diff --git a/.codespellignore b/.codespellignore
index 9d7022f1b1..54b27f2ed3 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -3,3 +3,4 @@ REGIST
PullRequest
cancelled
indeces
+FOF
diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
new file mode 100644
index 0000000000..f1c81455ca
--- /dev/null
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -0,0 +1,226 @@
+name: Build All Tinygrad Models and Push to GitLab
+
+on:
+ workflow_dispatch:
+ inputs:
+ branch:
+ description: 'Branch to run workflow from'
+ required: false
+ default: 'master-new'
+ type: string
+
+jobs:
+ setup:
+ runs-on: ubuntu-latest
+ outputs:
+ json_file: ${{ steps.get-json.outputs.json_file }}
+ steps:
+ - name: Checkout docs repo
+ uses: actions/checkout@v4
+ with:
+ repository: sunnypilot/sunnypilot-docs
+ ref: gh-pages
+ path: docs
+ ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+ - name: Get next JSON version to use
+ id: get-json
+ run: |
+ cd docs/docs
+ latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+ next=$((latest+1))
+ json_file="driving_models_v${next}.json"
+ cp "driving_models_v${latest}.json" "$json_file"
+ echo "json_file=$json_file" >> $GITHUB_OUTPUT
+
+ - name: Upload context for next jobs
+ uses: actions/upload-artifact@v4
+ with:
+ name: context
+ path: docs
+
+ build-all:
+ runs-on: ubuntu-latest
+ needs: setup
+ env:
+ JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+ steps:
+ - name: Set up SSH
+ uses: webfactory/ssh-agent@v0.9.0
+ with:
+ ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+ - name: Add GitLab.com SSH key to known_hosts
+ run: |
+ mkdir -p ~/.ssh
+ ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+ - name: Clone GitLab docs repo
+ env:
+ GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+ run: |
+ echo "Cloning GitLab"
+ git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+ cd gitlab_docs
+ git checkout main
+ cd ..
+
+ - name: Set next recompiled dir
+ id: set-recompiled
+ run: |
+ cd gitlab_docs/models
+ latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+ if [[ -z "$latest_dir" ]]; then
+ next_dir=1
+ else
+ next_dir=$((latest_dir+1))
+ fi
+ recompiled_dir="recompiled${next_dir}"
+ mkdir -p "$recompiled_dir"
+ echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
+
+ - name: Download context
+ uses: actions/download-artifact@v4
+ with:
+ name: context
+ path: .
+
+ - name: Install dependencies
+ run: |
+ sudo apt-get update
+ sudo apt-get install -y jq gh
+
+ - name: Build all tinygrad models
+ id: trigger-builds
+ env:
+ GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: |
+ set -e
+ > triggered_run_ids.txt
+ BRANCH="${{ github.event.inputs.branch }}"
+ jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
+ ref=$(echo "$bundle" | jq -r '.ref')
+ display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
+ is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
+ echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
+ START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+ gh workflow run sunnypilot-build-model.yaml \
+ --repo sunnypilot/sunnypilot \
+ --ref "$BRANCH" \
+ -f upstream_branch="$ref" \
+ -f custom_name="$display_name" \
+ -f is_20hz="$is_20hz"
+ for i in {1..24}; do
+ RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+ if [ -n "$RUN_ID" ]; then
+ break
+ fi
+ sleep 5
+ done
+ if [ -z "$RUN_ID" ]; then
+ echo "ould not find the triggered workflow run for $display_name ($ref)"
+ exit 1
+ fi
+ echo "$RUN_ID" >> triggered_run_ids.txt
+ done
+
+ - name: Wait for all model builds to finish
+ env:
+ GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: |
+ set -e
+ SUCCESS_RUNS=()
+ FAILED_RUNS=()
+ declare -A RUN_ID_TO_NAME
+
+ while read -r RUN_ID; do
+ ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
+ RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
+ done < triggered_run_ids.txt
+
+ while read -r RUN_ID; do
+ echo "Watching run ID: $RUN_ID"
+ gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+ CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+ ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
+ echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
+ if [[ "$CONCLUSION" == "success" ]]; then
+ SUCCESS_RUNS+=("$RUN_ID")
+ else
+ FAILED_RUNS+=("$RUN_ID")
+ fi
+ done < triggered_run_ids.txt
+
+ if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
+ echo "All model builds failed. Aborting."
+ exit 1
+ fi
+
+ if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
+ echo "WARNING: The following model builds failed:"
+ for RUN_ID in "${FAILED_RUNS[@]}"; do
+ echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
+ done
+ echo "You may want to rerun these models manually."
+ fi
+
+ - name: Download and extract all model artifacts
+ env:
+ GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: |
+ ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+ SUCCESS_RUNS=()
+ while read -r RUN_ID; do
+ CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+ if [[ "$CONCLUSION" == "success" ]]; then
+ SUCCESS_RUNS+=("$RUN_ID")
+ fi
+ done < triggered_run_ids.txt
+
+ for RUN_ID in "${SUCCESS_RUNS[@]}"; do
+ ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+ echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+ mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+ echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+ gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+ echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+ ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+ if [ -n "$ZIP_PATH" ]; then
+ echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+ unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+ rm -f "$ZIP_PATH"
+ echo "Unzipped and removed $ZIP_PATH"
+ else
+ echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+ fi
+ echo "Done processing $ARTIFACT_NAME"
+ done
+
+ - name: Push recompiled dir to GitLab
+ env:
+ GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+ run: |
+ cd gitlab_docs
+ git checkout main
+ mkdir -p models/"$(basename $RECOMPILED_DIR)"
+ git add models/"$(basename $RECOMPILED_DIR)"
+ git config --global user.name "GitHub Action"
+ git config --global user.email "action@github.com"
+ git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+ git push origin main
+
+ - name: Run json_parser.py to update JSON
+ run: |
+ python3 docs/json_parser.py \
+ --json-path "$JSON_FILE" \
+ --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
+
+ - name: Push updated JSON to GitHub docs repo
+ run: |
+ cd docs
+ git config --global user.name "GitHub Action"
+ git config --global user.email "action@github.com"
+ git checkout gh-pages
+ git add docs/"$(basename $JSON_FILE)"
+ git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+ git push origin gh-pages
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
new file mode 100644
index 0000000000..e161a56b7d
--- /dev/null
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -0,0 +1,198 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+ workflow_dispatch:
+ inputs:
+ build_model_ref:
+ description: 'Branch to use for build-model workflow'
+ required: false
+ default: 'master-new'
+ type: string
+ upstream_branch:
+ description: 'Upstream commit to build from'
+ required: true
+ type: string
+ custom_name:
+ description: 'Custom name for the model (no date, only name)'
+ required: false
+ type: string
+ recompiled_dir:
+ description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+ required: true
+ type: number
+ json_version:
+ description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+ required: true
+ type: number
+ model_folder:
+ description: 'Model folder'
+ required: true
+ type: choice
+ options:
+ - Simple Plan Models
+ - TR Models
+ - DTR Models
+ - Custom Merge Models
+ - FOF series models
+ - Other
+ custom_model_folder:
+ description: 'Custom model folder name (if "Other" selected)'
+ required: false
+ type: string
+ generation:
+ description: 'Model generation'
+ required: false
+ type: number
+ version:
+ description: 'Minimum selector version'
+ required: false
+ type: number
+
+jobs:
+ build-single:
+ runs-on: ubuntu-latest
+ env:
+ RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
+ JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
+ steps:
+ - name: Set up SSH
+ uses: webfactory/ssh-agent@v0.9.0
+ with:
+ ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+ - name: Add GitLab.com SSH key to known_hosts
+ run: |
+ mkdir -p ~/.ssh
+ ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+ - name: Clone GitLab docs repo
+ env:
+ GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+ run: |
+ echo "Cloning GitLab"
+ git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+ cd gitlab_docs
+ echo "checkout models/${RECOMPILED_DIR}"
+ git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+ git checkout main
+ cd ..
+
+ - name: Checkout docs repo
+ uses: actions/checkout@v4
+ with:
+ repository: sunnypilot/sunnypilot-docs
+ ref: gh-pages
+ path: docs
+ ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+ - name: Validate recompiled dir and JSON version
+ run: |
+ if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+ echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+ exit 1
+ fi
+ if [ ! -f "$JSON_FILE" ]; then
+ echo "JSON file $JSON_FILE does not exist!"
+ exit 1
+ fi
+
+ - name: Install dependencies
+ run: |
+ sudo apt-get update
+ sudo apt-get install -y jq gh
+
+ - name: Build model
+ env:
+ GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: |
+ START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+ gh workflow run sunnypilot-build-model.yaml \
+ --repo sunnypilot/sunnypilot \
+ --ref "${{ github.event.inputs.build_model_ref }}" \
+ -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
+ -f custom_name="${{ github.event.inputs.custom_name }}"
+
+ for i in {1..24}; do
+ RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+ if [ -n "$RUN_ID" ]; then
+ break
+ fi
+ sleep 5
+ done
+
+ if [ -z "$RUN_ID" ]; then
+ echo "Could not find the triggered workflow run."
+ exit 1
+ fi
+
+ echo "Watching run ID: $RUN_ID"
+ gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+ CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+ echo "Run concluded with: $CONCLUSION"
+ if [[ "$CONCLUSION" != "success" ]]; then
+ echo "Workflow run failed with conclusion: $CONCLUSION"
+ exit 1
+ fi
+
+ - name: Download and extract model artifact
+ env:
+ GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: |
+ ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+ RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+ ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+ echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+ mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+ echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+ gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+ echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+ ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+ if [ -n "$ZIP_PATH" ]; then
+ echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+ unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+ rm -f "$ZIP_PATH"
+ echo "Unzipped and removed $ZIP_PATH"
+ else
+ echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
+ fi
+ echo "Done processing $ARTIFACT_NAME"
+
+ - name: Push recompiled dir to GitLab
+ env:
+ GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+ run: |
+ cd gitlab_docs
+ git checkout main
+ for d in models/"$RECOMPILED_DIR"/*/; do
+ git sparse-checkout add "$d"
+ done
+ git add models/"$RECOMPILED_DIR"
+ git config --global user.name "GitHub Action"
+ git config --global user.email "action@github.com"
+ git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+ git push origin main
+
+ - name: Run json_parser.py to update JSON
+ run: |
+ FOLDER="${{ github.event.inputs.model_folder }}"
+ if [ "$FOLDER" = "Other" ]; then
+ FOLDER="${{ github.event.inputs.custom_model_folder }}"
+ fi
+ ARGS=""
+ [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
+ [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
+ [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+ eval python3 docs/json_parser.py \
+ --json-path "$JSON_FILE" \
+ --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+ $ARGS
+
+ - name: Push updated JSON to GitHub docs repo
+ run: |
+ cd docs
+ git config --global user.name "GitHub Action"
+ git config --global user.email "action@github.com"
+ git checkout gh-pages
+ git add docs/"$(basename $JSON_FILE)"
+ git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+ git push origin gh-pages
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index f8897258c6..67f7dfb453 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -29,7 +29,7 @@ env:
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
- PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+ PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
jobs:
build_release:
@@ -163,12 +163,6 @@ jobs:
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
chmod -R 777 /tmp/comma_download_cache"
- - name: "Upload coverage to Codecov"
- uses: codecov/codecov-action@v4
- with:
- name: ${{ github.job }}
- env:
- CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
process_replay:
name: process replay
@@ -192,10 +186,8 @@ jobs:
- name: Run replay
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
run: |
- ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
- chmod -R 777 /tmp/comma_download_cache && \
- coverage combine && \
- coverage xml"
+ ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+ chmod -R 777 /tmp/comma_download_cache"
- name: Print diff
id: print-diff
if: always()
@@ -207,7 +199,7 @@ jobs:
name: process_replay_diff.txt
path: selfdrive/test/process_replay/diff.txt
- name: Upload reference logs
- if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+ if: false # TODO: move this to github instead of azure
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: Run regen
@@ -216,12 +208,6 @@ jobs:
run: |
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
chmod -R 777 /tmp/comma_download_cache"
- - name: "Upload coverage to Codecov"
- uses: codecov/codecov-action@v4
- with:
- name: ${{ github.job }}
- env:
- CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
test_cars:
name: cars
@@ -252,12 +238,6 @@ jobs:
env:
NUM_JOBS: 4
JOB_ID: ${{ matrix.job }}
- - name: "Upload coverage to Codecov"
- uses: codecov/codecov-action@v4
- with:
- name: ${{ github.job }}-${{ matrix.job }}
- env:
- CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
car_docs_diff:
name: PR comments
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index cc29813952..075b617245 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -7,6 +7,7 @@ on:
env:
DAYS_BEFORE_PR_CLOSE: 2
DAYS_BEFORE_PR_STALE: 9
+ DAYS_BEFORE_PR_STALE_DRAFT: 30
jobs:
stale:
@@ -24,6 +25,28 @@ jobs:
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+ exempt-draft-pr: false
+
+ # issue config
+ days-before-issue-stale: -1 # ignore issues for now
+
+ # same as above, but give draft PRs more time
+ stale_drafts:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/stale@v9
+ with:
+ exempt-all-milestones: true
+
+ # pull request config
+ stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+ close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+ stale-pr-label: stale
+ delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+ exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+ days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
+ days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+ exempt-draft-pr: true
# issue config
days-before-issue-stale: -1 # ignore issues for now
diff --git a/.gitignore b/.gitignore
index b556885632..db569f06cb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -70,8 +70,6 @@ flycheck_*
cppcheck_report.txt
comma*.sh
-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
selfdrive/modeld/models/*.pkl
sunnypilot/modeld*/thneed/compile
sunnypilot/modeld*/models/*.thneed
diff --git a/.idea/tools/External Tools.xml b/.idea/tools/External Tools.xml
index fa2375e2ee..d5d03136ea 100644
--- a/.idea/tools/External Tools.xml
+++ b/.idea/tools/External Tools.xml
@@ -2,7 +2,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/README.md b/README.md
index 897852b03f..28a504e9dc 100644
--- a/README.md
+++ b/README.md
@@ -73,7 +73,7 @@ By default, sunnypilot uploads the driving data to comma servers. You can also a
sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
diff --git a/RELEASES.md b/RELEASES.md
index 91652d6dc7..58d0d07a74 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,11 @@
-Version 0.9.10 (2025-06-30)
+Version 0.10.0 (2025-07-07)
========================
+* New driving model
+ * Lead car ground-truth fixes
+ * Ported over VAE from the MLSIM stack
+ * New training architecture described in CVPR paper
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video
Version 0.9.9 (2025-05-23)
========================
diff --git a/SConstruct b/SConstruct
index 77c8525896..6bfe6c3025 100644
--- a/SConstruct
+++ b/SConstruct
@@ -39,10 +39,6 @@ AddOption('--clazy',
action='store_true',
help='build with clazy')
-AddOption('--compile_db',
- action='store_true',
- help='build clang compilation database')
-
AddOption('--ccflags',
action='store',
type='string',
@@ -234,8 +230,7 @@ if arch == "Darwin":
darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
env["LINKFLAGS"] += darwin_rpath_link_flags
-if GetOption('compile_db'):
- env.CompilationDatabase('compile_commands.json')
+env.CompilationDatabase('compile_commands.json')
# Setup cache dir
default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 7c7983d147..65dc243dab 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1083,7 +1083,7 @@ struct ModelDataV2 {
confidence @23: ConfidenceClass;
# Model perceived motion
- temporalPose @21 :Pose;
+ temporalPoseDEPRECATED @21 :Pose;
# e2e lateral planner
action @26: Action;
@@ -2470,13 +2470,19 @@ struct DebugAlert {
struct UserFlag {
}
-struct Microphone {
+struct SoundPressure @0xdc24138990726023 {
soundPressure @0 :Float32;
# uncalibrated, A-weighted
soundPressureWeighted @3 :Float32;
soundPressureWeightedDb @1 :Float32;
- filteredSoundPressureWeightedDb @2 :Float32;
+
+ filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+}
+
+struct AudioData {
+ data @0 :Data;
+ sampleRate @1 :UInt32;
}
struct Touch {
@@ -2556,7 +2562,8 @@ struct Event {
livestreamDriverEncodeIdx @119 :EncodeIndex;
# microphone data
- microphone @103 :Microphone;
+ soundPressure @103 :SoundPressure;
+ rawAudioData @147 :AudioData;
# systems stuff
androidLog @20 :AndroidLogEntry;
diff --git a/cereal/services.py b/cereal/services.py
