mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-22 17:43:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master-new' into mads-new

Browse Source 
# Conflicts:
#	cereal/car.capnp
#	cereal/car.capnp~HEAD
#	opendbc_repo
#	panda
This commit is contained in:
Jason Wen
2024-11-11 08:23:13 -05:00
parent 6a74dc253b c05191949a
commit 90a1ff46b4
183 changed files with 4174 additions and 3371 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/selfdrive_tests.yaml
+49 -17
View File
@@ -41,14 +41,19 @@ jobs:
- uses: actions/checkout@v4
with:
submodules: true
- run: git lfs pull
- name: Getting LFS files
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
with:
timeout_minutes: 2
max_attempts: 3
command: git lfs pull
- name: Build devel
timeout-minutes: 1
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
- uses: ./.github/workflows/setup-with-retry
- name: Check submodules
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
timeout-minutes: 1
timeout-minutes: 3
run: release/check-submodules.sh
- name: Build openpilot and run checks
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -56,7 +61,7 @@ jobs:
cd $STRIPPED_DIR
${{ env.RUN }} "python3 system/manager/build.py"
- name: Run tests
timeout-minutes: 3
timeout-minutes: 1
run: |
cd $STRIPPED_DIR
${{ env.RUN }} "release/check-dirty.sh && \
@@ -76,7 +81,9 @@ jobs:
((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
'ubuntu-latest'}}
steps:
- uses: actions/checkout@v4
with:
@@ -144,11 +151,12 @@ jobs:
PYTHONWARNINGS: default
steps:
- uses: actions/checkout@v4
- name: Setup
run: tools/op.sh setup
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Static analysis
timeout-minutes: 1
run: tools/op.sh lint
run: ${{ env.RUN }} "scripts/lint/lint.sh"
unit_tests:
name: unit tests
@@ -222,14 +230,8 @@ jobs:
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
# PYTHONWARNINGS triggers a SyntaxError in onnxruntime
- name: Run model replay with ONNX
timeout-minutes: 4
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && \
ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
coverage combine && coverage xml"
- name: Run regen
if: false
timeout-minutes: 4
run: |
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
@@ -333,24 +335,54 @@ jobs:
comment_id: ${{ steps.fc.outputs.comment-id }}
})
simulator_driving:
name: simulator driving
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Driving test
timeout-minutes: 1
run: |
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
create_ui_report:
# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
name: Create UI Report
runs-on: ubuntu-latest
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: caching frames
id: frames-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Create Test Report
timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
run: >
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
source selfdrive/test/setup_xvfb.sh &&
python3 selfdrive/ui/tests/test_ui/run.py"
CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
chmod -R 777 /tmp/comma_download_cache"
- name: Upload Test Report
uses: actions/upload-artifact@v4
with:
name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
path: selfdrive/ui/tests/test_ui/report_1/screenshots
.github/workflows/tools_tests.yaml
-18
View File
@@ -25,24 +25,6 @@ env:
jobs:
simulator_driving:
name: simulator driving
runs-on: ubuntu-latest
timeout-minutes: 20
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run bridge test
run: |
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
devcontainer:
name: devcontainer
runs-on: ubuntu-latest
.github/workflows/ui_preview.yaml
+6 -15
View File
@@ -52,7 +52,7 @@ jobs:
github_token: ${{ secrets.GITHUB_TOKEN }}
run_id: ${{ steps.get_run_id.outputs.run_id }}
search_artifacts: true
name: report-${{ env.REPORT_NAME }}
name: report-1-${{ env.REPORT_NAME }}
path: ${{ github.workspace }}/pr_ui
- name: Getting master ui
@@ -84,26 +84,24 @@ jobs:
run: >-
sudo apt-get install -y imagemagick
scenes="homescreen settings_device settings_toggles offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
scenes="homescreen settings_device settings_toggles settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard"
A=($scenes)
DIFF=""
open=false
TABLE="<summary>All Screenshots</summary>"
TABLE="<details><summary>All Screenshots</summary>"
TABLE="${TABLE}<table>"
for ((i=0; i<${#A[*]}; i=i+1));
do
if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
open=true
convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
DIFF="${DIFF}<details>"
DIFF="${DIFF}<details open>"
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
DIFF="${DIFF}<table>"
@@ -133,14 +131,7 @@ jobs:
fi
done
TABLE="${TABLE}</table>"
TABLE="${TABLE}</details>"
if $open; then
TABLE="<details open>${TABLE}"
else
TABLE="<details>${TABLE}"
fi
TABLE="${TABLE}</table></details>"
echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
.gitignore
-3
View File
@@ -55,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out
selfdrive/car/tests/cars_dump
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/
notebooks
hyperthneed
.gitmodules
+6 -6
View File
@@ -1,18 +1,18 @@
[submodule "panda"]
path = panda
url = ../../commaai/panda.git
url = https://github.com/sunnyhaibin/panda.git
[submodule "opendbc"]
path = opendbc_repo
url = ../../commaai/opendbc.git
url = https://github.com/sunnypilot/opendbc.git
[submodule "msgq"]
path = msgq_repo
url = ../../commaai/msgq.git
url = https://github.com/sunnypilot/msgq.git
[submodule "rednose_repo"]
path = rednose_repo
url = ../../commaai/rednose.git
url = https://github.com/commaai/rednose.git
[submodule "teleoprtc_repo"]
path = teleoprtc_repo
url = ../../commaai/teleoprtc
url = https://github.com/commaai/teleoprtc
[submodule "tinygrad"]
path = tinygrad_repo
url = https://github.com/commaai/tinygrad.git
url = https://github.com/tinygrad/tinygrad.git
Jenkinsfile
Vendored
+89 -38
View File
@@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
def device(String ip, String step_label, String cmd) {
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
def ssh_cmd = """
ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
set -e
export TERM=xterm-256color
shopt -s huponexit # kill all child processes when the shell exits
export CI=1
@@ -25,6 +27,8 @@ export TEST_DIR=${env.TEST_DIR}
export SOURCE_DIR=${env.SOURCE_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
export GIT_COMMIT=${env.GIT_COMMIT}
export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
export AZURE_TOKEN='${env.AZURE_TOKEN}'
# only use 1 thread for tici tests since most require HIL
export PYTEST_ADDOPTS="-n 0"
@@ -63,8 +67,6 @@ ln -snf ${env.TEST_DIR} /data/pythonpath
cd ${env.TEST_DIR} || true
${cmd}
exit 0
END"""
sh script: ssh_cmd, label: step_label
@@ -79,15 +81,32 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
def extra = extra_env.collect { "export ${it}" }.join('\n');
def branch = env.BRANCH_NAME ?: 'master';
def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
timeout(time: 35, unit: 'MINUTES') {
retry (3) {
def date = sh(script: 'date', returnStdout: true).trim();
device(device_ip, "set time", "date -s '" + date + "'")
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
}
steps.each { item ->
device(device_ip, item[0], item[1])
def name = item[0]
def cmd = item[1]
def args = item[2]
def diffPaths = args.diffPaths ?: []
def cmdTimeout = args.timeout ?: 9999
if (branch != "master" && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
println "Skipping ${name}: no changes in ${diffPaths}."
return
} else {
timeout(time: cmdTimeout, unit: 'SECONDS') {
device(device_ip, name, cmd)
}
}
}
}
}
@@ -95,14 +114,38 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
}
}
def hasPathChanged(String gitDiff, List<String> paths) {
for (path in paths) {
if (gitDiff.contains(path)) {
return true
}
}
return false
}
def setupCredentials() {
withCredentials([
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
]) {
env.AZURE_TOKEN = "${AZURE_TOKEN}"
}
withCredentials([
string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
]) {
env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
}
withCredentials([
string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
]) {
env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
}
}
def step(String name, String cmd, Map args = [:]) {
return [name, cmd, args]
}
node {
env.CI = "1"
@@ -127,14 +170,23 @@ node {
try {
if (env.BRANCH_NAME == 'devel-staging') {
deviceStage("build release3-staging", "tici-needs-can", [], [
["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
])
}
if (env.BRANCH_NAME == 'master-ci') {
deviceStage("build nightly", "tici-needs-can", [], [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
parallel (
'nightly': {
deviceStage("build nightly", "tici-needs-can", [], [
step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
])
},
'nightly-dev': {
deviceStage("build nightly-dev", "tici-needs-can", [], [
step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
])
},
)
}
if (!env.BRANCH_NAME.matches(excludeRegex)) {
@@ -144,65 +196,64 @@ node {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
step("build openpilot", "cd system/manager && ./build.py"),
step("check dirty", "release/check-dirty.sh"),
step("onroad tests", "pytest selfdrive/test/test_onroad.py -s"),
//["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
["test manager", "pytest system/manager/test/test_manager.py"],
step("build", "cd system/manager && ./build.py"),
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
step("test manager", "pytest system/manager/test/test_manager.py"),
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
step("build openpilot", "cd system/manager && ./build.py"),
step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
step("build", "cd system/manager && ./build.py"),
step("test camerad", "pytest system/camerad/test/test_camerad.py"),
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
step("build", "cd system/manager && ./build.py"),
step("test camerad", "pytest system/camerad/test/test_camerad.py"),
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
step("build", "cd system/manager && ./build.py"),
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
step("build", "cd system/manager && ./build.py"),
step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/"]]),
step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/"]]),
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
step("build openpilot", "cd system/manager && ./build.py"),
step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda/", "selfdrive/pandad/"]]),
step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"),
])
},
LICENSE.md
+21
View File
@@ -0,0 +1,21 @@
# Custom MIT License
Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
"This software is licensed under a custom license requiring permission for use."
3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
"This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
4. **No Warranty**: 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.
Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
---
Haibin Wen, SUNNYPILOT LLC
RELEASES.md
+5 -1
View File
@@ -1,6 +1,10 @@
Version 0.9.8 (2024-XX-XX)
========================
* New Tomb Raider driving model
* New driving model
* Trained in brand new ML simulator
* Model now gates applying positive accel in Chill mode
* New driving monitoring model
* Reduced false positives related to passengers
* Added toggle to enable driver monitoring even when openpilot is not engaged
* New Toyota TSS2 longitudinal tune
SConstruct
+4
View File
@@ -64,6 +64,10 @@ AddOption('--pc-thneed',
dest='pc_thneed',
help='use thneed on pc')
AddOption('--mutation',
action='store_true',
help='generate mutation-ready code')
AddOption('--minimal',
action='store_false',
dest='extras',
cereal/car.capnp
-726
View File
@@ -1,726 +0,0 @@
using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x8e2af1e708af8b8d;
# ******* events causing controls state machine transition *******
# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately
# move due to being referenced by structs in this file
struct OnroadEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
permanent @8 :Bool; # alerts presented regardless of openpilot state
overrideLateral @10 :Bool;
overrideLongitudinal @9 :Bool;
enum EventName @0xbaa8c5d505f727de {
canError @0;
steerUnavailable @1;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
buttonCancel @11;
buttonEnable @12;
pedalPressed @13; # exits active state
preEnableStandstill @73; # added during pre-enable state with brake
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
steerOverride @114;
cruiseDisabled @14;
speedTooLow @17;
outOfSpace @18;
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
calibrationRecalibrating @117;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
radarFault @26;
brakeHold @28;
parkBrake @29;
manualRestart @30;
lowSpeedLockout @31;
joystickDebug @34;
longitudinalManeuver @124;
steerTempUnavailableSilent @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
lowBattery @48;
accFaulted @51;
sensorDataInvalid @52;
commIssue @53;
commIssueAvgFreq @109;
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
invalidLkasSetting @69;
speedTooHigh @70;
laneChangeBlocked @71;
relayMalfunction @72;
stockFcw @74;
startup @75;
startupNoCar @76;
startupNoControl @77;
startupMaster @78;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
noGps @85;
wrongCruiseMode @87;
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
cameraFrameRate @110;
processNotRunning @95;
dashcamMode @96;
selfdriveInitializing @98;
usbError @99;
cruiseMismatch @106;
lkasDisabled @107;
canBusMissing @111;
selfdrivedLagging @112;
resumeBlocked @113;
steerTimeLimit @115;
vehicleSensorsInvalid @116;
locationdTemporaryError @103;
locationdPermanentError @118;
paramsdTemporaryError @50;
paramsdPermanentError @119;
actuatorsApiUnavailable @120;
espActive @121;
personalityChanged @122;
aeb @123;
# sunnypilot
manualSteeringRequired @125;
manualLongitudinalRequired @126;
silentPedalPressed @127;
silentButtonEnable @128;
silentBrakeHold @129;
silentWrongGear @130;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
radarCommIssueDEPRECATED @67;
driverMonitorLowAccDEPRECATED @68;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
modelCommIssueDEPRECATED @27;
ipasOverrideDEPRECATED @33;
geofenceDEPRECATED @40;
driverMonitorOnDEPRECATED @41;
driverMonitorOffDEPRECATED @42;
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
internetConnectivityNeededDEPRECATED @61;
whitePandaUnsupportedDEPRECATED @81;
commIssueWarningDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
neosUpdateRequiredDEPRECATED @88;
modelLagWarningDEPRECATED @93;
startupOneplusDEPRECATED @82;
startupFuzzyFingerprintDEPRECATED @97;
noTargetDEPRECATED @25;
brakeUnavailableDEPRECATED @2;
plannerErrorDEPRECATED @32;
gpsMalfunctionDEPRECATED @94;
roadCameraErrorDEPRECATED @100;
driverCameraErrorDEPRECATED @101;
wideRoadCameraErrorDEPRECATED @102;
highCpuUsageDEPRECATED @105;
startupNoFwDEPRECATED @104;
}
}
# ******* main car state @ 100hz *******
# all speeds in m/s
struct CarState {
events @13 :List(OnroadEvent);
# CAN health
canValid @26 :Bool; # invalid counter/checksums
canTimeout @40 :Bool; # CAN bus dropped out
canErrorCounter @48 :UInt32;
# car speed
vEgo @1 :Float32; # best estimate of speed
aEgo @16 :Float32; # best estimate of aCAN cceleration
vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
vCruise @53 :Float32; # actual set speed
vCruiseCluster @54 :Float32; # set speed to display in the UI
yawRate @22 :Float32; # best estimate of yaw rate
standstill @18 :Bool;
wheelSpeeds @2 :WheelSpeeds;
# gas pedal, 0.0-1.0
gas @3 :Float32; # this is user pedal only
gasPressed @4 :Bool; # this is user pedal only
engineRpm @46 :Float32;
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
regenBraking @45 :Bool; # this is user pedal only
parkingBrake @39 :Bool;
brakeHoldActive @38 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
steeringRateDeg @15 :Float32;
steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel
steerFaultTemporary @35 :Bool; # temporary EPS fault
steerFaultPermanent @36 :Bool; # permanent EPS fault
stockAeb @30 :Bool;
stockFcw @31 :Bool;
espDisabled @32 :Bool;
accFaulted @42 :Bool;
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
espActive @51 :Bool;
vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc.
