From b4cf9c09888a7e85ada4096a2b7e331c860df86d Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 30 Sep 2024 13:46:04 -0700 Subject: [PATCH 001/191] [bot] Update Python packages (#33679) * Update Python packages * thats unfortunate * global --------- Co-authored-by: Vehicle Researcher Co-authored-by: Maxime Desroches --- SConstruct | 4 + opendbc_repo | 2 +- panda | 2 +- uv.lock | 326 ++++++++++++++++++++++++++------------------------- 4 files changed, 172 insertions(+), 162 deletions(-) diff --git a/SConstruct b/SConstruct index fea47440cf..8aa46b9359 100644 --- a/SConstruct +++ b/SConstruct @@ -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', diff --git a/opendbc_repo b/opendbc_repo index 173ab90402..6a35629a6b 160000 --- a/opendbc_repo +++ 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66ec697912..643af7fd82 100644 --- a/tools/longitudinal_maneuvers/README.md +++ b/tools/longitudinal_maneuvers/README.md @@ -18,7 +18,9 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f) -5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel. +5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel. + + **Note:** For GM cars, it is recommended to hold down the resume button for all low-speed tests (starting, stopping and creep) to avoid the car entering standstill. ![cog-clip-00 01 11 250-00 01 22 250](https://github.com/user-attachments/assets/c312c1cc-76e8-46e1-a05e-bb9dfb58994f) From 47cc314b14baba530920e78ad1c31935acc71b8b Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Mon, 30 Sep 2024 18:13:51 -0700 Subject: [PATCH 003/191] Gate acceleration on model gas press predictions (#33643) * no ui squash * already calibrated * Already calibrated * Add longitudinal maneuver tests * Fix linter errors * Added get_coast_accel function --------- Co-authored-by: Bruce Wayne --- .../controls/lib/longitudinal_planner.py | 27 +++++++++++-- .../test/longitudinal_maneuvers/maneuver.py | 16 ++++++-- .../test/longitudinal_maneuvers/plant.py | 12 ++++-- .../test_longitudinal.py | 38 +++++++++++++++++++ 4 files changed, 83 insertions(+), 10 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 0b65119383..54838924be 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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 +ACCEL_LIMIT_MARGIN = 0.05 # 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): """ @@ -69,6 +74,7 @@ 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 +99,20 @@ 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 @@ -130,6 +145,13 @@ 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) + self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD + + if not self.allow_throttle and v_ego > 5.0: # Don't clip at low speeds since throttle_prob doesn't account for creep + # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin + clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN) + accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast) if force_slow_decel: v_cruise = 0.0 @@ -140,7 +162,6 @@ 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 +200,6 @@ 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) diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 6c8495cc3b..301f99dd56 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -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 diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 21f2b3b57f..3c8c09d6be 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -57,13 +57,14 @@ 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') + 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 +74,14 @@ 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 +95,7 @@ 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 +113,7 @@ 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 @@ -120,10 +122,12 @@ 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, 'modelV2': model.modelV2} diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 62a95babeb..7eea44aae6 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -82,6 +82,44 @@ 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( + "slow to 5m/s with allow_throttle = False and pitch = +0.1", + duration=25., + 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, + ), Maneuver( "approach slower cut-in car at 20m/s", duration=20., From 216145d4bc035e2bd7f10d9f3968631db8535578 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 30 Sep 2024 18:30:03 -0700 Subject: [PATCH 004/191] re-enable time to onroad test (#33680) re-add test --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index eb39781cb8..799b4fbbeb 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -147,7 +147,7 @@ node { ["build openpilot", "cd system/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], + ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { From d826b08369555f7e39d03511efa4ddea62701517 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 30 Sep 2024 18:59:46 -0700 Subject: [PATCH 005/191] ci: lower `soundd` CPU budget (#33684) tr --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index b99662df78..2f7fa00a32 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -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": 3.38, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, From b0e4d6ee7a313e9db08c86758c6c7188b23f9b67 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 30 Sep 2024 19:15:29 -0700 Subject: [PATCH 006/191] Model replay needs speed (#33683) * Model replay needs speed * Model replay needs speed * Revert "Model replay needs speed" This reverts commit 6d6a4993dd163c02d84465868e85b290d4fc6bbd. * Update model_replay_ref_commit --- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- selfdrive/test/process_replay/process_replay.