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Merge branch 'master' into blend-exp

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This commit is contained in:
James Vecellio-Grant
2025-08-18 12:17:04 -07:00
committed by GitHub
parent b609bb1391 102ac66fab
commit 2eb60e2b97
44 changed files with 308 additions and 299 deletions
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.github/workflows/build-all-tinygrad-models.yaml
+1 -1
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@@ -127,7 +127,7 @@ jobs:
retry_failed_models:
needs: [setup, get_and_build]
runs-on: ubuntu-latest
if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
if: ${{ needs.setup.result != 'failure' && !cancelled() }}
outputs:
retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
steps:
RELEASES.md
+3
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@@ -1,3 +1,6 @@
Version 0.10.1 (2025-09-08)
========================
Version 0.10.0 (2025-08-05)
========================
* New driving model
common/model.h
+1 -1
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@@ -1 +1 @@
#define DEFAULT_MODEL "Space Lab 2 (Default)"
#define DEFAULT_MODEL "Down To Ride (Default)"
common/params_keys.h
+1
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@@ -147,6 +147,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
{"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
{"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
{"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
{"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
{"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
{"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
common/pid.py
+8 -17
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@@ -17,7 +17,6 @@ class PIDController:
self.pos_limit = pos_limit
self.neg_limit = neg_limit
self.i_unwind_rate = 0.3 / rate
self.i_rate = 1.0 / rate
self.speed = 0.0
@@ -35,10 +34,6 @@ class PIDController:
def k_d(self):
return np.interp(self.speed, self._k_d[0], self._k_d[1])
@property
def error_integral(self):
return self.i/self.k_i
def reset(self):
self.p = 0.0
self.i = 0.0
@@ -46,25 +41,21 @@ class PIDController:
self.f = 0.0
self.control = 0
def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
self.speed = speed
self.p = float(error) * self.k_p
self.f = feedforward * self.k_f
self.d = error_rate * self.k_d
if override:
self.i -= self.i_unwind_rate * float(np.sign(self.i))
else:
if not freeze_integrator:
self.i = self.i + error * self.k_i * self.i_rate
if not freeze_integrator:
i = self.i + error * self.k_i * self.i_rate
# Clip i to prevent exceeding control limits
control_no_i = self.p + self.d + self.f
control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
# Don't allow windup if already clipping
test_control = self.p + i + self.d + self.f
i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
self.i = np.clip(i, i_lowerbound, i_upperbound)
control = self.p + self.i + self.d + self.f
self.control = np.clip(control, self.neg_limit, self.pos_limit)
return self.control
common/version.h
+1 -1
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@@ -1 +1 @@
#define COMMA_VERSION "0.10.0"
#define COMMA_VERSION "0.10.1"
docs/CARS.md
+3 -1
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@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 321 Supported Cars
# 323 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -122,6 +122,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -146,6 +147,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 5da91a7ae6...cf9b33143f
selfdrive/assets/icons/link.png
+3
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
size 5713
selfdrive/car/tests/test_models.py
+1 -3
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@@ -439,9 +439,7 @@ class TestCarModelBase(unittest.TestCase):
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
# TODO: remove this exception before closing commaai/opendbc#1100
if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
if self.CP.pcmCruise:
selfdrive/controls/controlsd.py
+4 -4
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@@ -51,7 +51,7 @@ class Controls(ControlsExt, ModelStateBase):
poll='selfdriveState')
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
self.steer_limited_by_controls = False
self.steer_limited_by_safety = False
self.curvature = 0.0
self.desired_curvature = 0.0
@@ -140,7 +140,7 @@ class Controls(ControlsExt, ModelStateBase):
actuators.curvature = self.desired_curvature
steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited_by_controls, self.desired_curvature,
self.steer_limited_by_safety, self.desired_curvature,
self.calibrated_pose, curvature_limited) # TODO what if not available
actuators.torque = float(steer)
actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -187,10 +187,10 @@ class Controls(ControlsExt, ModelStateBase):
if self.sm['selfdriveState'].active:
CO = self.sm['carOutput']
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
STEER_ANGLE_SATURATION_THRESHOLD
else:
self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
# TODO: both controlsState and carControl valids should be set by
# sm.all_checks(), but this creates a circular dependency
selfdrive/controls/lib/latcontrol.py
+3 -3
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@@ -15,15 +15,15 @@ class LatControl(ABC):
self.steer_max = 1.0
@abstractmethod
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
pass
def reset(self):
self.sat_count = 0.
