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Merge branch 'master' into ccnc-port

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This commit is contained in:
royjr
2025-10-24 14:16:09 -04:00
parent 3859e9962f 5d47ffdb8a
commit 2aabb7aee8
33 changed files with 1251 additions and 57 deletions
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.codespellignore
+1
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@@ -3,3 +3,4 @@ REGIST
PullRequest
cancelled
FOF
NoO
.github/workflows/sunnypilot-build-prebuilt.yaml
+1 -1
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@@ -79,7 +79,7 @@ jobs:
is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
fi
CHANGELOG.md
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File diff suppressed because it is too large Load Diff
common/params_keys.h
+1
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@@ -154,6 +154,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
{"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
{"LastGPSPositionLLK", {PERSISTENT, STRING}},
{"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
common/swaglog.cc
+3 -1
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@@ -15,6 +15,8 @@
#include "common/version.h"
#include "system/hardware/hw.h"
#include "sunnypilot/common/version.h"
class SwaglogState {
public:
SwaglogState() {
@@ -56,7 +58,7 @@ public:
if (char* daemon_name = getenv("MANAGER_DAEMON")) {
ctx_j["daemon"] = daemon_name;
}
ctx_j["version"] = COMMA_VERSION;
ctx_j["version"] = SUNNYPILOT_VERSION;
ctx_j["dirty"] = !getenv("CLEAN");
ctx_j["device"] = Hardware::get_name();
}
common/tests/test_markdown.py
+1 -1
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@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
class TestMarkdown:
def test_all_release_notes(self):
with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
release_notes = f.read().split("\n\n")
assert len(release_notes) > 10
common/tests/test_swaglog.cc
+3 -1
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@@ -9,6 +9,8 @@
#include "system/hardware/hw.h"
#include "third_party/json11/json11.hpp"
#include "sunnypilot/common/version.h"
std::string daemon_name = "testy";
std::string dongle_id = "test_dongle_id";
int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
REQUIRE(ctx["dirty"].bool_value() == true);
REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
std::string device = Hardware::get_name();
REQUIRE(ctx["device"].string_value() == device);
release/build_release.sh
+1 -1
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@@ -39,7 +39,7 @@ cd $BUILD_DIR
rm -f panda/board/obj/panda.bin.signed
rm -f panda/board/obj/panda_h7.bin.signed
VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}')
VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-] '{print $2}')
echo "[-] committing version $VERSION T=$SECONDS"
git add -f .
git commit -a -m "openpilot v$VERSION release"
release/build_stripped.sh
+1 -1
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@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
echo -n "$GIT_HASH" > git_src_commit
echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
release/ci/publish.sh
+2 -2
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@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
fi
# "Tagging"
echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
## set git identity
#source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
# include source commit hash and build date in commit
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
# Commit with detailed message
git commit -a -m "sunnypilot v$VERSION
selfdrive/controls/lib/longitudinal_planner.py
+2 -2
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@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
class LongitudinalPlanner(LongitudinalPlannerSP):
def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
self.CP = CP
self.mpc = LongitudinalMpc(dt=dt)
# TODO remove mpc modes when TR released
self.mpc.mode = 'acc'
LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
self.fcw = False
self.dt = dt
self.allow_throttle = True
selfdrive/controls/plannerd.py
+6 -2
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@@ -1,5 +1,5 @@
#!/usr/bin/env python3
from cereal import car
from cereal import car, custom
from openpilot.common.gps import get_gps_location_service
from openpilot.common.params import Params
from openpilot.common.realtime import Priority, config_realtime_process
@@ -17,10 +17,14 @@ def main():
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
cloudlog.info("plannerd got CarParams: %s", CP.brand)
cloudlog.info("plannerd is waiting for CarParamsSP")
CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
cloudlog.info("plannerd got CarParamsSP")
gps_location_service = get_gps_location_service(params)
ldw = LaneDepartureWarning()
longitudinal_planner = LongitudinalPlanner(CP)
longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
'liveMapDataSP', 'carStateSP', gps_location_service],
selfdrive/test/longitudinal_maneuvers/plant.py
+3 -1
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@@ -51,7 +51,9 @@ class Plant:
from opendbc.car.honda.values import CAR
from opendbc.car.honda.interface import CarInterface
self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
@property
def current_time(self):
selfdrive/ui/qt/offroad/developer_panel.h
+1 -1
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@@ -12,7 +12,7 @@ public:
explicit DeveloperPanel(SettingsWindow *parent);
void showEvent(QShowEvent *event) override;
private:
protected:
Params params;
ParamControl* adbToggle;
ParamControl* joystickToggle;
selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.cc