index 3e72041b72..4418d079a3 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -73,7 +73,8 @@ _services: dict[str, tuple] = {
"navThumbnail": (True, 0.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
- "microphone": (True, 10., 10),
+ "soundPressure": (True, 10., 10),
+ "rawAudioData": (False, 20.),
# sunnypilot
"modelManagerSP": (False, 1., 1),
diff --git a/codecov.yml b/codecov.yml
deleted file mode 100644
index 519e7d1a38..0000000000
--- a/codecov.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-comment: false
-coverage:
- status:
- project:
- default:
- informational: true
- patch: off
-
-ignore:
- - "**/test_*.py"
- - "selfdrive/test/**"
- - "system/version.py" # codecov changes depending on if we are in a branch or not
- - "tools"
diff --git a/common/model.h b/common/model.h
index 596819256a..ce5482e9e1 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
diff --git a/common/params_keys.h b/common/params_keys.h
index 47f7fc3e6d..028c970ac7 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -5,8 +5,8 @@
inline static std::unordered_map keys = {
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
- {"AdbEnabled", PERSISTENT},
- {"AlwaysOnDM", PERSISTENT},
+ {"AdbEnabled", PERSISTENT | BACKUP},
+ {"AlwaysOnDM", PERSISTENT | BACKUP},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_FirehoseStats", PERSISTENT},
{"AssistNowToken", PERSISTENT},
@@ -78,7 +78,7 @@ inline static std::unordered_map keys = {
{"LocationFilterInitialState", PERSISTENT},
{"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"LongitudinalPersonality", PERSISTENT | BACKUP},
- {"NetworkMetered", PERSISTENT},
+ {"NetworkMetered", PERSISTENT | BACKUP},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
@@ -99,9 +99,10 @@ inline static std::unordered_map keys = {
{"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
{"PrimeType", PERSISTENT},
+ {"RecordAudio", PERSISTENT | BACKUP},
{"RecordFront", PERSISTENT | BACKUP},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
- {"SecOCKey", PERSISTENT | DONT_LOG}, // Candidate for | BACKUP
+ {"SecOCKey", PERSISTENT | DONT_LOG | BACKUP},
{"RouteCount", PERSISTENT},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"SshEnabled", PERSISTENT | BACKUP},
@@ -123,24 +124,29 @@ inline static std::unordered_map keys = {
// --- sunnypilot params --- //
{"ApiCache_DriveStats", PERSISTENT},
- {"AutoLaneChangeBsmDelay", PERSISTENT},
- {"AutoLaneChangeTimer", PERSISTENT},
+ {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
+ {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
{"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
{"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
+ {"Brightness", PERSISTENT | BACKUP},
{"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"CarParamsSPCache", CLEAR_ON_MANAGER_START},
{"CarParamsSPPersistent", PERSISTENT},
- {"CarPlatformBundle", PERSISTENT},
+ {"CarPlatformBundle", PERSISTENT | BACKUP},
+ {"ChevronInfo", PERSISTENT | BACKUP},
{"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
{"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
{"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
{"DeviceBootMode", PERSISTENT | BACKUP},
{"EnableGithubRunner", PERSISTENT | BACKUP},
+ {"InteractivityTimeout", PERSISTENT | BACKUP},
+ {"IsDevelopmentBranch", CLEAR_ON_MANAGER_START},
{"MaxTimeOffroad", PERSISTENT | BACKUP},
- {"Brightness", PERSISTENT | BACKUP},
{"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
{"OffroadMode", CLEAR_ON_MANAGER_START},
+ {"QuickBootToggle", PERSISTENT | BACKUP},
{"QuietMode", PERSISTENT | BACKUP},
+ {"ShowAdvancedControls", PERSISTENT | BACKUP},
// MADS params
{"Mads", PERSISTENT | BACKUP},
@@ -150,6 +156,7 @@ inline static std::unordered_map keys = {
// Model Manager params
{"ModelManager_ActiveBundle", PERSISTENT},
+ {"ModelManager_ClearCache", CLEAR_ON_MANAGER_START},
{"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"ModelManager_ModelsCache", PERSISTENT | BACKUP},
@@ -171,13 +178,15 @@ inline static std::unordered_map keys = {
{"BackupManager_RestoreVersion", PERSISTENT},
// sunnypilot car specific params
- {"HyundaiLongitudinalTuning", PERSISTENT},
+ {"HyundaiLongitudinalTuning", PERSISTENT | BACKUP},
- {"DynamicExperimentalControl", PERSISTENT},
+ {"DynamicExperimentalControl", PERSISTENT | BACKUP},
{"BlindSpot", PERSISTENT | BACKUP},
// model panel params
{"LagdToggle", PERSISTENT | BACKUP},
+ {"LagdToggleDesc", PERSISTENT},
+ {"LagdToggledelay", PERSISTENT | BACKUP},
// mapd
{"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
diff --git a/common/version.h b/common/version.h
index 67b69da7c7..af827e20a6 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.10"
+#define COMMA_VERSION "0.10.0"
diff --git a/conftest.py b/conftest.py
index b62a88c188..0bd638b87d 100644
--- a/conftest.py
+++ b/conftest.py
@@ -2,7 +2,6 @@ import contextlib
import gc
import os
import pytest
-import random
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.system.manager import manager
@@ -49,8 +48,6 @@ def clean_env():
@pytest.fixture(scope="function", autouse=True)
def openpilot_function_fixture(request):
- random.seed(0)
-
with clean_env():
# setup a clean environment for each test
with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
diff --git a/docs/CARS.md b/docs/CARS.md
index c53a30caed..e8ccdf7bb1 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|Parts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
";
+ }
+ text += QString::fromStdString(util::read_file("/data/community/crashes/error.log"));
+ ConfirmationDialog::rich(text, this);
+ });
+ addItem(errorLogBtn);
+
+ QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
+}
+
+void DeveloperPanelSP::updateToggles(bool offroad) {
+ bool is_release = params.getBool("IsReleaseBranch");
+ bool is_tested = params.getBool("IsTestedBranch");
+ bool is_development = params.getBool("IsDevelopmentBranch");
+ bool disable_updates = params.getBool("DisableUpdates");
+
+ prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
+ prebuiltToggle->setEnabled(disable_updates);
+
+ params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
+ prebuiltToggle->refresh();
+
+ prebuiltToggle->setDescription(disable_updates
+ ? tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, "
+ "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
+ "
To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.")
+ : tr("Quickboot mode requires updates to be disabled.
Enable 'Disable Updates' in the Software panel first."));
+
+ enableGithubRunner->setVisible(!is_release);
+ errorLogBtn->setVisible(!is_release);
+ showAdvancedControls->setEnabled(true);
+}
+
+void DeveloperPanelSP::showEvent(QShowEvent *event) {
+ DeveloperPanel::showEvent(event);
+ updateToggles(!uiState()->scene.started);
+ AbstractControlSP::UpdateAllAdvancedControls();
+ prebuiltToggle->showDescription();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
new file mode 100644
index 0000000000..d63fe18d04
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+#include
+#include
+
+#include "selfdrive/ui/qt/offroad/developer_panel.h"
+
+class DeveloperPanelSP : public DeveloperPanel {
+ Q_OBJECT
+public:
+ explicit DeveloperPanelSP(SettingsWindow *parent);
+
+private:
+ ParamControlSP *enableGithubRunner;
+ ButtonControlSP *errorLogBtn;
+ ParamControlSP *prebuiltToggle;
+ Params params;
+ ParamControlSP *showAdvancedControls;
+
+private slots:
+ void updateToggles(bool offroad);
+
+protected:
+ void showEvent(QShowEvent *event) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index b89116d424..dc2d7b318d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -87,6 +87,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
params.put("DeviceBootMode", QString::number(index).toStdString());
updateState();
});
+
+ interactivityTimeout = new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
+ tr("Apply a custom timeout for settings UI."
+ "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
+ "", {0, 120}, 10, true, nullptr, false);
+
+ connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+ updateState();
+ });
+
+ addItem(interactivityTimeout);
// Brightness
brightness = new Brightness();
@@ -198,4 +209,11 @@ void DevicePanelSP::updateState() {
currStatus = DeviceSleepModeStatus::OFFROAD;
}
toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
+
+ QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+ if (timeoutValue == "0") {
+ interactivityTimeout->setLabel("DEFAULT");
+ } else {
+ interactivityTimeout->setLabel(timeoutValue + "s");
+ }
}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index 2cd3281d1f..899a942dae 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -33,6 +33,7 @@ private:
MaxTimeOffroad *maxTimeOffroad;
ButtonParamControlSP *toggleDeviceBootMode;
Brightness *brightness;
+ OptionControlSP *interactivityTimeout;
const QString alwaysOffroadStyle = R"(
PushButtonSP {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
index b8237c3627..c4cb4b4767 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -8,6 +8,8 @@
#include
#include
#include
+#include
+#include
#include "common/model.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
@@ -66,6 +68,11 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
list->addItem(currentModelLblBtn);
+ clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
+ connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);
+
+ list->addItem(clearModelCacheBtn);
+
// Create progress bars for downloads
supercomboProgressBar = createProgressBar(this);
QString supercomboType = tr("Driving Model");
@@ -90,11 +97,25 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
list->addItem(horizontal_line());
// LiveDelay toggle
- list->addItem(new ParamControlSP("LagdToggle",
- tr("Live Learning Steer Delay"),
- tr("Enable this for the car to learn and adapt its steering response time. "
- "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
- "../assets/offroad/icon_shell.png"));
+ lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+ lagd_toggle_control->showDescription();
+ list->addItem(lagd_toggle_control);
+
+ // Software delay control
+ delay_control = new OptionControlSP("LagdToggledelay", tr("Adjust Software Delay"),
+ tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+ "\nThe default software delay value is 0.2"),
+ "", {5, 30}, 1, false, nullptr, true, true);
+
+ connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+ float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+ delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+ });
+ connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+ delay_control->setVisible(!state);
+ });
+ delay_control->showDescription();
+ list->addItem(delay_control);
}
QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -230,28 +251,73 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
currentModelLblBtn->setEnabled(false);
currentModelLblBtn->setValue(tr("Fetching models..."));
- // Create mapping of bundle indices to display names
- QMap index_to_bundle;
+ struct ModelEntry {
+ QString folder;
+ QString displayName;
+ int index;
+ };
+ QList sortedModels;
+ QSet modelFolders;
const auto bundles = model_manager.getAvailableBundles();
- for (const auto &bundle: bundles) {
- index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+
+ for (const auto &bundle : bundles) {
+ auto overrides = bundle.getOverrides();
+ QString gen;
+ for (const auto &override : overrides) {
+ if (override.getKey() == "folder") {
+ gen = QString::fromStdString(override.getValue().cStr());
+ }
+ }
+
+ modelFolders.insert(gen);
+ sortedModels.append(ModelEntry{
+ gen,
+ QString::fromStdString(bundle.getDisplayName()),
+ static_cast(bundle.getIndex())
+ });
}
- // Sort bundles by index in descending order
- QStringList bundleNames;
- // Add "Default" as the first option
- bundleNames.append(DEFAULT_MODEL);
+ std::sort(sortedModels.begin(), sortedModels.end(),
+ [](const ModelEntry &a, const ModelEntry &b) {
+ return a.index > b.index;
+ });
- auto indices = index_to_bundle.keys();
- std::sort(indices.begin(), indices.end(), std::greater());
- for (const auto &index: indices) {
- bundleNames.append(index_to_bundle[index]);
+ // Create a list of folder-maxIndex pairs for sorting
+ QList> folderMaxIndices;
+ for (const auto &folder : modelFolders) {
+ int maxIndex = -1;
+ for (const auto &model : sortedModels) {
+ if (model.folder == folder) {
+ maxIndex = std::max(maxIndex, model.index);
+ }
+ }
+ folderMaxIndices.append(qMakePair(folder, maxIndex));
}
+ // Sort folders by their highest model index
+ std::sort(folderMaxIndices.begin(), folderMaxIndices.end(),
+ [](const QPair &a, const QPair &b) {
+ return a.second > b.second;
+ });
+
+ // Create the final items list using sorted folders
+ QList> items;
+ for (const auto &folderPair : folderMaxIndices) {
+ QStringList folderModels;
+ for (const auto &model : sortedModels) {
+ if (model.folder == folderPair.first) {
+ folderModels.append(model.displayName);
+ }
+ }
+ items.append(qMakePair(folderPair.first, folderModels));
+ }
+
+ items.insert(0, qMakePair(QString(""), QStringList{DEFAULT_MODEL}));
+
currentModelLblBtn->setValue(GetActiveModelInternalName());
- const QString selectedBundleName = MultiOptionDialog::getSelection(
- tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+ const QString selectedBundleName = TreeOptionDialog::getSelection(
+ tr("Select a Model"), items, GetActiveModelName(), this);
if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
return;
@@ -290,6 +356,26 @@ void ModelsPanel::updateLabels() {
handleBundleDownloadProgress();
currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
currentModelLblBtn->setValue(GetActiveModelInternalName());
+
+ // Update lagdToggle description with current value
+ QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+ "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
+ "The Current value is updated automatically when the vehicle is Onroad.");
+ QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
+ if (!current.isEmpty()) {
+ desc += "
" + tr("Current:") + " " + current + "";
+ }
+ lagd_toggle_control->setDescription(desc);
+ lagd_toggle_control->showDescription();
+
+ delay_control->setVisible(!params.getBool("LagdToggle"));
+ if (delay_control->isVisible()) {
+ float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+ delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+ delay_control->showDescription();
+ }
+
+ clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
}
/**
@@ -310,3 +396,32 @@ void ModelsPanel::showResetParamsDialog() {
params.remove("LiveTorqueParameters");
}
}
+
+void ModelsPanel::clearModelCache() {
+ QString confirmMsg = tr("This will delete ALL downloaded models from the cache"
+ "
except the currently active model."
+ "
Are you sure you want to continue?");
+ QString content("" + tr("Driving Model Selector") + "
"
+ "" + confirmMsg + "
");
+ if (showConfirmationDialog(
+ content,
+ tr("Clear Cache"))) {
+ params.putBool("ModelManager_ClearCache", true);
+ }
+}
+
+double ModelsPanel::calculateCacheSize() {
+ QFuture future_ModelCacheSize = QtConcurrent::run([=]() {
+
+ QDir model_dir(QString::fromStdString(Path::model_root()));
+ QFileInfoList model_files = model_dir.entryInfoList(QDir::Files | QDir::NoDotAndDotDot);
+ qint64 totalSize = 0;
+ for (const QFileInfo &model_file : model_files) {
+ if (model_file.isFile()) {
+ totalSize += model_file.size();
+ }
+ }
+ return totalSize;
+ });
+ return static_cast(future_ModelCacheSize) / (1024.0 * 1024.0);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
index 8b8cf69759..06a2380f39 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -41,6 +41,8 @@ private:
cereal::ModelManagerSP::Reader model_manager;
cereal::ModelManagerSP::DownloadStatus download_status{};
cereal::ModelManagerSP::DownloadStatus prev_download_status{};
+ void clearModelCache();
+ double calculateCacheSize();
bool canContinueOnMeteredDialog() {
if (!is_metered) return true;
@@ -64,6 +66,8 @@ private:
bool is_onroad = false;
ButtonControlSP *currentModelLblBtn;
+ ParamControlSP *lagd_toggle_control;
+ OptionControlSP *delay_control;
QProgressBar *supercomboProgressBar;
QFrame *supercomboFrame;
QProgressBar *navigationProgressBar;
@@ -73,5 +77,6 @@ private:
QProgressBar *policyProgressBar;
QFrame *policyFrame;
Params params;
+ ButtonControlSP *clearModelCacheBtn;
};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 05ea5ff899..5415e75ea9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -8,10 +8,10 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
#include "selfdrive/ui/qt/offroad/firehose.h"
#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
@@ -91,7 +91,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
PanelInfo(" " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
PanelInfo(" " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
PanelInfo(" " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
- PanelInfo(" " + tr("Developer"), new DeveloperPanel(this), "../assets/icons/shell.png"),
+ PanelInfo(" " + tr("Developer"), new DeveloperPanelSP(this), "../assets/icons/shell.png"),
};
nav_btns = new QButtonGroup(this);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index 9430d02ba8..a1961cb1ea 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -18,6 +18,18 @@ SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
searchBranches(d.text());
}
});
+
+ // Disable Updates toggle
+ disableUpdatesToggle = new ParamControl("DisableUpdates",
+ tr("Disable Updates"),
+ tr("When enabled, software updates will be disabled. This requires a reboot to take effect."),
+ "../assets/icons/icon_warning.png",
+ this, true);
+ disableUpdatesToggle->showDescription();
+ addItem(disableUpdatesToggle);
+ connect(disableUpdatesToggle, &ParamControl::toggleFlipped, this, &SoftwarePanelSP::handleDisableUpdatesToggled);
+ connect(uiState(), &UIState::offroadTransition, this, &SoftwarePanelSP::updateDisableUpdatesToggle);
+ updateDisableUpdatesToggle(!uiState()->scene.started);
}
/**
@@ -49,3 +61,27 @@ void SoftwarePanelSP::searchBranches(const QString &query) {
checkForUpdates();
}
}
+
+void SoftwarePanelSP::handleDisableUpdatesToggled(bool state) {
+ if (ConfirmationDialog::confirm(tr("%1 updates requires a reboot.
Reboot now?")
+ .arg(state ? "Disabling" : "Enabling"), tr("Reboot"), this)) {
+ params.putBool("DoReboot", true);
+ } else {
+ params.putBool("DisableUpdates", !state);
+ disableUpdatesToggle->refresh();
+ }
+}
+
+void SoftwarePanelSP::updateDisableUpdatesToggle(bool offroad) {
+ bool enabled = offroad;
+ disableUpdatesToggle->setEnabled(enabled);
+ disableUpdatesToggle->setDescription(enabled
+ ? tr("When enabled, software updates will be disabled.
