diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml deleted file mode 100644 index aeb0f11d84..0000000000 --- a/.github/workflows/prebuilt.yaml +++ /dev/null @@ -1,39 +0,0 @@ -name: prebuilt -on: - schedule: - - cron: '0 * * * *' - workflow_dispatch: - -env: - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: release/ci/docker_build_sp.sh - -jobs: - build_prebuilt: - name: build prebuilt - runs-on: ubuntu-latest - if: github.repository == 'sunnypilot/sunnypilot' - env: - PUSH_IMAGE: true - permissions: - checks: read - contents: read - packages: write - steps: - - name: Wait for green check mark - if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc - with: - ref: master - wait-interval: 30 - running-workflow-name: 'build prebuilt' - repo-token: ${{ secrets.GITHUB_TOKEN }} - check-regexp: ^((?!.*(build master-ci|create badges).*).)*$ - - uses: actions/checkout@v6 - with: - submodules: true - - run: git lfs pull - - name: Build and Push docker image - run: | - $DOCKER_LOGIN - eval "$BUILD" diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py index e2ea81d1f5..be2883d718 100644 --- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py +++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py @@ -43,7 +43,7 @@ class ModelsLayout(Widget): self._initialize_items() self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB") - for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]: + for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay"), (self.camera_offset, "CameraOffset")]: ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100)) self._scroller = Scroller(self.items, line_separator=True, spacing=0) @@ -93,9 +93,14 @@ class ModelsLayout(Widget): self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle") + self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35, + tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"), + 1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, + lambda v: f"{v / 100:.2f} m") + self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label, - self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle, - self.lane_turn_value_control, self.lagd_toggle, self.delay_control] + self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item, + self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset] def _update_lagd_description(self, lagd_toggle: bool): desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " + @@ -232,6 +237,7 @@ class ModelsLayout(Widget): advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls") turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire") live_delay: bool = ui_state.params.get_bool("LagdToggle") + camera_offset: bool = ui_state.params.get("ModelManager_ActiveBundle") is not None self.lane_turn_desire_toggle.action_item.set_state(turn_desire) self.lane_turn_value_control.set_visible(turn_desire and advanced_controls) @@ -240,6 +246,7 @@ class ModelsLayout(Widget): new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100 if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step: self.lane_turn_value_control.action_item.value_change_step = new_step + self.camera_offset.set_visible(camera_offset) self._update_lagd_description(live_delay) self.model_manager = ui_state.sm["modelManagerSP"] diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py index 65e157bdbc..f3ed0fc07b 100644 --- a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py +++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py @@ -151,8 +151,8 @@ class SmartCruiseControlMap: a = 0.5 * TARGET_JERK b = self.a_ego c = self.v_ego - tv - t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a - t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a + t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / (2 * a) + t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / (2 * a) if not isinstance(t_a, complex) and t_a > 0: t = t_a else: diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py index 3b16c59bb5..dc27447c0b 100644 --- a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py +++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py @@ -4,13 +4,17 @@ 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. """ +import json +import math import platform +import pytest + from openpilot.cereal import custom from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET -from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap +from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import R, SmartCruiseControlMap MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState @@ -55,4 +59,17 @@ class TestSmartCruiseControlMap: self.scc_m.update(True, False, 0., 0., 0.) assert self.scc_m.state == VisionState.enabled + def test_moderate_curve(self): + # Regression: `... / 2 * a` parsed as `(.../2)*a` instead of `.../(2*a)`, + # making max_d ~11x too small so the moderate-curve branch never tripped. + # v_ego=25, a_ego=0, tv=24: fixed max_dā‰ˆ45m vs buggy ā‰ˆ4m at a 40m waypoint. + waypoint_lon_deg = (40.0 / R) * (180.0 / math.pi) + self.mem_params.put("LastGPSPosition", json.dumps({"latitude": 0.0, "longitude": 0.0}), block=True) + self.mem_params.put("MapTargetVelocities", + json.dumps([{"latitude": 0.0, "longitude": waypoint_lon_deg, "velocity": 24.0}]), block=True) + + self.scc_m.update(True, False, 25.0, 0.0, 30.0) + + assert self.scc_m.v_target == pytest.approx(24.0) + # TODO-SP: mock data from modelV2 to test other states diff --git a/release/ci/docker_build_sp.sh b/release/ci/docker_build_sp.sh deleted file mode 100755 index 369daf5233..0000000000 --- a/release/ci/docker_build_sp.sh +++ /dev/null @@ -1,30 +0,0 @@ -#!/usr/bin/env bash -set -e - -SCRIPT_DIR=$(dirname "$0") -OPENPILOT_DIR=$SCRIPT_DIR/../../ - -DOCKER_IMAGE=sunnypilot -DOCKER_FILE=Dockerfile.openpilot -DOCKER_REGISTRY=ghcr.io/sunnypilot -COMMIT_SHA=$(git rev-parse HEAD) - -if [ -n "$TARGET_ARCHITECTURE" ]; then - PLATFORM="linux/$TARGET_ARCHITECTURE" - TAG_SUFFIX="-$TARGET_ARCHITECTURE" -else - PLATFORM="linux/$(uname -m)" - TAG_SUFFIX="" -fi - -LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX -REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG -REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA - -DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR - -if [ -n "$PUSH_IMAGE" ]; then - docker push $REMOTE_TAG - docker tag $REMOTE_TAG $REMOTE_SHA_TAG - docker push $REMOTE_SHA_TAG -fi