From 3365ed5effa48d34ffe0e2e9bbe9f6941336bed5 Mon Sep 17 00:00:00 2001 From: schlimeszn <138847413+schlimeszn@users.noreply.github.com> Date: Mon, 10 Jun 2024 21:59:01 -0400 Subject: [PATCH 01/45] Custom setproctitle (#32667) * add custom setproctitle * add test * Update poetry.lock * fix lint * support only Linux * test only Linux * final lint * Update test_setproctitle.py * Update setproctitle.py * convert to threadnames * delete proctitles * Check str len and use PR_GET_NAME * fix poetry.lock * lint fix * Update common/threadname.py --------- Co-authored-by: reddyn12 Co-authored-by: Adeeb Shihadeh --- common/realtime.py | 6 +- common/tests/test_threadname.py | 8 +++ common/threadname.py | 19 ++++++ poetry.lock | 102 +------------------------------- pyproject.toml | 1 - scripts/waste.py | 4 +- selfdrive/modeld/modeld.py | 12 ++-- system/manager/process.py | 4 +- 8 files changed, 41 insertions(+), 115 deletions(-) create mode 100644 common/tests/test_threadname.py create mode 100644 common/threadname.py diff --git a/common/realtime.py b/common/realtime.py index dd97ea3d78..e7265406ac 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -4,7 +4,7 @@ import os import time from collections import deque -from setproctitle import getproctitle +from openpilot.common.threadname import getthreadname from openpilot.system.hardware import PC @@ -52,7 +52,7 @@ class Ratekeeper: self._print_delay_threshold = print_delay_threshold self._frame = 0 self._remaining = 0.0 - self._process_name = getproctitle() + self._thread_name = getthreadname() self._dts = deque([self._interval], maxlen=100) self._last_monitor_time = time.monotonic() @@ -87,7 +87,7 @@ class Ratekeeper: remaining = self._next_frame_time - time.monotonic() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: - print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") + print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms") lagged = True self._frame += 1 self._remaining = remaining diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py new file mode 100644 index 0000000000..38e5e1d498 --- /dev/null +++ b/common/tests/test_threadname.py @@ -0,0 +1,8 @@ +from openpilot.common.threadname import setthreadname, getthreadname, LINUX + +class TestThreadName: + def test_set_get_threadname(self): + if LINUX: + name = 'TESTING' + setthreadname(name) + assert name == getthreadname() diff --git a/common/threadname.py b/common/threadname.py new file mode 100644 index 0000000000..3db7a7d013 --- /dev/null +++ b/common/threadname.py @@ -0,0 +1,19 @@ +import ctypes +import os + +LINUX = os.name == 'posix' and os.uname().sysname == 'Linux' + +if LINUX: + libc = ctypes.CDLL('libc.so.6') + +def setthreadname(name: str) -> None: + if LINUX: + name = name[:15] + '\0' + libc.prctl(15, str.encode(name), 0, 0, 0) + +def getthreadname() -> str: + if LINUX: + name = ctypes.create_string_buffer(16) + libc.prctl(16, name) + return name.value.decode('utf-8') + return "" diff --git a/poetry.lock b/poetry.lock index 6f0b998639..9662109361 100644 --- a/poetry.lock +++ b/poetry.lock @@ -7319,106 +7319,6 @@ starlette = ["starlette (>=0.19.1)"] starlite = ["starlite (>=1.48)"] tornado = ["tornado (>=5)"] -[[package]] -name = "setproctitle" -version = "1.3.3" -description = "A Python module to customize the process title" -optional = false -python-versions = ">=3.7" -files = [ - 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setproctitle("%3d: %8d" % (core, i)) + setthreadname("%3d: %8d" % (core, i)) lt = time.monotonic() print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) st = lt diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 3ac80aad91..b037d1861f 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -6,7 +6,7 @@ import numpy as np import cereal.messaging as messaging from cereal import car, log from pathlib import Path -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog @@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext -PROCESS_NAME = "selfdrive.modeld.modeld" +THREAD_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PATHS = { @@ -114,9 +114,9 @@ class ModelState: def main(demo=False): cloudlog.warning("modeld init") - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - setproctitle(PROCESS_NAME) + sentry.set_tag("daemon", THREAD_NAME) + cloudlog.bind(daemon=THREAD_NAME) + setthreadname(THREAD_NAME) config_realtime_process(7, 54) cloudlog.warning("setting up CL context") @@ -286,7 +286,7 @@ if __name__ == "__main__": args = parser.parse_args() main(demo=args.demo) except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") + cloudlog.warning(f"child {THREAD_NAME} got SIGINT") except Exception: sentry.capture_exception() raise diff --git a/system/manager/process.py b/system/manager/process.py index 36f299ae62..9214e417c1 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname from cereal import car, log import cereal.messaging as messaging @@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None: mod = importlib.import_module(proc) # rename the process - setproctitle(proc) + setthreadname(proc) # create new context since we forked messaging.context = messaging.Context() From efd744e03e53c0069796c9ba65bfe1eb2c532b35 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jun 2024 19:16:50 -0700 Subject: [PATCH 02/45] always on DM isn't in 0.9.7 --- RELEASES.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index aa0ab182ec..18c011e111 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,15 +1,14 @@ Version 0.9.8 (2024-XX-XX) ======================== -* Always on driver monitoring toggle +* Added toggle to enable driver monitoring even when openpilot is not engaged -Version 0.9.7 (2024-06-11) +Version 0.9.7 (2024-06-13) ======================== * New driving model * Inputs the past curvature for smoother and more accurate lateral control * Simplified neural network architecture in the model's last layers * Minor fixes to desire augmentation and weight decay * Adjust driving personality with the follow distance button -* 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 From 84dd8ad4a3c0542505f19f73cf95ebae7938b412 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 10 Jun 2024 19:26:48 -0700 Subject: [PATCH 03/45] Bump pyopencl and disable on arm64 (#32695) bump pyopencl --- poetry.lock | 84 ++++++++++++++++++++------------------------------ pyproject.toml | 3 +- 2 files changed, 35 insertions(+), 52 deletions(-) diff --git a/poetry.lock b/poetry.lock index 9662109361..f4933887cf 100644 --- a/poetry.lock +++ b/poetry.lock @@ -6409,63 +6409,47 @@ pyobjc-framework-Cocoa = ">=10.3" [[package]] name = "pyopencl" -version = "2023.1.4" +version = "2024.2.6" description = "Python wrapper for OpenCL" optional = false python-versions = "~=3.8" files = [ - 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{file = "pytools-2024.1.3-py2.py3-none-any.whl", hash = "sha256:2977a7e9580fac6260d1352ed7a69a12a0c59687f834e0ebaecaf1148eceb7f3"}, - {file = "pytools-2024.1.3.tar.gz", hash = "sha256:cc2db25666aa64094d3fb4532aa8a7deaa2da8edd7340fb270ed1807dcc75202"}, + {file = "pytools-2024.1.5-py2.py3-none-any.whl", hash = "sha256:dd2b4a1cbe078699742ab37ae3a94a81c5cc598c3247536d12e90588c39b0cc6"}, + {file = "pytools-2024.1.5.tar.gz", hash = "sha256:8c377bb1ffdcb5103301b8e7e94f01cbe36573a01e020434fea96291b1f1ac19"}, ] [package.dependencies] @@ -7966,4 +7950,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "1aebbaeb87fb971b11182abcd487743e3bc4f6ee3560923a0d8714cc3d3a4efc" +content-hash = "8ab43c0fd81c48afa1af652f8487d351444e286a7f43c11fb0148199d4cca1ee" diff --git a/pyproject.toml b/pyproject.toml index e1635728fe..37dfd8e6f8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -165,8 +165,7 @@ pprofile = "*" polyline = "*" pre-commit = "*" pyautogui = "*" -pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools -pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 +pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64 pygame = "*" pywinctl = "*" pyprof2calltree = "*" From 4684651dc55dd0fb95fe33686ad519309f988bfd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jun 2024 19:45:03 -0700 Subject: [PATCH 04/45] test_onroad: update modeld proc name --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 75585e2f14..f80df5ac4f 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -309,7 +309,7 @@ class TestOnroad: assert max(mems) - min(mems) <= 3.0 def test_gpu_usage(self): - assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} + assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.model"} def test_camera_processing_time(self): result = "\n" From 5b51f039675edbbdfbeac72cd9c518450a85bc04 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jun 2024 19:55:41 -0700 Subject: [PATCH 05/45] Revert "Custom setproctitle (#32667)" This reverts commit 3365ed5effa48d34ffe0e2e9bbe9f6941336bed5. --- common/realtime.py | 6 +++--- common/tests/test_threadname.py | 8 -------- common/threadname.py | 19 ------------------- pyproject.toml | 1 + scripts/waste.py | 4 ++-- selfdrive/modeld/modeld.py | 12 ++++++------ system/manager/process.py | 4 ++-- 7 files changed, 14 insertions(+), 40 deletions(-) delete mode 100644 common/tests/test_threadname.py delete mode 100644 common/threadname.py diff --git a/common/realtime.py b/common/realtime.py index e7265406ac..dd97ea3d78 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -4,7 +4,7 @@ import os import time from collections import deque -from openpilot.common.threadname import getthreadname +from setproctitle import getproctitle from openpilot.system.hardware import PC @@ -52,7 +52,7 @@ class Ratekeeper: self._print_delay_threshold = print_delay_threshold self._frame = 0 self._remaining = 0.0 - self._thread_name = getthreadname() + self._process_name = getproctitle() self._dts = deque([self._interval], maxlen=100) self._last_monitor_time = time.monotonic() @@ -87,7 +87,7 @@ class Ratekeeper: remaining = self._next_frame_time - time.monotonic() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: - print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms") + print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") lagged = True self._frame += 1 self._remaining = remaining diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py deleted file mode 100644 index 38e5e1d498..0000000000 --- a/common/tests/test_threadname.py +++ /dev/null @@ -1,8 +0,0 @@ -from openpilot.common.threadname import setthreadname, getthreadname, LINUX - -class TestThreadName: - def test_set_get_threadname(self): - if LINUX: - name = 'TESTING' - setthreadname(name) - assert name == getthreadname() diff --git a/common/threadname.py b/common/threadname.py deleted file mode 100644 index 3db7a7d013..0000000000 --- a/common/threadname.py +++ /dev/null @@ -1,19 +0,0 @@ -import ctypes -import os - -LINUX = os.name == 'posix' and os.uname().sysname == 'Linux' - -if LINUX: - libc = ctypes.CDLL('libc.so.6') - -def setthreadname(name: str) -> None: - if LINUX: - name = name[:15] + '\0' - libc.prctl(15, str.encode(name), 0, 0, 0) - -def getthreadname() -> str: - if LINUX: - name = ctypes.create_string_buffer(16) - libc.prctl(16, name) - return name.value.decode('utf-8') - return "" diff --git a/pyproject.toml b/pyproject.toml index 37dfd8e6f8..01885c7ac3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -137,6 +137,7 @@ future-fstrings = "*" # these should be removed psutil = "*" timezonefinder = "*" # just used for nav ETA +setproctitle = "*" pycryptodome = "*" # used in updated/casync, panda, body, and a test [tool.poetry.group.dev.dependencies] diff --git a/scripts/waste.py b/scripts/waste.py index bf92710fee..0764ff77c3 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -3,7 +3,7 @@ import os import time import numpy as np from multiprocessing import Process -from openpilot.common.threadname import setthreadname +from setproctitle import setproctitle def waste(core): os.sched_setaffinity(0, [core,]) @@ -16,7 +16,7 @@ def waste(core): j = 0 while 1: if (i % 100) == 0: - setthreadname("%3d: %8d" % (core, i)) + setproctitle("%3d: %8d" % (core, i)) lt = time.monotonic() print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) st = lt diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index b037d1861f..3ac80aad91 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -6,7 +6,7 @@ import numpy as np import cereal.messaging as messaging from cereal import car, log from pathlib import Path -from openpilot.common.threadname import setthreadname +from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog @@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext -THREAD_NAME = "selfdrive.modeld.modeld" +PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PATHS = { @@ -114,9 +114,9 @@ class ModelState: def main(demo=False): cloudlog.warning("modeld init") - sentry.set_tag("daemon", THREAD_NAME) - cloudlog.bind(daemon=THREAD_NAME) - setthreadname(THREAD_NAME) + sentry.set_tag("daemon", PROCESS_NAME) + cloudlog.bind(daemon=PROCESS_NAME) + setproctitle(PROCESS_NAME) config_realtime_process(7, 54) cloudlog.warning("setting up CL context") @@ -286,7 +286,7 @@ if __name__ == "__main__": args = parser.parse_args() main(demo=args.demo) except KeyboardInterrupt: - cloudlog.warning(f"child {THREAD_NAME} got SIGINT") + cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") except Exception: sentry.capture_exception() raise diff --git a/system/manager/process.py b/system/manager/process.py index 9214e417c1..36f299ae62 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process -from openpilot.common.threadname import setthreadname +from setproctitle import setproctitle