstractStream **stream); inline QString routeName() const override { - return QString("Live Streaming From Panda %1").arg(config.serial); + return QString("Panda: %1").arg(config.serial); } protected: + bool connect(); void streamThread() override; std::unique_ptr panda; diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index e0fb826acb..952f1aaa5c 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -17,6 +17,7 @@ class SocketCanStream : public LiveStream { Q_OBJECT public: SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); + ~SocketCanStream() { stop(); } static AbstractOpenStreamWidget *widget(AbstractStream **stream); static bool available(); diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index d12f1a5df7..209b577c9a 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -1,6 +1,5 @@ #include "tools/cabana/streamselector.h" -#include #include #include #include @@ -31,7 +30,7 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial line->setFrameStyle(QFrame::HLine | QFrame::Sunken); layout->addWidget(line); - auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); + btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); layout->addWidget(btn_box); addStreamWidget(ReplayStream::widget(stream)); @@ -60,4 +59,6 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) { tab->addTab(w, w->title()); + auto open_btn = btn_box->button(QDialogButtonBox::Open); + QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled); } diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h index 19b438d55a..a702fc76ad 100644 --- a/tools/cabana/streamselector.h +++ b/tools/cabana/streamselector.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -17,4 +18,5 @@ public: private: QLineEdit *dbc_file; QTabWidget *tab; + QDialogButtonBox *btn_box; }; From a2931d1956addab1e4c2dbc52b11d7d2e9199043 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Tue, 28 May 2024 14:45:17 -0700 Subject: [PATCH 142/159] CI: add devcontainer-rebuild workflow (#32564) * add devcontainer-rebuild workflow * add shell * add shell on ifs * use scripts/retry.sh --- .github/workflows/tools_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 224b0c9d5f..b3cfd56d13 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -73,7 +73,7 @@ jobs: - name: Setup Dev Container CLI run: npm install -g @devcontainers/cli - name: Build dev container image - run: devcontainer build --workspace-folder . + run: ./scripts/retry.sh devcontainer build --workspace-folder . - name: Run dev container run: | mkdir -p /tmp/devcontainer_scons_cache/ From 325dcec06b5662b6b4c0f8903f0a7ea064fa4b7f Mon Sep 17 00:00:00 2001 From: kacperhq Date: Wed, 29 May 2024 00:27:08 +0200 Subject: [PATCH 143/159] KIA SPORTAGE 5th HEV 2022 EUR fingerprint (#32558) Update fingerprints.py KIA Sportage 5th GEN EUR ver --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 4518f8b04e..8525d3ecaf 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1042,6 +1042,7 @@ FW_VERSIONS = { b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690', ], From a16fbdae3890b0e547f0113497ff8f713bd2b07b Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 29 May 2024 15:43:55 -0700 Subject: [PATCH 144/159] dmonitoringd: set invalid if missing dependence(s) (#32569) * no step but still send * no this * update diff --- selfdrive/monitoring/dmonitoringd.py | 8 +++++--- selfdrive/monitoring/helpers.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index e572bf5bd9..80af7b71d0 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -20,14 +20,16 @@ def dmonitoringd_thread(): # 20Hz <- dmonitoringmodeld while True: sm.update() - if (not sm.updated['driverStateV2']) or (not sm.all_checks()): + if not sm.updated['driverStateV2']: # iterate when model has new output continue - DM.run_step(sm) + valid = sm.all_checks() + if valid: + DM.run_step(sm) # publish - dat = DM.get_state_packet() + dat = DM.get_state_packet(valid=valid) pm.send('driverMonitoringState', dat) # load live always-on toggle diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 347cb245d1..dfb35182b2 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -368,9 +368,9 @@ class DriverMonitoring: self.current_events.add(alert) - def get_state_packet(self): + def get_state_packet(self, valid=True): # build driverMonitoringState packet - dat = messaging.new_message('driverMonitoringState', valid=True) + dat = messaging.new_message('driverMonitoringState', valid=valid) dat.driverMonitoringState = { "events": self.current_events.to_msg(), "faceDetected": self.face_detected, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4fec7453fc..0a9a54325a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dbf5b05ff480145a79b5941e360d0698b70979cd \ No newline at end of file +87aa5052e36d5cf83698b1eb6e50aef5c86df8ca \ No newline at end of file From 5f778c0d3a740b271d10b10842406a97bd27d959 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 May 2024 10:04:03 +0800 Subject: [PATCH 145/159] common/prefix.h: Fix incomplete path cleanup on exit (#32559) --- common/prefix.