# cruise state
cruiseState @10 :CruiseState;
# gear
gearShifter @14 :GearShifter;
# button presses
buttonEvents @11 :List(ButtonEvent);
leftBlinker @20 :Bool;
rightBlinker @21 :Bool;
genericToggle @23 :Bool;
# lock info
doorOpen @24 :Bool;
seatbeltUnlatched @25 :Bool;
# clutch (manual transmission only)
clutchPressed @28 :Bool;
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
charging @43 :Bool;
# process meta
cumLagMs @50 :Float32;
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
fr @1 :Float32;
rl @2 :Float32;
rr @3 :Float32;
}
struct CruiseState {
enabled @0 :Bool;
speed @1 :Float32;
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
available @2 :Bool;
speedOffset @3 :Float32;
standstill @4 :Bool;
nonAdaptive @5 :Bool;
}
enum GearShifter {
unknown @0;
park @1;
drive @2;
neutral @3;
reverse @4;
sport @5;
low @6;
brake @7;
eco @8;
manumatic @9;
}
# send on change
struct ButtonEvent {
pressed @0 :Bool;
type @1 :Type;
enum Type {
unknown @0;
leftBlinker @1;
rightBlinker @2;
accelCruise @3;
decelCruise @4;
cancel @5;
altButton1 @6;
altButton2 @7;
altButton3 @8;
setCruise @9;
resumeCruise @10;
gapAdjustCruise @11;
}
}
# deprecated
errorsDEPRECATED @0 :List(OnroadEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64);
canRcvTimeoutDEPRECATED @49 :Bool;
}
# ******* radar state @ 20hz *******
struct RadarData @0x888ad6581cf0aacb {
errors @0 :List(Error);
points @1 :List(RadarPoint);
enum Error {
canError @0;
fault @1;
wrongConfig @2;
}
# similar to LiveTracks
# is one timestamp valid for all? I think so
struct RadarPoint {
trackId @0 :UInt64; # no trackId reuse
# these 3 are the minimum required
dRel @1 :Float32; # m from the front bumper of the car
yRel @2 :Float32; # m
vRel @3 :Float32; # m/s
# these are optional and valid if they are not NaN
aRel @4 :Float32; # m/s^2
yvRel @5 :Float32; # m/s
# some radars flag measurements VS estimates
measured @6 :Bool;
}
# deprecated
canMonoTimesDEPRECATED @2 :List(UInt64);
}
# ******* car controls @ 100hz *******
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
latActive @11: Bool;
longActive @12: Bool;
# Final actuator commands
actuators @6 :Actuators;
# Blinker controls
leftBlinker @15: Bool;
rightBlinker @16: Bool;
orientationNED @13 :List(Float32);
angularVelocity @14 :List(Float32);
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
struct Actuators {
# lateral commands, mutually exclusive
steer @2: Float32; # [0.0, 1.0]
steeringAngleDeg @3: Float32;
curvature @7: Float32;
# longitudinal commands
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;
# these are only for logging the actual values sent to the car over CAN
gas @0: Float32; # [0.0, 1.0]
brake @1: Float32; # [0.0, 1.0]
steerOutputCan @8: Float32; # value sent over can to the car
speed @6: Float32; # m/s
enum LongControlState @0xe40f3a917d908282{
off @0;
pid @1;
stopping @2;
starting @3;
}
}
struct CruiseControl {
cancel @0: Bool;
resume @1: Bool;
override @4: Bool;
speedOverrideDEPRECATED @2: Float32;
accelOverrideDEPRECATED @3: Float32;
}
struct HUDControl {
speedVisible @0: Bool;
setSpeed @1: Float32;
lanesVisible @2: Bool;
leadVisible @3: Bool;
visualAlert @4: VisualAlert;
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
enum VisualAlert {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
fcw @1;
steerRequired @2;
brakePressed @3;
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
ldw @7;
}
enum AudibleAlert {
none @0;
engage @1;
disengage @2;
refuse @3;
warningSoft @4;
warningImmediate @5;
prompt @6;
promptRepeat @7;
promptDistracted @8;
}
}
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
activeDEPRECATED @7 :Bool;
rollDEPRECATED @8 :Float32;
pitchDEPRECATED @9 :Float32;
actuatorsOutputDEPRECATED @10 :Actuators;
}
struct CarOutput {
# Any car specific rate limits or quirks applied by
# the CarController are reflected in actuatorsOutput
# and matches what is sent to the car
actuatorsOutput @0 :CarControl.Actuators;
}
# ****** car param ******
struct CarParams {
carName @0 :Text;
carFingerprint @1 :Text;
fuzzyFingerprint @55 :Bool;
notCar @66 :Bool; # flag for non-car robotics platforms
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
enableDsu @5 :Bool; # driving support unit
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
experimentalLongitudinalAvailable @71 :Bool;
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
safetyConfigs @62 :List(SafetyConfig);
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
# Car docs fields
maxLateralAccel @68 :Float32;
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
# things about the car in the manual
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
# things we can derive
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indiDEPRECATED @27 :LateralINDITuning;
lqrDEPRECATED @40 :LateralLQRTuning;
torque @67 :LateralTorqueTuning;
}
steerLimitAlert @28 :Bool;
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
steerControlType @34 :SteerControlType;
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
startAccel @32 :Float32; # Required acceleration to get car moving
startingState @70 :Bool; # Does this car make use of special starting state
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
dashcamOnly @41: Bool;
passive @73: Bool; # is openpilot in control?
transmissionType @43 :TransmissionType;
carFw @44 :List(CarFw);
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
radarDelay @74 :Float32;
fingerprintSource @49: FingerprintSource;
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
struct SafetyConfig {
safetyModel @0 :SafetyModel;
safetyParam @3 :UInt16;
safetyParamDEPRECATED @1 :Int16;
spFlags @2 :UInt32; # flags for car specific quirks in sunnypilot
}
struct LateralParams {
torqueBP @0 :List(Int32);
torqueV @1 :List(Int32);
}
struct LateralPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @4 :Float32;
}
struct LateralTorqueTuning {
useSteeringAngle @0 :Bool;
kp @1 :Float32;
ki @2 :Float32;
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
}
struct LongitudinalPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
deadzoneBPDEPRECATED @4 :List(Float32);
deadzoneVDEPRECATED @5 :List(Float32);
}
struct LateralINDITuning {
outerLoopGainBP @4 :List(Float32);
outerLoopGainV @5 :List(Float32);
innerLoopGainBP @6 :List(Float32);
innerLoopGainV @7 :List(Float32);
timeConstantBP @8 :List(Float32);
timeConstantV @9 :List(Float32);
actuatorEffectivenessBP @10 :List(Float32);
actuatorEffectivenessV @11 :List(Float32);
outerLoopGainDEPRECATED @0 :Float32;
innerLoopGainDEPRECATED @1 :Float32;
timeConstantDEPRECATED @2 :Float32;
actuatorEffectivenessDEPRECATED @3 :Float32;
}
struct LateralLQRTuning {
scale @0 :Float32;
ki @1 :Float32;
dcGain @2 :Float32;
# State space system
a @3 :List(Float32);
b @4 :List(Float32);
c @5 :List(Float32);
k @6 :List(Float32); # LQR gain
l @7 :List(Float32); # Kalman gain
}
enum SafetyModel {
silent @0;
hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
gmPassive @12;
mazda @13;
nissan @14;
volkswagen @15;
toyotaIpas @16;
allOutput @17;
gmAscm @18;
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
subaruPreglobal @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
volkswagenMlb @25;
hongqi @26;
body @27;
hyundaiCanfd @28;
volkswagenMqbEvo @29;
chryslerCusw @30;
psa @31;
fcaGiorgio @32;
}
enum SteerControlType {
torque @0;
angle @1;
curvatureDEPRECATED @2;
}
enum TransmissionType {
unknown @0;
automatic @1; # Traditional auto, including DSG
manual @2; # True "stick shift" only
direct @3; # Electric vehicle or other direct drive
cvt @4;
}
struct CarFw {
ecu @0 :Ecu;
fwVersion @1 :Data;
address @2 :UInt32;
subAddress @3 :UInt8;
responseAddress @4 :UInt32;
request @5 :List(Data);
brand @6 :Text;
bus @7 :UInt8;
logging @8 :Bool;
obdMultiplexing @9 :Bool;
}
enum Ecu {
eps @0;
abs @1;
fwdRadar @2;
fwdCamera @3;
engine @4;
unknown @5;
transmission @8; # Transmission Control Module
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
srs @9; # airbag
gateway @10; # can gateway
hud @11; # heads up display
combinationMeter @12; # instrument cluster
electricBrakeBooster @15;
shiftByWire @16;
adas @19;
cornerRadar @21;
hvac @20;
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
epb @22; # electronic parking brake
telematics @23;
body @24; # body control module
# Toyota only
dsu @6;
# Honda only
vsa @13; # Vehicle Stability Assist
programmedFuelInjection @14;
debug @17;
}
enum FingerprintSource {
can @0;
fw @1;
fixed @2;
}
enum NetworkLocation {
fwdCamera @0; # Standard/default integration at LKAS camera
gateway @1; # Integration at vehicle's CAN gateway
}
enableGasInterceptorDEPRECATED @2 :Bool;
enableCameraDEPRECATED @4 :Bool;
enableApgsDEPRECATED @6 :Bool;
steerRateCostDEPRECATED @33 :Float32;
isPandaBlackDEPRECATED @39 :Bool;
hasStockCameraDEPRECATED @57 :Bool;
safetyParamDEPRECATED @10 :Int16;
safetyModelDEPRECATED @9 :SafetyModel;
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
minSpeedCanDEPRECATED @51 :Float32;
communityFeatureDEPRECATED @46: Bool;
startingAccelRateDEPRECATED @53 :Float32;
steerMaxBPDEPRECATED @11 :List(Float32);
steerMaxVDEPRECATED @12 :List(Float32);
gasMaxBPDEPRECATED @13 :List(Float32);
gasMaxVDEPRECATED @14 :List(Float32);
brakeMaxBPDEPRECATED @15 :List(Float32);
brakeMaxVDEPRECATED @16 :List(Float32);
directAccelControlDEPRECATED @30 :Bool;
maxSteeringAngleDegDEPRECATED @54 :Float32;
longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
}
cereal/car.capnp
Symlink
+1
View File
@@ -0,0 +1 @@
../opendbc_repo/opendbc/car/car.capnp
cereal/log.capnp
+120 -5
View File
@@ -17,6 +17,119 @@ struct Map(Key, Value) {
}
}
struct OnroadEvent @0xc4fa6047f024e718 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
permanent @8 :Bool; # alerts presented regardless of openpilot state
overrideLateral @10 :Bool;
overrideLongitudinal @9 :Bool;
enum EventName @0x91f1992a1f77fb03 {
canError @0;
steerUnavailable @1;
wrongGear @2;
doorOpen @3;
seatbeltNotLatched @4;
espDisabled @5;
wrongCarMode @6;
steerTempUnavailable @7;
reverseGear @8;
buttonCancel @9;
buttonEnable @10;
pedalPressed @11; # exits active state
preEnableStandstill @12; # added during pre-enable state with brake
gasPressedOverride @13; # added when user is pressing gas with no disengage on gas
steerOverride @14;
cruiseDisabled @15;
speedTooLow @16;
outOfSpace @17;
overheat @18;
calibrationIncomplete @19;
calibrationInvalid @20;
calibrationRecalibrating @21;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
radarFault @25;
brakeHold @26;
parkBrake @27;
manualRestart @28;
joystickDebug @29;
longitudinalManeuver @30;
steerTempUnavailableSilent @31;
resumeRequired @32;
preDriverDistracted @33;
promptDriverDistracted @34;
driverDistracted @35;
preDriverUnresponsive @36;
promptDriverUnresponsive @37;
driverUnresponsive @38;
belowSteerSpeed @39;
lowBattery @40;
accFaulted @41;
sensorDataInvalid @42;
commIssue @43;
commIssueAvgFreq @44;
tooDistracted @45;
posenetInvalid @46;
preLaneChangeLeft @48;
preLaneChangeRight @49;
laneChange @50;
lowMemory @51;
stockAeb @52;
ldw @53;
carUnrecognized @54;
invalidLkasSetting @55;
speedTooHigh @56;
laneChangeBlocked @57;
relayMalfunction @58;
stockFcw @59;
startup @60;
startupNoCar @61;
startupNoControl @62;
startupNoSecOcKey @63;
startupMaster @64;
fcw @65;
steerSaturated @66;
belowEngageSpeed @67;
noGps @68;
wrongCruiseMode @69;
modeldLagging @70;
deviceFalling @71;
fanMalfunction @72;
cameraMalfunction @73;
cameraFrameRate @74;
processNotRunning @75;
dashcamMode @76;
selfdriveInitializing @77;
usbError @78;
cruiseMismatch @79;
canBusMissing @80;
selfdrivedLagging @81;
resumeBlocked @82;
steerTimeLimit @83;
vehicleSensorsInvalid @84;
locationdTemporaryError @85;
locationdPermanentError @86;
paramsdTemporaryError @87;
paramsdPermanentError @88;
actuatorsApiUnavailable @89;
espActive @90;
personalityChanged @91;
aeb @92;
soundsUnavailableDEPRECATED @47;
}
}
enum LongitudinalPersonality {
aggressive @0;
standard @1;
@@ -731,7 +844,6 @@ struct ControlsState @0x97ff69c53601abf1 {
lateralPlanMonoTime @50 :UInt64;
longControlState @30 :Car.CarControl.Actuators.LongControlState;
vTargetLead @3 :Float32;
upAccelCmd @4 :Float32;
uiAccelCmd @5 :Float32;
ufAccelCmd @33 :Float32;
@@ -740,7 +852,6 @@ struct ControlsState @0x97ff69c53601abf1 {
forceDecel @51 :Bool;
lateralControlState :union {
indiState @52 :LateralINDIState;
pidState @53 :LateralPIDState;
angleState @58 :LateralAngleState;
debugState @59 :LateralDebugState;
@@ -748,6 +859,7 @@ struct ControlsState @0x97ff69c53601abf1 {
curvatureStateDEPRECATED @65 :LateralCurvatureState;
lqrStateDEPRECATED @55 :LateralLQRState;
indiStateDEPRECATED @52 :LateralINDIState;
}
struct LateralINDIState {
@@ -881,6 +993,7 @@ struct ControlsState @0x97ff69c53601abf1 {
startMonoTimeDEPRECATED @48 :UInt64;
cumLagMsDEPRECATED @15 :Float32;
aTargetDEPRECATED @35 :Float32;
vTargetLeadDEPRECATED @3 :Float32;
}
struct DrivingModelData {
@@ -1157,7 +1270,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
radarValidDEPRECATED @28 :Bool;
radarCanErrorDEPRECATED @30 :Bool;
commIssueDEPRECATED @31 :Bool;
eventsDEPRECATED @13 :List(Car.OnroadEvent);
eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
gpsPlannerActiveDEPRECATED @19 :Bool;
personalityDEPRECATED @36 :LongitudinalPersonality;
@@ -2072,7 +2185,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
}
struct DriverMonitoringState @0xb83cda094a1da284 {
events @0 :List(Car.OnroadEvent);
events @18 :List(OnroadEvent);
faceDetected @1 :Bool;
isDistracted @2 :Bool;
distractedType @17 :UInt32;
@@ -2091,6 +2204,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
isPreviewDEPRECATED @15 :Bool;
rhdCheckedDEPRECATED @5 :Bool;
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
}
struct Boot {
@@ -2369,7 +2483,7 @@ struct Event {
liveTorqueParameters @94 :LiveTorqueParametersData;
cameraOdometry @63 :CameraOdometry;
thumbnail @66: Thumbnail;
onroadEvents @68: List(Car.OnroadEvent);
onroadEvents @134: List(OnroadEvent);
carParams @69: Car.CarParams;
driverMonitoringState @71: DriverMonitoringState;
livePose @129 :LivePose;
@@ -2484,5 +2598,6 @@ struct Event {
uiPlanDEPRECATED @106 :UiPlan;
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
}
}
cereal/messaging/msgq_to_zmq.cc
+2 -1
View File
@@ -48,11 +48,12 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
for (auto sub_sock : msgq_poller->poll(100)) {
// Process messages for each socket
ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
if (!msg) break;
while (sub2pub[sub_sock]->sendMessage(msg.get()) == -1) {
while (pub_sock->sendMessage(msg.get()) == -1) {
if (errno != EINTR) break;
}
}
common/params.cc
+1
View File
@@ -182,6 +182,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"PrimeType", PERSISTENT},
{"RecordFront", PERSISTENT},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"SecOCKey", PERSISTENT | DONT_LOG},
{"RouteCount", PERSISTENT},
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
{"SshEnabled", PERSISTENT},
conftest.py
+13
View File
@@ -8,6 +8,19 @@ from openpilot.common.prefix import OpenpilotPrefix
from openpilot.system.manager import manager
from openpilot.system.hardware import TICI, HARDWARE
# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
# pending https://github.com/pytest-dev/pytest-cpp/pull/147
collect_ignore = [
"selfdrive/ui/tests/test_translations",
"selfdrive/test/process_replay/test_processes.py",
"selfdrive/test/process_replay/test_regen.py",
"selfdrive/test/test_time_to_onroad.py",
]
collect_ignore_glob = [
"selfdrive/debug/*.py",
"selfdrive/modeld/*.py",
]
def pytest_sessionstart(session):
# TODO: fix tests and enable test order randomization
docs/CARS.md
+4 -4
View File
@@ -30,7 +30,7 @@ A supported vehicle is one that just works when you install a comma device. All
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
@@ -68,7 +68,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -184,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="10.1"
export AGNOS_VERSION="11.2"
fi
export STAGING_ROOT="/data/safe_staging"
msgq_repo
+1 -1
Submodule msgq_repo updated: cdcf84f44a...3e17f865bb
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 3a658e0939...66502f3d05
panda
+1 -1
Submodule panda updated: 546f43f094...9c62b7ffd9
pyproject.toml
+2 -9
View File
@@ -1,6 +1,6 @@
[project]
name = "openpilot"
requires-python = ">= 3.11"
requires-python = ">= 3.11, <= 3.12"
license = {text = "MIT License"}
version = "0.1.0"
description = "an open source driver assistance system"
@@ -148,14 +148,7 @@ markers = [
]
testpaths = [
"common",
"selfdrive/pandad",
"selfdrive/car",
"selfdrive/opcar",
"selfdrive/controls",
"selfdrive/locationd",
"selfdrive/monitoring",
"selfdrive/test/longitudinal_maneuvers",
"selfdrive/test/process_replay/test_fuzzy.py",
"selfdrive",
"system/updated",
"system/athena",
"system/camerad",
release/build_release.sh
+7 -2
View File
@@ -50,8 +50,13 @@ git commit -a -m "openpilot v$VERSION release"
export PYTHONPATH="$BUILD_DIR"
scons -j$(nproc) --minimal
# release panda fw
CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
if [ -z "$PANDA_DEBUG_BUILD" ]; then
# release panda fw
CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
else
# build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
scons -j$(nproc) panda/
fi
# Ensure no submodules in release
if test "$(git submodule--helper list | wc -l)" -gt "0"; then
scripts/lint/check_nomerge_comments.sh
Executable
+10
View File
@@ -0,0 +1,10 @@
#!/usr/bin/env bash
FAIL=0
if grep -n '\(#\|//\)\([[:space:]]*\)NOMERGE' $@; then
echo -e "NOMERGE comments found! Remove them before merging\n"
FAIL=1
fi
exit $FAIL
scripts/lint/lint.sh
+1
View File
@@ -52,6 +52,7 @@ function run_tests() {
run "check_added_large_files" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
if [[ -z "$FAST" ]]; then
run "mypy" mypy $PYTHON_FILES
selfdrive/car/car_specific.py
+49 -54
View File
@@ -1,15 +1,17 @@
from cereal import car
from collections import deque
from cereal import car, log
import cereal.messaging as messaging
from opendbc.car import DT_CTRL, structs
from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
from opendbc.car.interfaces import MAX_CTRL_SPEED
from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
from openpilot.selfdrive.selfdrived.events import Events
ButtonType = structs.CarState.ButtonEvent.Type
GearShifter = structs.CarState.GearShifter
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
NetworkLocation = structs.CarParams.NetworkLocation
@@ -37,132 +39,121 @@ class CarSpecificEvents:
self.no_steer_warning = False
self.silent_steer_warning = True
def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
if self.CP.carName in ('body', 'mock'):
events = Events()
elif self.CP.carName == 'subaru':
events = self.create_common_events(CS.out, CS_prev)
elif self.CP.carName in ('subaru', 'mazda'):
events = self.create_common_events(CS, CS_prev)
elif self.CP.carName == 'ford':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
elif self.CP.carName == 'nissan':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
if CS.lkas_enabled: # type: ignore[attr-defined]
events.add(EventName.invalidLkasSetting)
elif self.CP.carName == 'mazda':
events = self.create_common_events(CS.out, CS_prev)
if CS.lkas_disabled: # type: ignore[attr-defined]
events.add(EventName.lkasDisabled)
elif CS.low_speed_alert: # type: ignore[attr-defined]
events.add(EventName.belowSteerSpeed)
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
elif self.CP.carName == 'chrysler':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
elif self.CP.carName == 'honda':
events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
events = self.create_common_events(CS, CS_prev, pcm_enable=False)
if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if self.CP.pcmCruise:
# we engage when pcm is active (rising edge)
if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
if CS.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
events.add(EventName.manualRestart)
elif self.CP.carName == 'toyota':
events = self.create_common_events(CS.out, CS_prev)