from cereal import car, log import cereal.messaging as messaging @@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None: mod = importlib.import_module(proc) # rename the process - setthreadname(proc) + setproctitle(proc) # create new context since we forked messaging.context = messaging.Context() From 00388ca7958d7dd9b4d505927ee57df77bdb16d7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jun 2024 19:55:48 -0700 Subject: [PATCH 06/45] Revert "test_onroad: update modeld proc name" This reverts commit 4684651dc55dd0fb95fe33686ad519309f988bfd. --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f80df5ac4f..75585e2f14 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -309,7 +309,7 @@ class TestOnroad: assert max(mems) - min(mems) <= 3.0 def test_gpu_usage(self): - assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.model"} + assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} def test_camera_processing_time(self): result = "\n" From 3e332071e7c6b2ba975de301567e9d25e40d65b5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Jun 2024 21:52:36 -0700 Subject: [PATCH 07/45] update poetry lock --- poetry.lock | 106 ++++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 102 insertions(+), 4 deletions(-) diff --git a/poetry.lock b/poetry.lock index f4933887cf..9ebc6d8709 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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hash = "sha256:eae8988e78192fd1a3245a6f4f382390b61bce6cfcc93f3809726e4c885fa68d"}, + {file = "setproctitle-1.3.3.tar.gz", hash = "sha256:c913e151e7ea01567837ff037a23ca8740192880198b7fbb90b16d181607caae"}, +] + +[package.extras] +test = ["pytest"] + [[package]] name = "setuptools" version = "70.0.0" @@ -7950,4 +8048,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "8ab43c0fd81c48afa1af652f8487d351444e286a7f43c11fb0148199d4cca1ee" +content-hash = "8f581b34273378265dba62166f3cd5abbb931b9375d95fb260dcaf192cfacc86" From 965415135ac7db4c67ea248ac52535eac537f3bf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 10 Jun 2024 22:29:17 -0700 Subject: [PATCH 08/45] Long control: Double delay is super complicated (#32694) * Double delay is super complicated * No more upper bound * DEAD * Update ref --- cereal/car.capnp | 4 ++-- selfdrive/car/gm/interface.py | 2 +- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/hyundai/interface.py | 3 +-- selfdrive/car/interfaces.py | 3 +-- selfdrive/car/tesla/interface.py | 2 +- selfdrive/controls/lib/longcontrol.py | 12 +++--------- selfdrive/test/process_replay/ref_commit | 2 +- 8 files changed, 11 insertions(+), 19 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 8d76f0ead8..7f3f64c911 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -490,8 +490,7 @@ struct CarParams { startingState @70 :Bool; # Does this car make use of special starting state steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds - longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound - longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound + longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? carVin @38 :Text; # VIN number queried during fingerprinting dashcamOnly @41: Bool; @@ -703,4 +702,5 @@ struct CarParams { brakeMaxVDEPRECATED @16 :List(Float32); directAccelControlDEPRECATED @30 :Bool; maxSteeringAngleDegDEPRECATED @54 :Float32; + longitudinalActuatorDelayLowerBoundDEPRECATEDDEPRECATED @61 :Float32; } diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 358bc9e5ba..2e194b12f2 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -148,7 +148,7 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking if candidate == CAR.CHEVROLET_VOLT: ret.lateralTuning.pid.kpBP = [0., 40.] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 2026c385c2..43a4454b90 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase): if candidate in HONDA_BOSCH: ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] - ret.longitudinalActuatorDelayUpperBound = 0.5 # s + ret.longitudinalActuatorDelay = 0.5 # s if candidate in HONDA_BOSCH_RADARLESS: ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model else: diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 22c54bce6b..0ba4dcb5e3 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -94,8 +94,7 @@ class CarInterface(CarInterfaceBase): ret.startingState = True ret.vEgoStarting = 0.1 ret.startAccel = 1.0 - ret.longitudinalActuatorDelayLowerBound = 0.5 - ret.longitudinalActuatorDelayUpperBound = 0.5 + ret.longitudinalActuatorDelay = 0.5 # *** feature detection *** if candidate in CANFD_CAR: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a3572238ba..5eac6062aa 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -210,8 +210,7 @@ class CarInterfaceBase(ABC): ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [1.] # TODO estimate car specific lag, use .15s for now - ret.longitudinalActuatorDelayLowerBound = 0.15 - ret.longitudinalActuatorDelayUpperBound = 0.15 + ret.longitudinalActuatorDelay = 0.15 ret.steerLimitTimer = 1.0 return ret diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index e039859263..09de10b54d 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [0] ret.longitudinalTuning.kiBP = [0] ret.longitudinalTuning.kiV = [0] - ret.longitudinalActuatorDelayUpperBound = 0.5 # s + ret.longitudinalActuatorDelay = 0.5 # s ret.radarTimeStep = (1.0 / 8) # 8Hz # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index d08ee05035..a619c47634 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -73,16 +73,10 @@ class LongControl: v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds) a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels) - v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, CONTROL_N_T_IDX, speeds) - a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now + v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now - v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, CONTROL_N_T_IDX, speeds) - a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now - - v_target = min(v_target_lower, v_target_upper) - a_target = min(a_target_lower, a_target_upper) - - v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds) + v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds) else: v_target = 0.0 v_target_now = 0.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 70178b8ea3..eaf61ccb81 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e536df5586a71b22baa789dc584d7eab67f1fbbb +0ba779ec9f624872b1d038acb15095b726ff8983 From 4581f6c36812c535b3e63b258296ed920fb486e6 Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Tue, 11 Jun 2024 17:57:56 +0300 Subject: [PATCH 09/45] compressed_vipc.py fixes (#32699) * Restored VISION_STREAM_* to original index order * Register exit handler --- tools/camerastream/compressed_vipc.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index ea427816ef..6c27e861ff 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -6,6 +6,7 @@ import argparse import numpy as np import multiprocessing import time +import signal import cereal.messaging as messaging from msgq.visionipc import VisionIpcServer, VisionStreamType @@ -18,8 +19,8 @@ V4L2_BUF_FLAG_KEYFRAME = 8 ENCODE_SOCKETS = { VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData", - VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData", VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData", + VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData", } def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): @@ -147,10 +148,14 @@ if __name__ == "__main__": vision_streams = [ VisionStreamType.VISION_STREAM_ROAD, - VisionStreamType.VISION_STREAM_WIDE_ROAD, VisionStreamType.VISION_STREAM_DRIVER, + VisionStreamType.VISION_STREAM_WIDE_ROAD, ] vsts = [vision_streams[int(x)] for x in args.cams.split(",")] cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent)) + + # register exit handler + signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill()) + cvipc.join() From 6fa5d7c3b575faf90e4edadd35e8f2f8cfbe42a5 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Tue, 11 Jun 2024 11:03:47 -0700 Subject: [PATCH 10/45] Update `.gitignore` with recommended VSCode config (#32696) * add .vscode into .gitignore * use recommended gitignore config for .vscode --- .gitignore | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/.gitignore b/.gitignore index 370335e6a0..f067893c77 100644 --- a/.gitignore +++ b/.gitignore @@ -83,3 +83,22 @@ build/ poetry.toml Pipfile + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets + +# Local History for Visual Studio Code +.history/ + +# Built Visual Studio Code Extensions +*.vsix + +### VisualStudioCode Patch ### +# Ignore all local history of files +.history +.ionide \ No newline at end of file From c2be8a55533c7d9efb0a7b1510a839289bda3584 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Jun 2024 11:29:39 -0700 Subject: [PATCH 11/45] little more release blacklist --- release/release_files.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/release/release_files.py b/release/release_files.py index 2d279e97a4..031b51737d 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -33,16 +33,22 @@ blacklist = [ "matlab.*.md", - ".git$", # for submodules ".git/", ".github/", ".devcontainer/", "Darwin/", ".vscode", - # no LFS + # common things + "LICENSE", + "Dockerfile", + ".pre-commit", + + # no LFS or submodules in release ".lfsconfig", ".gitattributes", + ".git$", + ".gitmodules", ] # gets you through the blacklist From 148eaf8fa6c9b23cdd346e926f58fad61f79ff1d Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Tue, 11 Jun 2024 13:45:15 -0700 Subject: [PATCH 12/45] Update to Python 3.12 (#32548) * 3.12 * pprofile is broken * use modified metadrivepy3-12 * 0.3.0 metadrive * add metadrive/commaai git dependency * metadrive git set * pin sounddevice 0.4.6 * datetime.utcnow() deprecation * poetry lock * make datetime not aware * poetry lock * pin pytools * google_crc32c wheel * unpin sounddevice * clean metadrive * use python crc * mypy * 3.12.4 * allow python3.11 * test * no pip * poetry * better * better * merge * remove * try * test * try this * snok * python * simpler * setuptools * lower * try * try * work? * ubuntu deps * ubuntu * try * remove * move * remove this * names * Update .github/workflows/tools_tests.yaml Co-authored-by: Adeeb Shihadeh * python<4 * <3.13 --------- Co-authored-by: Adeeb Shihadeh Co-authored-by: Maxime Desroches --- .github/workflows/tools_tests.yaml | 19 + .python-version | 2 +- Dockerfile.openpilot_base | 4 +- common/api/__init__.py | 4 +- poetry.lock | 2726 ++++++++++---------- pyproject.toml | 7 +- selfdrive/test/test_updated.py | 2 +- system/athena/registration.py | 4 +- system/manager/manager.py | 2 +- system/qcomgpsd/qcomgpsd.py | 2 +- system/qcomgpsd/tests/test_qcomgpsd.py | 2 +- system/statsd.py | 2 +- system/ubloxd/pigeond.py | 4 +- system/updated/updated.py | 10 +- system/webrtc/tests/test_stream_session.py | 1 + system/webrtc/tests/test_webrtcd.py | 1 + system/webrtc/webrtcd.py | 1 + tools/lib/azure_container.py | 4 +- 18 files changed, 1442 insertions(+), 1355 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index ba597f7000..c2f7d86e69 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -39,6 +39,25 @@ jobs: source selfdrive/test/setup_vsound.sh && \ CI=1 pytest tools/sim/tests/test_metadrive_bridge.py" + test_python311: + name: test python3.11 support + runs-on: ubuntu-latest + timeout-minutes: 5 + steps: + - uses: actions/checkout@v4 + - name: Installing ubuntu dependencies + run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh + - name: Installing python + uses: actions/setup-python@v5 + with: + python-version: '3.11.4' + - name: Installing pip + run: pip install pip==24.0 + - name: Installing poetry + run: pip install poetry==1.7.0 + - name: Installing python dependencies + run: poetry install --no-cache --no-root + devcontainer: name: devcontainer runs-on: ubuntu-latest diff --git a/.python-version b/.python-version index 0c7d5f5f5d..455808f8e1 100644 --- a/.python-version +++ b/.python-version @@ -1 +1 @@ -3.11.4 +3.12.4 diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 0789a39c3e..6818195d72 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -64,7 +64,7 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers USER $USER ENV POETRY_VIRTUALENVS_CREATE=false -ENV PYENV_VERSION=3.11.4 +ENV PYENV_VERSION=3.12.4 ENV PYENV_ROOT="/home/$USER/pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" @@ -76,7 +76,7 @@ RUN cd /tmp && \ rm -rf /tmp/* && \ rm -rf /home/$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/pyenv/versions/3.12.4/lib/python3.12/test USER root RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/common/api/__init__.py b/common/api/__init__.py index f3a7d83842..ac231400a4 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -1,7 +1,7 @@ import jwt import os import requests -from datetime import datetime, timedelta +from datetime import datetime, timedelta, UTC from openpilot.system.hardware.hw import Paths from openpilot.system.version import get_version @@ -23,7 +23,7 @@ class Api: return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params) def get_token(self, expiry_hours=1): - now = datetime.utcnow() + now = datetime.now(UTC).replace(tzinfo=None) payload = { 'identity': self.dongle_id, 'nbf': now, diff --git a/poetry.lock b/poetry.lock index 9ebc6d8709..f4925a17fe 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" @@ -2234,7 +2234,7 @@ name = "metadrive-simulator" version = "0.4.2.3" description = "An open-ended driving simulator with infinite scenes" optional = false -python-versions = ">=3.6, <3.12" +python-versions = ">=3.6, <4" files = [] develop = false @@ -2246,7 +2246,7 @@ lxml = "*" matplotlib = "*" numpy = ">=1.21.6" opencv-python = "*" -panda3d = "1.10.13" +panda3d = "1.10.14" panda3d-gltf = "0.13" pandas = "*" pillow = "*" @@ -2269,9 +2269,9 @@ ros = ["zmq"] [package.source] type = "git" -url = "https://github.com/metadriverse/metadrive.git" -reference = "233a3a1698be7038ec3dd050ca10b547b4b3324c" -resolved_reference = "233a3a1698be7038ec3dd050ca10b547b4b3324c" +url = "https://github.com/commaai/metadrive.git" +reference = "python3.12" +resolved_reference = "0823c7491a1ab870bcd53d10a41e985a3ad1b968" [[package]] name = "mouseinfo" @@ -2322,22 +2322,22 @@ tests = ["pytest (>=4.6)"] [[package]] name = "msal" -version = "1.28.0" +version = "1.28.1" description 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a/pyproject.toml b/pyproject.toml index 01885c7ac3..6e4741ddaf 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -88,7 +88,7 @@ repository = "https://github.com/commaai/openpilot" documentation = "https://docs.comma.ai" [tool.poetry.dependencies] -python = "~3.11" +python = ">=3.11, <3.13" # multiple users sounddevice = "*" # micd + soundd @@ -154,15 +154,14 @@ inputs = "*" Jinja2 = "*" lru-dict = "*" matplotlib = "*" -# 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 +metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" natsort = "*" opencv-python-headless = "*" parameterized = "^0.8" -pprofile = "*" +#pprofile = "*" polyline = "*" pre-commit = "*" pyautogui = "*" diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index f8eae94823..ea945d94c2 100644 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -164,7 +164,7 @@ class TestUpdated: # make sure LastUpdateTime is recent t = self._read_param("LastUpdateTime") last_update_time = datetime.datetime.fromisoformat(t) - td = datetime.datetime.utcnow() - last_update_time + td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time assert td.total_seconds() < 10 self.params.remove("LastUpdateTime") diff --git a/system/athena/registration.py b/system/athena/registration.py index 6574d9ac20..97289e4199 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -4,7 +4,7 @@ import json import jwt from pathlib import Path -from datetime import datetime, timedelta +from datetime import datetime, timedelta, UTC from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.spinner import Spinner @@ -66,7 +66,7 @@ def register(show_spinner=False) -> str | None: start_time = time.monotonic() while True: try: - register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256') + register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256') cloudlog.info("getting pilotauth") resp = api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token) diff --git a/system/manager/manager.py b/system/manager/manager.py index 6d1b8d9c22..2a173ac90e 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -42,7 +42,7 @@ def manager_init() -> None: ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), ] if not PC: - default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) + default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8'))) if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index 21c7995a77..43ddb89939 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -173,7 +173,7 @@ def setup_quectel(diag: ModemDiag) -> bool: os.remove(ASSIST_DATA_FILE) #at_cmd("AT+QGPSXTRADATA?") if system_time_valid(): - time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + time_str = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).strftime("%Y/%m/%d,%H:%M:%S") at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py index ef23737dd7..716bc33ed2 100644 --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -85,7 +85,7 @@ class TestRawgpsd: 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") - assert abs((datetime.datetime.utcnow() - injected_time).total_seconds()) < 60*60*12 + assert abs((datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - injected_time).total_seconds()) < 60*60*12 else: valid_duration, injected_time_str = out.split(",", 1) injected_time_str = injected_time_str.replace('\"', '').replace('\'', '') diff --git a/system/statsd.py b/system/statsd.py index 2b5a7bb3a7..5e76b73ae9 100755 --- a/system/statsd.py +++ b/system/statsd.py @@ -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=UTC) + current_time = datetime.now(UTC) tags['started'] = sm['deviceState'].started for key, value in gauges.items(): diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py index 5711992cfb..8809689dcd 100755 --- a/system/ubloxd/pigeond.py +++ b/system/ubloxd/pigeond.py @@ -6,7 +6,7 @@ import serial import struct import requests import urllib.parse -from datetime import datetime +from datetime import datetime, UTC from cereal import messaging from openpilot.common.params import Params @@ -196,7 +196,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: cloudlog.error(f"failed to restore almanac backup, status: {restore_status}") # sending time to ublox - t_now = datetime.utcnow() + t_now = datetime.now(UTC).replace(tzinfo=None) if t_now >= datetime(2021, 6, 1): cloudlog.warning("Sending current time to ublox") diff --git a/system/updated/updated.py b/system/updated/updated.py index d43f439af5..005c52bc8b 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -60,7 +60,7 @@ class WaitTimeHelper: self.ready_event.wait(timeout=t) def write_time_to_param(params, param) -> None: - t = datetime.datetime.utcnow() + t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) params.put(param, t.isoformat().encode('utf8')) def read_time_from_param(params, param) -> datetime.datetime | None: @@ -279,7 +279,7 @@ class Updater: if len(self.branches): self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) - last_update = datetime.datetime.utcnow() + last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) if update_success: write_time_to_param(self.params, "LastUpdateTime") else: @@ -323,7 +323,7 @@ class Updater: for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): set_offroad_alert(alert, False) - now = datetime.datetime.utcnow() + now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) dt = now - last_update build_metadata = get_build_metadata() if failed_count > 15 and exception is not None and self.has_internet: @@ -429,7 +429,7 @@ def main() -> None: cloudlog.event("update installed") if not params.get("InstallDate"): - t = datetime.datetime.utcnow().isoformat() + t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat() params.put("InstallDate", t.encode('utf8')) updater = Updater() @@ -469,7 +469,7 @@ def main() -> None: # download update last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") - timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3)) + timed_out = last_fetch is None or (datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_fetch > datetime.timedelta(days=3)) user_requested_fetch = wait_helper.user_request == UserRequest.FETCH if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch: cloudlog.info("skipping fetch, connection metered") diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py index e89e42e440..46d55ecd90 100644 --- a/system/webrtc/tests/test_stream_session.py +++ b/system/webrtc/tests/test_stream_session.py @@ -3,6 +3,7 @@ import json # for aiortc and its dependencies import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel from aiortc import RTCDataChannel from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py index d4b659a3aa..4fa6d8953f 100644 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -4,6 +4,7 @@ import json # for aiortc and its dependencies import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel from openpilot.system.webrtc.webrtcd import get_stream diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index afd346857f..79c5b4888f 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -11,6 +11,7 @@ from typing import Any, TYPE_CHECKING # aiortc and its dependencies have lots of internal warnings :( import warnings warnings.filterwarnings("ignore", category=DeprecationWarning) +warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel import capnp from aiohttp import web diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py index f5a3a8bfb1..a5d650e98f 100644 --- a/tools/lib/azure_container.py +++ b/tools/lib/azure_container.py @@ -1,5 +1,5 @@ import os -from datetime import datetime, timedelta +from datetime import datetime, timedelta, UTC from functools import lru_cache from pathlib import Path from typing import IO @@ -20,7 +20,7 @@ def get_azure_credential(): @lru_cache def get_container_sas(account_name: str, container_name: str): from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas - start_time = datetime.utcnow() + start_time = datetime.now(UTC).replace(tzinfo=None) expiry_time = start_time + timedelta(hours=1) blob_service = BlobServiceClient( account_url=f"https://{account_name}.blob.core.windows.net", From c9475ed2f2c2687edc957af8a50d271e043a0bb6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Jun 2024 14:47:39 -0700 Subject: [PATCH 13/45] release checklist (#32709) --- release/README.md | 36 ++++++++++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 release/README.md diff --git a/release/README.md b/release/README.md new file mode 100644 index 0000000000..1d3e784936 --- /dev/null +++ b/release/README.md @@ -0,0 +1,36 @@ +# openpilot releases + +## release checklist + +**Go to `devel-staging`** +- [ ] update `devel-staging`: `git reset --hard origin/master-ci` +- [ ] open a pull request from `devel-staging` to `devel` + +**Go to `devel`** +- [ ] update RELEASES.md +- [ ] close out milestone +- [ ] post on Discord dev channel +- [ ] bump version on master: `common/version.h` and `RELEASES.md` +- [ ] merge the pull request + +tests: +- [ ] update from previous release -> new release +- [ ] update from new release -> previous release +- [ ] fresh install with `openpilot-test.comma.ai` +- [ ] drive on fresh install +- [ ] comma body test +- [ ] no submodules or LFS +- [ ] check sentry, MTBF, etc. + +**Go to `release3`** +- [ ] publish the blog post +- [ ] `git reset --hard origin/release3-staging` +- [ ] tag the release +``` +git tag v0.X.X +git push origin v0.X.X +``` +- [ ] create GitHub release +- [ ] final test install on `openpilot.comma.ai` +- [ ] update production +- [ ] Post on Discord, X, etc. From df87ce3709cad7bfa392973c8eee2114d63c6a92 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Jun 2024 14:57:47 -0700 Subject: [PATCH 14/45] add Ford and Volkswagen fuzzy fingerprinting --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 18c011e111..21cf208ce9 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -11,6 +11,7 @@ Version 0.9.7 (2024-06-13) * Adjust driving personality with the follow distance button * Support for hybrid variants of supported Ford models * Fingerprinting without the OBD-II port on all cars +* Improved fuzzy fingerprinting for Ford and Volkswagen Version 0.9.6 (2024-02-27) ======================== From 0e39d5bcf267b9db53f6e363356d17ca79662210 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 11 Jun 2024 15:55:18 -0700 Subject: [PATCH 15/45] DM model notes --- RELEASES.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index 21cf208ce9..57f6979117 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,8 @@ Version 0.9.7 (2024-06-13) * Inputs the past curvature for smoother and more accurate lateral control * Simplified neural network architecture in the model's last layers * Minor fixes to desire augmentation and weight decay +* New driver monitoring model + * Improved end-to-end bit for phone detection * Adjust driving personality with the follow distance button * Support for hybrid variants of supported Ford models * Fingerprinting without the OBD-II port on all cars From 188843533f620b8d80c5c21afd17b92224ec112e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Jun 2024 16:14:24 -0700 Subject: [PATCH 16/45] bump msgq: fix body web streaming (#32713) * bump msgq: fix body web streaming * bump msgq --- msgq_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgq_repo b/msgq_repo index 381fc3d9df..74074d650f 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 381fc3d9dfe7d2ff40a075ff8c1f980ae2a62d19 +Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537 From 05669df1027fbb296884772b15876aff1191f61e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 11 Jun 2024 16:17:25 -0700 Subject: [PATCH 17/45] Update cereal README.md --- cereal/README.md | 15 +++------------ 1 file changed, 3 insertions(+), 12 deletions(-) diff --git a/cereal/README.md b/cereal/README.md index e3326aab0e..ad940facdc 100644 --- a/cereal/README.md +++ b/cereal/README.md @@ -1,11 +1,6 @@ -# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal) +# What is cereal? -cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers. - -Imagine this use case: -* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet -* A calibration process subscribes to the `sensorEvents` packet to use the IMU -* A localization process subscribes to the `sensorEvents` packet to use the IMU also +cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs. ## Messaging Spec @@ -32,11 +27,7 @@ Forks of [openpilot](https://github.com/commaai/openpilot) might want to add thi spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in [custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your -fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.** - -## Pub Sub Backends - -cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel. +fork will remain backwards-compatible with all versions of mainline openpilot and your fork.