This requires a reboot to take effect.")
+ : tr("Please enable always offroad mode or turn off vehicle to adjust these toggles"));
+}
+
+void SoftwarePanelSP::showEvent(QShowEvent *event) {
+ SoftwarePanel::showEvent(event);
+ updateDisableUpdatesToggle(!uiState()->scene.started);
+ disableUpdatesToggle->showDescription();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index 56d8b9be5b..efaa836a21 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -19,4 +19,10 @@ public:
private:
void searchBranches(const QString &query);
+ ParamControl *disableUpdatesToggle = nullptr;
+ void handleDisableUpdatesToggled(bool state);
+private slots:
+ void updateDisableUpdatesToggle(bool offroad);
+protected:
+ void showEvent(QShowEvent *event) override;
};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 0d42bd74f4..818da9b75e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -12,7 +12,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) {
paramsRefresh();
});
-
+
main_layout = new QStackedLayout(this);
ListWidgetSP *list = new ListWidgetSP(this, false);
@@ -30,6 +30,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
},
};
+ // Add regular toggles first
for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
auto toggle = new ParamControlSP(param, title, desc, icon, this);
@@ -53,9 +54,20 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
param_watcher->addParam(param);
}
+ // Visuals: Display Metrics below Chevron
+ std::vector chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
+ chevron_info_settings = new ButtonParamControlSP(
+ "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
+ "",
+ chevron_info_settings_texts,
+ 200);
+ chevron_info_settings->showDescription();
+ list->addItem(chevron_info_settings);
+ param_watcher->addParam("ChevronInfo");
+
sunnypilotScroller = new ScrollViewSP(list, this);
vlayout->addWidget(sunnypilotScroller);
-
+
main_layout->addWidget(sunnypilotScreen);
}
@@ -67,4 +79,8 @@ void VisualsPanel::paramsRefresh() {
for (auto toggle : toggles) {
toggle.second->refresh();
}
+
+ if (chevron_info_settings) {
+ chevron_info_settings->refresh();
+ }
}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
index 42e0688957..f342662c22 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -27,4 +27,5 @@ protected:
Params params;
std::map toggles;
ParamWatcher * param_watcher;
+ ButtonParamControlSP *chevron_info_settings;
};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index d873913b57..28374f3a9f 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -30,9 +30,24 @@ QFrame *vertical_space(int height, QWidget *parent) {
}
// AbstractControlSP
+std::vector AbstractControlSP::advanced_controls_;
+AbstractControlSP::~AbstractControlSP() { UnregisterAdvancedControl(this); }
-AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
- : AbstractControl(title, desc, icon, parent) {
+void AbstractControlSP::RegisterAdvancedControl(AbstractControlSP *ctrl) { advanced_controls_.push_back(ctrl); }
+
+void AbstractControlSP::UnregisterAdvancedControl(AbstractControlSP *ctrl) {
+ advanced_controls_.erase(std::remove(advanced_controls_.begin(), advanced_controls_.end(), ctrl), advanced_controls_.end());
+}
+
+void AbstractControlSP::UpdateAllAdvancedControls() {
+ bool visibility = Params().getBool("ShowAdvancedControls");
+ advanced_controls_.erase(std::remove(advanced_controls_.begin(), advanced_controls_.end(), nullptr), advanced_controls_.end());
+ for (auto *ctrl : advanced_controls_) ctrl->setVisible(visibility);
+}
+
+AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+ : AbstractControl(title, desc, icon, parent), isAdvancedControl(advancedControl) {
+ if (isAdvancedControl) RegisterAdvancedControl(this);
main_layout = new QVBoxLayout(this);
main_layout->setMargin(0);
@@ -82,8 +97,8 @@ void AbstractControlSP::hideEvent(QHideEvent *e) {
}
}
-AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
- : AbstractControlSP(title, desc, icon, parent) {
+AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+ : AbstractControlSP(title, desc, icon, parent, advancedControl) {
if (title_label != nullptr) {
delete title_label;
@@ -169,8 +184,8 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
// controls
-ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
- : AbstractControlSP(title, desc, "", parent) {
+ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent, bool advancedControl)
+ : AbstractControlSP(title, desc, "", parent, advancedControl) {
btn.setText(text);
btn.setStyleSheet(R"(
@@ -225,8 +240,8 @@ void ElidedLabelSP::paintEvent(QPaintEvent *event) {
// ParamControlSP
-ParamControlSP::ParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
- : ToggleControlSP(title, desc, icon, false, parent) {
+ParamControlSP::ParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent, bool advancedControl)
+ : ToggleControlSP(title, desc, icon, false, parent, advancedControl){
key = param.toStdString();
QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index c8849faf53..a840febfe7 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -57,6 +57,7 @@ class AbstractControlSP : public AbstractControl {
Q_OBJECT
public:
+ ~AbstractControlSP();
void setDescription(const QString &desc) override {
if (description) description->setText(desc);
}
@@ -81,13 +82,30 @@ public slots:
description->setVisible(true);
}
+ void setVisible(bool visible) override {
+ bool _visible = visible;
+ if (isAdvancedControl && !params.getBool("ShowAdvancedControls")) {
+ _visible = false;
+ }
+ AbstractControl::setVisible(_visible);
+ }
+
+ static void RegisterAdvancedControl(AbstractControlSP *ctrl);
+ static void UnregisterAdvancedControl(AbstractControlSP *ctrl);
+ static void UpdateAllAdvancedControls();
+
protected:
- AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+ AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr, bool advancedControl = false);
void hideEvent(QHideEvent *e) override;
QVBoxLayout *main_layout;
ElidedLabelSP *value;
QLabel *description = nullptr;
+ bool isAdvancedControl;
+
+private:
+ Params params;
+ static std::vector advanced_controls_;
};
// AbstractControlSP_SELECTOR
@@ -97,7 +115,7 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
protected:
QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
- AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+ AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr, bool advancedControl = false);
void hideEvent(QHideEvent *e) override;
};
@@ -123,7 +141,7 @@ class ButtonControlSP : public AbstractControlSP {
Q_OBJECT
public:
- ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+ ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr, bool advancedControl = false);
inline void setText(const QString &text) { btn.setText(text); }
inline QString text() const { return btn.text(); }
inline void click() { btn.click(); }
@@ -142,7 +160,7 @@ class ToggleControlSP : public AbstractControlSP {
Q_OBJECT
public:
- ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
+ ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr, bool advancedControl = false) : AbstractControlSP(title, desc, icon, parent, advancedControl) {
// space between toggle and title
icon_label = new QLabel(this);
hlayout->addWidget(icon_label);
@@ -173,7 +191,7 @@ class ParamControlSP : public ToggleControlSP {
Q_OBJECT
public:
- ParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+ ParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr, bool advancedControl = false);
void setConfirmation(bool _confirm, bool _store_confirm) {
confirm = _confirm;
store_confirm = _store_confirm;
@@ -219,7 +237,7 @@ class MultiButtonControlSP : public AbstractControlSP_SELECTOR {
public:
MultiButtonControlSP(const QString &title, const QString &desc, const QString &icon,
- const std::vector &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
+ const std::vector &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr, advancedControl), button_texts(button_texts), is_inline_layout(inline_layout) {
const QString style = R"(
QPushButton {
border-radius: 20px;
@@ -371,8 +389,8 @@ class ButtonParamControlSP : public MultiButtonControlSP {
Q_OBJECT
public:
ButtonParamControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
- const std::vector &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : MultiButtonControlSP(title, desc, icon,
- button_texts, minimum_button_width, inline_layout) {
+ const std::vector &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+ button_texts, minimum_button_width, inline_layout, advancedControl) {
key = param.toStdString();
int value = atoi(params.get(key).c_str());
@@ -480,6 +498,16 @@ private:
return result.toInt();
}
+ int getParamValueScaled() {
+ const auto param_value = QString::fromStdString(params.get(key));
+ return static_cast(param_value.toFloat() * 100);
+ }
+
+ void setParamValueScaled(const int new_value) {
+ const float scaled_value = new_value / 100.0f;
+ params.put(key, QString::number(scaled_value, 'f', 2).toStdString());
+ }
+
// Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
void setParamValue(const int new_value) {
const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
@@ -488,7 +516,8 @@ private:
public:
OptionControlSP(const QString ¶m, const QString &title, const QString &desc, const QString &icon,
- const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
+ const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false,
+ const QMap *valMap = nullptr, bool scale_float = false, bool advancedControl = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr, advancedControl), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
const QString style = R"(
QPushButton {
border-radius: 20px;
@@ -528,7 +557,7 @@ public:
const std::vector button_texts{"－", "＋"};
key = param.toStdString();
- value = getParamValue();
+ value = use_float_scaling ? getParamValueScaled() : getParamValue();
button_group = new QButtonGroup(this);
button_group->setExclusive(true);
@@ -546,10 +575,15 @@ public:
QObject::connect(button, &QPushButton::clicked, [=]() {
int change_value = (i == 0) ? -per_value_change : per_value_change;
- value = getParamValue(); // in case it changed externally, we need to get the latest value.
+ value = use_float_scaling ? getParamValueScaled() : getParamValue();
value += change_value;
value = std::clamp(value, range.min_value, range.max_value);
- setParamValue(value);
+
+ if (use_float_scaling) {
+ setParamValueScaled(value);
+ } else {
+ setParamValue(value);
+ }
button_group->button(0)->setEnabled(!(value <= range.min_value));
button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -642,6 +676,7 @@ private:
const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";
bool button_enabled = true;
+ bool use_float_scaling = false;
};
class PushButtonSP : public QPushButton {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c9dc70cdff..4b8f79785b 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -61,6 +61,9 @@ void update_state(UIState *s) {
scene.light_sensor = -1;
}
scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+
+ auto params = Params();
+ scene.recording_audio = params.getBool("RecordAudio") && scene.started;
}
void ui_update_params(UIState *s) {
@@ -164,8 +167,9 @@ void Device::setAwake(bool on) {
}
void Device::resetInteractiveTimeout(int timeout) {
+ int customTimeout = QString::fromStdString(Params().get("InteractivityTimeout")).toInt();
if (timeout == -1) {
- timeout = (ignition_on ? 10 : 30);
+ timeout = customTimeout == 0 ? (ignition_on ? 10 : 30) : customTimeout;
}
interactive_timeout = timeout * UI_FREQ;
}
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 4ead8aecb9..e78b573b66 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -62,7 +62,7 @@ typedef struct UIScene {
cereal::LongitudinalPersonality personality;
float light_sensor = -1;
- bool started, ignition, is_metric;
+ bool started, ignition, is_metric, recording_audio;
uint64_t started_frame;
} UIScene;
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 3738ea6d5d..c2bb5f77a4 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -1,12 +1,20 @@
import pyray as rl
+import numpy as np
import time
+import threading
from collections.abc import Callable
from enum import Enum
from cereal import messaging, log
+from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params, UnknownKeyName
+from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.ui.lib.prime_state import PrimeState
+from openpilot.system.ui.lib.application import DEFAULT_FPS
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
UI_BORDER_SIZE = 30
+BACKLIGHT_OFFROAD = 50
class UIStatus(Enum):
@@ -139,10 +147,15 @@ class UIState:
class Device:
def __init__(self):
self._ignition = False
- self._interaction_time: float = 0.0
+ self._interaction_time: float = -1
self._interactive_timeout_callbacks: list[Callable] = []
self._prev_timed_out = False
- self.reset_interactive_timeout()
+ self._awake = False
+
+ self._offroad_brightness: int = BACKLIGHT_OFFROAD
+ self._last_brightness: int = 0
+ self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS)
+ self._brightness_thread: threading.Thread | None = None
def reset_interactive_timeout(self, timeout: int = -1) -> None:
if timeout == -1:
@@ -153,18 +166,64 @@ class Device:
self._interactive_timeout_callbacks.append(callback)
def update(self):
+ # do initial reset
+ if self._interaction_time <= 0:
+ self.reset_interactive_timeout()
+
+ self._update_brightness()
+ self._update_wakefulness()
+
+ def set_offroad_brightness(self, brightness: int):
+ # TODO: not yet used, should be used in prime widget for QR code, etc.