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 182a17c7b7..5fb62db139 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -76b8121429ad69d6548f744a39680ade324947e2 +56743d36006d4312544ace7f53491727aa7ac302 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index af33b0458b..b6d5ba6afd 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -569,7 +569,7 @@ 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(), From 6c227a66a2a91b6c9f91d9f76c5ec268145184ca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 30 Sep 2024 20:42:51 -0700 Subject: [PATCH 007/191] process_replay: drivingModelData migration (#33686) * Migrate modelV2 to drivingModelData * Add if statements * Fix --- selfdrive/modeld/fill_model_msg.py | 11 ++++++---- selfdrive/test/process_replay/migration.py | 25 ++++++++++++++++++++++ 2 files changed, 32 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 10a1860b58..115ec94f88 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -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) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 9c680ada9a..c0696f2181 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -3,6 +3,8 @@ from collections import defaultdict from cereal import messaging, car 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.system.manager.process_config import managed_processes from panda import Panda @@ -19,6 +21,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals msgs = migrate_liveLocationKalman(msgs) msgs = migrate_liveTracks(msgs) msgs = migrate_driverAssistance(msgs) + msgs = migrate_drivingModelData(msgs) if manager_states: msgs = migrate_managerState(msgs) if panda_states: @@ -29,6 +32,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals return msgs + def migrate_driverAssistance(lr): all_msgs = [] for msg in lr: @@ -39,6 +43,27 @@ def migrate_driverAssistance(lr): return lr return all_msgs + +def migrate_drivingModelData(lr): + all_msgs = [] + for msg in lr: + all_msgs.append(msg) + if msg.which() == "modelV2": + 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) + all_msgs.append(dmd.as_reader()) + elif msg.which() == "drivingModelData": + return lr + return all_msgs + + def migrate_liveTracks(lr): all_msgs = [] for msg in lr: From e442425c9d32774e50802cd5455313090060f4ad Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 1 Oct 2024 02:58:20 -0700 Subject: [PATCH 008/191] MLSIM trained model V0 (#33676) * squash f7343ba0-3f7d-4776-9819-2219b8d2d667/270 * fix broken ref * Model replay ref commit --- selfdrive/modeld/constants.py | 3 +- selfdrive/modeld/modeld.py | 29 ++++++++++++++----- selfdrive/modeld/models/commonmodel.cc | 21 +++++++++----- selfdrive/modeld/models/commonmodel.h | 5 ++-- selfdrive/modeld/models/supercombo.onnx | 4 +-- .../process_replay/model_replay_ref_commit | 2 +- 6 files changed, 43 insertions(+), 21 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 82161a5b67..bf74c2d1a0 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -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 diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index abaaf299f7..f8a4b7fe0d 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -34,6 +34,7 @@ MODEL_PATHS = { METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' + class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -55,6 +56,11 @@ 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 +93,16 @@ 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 +112,16 @@ 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 @@ -173,7 +187,6 @@ def main(demo=False): CP = convert_to_capnp(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 diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index a188a4ebd3..e8a5a7ed52 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -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, ®ion, &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)); diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index fb527fc7a1..1c7360f159 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -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 input_frames; -}; +}; \ No newline at end of file diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 100fd14c98..49b51c182e 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:21c88ca8a3de59fb11dc3e5888476f6bb627f3647eb0d199680d598e8bf31c0c -size 62486469 +oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959 +size 50309976 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 5fb62db139..f8fd517548 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -56743d36006d4312544ace7f53491727aa7ac302 +05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7 From 3b6f7c9a6c602c0ceb4907eb9ca4e96c9ba41352 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 1 Oct 2024 13:19:26 -0700 Subject: [PATCH 009/191] sgo shipped! --- RELEASES.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index d69d9f8dcc..1435809d84 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -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 From ba350aac4cb8f996e4c0e22cc77b2b1e99e5ff8c Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 1 Oct 2024 16:48:19 -0700 Subject: [PATCH 010/191] merge Tesla without a replay route (#33691) * bump opendbc * no Tesla replay route for now * bump opendbc to head --- opendbc_repo | 2 +- selfdrive/test/process_replay/test_processes.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 6a35629a6b..7b63ff21e9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 6a35629a6b5f55167ed9d9923411ce9e49e6a76f +Subproject commit 7b63ff21e9652242255b408840d0ebc5a7d0e768 diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 50c34a190f..78090372a6 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -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") From 999c86e8a204e8e392c96907756b369790ba66d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Oct 2024 17:17:09 -0700 Subject: [PATCH 011/191] Remove VW steer time limit alert (#33692) * rm * remove argument * and more --- selfdrive/car/car_specific.py | 9 +++++---- selfdrive/car/card.py | 2 +- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 3984b66c63..db46a75ccc 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,7 +1,7 @@ from cereal import car 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, CarStateBase from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS @@ -37,7 +37,7 @@ 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): + def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl): if self.CP.carName in ('body', 'mock'): events = Events() @@ -149,8 +149,9 @@ class CarSpecificEvents: if CC_prev.enabled and CS.out.