def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
# Saturated only if control output is not being limited by car torque/angle rate limits
if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
self.sat_count += self.sat_count_rate
else:
self.sat_count -= self.sat_count_rate
selfdrive/controls/lib/latcontrol_angle.py
+5 -4
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@@ -3,6 +3,7 @@ import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
# TODO This is speed dependent
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
@@ -10,9 +11,9 @@ class LatControlAngle(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.sat_check_min_speed = 5.
self.use_steer_limited_by_controls = CP.brand == "tesla"
self.use_steer_limited_by_safety = CP.brand == "tesla"
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
angle_log = log.ControlsState.LateralAngleState.new_message()
if not active:
@@ -23,9 +24,9 @@ class LatControlAngle(LatControl):
angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
angle_steers_des += params.angleOffsetDeg
if self.use_steer_limited_by_controls:
if self.use_steer_limited_by_safety:
# these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
angle_control_saturated = steer_limited_by_controls
angle_control_saturated = steer_limited_by_safety
else:
# for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
# or relying on EPS (Ford Q3), carOutput does not capture maxing out torque # TODO: this can be improved
selfdrive/controls/lib/latcontrol_pid.py
+13 -13
View File
@@ -13,11 +13,7 @@ class LatControlPID(LatControl):
k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.get_steer_feedforward = CI.get_steer_feedforward_function()
def reset(self):
super().reset()
self.pid.reset()
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -29,20 +25,24 @@ class LatControlPID(LatControl):
pid_log.steeringAngleDesiredDeg = angle_steers_des
pid_log.angleError = error
if not active:
output_steer = 0.0
output_torque = 0.0
pid_log.active = False
self.pid.reset()
else:
# offset does not contribute to resistive torque
steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(error,
feedforward=ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
output_steer = self.pid.update(error, override=CS.steeringPressed,
feedforward=steer_feedforward, speed=CS.vEgo)
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.f = float(self.pid.f)
pid_log.output = float(output_steer)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
pid_log.output = float(output_torque)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
return output_steer, angle_steers_des, pid_log
return output_torque, angle_steers_des, pid_log
selfdrive/controls/lib/latcontrol_torque.py
+3 -3
View File
@@ -41,7 +41,7 @@ class LatControlTorque(LatControl):
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralTorqueState.new_message()
if not active:
output_torque = 0.0
@@ -76,7 +76,7 @@ class LatControlTorque(LatControl):
desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
desired_curvature, actual_curvature)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(pid_log.error,
feedforward=ff,
speed=CS.vEgo,
@@ -90,7 +90,7 @@ class LatControlTorque(LatControl):
pid_log.output = float(-output_torque)
pid_log.actualLateralAccel = float(actual_lateral_accel)
pid_log.desiredLateralAccel = float(desired_lateral_accel)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log
selfdrive/modeld/models/driving_policy.onnx
+1 -1
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
size 15583374
selfdrive/modeld/parse_model_outputs.py
+12 -6
View File
@@ -94,15 +94,21 @@ class Parser:
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs)
self.parse_binary_crossentropy('lead_prob', outs)
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
self.parse_mdn('lead', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
else:
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
else:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
62b3e8590fe85f87494517b3177a0ccaad1e17e5
543bd2347fa35f8300478a3893fdd0a03a7c1fe6
selfdrive/ui/layouts/settings/settings.py
+1 -1
View File
@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
TEXT_NORMAL = rl.Color(128, 128, 128, 255)
TEXT_SELECTED = rl.Color(255, 255, 255, 255)
TEXT_SELECTED = rl.WHITE
class PanelType(IntEnum):
selfdrive/ui/layouts/sidebar.py
+3 -3
View File
@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
# Color scheme
class Colors:
SIDEBAR_BG = rl.Color(57, 57, 57, 255)
WHITE = rl.Color(255, 255, 255, 255)
WHITE = rl.WHITE
WHITE_DIM = rl.Color(255, 255, 255, 85)
GRAY = rl.Color(84, 84, 84, 255)
# Status colors
GOOD = rl.Color(255, 255, 255, 255)
GOOD = rl.WHITE
WARNING = rl.Color(218, 202, 37, 255)
DANGER = rl.Color(201, 34, 49, 255)
# UI elements
METRIC_BORDER = rl.Color(255, 255, 255, 85)
BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
BUTTON_NORMAL = rl.WHITE
BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
selfdrive/ui/onroad/hud_renderer.py
+2 -2
View File
@@ -34,7 +34,7 @@ class FontSizes:
@dataclass(frozen=True)
class Colors:
white: rl.Color = rl.Color(255, 255, 255, 255)
white: rl.Color = rl.WHITE
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