** Example --- From ddfb31f1bfa241aee1c250f5da5f2d364c51f610 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Jun 2024 16:25:24 -0700 Subject: [PATCH 18/45] remove .python-version (#32714) * remove .python-version * no cp --- .python-version | 1 - Dockerfile.openpilot_base | 2 +- tools/install_python_dependencies.sh | 2 +- 3 files changed, 2 insertions(+), 3 deletions(-) delete mode 100644 .python-version diff --git a/.python-version b/.python-version deleted file mode 100644 index 455808f8e1..0000000000 --- a/.python-version +++ /dev/null @@ -1 +0,0 @@ -3.12.4 diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 6818195d72..45b29bdcb1 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -68,7 +68,7 @@ ENV PYENV_VERSION=3.12.4 ENV PYENV_ROOT="/home/$USER/pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" -COPY --chown=$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 && \ diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index df815b582f..af25ec6424 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -41,7 +41,7 @@ fi export MAKEFLAGS="-j$(nproc)" -PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) +PYENV_PYTHON_VERSION="3.12.4" if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then # no pyenv update on mac if [ "$(uname)" == "Linux" ]; then From 0bdab824231a9ba3069777791e7dff76cfce838e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 11 Jun 2024 17:27:47 -0700 Subject: [PATCH 19/45] Remove aarch64 ci test (#32715) * remove aarch64 * comment + remove test --- .github/workflows/selfdrive_tests.yaml | 24 ++---------------------- 1 file changed, 2 insertions(+), 22 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 417fe20449..35bab255cb 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -69,11 +69,8 @@ jobs: build: strategy: matrix: - arch: ${{ fromJson( - ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} + arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404 + runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 with: @@ -90,23 +87,6 @@ jobs: - 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: [build] - steps: - - uses: actions/checkout@v4 - with: - submodules: false - - name: Setup docker - run: | - $DOCKER_LOGIN - - name: Merge x64 and arm64 tags - run: | - export PUSH_IMAGE=true - scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 - static_analysis: name: static analysis runs-on: ${{ ((github.repository == 'commaai/openpilot') && From 684209e077d77da0c3a12e8fda528649c5fe9edc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Jun 2024 21:31:10 -0700 Subject: [PATCH 20/45] remove uiPlan (#32721) * remove uiPlan from ui * remove publishing * Update log.capnp * Update services.py * no uiPlan here * Update ref_commit --- cereal/log.capnp | 2 +- cereal/services.py | 1 - selfdrive/controls/plannerd.py | 14 ++------------ .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/qt/onroad/annotated_camera.cc | 5 ++--- selfdrive/ui/ui.cc | 19 +++++++------------ selfdrive/ui/ui.h | 3 +-- 8 files changed, 15 insertions(+), 33 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 36ca692dcc..67c6f836a4 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2244,7 +2244,6 @@ struct Event { carControl @23 :Car.CarControl; carOutput @127 :Car.CarOutput; longitudinalPlan @24 :LongitudinalPlan; - uiPlan @106 :UiPlan; ubloxGnss @34 :UbloxGnss; ubloxRaw @39 :Data; qcomGnss @31 :QcomGnss; @@ -2365,5 +2364,6 @@ struct Event { sensorEventsDEPRECATED @11 :List(SensorEventData); lateralPlanDEPRECATED @64 :LateralPlan; navModelDEPRECATED @104 :NavModelData; + uiPlanDEPRECATED @106 :UiPlan; } } diff --git a/cereal/services.py b/cereal/services.py index 2ab28f6d52..ca9139c431 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -66,7 +66,6 @@ _services: dict[str, tuple] = { "navInstruction": (True, 1., 10), "navRoute": (True, 0.), "navThumbnail": (True, 0.), - "uiPlan": (True, 20., 40.), "qRoadEncodeIdx": (False, 20.), "userFlag": (True, 0., 1), "microphone": (True, 10., 10), diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index eeeeda050e..681518be19 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -6,16 +6,6 @@ from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner import cereal.messaging as messaging -def publish_ui_plan(sm, pm, longitudinal_planner): - ui_send = messaging.new_message('uiPlan') - ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) - uiPlan = ui_send.uiPlan - uiPlan.frameId = sm['modelV2'].frameId - uiPlan.position.x = list(sm['modelV2'].position.x) - uiPlan.position.y = list(sm['modelV2'].position.y) - uiPlan.position.z = list(sm['modelV2'].position.z) - uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist() - pm.send('uiPlan', ui_send) def plannerd_thread(): config_realtime_process(5, Priority.CTRL_LOW) @@ -27,7 +17,7 @@ def plannerd_thread(): cloudlog.info("plannerd got CarParams: %s", CP.carName) longitudinal_planner = LongitudinalPlanner(CP) - pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan']) + pm = messaging.PubMaster(['longitudinalPlan']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], poll='modelV2', ignore_avg_freq=['radarState']) @@ -36,7 +26,7 @@ def plannerd_thread(): if sm.updated['modelV2']: longitudinal_planner.update(sm) longitudinal_planner.publish(sm, pm) - publish_ui_plan(sm, pm, longitudinal_planner) + def main(): plannerd_thread() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 739efcb985..a55396002b 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -505,7 +505,7 @@ CONFIGS = [ ProcessConfig( proc_name="plannerd", pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], - subs=["longitudinalPlan", "uiPlan"], + subs=["longitudinalPlan"], ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, should_recv_callback=FrequencyBasedRcvCallback("modelV2"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eaf61ccb81..227202839f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0ba779ec9f624872b1d038acb15095b726ff8983 +6438bd5edad674c2de3c7e2d126271cb2576383d diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index f7fb6b480f..241bb6ed34 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -235,8 +235,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { QLinearGradient bg(0, height(), 0, 0); if (sm["controlsState"].getControlsState().getExperimentalMode()) { // The first half of track_vertices are the points for the right side of the path - // and the indices match the positions of accel from uiPlan - const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel(); + const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX(); const int max_len = std::min(scene.track_vertices.length() / 2, acceleration.size()); for (int i = 0; i < max_len; ++i) { @@ -403,7 +402,7 @@ void AnnotatedCameraWidget::paintGL() { painter.setPen(Qt::NoPen); if (s->scene.world_objects_visible) { - update_model(s, model, sm["uiPlan"].getUiPlan()); + update_model(s, model); drawLaneLines(painter, s); if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) { diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c70b7594c9..06b8b13bc1 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -77,14 +77,10 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, } void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model, - const cereal::UiPlan::Reader &plan) { + const cereal::ModelDataV2::Reader &model) { UIScene &scene = s->scene; - auto plan_position = plan.getPosition(); - if (plan_position.getX().size() < model.getPosition().getX().size()) { - plan_position = model.getPosition(); - } - float max_distance = std::clamp(*(plan_position.getX().end() - 1), + auto model_position = model.getPosition(); + float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines @@ -110,8 +106,8 @@ void update_model(UIState *s, const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); } - max_idx = get_path_length_idx(plan_position, max_distance); - update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); + max_idx = get_path_length_idx(model_position, max_distance); + update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); } void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { @@ -212,8 +208,7 @@ static void update_state(UIState *s) { scene.world_objects_visible = scene.world_objects_visible || (scene.started && sm.rcv_frame("liveCalibration") > scene.started_frame && - sm.rcv_frame("modelV2") > scene.started_frame && - sm.rcv_frame("uiPlan") > scene.started_frame); + sm.rcv_frame("modelV2") > scene.started_frame); } void ui_update_params(UIState *s) { @@ -249,7 +244,7 @@ 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", "clocks", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks", }); Params params; diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 7238159dda..9ef79b2eff 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -184,8 +184,7 @@ Device *device(); void ui_update_params(UIState *s); int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model, - const cereal::UiPlan::Reader &plan); + const cereal::ModelDataV2::Reader &model); void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, From 81dc33e56994c364a2100978654c5abf4cacbe4e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Jun 2024 21:36:13 -0700 Subject: [PATCH 21/45] Fixup qlog size (#32719) * stash * Revert "stash" This reverts commit 5a22b44919d4cb8681cc08d99656954423abda93. * improvements * rm * method 2 * Revert "method 2" This reverts commit 7112d95b3eead8bfdd8efb1dcefd4edbe9107680. * unreal for now * stash * Revert "stash" This reverts commit a7c5b31d8043b8da96c21a8d40281cece3cada61. * clean up * update description --- selfdrive/debug/internal/qlog_size.py | 39 ++++++++++----------------- 1 file changed, 14 insertions(+), 25 deletions(-) diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index b51cb3af2f..0b816604aa 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -5,24 +5,30 @@ from collections import defaultdict import matplotlib.pyplot as plt -from cereal.services import SERVICE_LIST from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route MIN_SIZE = 0.5 # Percent size of total to show as separate entry def make_pie(msgs, typ): - compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs.items()} + msgs_by_type = defaultdict(list) + for m in msgs: + msgs_by_type[m.which()].append(m.as_builder().to_bytes()) + + length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()} + compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs_by_type.items()} total = sum(compressed_length_by_type.values()) + uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs])) sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1]) - print(f"{typ} - Total {total / 1024:.2f} kB") + print("name - comp. size (uncomp. size)") for (name, sz) in sizes: - print(f"{name} - {sz / 1024:.2f} kB") + print(f"{name:<22} - {sz / 1024:.2f} kB ({length_by_type[name] / 1024:.2f} kB)") print() + print(f"{typ} - Total {total / 1024:.2f} kB") + print(f"{typ} - Uncompressed total {uncompressed_total / 1024 / 1024:.2f} MB") sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100] sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))] @@ -35,28 +41,11 @@ def make_pie(msgs, typ): if __name__ == "__main__": - parser = argparse.ArgumentParser(description='Check qlog size based on a rlog') + parser = argparse.ArgumentParser(description='View log size breakdown by message type') parser.add_argument('route', help='route to use') - parser.add_argument('segment', type=int, help='segment number to use') args = parser.parse_args() - r = Route(args.route) - rlog = r.log_paths()[args.segment] - msgs = list(LogReader(rlog)) + msgs = list(LogReader(args.route)) - msgs_by_type = defaultdict(list) - for m in msgs: - msgs_by_type[m.which()].append(m.as_builder().to_bytes()) - - qlog_by_type = defaultdict(list) - for name, service in SERVICE_LIST.items(): - if service.decimation is None: - continue - - for i, msg in enumerate(msgs_by_type[name]): - if i % service.decimation == 0: - qlog_by_type[name].append(msg) - - make_pie(msgs_by_type, 'rlog') - make_pie(qlog_by_type, 'qlog') + make_pie(msgs, 'qlog') plt.show() From 83ac80c6c899dbf4b5b2d422947b02b57d83bccd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Jun 2024 21:57:32 -0700 Subject: [PATCH 22/45] Remove `setproctitle` (#32716) * Custom setproctitle (#32667) * add custom setproctitle * add test * Update poetry.lock * fix lint * support only Linux * test only Linux * final lint * Update test_setproctitle.py * Update setproctitle.py * convert to threadnames * delete proctitles * Check str len and use PR_GET_NAME * fix poetry.lock * lint fix * Update common/threadname.py --------- Co-authored-by: reddyn12 Co-authored-by: Adeeb Shihadeh * revert that for now * use last 15 * fix * use name * update those * and modeld * rm --------- Co-authored-by: schlimeszn <138847413+schlimeszn@users.noreply.github.com> Co-authored-by: reddyn12 Co-authored-by: Comma Device --- common/realtime.py | 6 +- common/tests/test_threadname.py | 8 +++ common/threadname.py | 19 ++++++ poetry.lock | 112 ++------------------------------ pyproject.toml | 1 - scripts/waste.py | 4 +- selfdrive/modeld/modeld.py | 12 ++-- selfdrive/test/test_onroad.py | 32 ++++----- system/manager/process.py | 4 +- 9 files changed, 61 insertions(+), 137 deletions(-) create mode 100644 common/tests/test_threadname.py create mode 100644 common/threadname.py diff --git a/common/realtime.py b/common/realtime.py index dd97ea3d78..e7265406ac 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -4,7 +4,7 @@ import os import time from collections import