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 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 62569f64f5..8829c2e91f 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -187,7 +187,7 @@ class Car: 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() + CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CC_prev).to_msg() self.events.add_from_msg(CS.events) From 17edc5f66092bcc79db919eebb7ecb1e3108be10 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 1 Oct 2024 17:22:46 -0700 Subject: [PATCH 012/191] support for SecOC cars (#33689) * bump opendbc * support for SecOC cars * missed this * bump opendbc * un-nest SecOC params * gate saved key retrieval on IsReleaseBranch false * bump opendbc * bump opendbc * bump opendbc to point of SecOC merge * bump opendbc --- cereal/car.capnp | 4 ++++ common/params.cc | 1 + opendbc_repo | 2 +- selfdrive/car/card.py | 12 ++++++++++++ selfdrive/selfdrived/events.py | 6 ++++++ selfdrive/selfdrived/selfdrived.py | 2 ++ 6 files changed, 26 insertions(+), 1 deletion(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 6af474c0ee..34f2ac37e3 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -87,6 +87,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { startup @75; startupNoCar @76; startupNoControl @77; + startupNoSecOcKey @125; startupMaster @78; fcw @79; steerSaturated @80; @@ -515,6 +516,9 @@ struct CarParams { wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate + secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params + struct SafetyConfig { safetyModel @0 :SafetyModel; safetyParam @3 :UInt16; diff --git a/common/params.cc b/common/params.cc index c75a09e28b..9e62ed582c 100644 --- a/common/params.cc +++ b/common/params.cc @@ -182,6 +182,7 @@ std::unordered_map 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}, diff --git a/opendbc_repo b/opendbc_repo index 7b63ff21e9..bed4c18a95 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7b63ff21e9652242255b408840d0ebc5a7d0e768 +Subproject commit bed4c18a959475251e48c28fadfa6bc207f20ec6 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 8829c2e91f..7f57edf866 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -127,6 +127,18 @@ 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: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 9ed1b454f0..29b1933701 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -382,6 +382,12 @@ 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), diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 18ac61dec8..9e6ac90219 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -118,6 +118,8 @@ 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) From 516aa59ee6293e5fcf49dc370520b22ba46bcf8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Oct 2024 20:16:25 -0700 Subject: [PATCH 013/191] Deprecate lowSpeedLockout alert (#33696) * is an accFault * bump * bump to master * remove from car specific --- cereal/car.capnp | 2 +- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 2 -- selfdrive/selfdrived/events.py | 5 ----- 4 files changed, 2 insertions(+), 9 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 34f2ac37e3..73f9ca9dc4 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -52,7 +52,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { brakeHold @28; parkBrake @29; manualRestart @30; - lowSpeedLockout @31; joystickDebug @34; longitudinalManeuver @124; steerTempUnavailableSilent @35; @@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { wideRoadCameraErrorDEPRECATED @102; highCpuUsageDEPRECATED @105; startupNoFwDEPRECATED @104; + lowSpeedLockoutDEPRECATED @31; } } diff --git a/opendbc_repo b/opendbc_repo index bed4c18a95..01f47ff1a3 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit bed4c18a959475251e48c28fadfa6bc207f20ec6 +Subproject commit 01f47ff1a324ade77d99f79c7ea0f4e87110147d diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index db46a75ccc..9602400250 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -99,8 +99,6 @@ class CarSpecificEvents: if self.CP.openpilotLongitudinalControl: if CS.out.cruiseState.standstill and not CS.out.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: events.add(EventName.belowEngageSpeed) if CC_prev.actuators.accel > 0.3: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 29b1933701..cb71126627 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -945,11 +945,6 @@ 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"), From 521c702a1ef87f035e1a36f53bcd823ec57e77ae Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 1 Oct 2024 20:34:21 -0700 Subject: [PATCH 014/191] jenkins: set device time --- Jenkinsfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index 799b4fbbeb..84514948c7 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -84,6 +84,8 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) 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 -> From 9cbd34158f6fa264b86493c1c5bdb2a1bbc0dd4f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Oct 2024 21:17:24 -0700 Subject: [PATCH 015/191] GM: signed wheel speeds (#33697) * signed wheel speeds * clean up * bump to master * bump to master again * did a sanity check for negative vego * bump --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 5 ++--- selfdrive/controls/controlsd.py | 2 +- selfdrive/selfdrived/selfdrived.py | 2 +- 4 files changed, 5 insertions(+), 6 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 01f47ff1a3..ea87b4fa3b 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 01f47ff1a324ade77d99f79c7ea0f4e87110147d +Subproject commit ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 9602400250..1053588001 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -119,9 +119,8 @@ class CarSpecificEvents: # 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.out.vEgo < self.CP.minEnableSpeed and not (CS.out.standstill and CS.out.brake >= 20 and + self.CP.networkLocation == NetworkLocation.fwdCamera): events.add(EventName.belowEngageSpeed) if CS.out.cruiseState.standstill: events.add(EventName.resumeRequired) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 80331c6ee7..c97a06a0cf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -87,7 +87,7 @@ 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.