events = self.create_common_events(CS, CS_prev)
if self.CP.openpilotLongitudinalControl:
if CS.out.cruiseState.standstill and not CS.out.brakePressed:
if CS.cruiseState.standstill and not CS.brakePressed:
events.add(EventName.resumeRequired)
if CS.low_speed_lockout: # type: ignore[attr-defined]
events.add(EventName.lowSpeedLockout)
if CS.out.vEgo < self.CP.minEnableSpeed:
if CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if CC_prev.actuators.accel > 0.3:
if CC.actuators.accel > 0.3:
# some margin on the actuator to not false trigger cancellation while stopping
events.add(EventName.speedTooLow)
if CS.out.vEgo < 0.001:
if CS.vEgo < 0.001:
# while in standstill, send a user alert
events.add(EventName.manualRestart)
elif self.CP.carName == 'gm':
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
events.add(EventName.buttonEnable)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward # type: ignore[attr-defined]
if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if CS.out.cruiseState.standstill:
if CS.cruiseState.standstill:
events.add(EventName.resumeRequired)
if CS.out.vEgo < self.CP.minSteerSpeed:
if CS.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
elif self.CP.carName == 'volkswagen':
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=not self.CP.openpilotLongitudinalControl,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
# Low speed steer alert hysteresis logic
if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True
elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
if self.CP.openpilotLongitudinalControl:
if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined]
events.add(EventName.steerTimeLimit)
# TODO: this needs to be implemented generically in carState struct
# if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined]
# events.add(EventName.steerTimeLimit)
elif self.CP.carName == 'hyundai':
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons) # type: ignore[attr-defined]
events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
if CS.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
@@ -213,6 +204,10 @@ class CarSpecificEvents:
events.add(EventName.gasPressedOverride)
if CS.vehicleSensorsInvalid:
events.add(EventName.vehicleSensorsInvalid)
if CS.invalidLkasSetting:
events.add(EventName.invalidLkasSetting)
if CS.lowSpeedAlert:
events.add(EventName.belowSteerSpeed)
# Handle button presses
for b in CS.buttonEvents:
selfdrive/car/card.py
+29 -53
View File
@@ -5,7 +5,7 @@ import threading
import cereal.messaging as messaging
from cereal import car
from cereal import car, log
from panda import ALTERNATIVE_EXPERIENCE
@@ -20,13 +20,11 @@ from opendbc.car.car_helpers import get_car, get_radar_interface
from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
from openpilot.selfdrive.car.cruise import VCruiseHelper
from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
from openpilot.selfdrive.selfdrived.events import Events, ET
from openpilot.selfdrive.car.car_specific import MockCarState
REPLAY = "REPLAY" in os.environ
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
# forward
carlog.addHandler(ForwardingHandler(cloudlog))
@@ -64,8 +62,7 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
class Car:
CI: CarInterfaceBase
RI: RadarInterfaceBase
CP: structs.CarParams
CP_capnp: car.CarParams
CP: car.CarParams
def __init__(self, CI=None, RI=None) -> None:
self.can_sock = messaging.sub_sock('can', timeout=20)
@@ -75,7 +72,6 @@ class Car:
self.can_rcv_cum_timeout_counter = 0
self.CC_prev = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()
self.initialized_prev = False
self.last_actuators_output = structs.CarControl.Actuators()
@@ -99,7 +95,7 @@ class Car:
cached_params_raw = self.params.get("CarParamsCache")
if cached_params_raw is not None:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
cached_params = _cached_params
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
self.RI = get_radar_interface(self.CI.CP)
@@ -112,9 +108,9 @@ class Car:
self.RI = RI
# set alternative experiences from parameters
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not self.disengage_on_accelerator:
if not disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# mads
@@ -137,22 +133,29 @@ class Car:
safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
secoc_key = self.params.get("SecOCKey", encoding='utf8')
if secoc_key is not None:
saved_secoc_key = bytes.fromhex(secoc_key.strip())
if len(saved_secoc_key) == 16:
self.CP.secOcKeyAvailable = True
self.CI.CS.secoc_key = saved_secoc_key
if controller_available:
self.CI.CC.secoc_key = saved_secoc_key
else:
cloudlog.warning("Saved SecOC key is invalid")
# Write previous route's CarParams
prev_cp = self.params.get("CarParamsPersistent")
if prev_cp is not None:
self.params.put("CarParamsPrevRoute", prev_cp)
# Write CarParams for controls and radard
# convert to pycapnp representation for caching and logging
self.CP_capnp = convert_to_capnp(self.CP)
cp_bytes = self.CP_capnp.to_bytes()
cp_bytes = self.CP.to_bytes()
self.params.put("CarParams", cp_bytes)
self.params.put_nonblocking("CarParamsCache", cp_bytes)
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
self.events = Events()
self.car_events = CarSpecificEvents(self.CP)
self.mock_carstate = MockCarState()
self.v_cruise_helper = VCruiseHelper(self.CP)
@@ -162,19 +165,19 @@ class Car:
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
"""carState update loop, driven by can"""
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
can_list = can_capnp_to_list(can_strs)
# Update carState from CAN
CS = convert_to_capnp(self.CI.update(can_list))
CS = self.CI.update(can_list)
if self.CP.carName == 'mock':
CS = self.mock_carstate.update(CS)
# Update radar tracks from CAN
RD: structs.RadarData | None = self.RI.update(can_list)
RD: structs.RadarDataT | None = self.RI.update(can_list)
self.sm.update(0)
@@ -194,44 +197,20 @@ class Car:
return CS, RD
def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
self.events.clear()
CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
self.events.add_from_msg(CS.events)
if self.CP.notCar:
# wait for everything to init first
if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
# body always wants to enable
self.events.add(EventName.pcmEnable)
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
(CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
self.events.add(EventName.pedalPressed)
if RD is not None and len(RD.errors):
self.events.add(EventName.radarFault)
CS.events = self.events.to_msg()
def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
"""carState and carParams publish loop"""
# carParams - logged every 50 seconds (> 1 per segment)
if self.sm.frame % int(50. / DT_CTRL) == 0:
cp_send = messaging.new_message('carParams')
cp_send.valid = True
cp_send.carParams = self.CP_capnp
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# publish new carOutput
co_send = messaging.new_message('carOutput')
co_send.valid = self.sm.all_checks(['carControl'])
co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output)
co_send.carOutput.actuatorsOutput = self.last_actuators_output
self.pm.send('carOutput', co_send)
# kick off controlsd step while we actuate the latest carControl packet
@@ -245,7 +224,7 @@ class Car:
if RD is not None:
tracks_msg = messaging.new_message('liveTracks')
tracks_msg.valid = len(RD.errors) == 0
tracks_msg.liveTracks = convert_to_capnp(RD)
tracks_msg.liveTracks = RD
self.pm.send('liveTracks', tracks_msg)
def controls_update(self, CS: car.CarState, CC: car.CarControl):
@@ -264,7 +243,7 @@ class Car:
if self.sm.all_alive(['carControl']):
# send car controls over can
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos)
self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
self.CC_prev = CC
@@ -272,9 +251,7 @@ class Car:
def step(self):
CS, RD = self.state_update()
self.update_events(CS, RD)
if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
self.state_publish(CS, RD)
@@ -285,7 +262,6 @@ class Car:
self.controls_update(CS, self.sm['carControl'])
self.initialized_prev = initialized
self.CS_prev = CS.as_reader()
def params_thread(self, evt):
while not evt.is_set():
selfdrive/car/helpers.py
-74
View File
@@ -1,74 +0,0 @@
import capnp
from typing import Any
from cereal import car
from opendbc.car import structs
_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS
def is_dataclass(obj):
"""Similar to dataclasses.is_dataclass without instance type check checking"""
return hasattr(obj, _FIELDS)
def _asdictref_inner(obj) -> dict[str, Any] | Any:
if is_dataclass(obj):
ret = {}
for field in getattr(obj, _FIELDS): # similar to dataclasses.fields()
ret[field] = _asdictref_inner(getattr(obj, field))
return ret
elif isinstance(obj, (tuple, list)):
return type(obj)(_asdictref_inner(v) for v in obj)
else:
return obj
def asdictref(obj) -> dict[str, Any]:
"""
Similar to dataclasses.asdict without recursive type checking and copy.deepcopy
Note that the resulting dict will contain references to the original struct as a result
"""
if not is_dataclass(obj):
raise TypeError("asdictref() should be called on dataclass instances")
return _asdictref_inner(obj)
def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
struct_dict = asdictref(struct)
if isinstance(struct, structs.CarParams):
del struct_dict['lateralTuning']
struct_capnp = car.CarParams.new_message(**struct_dict)
# this is the only union, special handling
which = struct.lateralTuning.which()
struct_capnp.lateralTuning.init(which)
lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which))
setattr(struct_capnp.lateralTuning, which, lateralTuning_dict)
elif isinstance(struct, structs.CarState):
struct_capnp = car.CarState.new_message(**struct_dict)
elif isinstance(struct, structs.CarControl.Actuators):
struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
elif isinstance(struct, structs.RadarData):
struct_capnp = car.RadarData.new_message(**struct_dict)
else:
raise ValueError(f"Unsupported struct type: {type(struct)}")
return struct_capnp
def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl:
# TODO: recursively handle any car struct as needed
def remove_deprecated(s: dict) -> dict:
return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')}
struct_dict = struct.to_dict()
struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {})))
struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {})))
struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {})))
return struct_dataclass
selfdrive/car/tests/test_car_interfaces.py
+7 -8
View File
@@ -12,7 +12,6 @@ from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
from opendbc.car.fingerprints import all_known_cars
from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
from opendbc.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.card import convert_carControl, convert_to_capnp
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -41,6 +40,7 @@ class TestCarInterfaces:
car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
experimental_long=args['experimental_long'], docs=False)
car_params = car_params.as_reader()
car_interface = CarInterface(car_params, CarController, CarState)
assert car_params
assert car_interface
@@ -72,7 +72,7 @@ class TestCarInterfaces:
# Run car interface
now_nanos = 0
CC = car.CarControl.new_message(**cc_msg)
CC = convert_carControl(CC.as_reader())
CC = CC.as_reader()
for _ in range(10):
car_interface.update([])
car_interface.apply(CC, now_nanos)
@@ -80,7 +80,7 @@ class TestCarInterfaces:
CC = car.CarControl.new_message(**cc_msg)
CC.enabled = True
CC = convert_carControl(CC.as_reader())
CC = CC.as_reader()
for _ in range(10):
car_interface.update([])
car_interface.apply(CC, now_nanos)
@@ -89,11 +89,10 @@ class TestCarInterfaces:
# Test controller initialization
# TODO: wait until card refactor is merged to run controller a few times,
# hypothesis also slows down significantly with just one more message draw
car_params_capnp = convert_to_capnp(car_params).as_reader()
LongControl(car_params_capnp)
LongControl(car_params)
if car_params.steerControlType == CarParams.SteerControlType.angle:
LatControlAngle(car_params_capnp, car_interface)
LatControlAngle(car_params, car_interface)
elif car_params.lateralTuning.which() == 'pid':
LatControlPID(car_params_capnp, car_interface)
LatControlPID(car_params, car_interface)
elif car_params.lateralTuning.which() == 'torque':
LatControlTorque(car_params_capnp, car_interface)
LatControlTorque(car_params, car_interface)
selfdrive/car/tests/test_models.py
+22 -47
View File
@@ -1,12 +1,9 @@
import capnp
import copy
import dataclasses
import os
import pytest
import random
import unittest # noqa: TID251
from collections import defaultdict, Counter
from functools import partial
import hypothesis.strategies as st
from hypothesis import Phase, given, settings
from parameterized import parameterized_class
@@ -20,16 +17,17 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
from opendbc.car.values import Platform
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
from openpilot.selfdrive.car.card import Car, convert_to_capnp
from openpilot.selfdrive.selfdrived.events import ET
from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
from openpilot.selfdrive.pandad import can_capnp_to_list
from openpilot.selfdrive.test.helpers import read_segment_list
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
from openpilot.tools.lib.logreader import LogReader, auto_source, internal_source, openpilotci_source, openpilotci_source_zst
from openpilot.tools.lib.logreader import LogReader, LogsUnavailable
from openpilot.tools.lib.route import SegmentName
from panda.tests.libpanda import libpanda_py
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
PandaType = log.PandaState.PandaType
SafetyModel = car.CarParams.SafetyModel
@@ -69,7 +67,6 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
class TestCarModelBase(unittest.TestCase):
platform: Platform | None = None
test_route: CarTestRoute | None = None
test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket
can_msgs: list[capnp.lib.capnp._DynamicStructReader]
fingerprint: dict[int, dict[int, int]]
@@ -96,7 +93,7 @@ class TestCarModelBase(unittest.TestCase):
car_fw = msg.carParams.carFw
if msg.carParams.openpilotLongitudinalControl:
experimental_long = True
if cls.platform is None and not cls.test_route_on_bucket:
if cls.platform is None:
live_fingerprint = msg.carParams.carFingerprint
cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -116,10 +113,8 @@ class TestCarModelBase(unittest.TestCase):
(SafetyModel.elm327, SafetyModel.noOutput):
cls.car_safety_mode_frame = len(can_msgs)
if len(can_msgs) > int(50 / DT_CTRL):
return car_fw, can_msgs, experimental_long
raise Exception("no can data found")
assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
return car_fw, can_msgs, experimental_long
@classmethod
def get_testing_data(cls):
@@ -127,31 +122,15 @@ class TestCarModelBase(unittest.TestCase):
if cls.test_route.segment is not None:
test_segs = (cls.test_route.segment,)
is_internal = len(INTERNAL_SEG_LIST)
for seg in test_segs:
segment_range = f"{cls.test_route.route}/{seg}"
try:
source = partial(auto_source, sources=[internal_source] if is_internal else [openpilotci_source, openpilotci_source_zst])
lr = LogReader(segment_range, source=source)
lr = LogReader(segment_range)
return cls.get_testing_data_from_logreader(lr)
except Exception:
except (LogsUnavailable, AssertionError):
pass
# Route is not in CI bucket, assume either user has access (private), or it is public
# test_route_on_ci_bucket will fail when running in CI
if not is_internal:
cls.test_route_on_bucket = False
for seg in test_segs:
segment_range = f"{cls.test_route.route}/{seg}"
try:
lr = LogReader(segment_range)
return cls.get_testing_data_from_logreader(lr)
except Exception:
pass
raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
@@ -185,7 +164,7 @@ class TestCarModelBase(unittest.TestCase):
del cls.can_msgs
def setUp(self):
self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState)
self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
assert self.CI
Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
@@ -193,7 +172,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: check safetyModel is in release panda build
self.safety = libpanda_py.libpanda
cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(self.CP.safetyConfigs[-1]))
cfg = self.CP.safetyConfigs[-1]
set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
self.safety.init_tests()
@@ -218,7 +197,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: also check for checksum violations from can parser
can_invalid_cnt = 0
can_valid = False
CC = structs.CarControl()
CC = structs.CarControl().as_reader()
for i, msg in enumerate(self.can_msgs):
CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),)))
@@ -310,17 +289,17 @@ class TestCarModelBase(unittest.TestCase):
# Make sure we can send all messages while inactive
CC = structs.CarControl()
test_car_controller(CC)
test_car_controller(CC.as_reader())
# Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
self.safety.set_cruise_engaged_prev(True)
CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
test_car_controller(CC)
test_car_controller(CC.as_reader())
# Test resume + general messages (controls_allowed=True & cruise_engaged=True)
self.safety.set_controls_allowed(True)
CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
test_car_controller(CC)
test_car_controller(CC.as_reader())
# Skip stdout/stderr capture with pytest, causes elevated memory usage
@pytest.mark.nocapture
@@ -404,9 +383,10 @@ class TestCarModelBase(unittest.TestCase):
controls_allowed_prev = False
CS_prev = car.CarState.new_message()
checks = defaultdict(int)
card = Car(CI=self.CI)
selfdrived = SelfdriveD(CP=self.CP)
selfdrived.initialized = True
for idx, can in enumerate(self.can_msgs):
CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
for msg in filter(lambda m: m.src in range(64), can.can):
to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
ret = self.safety.safety_rx_hook(to_send)
@@ -449,10 +429,10 @@ class TestCarModelBase(unittest.TestCase):
checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
else:
# Check for enable events on rising edge of controls allowed
card.update_events(CS, None)
card.CS_prev = CS
button_enable = (any(evt.enable for evt in CS.events) and
not any(evt == EventName.pedalPressed for evt in card.events.names))
selfdrived.update_events(CS)
selfdrived.CS_prev = CS
button_enable = (selfdrived.events.contains(ET.ENABLE) and
EventName.pedalPressed not in selfdrived.events.names)
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
checks['controlsAllowed'] += mismatch
controls_allowed_prev = self.safety.get_controls_allowed()
@@ -467,11 +447,6 @@ class TestCarModelBase(unittest.TestCase):
failed_checks = {k: v for k, v in checks.items() if v > 0}
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
@unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
def test_route_on_ci_bucket(self):
self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
"This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
@parameterized_class(('platform', 'test_route'), get_test_cases())
@pytest.mark.xdist_group_class_property('test_route')
selfdrive/controls/controlsd.py
+1 -1
View File
@@ -90,7 +90,7 @@ class Controls:
CC.enabled = self.sm['selfdriveState'].enabled
# Check which actuators can be enabled
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
CC.latActive = CC.latActive or (self.sm['selfdriveStateSP'].mads.enabled and self.sm['selfdriveStateSP'].mads.available)
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+3 -1
View File
@@ -347,7 +347,8 @@ class LongitudinalMpc:
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
self.params[:,0] = ACCEL_MIN
self.params[:,1] = self.max_a
# negative accel constraint causes problems because negative speed is not allowed
self.params[:,1] = max(0.0, self.max_a)
# Update in ACC mode or ACC/e2e blend
if self.mode == 'acc':
@@ -356,6 +357,7 @@ class LongitudinalMpc:
# Fake an obstacle for cruise, this ensures smooth acceleration to set speed
# when the leads are no factor.
v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
# TODO does this make sense when max_a is negative?
v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
v_lower,
selfdrive/controls/lib/longitudinal_planner.py
+31 -5
View File
@@ -21,6 +21,8 @@ A_CRUISE_MIN = -1.2
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
ALLOW_THROTTLE_THRESHOLD = 0.5
MIN_ALLOW_THROTTLE_SPEED = 2.5
# Lookup table for turns
_A_TOTAL_MAX_V = [1.7, 3.2]
@@ -30,6 +32,9 @@ _A_TOTAL_MAX_BP = [20., 40.]
def get_max_accel(v_ego):
return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
def get_coast_accel(pitch):
return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
"""
@@ -51,7 +56,10 @@ def get_accel_from_plan(CP, speeds, accels):
a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
if v_target != v_target_now:
a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
else:
a_target = a_target_now
v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
else:
@@ -69,6 +77,7 @@ class LongitudinalPlanner:
self.mpc = LongitudinalMpc(dt=dt)
self.fcw = False
self.dt = dt
self.allow_throttle = True
self.a_desired = init_a
self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -93,11 +102,20 @@ class LongitudinalPlanner:
v = np.zeros(len(T_IDXS_MPC))
a = np.zeros(len(T_IDXS_MPC))
j = np.zeros(len(T_IDXS_MPC))
return x, v, a, j
if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
else:
throttle_prob = 1.0
return x, v, a, j, throttle_prob
def update(self, sm):
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
if len(sm['carControl'].orientationNED) == 3:
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
else:
accel_coast = ACCEL_MAX
v_ego = sm['carState'].vEgo
v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -116,7 +134,8 @@ class LongitudinalPlanner:
if self.mpc.mode == 'acc':
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
else:
accel_limits = [ACCEL_MIN, ACCEL_MAX]
accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
@@ -130,6 +149,14 @@ class LongitudinalPlanner:
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
# Compute model v_ego error
self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
# Don't clip at low speeds since throttle_prob doesn't account for creep
self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
if not self.allow_throttle:
clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
if force_slow_decel:
v_cruise = 0.0
@@ -140,7 +167,6 @@ class LongitudinalPlanner:
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -179,6 +205,6 @@ class LongitudinalPlanner:
longitudinalPlan.aTarget = a_target
longitudinalPlan.shouldStop = should_stop
longitudinalPlan.allowBrake = True
longitudinalPlan.allowThrottle = True
longitudinalPlan.allowThrottle = self.allow_throttle
pm.send('longitudinalPlan', plan_send)
selfdrive/controls/lib/tests/test_latcontrol.py
-2
View File
@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.toyota.values import CAR as TOYOTA
from opendbc.car.nissan.values import CAR as NISSAN
from openpilot.selfdrive.car.card import convert_to_capnp
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
@@ -21,7 +20,6 @@ class TestLatControl:
CarInterface, CarController, CarState, RadarInterface = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name)
CI = CarInterface(CP, CarController, CarState)
CP = convert_to_capnp(CP)
VM = VehicleModel(CP)
controller = controller(CP.as_reader(), CI)
selfdrive/controls/lib/tests/test_vehicle_model.py
+1 -2
View File
@@ -5,14 +5,13 @@ import numpy as np
from opendbc.car.honda.interface import CarInterface
from opendbc.car.honda.values import CAR
from openpilot.selfdrive.car.card import convert_to_capnp
from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
class TestVehicleModel:
def setup_method(self):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
self.VM = VehicleModel(convert_to_capnp(CP))
self.VM = VehicleModel(CP)
def test_round_trip_yaw_rate(self):
# TODO: fix VM to work at zero speed
selfdrive/controls/plannerd.py
+2 -2
View File
@@ -19,7 +19,7 @@ def main():
ldw = LaneDepartureWarning()
longitudinal_planner = LongitudinalPlanner(CP)
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance'])
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
poll='modelV2', ignore_avg_freq=['radarState'])
while True:
@@ -30,7 +30,7 @@ def main():
ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
msg = messaging.new_message('driverAssistance')
msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
msg.driverAssistance.leftLaneDeparture = ldw.left
msg.driverAssistance.rightLaneDeparture = ldw.right
pm.send('driverAssistance', msg)
selfdrive/controls/radard.py
-4
View File
@@ -80,10 +80,6 @@ class Track:
self.cnt += 1
def get_key_for_cluster(self):
# Weigh y higher since radar is inaccurate in this dimension
return [self.dRel, self.yRel*2, self.vRel]
def reset_a_lead(self, aLeadK: float, aLeadTau: float):
self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
self.aLeadK = aLeadK
selfdrive/debug/check_can_parser_performance.py
-1
View File
@@ -14,7 +14,6 @@ N_RUNS = 10
class CarModelTestCase(TestCarModelBase):
test_route = CarTestRoute(DEMO_ROUTE, None)
ci = False
if __name__ == '__main__':
selfdrive/debug/cycle_alerts.py
+1 -1
View File
@@ -10,7 +10,7 @@ from openpilot.selfdrive.selfdrived.events import ET, Events
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
from openpilot.system.manager.process_config import managed_processes
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
def randperc() -> float:
return 100. * random.random()
selfdrive/debug/fingerprint_from_route.py
+3
View File
@@ -8,10 +8,12 @@ def get_fingerprint(lr):
# TODO: make this a nice tool for car ports. should also work with qlogs for FW
fw = None
vin = None
msgs = {}
for msg in lr:
if msg.which() == 'carParams':
fw = msg.carParams.carFw
vin = msg.carParams.carVin
elif msg.which() == 'can':
for c in msg.can:
# read also msgs sent by EON on CAN bus 0x80 and filter out the
@@ -32,6 +34,7 @@ def get_fingerprint(lr):
print(f" {f.fwVersion},")
print(" ],")
print()
print(f"VIN: {vin}")
if __name__ == "__main__":
selfdrive/debug/format_fingerprints.py
+8 -3
View File
@@ -2,12 +2,16 @@
import jinja2
import os
from cereal import car
from openpilot.common.basedir import BASEDIR
from opendbc.car.interfaces import get_interface_attr
Ecu = car.CarParams.Ecu
CARS = get_interface_attr('CAR')
FW_VERSIONS = get_interface_attr('FW_VERSIONS')
FINGERPRINTS = get_interface_attr('FINGERPRINTS')
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
{%- if FINGERPRINTS[brand] %}
@@ -45,7 +49,7 @@ FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{
{% for car, _ in FW_VERSIONS[brand].items() %}
CAR.{{car.name}}: {
{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
(Ecu.{{key[0]}}, 0x{{"%0x" | format(key[1] | int)}}, \
(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
{% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
{{fw_version}},
@@ -67,8 +71,9 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
with open(fingerprints_file, "w") as f:
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS,
FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions))
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
extra_fw_versions=extra_fw_versions))
if __name__ == "__main__":
selfdrive/modeld/constants.py
+2 -1
View File
@@ -15,7 +15,8 @@ class ModelConstants:
# model inputs constants
MODEL_FREQ = 20
FEATURE_LEN = 512
HISTORY_BUFFER_LEN = 99
FULL_HISTORY_BUFFER_LEN = 99
HISTORY_BUFFER_LEN = 24
DESIRE_LEN = 8
TRAFFIC_CONVENTION_LEN = 2
LAT_PLANNER_STATE_LEN = 4
selfdrive/modeld/fill_model_msg.py
+7 -4
View File
@@ -48,6 +48,12 @@ def fill_xyz_poly(builder, degree, x, y, z):
builder.yCoefficients = coeffs[:, 1].tolist()
builder.zCoefficients = coeffs[:, 2].tolist()
def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
builder.leftY = lane_lines[1].y[0]
builder.leftProb = lane_line_probs[1]
builder.rightY = lane_lines[2].y[0]
builder.rightProb = lane_line_probs[2]
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
net_output_data: dict[str, np.ndarray], publish_state: PublishState,
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
@@ -130,10 +136,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
lane_line_meta = driving_model_data.laneLineMeta
lane_line_meta.leftY = modelV2.laneLines[1].y[0]
lane_line_meta.leftProb = modelV2.laneLineProbs[1]
lane_line_meta.rightY = modelV2.laneLines[2].y[0]
lane_line_meta.rightProb = modelV2.laneLineProbs[2]
fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
# road edges
modelV2.init('roadEdges', 2)
selfdrive/modeld/modeld.py
+24 -11
View File
@@ -17,7 +17,6 @@ from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.system import sentry
from openpilot.selfdrive.car.card import convert_to_capnp
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
@@ -34,6 +33,7 @@ MODEL_PATHS = {
METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
class FrameMeta:
frame_id: int = 0
timestamp_sof: int = 0
@@ -55,6 +55,11 @@ class ModelState:
self.frame = ModelFrame(context)
self.wide_frame = ModelFrame(context)
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
# img buffers are managed in openCL transform code
self.inputs = {
'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
@@ -87,14 +92,16 @@ class ModelState:
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
inputs['desire'][0] = 0
self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
self.prev_desire[:] = inputs['desire']
self.desire_20Hz[:-1] = self.desire_20Hz[1:]
self.desire_20Hz[-1] = new_desire
self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
self.inputs['traffic_convention'][:] = inputs['traffic_convention']
self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
# if getCLBuffer is not None, frame will be None
self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
@@ -104,10 +111,16 @@ class ModelState:
self.model.execute()
outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
idxs = np.arange(-4,-100,-4)[::-1]
self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
# TODO model only uses last value now, once that changes we need to input strided action history buffer
self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
return outputs
@@ -170,10 +183,9 @@ def main(demo=False):
if demo:
CP = convert_to_capnp(get_demo_car_params())
CP = get_demo_car_params()
else:
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
cloudlog.info("modeld got CarParams: %s", CP.carName)
# TODO this needs more thought, use .2s extra for now to estimate other delays
@@ -218,7 +230,8 @@ def main(demo=False):
desire = DH.desire
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
v_ego = max(sm["carState"].vEgo, 0.)
lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
selfdrive/modeld/models/commonmodel.cc
+14 -7
View File
@@ -13,7 +13,10 @@ ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_size_bytes, NULL, &err));
img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
region.origin = 4 * frame_size_bytes;
region.size = frame_size_bytes;
last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
transform_init(&transform, context, device_id);
loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
@@ -24,15 +27,18 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
for (int i = 0; i < 4; i++) {
CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
}
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
if (output == NULL) {
std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], frame_size_bytes);
CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
clFinish(q);
return &input_frames[0];
} else {
copy_queue(&loadyuv, q, *output, *output, frame_size_bytes, 0, frame_size_bytes);
copy_queue(&loadyuv, q, net_input_cl, *output, 0, frame_size_bytes, frame_size_bytes);
copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
// NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
clFinish(q);
@@ -43,7 +49,8 @@ uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, i
ModelFrame::~ModelFrame() {
transform_destroy(&transform);
loadyuv_destroy(&loadyuv);
CL_CHECK(clReleaseMemObject(net_input_cl));
CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
CL_CHECK(clReleaseMemObject(last_img_cl));
CL_CHECK(clReleaseMemObject(v_cl));
CL_CHECK(clReleaseMemObject(u_cl));
CL_CHECK(clReleaseMemObject(y_cl));
selfdrive/modeld/models/commonmodel.h
+3 -2
View File
@@ -32,6 +32,7 @@ private:
Transform transform;
LoadYUVState loadyuv;
cl_command_queue q;
cl_mem y_cl, u_cl, v_cl, net_input_cl;
cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
cl_buffer_region region;
std::unique_ptr<uint8_t[]> input_frames;
};
};
selfdrive/modeld/models/supercombo.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c
size 62486469
oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146
size 50309976
selfdrive/modeld/tests/test_modeld.py
+4 -5
View File
@@ -7,7 +7,6 @@ from opendbc.car.car_helpers import get_demo_car_params
from openpilot.common.params import Params
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.car.card import convert_to_capnp
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
@@ -20,11 +19,11 @@ class TestModeld:
def setup_method(self):
self.vipc_server = VisionIpcServer("camerad")
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
self.vipc_server.start_listener()
Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes())
Params().put("CarParams", get_demo_car_params().to_bytes())
self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
selfdrive/monitoring/helpers.py
+2 -2
View File
@@ -1,6 +1,6 @@
from math import atan2
from cereal import car
from cereal import car, log
import cereal.messaging as messaging
from openpilot.selfdrive.selfdrived.events import Events
from openpilot.common.numpy_fast import interp
@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.stat_live import RunningStatFilter
from openpilot.common.transformations.camera import DEVICE_CAMERAS
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
# ******************************************************************************************
# NOTE: To fork maintainers.
selfdrive/monitoring/test_monitoring.py
+2 -2
View File
@@ -1,10 +1,10 @@
import numpy as np
from cereal import car, log
from cereal import log
from openpilot.common.realtime import DT_DMON
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
dm_settings = DRIVER_MONITOR_SETTINGS()
TEST_TIMESPAN = 120 # seconds
selfdrive/pandad/tests/test_pandad.py
+1 -2
View File
@@ -103,9 +103,8 @@ class TestPandad:
# 5s for USB (due to enumeration)
# - 0.2s pandad -> pandad
# - plus some buffer
assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
print("startup times", ts, sum(ts) / len(ts))
assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
def test_protocol_version_check(self):
if not self.spi:
selfdrive/selfdrived/alertmanager.py
+5 -1
View File
@@ -27,10 +27,13 @@ class AlertEntry:
alert: Alert | None = None
start_frame: int = -1
end_frame: int = -1
added_frame: int = -1
def active(self, frame: int) -> bool:
return frame <= self.end_frame
def just_added(self, frame: int) -> bool:
return self.active(frame) and frame == (self.added_frame + 1)
class AlertManager:
def __init__(self):
@@ -41,10 +44,11 @@ class AlertManager:
for alert in alerts:
entry = self.alerts[alert.alert_type]
entry.alert = alert
if not entry.active(frame):
if not entry.just_added(frame):
entry.start_frame = frame
min_end_frame = entry.start_frame + alert.duration
entry.end_frame = max(frame + 1, min_end_frame)
entry.added_frame = frame
def process_alerts(self, frame: int, clear_event_types: set):
ae = AlertEntry()
selfdrive/selfdrived/events.py
+11 -19
View File
@@ -16,7 +16,7 @@ AlertSize = log.SelfdriveState.AlertSize
AlertStatus = log.SelfdriveState.AlertStatus
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
# Alert priorities
@@ -98,7 +98,7 @@ class Events:
def to_msg(self):
ret = []
for event_name in self.events:
event = car.OnroadEvent.new_message()
event = log.OnroadEvent.new_message()
event.name = event_name
for event_type in EVENTS.get(event_name, {}):
setattr(event, event_type, True)
@@ -395,14 +395,21 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
},
EventName.startupNoSecOcKey: {
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
"Security Key Not Available",
priority=Priority.HIGH),
},
EventName.dashcamMode: {
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
priority=Priority.LOWEST),
},
EventName.invalidLkasSetting: {
ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
"Turn off stock LKAS to engage"),
ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
"Toggle stock LKAS on or off to engage"),
ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
},
EventName.cruiseMismatch: {
@@ -730,11 +737,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
},
EventName.soundsUnavailable: {
ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
},
EventName.tooDistracted: {
ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
},
@@ -952,16 +954,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
},
EventName.lowSpeedLockout: {
ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.lkasDisabled: {
ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
},
EventName.vehicleSensorsInvalid: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
selfdrive/selfdrived/selfdrived.py
+33 -15
View File
@@ -7,6 +7,7 @@ import cereal.messaging as messaging
from cereal import car, log
from msgq.visionipc import VisionIpcClient, VisionStreamType
from panda import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
@@ -14,12 +15,12 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
from openpilot.common.swaglog import cloudlog
from openpilot.common.gps import get_gps_location_service
from openpilot.selfdrive.car.car_specific import CarSpecificEvents
from openpilot.selfdrive.selfdrived.events import Events, ET
from openpilot.selfdrive.selfdrived.state import StateMachine
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED
from openpilot.system.hardware import HARDWARE
from openpilot.system.version import get_build_metadata
from openpilot.sunnypilot.mads.mads import ModifiedAssistDrivingSystem
@@ -35,7 +36,7 @@ State = log.SelfdriveState.OpenpilotState
PandaType = log.PandaState.PandaType
LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type
SafetyModel = car.CarParams.SafetyModel
@@ -43,15 +44,21 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
class SelfdriveD:
def __init__(self):
def __init__(self, CP=None):
self.params = Params()
# Ensure the current branch is cached, otherwise the first cycle lags
build_metadata = get_build_metadata()
cloudlog.info("selfdrived is waiting for CarParams")
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
cloudlog.info("selfdrived got CarParams")
if CP is None:
cloudlog.info("selfdrived is waiting for CarParams")
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
cloudlog.info("selfdrived got CarParams")
else:
self.CP = CP
self.car_events = CarSpecificEvents(self.CP)
self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
# Setup sockets
self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -82,9 +89,6 @@ class SelfdriveD:
self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
# cleanup old params
@@ -120,9 +124,9 @@ class SelfdriveD:
self.startup_event = EventName.startupNoCar
elif car_recognized and self.CP.passive:
self.startup_event = EventName.startupNoControl
elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
self.startup_event = EventName.startupNoSecOcKey
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
set_offroad_alert("Offroad_CarUnrecognized", True)
@@ -170,7 +174,20 @@ class SelfdriveD:
# Add car events, ignore if CAN isn't valid
if CS.canValid:
self.events.add_from_msg(CS.events)
car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
self.events.add_from_msg(car_events)
if self.CP.notCar:
# wait for everything to init first
if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
# body always wants to enable
self.events.add(EventName.pcmEnable)
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
(CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
self.events.add(EventName.pedalPressed)
# Create events for temperature, disk space, and memory
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
@@ -244,11 +261,12 @@ class SelfdriveD:
num_events = len(self.events)
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
if self.sm.recv_frame['managerState'] and len(not_running):
if not_running != self.not_running_prev:
cloudlog.event("process_not_running", not_running=not_running, error=True)
self.not_running_prev = not_running
if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
@@ -338,7 +356,7 @@ class SelfdriveD:
self.events.add(EventName.noGps)
if gps_ok:
self.distance_traveled = 0
self.distance_traveled += CS.vEgo * DT_CTRL
self.distance_traveled += abs(CS.vEgo) * DT_CTRL
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
selfdrive/selfdrived/tests/test_alertmanager.py
+22 -3
View File
@@ -1,6 +1,6 @@
import random
from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
@@ -32,8 +32,27 @@ class TestAlertManager:
for frame in range(duration+10):
if frame < add_duration:
AM.add_many(frame, [alert, ])
AM.process_alerts(frame, {})
AM.process_alerts(frame, set())
shown = AM.current_alert is not None
shown = AM.current_alert != EmptyAlert
should_show = frame <= show_duration
assert shown == should_show, f"{frame=} {add_duration=} {duration=}"
# check one case:
# - if alert is re-added to AM before it ends the duration is extended
if duration > 1:
AM = AlertManager()
show_duration = duration * 2
for frame in range(duration * 2 + 10):
if frame == 0:
AM.add_many(frame, [alert, ])
if frame == duration:
# add alert one frame before it ends
assert AM.current_alert == alert
AM.add_many(frame, [alert, ])
AM.process_alerts(frame, set())
shown = AM.current_alert != EmptyAlert
should_show = frame <= show_duration
assert shown == should_show, f"{frame=} {duration=}"
selfdrive/selfdrived/tests/test_alerts.py
+2 -2
View File
@@ -33,12 +33,12 @@ class TestAlerts:
# Create fake objects for callback
cls.CS = car.CarState.new_message()
cls.CP = car.CarParams.new_message()
cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
cfg = [c for c in CONFIGS if c.proc_name == 'selfdrived'][0]
cls.sm = SubMaster(cfg.pubs)
def test_events_defined(self):
# Ensure all events in capnp schema are defined in events.py
events = car.OnroadEvent.EventName.schema.enumerants
events = log.OnroadEvent.EventName.schema.enumerants
for name, e in events.items():
if not name.endswith("DEPRECATED"):
selfdrive/test/cpp_harness.py
+1 -2
View File
@@ -4,8 +4,7 @@ import sys
from openpilot.common.prefix import OpenpilotPrefix
with OpenpilotPrefix():
ret = subprocess.call(sys.argv[1:])
exit(ret)
sys.exit(ret)
selfdrive/test/longitudinal_maneuvers/maneuver.py
+13 -3
View File
@@ -12,11 +12,14 @@ class Maneuver:
self.breakpoints = kwargs.get("breakpoints", [0.0, duration])
self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))])
self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))])
self.only_lead2 = kwargs.get("only_lead2", False)
self.only_radar = kwargs.get("only_radar", False)
self.ensure_start = kwargs.get("ensure_start", False)
self.ensure_slowdown = kwargs.get("ensure_slowdown", False)
self.enabled = kwargs.get("enabled", True)
self.e2e = kwargs.get("e2e", False)
self.personality = kwargs.get("personality", 0)
@@ -42,9 +45,11 @@ class Maneuver:
logs = []
while plant.current_time < self.duration:
speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values)
log = plant.step(speed_lead, prob, cruise)
pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values)
prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values)
log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle)
d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
@@ -57,13 +62,18 @@ class Maneuver:
speed_lead,
log['acceleration']]))
if d_rel < .4 and (self.only_radar or prob > 0.5):
if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
print("Crashed!!!!")
valid = False
if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
print('LongitudinalPlanner not starting!')
valid = False
if self.ensure_slowdown and log['speed'] > 5.5:
print('LongitudinalPlanner not slowing down!')
valid = False
if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
print('Not stopping with force decel')
valid = False
selfdrive/test/longitudinal_maneuvers/plant.py
+10 -4
View File
@@ -57,13 +57,15 @@ class Plant:
def current_time(self):
return float(self.rk.frame) / self.rate
def step(self, v_lead=0.0, prob=1.0, v_cruise=50.):
def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0):
# ******** publish a fake model going straight and fake calibration ********
# note that this is worst case for MPC, since model will delay long mpc by one time step
radar = messaging.new_message('radarState')
control = messaging.new_message('controlsState')
ss = messaging.new_message('selfdriveState')
car_state = messaging.new_message('carState')
lp = messaging.new_message('liveParameters')
car_control = messaging.new_message('carControl')
model = messaging.new_message('modelV2')
a_lead = (v_lead - self.v_lead_prev)/self.ts
self.v_lead_prev = v_lead
@@ -73,14 +75,14 @@ class Plant:
v_rel = v_lead - self.speed
if self.only_radar:
status = True
elif prob > .5:
elif prob_lead > .5:
status = True
else:
status = False
else:
d_rel = 200.
v_rel = 0.
prob = 0.0
prob_lead = 0.0
status = False
lead = log.RadarState.LeadData.new_message()
@@ -94,7 +96,7 @@ class Plant:
# TODO use real radard logic for this
lead.aLeadTau = float(_LEAD_ACCEL_TAU)
lead.status = status
lead.modelProb = float(prob)
lead.modelProb = float(prob_lead)
if not self.only_lead2:
radar.radarState.leadOne = lead
radar.radarState.leadTwo = lead
@@ -112,6 +114,7 @@ class Plant:
acceleration = log.XYZTData.new_message()
acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
model.modelV2.acceleration = acceleration
model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)]
control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
ss.selfdriveState.experimentalMode = self.e2e
@@ -120,12 +123,15 @@ class Plant:
car_state.carState.vEgo = float(self.speed)
car_state.carState.standstill = self.speed < 0.01
car_state.carState.vCruise = float(v_cruise * 3.6)
car_control.carControl.orientationNED = [0., float(pitch), 0.]
# ******** get controlsState messages for plotting ***
sm = {'radarState': radar.radarState,
'carState': car_state.carState,
'carControl': car_control.carControl,
'controlsState': control.controlsState,
'selfdriveState': ss.selfdriveState,
'liveParameters': lp.liveParameters,
'modelV2': model.modelV2}
self.planner.update(sm)
self.speed = self.planner.v_desired_filter.x
selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+40
View File
@@ -82,6 +82,32 @@ def create_maneuvers(kwargs):
breakpoints=[0.0, 2., 2.01],
**kwargs,
),
Maneuver(
"approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1",
duration=30.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=120.,
speed_lead_values=[0.0, 0., 0.],
prob_throttle_values=[1., 0., 0.],
cruise_values=[20., 20., 20.],
pitch_values=[0., -0.1, -0.1],
breakpoints=[0.0, 2., 2.01],
**kwargs,
),
Maneuver(
"approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1",
duration=30.,
initial_speed=20.,
lead_relevancy=True,
initial_distance_lead=120.,
speed_lead_values=[0.0, 0., 0.],
prob_throttle_values=[1., 0., 0.],
cruise_values=[20., 20., 20.],
pitch_values=[0., 0.1, 0.1],
breakpoints=[0.0, 2., 2.01],
**kwargs,
),
Maneuver(
"approach slower cut-in car at 20m/s",
duration=20.,
@@ -125,6 +151,20 @@ def create_maneuvers(kwargs):
**kwargs,
),
]
if not kwargs['e2e']:
# allow_throttle won't trigger with e2e
maneuvers.append(Maneuver(
"slow to 5m/s with allow_throttle = False and pitch = +0.1",
duration=30.,
initial_speed=20.,
lead_relevancy=False,
prob_throttle_values=[1., 0., 0.],
cruise_values=[20., 20., 20.],
pitch_values=[0., 0.1, 0.1],
breakpoints=[0.0, 2., 2.01],
ensure_slowdown=True,
**kwargs,
))
if not kwargs['force_decel']:
# controls relies on planner commanding to move for stock-ACC resume spamming
maneuvers.append(Maneuver(
selfdrive/test/process_replay/README.md
+1 -1
View File
@@ -30,7 +30,7 @@ optional arguments:
--whitelist-cars WHITELIST_CARS Whitelist given cars from the test (e.g. HONDA)
--blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd)
--blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA)
--ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events)
--ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
--ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents)
--update-refs Updates reference logs using current commit