+ self._offroad_brightness = min(max(brightness, 0), 100)
+
+ def _update_brightness(self):
+ clipped_brightness = self._offroad_brightness
+
+ if ui_state.started and ui_state.light_sensor >= 0:
+ clipped_brightness = ui_state.light_sensor
+
+ # CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
+ if clipped_brightness <= 8:
+ clipped_brightness = clipped_brightness / 903.3
+ else:
+ clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
+
+ clipped_brightness = float(np.clip(100 * clipped_brightness, 10, 100))
+
+ brightness = round(self._brightness_filter.update(clipped_brightness))
+ if not self._awake:
+ brightness = 0
+
+ if brightness != self._last_brightness:
+ if self._brightness_thread is None or not self._brightness_thread.is_alive():
+ cloudlog.debug(f"setting display brightness {brightness}")
+ self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
+ self._brightness_thread.start()
+ self._last_brightness = brightness
+
+ def _update_wakefulness(self):
# Handle interactive timeout
ignition_just_turned_off = not ui_state.ignition and self._ignition
self._ignition = ui_state.ignition
- interaction_timeout = time.monotonic() > self._interaction_time
- if ignition_just_turned_off or rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+ if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
self.reset_interactive_timeout()
- elif interaction_timeout and not self._prev_timed_out:
+
+ interaction_timeout = time.monotonic() > self._interaction_time
+ if interaction_timeout and not self._prev_timed_out:
for callback in self._interactive_timeout_callbacks:
callback()
self._prev_timed_out = interaction_timeout
+ self._set_awake(ui_state.ignition or not interaction_timeout)
+
+ def _set_awake(self, on: bool):
+ if on != self._awake:
+ self._awake = on
+ cloudlog.debug(f"setting display power {int(on)}")
+ HARDWARE.set_display_power(on)
+
# Global instance
ui_state = UIState()
diff --git a/sunnypilot/livedelay/__init__.py b/sunnypilot/livedelay/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
new file mode 100644
index 0000000000..cc2f1e2504
--- /dev/null
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -0,0 +1,51 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class LagdToggle:
+ def __init__(self):
+ self.params = Params()
+ self.lag = 0.0
+ self._last_desc = None
+
+ @property
+ def software_delay(self):
+ return float(self.params.get("LagdToggledelay", encoding='utf8'))
+
+ def _maybe_update_desc(self, desc):
+ if desc != self._last_desc:
+ self.params.put_nonblocking("LagdToggleDesc", desc)
+ self._last_desc = desc
+
+ def lagd_main(self, CP, sm, model):
+ if self.params.get_bool("LagdToggle"):
+ lateral_delay = sm["liveDelay"].lateralDelay
+ lat_smooth = model.LAT_SMOOTH_SECONDS
+ result = lateral_delay + lat_smooth
+ desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
+ self._maybe_update_desc(desc)
+ return result
+
+ steer_actuator_delay = CP.steerActuatorDelay
+ lat_smooth = model.LAT_SMOOTH_SECONDS
+ delay = self.software_delay
+ result = (steer_actuator_delay + delay) + lat_smooth
+ desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
+ f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
+ self._maybe_update_desc(desc)
+ return result
+
+ def lagd_torqued_main(self, CP, msg):
+ if self.params.get_bool("LagdToggle"):
+ self.lag = msg.lateralDelay
+ cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
+ else:
+ self.lag = CP.steerActuatorDelay + self.software_delay
+ cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
+ return self.lag
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
index 608f24424d..dadffc8433 100644
--- a/sunnypilot/modeld/fill_model_msg.py
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -103,7 +103,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
# temporal pose
- temporal_pose = modelV2.temporalPose
+ temporal_pose = modelV2.temporalPoseDEPRECATED
temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index d4bd96ff66..10725efb71 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -25,7 +25,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
@@ -62,7 +62,7 @@ class ModelState:
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
bundle = get_active_bundle()
overrides = {override.key: override.value for override in bundle.overrides}
- self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+ self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
model_paths = get_model_path()
@@ -202,7 +202,7 @@ def main(demo=False):
cloudlog.info("modeld got CarParams: %s", CP.brand)
- modeld_lagd = ModeldLagd()
+ modeld_lagd = LagdToggle()
# Enable lagd support for sunnypilot modeld
long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index 4d04d6e5ec..c7de698f61 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -10,8 +10,8 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
ConfidenceClass = log.ModelDataV2.ConfidenceClass
-def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
- if current_generation != 11:
+def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+ if not mlsim:
if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly
return float(desired_curv[0, 0])
@@ -100,7 +100,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
# temporal pose
- temporal_pose = modelV2.temporalPose
+ temporal_pose = modelV2.temporalPoseDEPRECATED
if 'sim_pose' in net_output_data:
temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 5b9c5ef9e5..93a8a3f05e 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -23,7 +23,7 @@ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFr
from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
from openpilot.sunnypilot.models.runners.helpers import get_model_runner
PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -54,10 +54,10 @@ class ModelState:
raise
model_bundle = get_active_bundle()
- self.generation = model_bundle.generation
+ self.generation = model_bundle.generation if model_bundle is not None else None
overrides = {override.key: override.value for override in model_bundle.overrides}
- self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+ self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
self.MIN_LAT_CONTROL_SPEED = 0.3
@@ -86,6 +86,10 @@ class ModelState:
self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
self.numpy_inputs['desire'].shape[2])
+ @property
+ def mlsim(self) -> bool:
+ return bool(self.generation is not None and self.generation >= 11)
+
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -151,7 +155,7 @@ class ModelState:
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
- if self.generation == 11:
+ if self.mlsim:
self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
else:
length = outputs['desired_curvature'][0].size
@@ -165,7 +169,7 @@ class ModelState:
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
- desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+ desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
if v_ego > self.MIN_LAT_CONTROL_SPEED:
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
else:
@@ -239,7 +243,7 @@ def main(demo=False):
cloudlog.info("modeld got CarParams: %s", CP.brand)
- modeld_lagd = ModeldLagd()
+ modeld_lagd = LagdToggle()
# TODO Move smooth seconds to action function
long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 7fab66e038..f99d5692c7 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -1,5 +1,6 @@
import numpy as np
from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle
def safe_exp(x, out=None):
@@ -24,6 +25,8 @@ def softmax(x, axis=-1):
class Parser:
def __init__(self, ignore_missing=False):
self.ignore_missing = ignore_missing
+ model_bundle = get_active_bundle()
+ self.generation = model_bundle.generation if model_bundle is not None else None
def check_missing(self, outs, name):
if name not in outs and not self.ignore_missing:
@@ -88,37 +91,78 @@ class Parser:
outs[name] = pred_mu_final.reshape(final_shape)
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+ def _parse_mhp_output(self, name, output, shape_threshold, in_n_mhp, out_n_mhp, out_shape) -> None:
+ if name not in output:
+ return
+
+ shape = output[name].shape[1]
+ shape_is_expected_size = None
+
+ if name == 'lead':
+ shape_is_expected_size = shape == 2 * shape_threshold
+ elif name == 'plan':
+ shape_is_expected_size = shape <= 2 * shape_threshold
+
+ use_default_format = self.generation >= 12 and shape_is_expected_size
+ in_n = 0 if use_default_format else in_n_mhp
+ out_n = 0 if use_default_format else out_n_mhp
+
+ self.parse_mdn(name, output, in_n, out_n, out_shape)
+
+ def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+ self._parse_mhp_output(
+ name='lead',
+ output=outs,
+ shape_threshold=SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH,
+ in_n_mhp=SplitModelConstants.LEAD_MHP_N,
+ out_n_mhp=SplitModelConstants.LEAD_MHP_SELECTION,
+ out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH),
+ )
+
+ self._parse_mhp_output(
+ name='plan',
+ output=outs,
+ shape_threshold=SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N,
+ in_n_mhp=SplitModelConstants.PLAN_MHP_N,
+ out_n_mhp=SplitModelConstants.PLAN_MHP_SELECTION,
+ out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH),
+ )
+
def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+ if 'desired_curvature' in outs:
+ self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+ if 'desire_pred' in outs:
+ self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+ if 'desire_state' in outs:
+ self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
if 'lane_lines' in outs:
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
- out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+ out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+ if 'lane_lines_prob' in outs:
+ self.parse_binary_crossentropy('lane_lines_prob', outs)
+ if 'lead_prob' in outs:
+ self.parse_binary_crossentropy('lead_prob', outs)
+ if 'lat_planner_solution' in outs:
+ self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+ if 'meta' in outs:
+ self.parse_binary_crossentropy('meta', outs)
+ if 'road_edges' in outs:
self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
- out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
- self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
- out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
- if 'sim_pose' in outs:
- self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
- for k in ['lead_prob', 'lane_lines_prob']:
- self.parse_binary_crossentropy(k, outs)
+ out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+ if 'sim_pose' in outs:
+ self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+ self.parse_dynamic_outputs(outs)
self.split_outputs(outs)
- self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
- self.parse_binary_crossentropy('meta', outs)
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
- self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
- out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+ self.parse_dynamic_outputs(outs)
self.split_outputs(outs)
- if 'lat_planner_solution' in outs:
- self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
- if 'desired_curvature' in outs:
- self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
- self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
return outs
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a614447ceb..61a7e1a006 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
from openpilot.system.hardware.hw import Paths
from pathlib import Path
-CURRENT_SELECTOR_VERSION = 6
+CURRENT_SELECTOR_VERSION = 7
REQUIRED_MIN_SELECTOR_VERSION = 5
USE_ONNX = os.getenv('USE_ONNX', PC)
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 630d6a8d77..8913135203 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -178,6 +178,10 @@ class ModelManagerSP:
finally:
self.params.put("ModelManager_DownloadIndex", "")
+ if self.params.get("ModelManager_ClearCache", block=False, encoding="utf-8"):
+ self.clear_model_cache()
+ self.params.remove("ModelManager_ClearCache")
+
self._report_status()
rk.keep_time()
@@ -185,6 +189,31 @@ class ModelManagerSP:
cloudlog.exception(f"Error in main thread: {str(e)}")
rk.keep_time()
+ def clear_model_cache(self) -> None:
+ """
+ Clears the model cache directory of all files except those in the active model bundle.
+ """
+
+ # Get list of files used by active model bundle
+ active_files = []
+ if self.active_bundle is not None: # When the default model is active
+ for model in self.active_bundle.models:
+ if hasattr(model, 'artifact') and model.artifact.fileName:
+ active_files.append(model.artifact.fileName)
+ if hasattr(model, 'metadata') and model.metadata.fileName:
+ active_files.append(model.metadata.fileName)
+
+ # Remove all files except active ones
+ model_dir = Paths.model_root()
+ try:
+ for filename in os.listdir(model_dir):
+ if filename not in active_files:
+ file_path = os.path.join(model_dir, filename)
+ if os.path.isfile(file_path):
+ os.remove(file_path)
+ cloudlog.info("Model cache cleared, keeping active model files")
+ except Exception as e:
+ cloudlog.exception(f"Error clearing model cache: {str(e)}")
def main():
ModelManagerSP().main_thread()
diff --git a/sunnypilot/models/modeld_lagd.py b/sunnypilot/models/modeld_lagd.py
deleted file mode 100644
index 9e538123a8..0000000000
--- a/sunnypilot/models/modeld_lagd.py
+++ /dev/null
@@ -1,26 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-
-class ModeldLagd:
- def __init__(self):
- self.params = Params()
-
- def lagd_main(self, CP, sm, model):
- if self.params.get_bool("LagdToggle"):
- lateral_delay = sm["liveDelay"].lateralDelay
- lat_smooth = model.LAT_SMOOTH_SECONDS
- result = lateral_delay + lat_smooth
- cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
- return result
- steer_actuator_delay = CP.steerActuatorDelay
- lat_smooth = model.LAT_SMOOTH_SECONDS
- result = (steer_actuator_delay + 0.2) + lat_smooth
- cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
- return result
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index f65c628164..6df03c31d1 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-71979b29c4bab3007de1a4265442d79f44c0eaef066af66086dddfc432709b94
\ No newline at end of file
+61bb1f3077ef8219a44c8c627d5345d1a96e7f859b850bed6215eec91090becb
\ No newline at end of file
diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index b59ab483c8..03cac2d30e 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit b59ab483c86cd70d04de91ad878024cd66fe86b6
+Subproject commit 03cac2d30e111e0689c0429cb8c1fe6cb5a905af
diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
index 48f4203e93..4586afbc9f 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -1,25 +1,17 @@
class WMACConstants:
- LEAD_WINDOW_SIZE = 5
- LEAD_PROB = 0.5
+ # Lead detection parameters
+ LEAD_WINDOW_SIZE = 6 # Stable detection window
+ LEAD_PROB = 0.45 # Balanced threshold for lead detection
- SLOW_DOWN_WINDOW_SIZE = 5
- SLOW_DOWN_PROB = 0.6
+ # Slow down detection parameters
+ SLOW_DOWN_WINDOW_SIZE = 5 # Responsive but stable
+ SLOW_DOWN_PROB = 0.3 # Balanced threshold for slow down scenarios
+ # Optimized slow down distance curve - smooth and progressive
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
- SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+ SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
- SLOWNESS_WINDOW_SIZE = 12
- SLOWNESS_PROB = 0.5
- SLOWNESS_CRUISE_OFFSET = 1.05
-
- DANGEROUS_TTC_WINDOW_SIZE = 3
- DANGEROUS_TTC = 2.3
-
- MPC_FCW_WINDOW_SIZE = 10
- MPC_FCW_PROB = 0.5
-
-
-class SNG_State:
- off = 0
- stopped = 1
- going = 2
+ # Slowness detection parameters
+ SLOWNESS_WINDOW_SIZE = 10 # Stable slowness detection
+ SLOWNESS_PROB = 0.55 # Clear threshold for slowness
+ SLOWNESS_CRUISE_OFFSET = 1.025 # Conservative cruise speed offset
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 812e5cc15f..46cad1b048 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -1,88 +1,133 @@
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-# Version = 2025-1-18
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-import numpy as np
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# Version = 2025-6-30
from cereal import messaging
from opendbc.car import structs
from numpy import interp
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from typing import Literal
# d-e2e, from modeldata.h
TRAJECTORY_SIZE = 33
+SET_MODE_TIMEOUT = 15
-HIGHWAY_CRUISE_KPH = 70
-
-STOP_AND_GO_FRAME = 60
-
-SET_MODE_TIMEOUT = 10
-
-V_ACC_MIN = 9.72
+# Define the valid mode types
+ModeType = Literal['acc', 'blended']
-class GenericMovingAverageCalculator:
- def __init__(self, window_size):
- self.window_size = window_size
- self.data = []
- self.total = 0
+class SmoothKalmanFilter:
+ """Enhanced Kalman filter with smoothing for stable decision making."""
- def add_data(self, value: float) -> None:
- if len(self.data) == self.window_size:
- self.total -= self.data.pop(0)
- self.data.append(value)
- self.total += value
+ def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
+ alpha=1.0, smoothing_factor=0.85):
+ self.x = initial_value
+ self.P = 1.0
+ self.R = measurement_noise
+ self.Q = process_noise
+ self.alpha = alpha
+ self.smoothing_factor = smoothing_factor
+ self.initialized = False
+ self.history = []
+ self.max_history = 10
+ self.confidence = 0.0
- def get_moving_average(self) -> float | None:
- return None if len(self.data) == 0 else self.total / len(self.data)
+ def add_data(self, measurement):
+ if len(self.history) >= self.max_history:
+ self.history.pop(0)
+ self.history.append(measurement)
- def reset_data(self) -> None:
- self.data = []
- self.total = 0
+ if not self.initialized:
+ self.x = measurement
+ self.initialized = True
+ self.confidence = 0.1
+ return
+
+ self.P = self.alpha * self.P + self.Q
+
+ K = self.P / (self.P + self.R)
+ effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
+
+ innovation = measurement - self.x
+ self.x = self.x + effective_K * innovation
+ self.P = (1 - effective_K) * self.P
+
+ if abs(innovation) < 0.1:
+ self.confidence = min(1.0, self.confidence + 0.05)
+ else:
+ self.confidence = max(0.1, self.confidence - 0.02)
+
+ def get_value(self):
+ return self.x if self.initialized else None
+
+ def get_confidence(self):
+ return self.confidence
+
+ def reset_data(self):
+ self.initialized = False
+ self.history = []
+ self.confidence = 0.0
-class WeightedMovingAverageCalculator:
- def __init__(self, window_size):
- self.window_size = window_size
- self.data = []
- self.weights = np.linspace(1, 3, window_size) # Linear weights, adjust as needed
+class ModeTransitionManager:
+ """Manages smooth transitions between driving modes with hysteresis."""
- def add_data(self, value: float) -> None:
- if len(self.data) == self.window_size:
- self.data.pop(0)
- self.data.append(value)
+ def __init__(self):
+ self.current_mode: ModeType = 'acc'
+ self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
+ self.transition_timeout = 0
+ self.min_mode_duration = 10
+ self.mode_duration = 0
+ self.emergency_override = False
- def get_weighted_average(self) -> float | None:
- if len(self.data) == 0:
- return None
- weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
- weight_total: float = float(np.sum(self.weights[-len(self.data):]))
- return weighted_sum / weight_total
+ def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
+ # Emergency override for critical situations (stops, collisions)
+ if emergency:
+ self.emergency_override = True
+ self.current_mode = mode
+ self.transition_timeout = SET_MODE_TIMEOUT
+ self.mode_duration = 0
+ return
- def reset_data(self) -> None:
- self.data = []
+ self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
+ for m in self.mode_confidence:
+ if m != mode:
+ self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+
+ # Require minimum duration in current mode (unless emergency)
+ if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+ return
+
+ # Hysteresis: higher threshold for mode changes
+ confidence_threshold = 0.6 if mode != self.current_mode else 0.3 # Lower threshold for faster response
+
+ if self.mode_confidence[mode] > confidence_threshold:
+ if mode != self.current_mode and self.transition_timeout == 0:
+ self.transition_timeout = SET_MODE_TIMEOUT
+ self.current_mode = mode
+ self.mode_duration = 0
+
+ def update(self):
+ if self.transition_timeout > 0:
+ self.transition_timeout -= 1
+ self.mode_duration += 1
+
+ # Reset emergency override after some time
+ if self.emergency_override and self.mode_duration > 20:
+ self.emergency_override = False
+
+ # Gradual confidence decay
+ for mode in self.mode_confidence:
+ self.mode_confidence[mode] *= 0.98
+
+ def get_mode(self) -> ModeType:
+ return self.current_mode
class DynamicExperimentalController:
@@ -92,51 +137,59 @@ class DynamicExperimentalController:
self._params = params or Params()
self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
self._active: bool = False
- self._mode: str = 'acc'
self._frame: int = 0
+ self._urgency = 0.0
- # Use weighted moving average for filtering leads
- self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
+ self._mode_manager = ModeTransitionManager()
+
+ # Smooth filters for stable decision making with faster response for critical scenarios
+ self._lead_filter = SmoothKalmanFilter(
+ measurement_noise=0.15,
+ process_noise=0.05,
+ alpha=1.02,
+ smoothing_factor=0.8
+ )
+
+ self._slow_down_filter = SmoothKalmanFilter(
+ measurement_noise=0.1,
+ process_noise=0.1,
+ alpha=1.05,
+ smoothing_factor=0.7
+ )
+
+ self._slowness_filter = SmoothKalmanFilter(
+ measurement_noise=0.1,
+ process_noise=0.06,
+ alpha=1.015,
+ smoothing_factor=0.92
+ )
+
+ self._mpc_fcw_filter = SmoothKalmanFilter(
+ measurement_noise=0.2,
+ process_noise=0.1,
+ alpha=1.1,
+ smoothing_factor=0.5
+ )
self._has_lead_filtered = False
- self._has_lead_filtered_prev = False
-
- self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
- self._has_slow_down: bool = False
- self._slow_down_confidence: float = 0.0
-
- self._has_blinkers = False
-
- self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
- self._has_slowness: bool = False
-
- self._has_nav_instruction = False
-
- self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
- self._has_dangerous_ttc: bool = False
-
- self._v_ego_kph = 0.
- self._v_cruise_kph = 0.
-
- self._has_lead = False
-
+ self._has_slow_down = False
+ self._has_slowness = False
+ self._has_mpc_fcw = False
+ self._v_ego_kph = 0.0
+ self._v_cruise_kph = 0.0
self._has_standstill = False
- self._has_standstill_prev = False
-
- self._sng_transit_frame = 0
- self._sng_state = SNG_State.off
-
- self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
- self._has_mpc_fcw: bool = False
self._mpc_fcw_crash_cnt = 0
-
- self._set_mode_timeout = 0
+ self._standstill_count = 0
+ # debug
+ self._endpoint_x = float('inf')
+ self._expected_distance = 0.0
+ self._trajectory_valid = False
def _read_params(self) -> None:
if self._frame % int(1. / DT_MDL) == 0:
self._enabled = self._params.get_bool("DynamicExperimentalControl")
def mode(self) -> str:
- return str(self._mode)
+ return self._mode_manager.get_mode()
def enabled(self) -> bool:
return self._enabled
@@ -144,46 +197,9 @@ class DynamicExperimentalController:
def active(self) -> bool:
return self._active
- @staticmethod
- def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
- """
- Basic anomaly detection using standard deviation.
- """
- if len(recent_data) < 5:
- return False
- mean: float = float(np.mean(recent_data))
- std_dev: float = float(np.std(recent_data))
- anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
-
- # Context check to ensure repeated anomaly
- if context_check:
- return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
- return anomaly
-
- def _adaptive_slowdown_threshold(self) -> float:
- """
- Adapts the slow-down threshold based on vehicle speed and recent behavior.
- """
- slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
- adaptive_threshold: float = float(
- interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
- )
- return adaptive_threshold
-
- def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
- """
- Smoothing the lead detection to avoid erratic behavior.
- """
- lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
- return lead_filtering > WMACConstants.LEAD_PROB
-
- def _adaptive_lead_prob_threshold(self) -> float:
- """
- Adapts lead probability threshold based on driving conditions.