+4 -1
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@@ -60,7 +60,7 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
void DeveloperPanelSP::updateToggles(bool offroad) {
bool disable_updates = params.getBool("DisableUpdates");
bool is_release = params.getBool("IsReleaseBranch");
bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
bool is_tested = params.getBool("IsTestedBranch");
bool is_development = params.getBool("IsDevelopmentBranch");
@@ -79,6 +79,9 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
enableGithubRunner->setVisible(!is_release);
errorLogBtn->setVisible(!is_release);
showAdvancedControls->setEnabled(true);
joystickToggle->setVisible(!is_release);
longManeuverToggle->setVisible(!is_release);
}
void DeveloperPanelSP::showEvent(QShowEvent *event) {
selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+18 -11
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@@ -105,13 +105,13 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
}
void SpeedLimitSettings::refresh() {
bool is_release = params.getBool("IsReleaseSpBranch");
bool is_metric_param = params.getBool("IsMetric");
SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
bool has_longitudinal_control;
bool has_icbm;
bool sla_available;
auto cp_bytes = params.get("CarParamsPersistent");
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -122,17 +122,24 @@ void SpeedLimitSettings::refresh() {
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
has_longitudinal_control = hasLongitudinalControl(CP);
has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
bool has_longitudinal_control = hasLongitudinalControl(CP);
bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
if (!has_longitudinal_control && !has_icbm) {
if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
}
/*
* Speed Limit Assist is available when:
* - has_longitudinal_control or has_icbm, and
* - is not a release branch or not a disallowed brand, and
* - is not always disallowed
*/
bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
bool sla_always_disallow = CP.getBrand() == "rivian";
sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
}
} else {
has_longitudinal_control = false;
has_icbm = false;
sla_available = false;
}
speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -152,7 +159,7 @@ void SpeedLimitSettings::refresh() {
speed_limit_offset->showDescription();
}
if (has_longitudinal_control || has_icbm) {
if (sla_available) {
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
} else {
speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+19 -1
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@@ -38,7 +38,7 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
intelligentCruiseButtonManagement = new ParamControlSP(
"IntelligentCruiseButtonManagement",
tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
"",
"",
this
);
@@ -104,6 +104,8 @@ void LongitudinalPanel::hideEvent(QHideEvent *event) {
}
void LongitudinalPanel::refresh(bool _offroad) {
const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
auto cp_bytes = params.get("CarParamsPersistent");
auto cp_sp_bytes = params.get("CarParamsSPPersistent");
if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -120,9 +122,24 @@ void LongitudinalPanel::refresh(bool _offroad) {
if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
intelligentCruiseButtonManagement->setEnabled(offroad);
intelligentCruiseButtonManagement->setDescription(icbm_description);
} else {
params.remove("IntelligentCruiseButtonManagement");
intelligentCruiseButtonManagement->setEnabled(false);
const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
QString long_desc = icbm_unavaialble;
if (has_longitudinal_control) {
if (CP.getAlphaLongitudinalAvailable()) {
long_desc = icbm_unavaialble + " " + tr("Disable the openpilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
} else {
long_desc = icbm_unavaialble + " " + tr("openpilot Longitudinal Control is the default longitudinal control for this platform.");
}
}
intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
intelligentCruiseButtonManagement->showDescription();
}
if (has_longitudinal_control || has_icbm) {
@@ -151,6 +168,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
has_longitudinal_control = false;
is_pcm_cruise = false;
has_icbm = false;
intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
}
QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
selfdrive/ui/sunnypilot/qt/widgets/controls.h
+1 -1
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@@ -390,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
Q_OBJECT
public:
ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
button_texts, minimum_button_width, inline_layout, advancedControl) {
key = param.toStdString();
int value = atoi(params.get(key).c_str());
selfdrive/ui/tests/cycle_offroad_alerts.py
+1 -1
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@@ -18,7 +18,7 @@ if __name__ == "__main__":
while True:
print("setting alert update")
params.put_bool("UpdateAvailable", True)
r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
r = open(os.path.join(BASEDIR, "CHANGELOG.md")).read()
r = r[:r.find('\n\n')] # Slice latest release notes
params.put("UpdaterNewReleaseNotes", r + "\n")
selfdrive/ui/tests/test_ui/run.py
+1 -1
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@@ -188,7 +188,7 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):
def setup_update_available(click, pm: PubMaster, scroll=None):
Params().put_bool("UpdateAvailable", True)
release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
release_notes_path = os.path.join(BASEDIR, "CHANGELOG.md")