--upload-only Skips testing processes and uploads logs from previous test run
selfdrive/test/process_replay/migration.py
+267 -167
View File
@@ -1,51 +1,146 @@
from collections import defaultdict
from collections.abc import Callable
import functools
import capnp
from cereal import messaging, car
from cereal import messaging, car, log
from opendbc.car.fingerprints import MIGRATION
from opendbc.car.toyota.values import EPS_SCALE
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
from openpilot.system.manager.process_config import managed_processes
from openpilot.tools.lib.logreader import LogIterable
from panda import Panda
MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
# TODO: message migration should happen in-place
def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
msgs = migrate_sensorEvents(lr)
msgs = migrate_carParams(msgs)
msgs = migrate_gpsLocation(msgs)
msgs = migrate_deviceState(msgs)
msgs = migrate_carOutput(msgs)
msgs = migrate_controlsState(msgs)
msgs = migrate_liveLocationKalman(msgs)
msgs = migrate_liveTracks(msgs)
msgs = migrate_driverAssistance(msgs)
## rules for migration functions
## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
## 2. it only gets the messages that are in the inputs list
## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
## 5. all migration functions must be independent of each other
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
migrations = [
migrate_sensorEvents,
migrate_carParams,
migrate_gpsLocation,
migrate_deviceState,
migrate_carOutput,
migrate_controlsState,
migrate_carState,
migrate_liveLocationKalman,
migrate_liveTracks,
migrate_driverAssistance,
migrate_drivingModelData,
migrate_onroadEvents,
migrate_driverMonitoringState,
migrate_longitudinalPlan,
]
if manager_states:
msgs = migrate_managerState(msgs)
migrations.append(migrate_managerState)
if panda_states:
msgs = migrate_pandaStates(msgs)
msgs = migrate_peripheralState(msgs)
migrations.extend([migrate_pandaStates, migrate_peripheralState])
if camera_states:
msgs = migrate_cameraStates(msgs)
migrations.append(migrate_cameraStates)
return msgs
return migrate(lr, migrations)
def migrate_driverAssistance(lr):
all_msgs = []
for msg in lr:
all_msgs.append(msg)
if msg.which() == 'longitudinalPlan':
all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
if msg.which() == 'driverAssistance':
return lr
return all_msgs
def migrate_liveTracks(lr):
all_msgs = []
for msg in lr:
if msg.which() != "liveTracksDEPRECATED":
all_msgs.append(msg)
def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
lr = list(lr)
grouped = defaultdict(list)
for i, msg in enumerate(lr):
grouped[msg.which()].append(i)
replace_ops, add_ops, del_ops = [], [], []
for migration in migration_funcs:
assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator"
if migration.product in grouped: # skip if product already exists
continue
sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
msg_gen = [(i, lr[i]) for i in sorted_indices]
r_ops, a_ops, d_ops = migration(msg_gen)
replace_ops.extend(r_ops)
add_ops.extend(a_ops)
del_ops.extend(d_ops)
for index, msg in replace_ops:
lr[index] = msg
for index in sorted(del_ops, reverse=True):
del lr[index]
for msg in add_ops:
lr.append(msg)
lr = sorted(lr, key=lambda x: x.logMonoTime)
return lr
def migration(inputs: list[str], product: str|None=None):
def decorator(func):
@functools.wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
wrapper.inputs = inputs
wrapper.product = product
return wrapper
return decorator
@migration(inputs=["longitudinalPlan", "carParams"])
def migrate_longitudinalPlan(msgs):
ops = []
needs_migration = all(msg.longitudinalPlan.aTarget == 0.0 for _, msg in msgs if msg.which() == 'longitudinalPlan')
CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
if not needs_migration or CP is None:
return [], [], []
for index, msg in msgs:
if msg.which() != 'longitudinalPlan':
continue
new_msg = msg.as_builder()
new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = get_accel_from_plan(CP, msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
ops.append((index, new_msg.as_reader()))
return ops, [], []
@migration(inputs=["longitudinalPlan"], product="driverAssistance")
def migrate_driverAssistance(msgs):
add_ops = []
for _, msg in msgs:
new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
add_ops.append(new_msg.as_reader())
return [], add_ops, []
@migration(inputs=["modelV2"], product="drivingModelData")
def migrate_drivingModelData(msgs):
add_ops = []
for _, msg in msgs:
dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
for meta_field in ["laneChangeState", "laneChangeState"]:
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
add_ops.append( dmd.as_reader())
return [], add_ops, []
@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
def migrate_liveTracks(msgs):
ops = []
for index, msg in msgs:
new_msg = messaging.new_message('liveTracks')
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
@@ -63,128 +158,112 @@ def migrate_liveTracks(lr):
pts.append(pt)
new_msg.liveTracks.points = pts
all_msgs.append(new_msg.as_reader())
return all_msgs
ops.append((index, new_msg.as_reader()))
return ops, [], []
def migrate_liveLocationKalman(lr):
# migration needed only for routes before livePose
if any(msg.which() == 'livePose' for msg in lr):
return lr
all_msgs = []
for msg in lr:
if msg.which() != 'liveLocationKalmanDEPRECATED':
all_msgs.append(msg)
continue
@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
def migrate_liveLocationKalman(msgs):
nans = [float('nan')] * 3
ops = []
for index, msg in msgs:
m = messaging.new_message('livePose')
m.valid = msg.valid
m.logMonoTime = msg.logMonoTime
for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
lp_field.x, lp_field.y, lp_field.z = llk_field.value
lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
lp_field.valid = llk_field.valid
for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
all_msgs.append(m.as_reader())
return all_msgs
ops.append((index, m.as_reader()))
return ops, [], []
def migrate_controlsState(lr):
ret = []
@migration(inputs=["controlsState"], product="selfdriveState")
def migrate_controlsState(msgs):
add_ops = []
for _, msg in msgs:
m = messaging.new_message('selfdriveState')
m.valid = msg.valid
m.logMonoTime = msg.logMonoTime
ss = m.selfdriveState
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
"alertStatus", "alertSize", "alertType", "experimentalMode",
"personality"):
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
add_ops.append(m.as_reader())
return [], add_ops, []
@migration(inputs=["carState", "controlsState"])
def migrate_carState(msgs):
ops = []
last_cs = None
for msg in lr:
for index, msg in msgs:
if msg.which() == 'controlsState':
last_cs = msg
m = messaging.new_message('selfdriveState')
m.valid = msg.valid
m.logMonoTime = msg.logMonoTime
ss = m.selfdriveState
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
"alertStatus", "alertSize", "alertType", "experimentalMode",
"personality"):
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
ret.append(m.as_reader())
elif msg.which() == 'carState' and last_cs is not None:
if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
msg = msg.as_builder()
msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
msg = msg.as_reader()
ret.append(msg)
return ret
ops.append((index, msg.as_reader()))
return ops, [], []
def migrate_managerState(lr):
all_msgs = []
for msg in lr:
if msg.which() != "managerState":
all_msgs.append(msg)
continue
@migration(inputs=["managerState"])
def migrate_managerState(msgs):
ops = []
for index, msg in msgs:
new_msg = msg.as_builder()
new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
all_msgs.append(new_msg.as_reader())
return all_msgs
ops.append((index, new_msg.as_reader()))
return ops, [], []
def migrate_gpsLocation(lr):
all_msgs = []
for msg in lr:
if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
new_msg = msg.as_builder()
g = getattr(new_msg, new_msg.which())
# hasFix is a newer field
if not g.hasFix and g.flags == 1:
g.hasFix = True
all_msgs.append(new_msg.as_reader())
else:
all_msgs.append(msg)
return all_msgs
@migration(inputs=["gpsLocation", "gpsLocationExternal"])
def migrate_gpsLocation(msgs):
ops = []
for index, msg in msgs:
new_msg = msg.as_builder()
g = getattr(new_msg, new_msg.which())
# hasFix is a newer field
if not g.hasFix and g.flags == 1:
g.hasFix = True
ops.append((index, new_msg.as_reader()))
return ops, [], []
def migrate_deviceState(lr):
all_msgs = []
@migration(inputs=["deviceState", "initData"])
def migrate_deviceState(msgs):
ops = []
dt = None
for msg in lr:
for i, msg in msgs:
if msg.which() == 'initData':
dt = msg.initData.deviceType
if msg.which() == 'deviceState':
n = msg.as_builder()
n.deviceState.deviceType = dt
all_msgs.append(n.as_reader())
else:
all_msgs.append(msg)
return all_msgs
ops.append((i, n.as_reader()))
return ops, [], []
def migrate_carOutput(lr):
# migration needed only for routes before carOutput
if any(msg.which() == 'carOutput' for msg in lr):
return lr
all_msgs = []
for msg in lr:
if msg.which() == 'carControl':
co = messaging.new_message('carOutput')
co.valid = msg.valid
co.logMonoTime = msg.logMonoTime
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
all_msgs.append(co.as_reader())
all_msgs.append(msg)
return all_msgs
@migration(inputs=["carControl"], product="carOutput")
def migrate_carOutput(msgs):
add_ops = []
for _, msg in msgs:
co = messaging.new_message('carOutput')
co.valid = msg.valid
co.logMonoTime = msg.logMonoTime
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
add_ops.append(co.as_reader())
return [], add_ops, []
def migrate_pandaStates(lr):
all_msgs = []
@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"])
def migrate_pandaStates(msgs):
# TODO: safety param migration should be handled automatically
safety_param_migration = {
"TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
@@ -192,11 +271,12 @@ def migrate_pandaStates(lr):
"KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
}
# Migrate safety param base on carState
CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
# Migrate safety param base on carParams
CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
assert CP is not None, "carParams message not found"
if CP.carFingerprint in safety_param_migration:
safety_param = safety_param_migration[CP.carFingerprint]
fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
if fingerprint in safety_param_migration:
safety_param = safety_param_migration[fingerprint]
elif len(CP.safetyConfigs):
safety_param = CP.safetyConfigs[0].safetyParam
if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
@@ -204,49 +284,45 @@ def migrate_pandaStates(lr):
else:
safety_param = CP.safetyParamDEPRECATED
for msg in lr:
ops = []
for index, msg in msgs:
if msg.which() == 'pandaStateDEPRECATED':
new_msg = messaging.new_message('pandaStates', 1)
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
new_msg.pandaStates[0].safetyParam = safety_param
all_msgs.append(new_msg.as_reader())
ops.append((index, new_msg.as_reader()))
elif msg.which() == 'pandaStates':
new_msg = msg.as_builder()
new_msg.pandaStates[-1].safetyParam = safety_param
all_msgs.append(new_msg.as_reader())
else:
all_msgs.append(msg)
return all_msgs
ops.append((index, new_msg.as_reader()))
return ops, [], []
def migrate_peripheralState(lr):
if any(msg.which() == "peripheralState" for msg in lr):
return lr
@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState")
def migrate_peripheralState(msgs):
add_ops = []
all_msg = []
for msg in lr:
all_msg.append(msg)
if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED"
for _, msg in msgs:
if msg.which() != which:
continue
new_msg = messaging.new_message("peripheralState")
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
all_msg.append(new_msg.as_reader())
return all_msg
add_ops.append(new_msg.as_reader())
return [], add_ops, []
def migrate_cameraStates(lr):
all_msgs = []
@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
def migrate_cameraStates(msgs):
add_ops, del_ops = [], []
frame_to_encode_id = defaultdict(dict)
# just for encodeId fallback mechanism
min_frame_id = defaultdict(lambda: float('inf'))
for msg in lr:
for _, msg in msgs:
if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
continue
@@ -256,9 +332,8 @@ def migrate_cameraStates(lr):
assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
for msg in lr:
for index, msg in msgs:
if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
all_msgs.append(msg)
continue
camera_state = getattr(msg, msg.which())
@@ -268,6 +343,7 @@ def migrate_cameraStates(lr):
if encode_id is None:
print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
if len(frame_to_encode_id[msg.which()]) != 0:
del_ops.append(index)
continue
# fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
@@ -288,33 +364,27 @@ def migrate_cameraStates(lr):
new_msg.logMonoTime = msg.logMonoTime
new_msg.valid = msg.valid
all_msgs.append(new_msg.as_reader())
return all_msgs
del_ops.append(index)
add_ops.append(new_msg.as_reader())
return [], add_ops, del_ops
def migrate_carParams(lr):
all_msgs = []
for msg in lr:
if msg.which() == 'carParams':
CP = msg.as_builder()
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.carName
CP.logMonoTime = msg.logMonoTime
msg = CP.as_reader()
all_msgs.append(msg)
return all_msgs
@migration(inputs=["carParams"])
def migrate_carParams(msgs):
ops = []
for index, msg in msgs:
CP = msg.as_builder()
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
for car_fw in CP.carParams.carFw:
car_fw.brand = CP.carParams.carName
ops.append((index, CP.as_reader()))
return ops, [], []
def migrate_sensorEvents(lr):
all_msgs = []
for msg in lr:
if msg.which() != 'sensorEventsDEPRECATED':
all_msgs.append(msg)
continue
@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents")
def migrate_sensorEvents(msgs):
add_ops, del_ops = [], []
for index, msg in msgs:
# migrate to split sensor events
for evt in msg.sensorEventsDEPRECATED:
# build new message for each sensor type
@@ -342,6 +412,36 @@ def migrate_sensorEvents(lr):
m_dat.timestamp = evt.timestamp
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
all_msgs.append(m.as_reader())
add_ops.append(m.as_reader())
del_ops.append(index)
return [], add_ops, del_ops
return all_msgs
@migration(inputs=["onroadEventsDEPRECATED"], product="onroadEvents")
def migrate_onroadEvents(msgs):
ops = []
for index, msg in msgs:
new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED))
new_msg.valid = msg.valid
new_msg.logMonoTime = msg.logMonoTime
# dict converts name enum into string representation
new_msg.onroadEvents = [log.OnroadEvent(**event.to_dict()) for event in msg.onroadEventsDEPRECATED if
not str(event.name).endswith('DEPRECATED')]
ops.append((index, new_msg.as_reader()))
return ops, [], []
@migration(inputs=["driverMonitoringState"])
def migrate_driverMonitoringState(msgs):
ops = []
for index, msg in msgs:
msg = msg.as_builder()
# dict converts name enum into string representation
msg.driverMonitoringState.events = [log.OnroadEvent(**event.to_dict()) for event in
msg.driverMonitoringState.eventsDEPRECATED if
not str(event.name).endswith('DEPRECATED')]
ops.append((index, msg.as_reader()))
return ops, [], []
selfdrive/test/process_replay/model_replay.py
+93 -23
View File
@@ -3,14 +3,19 @@ import os
import sys
from collections import defaultdict
from typing import Any
import tempfile
from itertools import zip_longest
import matplotlib.pyplot as plt
from openpilot.common.git import get_commit
from openpilot.system.hardware import PC
from openpilot.tools.lib.openpilotci import BASE_URL, get_url
from openpilot.tools.lib.openpilotci import get_url
from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.logreader import LogReader, save_log
from openpilot.tools.lib.github_utils import GithubUtils
TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
SEGMENT = 6
@@ -19,10 +24,85 @@ MAX_FRAMES = 100 if PC else 600
NO_MODEL = "NO_MODEL" in os.environ
SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
API_TOKEN = os.getenv("GITHUB_COMMENTS_TOKEN","")
MODEL_REPLAY_BUCKET="model_replay_master"
GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
def get_log_fn(ref_commit, test_route):
return f"{test_route}_model_tici_{ref_commit}.bz2"
def get_log_fn(test_route, ref="master"):
return f"{test_route}_model_tici_{ref}.bz2"
def plot(proposed, master, title, tmp):
proposed = list(proposed)
master = list(master)
fig, ax = plt.subplots()
ax.plot(proposed, label='PROPOSED')
ax.plot(master, label='MASTER')
plt.legend(loc='best')
plt.title(title)
plt.savefig(f'{tmp}/{title}.png')
return (title + '.png', proposed == master)
def get_event(logs, event):
return (getattr(m, m.which()) for m in filter(lambda m: m.which() == event, logs))
def zl(array, fill):
return zip_longest(array, [], fillvalue=fill)
def generate_report(proposed, master, tmp, commit):
ModelV2_Plots = zl([
(lambda x: x.velocity.x[0], "velocity.x"),
(lambda x: x.action.desiredCurvature, "desiredCurvature"),
(lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
(lambda x: x.laneLines[1].y[0], "laneLines.y"),
(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
], "modelV2")
return [plot(map(v[0], get_event(proposed, event)), \
map(v[0], get_event(master, event)), f"{v[1]}_{commit[:7]}", tmp) \
for v,event in [*ModelV2_Plots]]
def create_table(title, files, link, open_table=False):
if not files:
return ""
table = [f'<details {"open" if open_table else ""}><summary>{title}</summary><table>']
for i,f in enumerate(files):
if not (i % 2):
table.append("<tr>")
table.append(f'<td><img src=\\"{link}/{f[0]}\\"></td>')
if (i % 2):
table.append("</tr>")
table.append("</table></details>")
table = "".join(table)
return table
def comment_replay_report(proposed, master, full_logs):
with tempfile.TemporaryDirectory() as tmp:
PR_BRANCH = os.getenv("GIT_BRANCH","")
DATA_BUCKET = f"model_replay_{PR_BRANCH}"
try:
GITHUB.get_pr_number(PR_BRANCH)
except Exception:
print("No PR associated with this branch. Skipping report.")
