mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-24 22:52:05 +08:00
Merge branch 'master' into hkg-angle-steering-2025
# Conflicts: # opendbc_repo
This commit is contained in:
DevTekVE
@@ -0,0 +1,45 @@
|
||||
name: diff report
|
||||
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, synchronize, reopened]
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
name: comment
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- name: Wait for process replay
|
||||
id: wait
|
||||
continue-on-error: true
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ github.event.pull_request.head.sha }}
|
||||
check-name: process replay
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success,failure
|
||||
wait-interval: 20
|
||||
- name: Download diff
|
||||
if: steps.wait.outcome == 'success'
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
workflow: tests.yaml
|
||||
workflow_conclusion: ''
|
||||
pr: ${{ github.event.number }}
|
||||
name: diff_report_${{ github.event.number }}
|
||||
path: .
|
||||
allow_forks: true
|
||||
- name: Comment on PR
|
||||
if: steps.wait.outcome == 'success'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
filePath: diff_report.txt
|
||||
comment_tag: diff_report
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -9,28 +9,6 @@ env:
|
||||
PYTHONPATH: ${{ github.workspace }}
|
||||
|
||||
jobs:
|
||||
update_translations:
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v6
|
||||
with:
|
||||
submodules: true
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Update translations
|
||||
run: python3 selfdrive/ui/update_translations.py --vanish
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
|
||||
with:
|
||||
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
||||
commit-message: "Update translations"
|
||||
title: "[bot] Update translations"
|
||||
body: "Automatic PR from repo-maintenance -> update_translations"
|
||||
branch: "update-translations"
|
||||
base: "master"
|
||||
delete-branch: true
|
||||
labels: bot
|
||||
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-latest
|
||||
|
||||
@@ -156,12 +156,22 @@ jobs:
|
||||
id: print-diff
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff.txt
|
||||
- name: Print diff report
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff_report.txt
|
||||
- uses: actions/upload-artifact@v6
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: process_replay_diff.txt
|
||||
path: selfdrive/test/process_replay/diff.txt
|
||||
- name: Upload diff report
|
||||
uses: actions/upload-artifact@v6
|
||||
if: always() && github.event_name == 'pull_request'
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: diff_report_${{ github.event.number }}
|
||||
path: selfdrive/test/process_replay/diff_report.txt
|
||||
- name: Checkout ci-artifacts
|
||||
if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
|
||||
uses: actions/checkout@v4
|
||||
|
||||
+2
-1
@@ -1,7 +1,8 @@
|
||||
Version 0.11.1 (2026-04-08)
|
||||
Version 0.11.1 (2026-04-22)
|
||||
========================
|
||||
* New driver monitoring model
|
||||
* Improved image processing pipeline for driver camera
|
||||
* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
|
||||
|
||||
Version 0.11.0 (2026-03-17)
|
||||
========================
|
||||
|
||||
+9
-3
@@ -47,7 +47,8 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
|
||||
# be distributed with all Linux distros and macOS, or
|
||||
# vendored in commaai/dependencies.
|
||||
allowed_system_libs = {
|
||||
"EGL", "GLESv2", "GL", "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
|
||||
"EGL", "GLESv2", "GL",
|
||||
"Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
|
||||
"dl", "drm", "gbm", "m", "pthread",
|
||||
}
|
||||
|
||||
@@ -256,8 +257,13 @@ SConscript([
|
||||
|
||||
SConscript(['sunnypilot/SConscript'])
|
||||
|
||||
if Dir('#tools/cabana/').exists() and arch != "larch64":
|
||||
SConscript(['tools/cabana/SConscript'])
|
||||
# Build tools
|
||||
if arch != "larch64":
|
||||
SConscript([
|
||||
'tools/replay/SConscript',
|
||||
'tools/cabana/SConscript',
|
||||
'tools/jotpluggler/SConscript',
|
||||
])
|
||||
|
||||
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
@@ -154,6 +154,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
|
||||
vision @2;
|
||||
policy @3;
|
||||
offPolicy @4;
|
||||
onPolicy @5;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
+16
-5
@@ -88,6 +88,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
lowMemory @51;
|
||||
stockAeb @52;
|
||||
stockLkas @98;
|
||||
lateralManeuver @99;
|
||||
ldw @53;
|
||||
carUnrecognized @54;
|
||||
invalidLkasSetting @55;
|
||||
@@ -1241,6 +1242,10 @@ struct DriverAssistance {
|
||||
# FCW, AEB, etc. will go here
|
||||
}
|
||||
|
||||
struct LateralManeuverPlan {
|
||||
desiredCurvature @0 :Float32; # 1/m
|
||||
}
|
||||
|
||||
struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
modelMonoTime @9 :UInt64;
|
||||
hasLead @7 :Bool;
|
||||
@@ -1426,6 +1431,8 @@ struct LivePose {
|
||||
posenetOK @5 :Bool = false;
|
||||
sensorsOK @6 :Bool = false;
|
||||
|
||||
timestamp @8 :UInt64;
|
||||
|
||||
debugFilterState @7 :FilterState;
|
||||
|
||||
struct XYZMeasurement {
|
||||
@@ -2169,12 +2176,14 @@ struct DriverStateV2 {
|
||||
facePosition @2 :List(Float32);
|
||||
facePositionStd @3 :List(Float32);
|
||||
faceProb @4 :Float32;
|
||||
leftEyeProb @5 :Float32;
|
||||
rightEyeProb @6 :Float32;
|
||||
leftBlinkProb @7 :Float32;
|
||||
rightBlinkProb @8 :Float32;
|
||||
sunglassesProb @9 :Float32;
|
||||
eyesVisibleProb @14 :Float32;
|
||||
eyesClosedProb @15 :Float32;
|
||||
phoneProb @13 :Float32;
|
||||
leftEyeProbDEPRECATED @5 :Float32;
|
||||
rightEyeProbDEPRECATED @6 :Float32;
|
||||
leftBlinkProbDEPRECATED @7 :Float32;
|
||||
rightBlinkProbDEPRECATED @8 :Float32;
|
||||
sunglassesProbDEPRECATED @9 :Float32;
|
||||
notReadyProbDEPRECATED @12 :List(Float32);
|
||||
occludedProbDEPRECATED @10 :Float32;
|
||||
readyProbDEPRECATED @11 :List(Float32);
|
||||
@@ -2610,6 +2619,8 @@ struct Event {
|
||||
bookmarkButton @148 :UserBookmark;
|
||||
audioFeedback @149 :AudioFeedback;
|
||||
|
||||
lateralManeuverPlan @150 :LateralManeuverPlan;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
roadEncodeData @86 :EncodeData;
|
||||
|
||||
@@ -49,6 +49,7 @@ _services: dict[str, tuple] = {
|
||||
"carControl": (True, 100., 10),
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"lateralManeuverPlan": (True, 20.),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "CD210 (Default)"
|
||||
#define DEFAULT_MODEL "OP Model (Default)"
|
||||
|
||||
@@ -82,6 +82,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LiveParametersV2", {PERSISTENT, BYTES}},
|
||||
{"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
|
||||
{"LocationFilterInitialState", {PERSISTENT, BYTES}},
|
||||
{"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
|
||||
{"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
|
||||
@@ -271,7 +272,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
|
||||
{"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
|
||||
{"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
|
||||
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
|
||||
### First contribution
|
||||
|
||||
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
|
||||
There are a lot of bounties that don't require a comma 3X or a car.
|
||||
There are a lot of bounties that don't require a comma four or a car.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
@@ -6,4 +6,4 @@
|
||||
* **segment**: routes are split into one minute chunks called segments.
|
||||
* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
|
||||
* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
|
||||
* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
|
||||
* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma 3X.
|
||||
openpilot is designed to be used on the comma four.
|
||||
|
||||
## How does it work?
|
||||
|
||||
|
||||
@@ -1,15 +1,15 @@
|
||||
# connect to a comma 3X
|
||||
# connect to a comma four
|
||||
|
||||
A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
|
||||
## Serial Console
|
||||
|
||||
On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
|
||||
Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
|
||||
|
||||
On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
|
||||
|
||||
On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
|
||||
On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
|
||||
|
||||
* Username: `comma`
|
||||
* Password: `comma`
|
||||
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
|
||||
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
|
||||
|
||||
> [!NOTE]
|
||||
> The default port for ADB is 5555 on the comma 3X.
|
||||
> The default port for ADB is 5555 on the comma four.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
|
||||
Just run `tools/replay/replay --demo`.
|
||||
|
||||
## Replaying CAN data
|
||||
*Hardware required: jungle and comma 3X*
|
||||
*Hardware required: jungle and comma four*
|
||||
|
||||
1. Connect your PC to a jungle.
|
||||
2.
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
|
||||
|
||||
And if you have a comma 3X, we'll deploy the change to your device for testing.
|
||||
And if you have a comma four, we'll deploy the change to your device for testing.
|
||||
|
||||
## 1. Set up your development environment
|
||||
|
||||
|
||||
@@ -7,6 +7,7 @@ source "$DIR/launch_env.sh"
|
||||
function agnos_init {
|
||||
# TODO: move this to agnos
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
rm -f /data/scons_cache/config.lock
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
+1
-1
Submodule msgq_repo updated: ed2777747d...b7688b9bd7
+1
-1
Submodule opendbc_repo updated: dc9db542eb...66ff670a24
+1
-1
Submodule panda updated: 6ddc631bdd...01a2c250f9
@@ -107,6 +107,7 @@ dev = [
|
||||
]
|
||||
|
||||
tools = [
|
||||
"imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
|
||||
"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
|
||||
]
|
||||
|
||||
|
||||
+1
-1
Submodule rednose_repo updated: 6ccb8d0556...7ffefa3d88
@@ -104,7 +104,7 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
|
||||
metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
|
||||
|
||||
# Build the metadata structure
|
||||
model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
|
||||
model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
|
||||
|
||||
model_metadata = {
|
||||
"type": model_type,
|
||||
|
||||
+7
-2
@@ -38,6 +38,11 @@ if __name__ == "__main__":
|
||||
continue
|
||||
|
||||
fn = os.path.basename(f)
|
||||
master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
|
||||
master_path = MASTER_PATH + MODEL_PATH + fn
|
||||
if os.path.exists(master_path):
|
||||
master = get_checkpoint(master_path)
|
||||
master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
|
||||
else:
|
||||
master_col = "N/A (new model)"
|
||||
pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
|
||||
print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
|
||||
print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
|
||||
size 3688
|
||||
@@ -98,7 +98,6 @@ class Car:
|
||||
break
|
||||
|
||||
alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
|
||||
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
|
||||
|
||||
cached_params = None
|
||||
cached_params_raw = self.params.get("CarParamsCache")
|
||||
@@ -109,7 +108,7 @@ class Car:
|
||||
fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
|
||||
init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
|
||||
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
|
||||
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params,
|
||||
fixed_fingerprint, init_params_list_sp, is_release_sp)
|
||||
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
|
||||
self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
|
||||
|
||||
@@ -42,7 +42,7 @@ class Controls(ControlsExt):
|
||||
self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
|
||||
|
||||
self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
|
||||
'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
|
||||
'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
|
||||
'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
|
||||
poll='selfdriveState')
|
||||
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
|
||||
@@ -135,7 +135,10 @@ class Controls(ControlsExt):
|
||||
|
||||
# Steering PID loop and lateral MPC
|
||||
# Reset desired curvature to current to avoid violating the limits on engage
|
||||
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
|
||||
if self.sm.valid['lateralManeuverPlan']:
|
||||
new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
|
||||
else:
|
||||
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
|
||||
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
|
||||
lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
|
||||
def __init__(self, CP, CP_SP, CI, dt):
|
||||
super().__init__(CP, CP_SP, CI, dt)
|
||||
self.sat_check_min_speed = 5.