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 9e6ac90219..63e078e6d7 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -334,7 +334,7 @@ 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) From 48bd5b9f6b0400a09d8af87442ad3616fedc6724 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 1 Oct 2024 21:33:46 -0700 Subject: [PATCH 016/191] modeld: clip vego (#33699) --- selfdrive/modeld/modeld.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index f8a4b7fe0d..ec258f42f0 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -231,7 +231,8 @@ 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))] From aea6790e3c3d1456305c52213965a6799c42074a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Oct 2024 21:30:16 -0700 Subject: [PATCH 017/191] ButtonEvent: rename altButton3 to mainCruise --- cereal/car.capnp | 2 +- opendbc_repo | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 73f9ca9dc4..3ef78973e3 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -281,7 +281,7 @@ struct CarState { cancel @5; altButton1 @6; altButton2 @7; - altButton3 @8; + mainCruise @8; setCruise @9; resumeCruise @10; gapAdjustCruise @11; diff --git a/opendbc_repo b/opendbc_repo index ea87b4fa3b..117ed6de67 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ea87b4fa3ba98a71c2c8e93c97788fb0fa960d55 +Subproject commit 117ed6de6788c90c097d426e88ac97aaa36d0621 From c19c18cfdb875aa9cf02e3ea813e3385dfab8ff7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Oct 2024 22:46:24 -0700 Subject: [PATCH 018/191] Hyundai: always publish cruise and main buttons (#33701) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 117ed6de67..2b91038bf7 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 117ed6de6788c90c097d426e88ac97aaa36d0621 +Subproject commit 2b91038bf7f1c2287f1d32c98cd84e45cc0e243e diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e154284e3d..8e012f79c3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d8a02c23f530dd236553b47ff7f0355929fe15fc +2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf \ No newline at end of file From 98e1d840de3cb8cf801e7b23cafc5fc605550344 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Oct 2024 23:06:57 -0700 Subject: [PATCH 019/191] CarState: add invalidLkasSetting (#33700) * invalidLkasSetting * clean up car specific a bit * clean this up * deprecate! * bump * this was just broken lol * updaterefs --- cereal/car.capnp | 3 ++- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 9 +++------ selfdrive/selfdrived/events.py | 10 +++------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 10 insertions(+), 16 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 3ef78973e3..e53f3ce25c 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -103,7 +103,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { selfdriveInitializing @98; usbError @99; cruiseMismatch @106; - lkasDisabled @107; canBusMissing @111; selfdrivedLagging @112; resumeBlocked @113; @@ -150,6 +149,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { highCpuUsageDEPRECATED @105; startupNoFwDEPRECATED @104; lowSpeedLockoutDEPRECATED @31; + lkasDisabledDEPRECATED @107; } } @@ -199,6 +199,7 @@ struct CarState { steeringPressed @9 :Bool; # if the user is using the steering wheel steerFaultTemporary @35 :Bool; # temporary EPS fault steerFaultPermanent @36 :Bool; # permanent EPS fault + invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) stockAeb @30 :Bool; stockFcw @31 :Bool; espDisabled @32 :Bool; diff --git a/opendbc_repo b/opendbc_repo index 2b91038bf7..0cdc684e09 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 2b91038bf7f1c2287f1d32c98cd84e45cc0e243e +Subproject commit 0cdc684e097f386554bbc1a6946a4efe8bc7cfd6 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 1053588001..83927a6b04 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -50,15 +50,10 @@ class CarSpecificEvents: 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] + if CS.low_speed_alert: # type: ignore[attr-defined] events.add(EventName.belowSteerSpeed) elif self.CP.carName == 'chrysler': @@ -211,6 +206,8 @@ class CarSpecificEvents: events.add(EventName.gasPressedOverride) if CS.vehicleSensorsInvalid: events.add(EventName.vehicleSensorsInvalid) + if CS.invalidLkasSetting: + events.add(EventName.invalidLkasSetting) # Handle button presses for b in CS.buttonEvents: diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index cb71126627..070ca60ca2 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -394,8 +394,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, 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: { @@ -945,11 +946,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Slow down to engage"), }, - 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"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8e012f79c3..30daa6e265 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2384c1fdb2db449fb6b09f5dc47b3314f4b1cfcf \ No newline at end of file +1b4480f5ebf5a4003dde22f19bbcf989294bc724 \ No newline at end of file From c87f953396d1fe719337132940cab9473a8054b4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 1 Oct 2024 23:21:33 -0700 Subject: [PATCH 020/191] test_onroad: bump up hevc size --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 2f7fa00a32..fc51d7a2cc 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -214,7 +214,7 @@ class TestOnroad: elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): - assert 70 < sz < 77 + assert 70 < sz < 80 else: raise NotImplementedError From af609212f7be5a60c5987b00dd7047e8bfdd5f04 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 2 Oct 2024 10:10:11 -0700 Subject: [PATCH 021/191] bump qcamera too --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index fc51d7a2cc..f2afad82ee 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -208,7 +208,7 @@ 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": From 7fa8e3d8a65682a00d8ee6d5dba2b58292921dfc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 3 Oct 2024 01:10:26 +0800 Subject: [PATCH 022/191] sensord: fix redundant assignment (#33707) fix redundant assignment --- system/sensord/sensors/lsm6ds3_gyro.