return
commit = get_commit()
files = generate_report(proposed, master, tmp, commit)
GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
log_name = get_log_fn(TEST_ROUTE, commit)
save_log(log_name, full_logs)
GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)
diff_files = [x for x in files if not x[1]]
link = GITHUB.get_bucket_link(DATA_BUCKET)
diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
all_plots = create_table("All Model Replay Plots", files, link)
comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
GITHUB.comment_on_pr(comment, PR_BRANCH)
def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
all_msgs = []
@@ -68,9 +148,8 @@ def model_replay(lr, frs):
if __name__ == "__main__":
update = "--update" in sys.argv
update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
replay_dir = os.path.dirname(os.path.abspath(__file__))
ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
# load logs
lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
@@ -88,11 +167,9 @@ if __name__ == "__main__":
# get diff
failed = False
if not update:
with open(ref_commit_fn) as f:
ref_commit = f.read().strip()
log_fn = get_log_fn(ref_commit, TEST_ROUTE)
log_fn = get_log_fn(TEST_ROUTE)
try:
all_logs = list(LogReader(BASE_URL + log_fn))
all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
cmp_log = []
# logs are ordered based on type: modelV2, drivingModelData, driverStateV2
@@ -134,11 +211,13 @@ if __name__ == "__main__":
ignore.append(f'modelV2.roadEdges.{i}.{field}')
tolerance = .3 if PC else None
results: Any = {TEST_ROUTE: {}}
log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
log_paths: Any = {TEST_ROUTE: {"models": {'ref': log_fn, 'new': log_fn}}}
results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
diff_short, diff_long, failed = format_diff(results, log_paths, 'master')
if "CI" in os.environ:
comment_replay_report(log_msgs, cmp_log, log_msgs)
failed = False
print(diff_long)
print('-------------\n'*5)
print(diff_short)
@@ -149,22 +228,13 @@ if __name__ == "__main__":
failed = True
# upload new refs
if (update or failed) and not PC:
from openpilot.tools.lib.openpilotci import upload_file
if update and not PC:
print("Uploading new refs")
new_commit = get_commit()
log_fn = get_log_fn(new_commit, TEST_ROUTE)
log_fn = get_log_fn(TEST_ROUTE)
save_log(log_fn, log_msgs)
try:
upload_file(log_fn, os.path.basename(log_fn))
GITHUB.upload_file(MODEL_REPLAY_BUCKET, os.path.basename(log_fn), log_fn)
except Exception as e:
print("failed to upload", e)
with open(ref_commit_fn, 'w') as f:
f.write(str(new_commit))
print("\n\nNew ref commit: ", new_commit)
sys.exit(int(failed))
selfdrive/test/process_replay/model_replay_ref_commit
-1
View File
@@ -1 +0,0 @@
76b8121429ad69d6548f744a39680ade324947e2
selfdrive/test/process_replay/process_replay.py
+7 -8
View File
@@ -17,14 +17,13 @@ import cereal.messaging as messaging
from cereal import car
from cereal.services import SERVICE_LIST
from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
from opendbc.car import structs
from opendbc.car.car_helpers import get_car, interfaces
from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
from openpilot.common.realtime import DT_CTRL
from panda.python import ALTERNATIVE_EXPERIENCE
from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
from openpilot.selfdrive.car.card import can_comm_callbacks
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -213,7 +212,7 @@ class ProcessContainer:
for meta in streams_metas:
if meta.camera_state in self.cfg.vision_pubs:
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
vipc_server.create_buffers(meta.stream, 2, *frame_size)
vipc_server.start_listener()
self.vipc_server = vipc_server
@@ -363,14 +362,14 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
cached_params = None
if has_cached_cp:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
cached_params = _cached_params
CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
if not params.get_bool("DisengageOnAccelerator"):
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
params.put("CarParams", convert_to_capnp(CP).to_bytes())
params.put("CarParams", CP.to_bytes())
def selfdrived_rcv_callback(msg, cfg, frame):
@@ -467,7 +466,7 @@ CONFIGS = [
"longitudinalPlan", "livePose", "liveParameters", "radarState",
"modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
"liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
"gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance",
"gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
],
subs=["selfdriveState", "onroadEvents"],
ignore=["logMonoTime"],
@@ -509,7 +508,7 @@ CONFIGS = [
),
ProcessConfig(
proc_name="plannerd",
pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"],
pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
subs=["longitudinalPlan", "driverAssistance"],
ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
init_callback=get_car_params_callback,
@@ -569,7 +568,7 @@ CONFIGS = [
),
ProcessConfig(
proc_name="modeld",
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
subs=["modelV2", "drivingModelData", "cameraOdometry"],
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
should_recv_callback=ModeldCameraSyncRcvCallback(),
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
d8a02c23f530dd236553b47ff7f0355929fe15fc
992ac80ef848afb85562ca24b1c5a3d410aacd05
selfdrive/test/process_replay/test_processes.py
+3 -3
View File
@@ -42,7 +42,7 @@ source_segments = [
segments = [
("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"),
("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
@@ -60,7 +60,7 @@ segments = [
]
# dashcamOnly makes don't need to be tested until a full port is done
excluded_interfaces = ["mock"]
excluded_interfaces = ["mock", "tesla"]
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -135,7 +135,7 @@ if __name__ == "__main__":
parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
help="Blacklist given cars from the test (e.g. HONDA)")
parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
help="Extra fields or msgs to ignore (e.g. carState.events)")
help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)")
parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
help="Msgs to ignore (e.g. carEvents)")
parser.add_argument("--update-refs", action="store_true",
selfdrive/test/test_onroad.py
+9 -6
View File
@@ -13,7 +13,7 @@ from collections import Counter, defaultdict
from functools import cached_property
from pathlib import Path
from cereal import car
from cereal import car, log
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from openpilot.common.basedir import BASEDIR
@@ -38,7 +38,7 @@ PROCS = {
# Baseline CPU usage by process
"selfdrive.controls.controlsd": 16.0,
"selfdrive.selfdrived.selfdrived": 16.0,
"selfdrive.car.card": 30.0,
"selfdrive.car.card": 26.0,
"./loggerd": 14.0,
"./encoderd": 17.0,
"./camerad": 14.5,
@@ -53,7 +53,7 @@ PROCS = {
"selfdrive.locationd.calibrationd": 2.0,
"selfdrive.locationd.torqued": 5.0,
"selfdrive.locationd.locationd": 25.0,
"selfdrive.ui.soundd": 3.5,
"selfdrive.ui.soundd": 3.0,
"selfdrive.monitoring.dmonitoringd": 4.0,
"./proclogd": 1.54,
"system.logmessaged": 0.2,
@@ -143,6 +143,9 @@ class TestOnroad:
route = params.get("CurrentRoute", encoding="utf-8")
time.sleep(0.1)
# test car params caching
params.put("CarParamsCache", car.CarParams().to_bytes())
while len(cls.segments) < 3:
segs = set()
if Path(Paths.log_root()).exists():
@@ -208,13 +211,13 @@ class TestOnroad:
def test_log_sizes(self):
for f, sz in self.log_sizes.items():
if f.name == "qcamera.ts":
assert 2.15 < sz < 2.35
assert 2.15 < sz < 2.6
elif f.name == "qlog":
assert 0.4 < sz < 0.55
elif f.name == "rlog":
assert 5 < sz < 50
elif f.name.endswith('.hevc'):
assert 70 < sz < 77
assert 70 < sz < 80
else:
raise NotImplementedError
@@ -422,7 +425,7 @@ class TestOnroad:
if msg.which() == "selfdriveState":
startup_alert = msg.selfdriveState.alertText1
break
expected = EVENTS[car.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
assert startup_alert == expected, "wrong startup alert"
def test_engagable(self):
selfdrive/test/test_time_to_onroad.py
+2 -2
View File
@@ -3,13 +3,13 @@ import pytest
import time
import subprocess
from cereal import car
from cereal import log
import cereal.messaging as messaging
from openpilot.common.basedir import BASEDIR
from openpilot.common.timeout import Timeout
from openpilot.selfdrive.test.helpers import set_params_enabled
EventName = car.OnroadEvent.EventName
EventName = log.OnroadEvent.EventName
@pytest.mark.tici
selfdrive/ui/SConscript
+2 -2
View File
@@ -28,9 +28,9 @@ qt_libs = [widgets, qt_util] + base_libs
qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
"qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
"qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
"qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
"qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
"qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
"qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
# build translation files
selfdrive/ui/qt/home.cc
-15
View File
@@ -33,11 +33,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
body = new BodyWindow(this);
slayout->addWidget(body);
driver_view = new DriverViewWindow(this);
connect(driver_view, &DriverViewWindow::done, [=] {
showDriverView(false);
});
slayout->addWidget(driver_view);
setAttribute(Qt::WA_NoSystemBackground);
QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
@@ -68,16 +63,6 @@ void HomeWindow::offroadTransition(bool offroad) {
}
}
void HomeWindow::showDriverView(bool show) {
if (show) {
emit closeSettings();
slayout->setCurrentWidget(driver_view);
} else {
slayout->setCurrentWidget(home);
}
sidebar->setVisible(show == false);
}
void HomeWindow::mousePressEvent(QMouseEvent* e) {
// Handle sidebar collapsing
if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
selfdrive/ui/qt/home.h
-3
View File
@@ -8,7 +8,6 @@
#include <QWidget>
#include "common/params.h"
#include "selfdrive/ui/qt/offroad/driverview.h"
#include "selfdrive/ui/qt/body.h"
#include "selfdrive/ui/qt/onroad/onroad_home.h"
#include "selfdrive/ui/qt/sidebar.h"
@@ -53,7 +52,6 @@ signals:
public slots:
void offroadTransition(bool offroad);
void showDriverView(bool show);
void showSidebar(bool show);
protected:
@@ -65,7 +63,6 @@ private:
OffroadHome *home;
OnroadWindow *onroad;
BodyWindow *body;
DriverViewWindow *driver_view;
QStackedLayout *slayout;
private slots:
selfdrive/ui/qt/network/networking.cc
-4
View File
@@ -149,10 +149,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
list->addItem(ipLabel);
// SSH keys
list->addItem(new SshToggle());
list->addItem(new SshControl());
// Roaming toggle
const bool roamingEnabled = params.getBool("GsmRoaming");
roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);
selfdrive/ui/qt/network/wifi_manager.cc
+2
View File
@@ -448,6 +448,7 @@ void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
});
}
call->deleteLater();
tethering_on = true;
}
void WifiManager::setTetheringEnabled(bool enabled) {
@@ -465,6 +466,7 @@ void WifiManager::setTetheringEnabled(bool enabled) {
} else {
deactivateConnectionBySsid(tethering_ssid);
tethering_on = false;
}
}
selfdrive/ui/qt/network/wifi_manager.h
+1
View File
@@ -42,6 +42,7 @@ public:
QMap<QString, Network> seenNetworks;
QMap<QDBusObjectPath, QString> knownConnections;
QString ipv4_address;
bool tethering_on = false;
bool ipv4_forward = false;
explicit WifiManager(QObject* parent);
selfdrive/ui/qt/offroad/developer_panel.cc
+36
View File
@@ -0,0 +1,36 @@
#include <QDebug>
#include "selfdrive/ui/qt/offroad/developer_panel.h"
#include "selfdrive/ui/qt/widgets/ssh_keys.h"
#include "selfdrive/ui/qt/widgets/controls.h"
DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
// SSH keys
addItem(new SshToggle());
addItem(new SshControl());
joystickToggle = new ParamControl("JoystickDebugMode", tr("Joystick Debug Mode"), "", "");
QObject::connect(joystickToggle, &ParamControl::toggleFlipped, [=](bool state) {
params.putBool("LongitudinalManeuverMode", false);
longManeuverToggle->refresh();
});
addItem(joystickToggle);
longManeuverToggle = new ParamControl("LongitudinalManeuverMode", tr("Longitudinal Maneuver Mode"), "", "");
QObject::connect(longManeuverToggle, &ParamControl::toggleFlipped, [=](bool state) {
params.putBool("JoystickDebugMode", false);
joystickToggle->refresh();
});
addItem(longManeuverToggle);
// Joystick and longitudinal maneuvers should be hidden on release branches
// also the toggles should be not available to change in onroad state
const bool is_release = params.getBool("IsReleaseBranch");
QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
for (auto btn : findChildren<ParamControl *>()) {
btn->setVisible(!is_release);
btn->setEnabled(offroad);
}
});
}
selfdrive/ui/qt/offroad/developer_panel.h
+14
View File
@@ -0,0 +1,14 @@
#pragma once
#include "selfdrive/ui/qt/offroad/settings.h"
class DeveloperPanel : public ListWidget {
Q_OBJECT
public:
explicit DeveloperPanel(SettingsWindow *parent);
private:
Params params;
ParamControl* joystickToggle;
ParamControl* longManeuverToggle;
};
selfdrive/ui/qt/offroad/driverview.cc
+19 -27
View File
@@ -5,28 +5,7 @@
#include "selfdrive/ui/qt/util.h"
const int FACE_IMG_SIZE = 130;
DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
if (isVisible()) {
emit done();
}
});
}
void DriverViewWindow::showEvent(QShowEvent* event) {
params.putBool("IsDriverViewEnabled", true);
device()->resetInteractiveTimeout(60);
CameraWidget::showEvent(event);
}
void DriverViewWindow::hideEvent(QHideEvent* event) {
params.putBool("IsDriverViewEnabled", false);
stopVipcThread();
CameraWidget::hideEvent(event);
}
void DriverViewWindow::paintGL() {
@@ -68,12 +47,8 @@ void DriverViewWindow::paintGL() {
p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
}
// icon
const int img_offset = 60;
const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
p.setOpacity(face_detected ? 1.0 : 0.2);
p.drawPixmap(img_x, img_y, face_img);
driver_monitor.updateState(*uiState());
driver_monitor.draw(p, rect());
}
mat4 DriverViewWindow::calcFrameMatrix() {
@@ -87,3 +62,20 @@ mat4 DriverViewWindow::calcFrameMatrix() {
0.0, 0.0, 0.0, 1.0,
}};
}
DriverViewDialog::DriverViewDialog(QWidget *parent) : DialogBase(parent) {
Params().putBool("IsDriverViewEnabled", true);
device()->resetInteractiveTimeout(60);
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
auto camera = new DriverViewWindow(this);
main_layout->addWidget(camera);
QObject::connect(camera, &DriverViewWindow::clicked, this, &DialogBase::accept);
QObject::connect(device(), &Device::interactiveTimeout, this, &DialogBase::accept);
}
void DriverViewDialog::done(int r) {
Params().putBool("IsDriverViewEnabled", false);
QDialog::done(r);
}
selfdrive/ui/qt/offroad/driverview.h
+10 -11
View File
@@ -1,22 +1,21 @@
#pragma once
#include "selfdrive/ui/qt/widgets/cameraview.h"
#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
#include "selfdrive/ui/qt/widgets/input.h"
class DriverViewWindow : public CameraWidget {
Q_OBJECT
public:
explicit DriverViewWindow(QWidget *parent);
signals:
void done();
protected:
mat4 calcFrameMatrix() override;
void showEvent(QShowEvent *event) override;
void hideEvent(QHideEvent *event) override;
void paintGL() override;
mat4 calcFrameMatrix() override;
DriverMonitorRenderer driver_monitor;
};
Params params;
QPixmap face_img;
class DriverViewDialog : public DialogBase {
Q_OBJECT
public:
DriverViewDialog(QWidget *parent);
void done(int r) override;
};
selfdrive/ui/qt/offroad/settings.cc
+9 -3
View File
@@ -8,12 +8,13 @@
#include "common/watchdog.h"
#include "common/util.h"
#include "selfdrive/ui/qt/offroad/driverview.h"
#include "selfdrive/ui/qt/network/networking.h"
#include "selfdrive/ui/qt/offroad/settings.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/widgets/prime.h"
#include "selfdrive/ui/qt/widgets/scrollview.h"
#include "selfdrive/ui/qt/widgets/ssh_keys.h"
#include "selfdrive/ui/qt/offroad/developer_panel.h"
TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
// param, title, desc, icon
@@ -204,7 +205,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
connect(dcamBtn, &ButtonControl::clicked, [this, dcamBtn]() {
dcamBtn->setEnabled(false);
DriverViewDialog driver_view(this);
driver_view.exec();
dcamBtn->setEnabled(true);
});
addItem(dcamBtn);
auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
@@ -376,7 +382,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
// setup panels
DevicePanel *device = new DevicePanel(this);
QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
TogglesPanel *toggles = new TogglesPanel(this);
QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
@@ -389,6 +394,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
{tr("Network"), networking},
{tr("Toggles"), toggles},
{tr("Software"), new SoftwarePanel(this)},
{tr("Developer"), new DeveloperPanel(this)},
};
nav_btns = new QButtonGroup(this);
selfdrive/ui/qt/offroad/settings.h
-2
View File
@@ -28,7 +28,6 @@ protected:
signals:
void closeSettings();
void reviewTrainingGuide();
void showDriverView();
void expandToggleDescription(const QString &param);
private:
@@ -45,7 +44,6 @@ public:
signals:
void reviewTrainingGuide();
void showDriverView();
private slots:
void poweroff();
selfdrive/ui/qt/onroad/annotated_camera.cc
+3 -117
View File
@@ -75,8 +75,7 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
0.0f, 0.0f, 1.0f).finished();
s->car_space_transform = video_transform * calib_transform;
s->clip_region = rect().adjusted(-500, -500, 500, 500);
model.setTransform(video_transform * calib_transform);
float zx = zoom * 2 * center_x / w;
float zy = zoom * 2 * center_y / h;
@@ -88,106 +87,10 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
}};
}
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.save();
const UIScene &scene = s->scene;
SubMaster &sm = *(s->sm);
// lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
painter.drawPolygon(scene.lane_line_vertices[i]);
}
// road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
painter.drawPolygon(scene.road_edge_vertices[i]);
}
// paint path
QLinearGradient bg(0, height(), 0, 0);
if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
// The first half of track_vertices are the points for the right side of the path
const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
for (int i = 0; i < max_len; ++i) {
// Some points are out of frame
int track_idx = max_len - i - 1; // flip idx to start from bottom right
if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
// Flip so 0 is bottom of frame
float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
// speed up: 120, slow down: 0
float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
// FIXME: painter.drawPolygon can be slow if hue is not rounded
path_hue = int(path_hue * 100 + 0.5) / 100;
float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
// Skip a point, unless next is last
i += (i + 2) < max_len ? 1 : 0;
}
} else {
bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
}
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices);
painter.restore();
}
void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
painter.save();
const float speedBuff = 10.;
const float leadBuff = 40.;
const float d_rel = lead_data.getDRel();
const float v_rel = lead_data.getVRel();
float fillAlpha = 0;
if (d_rel < leadBuff) {
fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
if (v_rel < 0) {
fillAlpha += 255 * (-1 * (v_rel / speedBuff));
}
fillAlpha = (int)(fmin(fillAlpha, 255));
}
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
float y = std::fmin(height() - sz * .6, (float)vd.y());