- """
- if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
- return float(WMACConstants.LEAD_PROB + 0.1) # Increase the threshold on highways
- return float(WMACConstants.LEAD_PROB)
+ def set_mpc_fcw_crash_cnt(self) -> None:
+ """Set MPC FCW crash count"""
+ self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
def _update_calculations(self, sm: messaging.SubMaster) -> None:
car_state = sm['carState']
@@ -192,186 +208,168 @@ class DynamicExperimentalController:
self._v_ego_kph = car_state.vEgo * 3.6
self._v_cruise_kph = car_state.vCruise
- self._has_lead = lead_one.status
self._has_standstill = car_state.standstill
- # fcw detection
- self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
- if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
- self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
- else:
- self._has_mpc_fcw = False
-
- # nav enable detection
- # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
-
- # lead detection with smoothing
- self._lead_gmac.add_data(lead_one.status)
- self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
- #lead_prob = self._lead_gmac.get_weighted_average() or 0
- #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
-
- # adaptive slow down detection
- adaptive_threshold = self._adaptive_slowdown_threshold()
- slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
- self._slow_down_gmac.add_data(slow_down_trigger)
- if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
- self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
- self._slow_down_confidence = _has_slow_down_weighted_average # Store confidence level
- else:
- self._has_slow_down = False
- self._slow_down_confidence = 0.0 # No confidence if no slowdown
-
- # anomaly detection for slow down events
- if self._anomaly_detection(self._slow_down_gmac.data):
- self._slow_down_confidence *= 0.85 # Reduce confidence
- self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
-
- # blinker detection
- self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
-
- # sng detection
+ # standstill detection
if self._has_standstill:
- self._sng_state = SNG_State.stopped
- self._sng_transit_frame = 0
+ self._standstill_count = min(20, self._standstill_count + 1)
else:
- if self._sng_transit_frame == 0:
- if self._sng_state == SNG_State.stopped:
- self._sng_state = SNG_State.going
- self._sng_transit_frame = STOP_AND_GO_FRAME
- elif self._sng_state == SNG_State.going:
- self._sng_state = SNG_State.off
- elif self._sng_transit_frame > 0:
- self._sng_transit_frame -= 1
+ self._standstill_count = max(0, self._standstill_count - 1)
- # slowness detection
- if not self._has_standstill:
- self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
- if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
- self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
- else:
- self._has_slowness = False
+ # Lead detection
+ self._lead_filter.add_data(float(lead_one.status))
+ lead_value = self._lead_filter.get_value() or 0.0
+ self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
- # dangerous TTC detection
- if not self._has_lead_filtered and self._has_lead_filtered_prev:
- self._dangerous_ttc_gmac.reset_data()
- self._has_dangerous_ttc = False
+ # MPC FCW detection
+ fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
+ self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
+ self._has_mpc_fcw = fcw_filtered_value > 0.5
- if self._has_lead and car_state.vEgo >= 0.01:
- self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+ # Slow down detection
+ self._calculate_slow_down(md)
- if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
- self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
- else:
- self._has_dangerous_ttc = False
+ # Slowness detection
+ if not (self._standstill_count > 5) and not self._has_slow_down:
+ current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+ self._slowness_filter.add_data(current_slowness)
+ slowness_value = self._slowness_filter.get_value() or 0.0
- # keep prev values
- self._has_standstill_prev = self._has_standstill
- self._has_lead_filtered_prev = self._has_lead_filtered
+ # Hysteresis for slowness
+ threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
+ self._has_slowness = slowness_value > threshold
+
+ def _calculate_slow_down(self, md):
+ """Calculate urgency based on trajectory endpoint vs expected distance."""
+
+ # Reset to safe defaults
+ urgency = 0.0
+ self._endpoint_x = float('inf')
+ self._trajectory_valid = False
+
+ #Require exact trajectory size
+ position_valid = len(md.position.x) == TRAJECTORY_SIZE
+ orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+
+ if not (position_valid and orientation_valid):
+ # Invalid trajectory - this itself might indicate a stop scenario
+ # Apply moderate urgency for incomplete trajectories at speed
+ if self._v_ego_kph > 20.0:
+ urgency = 0.3
+
+ self._slow_down_filter.add_data(urgency)
+ urgency_filtered = self._slow_down_filter.get_value() or 0.0
+ self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
+ self._urgency = urgency_filtered
+ return
+
+ # We have a valid full trajectory
+ self._trajectory_valid = True
+
+ # Use the exact endpoint (33rd point, index 32)
+ endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
+ self._endpoint_x = endpoint_x
+
+ # Get expected distance based on current speed using tuned constants
+ expected_distance = interp(self._v_ego_kph,
+ WMACConstants.SLOW_DOWN_BP,
+ WMACConstants.SLOW_DOWN_DIST)
+ self._expected_distance = expected_distance
+
+ # Calculate urgency based on trajectory shortage
+ if endpoint_x < expected_distance:
+ shortage = expected_distance - endpoint_x
+ shortage_ratio = shortage / expected_distance
+
+ # Base urgency on shortage ratio
+ urgency = min(1.0, shortage_ratio * 2.0)
+
+ # Increase urgency for very short trajectories (imminent stops)
+ critical_distance = expected_distance * 0.3
+ if endpoint_x < critical_distance:
+ urgency = min(1.0, urgency * 2.0)
+
+ # Speed-based urgency adjustment
+ if self._v_ego_kph > 25.0:
+ speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
+ urgency = min(1.0, urgency * speed_factor)
+
+ # Apply filtering but with less smoothing for stops
+ self._slow_down_filter.add_data(urgency)
+ urgency_filtered = self._slow_down_filter.get_value() or 0.0
+
+ # Update state with lower threshold for better stop detection
+ self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
+ self._urgency = urgency_filtered
def _radarless_mode(self) -> None:
- # when mpc fcw crash prob is high
- # use blended to slow down quickly
+ """Radarless mode decision logic with emergency handling."""
+
+ # EMERGENCY: MPC FCW - immediate blended mode
if self._has_mpc_fcw:
- self._set_mode('blended')
+ self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
return
- # Nav enabled and distance to upcoming turning is 300 or below
- # if self._has_nav_instruction:
- # self._set_mode('blended')
- # return
-
- # when blinker is on and speed is driving below V_ACC_MIN: blended
- # we don't want it to switch mode at higher speed, blended may trigger hard brake
- # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
- # self._set_mode('blended')
- # return
-
- # when at highway cruise and SNG: blended
- # ensuring blended mode is used because acc is bad at catching SNG lead car
- # especially those who accel very fast and then brake very hard.
- # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
- # self._set_mode('blended')
- # return
-
- # when standstill: blended
- # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
- if self._has_standstill:
- self._set_mode('blended')
+ # Standstill: use blended
+ if self._standstill_count > 3:
+ self._mode_manager.request_mode('blended', confidence=0.9)
return
- # when detecting slow down scenario: blended
- # e.g. traffic light, curve, stop sign etc.
+ # Slow down scenarios: emergency for high urgency, normal for lower urgency
if self._has_slow_down:
- self._set_mode('blended')
+ if self._urgency > 0.7:
+ # Emergency: immediate blended mode for high urgency stops
+ self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+ else:
+ # Normal: blended with urgency-based confidence
+ confidence = min(1.0, self._urgency * 1.5)
+ self._mode_manager.request_mode('blended', confidence=confidence)
return
- # when detecting lead slow down: blended
- # use blended for higher braking capability
- if self._has_dangerous_ttc:
- self._set_mode('blended')
+ # Driving slow: use ACC (but not if actively slowing down)
+ if self._has_slowness and not self._has_slow_down:
+ self._mode_manager.request_mode('acc', confidence=0.8)
return
- # car driving at speed lower than set speed: acc
- if self._has_slowness:
- self._set_mode('acc')
- return
-
- self._set_mode('acc')
+ # Default: ACC
+ self._mode_manager.request_mode('acc', confidence=0.7)
def _radar_mode(self) -> None:
- # when mpc fcw crash prob is high
- # use blended to slow down quickly
+ """Radar mode with emergency handling."""
+
+ # EMERGENCY: MPC FCW - immediate blended mode
if self._has_mpc_fcw:
- self._set_mode('blended')
+ self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
return
- # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
- if self._has_lead_filtered and not self._has_standstill:
- self._set_mode('acc')
+ # If lead detected and not in standstill: always use ACC
+ if self._has_lead_filtered and not (self._standstill_count > 3):
+ self._mode_manager.request_mode('acc', confidence=1.0)
return
- # when blinker is on and speed is driving below V_ACC_MIN: blended
- # we don't want it to switch mode at higher speed, blended may trigger hard brake
- # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
- # self._set_mode('blended')
- # return
-
- # when standstill: blended
- # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
- if self._has_standstill:
- self._set_mode('blended')
- return
-
- # when detecting slow down scenario: blended
- # e.g. traffic light, curve, stop sign etc.
+ # Slow down scenarios: emergency for high urgency, normal for lower urgency
if self._has_slow_down:
- self._set_mode('blended')
+ if self._urgency > 0.7:
+ # Emergency: immediate blended mode for high urgency stops
+ self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+ else:
+ # Normal: blended with urgency-based confidence
+ confidence = min(1.0, self._urgency * 1.3)
+ self._mode_manager.request_mode('blended', confidence=confidence)
return
- # car driving at speed lower than set speed: acc
- if self._has_slowness:
- self._set_mode('acc')
+ # Standstill: use blended
+ if self._standstill_count > 3:
+ self._mode_manager.request_mode('blended', confidence=0.9)
return
- # Nav enabled and distance to upcoming turning is 300 or below
- # if self._has_nav_instruction:
- # self._set_mode('blended')
- # return
+ # Driving slow: use ACC (but not if actively slowing down)
+ if self._has_slowness and not self._has_slow_down:
+ self._mode_manager.request_mode('acc', confidence=0.8)
+ return
- self._set_mode('acc')
-
- def set_mpc_fcw_crash_cnt(self) -> None:
- self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
-
- def _set_mode(self, mode: str) -> None:
- if self._set_mode_timeout == 0:
- self._mode = mode
- if mode == 'blended':
- self._set_mode_timeout = SET_MODE_TIMEOUT
-
- if self._set_mode_timeout > 0:
- self._set_mode_timeout -= 1
+ # Default: ACC
+ self._mode_manager.request_mode('acc', confidence=0.7)
def update(self, sm: messaging.SubMaster) -> None:
self._read_params()
@@ -385,6 +383,6 @@ class DynamicExperimentalController:
else:
self._radar_mode()
+ self._mode_manager.update()
self._active = sm['selfdriveState'].experimentalMode and self._enabled
-
self._frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
index d15d88aefe..f9da39c03b 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -1,248 +1,94 @@
import pytest
-import numpy as np
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
-
-class MockInterp:
- def __call__(self, x, xp, fp):
- return np.interp(x, xp, fp)
-
-class MockCarState:
- def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
- self.vEgo = v_ego
- self.standstill = standstill
- self.leftBlinker = left_blinker
- self.rightBlinker = right_blinker
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
class MockLeadOne:
- def __init__(self, status=False, d_rel=0):
+ def __init__(self, status=0.0):
self.status = status
- self.dRel = d_rel
+
+class MockRadarState:
+ def __init__(self, status=0.0):
+ self.leadOne = MockLeadOne(status=status)
+
+class MockCarState:
+ def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+ self.vEgo = vEgo
+ self.vCruise = vCruise
+ self.standstill = standstill
class MockModelData:
- def __init__(self, x_vals=None, positions=None):
- self.orientation = type('Orientation', (), {'x': x_vals})()
- self.position = type('Position', (), {'x': positions})()
+ def __init__(self, valid=True):
+ size = 33 if valid else 10 # incomplete if invalid
+ self.position = type("Pos", (), {"x": [0.0] * size})()
+ self.orientation = type("Ori", (), {"x": [0.0] * size})()
-class MockControlState:
- def __init__(self, v_cruise=0):
- self.vCruise = v_cruise
+class MockSelfDriveState:
+ def __init__(self, experimentalMode=False):
+ self.experimentalMode = experimentalMode
+
+class MockParams:
+ def get_bool(self, name):
+ return True
@pytest.fixture
-def interp(monkeypatch):
- mock_interp = MockInterp()
- monkeypatch.setattr('numpy.interp', mock_interp)
- return mock_interp
+def default_sm():
+ sm = {
+ 'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+ 'radarState': MockRadarState(status=1.0),
+ 'modelV2': MockModelData(valid=True),
+ 'selfdriveState': MockSelfDriveState(experimentalMode=True),
+ }
+ return sm
@pytest.fixture
-def controller(interp):
- params = Params()
- params.put_bool("DynamicExperimentalControl", True)
- return DynamicExperimentalController()
+def mock_cp():
+ class CP:
+ radarUnavailable = False
+ return CP()
-def test_initial_state(controller):
- """Test initial state of the controller"""
- assert controller._mode == 'acc'
- assert not controller._has_lead
- assert not controller._has_standstill
- assert controller._sng_state == SNG_State.off
- assert not controller._has_lead_filtered
- assert not controller._has_slow_down
- assert not controller._has_dangerous_ttc
- assert not controller._has_mpc_fcw
+@pytest.fixture
+def mock_mpc():
+ class MPC:
+ crash_cnt = 0
+ return MPC()
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_standstill_detection(controller, has_radar):
- """Test standstill detection and state transitions"""
- car_state = MockCarState(standstill=True)
- lead_one = MockLeadOne()
- md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
- controls_state = MockControlState()
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+ def __init__(self, value=1.0):
+ self.value = value
+ def add_data(self, v): pass
+ def get_value(self): return self.value
+ def get_confidence(self): return 1.0
+ def reset_data(self): pass
- # Test transition to standstill
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
- assert controller._sng_state == SNG_State.stopped
- assert controller.get_mpc_mode() == 'blended'
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+ controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+ assert controller.mode() == "acc"
- # Test transition from standstill to moving
- car_state.standstill = False
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
- assert controller._sng_state == SNG_State.going
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+ controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+ default_sm['carState'].standstill = True
+ for _ in range(10):
+ controller.update(default_sm)
+ assert controller.mode() == "blended"
- # Test complete transition to normal driving
- for _ in range(STOP_AND_GO_FRAME + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
- assert controller._sng_state == SNG_State.off
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+ controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+ mock_mpc.crash_cnt = 1 # simulate FCW
+ for _ in range(2):
+ controller.update(default_sm)
+ assert controller.mode() == "blended"
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_lead_detection(controller, has_radar):
- """Test lead vehicle detection and filtering"""
- car_state = MockCarState(v_ego=20) # 72 kph
- lead_one = MockLeadOne(status=True, d_rel=50) # Safe distance
- md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
- controls_state = MockControlState(v_cruise=72)
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+ mock_cp.radarUnavailable = True
+ controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
- # Let moving average stabilize
- for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
+ # Force conditions to simulate slowdown
+ controller._slow_down_filter = FakeKalman(value=1.0) # Ensure urgency triggers slowdown
+ controller._v_ego_kph = 35.0
+ default_sm['modelV2'] = MockModelData(valid=False) # Incomplete trajectory
- assert controller._has_lead_filtered
- expected_mode = 'acc' if has_radar else 'blended'
- assert controller.get_mpc_mode() == expected_mode
+ for _ in range(3):
+ controller.update(default_sm)
- # Test lead loss detection
- lead_one.status = False
- for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert not controller._has_lead_filtered
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_slow_down_detection(controller, has_radar):
- """Test slow down detection based on trajectory"""
- car_state = MockCarState(v_ego=10/3.6) # 10 kph
- lead_one = MockLeadOne()
- x_vals = [0] * TRAJECTORY_SIZE
- positions = [20] * TRAJECTORY_SIZE # Position within slow down threshold
- md = MockModelData(x_vals=x_vals, positions=positions)
- controls_state = MockControlState(v_cruise=30)
-
- # Test slow down detection
- for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert controller._has_slow_down
- assert controller.get_mpc_mode() == 'blended'
-
- # Test slow down recovery
- positions = [200] * TRAJECTORY_SIZE # Position outside slow down threshold
- md = MockModelData(x_vals=x_vals, positions=positions)
- for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert not controller._has_slow_down
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_dangerous_ttc_detection(controller, has_radar):
- """Test Time-To-Collision detection and handling"""
- car_state = MockCarState(v_ego=10) # 36 kph
- lead_one = MockLeadOne(status=True)
- md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
- controls_state = MockControlState(v_cruise=36)
-
- # First establish normal conditions with lead
- lead_one.dRel = 100 # Safe distance
- for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1): # First establish lead detection
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert controller._has_lead_filtered # Verify lead is detected
-
- # Now test dangerous TTC detection
- lead_one.dRel = 10 # 10m distance - should trigger dangerous TTC
- # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
-
- # Need to update multiple times to allow the weighted average to stabilize
- for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
- expected_mode = 'acc' if has_radar else 'blended'
- assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mode_transitions(controller, has_radar):
- """Test comprehensive mode transitions under different conditions"""
- # Initialize with normal driving conditions
- car_state = MockCarState(v_ego=25) # 90 kph
- lead_one = MockLeadOne(status=False)
- md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
- controls_state = MockControlState(v_cruise=100)
-
- def stabilize_filters():
- """Helper to let all moving averages stabilize"""
- for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
- WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- # Test 1: Normal driving -> ACC mode
- stabilize_filters()
- assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
-
- # Test 2: Standstill -> Blended mode
- car_state.standstill = True
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
- assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
-
- # Test 3: Lead car appears -> ACC mode
- car_state = MockCarState(v_ego=20) # Reset car state
- lead_one.status = True
- lead_one.dRel = 50 # Safe distance
- stabilize_filters()
- assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
- assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
-
- # Test 4: Dangerous TTC -> Blended mode
- car_state = MockCarState(v_ego=20) # 72 kph
- lead_one.status = True
- lead_one.dRel = 50 # First establish normal lead detection
-
- # First establish lead detection
- for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert controller._has_lead_filtered # Verify lead is detected
-
- # Now create dangerous TTC condition
- lead_one.dRel = 20 # This creates a TTC of 1s, well below DANGEROUS_TTC
-
- for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
- expected_mode = 'acc' if has_radar else 'blended'
- assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mpc_fcw_handling(controller, has_radar):
- """Test MPC FCW crash count handling and mode transitions"""
- car_state = MockCarState(v_ego=20)
- lead_one = MockLeadOne()
- md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
- controls_state = MockControlState(v_cruise=72)
-
- # Test FCW activation
- controller.set_mpc_fcw_crash_cnt(5)
- for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert controller._has_mpc_fcw
- assert controller.get_mpc_mode() == 'blended'
-
- # Test FCW recovery
- controller.set_mpc_fcw_crash_cnt(0)
- for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
- controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
- assert not controller._has_mpc_fcw
-
-def test_radar_unavailable_handling(controller):
- """Test behavior transitions between radar available and unavailable states"""
- car_state = MockCarState(v_ego=27.78) # 100 kph
- lead_one = MockLeadOne(status=True, d_rel=50)
- md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
- controls_state = MockControlState(v_cruise=100)
-
- # Test with radar available
- for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
- controller.update(False, car_state, lead_one, md, controls_state)
- radar_mode = controller.get_mpc_mode()
-
- # Test with radar unavailable
- for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
- controller.update(True, car_state, lead_one, md, controls_state)
- radarless_mode = controller.get_mpc_mode()
-
- assert radar_mode is not None
- assert radarless_mode is not None
+ assert controller.mode() == "blended"
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 8ccd81d8ff..1127619221 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -10,6 +10,8 @@ import numpy as np
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
LAT_PLAN_MIN_IDX = 5
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
@@ -41,11 +43,13 @@ def get_lookahead_value(future_vals, current_val):
return min_val
-class LatControlTorqueExtBase:
+class LatControlTorqueExtBase(LagdToggle):
def __init__(self, lac_torque, CP, CP_SP):
+ LagdToggle.__init__(self)
self.model_v2 = None
self.model_valid = False
- self.use_steering_angle = lac_torque.use_steering_angle
+ self.torque_params = lac_torque.torque_params
+ self.use_steering_angle = lac_torque.torque_params.useSteeringAngle
self.actual_lateral_jerk: float = 0.0
self.lateral_jerk_setpoint: float = 0.0
@@ -53,7 +57,6 @@ class LatControlTorqueExtBase:
self.lookahead_lateral_jerk: float = 0.0
self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
- self.torque_params = lac_torque.torque_params
self._ff = 0.0
self._pid_log = None
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 56f32373d5..6952a97f1f 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
from cereal import messaging, custom
from opendbc.car import structs
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.models.helpers import get_active_bundle
DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -15,6 +16,12 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
class LongitudinalPlannerSP:
def __init__(self, CP: structs.CarParams, mpc):
self.dec = DynamicExperimentalController(CP, mpc)
+ self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
+
+ @property
+ def mlsim(self) -> bool:
+ # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
+ return bool(self.generation is None or self.generation >= 11)
def get_mpc_mode(self) -> str | None:
if not self.dec.active():
diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
index b2701bc010..5ec2a1c8c9 100644
--- a/sunnypilot/selfdrive/controls/lib/param_store.py
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -22,14 +22,16 @@ class ParamStore:
self.keys = universal_params + brand_params
self.values = {}
+ self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
def update(self, params: Params) -> None:
+ old_values = dict(self.values)
self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
+ if old_values != self.values:
+ self.cached_params_list = None
def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
- params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
-
- for k in self.keys:
- params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
-
- return params_list
+ if self.cached_params_list is None:
+ # TODO-SP: Why are we doing a list instead of a dictionary here?