with open(release_notes_path) as file:
release_notes = file.read().split('\n\n', 1)[0]
Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
sunnypilot/common/version.h
+1
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@@ -0,0 +1 @@
#define SUNNYPILOT_VERSION "2025.001.000"
sunnypilot/selfdrive/car/car_specific.py
+1 -1
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@@ -37,7 +37,7 @@ class CarSpecificEventsSP:
# TODO-SP: add 1 m/s hysteresis
if CS.vEgo >= self.CP.minEnableSpeed:
self.low_speed_alert = False
if CS.gearShifter != GearShifter.drive:
if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
self.low_speed_alert = True
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
sunnypilot/selfdrive/car/interfaces.py
+2 -3
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@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarInterfaceBase
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability
import openpilot.system.sentry as sentry
@@ -87,8 +87,7 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
params.remove("SmartCruiseControlVision")
params.remove("SmartCruiseControlMap")
if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
set_speed_limit_assist_availability(CP, CP_SP, params)
def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+2 -2
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@@ -22,13 +22,13 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
class LongitudinalPlannerSP:
def __init__(self, CP: structs.CarParams, mpc):
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
self.events_sp = EventsSP()
self.resolver = SpeedLimitResolver()
self.dec = DynamicExperimentalController(CP, mpc)
self.scc = SmartCruiseControl()
self.resolver = SpeedLimitResolver()
self.sla = SpeedLimitAssist(CP)
self.sla = SpeedLimitAssist(CP, CP_SP)
self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
self.source = LongitudinalPlanSource.cruise
self.e2e_alerts_helper = E2EAlertsHelper()
sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+25
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@@ -5,7 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from cereal import custom, car
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
@@ -17,3 +20,25 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
req_minus = v_cruise_cluster_conv > target_set_speed_conv
return req_plus, req_minus
def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
if params is None:
params = Params()
is_release = params.get_bool("IsReleaseSpBranch")
disallow_in_release = CP.brand == "tesla" and is_release
always_disallow = CP.brand == "rivian"
allowed = True
if disallow_in_release or always_disallow:
allowed = False
if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
allowed = False
if not allowed:
if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
return allowed
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+8 -5
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@@ -10,13 +10,13 @@ from cereal import custom, car
from openpilot.common.params import Params
from openpilot.common.constants import CV
from openpilot.common.realtime import DT_MDL
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
ButtonType = car.CarState.ButtonEvent.Type
EventNameSP = custom.OnroadEventSP.EventName
@@ -38,7 +38,7 @@ LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers
LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers.
LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state.
V_CRUISE_UNSET = 255
V_CRUISE_UNSET = 255.
CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
@@ -52,13 +52,15 @@ class SpeedLimitAssist:
a_ego: float
v_offset: float
def __init__(self, CP):
def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
self.params = Params()
self.CP = CP
self.CP_SP = CP_SP
self.frame = -1
self.long_engaged_timer = 0
self.pre_active_timer = 0
self.is_metric = self.params.get_bool("IsMetric")
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
self.long_enabled = False
self.long_enabled_prev = False
@@ -140,6 +142,7 @@ class SpeedLimitAssist:
def update_params(self) -> None:
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
self.is_metric = self.params.get_bool("IsMetric")
set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
def update_car_state(self, CS: car.CarState) -> None:
sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+42 -5
View File
@@ -4,17 +4,22 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from cereal import custom
import pytest
from cereal import custom
from opendbc.car.car_helpers import interfaces
from opendbc.car.rivian.values import CAR as RIVIAN
from opendbc.car.tesla.values import CAR as TESLA
from opendbc.car.toyota.values import CAR as TOYOTA
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
@@ -30,15 +35,29 @@ SPEED_LIMITS = {
'freeway': 80 * CV.MPH_TO_MS, # 80 mph
}
DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
@pytest.fixture
def car_name(request):
return getattr(request, "param", DEFAULT_CAR)
@pytest.fixture(autouse=True)
def set_car_name_on_instance(request, car_name):
instance = getattr(request, "instance", None)
if instance:
instance.car_name = car_name
class TestSpeedLimitAssist:
def setup_method(self):
def setup_method(self, method):
self.params = Params()
self.reset_custom_params()
self.events_sp = EventsSP()
CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
self.sla = SpeedLimitAssist(CI.CP)
CI = self._setup_platform(self.car_name)
self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now
self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
@@ -51,10 +70,12 @@ class TestSpeedLimitAssist:
CP = CarInterface.get_non_essential_params(car_name)
CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
CI = CarInterface(CP, CP_SP)
CI.CP.openpilotLongitudinalControl = True # always assume it's openpilot longitudinal
sunnypilot_interfaces.setup_interfaces(CI, self.params)
return CI
def reset_custom_params(self):
self.params.put("IsReleaseSpBranch", True)
self.params.put("SpeedLimitMode", int(Mode.assist))
self.params.put_bool("IsMetric", False)
self.params.put("SpeedLimitOffsetType", 0)
@@ -84,6 +105,22 @@ class TestSpeedLimitAssist:
assert not self.sla.is_active
assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
@pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
def test_disallowed_brands(self, car_name):
"""
Speed Limit Assist is disabled for the following brands and conditions:
- All Tesla and is a release branch;
- All Rivian
"""
assert not self.sla.enabled
# stay disallowed even when the param may have changed from somewhere else
self.params.put("SpeedLimitMode", int(Mode.assist))
for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
SPEED_LIMITS['city'], True, 0, self.events_sp)
assert not self.sla.enabled
def test_disabled(self):
self.params.put("SpeedLimitMode", int(Mode.off))
for _ in range(int(10. / DT_MDL)):
system/loggerd/logger.cc
+3 -1
View File
@@ -11,6 +11,8 @@
#include "common/swaglog.h"
#include "common/version.h"
#include "sunnypilot/common/version.h"
// ***** log metadata *****
kj::Array<capnp::word> logger_build_init_data() {
uint64_t wall_time = nanos_since_epoch();
@@ -19,7 +21,7 @@ kj::Array<capnp::word> logger_build_init_data() {
auto init = msg.initEvent().initInitData();
init.setWallTimeNanos(wall_time);
init.setVersion(COMMA_VERSION);
init.setVersion(SUNNYPILOT_VERSION);
init.setDirty(!getenv("CLEAN"));
init.setDeviceType(Hardware::get_device_type());
system/manager/manager.py
+1
View File
@@ -67,6 +67,7 @@ def manager_init() -> None:
params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
params.put_bool("IsTestedBranch", build_metadata.tested_channel)
params.put_bool("IsReleaseBranch", build_metadata.release_channel)
params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
params.put("HardwareSerial", serial)
# set dongle id
system/updated/updated.py
+2 -2
View File
@@ -82,7 +82,7 @@ def set_consistent_flag(consistent: bool) -> None:
def parse_release_notes(basedir: str) -> bytes:
try:
with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
with open(os.path.join(basedir, "CHANGELOG.md"), "rb") as f:
r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes
try:
return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
@@ -294,7 +294,7 @@ class Updater:
try:
branch = self.get_branch(basedir)
commit = self.get_commit_hash(basedir)[:7]
with open(os.path.join(basedir, "common", "version.h")) as f:
with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
version = f.read().split('"')[1]
commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
system/version.py
+12 -6
View File
@@ -13,8 +13,8 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
RELEASE_SP_BRANCHES = ['release-c3', 'release']
TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
MASTER_SP_BRANCHES = ['master']
RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
SP_BRANCH_MIGRATIONS = {
("tici", "staging-c3-new"): "staging-tici",
@@ -33,13 +33,13 @@ terms_version: str = "2"
def get_version(path: str = BASEDIR) -> str:
with open(os.path.join(path, "common", "version.h")) as _versionf:
with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
version = _versionf.read().split('"')[1]
return version
def get_release_notes(path: str = BASEDIR) -> str:
with open(os.path.join(path, "RELEASES.md")) as f:
with open(os.path.join(path, "CHANGELOG.md")) as f:
return f.read().split('\n\n', 1)[0]
@@ -96,7 +96,9 @@ class OpenpilotMetadata:
@property
def sunnypilot_remote(self) -> bool:
return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
"github.com/sunnypilot/openpilot")
"github.com/sunnypilot/openpilot",
"github.com/sunnyhaibin/sunnypilot",
"github.com/sunnyhaibin/openpilot")
@property
def git_normalized_origin(self) -> str:
@@ -120,6 +122,10 @@ class BuildMetadata:
def release_channel(self) -> bool:
return self.channel in RELEASE_BRANCHES
@property
def release_sp_channel(self) -> bool:
return self.channel in RELEASE_SP_BRANCHES
@property
def canonical(self) -> str:
return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
@@ -146,7 +152,7 @@ class BuildMetadata:
return "staging"
elif self.master_channel:
return "master"
elif self.release_channel:
elif self.release_channel or self.release_sp_channel:
return "release"
else:
return "feature"
tools/replay/api.cc
+3 -1
View File
@@ -14,6 +14,8 @@
#include "common/version.h"
#include "system/hardware/hw.h"
#include "sunnypilot/common/version.h"
namespace CommaApi2 {
// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
@@ -141,7 +143,7 @@ std::string httpGet(const std::string &url, long *response_code) {
// Handle headers
struct curl_slist *headers = nullptr;
headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
headers = curl_slist_append(headers, "User-Agent: openpilot-" SUNNYPILOT_VERSION);
if (!token.empty()) {
headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
}
tools/replay/consoleui.cc
+3 -1
View File
@@ -10,6 +10,8 @@
#include "common/util.h"
#include "common/version.h"
#include "sunnypilot/common/version.h"
namespace {
const int BORDER_SIZE = 3;
@@ -119,7 +121,7 @@ void ConsoleUI::initWindows() {
// set the title bar
wbkgd(w[Win::Title], A_REVERSE);
mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);
mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", SUNNYPILOT_VERSION);
// show windows on the real screen
refresh();