header_gradient_end: rl.Color = rl.BLANK
UI_CONFIG = UIConfig()
selfdrive/ui/qt/sidebar.cc
+7 -1
View File
@@ -29,6 +29,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
connect(this, &Sidebar::valueChanged, [=] { update(); });
@@ -154,7 +155,12 @@ void Sidebar::drawSidebar(QPainter &p) {
p.setFont(InterFont(35));
p.setPen(QColor(0xff, 0xff, 0xff));
const QRect r = QRect(58, 247, width() - 100, 50);
p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
if (net_type == "Hotspot") {
p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
} else {
p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
}
#ifndef SUNNYPILOT
// metrics
selfdrive/ui/qt/sidebar.h
+1 -1
View File
@@ -43,7 +43,7 @@ protected:
void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
virtual void drawSidebar(QPainter &p);
QPixmap home_img, flag_img, settings_img, mic_img;
QPixmap home_img, flag_img, settings_img, mic_img, link_img;
bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
{cereal::DeviceState::NetworkType::NONE, tr("--")},
selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+1 -1
View File
@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
if (timeoutValue == "0") {
if (timeoutValue == "0" || timeoutValue.isEmpty()) {
interactivityTimeout->setLabel("Default");
} else {
interactivityTimeout->setLabel(timeoutValue + "s");
selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+8
View File
@@ -68,6 +68,14 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
list->addItem(currentModelLblBtn);
refreshAvailableModelsBtn = new ButtonControlSP(tr("Refresh Model List"), tr("REFRESH"), "", this);
connect(refreshAvailableModelsBtn, &ButtonControlSP::clicked, this, [=]() {
params.put("ModelManager_LastSyncTime", "0");
ConfirmationDialog::alert(tr("Fetching Latest Models"), this);
});
list->addItem(refreshAvailableModelsBtn);
clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);
selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+1
View File
@@ -79,5 +79,6 @@ private:
QFrame *policyFrame;
Params params;
ButtonControlSP *clearModelCacheBtn;
ButtonControlSP *refreshAvailableModelsBtn;
};
selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+10
View File
@@ -66,6 +66,14 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
});
list->addItem(horizontal_line());
QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
sunnylinkUploaderEnabledBtn = new ParamControlSP(
"EnableSunnylinkUploader",
tr("[Don't use] Enable sunnylink uploader"),
sunnylinkUploaderDesc,
"", nullptr, true);
list->addItem(sunnylinkUploaderEnabledBtn);
connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
// resets the description to the default one for the Easter egg
sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -261,6 +269,8 @@ void SunnylinkPanel::updatePanel() {
pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
if (!is_sunnylink_enabled) {
sunnylinkEnabledBtn->setValue("");
sponsorBtn->setValue("");
selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+1
View File
@@ -49,6 +49,7 @@ private:
QString sunnylinkBtnDescription;
PushButtonSP *restoreSettings;
PushButtonSP *backupSettings;
ParamControlSP * sunnylinkUploaderEnabledBtn;
void stopSunnylink() const;
void startSunnylink() const;
selfdrive/ui/widgets/exp_mode_button.py
+3 -3
View File
@@ -37,7 +37,7 @@ class ExperimentalModeButton(Widget):
self.params.put_bool("ExperimentalMode", self.experimental_mode)
def _render(self, rect):
rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
self._draw_gradient_background(rect)
@@ -53,7 +53,7 @@ class ExperimentalModeButton(Widget):
text_x = rect.x + self.horizontal_padding
text_y = rect.y + rect.height / 2 - 45 // 2 # Center vertically
rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
# Draw icon (right aligned)
icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +63,4 @@ class ExperimentalModeButton(Widget):
# Draw current mode icon
current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
selfdrive/ui/widgets/prime.py
+1 -1
View File
@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
font = gui_app.font(FontWeight.LIGHT)
wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
text_size = measure_text_cached(font, wrapped_text, 56)
rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
# Features section
features_y = desc_y + text_size.y + 50
sunnypilot/modeld_v2/parse_model_outputs_split.py
+1 -3
View File
@@ -106,9 +106,7 @@ class Parser:
out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
if 'plan' in outs:
if self.generation >= 12 and \
outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
self._parse_plan_mhp(outs)
elif self.generation >= 12:
outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
else:
sunnypilot/models/fetcher.py
+1 -1
View File
@@ -114,7 +114,7 @@ class ModelCache:
class ModelFetcher:
"""Handles fetching and caching of model data from remote source"""
MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"
MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
def __init__(self, params: Params):
self.params = params
sunnypilot/models/helpers.py
+2 -2
View File
@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
from pathlib import Path