|
||||
self.use_steer_limited_by_safety = CP.brand == "tesla"
|
||||
self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
|
||||
|
||||
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
|
||||
angle_log = log.ControlsState.LateralAngleState.new_message()
|
||||
|
||||
@@ -50,8 +50,10 @@ def simulate_straight_road_msgs(est):
|
||||
lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
|
||||
for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
|
||||
carOutput.actuatorsOutput.torque = float(-steer_torque)
|
||||
livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
|
||||
livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
|
||||
livePose.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
|
||||
livePose.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
|
||||
livePose.inputsOK, livePose.sensorsOK, livePose.posenetOK = True, True, True
|
||||
livePose.timestamp = int(t * 1e9)
|
||||
for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
|
||||
est.handle_log(t, which, msg)
|
||||
|
||||
|
||||
@@ -45,8 +45,6 @@ if __name__ == "__main__":
|
||||
extra[(Ecu.unknown, 0x750, i)] = []
|
||||
extra = {"any": {"debug": extra}}
|
||||
|
||||
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
|
||||
|
||||
t = time.monotonic()
|
||||
print("Getting vin...")
|
||||
set_obd_multiplexing(True)
|
||||
@@ -56,7 +54,7 @@ if __name__ == "__main__":
|
||||
print()
|
||||
|
||||
t = time.monotonic()
|
||||
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
|
||||
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, progress=True)
|
||||
_, candidates = match_fw_to_car(fw_vers, vin)
|
||||
|
||||
print()
|
||||
|
||||
@@ -44,7 +44,7 @@ if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
|
||||
parser.add_argument('route', nargs='?', help='Route name, live if not specified')
|
||||
parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
|
||||
parser.add_argument('--rxoffset', default='')
|
||||
parser.add_argument('--rxoffset', default='0x8')
|
||||
args = parser.parse_args()
|
||||
|
||||
addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
|
||||
|
||||
@@ -28,6 +28,9 @@ INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
|
||||
INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
|
||||
POSENET_STD_INITIAL_VALUE = 10.0
|
||||
POSENET_STD_HIST_HALF = 20
|
||||
CAM_ODO_POSE_DELAY = 0.1 # dependent on the vision model context frames and temporal frequency (current model is 5 fps with 2 context frames)
|
||||
CAM_ODO_ROT_STD_MULT = 10
|
||||
CAM_ODO_TRANS_STD_MULT = 4
|
||||
|
||||
|
||||
def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
|
||||
@@ -155,6 +158,8 @@ class LocationEstimator:
|
||||
self.device_from_calib = rot_from_euler(calib)
|
||||
|
||||
elif which == "cameraOdometry":
|
||||
# camera odometry is delayed depending on the model context frames and temporal frequency
|
||||
t = msg.timestampEof * 1e-9 - CAM_ODO_POSE_DELAY
|
||||
if not self._validate_timestamp(t):
|
||||
return HandleLogResult.TIMING_INVALID
|
||||
|
||||
@@ -177,8 +182,8 @@ class LocationEstimator:
|
||||
self.posenet_stds[-1] = trans_calib_std[0]
|
||||
|
||||
# Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
|
||||
rot_calib_std *= 10
|
||||
trans_calib_std *= 2
|
||||
rot_calib_std *= CAM_ODO_ROT_STD_MULT
|
||||
trans_calib_std *= CAM_ODO_TRANS_STD_MULT
|
||||
|
||||
rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
|
||||
trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
|
||||
@@ -234,6 +239,7 @@ class LocationEstimator:
|
||||
livePose.inputsOK = inputs_valid
|
||||
livePose.posenetOK = not std_spike or self.car_speed <= 5.0
|
||||
livePose.sensorsOK = sensors_valid
|
||||
livePose.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
|
||||
|
||||
return msg
|
||||
|
||||
|
||||
@@ -47,13 +47,13 @@ class PoseKalman(KalmanFilter):
|
||||
# process noise
|
||||
Q = np.diag([0.001**2, 0.001**2, 0.001**2,
|
||||
0.01**2, 0.01**2, 0.01**2,
|
||||
0.1**2, 0.1**2, 0.1**2,
|
||||
0.085**2, 0.085**2, 0.085**2,
|
||||
(0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
|
||||
3**2, 3**2, 3**2,
|
||||
0.005**2, 0.005**2, 0.005**2])
|
||||
|
||||
obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
|
||||
ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
|
||||
ObservationKind.PHONE_ACCEL: np.diag([0.75**2, 0.75**2, 0.75**2]),
|
||||
ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
|
||||
ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
|
||||
|
||||
|
||||
@@ -65,6 +65,7 @@ class VehicleParamsLearner:
|
||||
|
||||
def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
|
||||
if which == 'livePose':
|
||||
t = msg.timestamp * 1e-9
|
||||
device_pose = Pose.from_live_pose(msg)
|
||||
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
|
||||
|
||||
|
||||
@@ -3,6 +3,7 @@ from collections import defaultdict
|
||||
from enum import Enum
|
||||
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate_all
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
|
||||
|
||||
@@ -15,6 +16,7 @@ SELECT_COMPARE_FIELDS = {
|
||||
'inputs_flag': ['inputsOK'],
|
||||
'sensors_flag': ['sensorsOK'],
|
||||
}
|
||||
SMOOTH_FIELDS = ['yaw_rate', 'roll']
|
||||
JUNK_IDX = 100
|
||||
CONSISTENT_SPIKES_COUNT = 10
|
||||
|
||||
@@ -32,6 +34,8 @@ class Scenario(Enum):
|
||||
|
||||
|
||||
def get_select_fields_data(logs):
|
||||
def sig_smooth(signal):
|
||||
return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
|
||||
def get_nested_keys(msg, keys):
|
||||
val = None
|
||||
for key in keys:
|
||||
@@ -44,6 +48,8 @@ def get_select_fields_data(logs):
|
||||
data[key].append(get_nested_keys(msg, fields))
|
||||
for key in data:
|
||||
data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
|
||||
if key in SMOOTH_FIELDS:
|
||||
data[key] = sig_smooth(data[key])
|
||||
return data
|
||||
|
||||
|
||||
@@ -110,7 +116,7 @@ class TestLocationdScenarios:
|
||||
"""
|
||||
orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
|
||||
assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
|
||||
|
||||
def test_gyro_off(self):
|
||||
"""
|
||||
@@ -135,7 +141,7 @@ class TestLocationdScenarios:
|
||||
"""
|
||||
orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
|
||||
assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
|
||||
assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
|
||||
assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
|
||||
|
||||
@@ -169,7 +175,7 @@ class TestLocationdScenarios:
|
||||
"""
|
||||
orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
|
||||
assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
|
||||
assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
|
||||
|
||||
def test_single_timing_spike(self):
|
||||
"""
|
||||
|
||||
@@ -188,7 +188,9 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
|
||||
self.lag = get_lat_delay(self.params, msg.lateralDelay)
|
||||
# calculate lateral accel from past steering torque
|
||||
elif which == "livePose":
|
||||
if len(self.raw_points['steer_torque']) == self.hist_len:
|
||||
is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
|
||||
if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
|
||||
t = msg.timestamp * 1e-9
|
||||
device_pose = Pose.from_live_pose(msg)
|
||||
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
|
||||
angular_velocity_calibrated = calibrated_pose.angular_velocity
|
||||
|
||||
@@ -21,7 +21,7 @@ tg_flags = {
|
||||
}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0')
|
||||
|
||||
# Get model metadata
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
|
||||
fn = File(f"models/{model_name}").abspath
|
||||
script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
|
||||
cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
|
||||
@@ -59,19 +59,5 @@ def tg_compile(flags, model_name):
|
||||
)
|
||||
|
||||
# Compile small models
|
||||
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
|
||||
for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
|
||||
tg_compile(tg_flags, model_name)
|
||||
|
||||
# Compile BIG model if USB GPU is available
|
||||
if "USBGPU" in os.environ:
|
||||
import subprocess
|
||||
# because tg doesn't support multi-process
|
||||
devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
|
||||
if b"AMD" in devs:
|
||||
print("USB GPU detected... building")
|
||||
flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
|
||||
bp = tg_compile(flags, "big_driving_policy")
|
||||
bv = tg_compile(flags, "big_driving_vision")
|
||||
lenv.SideEffect('lock', [bp, bv]) # tg doesn't support multi-process so build serially
|
||||
else:
|
||||
print("USB GPU not detected... skipping")
|
||||
|
||||
@@ -80,7 +80,7 @@ def parse_model_output(model_output):
|
||||
face_descs = model_output[f'face_descs_{ds_suffix}']
|
||||
parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
|
||||
parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
|
||||
for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
|
||||
for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
|
||||
parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
|
||||
return parsed
|
||||
|
||||
@@ -90,11 +90,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
|
||||
msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
|
||||
msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
|
||||
msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
|
||||
msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
|
||||
|
||||
def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
|
||||
|
||||
@@ -37,11 +37,13 @@ from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
|
||||
VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
|
||||
POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
|
||||
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
|
||||
VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
|
||||
ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
|
||||
ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl'
|
||||
OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl'
|
||||
OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl'
|
||||
|
||||
LAT_SMOOTH_SECONDS = 0.0
|
||||
LONG_SMOOTH_SECONDS = 0.3
|
||||
@@ -156,7 +158,13 @@ class ModelState(ModelStateBase):
|
||||
self.vision_output_slices = vision_metadata['output_slices']
|
||||
vision_output_size = vision_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
with open(POLICY_METADATA_PATH, 'rb') as f:
|
||||
with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
|
||||
off_policy_metadata = pickle.load(f)
|
||||
self.off_policy_input_shapes = off_policy_metadata['input_shapes']
|
||||
self.off_policy_output_slices = off_policy_metadata['output_slices']
|
||||
off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
|
||||
|
||||
with open(ON_POLICY_METADATA_PATH, 'rb') as f:
|
||||
policy_metadata = pickle.load(f)
|
||||
self.policy_input_shapes = policy_metadata['input_shapes']
|
||||
self.policy_output_slices = policy_metadata['output_slices']
|
||||
@@ -180,11 +188,13 @@ class ModelState(ModelStateBase):
|
||||
self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
|
||||
self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
|
||||
self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
|
||||
self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
|
||||
self.parser = Parser()
|
||||
self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
|
||||
self.update_imgs = None
|
||||
self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
|
||||
self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
|
||||
self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH)))
|
||||
self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH)))
|
||||
|
||||
def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
|
||||
parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
|
||||
@@ -233,9 +243,17 @@ class ModelState(ModelStateBase):
|
||||
|
||||
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
|
||||
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
|
||||
|
||||
self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
|
||||
off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices))
|
||||
off_policy_outputs_dict.pop('plan')
|
||||
|
||||
|
||||
combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
|
||||
if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict:
|
||||
combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus']
|
||||
if SEND_RAW_PRED:
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
|
||||
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()])
|
||||
|
||||
return combined_outputs_dict
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
driving_policy.onnx
|
||||
@@ -1 +0,0 @@
|
||||
driving_vision.onnx
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
|
||||
size 7307246
|
||||
oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
|
||||
size 7364290
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:eb6992bd60bada6162fea298e1a414b6b3d6a326db4eda46b9de62bcd8554754
|
||||
size 13393859
|
||||
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:86680a657bbb34f997034d1930bb2cb65c38b9222cea199732f72bd45791cfad
|
||||
size 13022803
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
|
||||
size 14060847
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
|
||||
size 46877473
|
||||
oid sha256:7af05e03fd170653ff5771baf373a2c57b363da12c4c411cd416dee067b4cf58
|
||||
size 23266366
|
||||
|
||||
@@ -96,11 +96,17 @@ class Parser:
|
||||
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
|
||||
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
|
||||
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
|
||||
self.parse_binary_crossentropy('meta', outs)
|
||||
return outs
|
||||
|
||||
def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
|
||||
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
|
||||
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
|
||||
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
|
||||
self.parse_binary_crossentropy('lane_lines_prob', outs)
|
||||
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)
|
||||
lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
|
||||
lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
|
||||
@@ -120,5 +126,6 @@ class Parser:
|
||||
|
||||
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
outs = self.parse_vision_outputs(outs)
|
||||
outs = self.parse_off_policy_outputs(outs)
|
||||
outs = self.parse_policy_outputs(outs)
|
||||
return outs
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from math import atan2
|
||||
from math import atan2, radians
|
||||
import numpy as np
|
||||
|
||||
from cereal import car, log
|
||||
@@ -32,9 +32,8 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
|
||||
|
||||
self._FACE_THRESHOLD = 0.7
|
||||
self._EYE_THRESHOLD = 0.65
|
||||
self._SG_THRESHOLD = 0.9
|
||||
self._BLINK_THRESHOLD = 0.865
|
||||
self._EYE_THRESHOLD = 0.5
|
||||
self._BLINK_THRESHOLD = 0.5
|
||||
self._PHONE_THRESH = 0.5
|
||||
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
@@ -43,6 +42,9 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._POSE_YAW_THRESHOLD = 0.4020
|
||||
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
|
||||
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
|
||||
self._POSE_YAW_MIN_STEER_DEG = 30
|
||||
self._POSE_YAW_STEER_FACTOR = 0.15
|
||||
self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
|
||||
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_THRESHOLD = 0.449
|
||||
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
|
||||
@@ -59,7 +61,6 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._POSESTD_THRESHOLD = 0.3
|
||||
self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s
|
||||
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
||||
self._ALWAYS_ON_ALERT_MIN_SPEED = 11
|
||||
|
||||
self._POSE_CALIB_MIN_SPEED = 13 # 30 mph
|
||||
self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative
|
||||
@@ -101,6 +102,7 @@ class DriverPose:
|
||||
self.low_std = True
|
||||
self.cfactor_pitch = 1.