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/common/prefix.h b/common/prefix.h index f5abe14b2b..11d0bc1066 100644 --- a/common/prefix.h +++ b/common/prefix.h @@ -5,6 +5,7 @@ #include "common/params.h" #include "common/util.h" +#include "system/hardware/hw.h" class OpenpilotPrefix { public: @@ -25,6 +26,10 @@ public: system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); unlink(param_path.c_str()); } + if (getenv("COMMA_CACHE") == nullptr) { + system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str()); + } + system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str()); system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); unsetenv("OPENPILOT_PREFIX"); } From c2f55a2600d6981c1f84360f7c64bbb7a893d25c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 May 2024 01:52:43 -0700 Subject: [PATCH 146/159] map window: log style load errors (#32573) log errors --- selfdrive/ui/qt/maps/map.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 5f178e9f8f..bb66f0869d 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -5,6 +5,7 @@ #include +#include "common/swaglog.h" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/ui.h" @@ -262,6 +263,10 @@ void MapWindow::initializeGL() { loaded_once = true; } }); + + QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) { + LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); + }); } void MapWindow::paintGL() { From 57d64279bdd0a8935586d7f58b68edaf793a73ed Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 May 2024 02:08:31 -0700 Subject: [PATCH 147/159] ui: re-generate JWT on valid system time (#32571) * revert me * Revert "revert me" This reverts commit 17d815ddfc9a18f7fb9f39f89ec8b4481389b339. * duh we have timed! * clean up * use clocks * re-initialize map on SSL handshake failure (time) * this is fine, takes some time to init * fix * log errors like map renderer * more clean up full message is "loading style failed: SSL handshake failed" * MOAR * we still can't swap the token live * mbgl has its own retries that never work, don't reinit multiple times at once * simpler * more * whoops * this works * fix from merge * rm * fix cmt * only an issue calling the function inside itself --- selfdrive/ui/qt/maps/map.cc | 8 ++++++++ selfdrive/ui/qt/maps/map.h | 1 + selfdrive/ui/ui.cc | 2 +- 3 files changed, 10 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index bb66f0869d..490eb118ca 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -119,6 +119,14 @@ void MapWindow::updateState(const UIState &s) { const SubMaster &sm = *(s.sm); update(); + // on rising edge of a valid system time, reinitialize the map to set a new token + if (sm.valid("clocks") && !prev_time_valid) { + LOGW("Time is now valid, reinitializing map"); + m_settings.setApiKey(get_mapbox_token()); + initializeGL(); + } + prev_time_valid = sm.valid("clocks"); + if (sm.updated("liveLocationKalman")) { auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); auto locationd_pos = locationd_location.getPositionGeodetic(); diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 8193d55729..31a44f27b1 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -51,6 +51,7 @@ private: void setError(const QString &err_str); bool loaded_once = false; + bool prev_time_valid = true; // Panning QPointF m_lastPos; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 0ff4f3111a..c70b7594c9 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -249,7 +249,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks", }); Params params; From aa081f574833bcb1db4c234b9ee3d5bcd303a6de Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Thu, 30 May 2024 14:25:21 -0400 Subject: [PATCH 148/159] Simulator: update MetaDrive to latest (#32576) * bump metadrive * comment --- poetry.lock | 20 +++++++++++-------- pyproject.toml | 3 ++- .../sim/bridge/metadrive/metadrive_process.py | 2 +- 3 files changed, 15 insertions(+), 10 deletions(-) diff --git a/poetry.lock b/poetry.lock index 01ec394f22..23b2eb7b8a 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand. [[package]] name = "aiohttp" @@ -2247,18 +2247,16 @@ version = "0.4.2.3" description = "An open-ended driving simulator with infinite scenes" optional = false python-versions = ">=3.6, <3.12" -files = [ - {file = "metadrive-simulator-0.4.2.3.tar.gz", hash = "sha256:bcda7d07146128161b0bc2cc337e01612b9222202706370043b52f7936a8a277"}, - {file = "metadrive_simulator-0.4.2.3-py3-none-any.whl", hash = "sha256:f6fff20b931bb956c55e0e81bf1f6b641169a84a4c853435a8b26bd51c8e9876"}, -] +files = [] +develop = false [package.dependencies] filelock = "*" geopandas = "*" -gymnasium = ">=0.28,<0.29" +gymnasium = ">=0.28" lxml = "*" matplotlib = "*" -numpy = ">=1.21.6,<=1.24.2" +numpy = ">=1.21.6" opencv-python = "*" panda3d = "1.10.13" panda3d-gltf = "0.13" @@ -2281,6 +2279,12 @@ cuda = ["PyOpenGL (==3.1.6)", "PyOpenGL-accelerate (==3.1.6)", "cuda-python (==1 gym = ["gym (>=0.19.0,<=0.26.0)"] ros = ["zmq"] +[package.source] +type = "git" +url = "https://github.com/metadriverse/metadrive.git" +reference = "233a3a1698be7038ec3dd050ca10b547b4b3324c" +resolved_reference = "233a3a1698be7038ec3dd050ca10b547b4b3324c" + [[package]] name = "mouseinfo" version = "0.1.3" @@ -8037,4 +8041,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "1b15d2bb9465282294cd503c019a7d023f16dbb3e44ddde7b9899c45195c6cb8" +content-hash = "ac6ceb0682848e6c5e39110842e8d96fdc98b15037c56491a7fc1e03b7b89cbd" diff --git a/pyproject.toml b/pyproject.toml index da7f1021e6..d7145b10a9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -140,7 +140,8 @@ inputs = "*" Jinja2 = "*" lru-dict = "*" matplotlib = "*" -metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release +metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 2b9203c30d..38c13a1434 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -88,7 +88,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera cam.get_cam().reparentTo(env.vehicle.origin) cam.get_cam().setPos(C3_POSITION) cam.get_cam().setHpr(C3_HPR) - img = cam.perceive(clip=False) + img = cam.perceive(to_float=False) if type(img) != np.ndarray: img = img.get() # convert cupy array to numpy return img From 984ad8833aedf20c5cad14996c5e5cafc95fe3fa Mon Sep 17 00:00:00 2001 From: William Stairs Date: Fri, 31 May 2024 05:35:19 +0100 Subject: [PATCH 149/159] Add Chassis for VW Arteon Shooting Brake 2020-2023 (#32579) * Added Arteon "3H" chassis code for Shooting Brake to VWCarDocs. * Added new engine and transmission FW to Volkswagen fingerprints.py for Arteon Mk1. * Apply suggestions from code review * updates docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 3 ++- selfdrive/car/volkswagen/values.py | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 899c6f8219..26b7fe203f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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. -# 287 Supported Cars +# 288 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -263,6 +263,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index eb537575fa..4d317176be 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -214,10 +214,11 @@ class CAR(Platforms): VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), ], VolkswagenCarSpecs(mass=1733, wheelbase=2.84), - chassis_codes={"AN"}, + chassis_codes={"AN", "3H"}, wmis={WMI.VOLKSWAGEN_EUROPE_CAR}, ) VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig( From 0a43d82428d03662a3a439f7ec5ada7afc39b7a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 May 2024 22:20:04 -0700 Subject: [PATCH 150/159] fw_versions debug: match online vin retry --- selfdrive/car/fw_versions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index f2aff2e6f9..fef3c52d34 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -374,7 +374,7 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") set_obd_multiplexing(params, True) - vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug) + vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() From f887b8703cfdb764a5f16d624bd4ce8380054a23 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 May 2024 23:08:14 -0700 Subject: [PATCH 151/159] add Hyundai CAN FD fingerprinting note --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 72513c8497..9b01a2e124 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -648,6 +648,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps] # TODO: there are date codes in the ABS firmware versions in hex DATE_FW_ECUS = [Ecu.fwdCamera] +# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we +# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera FW_QUERY_CONFIG = FwQueryConfig( requests=[ # TODO: add back whitelists From 8f4b00c263e1942c6a6eed9d24297dff44e7f48f Mon Sep 17 00:00:00 2001 From: cl0cks4fe <108313040+cl0cks4fe@users.noreply.github.com> Date: Fri, 31 May 2024 13:43:12 -0700 Subject: [PATCH 152/159] cache get_torque_params (#32560) * cache get_torque_params * switch to cache * Update selfdrive/car/interfaces.