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc index 0459b6ad64..bb560edeab 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ b/system/sensord/sensors/lsm6ds3_gyro.cc @@ -110,7 +110,7 @@ int LSM6DS3_Gyro::init() { uint8_t value = 0; bool do_self_test = false; - const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); + const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { do_self_test = true; } From 6aebec7b347a2b40e1bf1c495fe0f1eb360d26fc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 3 Oct 2024 04:03:46 +0800 Subject: [PATCH 023/191] cleanup .gitignore (#33704) --- .gitignore | 3 --- 1 file changed, 3 deletions(-) diff --git a/.gitignore b/.gitignore index d66823bb50..919e011fe3 100644 --- a/.gitignore +++ b/.gitignore @@ -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 From 06f2ca117915ea7fa6490a6f3c3dac61da25fb19 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Oct 2024 14:38:00 -0700 Subject: [PATCH 024/191] cars: generic interaction detection (#33710) * works * clean up * bump * clean up * it used to consider an action hold down the button, so shouldn't only consider rising edge * bump --- opendbc_repo | 2 +- selfdrive/car/car_specific.py | 8 ++++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0cdc684e09..900246ddb3 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0cdc684e097f386554bbc1a6946a4efe8bc7cfd6 +Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770 diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 83927a6b04..b43a4c4fc7 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,9 +1,11 @@ +from collections import deque from cereal import car import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase 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 @@ -37,6 +39,8 @@ class CarSpecificEvents: self.no_steer_warning = False self.silent_steer_warning = True + self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES) + def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl): if self.CP.carName in ('body', 'mock'): events = Events() @@ -149,8 +153,8 @@ class CarSpecificEvents: # 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.out.buttonEvents)) + events = self.create_common_events(CS.out, 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.: From 2b486b15c6718d076ef40098998971a5874abd1b Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 2 Oct 2024 14:47:09 -0700 Subject: [PATCH 025/191] MLSIM trained model V1 (#33698) * 87c86ea8-9766-43e9-b72f-185496800301/400 * update ref --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 49b51c182e..89042dbe47 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dd55319c8e3e9ac120f2b1bb1131cb67018669dfc0f7ebd31c27cc6de3e9f959 +oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95 size 50309976 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index f8fd517548..f14eef06b9 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -05b1cb87e32f280e46e0f45bbd6d76d5fd3f57a7 +c4d60dfe4b677f9230eebb47614501ea8d0b99a3 From 6f0927011cd1ffa94784b42ea5cda72a1ae624d7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Oct 2024 15:10:33 -0700 Subject: [PATCH 026/191] CarState: add low speed alert field (#33712) * clean up mazda steer speed alert * bump --- cereal/car.capnp | 1 + opendbc_repo | 2 +- selfdrive/car/car_specific.py | 10 +++------- 3 files changed, 5 insertions(+), 8 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index e53f3ce25c..6eff704ecb 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -207,6 +207,7 @@ struct CarState { carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable espActive @51 :Bool; vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc. + lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed # cruise state cruiseState @10 :CruiseState; diff --git a/opendbc_repo b/opendbc_repo index 900246ddb3..a363ce1ff4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 900246ddb3ff107f55aab1c8e0d96713a6f4a770 +Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index b43a4c4fc7..ee2dee77de 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -45,7 +45,7 @@ class CarSpecificEvents: if self.CP.carName in ('body', 'mock'): events = Events() - elif self.CP.carName == 'subaru': + elif self.CP.carName in ('subaru', 'mazda'): events = self.create_common_events(CS.out, CS_prev) elif self.CP.carName == 'ford': @@ -54,12 +54,6 @@ class CarSpecificEvents: elif self.CP.carName == 'nissan': events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake]) - elif self.CP.carName == 'mazda': - events = self.create_common_events(CS.out, CS_prev) - - if CS.low_speed_alert: # type: ignore[attr-defined] - events.add(EventName.belowSteerSpeed) - elif self.CP.carName == 'chrysler': events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low]) @@ -212,6 +206,8 @@ class CarSpecificEvents: 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: From b2791a8e07fad139f7eb2d46a160f14ac08456a8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 2 Oct 2024 20:47:16 -0700 Subject: [PATCH 027/191] process_replay: in-place modification for message migration (#33695) * Inplace modification of lr * Replace the original function * Add comment * Change the return type * Fix carParams retrieval * Remove the newline * Include carState migration * Remove TODO * Comment * List instead of gen * Fix deletion * Delete camera state if not valid * Update ref commit * Remove sorting at the end * Use migrate_all in ui report * Allow more control in what to migrate * Add type annotations * Static analysis * Improve type annot * Fix linter issues * Remove f-string * Migrate carState too in test_ui * Fix peripheralState migration * Sort at the end * Fix regen issue * Fix comments --- selfdrive/test/process_replay/migration.py | 396 +++++++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/tests/test_ui/run.py | 4 +- 3 files changed, 212 insertions(+), 190 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index c0696f2181..9241a3d493 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,4 +1,7 @@ from collections import defaultdict +from collections.abc import Callable +import functools +import capnp from cereal import messaging, car from opendbc.car.fingerprints import MIGRATION @@ -7,70 +10,115 @@ 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.