|
||||
self.cfactor_yaw = 1.
|
||||
self.steer_yaw_offset = 0.
|
||||
|
||||
class DriverProb:
|
||||
def __init__(self, raw_priors, max_trackable):
|
||||
@@ -108,11 +110,6 @@ class DriverProb:
|
||||
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
|
||||
self.prob_calibrated = False
|
||||
|
||||
class DriverBlink:
|
||||
def __init__(self):
|
||||
self.left = 0.
|
||||
self.right = 0.
|
||||
|
||||
|
||||
# model output refers to center of undistorted+leveled image
|
||||
EFL = 598.0 # focal length in K
|
||||
@@ -147,7 +144,7 @@ class DriverMonitoring:
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink = DriverBlink()
|
||||
self.blink_prob = 0.
|
||||
self.phone_prob = 0.
|
||||
|
||||
self.always_on = always_on
|
||||
@@ -238,7 +235,11 @@ class DriverMonitoring:
|
||||
yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
|
||||
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
|
||||
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
|
||||
yaw_error = abs(yaw_error)
|
||||
|
||||
if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
|
||||
yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
|
||||
else:
|
||||
yaw_error = abs(yaw_error)
|
||||
|
||||
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
|
||||
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
|
||||
@@ -246,7 +247,7 @@ class DriverMonitoring:
|
||||
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
|
||||
distracted_types.append(DistractedType.DISTRACTED_POSE)
|
||||
|
||||
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
|
||||
if self.blink_prob > self.settings._BLINK_THRESHOLD:
|
||||
distracted_types.append(DistractedType.DISTRACTED_BLINK)
|
||||
|
||||
if self.phone_prob > self.settings._PHONE_THRESH:
|
||||
@@ -254,7 +255,7 @@ class DriverMonitoring:
|
||||
|
||||
return distracted_types
|
||||
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
|
||||
rhd_pred = driver_state.wheelOnRightProb
|
||||
# calibrates only when there's movement and either face detected
|
||||
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
|
||||
@@ -277,17 +278,17 @@ class DriverMonitoring:
|
||||
|
||||
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
|
||||
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
|
||||
steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
|
||||
self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
|
||||
if self.wheel_on_right:
|
||||
self.pose.yaw *= -1
|
||||
self.pose.steer_yaw_offset *= -1
|
||||
self.wheel_on_right_last = self.wheel_on_right
|
||||
self.pose.pitch_std = driver_data.faceOrientationStd[0]
|
||||
self.pose.yaw_std = driver_data.faceOrientationStd[1]
|
||||
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
|
||||
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
|
||||
self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
|
||||
self.phone_prob = driver_data.phoneProb
|
||||
|
||||
self.distracted_types = self._get_distracted_types()
|
||||
@@ -360,19 +361,19 @@ class DriverMonitoring:
|
||||
if self.awareness > self.threshold_prompt:
|
||||
return
|
||||
|
||||
_reaching_pre = self.awareness - self.step_change <= self.threshold_pre
|
||||
_reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
|
||||
_reaching_terminal = self.awareness - self.step_change <= 0
|
||||
standstill_orange_exemption = standstill and _reaching_audible
|
||||
standstill_exemption = standstill and _reaching_pre
|
||||
always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
|
||||
always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED
|
||||
|
||||
certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
|
||||
maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
|
||||
|
||||
if certainly_distracted or maybe_distracted:
|
||||
# should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
|
||||
# should always be counting if distracted unless at standstill and reaching green
|
||||
# also will not be reaching 0 if DM is active when not engaged
|
||||
if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
|
||||
if not (standstill_exemption or always_on_red_exemption):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
alert = None
|
||||
@@ -385,7 +386,7 @@ class DriverMonitoring:
|
||||
elif self.awareness <= self.threshold_prompt:
|
||||
# prompt orange alert
|
||||
alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
|
||||
elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
|
||||
elif self.awareness <= self.threshold_pre:
|
||||
# pre green alert
|
||||
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
|
||||
|
||||
@@ -451,6 +452,7 @@ class DriverMonitoring:
|
||||
op_engaged=enabled,
|
||||
standstill=standstill,
|
||||
demo_mode=demo,
|
||||
steering_angle_deg=sm['carState'].steeringAngleDeg,
|
||||
)
|
||||
|
||||
# Update distraction events
|
||||
|
||||
@@ -20,10 +20,8 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
|
||||
ds.leftDriverData.faceOrientation = [0., 0., 0.]
|
||||
ds.leftDriverData.facePosition = [0., 0.]
|
||||
ds.leftDriverData.faceProb = 1. * face_detected
|
||||
ds.leftDriverData.leftEyeProb = 1.
|
||||
ds.leftDriverData.rightEyeProb = 1.
|
||||
ds.leftDriverData.leftBlinkProb = 1. * distracted
|
||||
ds.leftDriverData.rightBlinkProb = 1. * distracted
|
||||
ds.leftDriverData.eyesVisibleProb = 1.
|
||||
ds.leftDriverData.eyesClosedProb = 1. * distracted
|
||||
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
|
||||
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
|
||||
# TODO: test both separately when e2e is used
|
||||
@@ -187,10 +185,10 @@ class TestMonitoring:
|
||||
standstill_vector = always_true[:]
|
||||
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
|
||||
events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
|
||||
assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
|
||||
EventName.preDriverDistracted
|
||||
assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
|
||||
assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
|
||||
_pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
|
||||
assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
|
||||
assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
|
||||
|
||||
# engaged, model is somehow uncertain and driver is distracted
|
||||
# - should fall back to wheel touch after uncertain alert
|
||||
|
||||
@@ -78,22 +78,6 @@ class TestPandad:
|
||||
|
||||
assert any(Panda(s).is_internal() for s in Panda.list())
|
||||
|
||||
def test_best_case_startup_time(self):
|
||||
# run once so we're up to date
|
||||
self._run_test(60)
|
||||
|
||||
ts = []
|
||||
for _ in range(10):
|
||||
# should be nearly instant this time
|
||||
dt = self._run_test(5)
|
||||
ts.append(dt)
|
||||
|
||||
# 5s for USB (due to enumeration)
|
||||
# - 0.2s pandad -> pandad
|
||||
# - plus some buffer
|
||||
print("startup times", ts, sum(ts) / len(ts))
|
||||
assert 0.1 < (sum(ts)/len(ts)) < 0.7
|
||||
|
||||
def test_old_spi_protocol(self):
|
||||
# flash firmware with old SPI protocol
|
||||
self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
|
||||
|
||||
@@ -235,6 +235,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
"Ensure road ahead is clear"),
|
||||
},
|
||||
|
||||
EventName.lateralManeuver: {
|
||||
ET.WARNING: longitudinal_maneuver_alert,
|
||||
ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
|
||||
},
|
||||
|
||||
EventName.selfdriveInitializing: {
|
||||
ET.NO_ENTRY: NoEntryAlert("System Initializing"),
|
||||
},
|
||||
|
||||
@@ -89,7 +89,7 @@ class SelfdriveD(CruiseHelper):
|
||||
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
|
||||
self.car_state_sock = messaging.sub_sock('carState', timeout=20)
|
||||
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
|
||||
ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
if REPLAY:
|
||||
@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
|
||||
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
|
||||
'modelDataV2SP', 'longitudinalPlanSP'] + \
|
||||
'lateralManeuverPlan', 'modelDataV2SP', 'longitudinalPlanSP'] + \
|
||||
self.camera_packets + self.sensor_packets + self.gps_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=ignore,
|
||||
ignore_valid=ignore, frequency=int(1/DT_CTRL))
|
||||
@@ -183,7 +183,10 @@ class SelfdriveD(CruiseHelper):
|
||||
self.events.add(EventName.joystickDebug)
|
||||
self.startup_event = None
|
||||
|
||||
if self.sm.recv_frame['alertDebug'] > 0:
|
||||
if self.sm.recv_frame['lateralManeuverPlan'] > 0:
|
||||
self.events.add(EventName.lateralManeuver)
|
||||
self.startup_event = None
|
||||
elif self.sm.recv_frame['alertDebug'] > 0:
|
||||
self.events.add(EventName.longitudinalManeuver)
|
||||
self.startup_event = None
|
||||
|
||||
|
||||
@@ -0,0 +1,92 @@
|
||||
import os
|
||||
from collections import defaultdict
|
||||
|
||||
from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
|
||||
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
|
||||
|
||||
|
||||
class MsgWrap:
|
||||
"""Adapter so to_dict() includes defaults"""
|
||||
def __init__(self, msg):
|
||||
self._msg = msg
|
||||
def to_dict(self) -> dict:
|
||||
return self._msg.to_dict(verbose=True)
|
||||
|
||||
|
||||
def diff_process(cfg, ref_msgs, new_msgs) -> tuple | None:
|
||||
ref = defaultdict(list)
|
||||
new = defaultdict(list)
|
||||
for m in ref_msgs:
|
||||
if m.which() in cfg.subs:
|
||||
ref[m.which()].append(m)
|
||||
for m in new_msgs:
|
||||
if m.which() in cfg.subs:
|
||||
new[m.which()].append(m)
|
||||
|
||||
diffs = []
|
||||
for sub in cfg.subs:
|
||||
if len(ref[sub]) != len(new[sub]):
|
||||
diffs.append((f"{sub} (message count)", 0, (len(ref[sub]), len(new[sub])), 0))
|
||||
for i, (r, n) in enumerate(zip(ref[sub], new[sub], strict=False)):
|
||||
for d in compare_logs([r], [n], cfg.ignore, tolerance=cfg.tolerance):
|
||||
if d[0] == "change":
|
||||
a, b = d[2]
|
||||
if a != a and b != b:
|
||||
continue
|
||||
diffs.append((d[1], i, d[2], r.logMonoTime))
|
||||
elif d[0] in ("add", "remove"):
|
||||
for item in d[2]:
|
||||
if item[1] != item[1]:
|
||||
continue
|
||||
diffs.append((f"{d[1]}.{item[0]}", i, (d[0], item[1]), r.logMonoTime))
|
||||
return (diffs, ref, new) if diffs else None
|
||||
|
||||
|
||||
def diff_format(diffs, ref, new, field) -> list[str]:
|
||||
if any(part.isdigit() for part in field.split(".")):
|
||||
return format_numeric_diffs(diffs)
|
||||
msg_type = field.split(".")[0]
|
||||
ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
|
||||
new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
|
||||
return format_diff(diffs, ref_ts, new_wrapped, field)
|
||||
|
||||
|
||||
def diff_report(replay_diffs, segments) -> None:
|
||||
seg_to_plat = {seg: plat for plat, seg in segments}
|
||||
|
||||
with_diffs, errors, n_passed = [], [], 0
|
||||
for seg, proc, data in replay_diffs:
|
||||
plat = seg_to_plat.get(seg, "UNKNOWN")
|
||||
if data is None:
|
||||
n_passed += 1
|
||||
elif isinstance(data, str):
|
||||
errors.append((plat, seg, proc, data))
|
||||
else:
|
||||
with_diffs.append((plat, seg, proc, data))
|
||||
|
||||
icon = "⚠️" if with_diffs else "✅"
|
||||
lines = [
|
||||
"## Process replay diff report",
|
||||
"Replays driving segments through this PR and compares the behavior to master.",
|
||||
"Please review any changes carefully to ensure they are expected.\n",
|
||||
f"{icon} {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors",
|
||||
]
|
||||
|
||||
for plat, seg, proc, err in errors:
|
||||
lines.append(f"\nERROR {plat} - {seg} [{proc}]: {err}")
|
||||
|
||||
if with_diffs:
|
||||
lines.append("<details><summary><b>Show changes</b></summary>\n\n```")
|
||||
for plat, seg, proc, (diffs, ref, new) in with_diffs:
|
||||