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/interfaces.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 982d987d61..a9ff1eedd5 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -6,6 +6,7 @@ from abc import abstractmethod, ABC from enum import StrEnum from typing import Any, NamedTuple from collections.abc import Callable +from functools import cache from cereal import car from openpilot.common.basedir import BASEDIR @@ -43,6 +44,7 @@ class LatControlInputs(NamedTuple): TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float] +@cache def get_torque_params(candidate): with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: sub = tomllib.load(f) From 30d5edb205b4153e891936b4f7b6f6a39b961a08 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 31 May 2024 16:20:59 -0700 Subject: [PATCH 153/159] Update RELEASES.md --- RELEASES.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index da22a87a47..971ba7867d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,9 +1,9 @@ -Version 0.9.7 (2024-05-XX) +Version 0.9.7 (2024-06-11) ======================== * New driving model * Adjust driving personality with the follow distance button -* Support for hybrid variants of supported Ford models * Added toggle to enable driver monitoring even when openpilot is not engaged +* Support for hybrid variants of supported Ford models * Fingerprinting without the OBD-II port on all cars Version 0.9.6 (2024-02-27) From 9908b729c8af1c608ddd9f2b3d0b1b50a58f39de Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 1 Jun 2024 12:40:53 +0800 Subject: [PATCH 154/159] api: cache RSA private key (#32566) --- selfdrive/ui/qt/api.cc | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc index 0e321d4e10..6889b40e51 100644 --- a/selfdrive/ui/qt/api.cc +++ b/selfdrive/ui/qt/api.cc @@ -1,6 +1,5 @@ #include "selfdrive/ui/qt/api.h" -#include #include #include @@ -8,38 +7,41 @@ #include #include #include -#include #include #include +#include #include -#include "common/params.h" #include "common/util.h" #include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" namespace CommaApi { -QByteArray rsa_sign(const QByteArray &data) { - static std::string key = util::read_file(Path::rsa_file()); - if (key.empty()) { - qDebug() << "No RSA private key found, please run manager.py or registration.py"; - return {}; +RSA *get_rsa_private_key() { + static std::unique_ptr rsa_private(nullptr, RSA_free); + if (!rsa_private) { + FILE *fp = fopen(Path::rsa_file().c_str(), "rb"); + if (!fp) { + qDebug() << "No RSA private key found, please run manager.py or registration.py"; + return nullptr; + } + rsa_private.reset(PEM_read_RSAPrivateKey(fp, NULL, NULL, NULL)); + fclose(fp); } + return rsa_private.get(); +} - BIO* mem = BIO_new_mem_buf(key.data(), key.size()); - assert(mem); - RSA* rsa_private = PEM_read_bio_RSAPrivateKey(mem, NULL, NULL, NULL); - assert(rsa_private); - auto sig = QByteArray(); - sig.resize(RSA_size(rsa_private)); +QByteArray rsa_sign(const QByteArray &data) { + RSA *rsa_private = get_rsa_private_key(); + if (!rsa_private) return {}; + + QByteArray sig(RSA_size(rsa_private), Qt::Uninitialized); unsigned int sig_len; int ret = RSA_sign(NID_sha256, (unsigned char*)data.data(), data.size(), (unsigned char*)sig.data(), &sig_len, rsa_private); assert(ret == 1); - assert(sig_len == sig.size()); - BIO_free(mem); - RSA_free(rsa_private); + assert(sig.size() == sig_len); return sig; } @@ -57,9 +59,7 @@ QString create_jwt(const QJsonObject &payloads, int expiry) { QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts); auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256); - auto sig = rsa_sign(hash); - jwt += '.' + sig.toBase64(b64_opts); - return jwt; + return jwt + "." + rsa_sign(hash).toBase64(b64_opts); } } // namespace CommaApi From 63f55f4915ebb3763cc6bc9adaba52a77467ff23 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 31 May 2024 22:28:03 -0700 Subject: [PATCH 155/159] debug FW fingerprinting: live support (#32585) * live debug! * clean up --- selfdrive/debug/debug_fw_fingerprinting_offline.py | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py index 8ae9d6d347..3df2924738 100755 --- a/selfdrive/debug/debug_fw_fingerprinting_offline.py +++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py @@ -1,11 +1,12 @@ #!