+ self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
+ return self.cached_params_list
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 018fa0a0b5..244f841e36 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -23,6 +23,7 @@ from typing import cast
from collections.abc import Callable
import requests
+from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
from jsonrpc import JSONRPCResponseManager, dispatcher
from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
create_connection)
@@ -56,6 +57,11 @@ WS_FRAME_SIZE = 4096
DEVICE_STATE_UPDATE_INTERVAL = 1.0 # in seconds
DEFAULT_UPLOAD_PRIORITY = 99 # higher number = lower priority
+# https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart,
+# https://en.wikipedia.org/wiki/Differentiated_services
+UPLOAD_TOS = 0x20 # CS1, low priority background traffic
+SSH_TOS = 0x90 # AF42, DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
+
NetworkType = log.DeviceState.NetworkType
UploadFileDict = dict[str, str | int | float | bool]
@@ -64,6 +70,17 @@ UploadItemDict = dict[str, str | bool | int | float | dict[str, str]]
UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]]
+class UploadTOSAdapter(HTTPAdapter):
+ def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool_kwargs):
+ pool_kwargs["socket_options"] = [(socket.IPPROTO_IP, socket.IP_TOS, UPLOAD_TOS)]
+ super().init_poolmanager(connections, maxsize, block, **pool_kwargs)
+
+
+UPLOAD_SESS = requests.Session()
+UPLOAD_SESS.mount("http://", UploadTOSAdapter())
+UPLOAD_SESS.mount("https://", UploadTOSAdapter())
+
+
@dataclass
class UploadFile:
fn: str
@@ -311,10 +328,10 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
stream = None
try:
stream, content_length = get_upload_stream(path, compress)
- response = requests.put(upload_item.url,
- data=CallbackReader(stream, callback, content_length) if callback else stream,
- headers={**upload_item.headers, 'Content-Length': str(content_length)},
- timeout=30)
+ response = UPLOAD_SESS.put(upload_item.url,
+ data=CallbackReader(stream, callback, content_length) if callback else stream,
+ headers={**upload_item.headers, 'Content-Length': str(content_length)},
+ timeout=30)
return response
finally:
if stream:
@@ -501,8 +518,7 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
raise Exception("Requested local port not whitelisted")
# Set TOS to keep connection responsive while under load.
- # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
- ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
+ ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, SSH_TOS)
ssock, csock = socket.socketpair()
local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index dd82325815..e559e0c05c 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -19,7 +19,7 @@ from cereal import messaging
from openpilot.common.params import Params
from openpilot.common.timeout import Timeout
from openpilot.system.athena import athenad
-from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
from openpilot.selfdrive.test.helpers import http_server_context
from openpilot.system.hardware.hw import Paths
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
with Timeout(2, 'HTTP Server seeding failed'):
while True:
try:
- requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
+ UPLOAD_SESS.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
break
except requests.exceptions.ConnectionError:
time.sleep(0.1)
@@ -239,7 +239,7 @@ class TestAthenadMethods:
@pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
@with_upload_handler
def test_upload_handler_retry(self, mocker, host, status, retry):
- mock_put = mocker.patch('requests.put')
+ mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
mock_put.return_value.__enter__.return_value.status_code = status
fn = self._create_file('qlog.zst')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index d2083a5985..bc9d17dd81 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -55,4 +55,8 @@ namespace Path {
return "/dev/shm";
#endif
}
+
+ inline std::string model_root() {
+ return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
+ }
} // namespace Path
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 8e4ba722c4..20a23bd67e 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -415,8 +415,8 @@ class Tici(HardwareBase):
# *** GPU config ***
# https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
- sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
- sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+ sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+ sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 2d2d4640ed..144ab9f349 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -62,6 +62,7 @@ struct RemoteEncoder {
bool recording = false;
bool marked_ready_to_rotate = false;
bool seen_first_packet = false;
+ bool audio_initialized = false;
};
size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
@@ -78,12 +79,7 @@ size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEnc
LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
re.dropped_frames = 0;
}
- // if we aren't actually recording, don't create the writer
if (encoder_info.record) {
- assert(encoder_info.filename != NULL);
- re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
- encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
- edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
@@ -138,12 +134,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
// if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
if (re.current_segment != s->logger.segment()) {
- if (re.recording) {
- re.writer.reset();
+ // if we aren't actually recording, don't create the writer
+ if (encoder_info.record) {
+ assert(encoder_info.filename != NULL);
+ re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
+ encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+ edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
re.recording = false;
+ re.audio_initialized = false;
}
re.current_segment = s->logger.segment();
re.marked_ready_to_rotate = false;
+ }
+ if (re.audio_initialized || !encoder_info.include_audio) {
// we are in this segment now, process any queued messages before this one
if (!re.q.empty()) {
for (auto qmsg : re.q) {
@@ -153,9 +156,14 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
}
re.q.clear();
}
+ bytes_count += write_encode_data(s, event, re, encoder_info);
+ delete msg;
+ } else if (re.q.size() > MAIN_FPS*10) {
+ LOGE_100("%s: dropping frame waiting for audio initialization, queue is too large", name.c_str());
+ delete msg;
+ } else {
+ re.q.push_back(msg); // queue up all the new segment messages, they go in after audio is initialized
}
- bytes_count += write_encode_data(s, event, re, encoder_info);
- delete msg;
} else if (offset_segment_num > s->logger.segment()) {
// encoderd packet has a newer segment, this means encoderd has rolled over
if (!re.marked_ready_to_rotate) {
@@ -214,7 +222,7 @@ void loggerd_thread() {
typedef struct ServiceState {
std::string name;
int counter, freq;
- bool encoder, user_flag;
+ bool encoder, user_flag, record_audio;
} ServiceState;
std::unordered_map service_state;
std::unordered_map remote_encoders;
@@ -226,19 +234,22 @@ void loggerd_thread() {
for (const auto& [_, it] : services) {
const bool encoder = util::ends_with(it.name, "EncodeData");
const bool livestream_encoder = util::starts_with(it.name, "livestream");
- if (!it.should_log && (!encoder || livestream_encoder)) continue;
- LOGD("logging %s", it.name.c_str());
+ const bool record_audio = (it.name == "rawAudioData") && Params().getBool("RecordAudio");
+ if (it.should_log || (encoder && !livestream_encoder) || record_audio) {
+ LOGD("logging %s", it.name.c_str());
- SubSocket * sock = SubSocket::create(ctx.get(), it.name);
- assert(sock != NULL);
- poller->registerSocket(sock);
- service_state[sock] = {
- .name = it.name,
- .counter = 0,
- .freq = it.decimation,
- .encoder = encoder,
- .user_flag = it.name == "userFlag",
- };
+ SubSocket * sock = SubSocket::create(ctx.get(), it.name);
+ assert(sock != NULL);
+ poller->registerSocket(sock);
+ service_state[sock] = {
+ .name = it.name,
+ .counter = 0,
+ .freq = it.decimation,
+ .encoder = encoder,
+ .user_flag = it.name == "userFlag",
+ .record_audio = record_audio,
+ };
+ }
}
LoggerdState s;
@@ -247,6 +258,7 @@ void loggerd_thread() {
Params().put("CurrentRoute", s.logger.routeName());
std::map encoder_infos_dict;
+ std::vector encoders_with_audio;
for (const auto &cam : cameras_logged) {
for (const auto &encoder_info : cam.encoder_infos) {
encoder_infos_dict[encoder_info.publish_name] = encoder_info;
@@ -254,6 +266,13 @@ void loggerd_thread() {
}
}
+ for (auto &[sock, service] : service_state) {
+ auto it = encoder_infos_dict.find(service.name);
+ if (it != encoder_infos_dict.end() && it->second.include_audio) {
+ encoders_with_audio.push_back(&remote_encoders[sock]);
+ }
+ }
+
uint64_t msg_count = 0, bytes_count = 0;
double start_ts = millis_since_boot();
while (!do_exit) {
@@ -271,6 +290,20 @@ void loggerd_thread() {
Message *msg = nullptr;
while (!do_exit && (msg = sock->receive(true))) {
const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+
+ if (service.record_audio) {
+ capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+ auto event = cmsg.getRoot();
+ auto audio_data = event.getRawAudioData().getData();
+ auto sample_rate = event.getRawAudioData().getSampleRate();
+ for (auto* encoder : encoders_with_audio) {
+ if (encoder && encoder->writer) {
+ encoder->writer->write_audio((uint8_t*)audio_data.begin(), audio_data.size(), event.getLogMonoTime() / 1000, sample_rate);
+ encoder->audio_initialized = true;
+ }
+ }
+ }
+
if (service.encoder) {
s.last_camera_seen_tms = millis_since_boot();
bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 27d2d37fc4..5dfb178fd5 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -35,6 +35,7 @@ public:
const char *thumbnail_name = NULL;
const char *filename = NULL;
bool record = true;
+ bool include_audio = false;
int frame_width = -1;
int frame_height = -1;
int fps = MAIN_FPS;
@@ -106,6 +107,7 @@ const EncoderInfo qcam_encoder_info = {
.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
.frame_width = 526,
.frame_height = 330,
+ .include_audio = Params().getBool("RecordAudio"),
INIT_ENCODE_FUNCTIONS(QRoadEncode),
};
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 179e237a65..8e2f52a731 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -97,6 +97,50 @@ class TestLoggerd:
return sent_msgs
+ def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
+ d = DEVICE_CAMERAS[("tici", "ar0231")]
+ streams = [
+ (VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"),
+ (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"),
+ (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"),
+ ]
+
+ pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
+ vipc_server = VisionIpcServer("camerad")
+ for stream_type, frame_spec, _ in streams:
+ vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
+ vipc_server.start_listener()
+
+ os.environ["LOGGERD_TEST"] = "1"
+ os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
+ managed_processes["loggerd"].start()
+ managed_processes["encoderd"].start()
+ assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+
+ fps = 20
+ for n in range(1, int(num_segs * segment_length * fps) + 1):
+ # send video
+ for stream_type, frame_spec, state in streams:
+ dat = np.empty(frame_spec[2], dtype=np.uint8)
+ vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps)
+
+ camera_state = messaging.new_message(state)
+ frame = getattr(camera_state, state)
+ frame.frameId = n
+ pm.send(state, camera_state)
+
+ # send audio
+ msg = messaging.new_message('rawAudioData')
+ msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16
+ msg.rawAudioData.sampleRate = 16000
+ pm.send('rawAudioData', msg)
+
+ for _, _, state in streams:
+ assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
+
+ managed_processes["loggerd"].stop()
+ managed_processes["encoderd"].stop()
+
def test_init_data_values(self):
os.environ["CLEAN"] = random.choice(["0", "1"])
@@ -136,53 +180,23 @@ class TestLoggerd:
assert getattr(initData, initData_key) == v
assert logged_params[param_key].decode() == v
- @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
+ @pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
def test_rotation(self):
- os.environ["LOGGERD_TEST"] = "1"
Params().put("RecordFront", "1")
- d = DEVICE_CAMERAS[("tici", "ar0231")]
expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
- streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
- (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
- (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
- pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
- vipc_server = VisionIpcServer("camerad")
- for stream_type, frame_spec, _ in streams:
- vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
- vipc_server.start_listener()
+ num_segs = random.randint(2, 3)
+ length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output
- num_segs = random.randint(2, 5)
- length = random.randint(1, 3)
- os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
- managed_processes["loggerd"].start()
- managed_processes["encoderd"].start()
- assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
-
- fps = 20.0
- for n in range(1, int(num_segs*length*fps)+1):
- for stream_type, frame_spec, state in streams:
- dat = np.empty(frame_spec[2], dtype=np.uint8)
- vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
-
- camera_state = messaging.new_message(state)
- frame = getattr(camera_state, state)
- frame.frameId = n
- pm.send(state, camera_state)
-
- for _, _, state in streams:
- assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
-
- managed_processes["loggerd"].stop()
- managed_processes["encoderd"].stop()
+ self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)
route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
for n in range(num_segs):
p = Path(f"{route_path}--{n}")
logged = {f.name for f in p.iterdir() if f.is_file()}
diff = logged ^ expected_files
- assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+ assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
def test_bootlog(self):
# generate bootlog with fake launch log
@@ -281,3 +295,30 @@ class TestLoggerd:
segment_dir = self._get_latest_log_dir()
assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
+
+ @pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+ @pytest.mark.parametrize("record_front", [True, False])
+ def test_record_front(self, record_front):
+ params = Params()
+ params.put_bool("RecordFront", record_front)
+
+ self._publish_camera_and_audio_messages()
+
+ dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+ assert dcamera_hevc_exists == record_front
+
+ @pytest.mark.xdist_group("camera_encoder_tests") # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+ @pytest.mark.parametrize("record_audio", [True, False])
+ def test_record_audio(self, record_audio):
+ params = Params()
+ params.put_bool("RecordAudio", record_audio)
+
+ self._publish_camera_and_audio_messages()
+
+ qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
+ ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
+ has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
+ assert has_audio_stream == record_audio
+
+ raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))
+ assert raw_audio_in_rlog == record_audio
diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc
index 90b5f1af3d..68e870982f 100644
--- a/system/loggerd/video_writer.cc
+++ b/system/loggerd/video_writer.cc
@@ -50,6 +50,45 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
}
}
+void VideoWriter::initialize_audio(int sample_rate) {
+ assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams
+ const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC);
+ assert(audio_avcodec);
+ this->audio_codec_ctx = avcodec_alloc_context3(audio_avcodec);
+ assert(this->audio_codec_ctx);
+ this->audio_codec_ctx->sample_fmt = AV_SAMPLE_FMT_FLTP;