lines.append(f"\n{plat} - {seg} [{proc}]")
|
||||
by_field = defaultdict(list)
|
||||
for d in diffs:
|
||||
by_field[d[0]].append(d)
|
||||
for field, fd in sorted(by_field.items()):
|
||||
lines.append(f"\n {field} ({len(fd)} diffs)")
|
||||
lines.extend(diff_format(fd, ref, new, field))
|
||||
lines.append("```\n</details>")
|
||||
|
||||
with open(os.path.join(PROC_REPLAY_DIR, "diff_report.txt"), "w") as f:
|
||||
f.write("\n".join(lines))
|
||||
@@ -39,6 +39,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
|
||||
migrate_carOutput,
|
||||
migrate_controlsState,
|
||||
migrate_carState,
|
||||
migrate_livePose,
|
||||
migrate_liveTracks,
|
||||
migrate_driverAssistance,
|
||||
migrate_drivingModelData,
|
||||
@@ -177,6 +178,7 @@ def migrate_liveLocationKalman(msgs):
|
||||
m = messaging.new_message('livePose')
|
||||
m.valid = msg.valid
|
||||
m.logMonoTime = msg.logMonoTime
|
||||
m.livePose.timestamp = msg.logMonoTime
|
||||
for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
|
||||
lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
|
||||
lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
|
||||
@@ -188,6 +190,21 @@ def migrate_liveLocationKalman(msgs):
|
||||
return ops, [], []
|
||||
|
||||
|
||||
@migration(inputs=["livePose"])
|
||||
def migrate_livePose(msgs):
|
||||
ops = []
|
||||
needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
|
||||
if not needs_migration:
|
||||
return [], [], []
|
||||
|
||||
for index, msg in msgs:
|
||||
if msg.which() == "livePose":
|
||||
new_msg = msg.as_builder()
|
||||
new_msg.livePose.timestamp = msg.logMonoTime
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
@migration(inputs=["controlsState"], product="selfdriveState")
|
||||
def migrate_controlsState(msgs):
|
||||
add_ops = []
|
||||
|
||||
@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
|
||||
(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
|
||||
], "driverStateV2")
|
||||
|
||||
@@ -146,6 +146,7 @@ class ProcessContainer:
|
||||
self.cfg = copy.deepcopy(cfg)
|
||||
self.process = copy.deepcopy(managed_processes[cfg.proc_name])
|
||||
self.msg_queue: list[capnp._DynamicStructReader] = []
|
||||
self.last_input_log_mono_time: int = -1
|
||||
self.cnt = 0
|
||||
self.pm: messaging.PubMaster | None = None
|
||||
self.sockets: list[messaging.SubSocket] | None = None
|
||||
@@ -268,6 +269,7 @@ class ProcessContainer:
|
||||
ms = messaging.drain_sock(socket)
|
||||
for m in ms:
|
||||
m = m.as_builder()
|
||||
assert start_time > 0, "start_time must be positive"
|
||||
m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
|
||||
output_msgs.append(m.as_reader())
|
||||
return output_msgs
|
||||
@@ -294,10 +296,11 @@ class ProcessContainer:
|
||||
trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
|
||||
|
||||
# get output msgs from previous inputs
|
||||
output_msgs = self.get_output_msgs(msg.logMonoTime)
|
||||
output_msgs = self.get_output_msgs(self.last_input_log_mono_time)
|
||||
|
||||
for m in self.msg_queue:
|
||||
self.pm.send(m.which(), m.as_builder())
|
||||
self.last_input_log_mono_time = max(self.last_input_log_mono_time, m.logMonoTime)
|
||||
# send frames if needed
|
||||
if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
|
||||
camera_state = getattr(m, m.which())
|
||||
@@ -513,6 +516,7 @@ CONFIGS = [
|
||||
ignore=["logMonoTime"],
|
||||
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
|
||||
tolerance=NUMPY_TOLERANCE,
|
||||
processing_time=0.01,
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="paramsd",
|
||||
@@ -716,7 +720,7 @@ def _replay_multi_process(
|
||||
|
||||
# flush last set of messages from each process
|
||||
for container in containers:
|
||||
last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
|
||||
last_time = container.last_input_log_mono_time if container.last_input_log_mono_time > 0 else int(time.monotonic() * 1e9)
|
||||
log_msgs.extend(container.get_output_msgs(last_time))
|
||||
finally:
|
||||
for container in containers:
|
||||
|
||||
@@ -3,6 +3,7 @@ import argparse
|
||||
import concurrent.futures
|
||||
import os
|
||||
import sys
|
||||
import traceback
|
||||
from collections import defaultdict
|
||||
from tqdm import tqdm
|
||||
from typing import Any
|
||||
@@ -11,6 +12,7 @@ from opendbc.car.car_helpers import interface_names
|
||||
from openpilot.common.git import get_commit
|
||||
from openpilot.tools.lib.openpilotci import get_url
|
||||
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
|
||||
from openpilot.selfdrive.test.process_replay.diff_report import diff_process, diff_report
|
||||
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
|
||||
check_most_messages_valid
|
||||
from openpilot.tools.lib.filereader import FileReader
|
||||
@@ -72,11 +74,16 @@ EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
|
||||
|
||||
def run_test_process(data):
|
||||
segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
|
||||
ref_log_msgs = list(LogReader(ref_log_path))
|
||||
lr = LogReader.from_bytes(lr_dat)
|
||||
res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
|
||||
res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
|
||||
# save logs so we can update refs
|
||||
save_log(cur_log_fn, log_msgs)
|
||||
return (segment, cfg.proc_name, res)
|
||||
try:
|
||||
diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
|
||||
except Exception:
|
||||
diff_data = traceback.format_exc()
|
||||
return (segment, cfg.proc_name, res, diff_data)
|
||||
|
||||
|
||||
def get_log_data(segment):
|
||||
@@ -85,14 +92,12 @@ def get_log_data(segment):
|
||||
return (segment, f.read())
|
||||
|
||||
|
||||
def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
|
||||
def test_process(cfg, lr, segment, ref_log_msgs, new_log_path, ignore_fields=None, ignore_msgs=None):
|
||||
if ignore_fields is None:
|
||||
ignore_fields = []
|
||||
if ignore_msgs is None:
|
||||
ignore_msgs = []
|
||||
|
||||
ref_log_msgs = list(LogReader(ref_log_path))
|
||||
|
||||
try:
|
||||
log_msgs = replay_process(cfg, lr, disable_progress=True)
|
||||
except Exception as e:
|
||||
@@ -201,9 +206,11 @@ if __name__ == "__main__":
|
||||
log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
|
||||
|
||||
results: Any = defaultdict(dict)
|
||||
diffs: list = []
|
||||
p2 = pool.map(run_test_process, pool_args)
|
||||
for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
|
||||
for (segment, proc, result, diff_data) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
|
||||
results[segment][proc] = result
|
||||
diffs.append((segment, proc, diff_data))
|
||||
|
||||
diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
|
||||
if not args.update_refs:
|
||||
@@ -211,6 +218,11 @@ if __name__ == "__main__":
|
||||
f.write(diff_long)
|
||||
print(diff_short)
|
||||
|
||||
try:
|
||||
diff_report(diffs, segments)
|
||||
except Exception:
|
||||
print(f"failed to generate diff report:\n{traceback.format_exc()}")
|
||||
|
||||
if failed:
|
||||
print("TEST FAILED")
|
||||
else:
|
||||
|
||||
@@ -48,7 +48,7 @@ Font font_display;
|
||||
const bool tici_device = Hardware::get_device_type() == cereal::InitData::DeviceType::TICI ||
|
||||
Hardware::get_device_type() == cereal::InitData::DeviceType::TIZI;
|
||||
|
||||
std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tizi", "release3-staging", "nightly", "nightly-dev"};
|
||||
std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tici", "release3-staging", "nightly", "nightly-dev"};
|
||||
std::string migrated_branch;
|
||||
|
||||
void branchMigration() {
|
||||
|
||||
@@ -71,6 +71,13 @@ class DeveloperLayout(Widget):
|
||||
callback=self._on_long_maneuver_mode,
|
||||
)
|
||||
|
||||
self._lat_maneuver_toggle = toggle_item(
|
||||
lambda: tr("Lateral Maneuver Mode"),
|
||||
description="",
|
||||
initial_state=self._params.get_bool("LateralManeuverMode"),
|
||||
callback=self._on_lat_maneuver_mode,
|
||||
)
|
||||
|
||||
self._alpha_long_toggle = toggle_item(
|
||||
lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
|
||||
description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
|
||||
@@ -93,6 +100,7 @@ class DeveloperLayout(Widget):
|
||||
self._ssh_keys,
|
||||
self._joystick_toggle,
|
||||
self._long_maneuver_toggle,
|
||||
self._lat_maneuver_toggle,
|
||||
self._alpha_long_toggle,
|
||||
self._ui_debug_toggle,
|
||||
], line_separator=True, spacing=0)
|
||||
@@ -113,7 +121,7 @@ class DeveloperLayout(Widget):
|
||||
|
||||
# Hide non-release toggles on release builds
|
||||
# TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
|
||||
for item in (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
|
||||
for item in (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle):
|
||||
item.set_visible(not self._is_release)
|
||||
|
||||
# CP gating
|
||||
@@ -130,8 +138,12 @@ class DeveloperLayout(Widget):
|
||||
if not long_man_enabled:
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
|
||||
lat_man_enabled = ui_state.is_offroad()
|
||||
self._lat_maneuver_toggle.action_item.set_enabled(lat_man_enabled)
|
||||
else:
|
||||
self._long_maneuver_toggle.action_item.set_enabled(False)
|
||||
self._lat_maneuver_toggle.action_item.set_enabled(False)
|
||||
self._alpha_long_toggle.set_visible(False)
|
||||
|
||||
# TODO: make a param control list item so we don't need to manage internal state as much here
|
||||
@@ -141,6 +153,7 @@ class DeveloperLayout(Widget):
|
||||
("SshEnabled", self._ssh_toggle),
|
||||
("JoystickDebugMode", self._joystick_toggle),
|
||||
("LongitudinalManeuverMode", self._long_maneuver_toggle),
|
||||
("LateralManeuverMode", self._lat_maneuver_toggle),
|
||||
("AlphaLongitudinalEnabled", self._alpha_long_toggle),
|
||||
("ShowDebugInfo", self._ui_debug_toggle),
|
||||
):
|
||||
@@ -162,11 +175,23 @@ class DeveloperLayout(Widget):
|
||||
self._params.put_bool("JoystickDebugMode", state)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.action_item.set_state(False)
|
||||
|
||||
def _on_long_maneuver_mode(self, state: bool):
|
||||
self._params.put_bool("LongitudinalManeuverMode", state)
|
||||
self._params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.action_item.set_state(False)
|
||||
|
||||
def _on_lat_maneuver_mode(self, state: bool):
|
||||
self._params.put_bool("LateralManeuverMode", state)
|
||||
self._params.put_bool("ExperimentalMode", False)
|
||||
self._params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.action_item.set_state(False)
|
||||
self._params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.action_item.set_state(False)
|
||||
|
||||
def _on_alpha_long_enabled(self, state: bool):
|
||||
if state:
|
||||
|
||||
@@ -55,6 +55,9 @@ class DeveloperLayoutMici(NavScroller):
|
||||
self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
|
||||
initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
|
||||
toggle_callback=self._on_long_maneuver_mode)
|
||||
self._lat_maneuver_toggle = BigToggle("lateral maneuver mode",
|
||||
initial_state=ui_state.params.get_bool("LateralManeuverMode"),
|
||||
toggle_callback=self._on_lat_maneuver_mode)
|
||||
self._alpha_long_toggle = BigToggle("alpha longitudinal",
|
||||
initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
|
||||
toggle_callback=self._on_alpha_long_enabled)
|
||||
@@ -68,6 +71,7 @@ class DeveloperLayoutMici(NavScroller):
|
||||
self._ssh_keys_btn,
|
||||
self._joystick_toggle,
|
||||
self._long_maneuver_toggle,
|
||||
self._lat_maneuver_toggle,
|
||||
self._alpha_long_toggle,
|
||||
self._debug_mode_toggle,
|
||||
])
|
||||
@@ -78,12 +82,13 @@ class DeveloperLayoutMici(NavScroller):
|
||||
("SshEnabled", self._ssh_toggle),
|
||||
("JoystickDebugMode", self._joystick_toggle),
|
||||