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) - msgs = migrate_drivingModelData(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, + ] 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(lr: LogIterable, migration_funcs: list[MigrationFunc]): + lr = list(lr) + grouped = defaultdict(list) + for i, msg in enumerate(lr): + grouped[msg.which()].append(i) - -def migrate_drivingModelData(lr): - all_msgs = [] - for msg in lr: - all_msgs.append(msg) - if msg.which() == "modelV2": - 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) - all_msgs.append(dmd.as_reader()) - elif msg.which() == "drivingModelData": - return lr - return all_msgs - - -def migrate_liveTracks(lr): - all_msgs = [] - for msg in lr: - if msg.which() != "liveTracksDEPRECATED": - all_msgs.append(msg) + 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"], 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 @@ -88,22 +136,14 @@ 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): + ops = [] + for index, msg in msgs: m = messaging.new_message('livePose') m.valid = msg.valid m.logMonoTime = msg.logMonoTime @@ -114,102 +154,93 @@ def migrate_liveLocationKalman(lr): 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, @@ -217,11 +248,12 @@ 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: @@ -229,49 +261,45 @@ 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 @@ -281,9 +309,8 @@ 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()) @@ -293,6 +320,7 @@ 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) @@ -313,33 +341,27 @@ 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 @@ -367,6 +389,6 @@ def migrate_sensorEvents(lr): m_dat.timestamp = evt.timestamp setattr(m_dat, evt.which(), getattr(evt, evt.which())) - all_msgs.append(m.as_reader()) - - return all_msgs + add_ops.append(m.as_reader()) + del_ops.append(index) + return [], add_ops, del_ops diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 30daa6e265..32609b0a8f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1b4480f5ebf5a4003dde22f19bbcf989294bc724 \ No newline at end of file +f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de \ No newline at end of file diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 8c9db5a3f3..a918a57364 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -19,7 +19,7 @@ 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 @@ -263,7 +263,7 @@ 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() From 3ca158ad3e820488c507006c960226d4db2e53cf Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 3 Oct 2024 12:14:37 +0800 Subject: [PATCH 028/191] camerad: remove Hardware::PC() check (#33713) remove check for hardware::PC --- system/camerad/main.cc | 6 ------ 1 file changed, 6 deletions(-) diff --git a/system/camerad/main.cc b/system/camerad/main.cc index b86b4f57ff..d55bd495ad 100644 --- a/system/camerad/main.cc +++ b/system/camerad/main.cc @@ -4,14 +4,8 @@ #include "common/params.h" #include "common/util.h" -#include "system/hardware/hw.h" int main(int argc, char *argv[]) { - if (Hardware::PC()) { - printf("exiting, camerad is not meant to run on PC\n"); - return 0; - } - int ret = util::set_realtime_priority(53); assert(ret == 0); ret = util::set_core_affinity({6}); From aed1eaede5a8035a3b882096acf461cdd962b68c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Oct 2024 21:32:56 -0700 Subject: [PATCH 029/191] Deprecate carState.events (#33693) * add lkas bools * switch these two over * bump * deprecate low speed lockout * add lowSpeedAlert bool bump * GM vehicle speed is now signed! * reimagine * rm * do event * bump * STASH * comment * bump * no out! * format * move almost everything to selfdrived * add back CC_prev for cruise initialization * ok * errors are passed to radarState as well as freq check * deprecate! * use selfdrived for test models events * we only want noEntry from car events, not system, have to check pedalPressed * no more events * regen with buttonEvents set properly * update refs --- cereal/car.capnp | 3 +- selfdrive/car/car_specific.py | 70 +++++++++---------- selfdrive/car/card.py | 38 ++-------- selfdrive/car/tests/test_models.py | 15 ++-- selfdrive/selfdrived/selfdrived.py | 31 ++++++-- selfdrive/test/process_replay/README.md | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 4 +- 8 files changed, 79 insertions(+), 86 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 6eff704ecb..326f1eeef8 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -157,8 +157,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 { # 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 @@ -296,6 +294,7 @@ struct CarState { steeringRateLimitedDEPRECATED @29 :Bool; canMonoTimesDEPRECATED @12: List(UInt64); canRcvTimeoutDEPRECATED @49 :Bool; + eventsDEPRECATED @13 :List(OnroadEvent); } # ******* radar state @ 20hz ******* diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index ee2dee77de..23719a8c4f 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -2,7 +2,7 @@ from collections import deque from cereal import car import cereal.messaging as messaging from opendbc.car import DT_CTRL, structs -from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase +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 @@ -41,102 +41,102 @@ class CarSpecificEvents: self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES) - def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarControl): + 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 in ('subaru', 'mazda'): - events = self.create_common_events(CS.out, CS_prev) + 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]) + 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.