# see the README.md for more details on the model selector versioning
CURRENT_SELECTOR_VERSION = 8
REQUIRED_MIN_SELECTOR_VERSION = 8
CURRENT_SELECTOR_VERSION = 9
REQUIRED_MIN_SELECTOR_VERSION = 9
USE_ONNX = os.getenv('USE_ONNX', PC)
sunnypilot/models/tests/model_hash
+1 -1
View File
@@ -1 +1 @@
71c14a02af81857565e5fcffaaddb57a76fe80b283fe3292da830dbc92e211b7
cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
sunnypilot/sunnylink/athena/sunnylinkd.py
+2 -2
View File
@@ -15,7 +15,7 @@ from openpilot.common.params import Params
from openpilot.common.realtime import set_core_affinity
from openpilot.common.swaglog import cloudlog
from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
create_connection)
@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
# threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
# threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
# threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
] + [
sunnypilot/sunnylink/uploader.py
+34 -62
View File
@@ -1,40 +1,38 @@
#!/usr/bin/env python3
import bz2
import datetime
import io
import json
import os
import random
import requests
import threading
import time
import traceback
import datetime
from collections.abc import Iterator
from typing import BinaryIO
import requests
from cereal import log
import cereal.messaging as messaging
from sunnypilot.sunnylink.api import SunnylinkApi
from openpilot.common.file_helpers import get_upload_stream
from openpilot.common.params import Params
from openpilot.common.realtime import set_core_affinity
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware.hw import Paths
from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
import cereal.messaging as messaging
from cereal import log
from sunnypilot.sunnylink.api import SunnylinkApi
from openpilot.common.swaglog import cloudlog
NetworkType = log.DeviceState.NetworkType
UPLOAD_ATTR_NAME = 'user.sunny.upload'
UPLOAD_ATTR_VALUE = b'1'
UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB
MAX_UPLOAD_SIZES = {
"qlog": 25*1e6, # can't be too restrictive here since we use qlogs to find
# bugs, including ones that can cause massive log sizes
"qcam": 5*1e6,
}
allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
force_wifi = os.getenv("FORCEWIFI") is not None
fake_upload = os.getenv("FAKEUPLOAD") is not None
OFFROAD_TRANSITION_TIMEOUT = 900. # wait until offroad for 15 minutes before allowing uploads
class FakeRequest:
def __init__(self):
@@ -52,7 +50,6 @@ def get_directory_sort(d: str) -> list[str]:
o = ["0", ] if d.startswith("2024-") else ["1", ]
return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
def listdir_by_creation(d: str) -> list[str]:
if not os.path.isdir(d):
return []
@@ -65,7 +62,6 @@ def listdir_by_creation(d: str) -> list[str]:
cloudlog.exception("listdir_by_creation failed")
return []
def clear_locks(root: str) -> None:
for logdir in os.listdir(root):
path = os.path.join(root, logdir)
@@ -89,11 +85,11 @@ class Uploader:
self.last_filename = ""
self.immediate_folders = ["crash/", "boot/"]
self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
r = self.params.get("AthenadRecentlyViewedRoutes")
requested_routes = [] if r is None else r.split(",")
requested_routes = [] if r is None else [route for route in r.split(",") if route]
for logdir in listdir_by_creation(self.root):
path = os.path.join(self.root, logdir)
@@ -137,11 +133,11 @@ class Uploader:
if any(f in fn for f in self.immediate_folders):
return name, key, fn
return next(
((name, key, fn)
for name, key, fn in upload_files if name in self.immediate_priority),
None,
)
for name, key, fn in upload_files:
if name in self.immediate_priority:
return name, key, fn
return None
def do_upload(self, key: str, fn: str):
url_resp = self.api.get(
@@ -161,15 +157,15 @@ class Uploader:
if fake_upload:
return FakeResponse()
with open(fn, "rb") as f:
data: BinaryIO
if key.endswith('.bz2') and not fn.endswith('.bz2'):
compressed = bz2.compress(f.read())
data = io.BytesIO(compressed)
else:
data = f
return requests.put(url, data=data, headers=headers, timeout=10)
stream = None
try:
compress = key.endswith('.zst') and not fn.endswith('.zst')
stream, _ = get_upload_stream(fn, compress)
response = requests.put(url, data=stream, headers=headers, timeout=10)
return response
finally:
if stream:
stream.close()
def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
try:
@@ -183,7 +179,7 @@ class Uploader:
if sz == 0:
# tag files of 0 size as uploaded
success = True
elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
success = True
else:
@@ -224,6 +220,7 @@ class Uploader:
return success
def step(self, network_type: int, metered: bool) -> bool | None:
d = self.next_file_to_upload(metered)
if d is None:
@@ -232,8 +229,8 @@ class Uploader:
name, key, fn = d
# qlogs and bootlogs need to be compressed before uploading
if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
key += ".bz2"
if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
key += ".zst"
return self.upload(name, key, fn, network_type, metered)
@@ -252,9 +249,6 @@ def main(exit_event: threading.Event = None) -> None:
params = Params()
dongle_id = params.get("SunnylinkDongleId")
offroad_transition_prev = 0.