("LongitudinalManeuverMode", self._long_maneuver_toggle),
|
||||
("LateralManeuverMode", self._lat_maneuver_toggle),
|
||||
("AlphaLongitudinalEnabled", self._alpha_long_toggle),
|
||||
("ShowDebugInfo", self._debug_mode_toggle),
|
||||
)
|
||||
onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
|
||||
release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
|
||||
engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
|
||||
release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
|
||||
engaged_blocked_toggles = (self._long_maneuver_toggle, self._lat_maneuver_toggle, self._alpha_long_toggle)
|
||||
|
||||
# Hide non-release toggles on release builds
|
||||
for item in release_blocked_toggles:
|
||||
@@ -129,8 +134,12 @@ class DeveloperLayoutMici(NavScroller):
|
||||
if not long_man_enabled:
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
|
||||
lat_man_enabled = ui_state.is_offroad()
|
||||
self._lat_maneuver_toggle.set_enabled(lat_man_enabled)
|
||||
else:
|
||||
self._long_maneuver_toggle.set_enabled(False)
|
||||
self._lat_maneuver_toggle.set_enabled(False)
|
||||
self._alpha_long_toggle.set_visible(False)
|
||||
|
||||
# Refresh toggles from params to mirror external changes
|
||||
@@ -141,11 +150,24 @@ class DeveloperLayoutMici(NavScroller):
|
||||
ui_state.params.put_bool("JoystickDebugMode", state)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.set_checked(False)
|
||||
|
||||
def _on_long_maneuver_mode(self, state: bool):
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", state)
|
||||
ui_state.params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LateralManeuverMode", False)
|
||||
self._lat_maneuver_toggle.set_checked(False)
|
||||
restart_needed_callback(state)
|
||||
|
||||
def _on_lat_maneuver_mode(self, state: bool):
|
||||
ui_state.params.put_bool("LateralManeuverMode", state)
|
||||
ui_state.params.put_bool("ExperimentalMode", False)
|
||||
ui_state.params.put_bool("JoystickDebugMode", False)
|
||||
self._joystick_toggle.set_checked(False)
|
||||
ui_state.params.put_bool("LongitudinalManeuverMode", False)
|
||||
self._long_maneuver_toggle.set_checked(False)
|
||||
restart_needed_callback(state)
|
||||
|
||||
def _on_alpha_long_enabled(self, state: bool):
|
||||
|
||||
@@ -39,8 +39,6 @@ class BaseDriverCameraDialog(Widget):
|
||||
self._eye_fill_texture = None
|
||||
self._eye_orange_texture = None
|
||||
self._eye_size = 74
|
||||
self._glasses_texture = None
|
||||
self._glasses_size = 171
|
||||
|
||||
self._load_eye_textures()
|
||||
|
||||
@@ -154,8 +152,6 @@ class BaseDriverCameraDialog(Widget):
|
||||
self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
|
||||
if self._eye_orange_texture is None:
|
||||
self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
|
||||
if self._glasses_texture is None:
|
||||
self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
|
||||
|
||||
def _draw_face_detection(self, rect: rl.Rectangle):
|
||||
dm_state = ui_state.sm["driverMonitoringState"]
|
||||
@@ -202,31 +198,21 @@ class BaseDriverCameraDialog(Widget):
|
||||
eye_offset_x = 10
|
||||
eye_offset_y = 10
|
||||
eye_spacing = self._eye_size + 15
|
||||
eyes_prob = driver_data.eyesVisibleProb
|
||||
|
||||
left_eye_x = rect.x + eye_offset_x
|
||||
left_eye_y = rect.y + eye_offset_y
|
||||
left_eye_prob = driver_data.leftEyeProb
|
||||
|
||||
right_eye_x = rect.x + eye_offset_x + eye_spacing
|
||||
right_eye_y = rect.y + eye_offset_y
|
||||
right_eye_prob = driver_data.rightEyeProb
|
||||
|
||||
# Draw eyes with opacity based on probability
|
||||
for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
|
||||
fill_opacity = eye_prob
|
||||
orange_opacity = 1.0 - eye_prob
|
||||
|
||||
fill_opacity = eyes_prob
|
||||
orange_opacity = 1.0 - eyes_prob
|
||||
for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
|
||||
rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
|
||||
rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
|
||||
|
||||
# Draw sunglasses indicator based on sunglasses probability
|
||||
# Position glasses centered between the two eyes at top left
|
||||
glasses_x = rect.x + eye_offset_x - 4
|
||||
glasses_y = rect.y
|
||||
glasses_pos = rl.Vector2(glasses_x, glasses_y)
|
||||
glasses_prob = driver_data.sunglassesProb
|
||||
rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
|
||||
|
||||
|
||||
class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
|
||||
def __init__(self):
|
||||
|
||||
@@ -120,7 +120,7 @@ class HudRenderer(Widget):
|
||||
|
||||
self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
|
||||
self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
|
||||
self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
|
||||
self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
|
||||
|
||||
self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
|
||||
self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
@@ -58,6 +58,8 @@ class ModelsLayout(Widget):
|
||||
self.supercombo_label = progress_item(tr("Driving Model"))
|
||||
self.vision_label = progress_item(tr("Vision Model"))
|
||||
self.policy_label = progress_item(tr("Policy Model"))
|
||||
self.off_policy_label = progress_item(tr("Off-Policy Model"))
|
||||
self.on_policy_label = progress_item(tr("On-Policy Model"))
|
||||
|
||||
self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
|
||||
lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
|
||||
@@ -91,7 +93,7 @@ class ModelsLayout(Widget):
|
||||
self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
|
||||
|
||||
self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
|
||||
self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
|
||||
self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
|
||||
self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
|
||||
|
||||
def _update_lagd_description(self, lagd_toggle: bool):
|
||||
@@ -129,7 +131,9 @@ class ModelsLayout(Widget):
|
||||
def _handle_bundle_download_progress(self):
|
||||
labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
|
||||
custom.ModelManagerSP.Model.Type.vision: self.vision_label,
|
||||
custom.ModelManagerSP.Model.Type.policy: self.policy_label}
|
||||
custom.ModelManagerSP.Model.Type.policy: self.policy_label,
|
||||
custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
|
||||
custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
|
||||
for label in labels.values():
|
||||
label.set_visible(False)
|
||||
self.cancel_download_item.set_visible(False)
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base impo
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
|
||||
from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR
|
||||
from opendbc.car.hyundai.values import CAR, UNSUPPORTED_LONGITUDINAL_CAR
|
||||
|
||||
|
||||
class HyundaiSettings(BrandSettings):
|
||||
@@ -31,7 +31,7 @@ class HyundaiSettings(BrandSettings):
|
||||
bundle = ui_state.params.get("CarPlatformBundle")
|
||||
if bundle:
|
||||
platform = bundle.get("platform")
|
||||
self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
|
||||
self.alpha_long_available = CAR[platform] not in set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
|
||||
elif ui_state.CP is not None:
|
||||
self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
|
||||
|
||||
|
||||
@@ -1,124 +1,106 @@
|
||||
import pytest
|
||||
import json
|
||||
import os
|
||||
import re
|
||||
import xml.etree.ElementTree as ET
|
||||
import string
|
||||
import requests
|
||||
from openpilot.common.parameterized import parameterized_class
|
||||
from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE
|
||||
from pathlib import Path
|
||||
|
||||
with open(str(LANGUAGES_FILE)) as f:
|
||||
translation_files = json.load(f)
|
||||
import pytest
|
||||
|
||||
UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\"" # non-empty translations can be marked unfinished
|
||||
LOCATION_TAG = "<location "
|
||||
FORMAT_ARG = re.compile("%[0-9]+")
|
||||
from openpilot.selfdrive.ui.translations.potools import parse_po
|
||||
from openpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
|
||||
|
||||
PERCENT_PLACEHOLDER_RE = re.compile(r"%(?:n|\d+)")
|
||||
BAD_ENTITY_RE = re.compile(r'@(\w+);')
|
||||
LINE_NUMBER_REF_RE = re.compile(r'^#:\s+.+:\d+(?:\s|$)')
|
||||
FORMATTER = string.Formatter()
|
||||
PO_DIR = Path(str(TRANSLATIONS_DIR))
|
||||
|
||||
with LANGUAGES_FILE.open(encoding='utf-8') as f:
|
||||
TRANSLATION_LANGUAGES = json.load(f)
|
||||
|
||||
|
||||
@pytest.mark.skip("TODO: update for raylib")
|
||||
@parameterized_class(("name", "file"), translation_files.items())
|
||||
class TestTranslations:
|
||||
name: str
|
||||
file: str
|
||||
def extract_placeholders(text: str) -> list[str]:
|
||||
placeholders = PERCENT_PLACEHOLDER_RE.findall(text)
|
||||
|
||||
@staticmethod
|
||||
def _read_translation_file(path, file):
|
||||
tr_file = os.path.join(path, f"{file}.ts")
|
||||
with open(tr_file) as f:
|
||||
return f.read()
|
||||
try:
|
||||
parsed = list(FORMATTER.parse(text))
|
||||
except ValueError as e:
|
||||
raise AssertionError(f"invalid brace formatting in {text!r}: {e}") from e
|
||||
|
||||
def test_missing_translation_files(self):
|
||||
assert os.path.exists(os.path.join(str(TRANSLATIONS_DIR), f"{self.file}.ts")), \
|
||||
f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
|
||||
for _, field_name, format_spec, conversion in parsed:
|
||||
if field_name is None:
|
||||
continue
|
||||
|
||||
@pytest.mark.skip("Only test unfinished translations before going to release")
|
||||
def test_unfinished_translations(self):
|
||||
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
|
||||
assert UNFINISHED_TRANSLATION_TAG not in cur_translations, \
|
||||
f"{self.file} ({self.name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist"
|
||||
token = "{"
|
||||
token += field_name
|
||||
if conversion:
|
||||
token += f"!{conversion}"
|
||||
if format_spec:
|
||||
token += f":{format_spec}"
|
||||
token += "}"
|
||||
placeholders.append(token)
|
||||
|
||||
def test_vanished_translations(self):
|
||||
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
|
||||
assert "<translation type=\"vanished\">" not in cur_translations, \
|
||||
f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them"
|
||||
return sorted(placeholders)
|
||||
|
||||
def test_finished_translations(self):
|
||||
"""
|
||||
Tests ran on each translation marked "finished"
|
||||
Plural:
|
||||
- that any numerus (plural) translations have all plural forms non-empty
|
||||
- that the correct format specifier is used (%n)
|
||||
Non-plural:
|
||||
- that translation is not empty
|
||||
- that translation format arguments are consistent
|
||||
"""
|
||||
tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts"))
|
||||
|
||||
for context in tr_xml.getroot():
|
||||
for message in context.iterfind("message"):
|
||||
translation = message.find("translation")
|
||||
source_text = message.find("source").text
|
||||
def load_po_text(po_path: Path) -> str:
|
||||
return po_path.read_text(encoding='utf-8')
|
||||
|
||||
# Do not test unfinished translations
|
||||
if translation.get("type") == "unfinished":
|
||||
continue
|
||||
|
||||
if message.get("numerus") == "yes":
|
||||
numerusform = [t.text for t in translation.findall("numerusform")]
|
||||
@pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
|
||||
def test_translation_file_exists(language_code: str):
|
||||
po_path = PO_DIR / f"app_{language_code}.po"
|
||||
assert po_path.exists(), f"missing translation file: {po_path}"
|
||||
|
||||
for nf in numerusform:
|
||||
assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}"
|
||||
assert "%n" in nf, "Ensure numerus argument (%n) exists in translation."