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 - if CS.out.vEgo < self.CP.minEnableSpeed 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) # TODO: this needs to be implemented generically in carState struct @@ -147,13 +147,13 @@ class CarSpecificEvents: # 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 - self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.out.buttonEvents)) - events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons)) + 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) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 7f57edf866..380d5df431 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -20,9 +20,8 @@ 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.car_specific import MockCarState from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp -from openpilot.selfdrive.selfdrived.events import Events, ET REPLAY = "REPLAY" in os.environ @@ -112,9 +111,9 @@ 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 openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") @@ -152,9 +151,6 @@ class Car: 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) @@ -196,30 +192,6 @@ 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.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): """carState and carParams publish loop""" @@ -271,9 +243,7 @@ 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) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 460b9f196d..10620c146f 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -20,7 +20,9 @@ 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.car.card import 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 @@ -404,7 +406,8 @@ 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(), )))) for msg in filter(lambda m: m.src in range(64), can.can): @@ -449,10 +452,10 @@ 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() diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 63e078e6d7..160117faa8 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -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 @@ -14,6 +15,7 @@ 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 @@ -41,15 +43,21 @@ 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']) @@ -166,7 +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: diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 008a901010..381e4dcb7f 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -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 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 32609b0a8f..9aa61ab9c4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f9f1fd736c6bbef3aa2d3aea8e4f8e1c892234de \ No newline at end of file +fbf16d1e9b056830a12fcf29a5137e1fc0b01354 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 78090372a6..ec84f37d1f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -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"), @@ -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", From 6baa541501739775de0fb6e5956606cad8ba1227 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 4 Oct 2024 01:46:05 +0800 Subject: [PATCH 030/191] ui: refactor model updating and rendering into ModelRenderer class (#33702) refactor model update Co-authored-by: Maxime Desroches --- selfdrive/ui/SConscript | 2 +- selfdrive/ui/qt/onroad/annotated_camera.cc | 120 +----------- selfdrive/ui/qt/onroad/annotated_camera.h | 5 +- selfdrive/ui/qt/onroad/model.cc | 208 +++++++++++++++++++++ selfdrive/ui/qt/onroad/model.h | 34 ++++ selfdrive/ui/ui.cc | 93 --------- selfdrive/ui/ui.h | 27 +-- 7 files changed, 249 insertions(+), 240 deletions(-) create mode 100644 selfdrive/ui/qt/onroad/model.cc create mode 100644 selfdrive/ui/qt/onroad/model.h diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index da652f7bfd..643951fff3 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -30,7 +30,7 @@ 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/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 diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index fd8ad19c2e..f504ad69f1 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -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(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(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(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()); diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 324a6d7458..d205579f6c 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -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 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; diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc new file mode 100644 index 0000000000..9a2c989b26 --- /dev/null +++ b/selfdrive/ui/qt/onroad/model.cc @@ -0,0 +1,208 @@ +#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 &sm = *(uiState()->sm); + if (sm.updated("carParams")) { + longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); + } + + // Check if data is up-to-date + if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) { + return; + } + + clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN); + experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode(); + + 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(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(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_model) { + // 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(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 { + 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(track_vertices); +} + +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(vd.x(), 0.f, surface_rect.width() - sz / 2); + float y = std::min(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); + } + } +} diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h new file mode 100644 index 0000000000..358fce53f4 --- /dev/null +++ b/selfdrive/ui/qt/onroad/model.