+ this->audio_codec_ctx->sample_rate = sample_rate;
+ #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100) // FFmpeg 5.1+
+ av_channel_layout_default(&this->audio_codec_ctx->ch_layout, 1);
+ #else
+ this->audio_codec_ctx->channel_layout = AV_CH_LAYOUT_MONO;
+ #endif
+ this->audio_codec_ctx->bit_rate = 32000;
+ this->audio_codec_ctx->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+ this->audio_codec_ctx->time_base = (AVRational){1, audio_codec_ctx->sample_rate};
+ int err = avcodec_open2(this->audio_codec_ctx, audio_avcodec, NULL);
+ assert(err >= 0);
+ av_log_set_level(AV_LOG_WARNING); // hide "QAvg" info msgs at the end of every segment
+
+ this->audio_stream = avformat_new_stream(this->ofmt_ctx, NULL);
+ assert(this->audio_stream);
+ err = avcodec_parameters_from_context(this->audio_stream->codecpar, this->audio_codec_ctx);
+ assert(err >= 0);
+
+ this->audio_frame = av_frame_alloc();
+ assert(this->audio_frame);
+ this->audio_frame->format = this->audio_codec_ctx->sample_fmt;
+ #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100) // FFmpeg 5.1+
+ av_channel_layout_copy(&this->audio_frame->ch_layout, &this->audio_codec_ctx->ch_layout);
+ #else
+ this->audio_frame->channel_layout = this->audio_codec_ctx->channel_layout;
+ #endif
+ this->audio_frame->sample_rate = this->audio_codec_ctx->sample_rate;
+ this->audio_frame->nb_samples = this->audio_codec_ctx->frame_size;
+ err = av_frame_get_buffer(this->audio_frame, 0);
+ assert(err >= 0);
+}
+
void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) {
if (of && data) {
size_t written = util::safe_fwrite(data, 1, len, of);
@@ -67,8 +106,10 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
}
int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
assert(err >= 0);
+ // if there is an audio stream, it must be initialized before this point
err = avformat_write_header(ofmt_ctx, NULL);
assert(err >= 0);
+ header_written = true;
} else {
// input timestamps are in microseconds
AVRational in_timebase = {1, 1000000};
@@ -77,6 +118,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
av_init_packet(&pkt);
pkt.data = data;
pkt.size = len;
+ pkt.stream_index = this->out_stream->index;
enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd);
@@ -95,11 +137,80 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
}
}
+void VideoWriter::write_audio(uint8_t *data, int len, long long timestamp, int sample_rate) {
+ if (!remuxing) return;
+ if (!audio_initialized) {
+ initialize_audio(sample_rate);
+ audio_initialized = true;
+ }
+ if (!audio_codec_ctx) return;
+ // sync logMonoTime of first audio packet with the timestampEof of first video packet
+ if (audio_pts == 0) {
+ audio_pts = (timestamp * audio_codec_ctx->sample_rate) / 1000000ULL;
+ }
+
+ // convert s16le samples to fltp and add to buffer
+ const int16_t *raw_samples = reinterpret_cast(data);
+ int sample_count = len / sizeof(int16_t);
+ constexpr float normalizer = 1.0f / 32768.0f;
+
+ const size_t max_buffer_size = sample_rate * 10; // 10 seconds
+ if (audio_buffer.size() + sample_count > max_buffer_size) {
+ size_t samples_to_drop = (audio_buffer.size() + sample_count) - max_buffer_size;
+ LOGE("Audio buffer overflow, dropping %zu oldest samples", samples_to_drop);
+ audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + samples_to_drop);
+ audio_pts += samples_to_drop;
+ }
+
+ // Add new samples to the buffer
+ const size_t original_size = audio_buffer.size();
+ audio_buffer.resize(original_size + sample_count);
+ std::transform(raw_samples, raw_samples + sample_count, audio_buffer.begin() + original_size,
+ [](int16_t sample) { return sample * normalizer; });
+
+ if (!header_written) return; // header not written yet, process audio frame after header is written
+ while (audio_buffer.size() >= audio_codec_ctx->frame_size) {
+ audio_frame->pts = audio_pts;
+ float *f_samples = reinterpret_cast(audio_frame->data[0]);
+ std::copy(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size, f_samples);
+ audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size);
+ encode_and_write_audio_frame(audio_frame);
+ }
+}
+
+void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) {
+ if (!remuxing || !audio_codec_ctx) return;
+ int send_result = avcodec_send_frame(audio_codec_ctx, frame); // encode frame
+ if (send_result >= 0) {
+ AVPacket *pkt = av_packet_alloc();
+ while (avcodec_receive_packet(audio_codec_ctx, pkt) == 0) {
+ av_packet_rescale_ts(pkt, audio_codec_ctx->time_base, audio_stream->time_base);
+ pkt->stream_index = audio_stream->index;
+
+ int err = av_interleaved_write_frame(ofmt_ctx, pkt); // write encoded frame
+ if (err < 0) {
+ LOGW("AUDIO: Write frame failed - error: %d", err);
+ }
+ av_packet_unref(pkt);
+ }
+ av_packet_free(&pkt);
+ } else {
+ LOGW("AUDIO: Failed to send audio frame to encoder: %d", send_result);
+ }
+ audio_pts += audio_codec_ctx->frame_size;
+}
+
+
VideoWriter::~VideoWriter() {
if (this->remuxing) {
+ if (this->audio_codec_ctx) {
+ encode_and_write_audio_frame(NULL); // flush encoder
+ avcodec_free_context(&this->audio_codec_ctx);
+ }
int err = av_write_trailer(this->ofmt_ctx);
if (err != 0) LOGE("av_write_trailer failed %d", err);
avcodec_free_context(&this->codec_ctx);
+ if (this->audio_frame) av_frame_free(&this->audio_frame);
err = avio_closep(&this->ofmt_ctx->pb);
if (err != 0) LOGE("avio_closep failed %d", err);
avformat_free_context(this->ofmt_ctx);
diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h
index 1aa758b42b..25e6484d58 100644
--- a/system/loggerd/video_writer.h
+++ b/system/loggerd/video_writer.h
@@ -1,6 +1,7 @@
#pragma once
#include
+#include
extern "C" {
#include
@@ -13,13 +14,28 @@ class VideoWriter {
public:
VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
+ void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
+
~VideoWriter();
+
private:
+ void initialize_audio(int sample_rate);
+ void encode_and_write_audio_frame(AVFrame* frame);
+
std::string vid_path, lock_path;
FILE *of = nullptr;
AVCodecContext *codec_ctx;
AVFormatContext *ofmt_ctx;
AVStream *out_stream;
+
+ bool audio_initialized = false;
+ bool header_written = false;
+ AVStream *audio_stream = nullptr;
+ AVCodecContext *audio_codec_ctx = nullptr;
+ AVFrame *audio_frame = nullptr;
+ uint64_t audio_pts = 0;
+ std::deque audio_buffer;
+
bool remuxing;
};
diff --git a/system/manager/manager.py b/system/manager/manager.py
index efabcb1cdc..48b2a63f9f 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -50,24 +50,30 @@ def manager_init() -> None:
("BlindSpot", "0"),
("BlinkerMinLateralControlSpeed", "20"), # MPH or km/h
("BlinkerPauseLateralControl", "0"),
+ ("Brightness", "0"),
+ ("ChevronInfo", "4"),
("CustomAccIncrementsEnabled", "0"),
("CustomAccLongPressIncrement", "5"),
("CustomAccShortPressIncrement", "1"),
("DeviceBootMode", "0"),
+ ("DisableUpdates", "0"),
("DynamicExperimentalControl", "0"),
("HyundaiLongitudinalTuning", "0"),
+ ("InteractivityTimeout", "0"),
("LagdToggle", "1"),
+ ("LagdToggledelay", "0.2"),
("Mads", "1"),
("MadsMainCruiseAllowed", "1"),
("MadsSteeringMode", "0"),
("MadsUnifiedEngagementMode", "1"),
("MapdVersion", f"{VERSION}"),
("MaxTimeOffroad", "1800"),
- ("Brightness", "0"),
("ModelManager_LastSyncTime", "0"),
("ModelManager_ModelsCache", ""),
("NeuralNetworkLateralControl", "0"),
+ ("QuickBootToggle", "0"),
("QuietMode", "0"),
+ ("ShowAdvancedControls", "0" if build_metadata.tested_channel else "1"),
("EnableHkgTuningAngleSmoothingFactor", "1"),
("HkgTuningAngleMinTorqueReductionGain", "10"),
("HkgTuningAngleActiveTorqueReductionGain", "60"),
@@ -105,6 +111,7 @@ def manager_init() -> None:
params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
params.put("GitBranch", build_metadata.channel)
params.put("GitRemote", build_metadata.openpilot.git_origin)
+ params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
params.put_bool("IsTestedBranch", build_metadata.tested_channel)
params.put_bool("IsReleaseBranch", build_metadata.release_channel)
params.put("HardwareSerial", serial)
diff --git a/system/micd.py b/system/micd.py
index 38f3225f55..02ef82390b 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -9,10 +9,10 @@ from openpilot.common.retry import retry
from openpilot.common.swaglog import cloudlog
RATE = 10
-FFT_SAMPLES = 4096
+FFT_SAMPLES = 1600 # 100ms
REFERENCE_SPL = 2e-5 # newtons/m^2
-SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096 # approx 100ms
+SAMPLE_RATE = 16000
+SAMPLE_BUFFER = 800 # 50ms
@cache
@@ -45,7 +45,7 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
class Mic:
def __init__(self):
self.rk = Ratekeeper(RATE)
- self.pm = messaging.PubMaster(['microphone'])
+ self.pm = messaging.PubMaster(['soundPressure', 'rawAudioData'])
self.measurements = np.empty(0)
@@ -61,12 +61,12 @@ class Mic:
sound_pressure_weighted = self.sound_pressure_weighted
sound_pressure_level_weighted = self.sound_pressure_level_weighted
- msg = messaging.new_message('microphone', valid=True)
- msg.microphone.soundPressure = float(sound_pressure)
- msg.microphone.soundPressureWeighted = float(sound_pressure_weighted)
- msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted)
+ msg = messaging.new_message('soundPressure', valid=True)
+ msg.soundPressure.soundPressure = float(sound_pressure)
+ msg.soundPressure.soundPressureWeighted = float(sound_pressure_weighted)
+ msg.soundPressure.soundPressureWeightedDb = float(sound_pressure_level_weighted)
- self.pm.send('microphone', msg)
+ self.pm.send('soundPressure', msg)
self.rk.keep_time()
def callback(self, indata, frames, time, status):
@@ -76,6 +76,12 @@ class Mic:
Logged A-weighted equivalents are rough approximations of the human-perceived loudness.
"""
+ msg = messaging.new_message('rawAudioData', valid=True)
+ audio_data_int_16 = (indata[:, 0] * 32767).astype(np.int16)
+ msg.rawAudioData.data = audio_data_int_16.tobytes()
+ msg.rawAudioData.sampleRate = SAMPLE_RATE
+ self.pm.send('rawAudioData', msg)
+
with self.lock:
self.measurements = np.concatenate((self.measurements, indata[:, 0]))
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
index 7d7b1c2ce1..b9bb9fe3da 100644
--- a/system/sensord/sensors/lsm6ds3_temp.py
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -7,10 +7,10 @@ from openpilot.system.sensord.sensors.i2c_sensor import Sensor
class LSM6DS3_Temp(Sensor):
@property
def device_address(self) -> int:
- return 0x6A # Default I2C address for LSM6DS3
+ return 0x6A
def _read_temperature(self) -> float:
- scale = 16.0 if log.SensorEventData.SensorSource.lsm6ds3 else 256.0
+ scale = 16.0 if self.source == log.SensorEventData.SensorSource.lsm6ds3 else 256.0
data = self.read(0x20, 2)
return 25 + (self.parse_16bit(data[0], data[1]) / scale)
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 2194a4b9d2..e6a03ffbdf 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -136,6 +136,17 @@ class TTYPigeon:
return True
return False
+def save_almanac(pigeon: TTYPigeon) -> None:
+ # store almanac in flash
+ pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
+ try:
+ if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
+ cloudlog.info("Done storing almanac")
+ else:
+ cloudlog.error("Error storing almanac")
+ except TimeoutError:
+ pass
+
def init_baudrate(pigeon: TTYPigeon):
# ublox default setting on startup is 9600 baudrate
pigeon.set_baud(9600)
@@ -245,16 +256,6 @@ def deinitialize_and_exit(pigeon: TTYPigeon | None):
# controlled GNSS stop
pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
- # store almanac in flash
- pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
- try:
- if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
- cloudlog.warning("Done storing almanac")
- else:
- cloudlog.error("Error storing almanac")
- except TimeoutError:
- pass
-
# turn off power and exit cleanly
set_power(False)
sys.exit(0)
@@ -281,6 +282,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
def end_condition():
return True if duration == 0 else time.monotonic() - start_time < duration
+ last_almanac_save = time.monotonic()
while end_condition():
dat = pigeon.receive()
if len(dat) > 0:
@@ -294,6 +296,11 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
msg = messaging.new_message('ubloxRaw', len(dat), valid=True)
msg.ubloxRaw = dat[:]
pm.send('ubloxRaw', msg)
+
+ # save almanac every 5 minutes
+ if (time.monotonic() - last_almanac_save) > 60*5:
+ save_almanac(pigeon)
+ last_almanac_save = time.monotonic()
else:
# prevent locking up a CPU core if ublox disconnects
time.sleep(0.001)
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 805fdcc71f..12d825b99f 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -3,21 +3,27 @@ import cffi
import os
import time
import pyray as rl
+import threading
from collections.abc import Callable
+from collections import deque
from dataclasses import dataclass
from enum import IntEnum
+from typing import NamedTuple
from importlib.resources import as_file, files
from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.realtime import Ratekeeper
-DEFAULT_FPS = 60
+DEFAULT_FPS = int(os.getenv("FPS", "60"))
FPS_LOG_INTERVAL = 5 # Seconds between logging FPS drops
FPS_DROP_THRESHOLD = 0.9 # FPS drop threshold for triggering a warning
FPS_CRITICAL_THRESHOLD = 0.5 # Critical threshold for triggering strict actions
+MOUSE_THREAD_RATE = 140 # touch controller runs at 140Hz
-ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "1") == "1"
-SHOW_FPS = os.getenv("SHOW_FPS") == '1'
-STRICT_MODE = os.getenv("STRICT_MODE") == '1'
+ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
+SHOW_FPS = os.getenv("SHOW_FPS") == "1"
+SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == "1"
+STRICT_MODE = os.getenv("STRICT_MODE") == "1"
SCALE = float(os.getenv("SCALE", "1.0"))
DEFAULT_TEXT_SIZE = 60
@@ -45,6 +51,68 @@ class ModalOverlay:
callback: Callable | None = None
+class MousePos(NamedTuple):
+ x: float
+ y: float
+
+
+class MouseEvent(NamedTuple):
+ pos: MousePos
+ left_pressed: bool
+ left_released: bool
+ left_down: bool
+ t: float
+
+
+class MouseState:
+ def __init__(self):
+ self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE) # bound event list
+ self._prev_mouse_event: MouseEvent | None = None
+
+ self._rk = Ratekeeper(MOUSE_THREAD_RATE)
+ self._lock = threading.Lock()
+ self._exit_event = threading.Event()
+ self._thread = None
+
+ def get_events(self) -> list[MouseEvent]:
+ with self._lock:
+ events = list(self._events)
+ self._events.clear()
+ return events
+
+ def start(self):
+ self._exit_event.clear()
+ if self._thread is None or not self._thread.is_alive():
+ self._thread = threading.Thread(target=self._run_thread, daemon=True)
+ self._thread.start()
+
+ def stop(self):
+ self._exit_event.set()
+ if self._thread is not None and self._thread.is_alive():
+ self._thread.join()
+
+ def _run_thread(self):
+ while not self._exit_event.is_set():
+ rl.poll_input_events()
+ self._handle_mouse_event()
+ self._rk.keep_time()
+
+ def _handle_mouse_event(self):
+ mouse_pos = rl.get_mouse_position()
+ ev = MouseEvent(
+ MousePos(mouse_pos.x, mouse_pos.y),
+ rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT),
+ rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT),
+ rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT),
+ time.monotonic(),
+ )
+ # Only add changes
+ if self._prev_mouse_event is None or ev[:-1] != self._prev_mouse_event[:-1]:
+ with self._lock:
+ self._events.append(ev)
+ self._prev_mouse_event = ev
+
+
class GuiApplication:
def __init__(self, width: int, height: int):
self._fonts: dict[FontWeight, rl.Font] = {}
@@ -61,6 +129,12 @@ class GuiApplication:
self._trace_log_callback = None
self._modal_overlay = ModalOverlay()
+ self._mouse = MouseState()
+ self._mouse_events: list[MouseEvent] = []
+
+ # Debug variables
+ self._mouse_history: deque[MousePos] = deque(maxlen=MOUSE_THREAD_RATE)
+
def request_close(self):
self._window_close_requested = True
@@ -89,6 +163,9 @@ class GuiApplication:
self._set_styles()
self._load_fonts()
+ if not PC:
+ self._mouse.start()
+
def set_modal_overlay(self, overlay, callback: Callable | None = None):