|
||||
assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}"
|
||||
|
||||
else:
|
||||
assert translation.text is not None, f"Ensure translation is completed: {source_text}"
|
||||
@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
|
||||
def test_translation_placeholders_are_preserved(po_path: Path):
|
||||
_, entries = parse_po(po_path)
|
||||
language = po_path.stem.removeprefix("app_")
|
||||
|
||||
source_args = FORMAT_ARG.findall(source_text)
|
||||
translation_args = FORMAT_ARG.findall(translation.text)
|
||||
assert sorted(source_args) == sorted(translation_args), \
|
||||
f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`"
|
||||
for entry in entries:
|
||||
source_placeholders = extract_placeholders(entry.msgid)
|
||||
|
||||
def test_no_locations(self):
|
||||
for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines():
|
||||
assert not line.strip().startswith(LOCATION_TAG), \
|
||||
f"Line contains location tag: {line.strip()}, remove all line numbers."
|
||||
|
||||
def test_entities_error(self):
|
||||
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
|
||||
matches = re.findall(r'@(\w+);', cur_translations)
|
||||
assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'"
|
||||
|
||||
def test_bad_language(self):
|
||||
IGNORED_WORDS = {'pédale'}
|
||||
|
||||
match = re.search(r'([a-zA-Z]{2,3})', self.file)
|
||||
assert match, f"{self.name} - could not parse language"
|
||||
|
||||
try:
|
||||
response = requests.get(
|
||||
f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
|
||||
if entry.is_plural:
|
||||
plural_placeholders = extract_placeholders(entry.msgid_plural)
|
||||
message = (
|
||||
f"{language}: source plural placeholders do not match singular for "
|
||||
+ f"{entry.msgid!r}: {source_placeholders} vs {plural_placeholders}"
|
||||
)
|
||||
response.raise_for_status()
|
||||
except requests.exceptions.HTTPError as e:
|
||||
if e.response is not None and e.response.status_code == 429:
|
||||
pytest.skip("word list rate limited")
|
||||
raise
|
||||
assert plural_placeholders == source_placeholders, message
|
||||
|
||||
banned_words = {line.strip() for line in response.text.splitlines()}
|
||||
|
||||
for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot():
|
||||
for message in context.iterfind("message"):
|
||||
translation = message.find("translation")
|
||||
if translation.get("type") == "unfinished":
|
||||
for idx, msgstr in sorted(entry.msgstr_plural.items()):
|
||||
if not msgstr:
|
||||
continue
|
||||
|
||||
translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text
|
||||
translated_placeholders = extract_placeholders(msgstr)
|
||||
message = (
|
||||
f"{language}: plural form {idx} changes placeholders for {entry.msgid!r}: "
|
||||
+ f"expected {source_placeholders}, got {translated_placeholders}"
|
||||
)
|
||||
assert translated_placeholders == source_placeholders, message
|
||||
else:
|
||||
if not entry.msgstr:
|
||||
continue
|
||||
|
||||
if not translation_text:
|
||||
continue
|
||||
translated_placeholders = extract_placeholders(entry.msgstr)
|
||||
message = (
|
||||
f"{language}: translation changes placeholders for {entry.msgid!r}: "
|
||||
+ f"expected {source_placeholders}, got {translated_placeholders}"
|
||||
)
|
||||
assert translated_placeholders == source_placeholders, message
|
||||
|
||||
words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split())
|
||||
bad_words_found = words & (banned_words - IGNORED_WORDS)
|
||||
assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}"
|
||||
|
||||
@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
|
||||
def test_translation_refs_do_not_include_line_numbers(po_path: Path):
|
||||
for line in load_po_text(po_path).splitlines():
|
||||
assert not LINE_NUMBER_REF_RE.match(line), (
|
||||
f"{po_path.name}: line-number source reference found: {line}"
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
|
||||
def test_translation_entities_are_valid(po_path: Path):
|
||||
matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
|
||||
assert not matches, (
|
||||
f"{po_path.name}: found '@...;' entity typo(s): {', '.join(sorted(set(matches)))}"
|
||||
)
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
# Multilanguage
|
||||
|
||||
[](#)
|
||||
+499
-663
File diff suppressed because it is too large
Load Diff
+312
-473
File diff suppressed because it is too large
Load Diff
+298
-459
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+332
-493
File diff suppressed because it is too large
Load Diff
+319
-2223
File diff suppressed because it is too large
Load Diff
+295
-456
File diff suppressed because it is too large
Load Diff
+294
-455
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Load Diff
File diff suppressed because it is too large
Load Diff
+459
-625
File diff suppressed because it is too large
Load Diff
+330
-491
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+295
-457
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Load Diff
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Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,138 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import pathlib
|
||||
import xml.etree.ElementTree as ET
|
||||
from typing import cast
|
||||
|
||||
import requests
|
||||
|
||||
TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent
|
||||
TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json"
|
||||
|
||||
OPENAI_MODEL = "gpt-4"
|
||||
OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY")
|
||||
OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \
|
||||
"The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
|
||||
|
||||
|
||||
def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
|
||||
files = {}
|
||||
|
||||
with open(TRANSLATIONS_LANGUAGES) as fp:
|
||||
language_dict = json.load(fp)
|
||||
|
||||
for filename in language_dict.values():
|
||||
path = TRANSLATIONS_DIR / f"{filename}.ts"
|
||||
language = path.stem
|
||||
|
||||
if languages is None or language in languages:
|
||||
files[language] = path
|
||||
|
||||
return files
|
||||
|
||||
|
||||
def translate_phrase(text: str, language: str) -> str:
|
||||
response = requests.post(
|
||||
"https://api.openai.com/v1/chat/completions",
|
||||
json={
|
||||
"model": OPENAI_MODEL,
|
||||
"messages": [
|
||||
{
|
||||
"role": "system",
|
||||
"content": OPENAI_PROMPT.format(language=language),
|
||||
},
|
||||
{
|
||||
"role": "user",
|
||||
"content": text,
|
||||
},
|
||||
],
|
||||
"temperature": 0.8,
|
||||
"max_tokens": 1024,
|
||||
"top_p": 1,
|
||||
},
|
||||
headers={
|
||||
"Authorization": f"Bearer {OPENAI_API_KEY}",
|
||||
"Content-Type": "application/json",
|
||||
},
|
||||
)
|
||||
|
||||
if 400 <= response.status_code < 600:
|
||||
raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response)
|
||||
|
||||
data = response.json()
|
||||
|
||||
return cast(str, data["choices"][0]["message"]["content"])
|
||||
|
||||
|
||||
def translate_file(path: pathlib.Path, language: str, all_: bool) -> None:
|
||||
tree = ET.parse(path)
|
||||
|
||||
root = tree.getroot()
|
||||
|
||||
for context in root.findall("./context"):
|
||||
name = context.find("name")
|
||||
if name is None:
|
||||
raise ValueError("name not found")
|
||||
|
||||
print(f"Context: {name.text}")
|
||||
|
||||
for message in context.findall("./message"):
|
||||
source = message.find("source")
|
||||
translation = message.find("translation")
|
||||
|
||||
if source is None or translation is None:
|
||||
raise ValueError("source or translation not found")
|
||||
|
||||
if not all_ and translation.attrib.get("type") != "unfinished":
|
||||
continue
|
||||
|
||||
llm_translation = translate_phrase(cast(str, source.text), language)
|
||||
|
||||
print(f"Source: {source.text}\n" +
|
||||
f"Current translation: {translation.text}\n" +
|
||||
f"LLM translation: {llm_translation}")
|
||||
|
||||
translation.text = llm_translation
|
||||
|
||||
with path.open("w", encoding="utf-8") as fp:
|
||||
fp.write('<?xml version="1.0" encoding="utf-8"?>\n' +
|
||||
'<!DOCTYPE TS>\n' +
|
||||
ET.tostring(root, encoding="utf-8").decode())
|
||||
|
||||
|
||||
def main():
|
||||
arg_parser = argparse.ArgumentParser("Auto translate")
|
||||
|
||||
group = arg_parser.add_mutually_exclusive_group(required=True)
|
||||
group.add_argument("-a", "--all-files", action="store_true", help="Translate all files")
|
||||
group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)")
|
||||
|
||||
arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)")
|
||||
|
||||
args = arg_parser.parse_args()
|
||||
|
||||
if OPENAI_API_KEY is None:
|
||||
print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" +
|
||||
"If you don't have one go to: https://beta.openai.com/account/api-keys.")
|
||||
exit(1)
|
||||
|
||||
files = get_language_files(None if args.all_files else args.file)
|
||||
|
||||
if args.file:
|
||||
missing_files = set(args.file) - set(files)
|
||||
if len(missing_files):
|
||||
print(f"No language files found: {missing_files}")
|
||||
exit(1)
|
||||
|
||||
print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}")
|
||||
|
||||
for lang, path in files.items():
|
||||
print(f"Translate {lang} ({path})")
|
||||
translate_file(path, lang, args.all_translations)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Executable
+26
@@ -0,0 +1,26 @@
|
||||
#!/usr/bin/env bash
|
||||
set -euo pipefail
|
||||
|
||||
DIR="$(cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd)"
|
||||
ROOT="$DIR/../../../"
|
||||
|
||||
cd $DIR
|
||||
./update_translations.py
|
||||
|
||||
command -v codex >/dev/null || {
|
||||
echo "Install codex CLI to continue:"
|
||||
echo "-> https://developers.openai.com/codex/cli"
|
||||
echo
|
||||
exit 1
|
||||
}
|
||||
|
||||
codex exec --cd "$ROOT" -c 'model_reasoning_effort="low"' --dangerously-bypass-approvals-and-sandbox "$(cat <<EOF
|
||||
Update openpilot UI translations in selfdrive/ui/translations.