/usr/bin/env python3 import argparse +from openpilot.tools.lib.live_logreader import live_logreader from openpilot.tools.lib.logreader import LogReader, ReadMode from panda.python import uds -def main(route: str, addrs: list[int]): +def main(route: str | None, addrs: list[int]): """ TODO: - highlight TX vs RX clearly @@ -13,7 +14,10 @@ def main(route: str, addrs: list[int]): - print as fixed width table, easier to read """ - lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True) + if route is None: + lr = live_logreader() + else: + lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True) start_mono_time = None prev_mono_time = 0 @@ -28,7 +32,7 @@ def main(route: str, addrs: list[int]): if msg.which() in ("can", 'sendcan'): for can in getattr(msg, msg.which()): - if can.address in addrs: + if can.address in addrs or not len(addrs): if msg.logMonoTime != prev_mono_time: print() prev_mono_time = msg.logMonoTime @@ -38,8 +42,8 @@ def main(route: str, addrs: list[int]): if __name__ == "__main__": parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') - parser.add_argument('route', help='Route name') - parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)') + parser.add_argument('route', nargs='?', help='Route name, live if not specified') + parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)') args = parser.parse_args() addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] From a21f773366333427f50f8f2ad2358203e70eff9f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 1 Jun 2024 14:23:48 -0700 Subject: [PATCH 156/159] no lfs in release --- release/build_devel.sh | 8 +++++++- release/release_files.py | 4 ++++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/release/build_devel.sh b/release/build_devel.sh index 18d99bb1cf..7fce11ca72 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -48,7 +48,6 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ # in the directory cd $TARGET_DIR rm -f panda/board/obj/panda.bin.signed -git submodule status # include source commit hash and build date in commit GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD) @@ -64,6 +63,13 @@ date: $DATETIME master commit: $GIT_HASH " +# should be no submodules or LFS files +git submodule status +if [ ! -z "$(git lfs ls-files)" ]; then + echo "LFS files detected!" + exit 1 +fi + # ensure files are within GitHub's limit BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)" if [ ! -z "$BIG_FILES" ]; then diff --git a/release/release_files.py b/release/release_files.py index bf6cd56a90..23e56d3543 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -27,6 +27,10 @@ blacklist = [ ".devcontainer/", "Darwin/", ".vscode", + + # no LFS + ".lfsconfig", + ".gitattributes", ] # gets you through the blacklist From 54116569c3448b6044c271f529d60210ea0222da Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 1 Jun 2024 15:05:07 -0700 Subject: [PATCH 157/159] build_release fixups --- release/build_release.sh | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/release/build_release.sh b/release/build_release.sh index c2745ea287..b68ae455c3 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -1,4 +1,6 @@ -#!/usr/bin/bash -e +#!/usr/bin/bash +set -e +set -x # git diff --name-status origin/release3-staging | grep "^A" | less @@ -29,7 +31,7 @@ git checkout --orphan $RELEASE_BRANCH # do the files copy echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR -cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ +cp -pR --parents $(./release/release_files.py) $BUILD_DIR/ # in the directory cd $BUILD_DIR @@ -46,7 +48,7 @@ git commit -a -m "openpilot v$VERSION release" # Build export PYTHONPATH="$BUILD_DIR" -scons -j$(nproc) +scons -j$(nproc) --minimal # release panda fw CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/ From 7de9a3693ffc7626111fdf388b18be84ed22598a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 1 Jun 2024 15:16:09 -0700 Subject: [PATCH 158/159] more release files --- release/release_files.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release/release_files.py b/release/release_files.py index 23e56d3543..f312b50a24 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -54,7 +54,7 @@ whitelist = [ "tinygrad_repo/tinygrad/runtime/ops_disk.py", "tinygrad_repo/tinygrad/runtime/ops_gpu.py", "tinygrad_repo/tinygrad/shape/*", - "tinygrad_repo/tinygrad/*.py", + "tinygrad_repo/tinygrad/.*.py", ] if __name__ == "__main__": From ce2a686b9751296e4e7207fd6a16b2d1b34d6ef4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 1 Jun 2024 16:04:04 -0700 Subject: [PATCH 159/159] add body teleop to release --- release/release_files.py | 1 + 1 file changed, 1 insertion(+) diff --git a/release/release_files.py b/release/release_files.py index f312b50a24..a6fb7d6481 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -36,6 +36,7 @@ blacklist = [ # gets you through the blacklist whitelist = [ "tools/lib/", + "tools/bodyteleop/", "tinygrad_repo/openpilot/compile2.py", "tinygrad_repo/extra/onnx.py",