offroad_last = False
if dongle_id is None:
cloudlog.info("uploader missing dongle_id")
raise Exception("uploader can't start without dongle id")
@@ -265,35 +259,13 @@ def main(exit_event: threading.Event = None) -> None:
backoff = 0.1
while not exit_event.is_set():
sm.update(0)
offroad = params.get_bool("IsOffroad")
t = time.monotonic()
if offroad and not offroad_last and t > 300.:
offroad_transition_prev = time.monotonic()
offroad_last = offroad
network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
if network_type == NetworkType.none:
if allow_sleep:
time.sleep(60 if offroad else 5)
continue
if params.get_bool("DisableOnroadUploads"):
if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
if not offroad:
cloudlog.info("not uploading: onroad uploads disabled")
else:
wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
if time_left > 2.0 * 60.0:
time_left_str = f"{int(time_left / 60)} minute(s)"
else:
time_left_str = f"{int(time_left)} seconds(s)"
cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
if allow_sleep:
time.sleep(60)
continue
success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
if success is None:
backoff = 60 if offroad else 5
@@ -301,7 +273,7 @@ def main(exit_event: threading.Event = None) -> None:
backoff = 0.1
else:
cloudlog.info("upload backoff %r", backoff)
backoff = min(backoff * 2, 120)
backoff = min(backoff*2, 120)
if allow_sleep:
time.sleep(backoff + random.uniform(0, backoff))
system/hardware/hardwared.py
+5
View File
@@ -382,6 +382,11 @@ def hardware_thread(end_event, hw_queue) -> None:
# Offroad power monitoring
voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
# GitHub runner auto off: 9V is used as the threshold because most desktop runners
# will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
power_monitor.calculate(voltage, onroad_conditions["ignition"])
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
system/manager/process_config.py
+3 -2
View File
@@ -62,7 +62,8 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
return not started
def use_github_runner(started, params, CP: car.CarParams) -> bool:
return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
return not PC and params.get_bool("EnableGithubRunner") and (
not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
"""Shim for sunnylink_ready to match the process manager signature."""
@@ -174,7 +175,7 @@ procs += [
if os.path.exists("./github_runner.sh"):
procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
managed_processes = {p.name: p for p in procs}
system/ui/lib/wifi_manager.py
+2 -2
View File
@@ -101,8 +101,8 @@ class WifiManager:
"""Connect to the DBus system bus."""
try:
self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
if not await self._find_wifi_device():
raise ValueError("No Wi-Fi device found")
while not await self._find_wifi_device():
await asyncio.sleep(1)
await self._setup_signals(self.device_path)
self.active_ap_path = await self.get_active_access_point()
system/ui/widgets/button.py
+1 -1
View File
@@ -32,7 +32,7 @@ BUTTON_TEXT_COLOR = {
ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
ButtonStyle.TRANSPARENT: rl.BLACK,
ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
ButtonStyle.ACTION: rl.BLACK,
ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255),
ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255),
tinygrad_repo
+1 -1
Submodule tinygrad_repo updated: 7737cbb2a0...d2bb1bcb97
tools/mac_setup.sh
+1 -1
View File
@@ -50,7 +50,7 @@ brew "zeromq"
cask "gcc-arm-embedded"
brew "portaudio"
brew "gcc@13"
brew "font-noto-color-emoji"
cask "font-noto-color-emoji"
EOS
echo "[ ] finished brew install t=$SECONDS"
tools/tuning/measure_steering_accuracy.py
+2 -2
View File
@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
active = sm['controlsState'].active
steer = sm['carOutput'].actuatorsOutput.torque
standstill = sm['carState'].standstill
steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
overriding = sm['carState'].steeringPressed
changing_lanes = sm['modelV2'].meta.laneChangeState != 0
model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
if len(model_points):
self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
if steer_limited_by_controls:
if steer_limited_by_safety:
self.speed_group_stats[group][angle_abs]["limited"] += 1
if control_state.saturated:
self.speed_group_stats[group][angle_abs]["saturated"] += 1
uv.lock
Generated
+148 -146
View File
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