|
||||
- Translate English UI text naturally.
|
||||
- Preserve placeholders (%n, %1, {}, {:.1f}), HTML/tags, and plural forms.
|
||||
- Edit .po files in place.
|
||||
- Print a short summary of changes.
|
||||
- All strings should be translated. Don't stop until it's 100%.
|
||||
- Be mindful of the layout/style of the UI and length of the original English string.
|
||||
EOF
|
||||
)"
|
||||
@@ -1,108 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import json
|
||||
import os
|
||||
import requests
|
||||
import xml.etree.ElementTree as ET
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
|
||||
|
||||
BADGE_HEIGHT = 20 + 8
|
||||
SHIELDS_URL = "https://img.shields.io/badge"
|
||||
|
||||
def parse_po_file(file_path):
|
||||
"""
|
||||
Parse a .po file and count total and unfinished translations.
|
||||
Returns: (total_translations, unfinished_translations)
|
||||
"""
|
||||
with open(file_path) as f:
|
||||
content = f.read()
|
||||
|
||||
total_translations = 0
|
||||
unfinished_translations = 0
|
||||
|
||||
# Split into entries (separated by blank lines)
|
||||
entries = content.split('\n\n')
|
||||
|
||||
for entry in entries:
|
||||
# Skip header entry (contains Project-Id-Version)
|
||||
if 'Project-Id-Version' in entry:
|
||||
continue
|
||||
|
||||
# Check if this entry has a msgid (translation entry)
|
||||
# After skipping header, any entry with msgid " is a translation
|
||||
# (both msgid "content" and msgid "" for multiline contain msgid ")
|
||||
if 'msgid "' not in entry:
|
||||
continue
|
||||
|
||||
total_translations += 1
|
||||
|
||||
# Check if msgstr is empty (unfinished translation)
|
||||
if 'msgstr ""' in entry:
|
||||
# Check if there are continuation lines with content after msgstr ""
|
||||
lines = entry.split('\n')
|
||||
msgstr_idx = None
|
||||
for i, line in enumerate(lines):
|
||||
if line.strip().startswith('msgstr ""'):
|
||||
msgstr_idx = i
|
||||
break
|
||||
|
||||
if msgstr_idx is not None:
|
||||
# Check if any continuation lines have content
|
||||
has_content = False
|
||||
for line in lines[msgstr_idx + 1:]:
|
||||
stripped = line.strip()
|
||||
# Continuation line with content
|
||||
if stripped.startswith('"') and len(stripped) > 2:
|
||||
has_content = True
|
||||
break
|
||||
# End of entry
|
||||
if stripped.startswith(('msgid', '#')) or not stripped:
|
||||
break
|
||||
|
||||
if not has_content:
|
||||
unfinished_translations += 1
|
||||
|
||||
return (total_translations, unfinished_translations)
|
||||
|
||||
if __name__ == "__main__":
|
||||
with open(LANGUAGES_FILE) as f:
|
||||
translation_files = json.load(f)
|
||||
|
||||
badge_svg = []
|
||||
max_badge_width = 0 # keep track of max width to set parent element
|
||||
for idx, (name, file) in enumerate(translation_files.items()):
|
||||
po_file_path = os.path.join(str(TRANSLATIONS_DIR), f"app_{file}.po")
|
||||
|
||||
total_translations, unfinished_translations = parse_po_file(po_file_path)
|
||||
|
||||
percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) if total_translations > 0 else 0
|
||||
color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
|
||||
|
||||
# Download badge
|
||||
badge_label = f"LANGUAGE {name}"
|
||||
badge_message = f"{percent_finished}% complete"
|
||||
if unfinished_translations != 0:
|
||||
badge_message += f" ({unfinished_translations} unfinished)"
|
||||
|
||||
r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10)
|
||||
assert r.status_code == 200, "Error downloading badge"
|
||||
content_svg = r.content.decode("utf-8")
|
||||
|
||||
xml = ET.fromstring(content_svg)
|
||||
assert "width" in xml.attrib
|
||||
max_badge_width = max(max_badge_width, int(xml.attrib["width"]))
|
||||
|
||||
# Make tag ids in each badge unique to combine them into one svg
|
||||
for tag in ("r", "s"):
|
||||
content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"')
|
||||
content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"')
|
||||
|
||||
badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
|
||||
|
||||
badge_svg.insert(0, '<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" ' +
|
||||
f'height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
|
||||
badge_svg.append("</svg>")
|
||||
|
||||
with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
|
||||
badge_f.write("\n".join(badge_svg))
|
||||
@@ -8,7 +8,6 @@ import ast
|
||||
import os
|
||||
import re
|
||||
from dataclasses import dataclass, field
|
||||
from datetime import UTC, datetime
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
@@ -165,18 +164,18 @@ def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -
|
||||
if header:
|
||||
for c in header.comments:
|
||||
f.write(c + '\n')
|
||||
if header.flags:
|
||||
f.write('#, ' + ', '.join(header.flags) + '\n')
|
||||
f.write(f'msgid {_quote("")}\n')
|
||||
f.write(f'msgstr {_quote(header.msgstr)}\n\n')
|
||||
|
||||
for entry in entries:
|
||||
for c in entry.comments:
|
||||
f.write(c + '\n')
|
||||
for ref in entry.source_refs:
|
||||
# Keep file-level context for translators, but drop line numbers to
|
||||
# avoid churning PO diffs on unrelated code edits.
|
||||
source_files = sorted({ref.rsplit(':', 1)[0] for ref in entry.source_refs})
|
||||
for ref in source_files:
|
||||
f.write(f'#: {ref}\n')
|
||||
if entry.flags:
|
||||
f.write('#, ' + ', '.join(entry.flags) + '\n')
|
||||
# Runtime loading ignores gettext flags; omit them to reduce noise.
|
||||
f.write(f'msgid {_quote(entry.msgid)}\n')
|
||||
if entry.is_plural:
|
||||
f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n')
|
||||
@@ -256,31 +255,24 @@ def extract_strings(files: list[str], basedir: str) -> list[POEntry]:
|
||||
|
||||
# ──── POT generation ────
|
||||
|
||||
def _build_pot_header() -> POEntry:
|
||||
return POEntry(
|
||||
msgstr='Content-Type: text/plain; charset=UTF-8\n',
|
||||
)
|
||||
|
||||
|
||||
def _build_po_header(language: str) -> POEntry:
|
||||
plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
|
||||
return POEntry(
|
||||
msgstr='Content-Type: text/plain; charset=UTF-8\n' +
|
||||
f'Language: {language}\n' +
|
||||
f'Plural-Forms: {plural_forms}\n',
|
||||
)
|
||||
|
||||
|
||||
def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None:
|
||||
"""Generate a .pot template file from extracted entries."""
|
||||
now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
|
||||
header = POEntry(
|
||||
comments=[
|
||||
'# SOME DESCRIPTIVE TITLE.',
|
||||
"# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
|
||||
'# This file is distributed under the same license as the PACKAGE package.',
|
||||
'# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.',
|
||||
'#',
|
||||
],
|
||||
flags=['fuzzy'],
|
||||
msgstr='Project-Id-Version: PACKAGE VERSION\n' +
|
||||
'Report-Msgid-Bugs-To: \n' +
|
||||
f'POT-Creation-Date: {now}\n' +
|
||||
'PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n' +
|
||||
'Last-Translator: FULL NAME <EMAIL@ADDRESS>\n' +
|
||||
'Language-Team: LANGUAGE <LL@li.org>\n' +
|
||||
'Language: \n' +
|
||||
'MIME-Version: 1.0\n' +
|
||||
'Content-Type: text/plain; charset=UTF-8\n' +
|
||||
'Content-Transfer-Encoding: 8bit\n' +
|
||||
'Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n',
|
||||
)
|
||||
write_po(pot_path, header, entries)
|
||||
write_po(pot_path, _build_pot_header(), entries)
|
||||
|
||||
|
||||
# ──── PO init (replaces msginit) ────
|
||||
@@ -305,43 +297,22 @@ def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None:
|
||||
"""Create a new .po file from a .pot template (replaces msginit)."""
|
||||
_, entries = parse_po(pot_path)
|
||||
plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
|
||||
now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
|
||||
|
||||
header = POEntry(
|
||||
comments=[
|
||||
f'# {language} translations for PACKAGE package.',
|
||||
"# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
|
||||
'# This file is distributed under the same license as the PACKAGE package.',
|
||||
'# Automatically generated.',
|
||||
'#',
|
||||
],
|
||||
msgstr='Project-Id-Version: PACKAGE VERSION\n' +
|
||||
'Report-Msgid-Bugs-To: \n' +
|
||||
f'POT-Creation-Date: {now}\n' +
|
||||
f'PO-Revision-Date: {now}\n' +
|
||||
'Last-Translator: Automatically generated\n' +
|
||||
'Language-Team: none\n' +
|
||||
f'Language: {language}\n' +
|
||||
'MIME-Version: 1.0\n' +
|
||||
'Content-Type: text/plain; charset=UTF-8\n' +
|
||||
'Content-Transfer-Encoding: 8bit\n' +
|
||||
f'Plural-Forms: {plural_forms}\n',
|
||||
)
|
||||
|
||||
nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1))
|
||||
for e in entries:
|
||||
if e.is_plural:
|
||||
e.msgstr_plural = dict.fromkeys(range(nplurals), '')
|
||||
|
||||
write_po(po_path, header, entries)
|
||||
write_po(po_path, _build_po_header(language), entries)
|
||||
|
||||
|
||||
# ──── PO merge (replaces msgmerge) ────
|
||||
|
||||
def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
|
||||
"""Update a .po file with entries from a .pot template (replaces msgmerge --update)."""
|
||||
po_header, po_entries = parse_po(po_path)
|
||||
_, po_entries = parse_po(po_path)
|
||||
_, pot_entries = parse_po(pot_path)
|
||||
language = Path(po_path).stem.removeprefix("app_")
|
||||
|
||||
existing = {e.msgid: e for e in po_entries}
|
||||
merged = []
|
||||
@@ -359,4 +330,4 @@ def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
|
||||
merged.append(pot_e)
|
||||
|
||||
merged.sort(key=lambda e: e.msgid)
|
||||
write_po(po_path, po_header, merged)
|
||||
write_po(po_path, _build_po_header(language), merged)
|
||||
|
||||
@@ -30,7 +30,7 @@ def generate_metadata_pkl(model_path, output_path):
|
||||
|
||||
def install_models(model_dir):
|
||||
model_dir = Path(model_dir)
|
||||
models = ["driving_off_policy", "driving_policy", "driving_vision"]
|
||||
models = ["driving_off_policy", "driving_on_policy", "driving_vision"]
|
||||
found_models = []
|
||||
|
||||
for model in models:
|
||||
|
||||
@@ -8,14 +8,16 @@ from openpilot.sunnypilot import get_file_hash
|
||||
DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
|
||||
MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
|
||||
VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
|
||||
POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
|
||||
OFF_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_off_policy.onnx")
|
||||
ON_POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_on_policy.onnx")
|
||||
|
||||
|
||||
def update_model_hash():
|
||||
vision_hash = get_file_hash(VISION_ONNX_PATH)
|
||||
policy_hash = get_file_hash(POLICY_ONNX_PATH)
|
||||
off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
|
||||
on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
|
||||
|
||||
combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
|
||||
combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
|
||||
|
||||
with open(MODEL_HASH_PATH, "w") as f:
|
||||
f.write(combined_hash)
|
||||
|
||||
@@ -116,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v15.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v16.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
|
||||
@@ -16,8 +16,9 @@ def get_model_runner() -> ModelRunner:
|
||||
bundle = get_active_bundle()
|
||||
if bundle and bundle.models:
|
||||
model_types = {m.type.raw for m in bundle.models}
|
||||
# Check if the bundle uses separate vision and policy models
|
||||
if ModelType.vision in model_types or ModelType.policy in model_types:
|
||||
# Check if the bundle uses separate vision and policy models (legacy or new split format)
|
||||
split_types = {ModelType.vision, ModelType.policy, ModelType.offPolicy, ModelType.onPolicy}
|
||||
if model_types & split_types:
|
||||
return TinygradSplitRunner()
|
||||
# Otherwise, assume a single model (likely supercombo)
|
||||
if bundle.models:
|
||||
|
||||
@@ -29,6 +29,22 @@ class OffPolicyTinygrad(ModularRunner, ABC):
|
||||
return result
|
||||
|
||||
|
||||
class OnPolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for on-policy models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the on-policy part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._on_policy_parser = SplitParser()
|
||||
self.parser_method_dict[ModelType.onPolicy] = self._parse_on_policy_outputs
|
||||
|
||||
def _parse_on_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses on-policy model outputs using SplitParser."""