deque -from setproctitle import getproctitle +from openpilot.common.threadname import getthreadname from openpilot.system.hardware import PC @@ -52,7 +52,7 @@ class Ratekeeper: self._print_delay_threshold = print_delay_threshold self._frame = 0 self._remaining = 0.0 - self._process_name = getproctitle() + self._thread_name = getthreadname() self._dts = deque([self._interval], maxlen=100) self._last_monitor_time = time.monotonic() @@ -87,7 +87,7 @@ class Ratekeeper: remaining = self._next_frame_time - time.monotonic() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: - print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") + print(f"{self._thread_name} lagging by {-remaining * 1000:.2f} ms") lagged = True self._frame += 1 self._remaining = remaining diff --git a/common/tests/test_threadname.py b/common/tests/test_threadname.py new file mode 100644 index 0000000000..38e5e1d498 --- /dev/null +++ b/common/tests/test_threadname.py @@ -0,0 +1,8 @@ +from openpilot.common.threadname import setthreadname, getthreadname, LINUX + +class TestThreadName: + def test_set_get_threadname(self): + if LINUX: + name = 'TESTING' + setthreadname(name) + assert name == getthreadname() diff --git a/common/threadname.py b/common/threadname.py new file mode 100644 index 0000000000..7c415721f4 --- /dev/null +++ b/common/threadname.py @@ -0,0 +1,19 @@ +import ctypes +import os + +LINUX = os.name == 'posix' and os.uname().sysname == 'Linux' + +if LINUX: + libc = ctypes.CDLL('libc.so.6') + +def setthreadname(name: str) -> None: + if LINUX: + name = name[-15:] + '\0' + libc.prctl(15, str.encode(name), 0, 0, 0) + +def getthreadname() -> str: + if LINUX: + name = ctypes.create_string_buffer(16) + libc.prctl(16, name) + return name.value.decode('utf-8') + return "" diff --git a/poetry.lock b/poetry.lock index f4925a17fe..7e772276ed 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" @@ -2730,7 +2730,6 @@ optional = false python-versions = ">=3.6" files = [ {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"}, - {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:5f78652339957ec24b80a782becfb32f822d2008a865512121fad8c3ce233e9a"}, {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"}, {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"}, {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"}, @@ -2740,8 +2739,8 @@ files = [ [package.dependencies] numpy = [ - {version = ">=1.23.5", markers = "python_version 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hash = "sha256:eae8988e78192fd1a3245a6f4f382390b61bce6cfcc93f3809726e4c885fa68d"}, - {file = "setproctitle-1.3.3.tar.gz", hash = "sha256:c913e151e7ea01567837ff037a23ca8740192880198b7fbb90b16d181607caae"}, -] - -[package.extras] -test = ["pytest"] - [[package]] name = "setuptools" version = "70.0.0" @@ -8114,4 +8012,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", [metadata] lock-version = "2.0" python-versions = ">=3.11, <3.13" -content-hash = "c5654418f3c97420a4a2195b42ebfec250623b600658aae03385b2bcf4c058bd" +content-hash = "b5c62b81368f0e972fbcf0dbb88746f3ae930ebdc171ad004c926f3588d1f244" diff --git a/pyproject.toml b/pyproject.toml index 6e4741ddaf..7b780c87f0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -137,7 +137,6 @@ future-fstrings = "*" # these should be removed psutil = "*" timezonefinder = "*" # just used for nav ETA -setproctitle = "*" pycryptodome = "*" # used in updated/casync, panda, body, and a test [tool.poetry.group.dev.dependencies] diff --git a/scripts/waste.py b/scripts/waste.py index 0764ff77c3..bf92710fee 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -3,7 +3,7 @@ import os import time import numpy as np from multiprocessing import Process -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname def waste(core): os.sched_setaffinity(0, [core,]) @@ -16,7 +16,7 @@ def waste(core): j = 0 while 1: if (i % 100) == 0: - setproctitle("%3d: %8d" % (core, i)) + setthreadname("%3d: %8d" % (core, i)) lt = time.monotonic() print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) st = lt diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 3ac80aad91..1e33b7b3f0 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -6,7 +6,7 @@ import numpy as np import cereal.messaging as messaging from cereal import car, log from pathlib import Path -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog @@ -24,7 +24,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext -PROCESS_NAME = "selfdrive.modeld.modeld" +THREAD_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PATHS = { @@ -114,9 +114,9 @@ class ModelState: def main(demo=False): cloudlog.warning("modeld init") - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - setproctitle(PROCESS_NAME) + sentry.set_tag("daemon", THREAD_NAME) + cloudlog.bind(daemon=THREAD_NAME) + setthreadname("modeld") config_realtime_process(7, 54) cloudlog.warning("setting up CL context") @@ -286,7 +286,7 @@ if __name__ == "__main__": args = parser.parse_args() main(demo=args.demo) except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") + cloudlog.warning(f"child {THREAD_NAME} got SIGINT") except Exception: sentry.capture_exception() raise diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 75585e2f14..7b44a3b80e 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -36,26 +36,26 @@ PROCS = { # Baseline CPU usage by process "selfdrive.controls.controlsd": 32.0, "selfdrive.car.card": 22.0, - "./loggerd": 14.0, - "./encoderd": 17.0, - "./camerad": 14.5, - "./locationd": 11.0, + "loggerd": 14.0, + "encoderd": 17.0, + "camerad": 14.5, + "locationd": 11.0, "selfdrive.controls.plannerd": 11.0, - "./ui": 18.0, + "ui": 18.0, "selfdrive.locationd.paramsd": 9.0, - "./sensord": 7.0, + "sensord": 7.0, "selfdrive.controls.radard": 7.0, - "selfdrive.modeld.modeld": 13.0, + "modeld": 13.0, "selfdrive.modeld.dmonitoringmodeld": 8.0, "system.hardware.hardwared": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.ui.soundd": 3.5, "selfdrive.monitoring.dmonitoringd": 4.0, - "./proclogd": 1.54, + "proclogd": 1.54, "system.logmessaged": 0.2, "system.tombstoned": 0, - "./logcatd": 0, + "logcatd": 0, "system.micd": 6.0, "system.timed": 0, "selfdrive.pandad.pandad": 0, @@ -67,12 +67,12 @@ PROCS = { PROCS.update({ "tici": { - "./pandad": 4.0, - "./ubloxd": 0.02, + "pandad": 4.0, + "ubloxd": 0.02, "system.ubloxd.pigeond": 6.0, }, "tizi": { - "./pandad": 19.0, + "pandad": 19.0, "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) @@ -247,8 +247,7 @@ class TestOnroad: for pl in self.service_msgs['procLog']: for x in pl.procLog.procs: if len(x.cmdline) > 0: - n = list(x.cmdline)[0] - plogs_by_proc[n].append(x) + plogs_by_proc[x.name].append(x) print(plogs_by_proc.keys()) cpu_ok = True @@ -256,8 +255,9 @@ class TestOnroad: for proc_name, expected_cpu in PROCS.items(): err = "" + exp = "???" cpu_usage = 0. - x = plogs_by_proc[proc_name] + x = plogs_by_proc[proc_name[-15:]] if len(x) > 2: cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) cpu_usage = cpu_time / dt * 100. @@ -309,7 +309,7 @@ class TestOnroad: assert max(mems) - min(mems) <= 3.0 def test_gpu_usage(self): - assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} + assert self.gpu_procs == {"weston", "ui", "camerad", "modeld"} def test_camera_processing_time(self): result = "\n" diff --git a/system/manager/process.py b/system/manager/process.py index 36f299ae62..9214e417c1 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -8,7 +8,7 @@ from collections.abc import Callable, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process -from setproctitle import setproctitle +from openpilot.common.threadname import setthreadname from cereal import car, log import cereal.messaging as messaging @@ -27,7 +27,7 @@ def launcher(proc: str, name: str) -> None: mod = importlib.import_module(proc) # rename the process - setproctitle(proc) + setthreadname(proc) # create new context since we forked messaging.context = messaging.Context() From e798caa3e5c44ed5aa7e480101a052d59612ad95 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Jun 2024 22:55:42 -0700 Subject: [PATCH 23/45] qlog_size.py: more accurate msg size breakdown (#32723) * grouping changes outcome * clean up * clean up * clean up * clean up * clean up --- selfdrive/debug/internal/qlog_size.py | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index 0b816604aa..2d17a1ee28 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -6,6 +6,7 @@ from collections import defaultdict import matplotlib.pyplot as plt from openpilot.tools.lib.logreader import LogReader +from tqdm import tqdm MIN_SIZE = 0.5 # Percent size of total to show as separate entry @@ -15,19 +16,23 @@ def make_pie(msgs, typ): for m in msgs: msgs_by_type[m.which()].append(m.as_builder().to_bytes()) - length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()} - compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs_by_type.items()} - - total = sum(compressed_length_by_type.values()) + total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs]))) uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs])) + length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()} + # calculate compressed size by calculating diff when removed from the segment + compressed_length_by_type = {} + for k in tqdm(msgs_by_type.keys(), desc="Compressing"): + compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k]))) + sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1]) print("name - comp. size (uncomp. size)") for (name, sz) in sizes: print(f"{name:<22} - {sz / 1024:.2f} kB ({length_by_type[name] / 1024:.2f} kB)") print() - print(f"{typ} - Total {total / 1024:.2f} kB") + print(f"{typ} - Real total {total / 1024:.2f} kB") + print(f"{typ} - Breakdown total {sum(compressed_length_by_type.values()) / 1024:.2f} kB") print(f"{typ} - Uncompressed total {uncompressed_total / 1024 / 1024:.2f} MB") sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100] From 8065b454c9dd57f1c61ac1a9e8475e694bb38bf1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 12 Jun 2024 16:48:09 +0800 Subject: [PATCH 24/45] pandad: removed the redundant .c_str() call (#32724) Removed the redundant .c_str() call --- selfdrive/pandad/panda_comms.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc index 4e8a0a27ba..59908f0cde 100644 --- a/selfdrive/pandad/panda_comms.cc +++ b/selfdrive/pandad/panda_comms.cc @@ -120,7 +120,7 @@ std::vector PandaUsbHandle::list() { libusb_close(handle); if (ret < 0) { goto finish; } - serials.push_back(std::string((char *)desc_serial, ret).c_str()); + serials.push_back(std::string((char *)desc_serial, ret)); } } From c64bca97bac68462a63b47d33aedf869d21ac97e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 13 Jun 2024 05:20:06 +0800 Subject: [PATCH 25/45] logreader.py: optimize event loading and sorting in _LogFileReader (#32729) * improve logfilereader * less changes --- tools/lib/logreader.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 669c1520db..48a04b28de 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -46,15 +46,15 @@ class _LogFileReader: ents = capnp_log.Event.read_multiple_bytes(dat) - _ents = [] + self._ents = [] try: for e in ents: - _ents.append(e) + self._ents.append(e) except capnp.KjException: warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) - self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) - self._ts = [x.logMonoTime for x in self._ents] + if sort_by_time: + self._ents.sort(key=lambda x: x.logMonoTime) def __iter__(self) -> Iterator[capnp._DynamicStructReader]: for ent in self._ents: From 7dbf60b4bce04a071eafcbc3eb0815e968e401be Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Jun 2024 17:16:30 -0700 Subject: [PATCH 26/45] controlsd: exit on any exception (#32730) * exit on any exception * finally so we don't catch --- 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 4f5bd19405..aeeb3489b5 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -835,7 +835,7 @@ class Controls: while True: self.step() self.rk.monitor_time() - except SystemExit: + finally: e.set() t.join() From 742a3a94e39440706c8ccff7ad1dcdce506a0c8a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Jun 2024 19:26:34 -0700 Subject: [PATCH 27/45] Hyundai: add note about fwdRadar FW (#32733) comment --- selfdrive/car/hyundai/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index d115283dd5..c3d3dcd037 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -2,6 +2,9 @@ from cereal import car from openpilot.selfdrive.car.hyundai.values import CAR +# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function, +# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does + Ecu = car.CarParams.Ecu FINGERPRINTS = { From 4539c973491bedabb4cd6cf8791d090987c56629 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Jun 2024 19:36:26 -0700 Subject: [PATCH 28/45] Improve ECU address finder script (#32734) * put pandad in good state * obd option * fix * it's rx --- selfdrive/car/ecu_addrs.py | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index e7a9fbcf2c..756cd7f963 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -71,25 +71,35 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que if __name__ == "__main__": import argparse + from openpilot.common.params import Params + from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing parser = argparse.ArgumentParser(description='Get addresses of all ECUs') parser.add_argument('--debug', action='store_true') parser.add_argument('--bus', type=int, default=1) + parser.add_argument('--no-obd', action='store_true') parser.add_argument('--timeout', type=float, default=1.0) args = parser.parse_args() logcan = messaging.sub_sock('can') sendcan = messaging.pub_sock('sendcan') - time.sleep(1.0) + # Set up params for pandad + params = Params() + params.remove("FirmwareQueryDone") + params.put_bool("IsOnroad", False) + time.sleep(0.2) # thread is 10 Hz + params.put_bool("IsOnroad", True) + + set_obd_multiplexing(params, not args.no_obd) print("Getting ECU addresses ...") ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) print() - print("Found ECUs on addresses:") + print("Found ECUs on rx addresses:") for addr, subaddr, _ in ecu_addrs: - msg = f" 0x{hex(addr)}" + msg = f" {hex(addr)}" if subaddr is not None: msg += f" (sub-address: {hex(subaddr)})" print(msg) From 04a93dd849461df7a3496706c6172d95e83149c9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Jun 2024 21:14:23 -0700 Subject: [PATCH 29/45] add zstd Python library (#32731) * add zstd * fix * uploader * logreader: zst support * caps * only logreader --- poetry.lock | 103 +++++++++++++++++++++++++++++++++++++++-- pyproject.toml | 1 + tools/lib/logreader.py | 8 +++- 3 files changed, 106 insertions(+), 6 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7e772276ed..c5f372173c 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2730,6 +2730,7 @@ optional = false python-versions = ">=3.6" files = [ {file = "opencv-python-4.10.0.82.tar.gz", hash = "sha256:dbc021eaa310c4145c47cd648cb973db69bb5780d6e635386cd53d3ea76bd2d5"}, + {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:5f78652339957ec24b80a782becfb32f822d2008a865512121fad8c3ce233e9a"}, {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"}, {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"}, {file = 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@@ tabulate = "*" types-requests = "*" types-tabulate = "*" tqdm = "*" +zstd = "*" # this is only pinned since 5.15.11 is broken pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 48a04b28de..2430f1542c 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -10,6 +10,7 @@ import sys import tqdm import urllib.parse import warnings +import zstd from collections.abc import Callable, Iterable, Iterator from urllib.parse import parse_qs, urlparse @@ -34,8 +35,8 @@ class _LogFileReader: ext = None if not dat: _, ext = os.path.splitext(urllib.parse.urlparse(fn).path) - if ext not in ('', '.bz2'): - # old rlogs weren't bz2 compressed + if ext not in ('', '.bz2', '.zst'): + # old rlogs weren't compressed raise Exception(f"unknown extension {ext}") with FileReader(fn) as f: @@ -43,6 +44,9 @@ class _LogFileReader: if ext == ".bz2" or dat.startswith(b'BZh9'): dat = bz2.decompress(dat) + elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'): + # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames + dat = zstd.decompress(dat) ents = capnp_log.Event.read_multiple_bytes(dat) From f449ed144ea47d8d5f558254c9c4cf04e959fbee Mon Sep 17 00:00:00 2001 From: markalan020 Date: Thu, 13 Jun 2024 03:55:52 -0400 Subject: [PATCH 30/45] Hyundai: add fwdCamera FW for Ioniq 5 2024 (US) (#32623) * Update fingerprints.py Add Support for 2024 Hyundai Ioniq 5 * docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 ++-- selfdrive/car/hyundai/fingerprints.py | 1 + selfdrive/car/hyundai/values.py | 4 ++-- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3b163dcee3..2feabb5574 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -91,8 +91,8 @@ A supported vehicle is one that just works when you install a comma device. All |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
|| -|Hyundai|Ioniq 5 (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 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|Ioniq 5 (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 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 (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 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|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 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 c3d3dcd037..b1e50f8358 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -998,6 +998,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915', ], }, CAR.HYUNDAI_IONIQ_6: { diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c489ea0042..b6f8da2189 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -307,8 +307,8 @@ class CAR(Platforms): HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig( [ HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), - HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), - HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV, From 0319379431732ec3855fc7a60ddaa7e5ddb30def Mon Sep 17 00:00:00 2001 From: Mustafa Akcanca Date: Thu, 13 Jun 2024 11:06:45 +0300 Subject: [PATCH 31/45] Hyundai docs: change Ioniq 5 Southeast Asia only to Non-US only (#32701) * Update values.py * ev6 too is probably the same --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 ++-- selfdrive/car/hyundai/values.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 2feabb5574..c0b6e15468 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All |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-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 (Non-US 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) 2022-24[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 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 (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 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|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -127,7 +127,7 @@ 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) 2022-24[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 (Non-US 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)|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
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b6f8da2189..f34c45f770 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -306,7 +306,7 @@ class CAR(Platforms): ) HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig( [ - HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], @@ -478,7 +478,7 @@ class CAR(Platforms): ) KIA_EV6 = HyundaiCanFDPlatformConfig( [ - HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarDocs("Kia EV6 (Non-US 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])) ], From 06828f1e80435fbc3a27781b096e3e2bbc86da69 Mon Sep 17 00:00:00 2001 From: Mustafa Akcanca Date: Thu, 13 Jun 2024 11:08:03 +0300 Subject: [PATCH 32/45] Hyundai: add fwdCamera FW for Ioniq 5 2024 (EUR) (#32648) * Update fingerprints.py Adding FW fingerprints for Ioniq 5 2024 EU, non-HDA, fwd camera * bump my! --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/fingerprints.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index c0b6e15468..43bd8a8b30 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -90,7 +90,7 @@ A supported vehicle is one that just works when you install a comma device. All |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-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 (Non-US 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 (Non-US 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 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) 2022-24[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 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 (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 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|Ioniq 6 (with HDA II) 2023-24[5](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 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 b1e50f8358..e489a3cf64 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -999,6 +999,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915', ], }, CAR.HYUNDAI_IONIQ_6: { From 4708332abee61116e13da7a4a186ca1b77511dd9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Jun 2024 01:39:17 -0700 Subject: [PATCH 33/45] Update docs --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f34c45f770..8cb29c803c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -306,7 +306,7 @@ class CAR(Platforms): ) HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig( [ - HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], From f08137f6182d2667803ac6e75e86fb605d0a8b1c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 13 Jun 2024 10:29:57 -0700 Subject: [PATCH 34/45] pandad: update test thresholds --- selfdrive/pandad/tests/test_pandad_spi.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py index 11e20e72cc..9c5990cd3f 100644 --- a/selfdrive/pandad/tests/test_pandad_spi.py +++ b/selfdrive/pandad/tests/test_pandad_spi.py @@ -84,8 +84,8 @@ class TestBoarddSpi: ps = m.peripheralState assert ps.pandaType == "tres" assert 4000 < ps.voltage < 14000 - assert 100 < ps.current < 1000 - assert ps.fanSpeedRpm < 8000 + assert 50 < ps.current < 1000 + assert ps.fanSpeedRpm < 10000 time.sleep(0.5) et = time.monotonic() - st From 9ffd973be9bdfe1be1097f9a2618ba76991616e4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 13 Jun 2024 13:41:32 -0700 Subject: [PATCH 35/45] Separate python dep into groups (#32739) * split * only zstd --- poetry.lock | 21 +++++++++------- pyproject.toml | 68 +++++++++++++++++++++++++++----------------------- 2 files changed, 49 insertions(+), 40 deletions(-) diff --git a/poetry.lock b/poetry.lock index c5f372173c..16fb764d57 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" @@ -1074,18 +1074,18 @@ files = [ [[package]] name = "filelock" -version = "3.14.0" +version = "3.15.1" description = "A platform independent file lock." optional = false python-versions = ">=3.8" files = [ - {file = "filelock-3.14.0-py3-none-any.whl", hash = "sha256:43339835842f110ca7ae60f1e1c160714c5a6afd15a2873419ab185334975c0f"}, - {file = "filelock-3.14.0.tar.gz", hash = "sha256:6ea72da3be9b8c82afd3edcf99f2fffbb5076335a5ae4d03248bb5b6c3eae78a"}, + {file = "filelock-3.15.1-py3-none-any.whl", hash = "sha256:71b3102950e91dfc1bb4209b64be4dc8854f40e5f534428d8684f953ac847fac"}, + {file = "filelock-3.15.1.tar.gz", hash = "sha256:58a2549afdf9e02e10720eaa4d4470f56386d7a6f72edd7d0596337af8ed7ad8"}, ] [package.extras] docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"] -testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"] +testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)"] typing = ["typing-extensions (>=4.8)"] [[package]] @@ -2740,8 +2740,8 @@ files = [ [package.dependencies] numpy = [ - {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""}, + {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, ] [[package]] @@ -2762,8 +2762,8 @@ files = [ [package.dependencies] numpy = [ - {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""}, + {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, ] [[package]] @@ -2927,8 +2927,8 @@ files = [ [package.dependencies] numpy = [ - {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, {version = ">=1.23.2", markers = "python_version == \"3.11\""}, + {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, ] python-dateutil = ">=2.8.2" pytz = ">=2020.1" @@ -3461,6 +3461,8 @@ files = [ {file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"}, {file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"}, {file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"}, + {file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"}, + {file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"}, {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"}, {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"}, {file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"}, @@ -7020,6 +7022,7 @@ files = [ {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"}, {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"}, {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"}, + {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"}, {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"}, {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"}, {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"}, @@ -8107,4 +8110,4 @@ files = [ [metadata] lock-version = "2.0" python-versions = ">=3.11, <3.13" -content-hash = "877bf9463a547f2e1b11d057f20504459e75cf21b5f0dab341d6205a4de1f54c" +content-hash = "51f233c6af3795be4fd3f54b7b462777bc65f547de0821c0de7ac0c3c056b0a6" diff --git a/pyproject.toml b/pyproject.toml index edc515771a..e46f7d51a2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -139,35 +139,17 @@ psutil = "*" timezonefinder = "*" # just used for nav ETA pycryptodome = "*" # used in updated/casync, panda, body, and a test -[tool.poetry.group.dev.dependencies] -av = "*" -azure-identity = "*" -azure-storage-blob = "*" -breathe = "*" -control = "*" -coverage = "*" -dictdiffer = "*" -flaky = "*" -hypothesis = "~6.47" -inputs = "*" +[tool.poetry.group.docs.dependencies] Jinja2 = "*" -lru-dict = "*" -matplotlib = "*" -metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies -mpld3 = "*" +sphinx = "*" +sphinx-rtd-theme = "*" +sphinx-sitemap = "*" + +[tool.poetry.group.testing.dependencies] +coverage = "*" +hypothesis = "~6.47" mypy = "*" -myst-parser = "*" -natsort = "*" -opencv-python-headless = "*" -parameterized = "^0.8" -#pprofile = "*" -polyline = "*" pre-commit = "*" -pyautogui = "*" -pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64 -pygame = "*" -pywinctl = "*" -pyprof2calltree = "*" pytest = "*" pytest-cov = "*" pytest-cpp = "*" @@ -178,16 +160,40 @@ pytest-randomly = "*" pytest-asyncio = "*" pytest-mock = "*" pytest-repeat = "*" -rerun-sdk = "*" ruff = "*" -sphinx = "*" -sphinx-rtd-theme = "*" -sphinx-sitemap = "*" + +[tool.poetry.group.tools.dependencies] +zstd = "*" + +[tool.poetry.group.dev.dependencies] +av = "*" +azure-identity = "*" +azure-storage-blob = "*" +breathe = "*" +control = "*" +dictdiffer = "*" +flaky = "*" +inputs = "*" +lru-dict = "*" +matplotlib = "*" +metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies +mpld3 = "*" +myst-parser = "*" +natsort = "*" +opencv-python-headless = "*" +parameterized = "^0.8" +#pprofile = "*" +polyline = "*" +pyautogui = "*" +pygame = "*" +pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" } # broken on arm64 +pywinctl = "*" +pyprof2calltree = "*" +rerun-sdk = "*" tabulate = "*" types-requests = "*" types-tabulate = "*" tqdm = "*" -zstd = "*" # this is only pinned since 5.15.11 is broken pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux From 6552d4ecb87211b91310ca5d7a7bcb918df36021 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 13 Jun 2024 14:46:19 -0700 Subject: [PATCH 36/45] Move zstd to normal deps (#32741) move zstd --- poetry.lock | 2 +- pyproject.toml | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/poetry.lock b/poetry.lock index 16fb764d57..2467d6be2d 100644 --- a/poetry.lock +++ b/poetry.lock @@ -8110,4 +8110,4 @@ files = [ [metadata] lock-version = "2.0" python-versions = ">=3.11, <3.13" -content-hash = "51f233c6af3795be4fd3f54b7b462777bc65f547de0821c0de7ac0c3c056b0a6" +content-hash = "83dbbf76ea5f3e1022233a164d6f342706ebf64ad8bbbf742a55d5f49474d863" diff --git a/pyproject.toml b/pyproject.toml index e46f7d51a2..5353b39887 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -139,6 +139,9 @@ psutil = "*" timezonefinder = "*" # just used for nav ETA pycryptodome = "*" # used in updated/casync, panda, body, and a test +#logreader +zstd = "*" + [tool.poetry.group.docs.dependencies] Jinja2 = "*" sphinx = "*" @@ -162,9 +165,6 @@ pytest-mock = "*" pytest-repeat = "*" ruff = "*" -[tool.poetry.group.tools.dependencies] -zstd = "*" - [tool.poetry.group.dev.dependencies] av = "*" azure-identity = "*" From 3ede1e2a7c850622beef2549315f320aa018105a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Jun 2024 22:37:00 -0700 Subject: [PATCH 37/45] LogReader: improve error messages (#32747) * better error messages * clean up --- tools/lib/logreader.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 2430f1542c..737ef46152 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -166,7 +166,8 @@ def get_invalid_files(files): def check_source(source: Source, *args) -> LogPaths: files = source(*args) - assert next(get_invalid_files(files), False) is False + assert len(files) > 0, "No files on source" + assert not any(get_invalid_files(files)), f"Invalid files: {files}" return files @@ -175,7 +176,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths: return comma_car_segments_source(sr, mode) SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,] - exceptions = [] + exceptions = {} # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]: @@ -190,9 +191,10 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths: try: return check_source(source, sr, mode) except Exception as e: - exceptions.append(e) + exceptions[source.__name__] = e - raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}") + raise Exception("auto_source could not find any valid source, exceptions for sources:\n - " + + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()])) def parse_useradmin(identifier: str): From a0bbc005b62f1e6183ce4fd167e78b4fedb06df0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Jun 2024 22:43:24 -0700 Subject: [PATCH 38/45] LogReader: support reading zst logs from Azure (#32745) * staging api * other stuff * ugh this should really not be duplicated, we already check the max segnum in Route class * better error message!! * more better * clean up * clean up * breaks again --- tools/lib/route.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/route.py b/tools/lib/route.py index d5fd41108b..5734d1c74a 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -9,7 +9,7 @@ from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import CommaApi from openpilot.tools.lib.helpers import RE -QLOG_FILENAMES = ['qlog', 'qlog.bz2'] +QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst'] QCAMERA_FILENAMES = ['qcamera.ts'] LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2'] CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc'] From d5ce4b308588f2bd4eee300110ddcd66e787a110 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Jun 2024 23:19:32 -0700 Subject: [PATCH 39/45] SegmentRange: remove timestamp (#32750) * add deprecation warning * remove timestamp * Update logreader.py --- tools/lib/logreader.py | 2 +- tools/lib/route.py | 4 ---- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 737ef46152..0f7ae0dba1 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -135,7 +135,7 @@ def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths: raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): - return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2" + return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.bz2" rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs] qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs] diff --git a/tools/lib/route.py b/tools/lib/route.py index 5734d1c74a..6ff5d19208 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -260,10 +260,6 @@ class SegmentRange: def dongle_id(self) -> str: return self.m.group("dongle_id") - @property - def timestamp(self) -> str: - return self.m.group("timestamp") - @property def log_id(self) -> str: return self.m.group("log_id") From 38529c5057a6146768a71654a05e5c552695d805 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 14 Jun 2024 14:38:02 +0800 Subject: [PATCH 40/45] cabana: Fix visibility issue for a single data point in series (#32749) Fix visibility issue for a single data point in series --- tools/cabana/chart/chart.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index fcf171a858..c8537845b1 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -277,7 +277,7 @@ void ChartView::updateSeriesPoints() { } ((QScatterSeries *)s.series)->setMarkerSize(size); } else { - s.series->setPointsVisible(pixels_per_point > 20); + s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20); } } } From bc303df6a0a4a9d52a2e92e5976b6c7aa5138b95 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 14 Jun 2024 00:08:58 -0700 Subject: [PATCH 41/45] long control: new API (#32706) * Simplify long control * Seperate * Rename * Try new api for toyota * rm v_pid everywhere * No speed in reset * 0 is better default * unassigned variable * Update other cars * Update gm * SIMPLIFY * simplify more * fix API boundry * Fix stopping bug * Small fixes * Update ref --- cereal/car.capnp | 4 +- cereal/log.capnp | 8 +- selfdrive/car/ford/interface.py | 4 - selfdrive/car/gm/interface.py | 12 +-- selfdrive/car/honda/interface.py | 8 +- selfdrive/car/hyundai/interface.py | 4 - selfdrive/car/interfaces.py | 6 +- selfdrive/car/subaru/interface.py | 5 -- selfdrive/car/tesla/interface.py | 5 -- selfdrive/car/tests/test_car_interfaces.py | 1 - selfdrive/car/toyota/interface.py | 21 ++--- selfdrive/car/volkswagen/interface.py | 2 - selfdrive/controls/controlsd.py | 6 +- selfdrive/controls/lib/drive_helpers.py | 10 --- selfdrive/controls/lib/longcontrol.py | 78 +++++-------------- .../controls/lib/longitudinal_planner.py | 33 +++++++- selfdrive/test/process_replay/ref_commit | 2 +- tools/replay/ui.py | 1 - 18 files changed, 74 insertions(+), 136 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 7f3f64c911..c17e1c063f 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -541,8 +541,8 @@ struct CarParams { kiBP @2 :List(Float32); kiV @3 :List(Float32); kf @6 :Float32; - deadzoneBP @4 :List(Float32); - deadzoneV @5 :List(Float32); + deadzoneBPDEPRECATED @4 :List(Float32); + deadzoneVDEPRECATED @5 :List(Float32); } struct LateralINDITuning { diff --git a/cereal/log.capnp b/cereal/log.capnp index 67c6f836a4..3c720d4526 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -698,7 +698,6 @@ struct ControlsState @0x97ff69c53601abf1 { personality @66 :LongitudinalPersonality; longControlState @30 :Car.CarControl.Actuators.LongControlState; - vPid @2 :Float32; vTargetLead @3 :Float32; vCruise @22 :Float32; # actual set speed vCruiseCluster @63 :Float32; # set speed to display in the UI @@ -866,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 { canMonoTimesDEPRECATED @21 :List(UInt64); desiredCurvatureRateDEPRECATED @62 :Float32; canErrorCounterDEPRECATED @57 :UInt32; + vPidDEPRECATED @2 :Float32; } # All SI units and in device frame @@ -1060,6 +1060,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { accels @32 :List(Float32); speeds @33 :List(Float32); jerks @34 :List(Float32); + aTarget @18 :Float32; + shouldStop @37: Bool; + allowThrottle @38: Bool; + allowBrake @39: Bool; + solverExecutionTime @35 :Float32; @@ -1076,7 +1081,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { aCruiseDEPRECATED @17 :Float32; vTargetDEPRECATED @3 :Float32; vTargetFutureDEPRECATED @14 :Float32; - aTargetDEPRECATED @18 :Float32; vStartDEPRECATED @26 :Float32; aStartDEPRECATED @27 :Float32; vMaxDEPRECATED @20 :Float32; diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 2ef5d427e6..54cf865109 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -22,10 +22,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 - ret.longitudinalTuning.kpBP = [0.] - ret.longitudinalTuning.kpV = [0.5] - ret.longitudinalTuning.kiV = [0.] - CAN = CanBus(fingerprint=fingerprint) cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] if CAN.main >= 4: diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 2e194b12f2..5ea2b19891 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -94,11 +94,7 @@ class CarInterface(CarInterfaceBase): else: ret.transmissionType = TransmissionType.automatic - ret.longitudinalTuning.deadzoneBP = [0.] - ret.longitudinalTuning.deadzoneV = [0.15] - - ret.longitudinalTuning.kpBP = [5., 35.] - ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiBP = [5., 35.] if candidate in CAMERA_ACC_CAR: ret.experimentalLongitudinalAvailable = True @@ -110,8 +106,7 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 10 * CV.KPH_TO_MS # Tuning for experimental long - ret.longitudinalTuning.kpV = [2.0, 1.5] - ret.longitudinalTuning.kiV = [0.72] + ret.longitudinalTuning.kiV = [2.0, 1.5] ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 @@ -131,8 +126,7 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 7 * CV.MPH_TO_MS # Tuning - ret.longitudinalTuning.kpV = [2.4, 1.5] - ret.longitudinalTuning.kiV = [0.36] + ret.longitudinalTuning.kiV = [2.4, 1.5] # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 43a4454b90..fdcba8bb81 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -72,17 +72,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward if candidate in HONDA_BOSCH: - ret.longitudinalTuning.kpV = [0.25] - ret.longitudinalTuning.kiV = [0.05] ret.longitudinalActuatorDelay = 0.5 # s if candidate in HONDA_BOSCH_RADARLESS: ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model else: # default longitudinal tuning for all hondas - ret.longitudinalTuning.kpBP = [0., 5., 35.] - ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] - ret.longitudinalTuning.kiBP = [0., 35.] - ret.longitudinalTuning.kiV = [0.18, 0.12] + ret.longitudinalTuning.kiBP = [0., 5., 35.] + ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5] eps_modified = False for fw in car_fw: diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 0ba4dcb5e3..ecedf3fd7c 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -80,12 +80,8 @@ class CarInterface(CarInterfaceBase): # *** longitudinal control *** if candidate in CANFD_CAR: - ret.longitudinalTuning.kpV = [0.1] - ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR) else: - ret.longitudinalTuning.kpV = [0.5] - ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 5eac6062aa..e5762ed52a 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -202,13 +202,11 @@ class CarInterfaceBase(ABC): ret.vEgoStopping = 0.5 ret.vEgoStarting = 0.5 ret.stoppingControl = True - ret.longitudinalTuning.deadzoneBP = [0.] - ret.longitudinalTuning.deadzoneV = [0.] ret.longitudinalTuning.kf = 1. ret.longitudinalTuning.kpBP = [0.] - ret.longitudinalTuning.kpV = [1.] + ret.longitudinalTuning.kpV = [0.] ret.longitudinalTuning.kiBP = [0.] - ret.longitudinalTuning.kiV = [1.] + ret.longitudinalTuning.kiV = [0.] # TODO estimate car specific lag, use .15s for now ret.longitudinalActuatorDelay = 0.15 ret.steerLimitTimer = 1.0 diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 1aa4bd95ea..cb00934376 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -91,11 +91,6 @@ class CarInterface(CarInterfaceBase): ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: - ret.longitudinalTuning.kpBP = [0., 5., 35.] - ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5] - ret.longitudinalTuning.kiBP = [0., 35.] - ret.longitudinalTuning.kiV = [0.54, 0.36] - ret.stoppingControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 09de10b54d..deb0e00230 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -18,11 +18,6 @@ class CarInterface(CarInterfaceBase): ret.steerControlType = car.CarParams.SteerControlType.angle - # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command - ret.longitudinalTuning.kpBP = [0] - ret.longitudinalTuning.kpV = [0] - ret.longitudinalTuning.kiBP = [0] - ret.longitudinalTuning.kiV = [0] ret.longitudinalActuatorDelay = 0.5 # s ret.radarTimeStep = (1.0 / 8) # 8Hz diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 19096c23e5..a6f74d685f 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -75,7 +75,6 @@ class TestCarInterfaces: # Longitudinal sanity checks 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: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3ea05f9fef..98f63597ec 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -142,22 +142,15 @@ class CarInterface(CarInterfaceBase): ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED tune = ret.longitudinalTuning - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] if candidate in TSS2_CAR: - tune.kpBP = [0., 5., 20.] - tune.kpV = [1.3, 1.0, 0.7] - tune.kiBP = [0., 5., 12., 20., 27.] - tune.kiV = [.35, .23, .20, .17, .1] - if candidate in TSS2_CAR: - ret.vEgoStopping = 0.25 - ret.vEgoStarting = 0.25 - ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + tune.kpV = [0.0] + tune.kiV = [0.5] + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 + ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: - tune.kpBP = [0., 5., 35.] - tune.kiBP = [0., 35.] - tune.kpV = [3.6, 2.4, 1.5] - tune.kiV = [0.54, 0.36] + tune.kiBP = [0., 5., 35.] + tune.kiV = [3.6, 2.4, 1.5] return ret diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 91cd300e92..77e56875bf 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -96,8 +96,6 @@ class CarInterface(CarInterfaceBase): ret.stopAccel = -0.55 ret.vEgoStarting = 0.1 ret.vEgoStopping = 0.5 - ret.longitudinalTuning.kpV = [0.1] - ret.longitudinalTuning.kiV = [0.0] ret.autoResumeSng = ret.minEnableSpeed == -1 return ret diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index aeeb3489b5..f147766c91 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -563,13 +563,12 @@ class Controls: if not CC.latActive: self.LaC.reset() if not CC.longActive: - self.LoC.reset(v_pid=CS.vEgo) + self.LoC.reset() 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) - 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) + actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits) # Steering PID loop and lateral MPC self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) @@ -752,7 +751,6 @@ class Controls: controlsState.state = self.state 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.upAccelCmd = float(self.LoC.pid.p) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 6a5b22f686..cfc6374a1d 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -141,16 +141,6 @@ class VCruiseHelper: self.v_cruise_cluster_kph = self.v_cruise_kph -def apply_deadzone(error, deadzone): - if error > deadzone: - error -= deadzone - elif error < - deadzone: - error += deadzone - else: - error = 0. - return error - - def apply_center_deadzone(error, deadzone): if (error > - deadzone) and (error < deadzone): error = 0. diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index a619c47634..e4841c705f 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,7 +1,7 @@ from cereal import car -from openpilot.common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.modeld.constants import ModelConstants @@ -10,18 +10,10 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] LongCtrlState = car.CarControl.Actuators.LongControlState -def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, - v_target_1sec, brake_pressed, cruise_standstill): - accelerating = v_target_1sec > v_target - planned_stop = (v_target < CP.vEgoStopping and - v_target_1sec < CP.vEgoStopping and - not accelerating) - stay_stopped = (v_ego < CP.vEgoStopping and - (brake_pressed or cruise_standstill)) - stopping_condition = planned_stop or stay_stopped - - starting_condition = (v_target_1sec > CP.vEgoStarting and - accelerating and +def long_control_state_trans(CP, active, long_control_state, v_ego, + should_stop, brake_pressed, cruise_standstill): + stopping_condition = should_stop + starting_condition = (not should_stop and not cruise_standstill and not brake_pressed) started_condition = v_ego > CP.vEgoStarting @@ -34,7 +26,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, long_control_state = LongCtrlState.pid if stopping_condition: long_control_state = LongCtrlState.stopping - elif long_control_state == LongCtrlState.stopping: if starting_condition and CP.startingState: long_control_state = LongCtrlState.starting @@ -49,78 +40,45 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, return long_control_state - class LongControl: def __init__(self, CP): self.CP = CP - self.long_control_state = LongCtrlState.off # initialized to off + self.long_control_state = LongCtrlState.off self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL) - self.v_pid = 0.0 self.last_output_accel = 0.0 - def reset(self, v_pid): - """Reset PID controller and change setpoint""" + def reset(self): self.pid.reset() - self.v_pid = v_pid - def update(self, active, CS, long_plan, accel_limits, t_since_plan): + def update(self, active, CS, a_target, should_stop, accel_limits): """Update longitudinal control. This updates the state machine and runs a PID loop""" - # Interp control trajectory - speeds = long_plan.speeds - if len(speeds) == CONTROL_N: - v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds) - a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels) - - v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds) - a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now - - v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds) - else: - v_target = 0.0 - v_target_now = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - self.pid.neg_limit = accel_limits[0] self.pid.pos_limit = accel_limits[1] - output_accel = self.last_output_accel self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, - v_target, v_target_1sec, CS.brakePressed, + should_stop, CS.brakePressed, CS.cruiseState.standstill) - if self.long_control_state == LongCtrlState.off: - self.reset(CS.vEgo) + self.reset() output_accel = 0. elif self.long_control_state == LongCtrlState.stopping: + output_accel = self.last_output_accel if output_accel > self.CP.stopAccel: output_accel = min(output_accel, 0.0) output_accel -= self.CP.stoppingDecelRate * DT_CTRL - self.reset(CS.vEgo) + self.reset() elif self.long_control_state == LongCtrlState.starting: output_accel = self.CP.startAccel - self.reset(CS.vEgo) + self.reset() - elif self.long_control_state == LongCtrlState.pid: - self.v_pid = v_target_now - - # Toyota starts braking more when it thinks you want to stop - # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration - # TODO too complex, needs to be simplified and tested on toyotas - prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid - deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV) - freeze_integrator = prevent_overshoot - - error = self.v_pid - CS.vEgo - error_deadzone = apply_deadzone(error, deadzone) - output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, - feedforward=a_target, - freeze_integrator=freeze_integrator) + else: # LongCtrlState.pid + error = a_target - CS.aEgo + output_accel = self.pid.update(error, speed=CS.vEgo, + feedforward=a_target) self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) - return self.last_output_accel diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index ff5f901b52..8772fadb47 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -19,6 +19,7 @@ LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] +CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] @@ -34,7 +35,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): This function returns a limited long acceleration allowed, depending on the existing lateral acceleration this should avoid accelerating when losing the target in turns """ - # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel # The lookup table for turns should also be updated if we do this a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V) @@ -44,6 +44,26 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return [a_target[0], min(a_target[1], a_x_allowed)] +def get_accel_from_plan(CP, long_plan): + speeds = long_plan.speeds + if len(speeds) == CONTROL_N: + v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) + a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels) + + v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now + + v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_now = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping) + return a_target, should_stop + + class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP @@ -142,9 +162,14 @@ class LongitudinalPlanner: plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) + longitudinalPlan = plan_send.longitudinalPlan longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] + longitudinalPlan.solverExecutionTime = self.mpc.solve_time + + longitudinalPlan.allowBrake = True + longitudinalPlan.allowThrottle = True longitudinalPlan.speeds = self.v_desired_trajectory.tolist() longitudinalPlan.accels = self.a_desired_trajectory.tolist() @@ -154,6 +179,10 @@ class LongitudinalPlanner: longitudinalPlan.longitudinalPlanSource = self.mpc.source longitudinalPlan.fcw = self.fcw - longitudinalPlan.solverExecutionTime = self.mpc.solve_time + a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan) + longitudinalPlan.aTarget = a_target + longitudinalPlan.shouldStop = should_stop + longitudinalPlan.allowBrake = True + longitudinalPlan.allowThrottle = True pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 227202839f..96161a42de 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6438bd5edad674c2de3c7e2d126271cb2576383d +8737e368e17f859291164286feb4246e00c0b4a5 diff --git a/tools/replay/ui.py b/tools/replay/ui.py index a790f14ff0..b1fe70ef3c 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -158,7 +158,6 @@ def ui_thread(addr): # TODO brake is deprecated plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0) plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo - plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo From 68e22faa296d335f2d497c52339f536f761602c3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Jun 2024 00:29:59 -0700 Subject: [PATCH 42/45] LogReader: revert broken check it returns files OR None --- tools/lib/logreader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 0f7ae0dba1..e524a152fb 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -167,7 +167,7 @@ def get_invalid_files(files): def check_source(source: Source, *args) -> LogPaths: files = source(*args) assert len(files) > 0, "No files on source" - assert not any(get_invalid_files(files)), f"Invalid files: {files}" + assert next(get_invalid_files(files), False) is False, "Some files are invalid" return files From b45caf403366ed4161516e49b9e433805d9de6c4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Jun 2024 01:12:19 -0700 Subject: [PATCH 43/45] LogReader: try zst on internal source (#32751) * internal source list files like azure api * messy but works * no limit * simpler * clean up * clean up * clean up * that's obvious * better * we need to unfortunately return a url, so best to take a naive approach for now * todo * fix * clean up --- tools/lib/logreader.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index e524a152fb..98c10941bb 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -130,12 +130,12 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths: return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file) -def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths: +def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths: if not internal_source_available(): raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): - return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.bz2" + return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}" rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs] qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs] @@ -143,6 +143,10 @@ def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths: return apply_strategy(mode, rlog_paths, qlog_paths) +def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> LogPaths: + return internal_source(sr, mode, file_ext) + + def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths: rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs] qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs] @@ -175,7 +179,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths: if mode == ReadMode.SANITIZED: return comma_car_segments_source(sr, mode) - SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,] + SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,] exceptions = {} # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source From 02f6a3e2799465a68887a78db081697c0ff2d1a4 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 14 Jun 2024 17:22:10 -0400 Subject: [PATCH 44/45] Bump to 0.9.8.0 --- CHANGELOGS.md | 4 ++++ common/version.h | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/CHANGELOGS.md b/CHANGELOGS.md index 76878b64b5..3f93092a3f 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,3 +1,7 @@ +sunnypilot - 0.9.8.0 (2024-xx-xx) +======================== +* Always on driver monitoring toggle + sunnypilot - 0.9.7.1 (2024-06-13) ======================== * New driving model diff --git a/common/version.h b/common/version.h index c8470ac49c..b2718e73b1 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.7.1" +#define COMMA_VERSION "0.9.8.0" From 9ee409cf607b244f963be5482d02ff0aeec47def Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 16 Jun 2024 10:18:30 -0800 Subject: [PATCH 45/45] Bump submodules (#348) --- msgq_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgq_repo b/msgq_repo index 381fc3d9df..3fe8b7b121 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 381fc3d9dfe7d2ff40a075ff8c1f980ae2a62d19 +Subproject commit 3fe8b7b121242026112b9d45da03238e703a7db1