self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)
@@ -149,11 +226,25 @@ class GuiApplication:
rl.unload_render_texture(self._render_texture)
self._render_texture = None
+ if not PC:
+ self._mouse.stop()
+
rl.close_window()
+ @property
+ def mouse_events(self) -> list[MouseEvent]:
+ return self._mouse_events
+
def render(self):
try:
while not (self._window_close_requested or rl.window_should_close()):
+ if PC:
+ # Thread is not used on PC, need to manually add mouse events
+ self._mouse._handle_mouse_event()
+
+ # Store all mouse events for the current frame
+ self._mouse_events = self._mouse.get_events()
+
if self._render_texture:
rl.begin_texture_mode(self._render_texture)
rl.clear_background(rl.BLACK)
@@ -190,6 +281,20 @@ class GuiApplication:
if SHOW_FPS:
rl.draw_fps(10, 10)
+ if SHOW_TOUCHES:
+ for mouse_event in self._mouse_events:
+ if mouse_event.left_pressed:
+ self._mouse_history.clear()
+ self._mouse_history.append(mouse_event.pos)
+
+ if self._mouse_history:
+ mouse_pos = self._mouse_history[-1]
+ rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 15, rl.RED)
+ for idx, mouse_pos in enumerate(self._mouse_history):
+ perc = idx / len(self._mouse_history)
+ color = rl.Color(min(int(255 * (1.5 - perc)), 255), int(min(255 * (perc + 0.5), 255)), 50, 255)
+ rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 5, color)
+
rl.end_drawing()
self._monitor_fps()
except KeyboardInterrupt:
diff --git a/system/ui/lib/list_view.py b/system/ui/lib/list_view.py
index f5581be23e..4b6f434de3 100644
--- a/system/ui/lib/list_view.py
+++ b/system/ui/lib/list_view.py
@@ -2,7 +2,7 @@ import os
import pyray as rl
from collections.abc import Callable
from abc import ABC
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
from openpilot.system.ui.lib.text_measure import measure_text_cached
from openpilot.system.ui.lib.wrap_text import wrap_text
from openpilot.system.ui.lib.button import gui_button, ButtonStyle
@@ -229,7 +229,7 @@ class ListItem(Widget):
super().set_parent_rect(parent_rect)
self._rect.width = parent_rect.width
- def _handle_mouse_release(self, mouse_pos: rl.Vector2):
+ def _handle_mouse_release(self, mouse_pos: MousePos):
if not self.is_visible:
return
diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py
index 32f3b7b575..21b6795a75 100644
--- a/system/ui/lib/scroll_panel.py
+++ b/system/ui/lib/scroll_panel.py
@@ -1,6 +1,8 @@
+import time
import pyray as rl
from collections import deque
from enum import IntEnum
+from openpilot.system.ui.lib.application import gui_app, MouseEvent, MousePos
# Scroll constants for smooth scrolling behavior
MOUSE_WHEEL_SCROLL_SPEED = 30
@@ -38,51 +40,54 @@ class GuiScrollPanel:
self._bounds_rect: rl.Rectangle | None = None
def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
+ # TODO: HACK: this class is driven by mouse events, so we need to ensure we have at least one event to process
+ for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), False, False, False, time.monotonic())]:
+ self._handle_mouse_event(mouse_event, bounds, content)
+ return self._offset
+
+ def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, content: rl.Rectangle):
# Store rectangles for reference
self._content_rect = content
self._bounds_rect = bounds
- # Calculate time delta
- current_time = rl.get_time()
-
- mouse_pos = rl.get_mouse_position()
max_scroll_y = max(content.height - bounds.height, 0)
# Start dragging on mouse press
- if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+ if rl.check_collision_point_rec(mouse_event.pos, bounds) and mouse_event.left_pressed:
if self._scroll_state == ScrollState.IDLE or self._scroll_state == ScrollState.BOUNCING:
self._scroll_state = ScrollState.DRAGGING_CONTENT
if self._show_vertical_scroll_bar:
scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH)
scrollbar_x = bounds.x + bounds.width - scrollbar_width
- if mouse_pos.x >= scrollbar_x:
+ if mouse_event.pos.x >= scrollbar_x:
self._scroll_state = ScrollState.DRAGGING_SCROLLBAR
# TODO: hacky
# when clicking while moving, go straight into dragging
self._is_dragging = abs(self._velocity_y) > MIN_VELOCITY
- self._last_mouse_y = mouse_pos.y
- self._start_mouse_y = mouse_pos.y
- self._last_drag_time = current_time
+ self._last_mouse_y = mouse_event.pos.y
+ self._start_mouse_y = mouse_event.pos.y
+ self._last_drag_time = mouse_event.t
self._velocity_history.clear()
self._velocity_y = 0.0
self._bounce_offset = 0.0
# Handle active dragging
if self._scroll_state == ScrollState.DRAGGING_CONTENT or self._scroll_state == ScrollState.DRAGGING_SCROLLBAR:
- if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
- delta_y = mouse_pos.y - self._last_mouse_y
+ if mouse_event.left_down:
+ delta_y = mouse_event.pos.y - self._last_mouse_y
# Track velocity for inertia
- time_since_last_drag = current_time - self._last_drag_time
+ time_since_last_drag = mouse_event.t - self._last_drag_time
if time_since_last_drag > 0:
- drag_velocity = delta_y / time_since_last_drag / 60.0
+ # TODO: HACK: /2 since we usually get two touch events per frame
+ drag_velocity = delta_y / time_since_last_drag / 60.0 / 2 # TODO: shouldn't be hardcoded
self._velocity_history.append(drag_velocity)
- self._last_drag_time = current_time
+ self._last_drag_time = mouse_event.t
# Detect actual dragging
- total_drag = abs(mouse_pos.y - self._start_mouse_y)
+ total_drag = abs(mouse_event.pos.y - self._start_mouse_y)
if total_drag > DRAG_THRESHOLD:
self._is_dragging = True
@@ -96,9 +101,9 @@ class GuiScrollPanel:
scroll_ratio = content.height / bounds.height
self._offset.y -= delta_y * scroll_ratio
- self._last_mouse_y = mouse_pos.y
+ self._last_mouse_y = mouse_event.pos.y
- elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+ elif mouse_event.left_released:
# Calculate flick velocity
if self._velocity_history:
total_weight = 0
@@ -167,8 +172,6 @@ class GuiScrollPanel:
elif self._offset.y < -(max_scroll_y + MAX_BOUNCE_DISTANCE):
self._offset.y = -(max_scroll_y + MAX_BOUNCE_DISTANCE)
- return self._offset
-
def is_touch_valid(self):
return not self._is_dragging
diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py
index 8ed9a655ec..2edf2ff11c 100644
--- a/system/ui/lib/toggle.py
+++ b/system/ui/lib/toggle.py
@@ -1,4 +1,5 @@
import pyray as rl
+from openpilot.system.ui.lib.application import MousePos
from openpilot.system.ui.lib.widget import Widget
ON_COLOR = rl.Color(51, 171, 76, 255)
@@ -23,7 +24,7 @@ class Toggle(Widget):
def set_rect(self, rect: rl.Rectangle):
self._rect = rl.Rectangle(rect.x, rect.y, WIDTH, HEIGHT)
- def _handle_mouse_release(self, mouse_pos: rl.Vector2):
+ def _handle_mouse_release(self, mouse_pos: MousePos):
if not self._enabled:
return
diff --git a/system/ui/lib/widget.py b/system/ui/lib/widget.py
index 3539f5594b..7a436b8e9f 100644
--- a/system/ui/lib/widget.py
+++ b/system/ui/lib/widget.py
@@ -2,6 +2,7 @@ import abc
import pyray as rl
from enum import IntEnum
from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, MousePos
class DialogResult(IntEnum):
@@ -66,18 +67,18 @@ class Widget(abc.ABC):
ret = self._render(self._rect)
# Keep track of whether mouse down started within the widget's rectangle
- mouse_pos = rl.get_mouse_position()
- if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._touch_valid():
- if rl.check_collision_point_rec(mouse_pos, self._rect):
- self._is_pressed = True
+ for mouse_event in gui_app.mouse_events:
+ if mouse_event.left_pressed and self._touch_valid():
+ if rl.check_collision_point_rec(mouse_event.pos, self._rect):
+ self._is_pressed = True
- elif not self._touch_valid():
- self._is_pressed = False
+ elif not self._touch_valid():
+ self._is_pressed = False
- elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
- if self._is_pressed and rl.check_collision_point_rec(mouse_pos, self._rect):
- self._handle_mouse_release(mouse_pos)
- self._is_pressed = False
+ elif mouse_event.left_released:
+ if self._is_pressed and rl.check_collision_point_rec(mouse_event.pos, self._rect):
+ self._handle_mouse_release(mouse_event.pos)
+ self._is_pressed = False
return ret
@@ -91,6 +92,6 @@ class Widget(abc.ABC):
def _update_layout_rects(self) -> None:
"""Optionally update any layout rects on Widget rect change."""
- def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+ def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
"""Optionally handle mouse release events."""
return False
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index dd08b66373..75d1bdbfd3 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -204,7 +204,7 @@ class WifiManager:
'connection': {
'type': Variant('s', '802-11-wireless'),
'uuid': Variant('s', str(uuid.uuid4())),
- 'id': Variant('s', ssid),
+ 'id': Variant('s', f'openpilot connection {ssid}'),
'autoconnect-retries': Variant('i', 0),
},
'802-11-wireless': {
@@ -212,7 +212,10 @@ class WifiManager:
'hidden': Variant('b', is_hidden),
'mode': Variant('s', 'infrastructure'),
},
- 'ipv4': {'method': Variant('s', 'auto')},
+ 'ipv4': {
+ 'method': Variant('s', 'auto'),
+ 'dns-priority': Variant('i', 600),
+ },
'ipv6': {'method': Variant('s', 'ignore')},
}
diff --git a/system/version.py b/system/version.py
index 11c6ced2b7..6e4d0fb42d 100755
--- a/system/version.py
+++ b/system/version.py
@@ -117,9 +117,13 @@ class BuildMetadata:
def master_channel(self) -> bool:
return self.channel in MASTER_SP_BRANCHES
+ @property
+ def development_channel(self) -> bool:
+ return self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
+
@property
def channel_type(self) -> str:
- if self.channel.startswith("dev-"):
+ if self.development_channel:
return "development"
elif self.channel.startswith("staging-"):
return "staging"
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index 39431eca10..b90cbd93b0 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -198,15 +198,12 @@ def maybe_update_radar_points(lt, lid_overlay):
ar_pts = {}
for track in lt:
ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel]
- for ids, pt in ar_pts.items():
+ for pt in ar_pts.values():
# negative here since radar is left positive
px, py = to_topdown_pt(pt[0], -pt[1])
if px != -1:
- color = 255
- if int(ids) == 1:
- lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
- else:
- lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+ lid_overlay[px - 4:px + 4, py - 4:py + 4] = 0
+ lid_overlay[px - 2:px + 2, py - 2:py + 2] = 255
def get_blank_lid_overlay(UP):
lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
diff --git a/tools/scripts/extract_audio.py b/tools/scripts/extract_audio.py
new file mode 100755
index 0000000000..2a6ad9f9e3
--- /dev/null
+++ b/tools/scripts/extract_audio.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+import os
+import sys
+import wave
+import argparse
+import numpy as np
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def extract_audio(route_or_segment_name, output_file=None, play=False):
+ lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
+ audio_messages = list(lr.filter("rawAudioData"))
+ if not audio_messages:
+ print("No rawAudioData messages found in logs")
+ return
+ sample_rate = audio_messages[0].sampleRate
+
+ audio_chunks = []
+ total_frames = 0
+ for msg in audio_messages:
+ audio_array = np.frombuffer(msg.data, dtype=np.int16)
+ audio_chunks.append(audio_array)
+ total_frames += len(audio_array)
+ full_audio = np.concatenate(audio_chunks)
+
+ print(f"Found {total_frames} frames from {len(audio_messages)} audio messages at {sample_rate} Hz")
+
+ if output_file:
+ if write_wav_file(output_file, full_audio, sample_rate):
+ print(f"Audio written to {output_file}")
+ else:
+ print("Audio extraction canceled.")
+ if play:
+ play_audio(full_audio, sample_rate)
+
+
+def write_wav_file(filename, audio_data, sample_rate):
+ if os.path.exists(filename):
+ if input(f"File '{filename}' exists. Overwrite? (y/N): ").lower() not in ['y', 'yes']:
+ return False
+
+ with wave.open(filename, 'wb') as wav_file:
+ wav_file.setnchannels(1) # Mono
+ wav_file.setsampwidth(2) # 16-bit
+ wav_file.setframerate(sample_rate)
+ wav_file.writeframes(audio_data.tobytes())
+ return True
+
+
+def play_audio(audio_data, sample_rate):
+ try:
+ import sounddevice as sd
+
+ print("Playing audio... Press Ctrl+C to stop")
+ sd.play(audio_data, sample_rate)
+ sd.wait()
+ except KeyboardInterrupt:
+ print("\nPlayback stopped")
+
+
+if __name__ == "__main__":
+ parser = argparse.ArgumentParser(description="Extract audio data from openpilot logs")
+ parser.add_argument("-o", "--output", help="Output WAV file path")
+ parser.add_argument("--play", action="store_true", help="Play audio with sounddevice")
+ parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name")
+
+ if len(sys.argv) == 1:
+ parser.print_help()
+ sys.exit()
+ args = parser.parse_args()
+
+ output_file = args.output
+ if not args.output and not args.play:
+ output_file = "extracted_audio.wav"
+
+ extract_audio(args.route_or_segment_name.strip(), output_file, args.play)
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index 45f9379038..7926766c6f 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -11,7 +11,14 @@ class Camera:
self.stream_type = stream_type
self.cur_frame_id = 0
+ print(f"Opening {cam_type_state} at {camera_id}")
+
self.cap = cv.VideoCapture(camera_id)
+
+ self.cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280.0)
+ self.cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720.0)
+ self.cap.set(cv.CAP_PROP_FPS, 25.0)
+
self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
@@ -25,6 +32,8 @@ class Camera:
ret, frame = self.cap.read()
if not ret:
break
+ # Rotate the frame 180 degrees (flip both axes)
+ frame = cv.flip(frame, -1)
yuv = Camera.bgr2nv12(frame)
yield yuv.data.tobytes()
self.cap.release()
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index cb096dc00b..f1e70d948a 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import threading
import os
+import platform
from collections import namedtuple
from msgq.visionipc import VisionIpcServer, VisionStreamType
@@ -30,8 +31,7 @@ class Camerad:
self.cameras = []
for c in CAMERAS:
- cam_device = f"/dev/video{c.cam_id}"
- print(f"opening {c.msg_name} at {cam_device}")
+ cam_device = f"/dev/video{c.cam_id}" if platform.system() != "Darwin" else c.cam_id
cam = Camera(c.msg_name, c.stream_type, cam_device)
self.cameras.append(cam)
self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
diff --git a/uv.lock b/uv.lock
index 530db4ec9d..7cd67d7959 100644
--- a/uv.lock
+++ b/uv.lock
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-toml = [
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-
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name = "crcmod"
version = "1.7"
@@ -511,7 +474,7 @@ version = "0.2"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "python-xlib", marker = "sys_platform == 'linux'" },
- { name = "typing-extensions" },
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dependencies = [
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- { name = "farama-notifications" },
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@@ -1300,13 +1259,11 @@ docs = [
]
testing = [
{ name = "codespell" },
- { name = "coverage" },
{ name = "hypothesis" },
{ name = "mypy" },
{ name = "pre-commit-hooks" },
{ name = "pytest" },
{ name = "pytest-asyncio" },
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{ name = "pytest-cpp" },
{ name = "pytest-mock" },
{ name = "pytest-randomly" },
@@ -1331,7 +1288,6 @@ requires-dist = [
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{ name = "cffi" },
{ name = "codespell", marker = "extra == 'testing'" },
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{ name = "crcmod" },
{ name = "cython" },
{ name = "dbus-next", marker = "extra == 'dev'" },
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{ name = "pytest-asyncio", marker = "extra == 'testing'" },
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version = "0.13"
source = { registry = "https://pypi.org/simple" }
dependencies = [
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