float g_xo = sz / 5;
float g_yo = sz / 10;
QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
painter.setBrush(QColor(218, 202, 37, 255));
painter.drawPolygon(glow, std::size(glow));
// chevron
QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
painter.setBrush(redColor(fillAlpha));
painter.drawPolygon(chevron, std::size(chevron));
painter.restore();
}
void AnnotatedCameraWidget::paintGL() {
UIState *s = uiState();
SubMaster &sm = *(s->sm);
const double start_draw_t = millis_since_boot();
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
// draw camera frame
{
@@ -218,7 +121,7 @@ void AnnotatedCameraWidget::paintGL() {
wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
}
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
CameraWidget::setFrameId(model.getFrameId());
CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
CameraWidget::paintGL();
}
@@ -226,24 +129,7 @@ void AnnotatedCameraWidget::paintGL() {
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(Qt::NoPen);
if (s->scene.world_objects_visible) {
update_model(s, model);
drawLaneLines(painter, s);
if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
auto radar_state = sm["radarState"].getRadarState();
update_leads(s, radar_state, model.getPosition());
auto lead_one = radar_state.getLeadOne();
auto lead_two = radar_state.getLeadTwo();
if (lead_one.getStatus()) {
drawLead(painter, lead_one, s->scene.lead_vertices[0]);
}
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
drawLead(painter, lead_two, s->scene.lead_vertices[1]);
}
}
}
model.draw(painter, rect());
dmon.draw(painter, rect());
hud.updateState(*s);
hud.draw(painter, rect());
selfdrive/ui/qt/onroad/annotated_camera.h
+2 -3
View File
@@ -5,6 +5,7 @@
#include "selfdrive/ui/qt/onroad/hud.h"
#include "selfdrive/ui/qt/onroad/buttons.h"
#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
#include "selfdrive/ui/qt/onroad/model.h"
#include "selfdrive/ui/qt/widgets/cameraview.h"
class AnnotatedCameraWidget : public CameraWidget {
@@ -19,6 +20,7 @@ private:
ExperimentalButton *experimental_btn;
DriverMonitorRenderer dmon;
HudRenderer hud;
ModelRenderer model;
std::unique_ptr<PubMaster> pm;
int skip_frame_count = 0;
@@ -29,9 +31,6 @@ protected:
void initializeGL() override;
void showEvent(QShowEvent *event) override;
mat4 calcFrameMatrix() override;
void drawLaneLines(QPainter &painter, const UIState *s);
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
double prev_draw_t = 0;
FirstOrderFilter fps_filter;
selfdrive/ui/qt/onroad/hud.cc
+1 -1
View File
@@ -13,7 +13,7 @@ void HudRenderer::updateState(const UIState &s) {
status = s.status;
const SubMaster &sm = *(s.sm);
if (!sm.alive("carState")) {
if (sm.rcv_frame("carState") < s.scene.started_frame) {
is_cruise_set = false;
set_speed = SET_SPEED_NA;
speed = 0.0;
selfdrive/ui/qt/onroad/model.cc
+249
View File
@@ -0,0 +1,249 @@
#include "selfdrive/ui/qt/onroad/model.h"
constexpr int CLIP_MARGIN = 500;
constexpr float MIN_DRAW_DISTANCE = 10.0;
constexpr float MAX_DRAW_DISTANCE = 100.0;
static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
const auto &line_x = line.getX();
int max_idx = 0;
for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
max_idx = i;
}
return max_idx;
}
void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
auto *s = uiState();
auto &sm = *(s->sm);
// Check if data is up-to-date
if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
sm.rcv_frame("modelV2") < s->scene.started_frame) {
return;
}
clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
painter.save();
const auto &model = sm["modelV2"].getModelV2();
const auto &radar_state = sm["radarState"].getRadarState();
const auto &lead_one = radar_state.getLeadOne();
update_model(model, lead_one);
drawLaneLines(painter);
drawPath(painter, model, surface_rect.height());
if (longitudinal_control && sm.alive("radarState")) {
update_leads(radar_state, model.getPosition());
const auto &lead_two = radar_state.getLeadTwo();
if (lead_one.getStatus()) {
drawLead(painter, lead_one, lead_vertices[0], surface_rect);
}
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
drawLead(painter, lead_two, lead_vertices[1], surface_rect);
}
}
painter.restore();
}
void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
for (int i = 0; i < 2; ++i) {
const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
if (lead_data.getStatus()) {
float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
}
}
}
void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
const auto &model_position = model.getPosition();
float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
// update lane lines
const auto &lane_lines = model.getLaneLines();
const auto &line_probs = model.getLaneLineProbs();
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(lane_line_vertices); i++) {
lane_line_probs[i] = line_probs[i];
mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
}
// update road edges
const auto &road_edges = model.getRoadEdges();
const auto &edge_stds = model.getRoadEdgeStds();
for (int i = 0; i < std::size(road_edge_vertices); i++) {
road_edge_stds[i] = edge_stds[i];
mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
}
// update path
if (lead.getStatus()) {
const float lead_d = lead.getDRel() * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(model_position, max_distance);
mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
}
void ModelRenderer::drawLaneLines(QPainter &painter) {
// lanelines
for (int i = 0; i < std::size(lane_line_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
painter.drawPolygon(lane_line_vertices[i]);
}
// road edges
for (int i = 0; i < std::size(road_edge_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
painter.drawPolygon(road_edge_vertices[i]);
}
}
void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
QLinearGradient bg(0, height, 0, 0);
if (experimental_mode) {
// The first half of track_vertices are the points for the right side of the path
const auto &acceleration = model.getAcceleration().getX();
const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
for (int i = 0; i < max_len; ++i) {
// Some points are out of frame
int track_idx = max_len - i - 1; // flip idx to start from bottom right
if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
// Flip so 0 is bottom of frame
float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
// speed up: 120, slow down: 0
float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
// FIXME: painter.drawPolygon can be slow if hue is not rounded
path_hue = int(path_hue * 100 + 0.5) / 100;
float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
// Skip a point, unless next is last
i += (i + 2) < max_len ? 1 : 0;
}
} else {
updatePathGradient(bg);
}
painter.setBrush(bg);
painter.drawPolygon(track_vertices);
}
void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
static const QColor throttle_colors[] = {
QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
static const QColor no_throttle_colors[] = {
QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
};
// Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
constexpr float transition_speed = 0.1f;
// Start transition if throttle state changes
bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle() || !longitudinal_control;
if (allow_throttle != prev_allow_throttle) {
prev_allow_throttle = allow_throttle;
// Invert blend factor for a smooth transition when the state changes mid-animation
blend_factor = std::max(1.0f - blend_factor, 0.0f);
}
const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
if (blend_factor < 1.0f) {
blend_factor = std::min(blend_factor + transition_speed, 1.0f);
}
// Set gradient colors by blending the start and end colors
bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
}
QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
if (t == 1.0f) return end;
return QColor::fromRgbF(
(1 - t) * start.redF() + t * end.redF(),
(1 - t) * start.greenF() + t * end.greenF(),
(1 - t) * start.blueF() + t * end.blueF(),
(1 - t) * start.alphaF() + t * end.alphaF());
}
void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
const QPointF &vd, const QRect &surface_rect) {
const float speedBuff = 10.;
const float leadBuff = 40.;
const float d_rel = lead_data.getDRel();
const float v_rel = lead_data.getVRel();
float fillAlpha = 0;
if (d_rel < leadBuff) {
fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
if (v_rel < 0) {
fillAlpha += 255 * (-1 * (v_rel / speedBuff));
}
fillAlpha = (int)(fmin(fillAlpha, 255));
}
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
float g_xo = sz / 5;
float g_yo = sz / 10;
QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
painter.setBrush(QColor(218, 202, 37, 255));
painter.drawPolygon(glow, std::size(glow));
// chevron
QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
painter.setBrush(QColor(201, 34, 49, fillAlpha));
painter.drawPolygon(chevron, std::size(chevron));
}
// Projects a point in car to space to the corresponding point in full frame image space.
bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
Eigen::Vector3f input(in_x, in_y, in_z);
auto pt = car_space_transform * input;
*out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
return clip_region.contains(*out);
}
void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
QPolygonF *pvd, int max_idx, bool allow_invert) {
const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
QPointF left, right;
pvd->clear();
for (int i = 0; i <= max_idx; i++) {
// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
if (line_x[i] < 0) continue;
bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
if (l && r) {
// For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
continue;
}
pvd->push_back(left);
pvd->push_front(right);
}
}
}
selfdrive/ui/qt/onroad/model.h
+38
View File
@@ -0,0 +1,38 @@
#pragma once
#include <QPainter>
#include <QPolygonF>
#include "selfdrive/ui/ui.h"
class ModelRenderer {
public:
ModelRenderer() {}
void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
void draw(QPainter &painter, const QRect &surface_rect);
private:
bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
QPolygonF *pvd, int max_idx, bool allow_invert = true);
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
void drawLaneLines(QPainter &painter);
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
void updatePathGradient(QLinearGradient &bg);
QColor blendColors(const QColor &start, const QColor &end, float t);
bool longitudinal_control = false;
bool experimental_mode = false;
float blend_factor = 1.0f;
bool prev_allow_throttle = true;
float lane_line_probs[4] = {};
float road_edge_stds[2] = {};
QPolygonF track_vertices;
QPolygonF lane_line_vertices[4] = {};
QPolygonF road_edge_vertices[2] = {};
QPointF lead_vertices[2] = {};
Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
QRectF clip_region;
};
selfdrive/ui/qt/sidebar.cc
+6 -4
View File
@@ -74,9 +74,11 @@ void Sidebar::updateState(const UIState &s) {
auto &sm = *(s.sm);
networking = networking ? networking : window()->findChild<Networking *>("");
bool tethering_on = networking && networking->wifi->tethering_on;
auto deviceState = sm["deviceState"].getDeviceState();
setProperty("netType", network_type[deviceState.getNetworkType()]);
int strength = (int)deviceState.getNetworkStrength();
setProperty("netType", tethering_on ? "Hotspot": network_type[deviceState.getNetworkType()]);
int strength = tethering_on ? 4 : (int)deviceState.getNetworkStrength();
setProperty("netStrength", strength > 0 ? strength + 1 : 0);
ItemStatus connectStatus;
@@ -131,8 +133,8 @@ void Sidebar::paintEvent(QPaintEvent *event) {
p.setFont(InterFont(35));
p.setPen(QColor(0xff, 0xff, 0xff));
const QRect r = QRect(50, 247, 100, 50);
p.drawText(r, Qt::AlignCenter, net_type);
const QRect r = QRect(58, 247, width() - 100, 50);
p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
// metrics
drawMetric(p, temp_status.first, temp_status.second, 338);
selfdrive/ui/qt/sidebar.h
+2
View File
@@ -6,6 +6,7 @@
#include <QMap>
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/network/networking.h"
typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
Q_DECLARE_METATYPE(ItemStatus);
@@ -59,4 +60,5 @@ protected:
private:
std::unique_ptr<PubMaster> pm;
Networking *networking = nullptr;
};
selfdrive/ui/qt/window.cc
-3
View File
@@ -20,9 +20,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
onboardingWindow->showTrainingGuide();
main_layout->setCurrentWidget(onboardingWindow);
});
QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
homeWindow->showDriverView(true);
});
onboardingWindow = new OnboardingWindow(this);
main_layout->addWidget(onboardingWindow);
selfdrive/ui/tests/test_runner.cc
+1
View File
@@ -11,6 +11,7 @@ int main(int argc, char **argv) {
QApplication app(argc, argv);
QString language_file = "main_test_en";
// FIXME: pytest-cpp considers this print as a test case
qDebug() << "Loading language:" << language_file;
QTranslator translator;
selfdrive/ui/tests/test_ui/run.py
+32 -40
View File
@@ -3,11 +3,10 @@ import capnp
import pathlib
import shutil
import sys
import jinja2
import matplotlib.pyplot as plt
import numpy as np
import os
import pywinctl
import pyautogui
import pickle
import time
from cereal import log
@@ -19,12 +18,13 @@ from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.framereader import FrameReader
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
UI_DELAY = 0.5 # may be slower on CI?
UI_DELAY = 0.1 # may be slower on CI?
TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
@@ -42,13 +42,18 @@ def setup_settings_device(click, pm: PubMaster):
def setup_settings_toggles(click, pm: PubMaster):
setup_settings_device(click, pm)
click(278, 760)
click(278, 650)
time.sleep(UI_DELAY)
def setup_settings_developer(click, pm: PubMaster):
setup_settings_device(click, pm)
click(278, 960)
time.sleep(UI_DELAY)
def setup_onroad(click, pm: PubMaster):
vipc_server = VisionIpcServer("camerad")
for stream_type, cam, _ in STREAMS:
vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
vipc_server.start_listener()
uidebug_received_cnt = 0
@@ -175,6 +180,7 @@ CASES = {
"pair_device": setup_pair_device,
"settings_device": setup_settings_device,
"settings_toggles": setup_settings_toggles,
"settings_developer": setup_settings_developer,
"onroad": setup_onroad,
"onroad_disengaged": setup_onroad_disengaged,
"onroad_override": setup_onroad_override,
@@ -216,41 +222,20 @@ class TestUI:
print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
def screenshot(self):
import pyautogui
im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
def screenshot(self, name):
im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
assert im.width == 2160
assert im.height == 1080
img = np.array(im)
im.close()
return img
def click(self, x, y, *args, **kwargs):
import pyautogui
pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
time.sleep(UI_DELAY) # give enough time for the UI to react
@with_processes(["ui"])
def test_ui(self, name, setup_case):
self.setup()
setup_case(self.click, self.pm)
im = self.screenshot()
plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im)
def create_html_report():
OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html"
with open(TEST_DIR / "template.html") as f:
template = jinja2.Template(f.read())
cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")}
cases = dict(sorted(cases.items()))
with open(OUTPUT_FILE, "w") as f:
f.write(template.render(cases=cases))
self.screenshot(name)
def create_screenshots():
if TEST_OUTPUT_DIR.exists():
@@ -263,7 +248,7 @@ def create_screenshots():
segnum = 2
lr = LogReader(route.qlog_paths()[segnum])
DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
for event in migrate_controlsState(lr):
for event in migrate(lr, [migrate_controlsState, migrate_carState]):
if event.which() in DATA:
DATA[event.which()] = event.as_builder()
@@ -271,13 +256,23 @@ def create_screenshots():
break
cam = DEVICE_CAMERAS[("tici", "ar0231")]
road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames'
if os.path.isfile(frames_cache):
with open(frames_cache, 'rb') as f:
frames = pickle.load(f)
road_img = frames[0]
wide_road_img = frames[1]
driver_img = frames[2]
else:
with open(frames_cache, 'wb') as f:
road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
pickle.dump([road_img, wide_road_img, driver_img], f)
STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
t = TestUI()
@@ -296,6 +291,3 @@ def create_screenshots():
if __name__ == "__main__":
print("creating test screenshots")
create_screenshots()
print("creating html report")
create_html_report()
selfdrive/ui/translations/main_ar.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>رفض، إلغاء التثبيت %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -618,6 +629,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>البرنامج</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_de.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>Ablehnen, deinstallieren %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -600,6 +611,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>Software</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_es.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>Rechazar, desinstalar %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -602,6 +613,10 @@ Esto puede tardar un minuto.</translation>
<source>Software</source>
<translation>Software</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_fr.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>Refuser, désinstaller %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -602,6 +613,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
<source>Software</source>
<translation>Logiciel</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_ja.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>ｿﾌﾄｳｪｱ</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_ko.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>거절, %1 제거</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>소프트웨어</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_pt-BR.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>Rejeitar, desintalar %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation>Modo Joystick Debug</translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation>Modo Longitudinal Maneuver</translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -602,6 +613,10 @@ Isso pode levar até um minuto.</translation>
<source>Software</source>
<translation>Software</translation>
</message>
<message>
<source>Developer</source>
<translation>Desenvdor</translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_th.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>ซอฟต์แวร์</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_tr.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>Reddet, Kurulumu kaldır. %1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -596,6 +607,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>Yazılım</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>
selfdrive/ui/translations/main_zh-CHS.ts
+15
View File
@@ -113,6 +113,17 @@
<translation>拒绝并卸载%1</translation>
</message>
</context>
<context>
<name>DeveloperPanel</name>
<message>
<source>Joystick Debug Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DevicePanel</name>
<message>
@@ -598,6 +609,10 @@ This may take up to a minute.</source>
<source>Software</source>
<translation>软件</translation>
</message>
<message>
<source>Developer</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Setup</name>

Some files were not shown because too many files have changed in this diff Show More