diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml index 8b86c6b043..1c7812ee47 100644 --- a/.github/workflows/build-all-tinygrad-models.yaml +++ b/.github/workflows/build-all-tinygrad-models.yaml @@ -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: diff --git a/RELEASES.md b/RELEASES.md index 584be9d67e..1e80753451 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.10.1 (2025-09-08) +======================== + Version 0.10.0 (2025-08-05) ======================== * New driving model diff --git a/common/model.h b/common/model.h index 90e8096716..a60b33c4cf 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "Space Lab 2 (Default)" +#define DEFAULT_MODEL "Down To Ride (Default)" diff --git a/common/params_keys.h b/common/params_keys.h index 08f79bf5af..1822ebabba 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -147,6 +147,7 @@ inline static std::unordered_map 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"}}, diff --git a/common/pid.py b/common/pid.py index f2ab935f45..721a7c9d65 100644 --- a/common/pid.py +++ b/common/pid.py @@ -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 diff --git a/common/version.h b/common/version.h index af827e20a6..669f303211 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.10.0" +#define COMMA_VERSION "0.10.1" diff --git a/docs/CARS.md b/docs/CARS.md index acd68ace84..e043c3b10f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 321 Supported Cars +# 323 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |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[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|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)](##)|
Parts- 1 Hyundai G connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Nexo 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| @@ -146,6 +147,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Carnival 2022-24[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |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)](##)|
Parts- 1 Hyundai E connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|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)](##)|
Parts- 1 Hyundai I connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|EV6 (Southeast Asia only) 2022-24[6](#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 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|EV6 (with HDA II) 2022-24[6](#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 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|EV6 (without HDA II) 2022-24[6](#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 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 5da91a7ae6..cf9b33143f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5da91a7ae65849d2506c772e45239915ed380b19 +Subproject commit cf9b33143fb7c1a337be9c3f20428a9fb17323e1 diff --git a/selfdrive/assets/icons/link.png b/selfdrive/assets/icons/link.png new file mode 100644 index 0000000000..8a795c05b8 --- /dev/null +++ b/selfdrive/assets/icons/link.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206 +size 5713 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 033370c922..4f61ad3c35 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -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: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2b4b62c8ee..56a3258a5c 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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 diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index a2c28ed8ce..615168a262 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -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 diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index fe6275d9d0..787bd2dbe1 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -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 diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index eb8a1ed5f9..fd79c29bd1 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -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 diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 7885902f12..a73edd173c 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -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 diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 187a3b2ecf..267fc92a3f 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29 +oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57 size 15583374 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index b89de27594..9e1c048735 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -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,)) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 43f97e212c..54ff189358 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -62b3e8590fe85f87494517b3177a0ccaad1e17e5 \ No newline at end of file +543bd2347fa35f8300478a3893fdd0a03a7c1fe6 \ No newline at end of file diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index a322f21e80..674e5005f4 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -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): diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index 6af947a104..cdbfa4c04c 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -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) diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index 4ae713d9db..536d993389 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -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() diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index d7e5e6c9dc..72400bd945 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -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 diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 4f8409be10..30a92c972e 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -43,7 +43,7 @@ protected: void drawMetric(QPainter &p, const QPair &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 network_type = { {cereal::DeviceState::NetworkType::NONE, tr("--")}, diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc index 43ba7e037f..7e3d18bd81 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc @@ -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"); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc index 0699deef0d..dfdf79938a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc @@ -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); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h index 84a2f56e05..8586d862bd 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h @@ -79,5 +79,6 @@ private: QFrame *policyFrame; Params params; ButtonControlSP *clearModelCacheBtn; + ButtonControlSP *refreshAvailableModelsBtn; }; diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc index 1358cbc959..3d4e070963 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc @@ -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(""); diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h index e17c68d3a3..c56d8ebd1a 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h @@ -49,6 +49,7 @@ private: QString sunnylinkBtnDescription; PushButtonSP *restoreSettings; PushButtonSP *backupSettings; + ParamControlSP * sunnylinkUploaderEnabledBtn; void stopSunnylink() const; void startSunnylink() const; diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py index 88664e0fad..9618768957 100644 --- a/selfdrive/ui/widgets/exp_mode_button.py +++ b/selfdrive/ui/widgets/exp_mode_button.py @@ -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) diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py index 86234ee149..6b601f6dff 100644 --- a/selfdrive/ui/widgets/prime.py +++ b/selfdrive/ui/widgets/prime.py @@ -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 diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py index 79fa8ec2f2..ba8592ed18 100644 --- a/sunnypilot/modeld_v2/parse_model_outputs_split.py +++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py @@ -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: diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py index 482f0e3bb1..60a222a36c 100644 --- a/sunnypilot/models/fetcher.py +++ b/sunnypilot/models/fetcher.py @@ -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 diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py index a024935b84..79241cd831 100644 --- a/sunnypilot/models/helpers.py +++ b/sunnypilot/models/helpers.py @@ -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) diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index d104e049b7..6ee27c30e6 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -71c14a02af81857565e5fcffaaddb57a76fe80b283fe3292da830dbc92e211b7 \ No newline at end of file +cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb \ No newline at end of file diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py index 42b7d779e3..90eae1dfe8 100755 --- a/sunnypilot/sunnylink/athena/sunnylinkd.py +++ b/sunnypilot/sunnylink/athena/sunnylinkd.py @@ -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'), ] + [ diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py index b9117f2866..117fbdc159 100755 --- a/sunnypilot/sunnylink/uploader.py +++ b/sunnypilot/sunnylink/uploader.py @@ -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)) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 8cde335929..d702334fa8 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -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()) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index c90565180c..67a77caa24 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -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} diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 5d0f84bc86..178bbec43e 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -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() diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py index 41af8e51ca..a5dab19789 100644 --- a/system/ui/widgets/button.py +++ b/system/ui/widgets/button.py @@ -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), diff --git a/tinygrad_repo b/tinygrad_repo index 7737cbb2a0..d2bb1bcb97 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 7737cbb2a0635fce95a9085fb1b53d5bea1093f8 +Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59 diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 2a7f83baae..19ef77e01c 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -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" diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index a2f437819f..7e4e975742 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -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 = 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