|
||||
result: NumpyDict = self._on_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
|
||||
|
||||
class PolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for policy-only models.
|
||||
|
||||
@@ -3,14 +3,14 @@ import pickle
|
||||
import numpy as np
|
||||
from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
|
||||
from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
|
||||
from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
|
||||
from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad, OnPolicyTinygrad
|
||||
from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
|
||||
from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
|
||||
class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad):
|
||||
class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad, OnPolicyTinygrad):
|
||||
"""
|
||||
A ModelRunner implementation for executing Tinygrad models.
|
||||
|
||||
@@ -26,6 +26,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
|
||||
PolicyTinygrad.__init__(self)
|
||||
VisionTinygrad.__init__(self)
|
||||
OffPolicyTinygrad.__init__(self)
|
||||
OnPolicyTinygrad.__init__(self)
|
||||
self._constants = ModelConstants
|
||||
self._model_data = self.models.get(model_type)
|
||||
if not self._model_data or not self._model_data.model:
|
||||
@@ -98,20 +99,30 @@ class TinygradSplitRunner(ModelRunner):
|
||||
super().__init__()
|
||||
self.is_20hz_3d = True
|
||||
self.vision_runner = TinygradRunner(ModelType.vision)
|
||||
self.policy_runner = TinygradRunner(ModelType.policy)
|
||||
self.policy_runner = TinygradRunner(ModelType.policy) if self.models.get(ModelType.policy) else None
|
||||
self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
|
||||
self.on_policy_runner = TinygradRunner(ModelType.onPolicy) if self.models.get(ModelType.onPolicy) else None
|
||||
self._constants = SplitModelConstants
|
||||
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""Runs both vision and policy models and merges their parsed outputs."""
|
||||
policy_output = self.policy_runner.run_model()
|
||||
vision_output = self.vision_runner.run_model()
|
||||
outputs = {**policy_output, **vision_output}
|
||||
outputs = {**vision_output}
|
||||
|
||||
if self.policy_runner:
|
||||
policy_output = self.policy_runner.run_model()
|
||||
outputs.update(policy_output)
|
||||
|
||||
if self.off_policy_runner:
|
||||
off_policy_output = self.off_policy_runner.run_model()
|
||||
if self.on_policy_runner:
|
||||
off_policy_output.pop('plan', None)
|
||||
outputs.update(off_policy_output)
|
||||
|
||||
if self.on_policy_runner:
|
||||
on_policy_output = self.on_policy_runner.run_model()
|
||||
outputs.update(on_policy_output)
|
||||
|
||||
if 'planplus' in outputs and 'plan' in outputs:
|
||||
outputs['plan'] = outputs['plan'] + outputs['planplus']
|
||||
|
||||
@@ -125,31 +136,44 @@ class TinygradSplitRunner(ModelRunner):
|
||||
@property
|
||||
def input_shapes(self) -> ShapeDict:
|
||||
"""Returns the combined input shapes from both vision and policy models."""
|
||||
shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
|
||||
shapes = {**self.vision_runner.input_shapes}
|
||||
if self.policy_runner:
|
||||
shapes.update(self.policy_runner.input_shapes)
|
||||
if self.off_policy_runner:
|
||||
shapes.update(self.off_policy_runner.input_shapes)
|
||||
if self.on_policy_runner:
|
||||
shapes.update(self.on_policy_runner.input_shapes)
|
||||
return shapes
|
||||
|
||||
@property
|
||||
def output_slices(self) -> SliceDict:
|
||||
"""Returns the combined output slices from both vision and policy models."""
|
||||
slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
|
||||
slices = {**self.vision_runner.output_slices}
|
||||
if self.policy_runner:
|
||||
slices.update(self.policy_runner.output_slices)
|
||||
if self.off_policy_runner:
|
||||
slices.update(self.off_policy_runner.output_slices)
|
||||
if self.on_policy_runner:
|
||||
slices.update(self.on_policy_runner.output_slices)
|
||||
return slices
|
||||
|
||||
def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
|
||||
"""Prepares inputs for both vision and policy models."""
|
||||
# Policy inputs only depend on numpy_inputs
|
||||
self.policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
if self.policy_runner:
|
||||
self.policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
|
||||
for key in self.vision_input_names:
|
||||
if key in self.inputs:
|
||||
self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
|
||||
|
||||
inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
|
||||
inputs = {**self.vision_runner.inputs}
|
||||
if self.policy_runner:
|
||||
inputs.update(self.policy_runner.inputs)
|
||||
|
||||
if self.off_policy_runner:
|
||||
self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
inputs.update(self.off_policy_runner.inputs)
|
||||
if self.on_policy_runner:
|
||||
self.on_policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
inputs.update(self.on_policy_runner.inputs)
|
||||
return inputs
|
||||
|
||||
@@ -1 +1 @@
|
||||
32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
|
||||
adfcb5ccac9cfaf291af6091d12e71be3f543c7694fc29d80caa561dc32194d7
|
||||
|
||||
@@ -6,16 +6,17 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.sunnypilot import get_file_hash
|
||||
from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
|
||||
from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, OFF_POLICY_ONNX_PATH, ON_POLICY_ONNX_PATH
|
||||
import hashlib
|
||||
|
||||
|
||||
class TestDefaultModel:
|
||||
def test_compare_onnx_hashes(self):
|
||||
vision_hash = get_file_hash(VISION_ONNX_PATH)
|
||||
policy_hash = get_file_hash(POLICY_ONNX_PATH)
|
||||
off_policy_hash = get_file_hash(OFF_POLICY_ONNX_PATH)
|
||||
on_policy_hash = get_file_hash(ON_POLICY_ONNX_PATH)
|
||||
|
||||
combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
|
||||
combined_hash = hashlib.sha256((vision_hash + off_policy_hash + on_policy_hash).encode()).hexdigest()
|
||||
|
||||
with open(MODEL_HASH_PATH) as f:
|
||||
current_hash = f.read().strip()
|
||||
|
||||
@@ -105,7 +105,7 @@ 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)
|
||||
@pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1, TESLA.TESLA_MODEL_Y], indirect=True)
|
||||
def test_disallowed_brands(self, car_name):
|
||||
"""
|
||||
Speed Limit Assist is disabled for the following brands and conditions:
|
||||
|
||||
@@ -588,6 +588,10 @@
|
||||
"title": "Last Update Uptime Onroad",
|
||||
"description": ""
|
||||
},
|
||||
"LateralManeuverMode": {
|
||||
"title": "Lateral Maneuver Mode",
|
||||
"description": ""
|
||||
},
|
||||
"LeadDepartAlert": {
|
||||
"title": "Lead Departure Alert (Beta)",
|
||||
"description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
|
||||
|
||||
@@ -3,11 +3,16 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc')
|
||||
libs = [common, messaging, visionipc,
|
||||
'avformat', 'avcodec', 'swresample', 'avutil', 'x264',
|
||||
'pthread', 'z', 'm', 'zstd']
|
||||
frameworks = []
|
||||
|
||||
src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
|
||||
if arch != "larch64":
|
||||
src += ['encoder/ffmpeg_encoder.cc']
|
||||
libs += ['yuv']
|
||||
if arch == "Darwin":
|
||||
frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
|
||||
else:
|
||||
libs += ['va', 'va-drm', 'drm']
|
||||
|
||||
if arch == "Darwin":
|
||||
# exclude v4l
|
||||
@@ -16,9 +21,9 @@ if arch == "Darwin":
|
||||
logger_lib = env.Library('logger', src)
|
||||
libs.insert(0, logger_lib)
|
||||
|
||||
env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
|
||||
env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
|
||||
env.Program('bootlog.cc', LIBS=libs)
|
||||
env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
|
||||
env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"], FRAMEWORKS=frameworks)
|
||||
env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
|
||||
|
||||
if GetOption('extras'):
|
||||
env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs)
|
||||
|
||||
@@ -46,6 +46,9 @@ def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
return started and params.get_bool("LongitudinalManeuverMode")
|
||||
|
||||
def lat_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
return started and params.get_bool("LateralManeuverMode")
|
||||
|
||||
def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool:
|
||||
return started and not params.get_bool("LongitudinalManeuverMode")
|
||||
|
||||
@@ -142,6 +145,7 @@ procs = [
|
||||
PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
|
||||
PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
|
||||
PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
|
||||
PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
|
||||
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
|
||||
PythonProcess("hardwared", "system.hardware.hardwared", always_run),
|
||||
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
|
||||
|
||||
@@ -457,6 +457,11 @@ class GuiApplication(GuiApplicationExt):
|
||||
|
||||
def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
|
||||
alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
|
||||
if width is not None:
|
||||
width = round(width)
|
||||
if height is not None:
|
||||
height = round(height)
|
||||
|
||||
cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
|
||||
if cache_key in self._textures:
|
||||
return self._textures[cache_key]
|
||||
|
||||
+3
@@ -0,0 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:57e798d421bb56bb058ed9b0c83dd97fe1e411cde3a2bd6eb4a8705234f69027
|
||||
size 453096
|
||||
Vendored
+10
@@ -12,3 +12,13 @@ cd icons
|
||||
git fetch --all
|
||||
git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
|
||||
cp bootstrap-icons.svg ../
|
||||
|
||||
# Convert WOFF → TTF for imgui (imgui only reads TTF/OTF)
|
||||
python3 -c "
|
||||
from fontTools.ttLib import TTFont
|
||||
import io
|
||||
f = TTFont('font/fonts/bootstrap-icons.woff')
|
||||
f.flavor = None
|
||||
f.save('../bootstrap-icons.ttf')
|
||||
print('bootstrap-icons.ttf written')
|
||||
"
|
||||
|
||||
@@ -4,7 +4,7 @@ import shutil
|
||||
|
||||
import libusb
|
||||
|
||||
Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
|
||||
Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
|
||||
|
||||
# Detect Qt - skip build if not available
|
||||
if arch == "Darwin":
|
||||
@@ -18,9 +18,6 @@ else:
|
||||
if not has_qt:
|
||||
Return()
|
||||
|
||||
SConscript(['#tools/replay/SConscript'])
|
||||
Import('replay_lib')
|
||||
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core"]
|
||||
|
||||
@@ -69,7 +66,7 @@ base_frameworks = qt_env['FRAMEWORKS']
|
||||
base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
|
||||
|
||||
if arch == "Darwin":
|
||||
base_frameworks.append('QtCharts')
|
||||
base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
|
||||
else:
|
||||
base_libs.append('Qt5Charts')
|
||||
|
||||
@@ -78,6 +75,8 @@ cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
|
||||
cabana_env['LIBPATH'] += [libusb.LIB_DIR]
|
||||
|
||||
cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
|
||||
if arch != "Darwin":
|
||||
cabana_libs += ['va', 'va-drm', 'drm']
|
||||
opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
|
||||
cabana_env['CXXFLAGS'] += [opendbc_path]
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user