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include + +#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); + + bool longitudinal_control = false; + bool experimental_model = false; + 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; +}; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 852980d54e..a9206b59bb 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -14,90 +14,6 @@ #define BACKLIGHT_DT 0.05 #define BACKLIGHT_TS 10.00 -// Projects a point in car to space to the corresponding point in full frame -// image space. -static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) { - Eigen::Vector3f input(in_x, in_y, in_z); - auto transformed = s->car_space_transform * input; - *out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z()); - return s->clip_region.contains(*out); -} - -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 update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { - for (int i = 0; i < 2; ++i) { - 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())]; - calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]); - } - } -} - -void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { - 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 = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); - bool r = calib_frame_to_full_frame(s, 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); - } - } -} - -void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model) { - UIScene &scene = s->scene; - 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 lane_line_probs = model.getLaneLineProbs(); - int max_idx = get_path_length_idx(lane_lines[0], max_distance); - for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { - scene.lane_line_probs[i] = lane_line_probs[i]; - update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); - } - - // update road edges - const auto road_edges = model.getRoadEdges(); - const auto road_edge_stds = model.getRoadEdgeStds(); - for (int i = 0; i < std::size(scene.road_edge_vertices); i++) { - scene.road_edge_stds[i] = road_edge_stds[i]; - update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx); - } - - // update path - auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); - if (lead_one.getStatus()) { - const float lead_d = lead_one.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); - update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); -} - static void update_sockets(UIState *s) { s->sm->update(0); } @@ -136,9 +52,6 @@ static void update_state(UIState *s) { } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) { scene.pandaType = cereal::PandaState::PandaType::UNKNOWN; } - if (sm.updated("carParams")) { - scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); - } if (sm.updated("wideRoadCameraState")) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; @@ -147,11 +60,6 @@ static void update_state(UIState *s) { scene.light_sensor = -1; } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; - - scene.world_objects_visible = scene.world_objects_visible || - (scene.started && - sm.rcv_frame("liveCalibration") > scene.started_frame && - sm.rcv_frame("modelV2") > scene.started_frame); } void ui_update_params(UIState *s) { @@ -177,7 +85,6 @@ void UIState::updateStatus() { scene.started_frame = sm->frame; } started_prev = scene.started; - scene.world_objects_visible = false; emit offroadTransition(!scene.started); } } diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 8a06a4cccb..6ff67cacde 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -7,7 +7,6 @@ #include #include #include -#include #include "cereal/messaging/messaging.h" #include "common/mat.h" @@ -22,8 +21,6 @@ const int UI_HEADER_HEIGHT = 420; const int UI_FREQ = 20; // Hz const int BACKLIGHT_OFFROAD = 50; -const float MIN_DRAW_DISTANCE = 10.0; -const float MAX_DRAW_DISTANCE = 100.0; const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() << 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, @@ -58,21 +55,10 @@ typedef struct UIScene { Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE; cereal::PandaState::PandaType pandaType; - // modelV2 - float lane_line_probs[4]; - float road_edge_stds[2]; - QPolygonF track_vertices; - QPolygonF lane_line_vertices[4]; - QPolygonF road_edge_vertices[2]; - - // lead - QPointF lead_vertices[2]; - cereal::LongitudinalPersonality personality; float light_sensor = -1; - bool started, ignition, is_metric, longitudinal_control; - bool world_objects_visible = false; + bool started, ignition, is_metric; uint64_t started_frame; } UIScene; @@ -89,13 +75,9 @@ public: std::unique_ptr sm; UIStatus status; UIScene scene = {}; - QString language; PrimeState *prime_state; - Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero(); - QRectF clip_region; - signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); @@ -145,11 +127,4 @@ public slots: }; Device *device(); - void ui_update_params(UIState *s); -int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); -void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model); -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); -void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); From f7c4aad8bda187e05d24ceac307384aa5e610cb9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 4 Oct 2024 01:53:05 +0800 Subject: [PATCH 031/191] cameread: remove outdated 'm' and 'atomic' libraries (#33714) remove unused libs --- system/camerad/SConscript | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 8bafd83f08..1820d21b3d 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic'] +libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) From b7a388773159f29ef5a8864918cf155ea8e5c0af Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 3 Oct 2024 13:13:19 -0700 Subject: [PATCH 032/191] process_replay: fix llk migration (#33717) * If field is empty put nans * Move import out --- selfdrive/test/process_replay/migration.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 9241a3d493..c4f1d19d9d 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -142,6 +142,7 @@ def migrate_liveTracks(msgs): @migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose") def migrate_liveLocationKalman(msgs): + nans = [float('nan')] * 3 ops = [] for index, msg in msgs: m = messaging.new_message('livePose') @@ -149,8 +150,8 @@ def migrate_liveLocationKalman(msgs): 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)) From 72e19ccfc6de0a145bf778fdc701878f969347bb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 3 Oct 2024 14:25:48 -0700 Subject: [PATCH 033/191] jenkins: disable time to onroad (#33719) comment --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 84514948c7..7137b8bf36 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -149,7 +149,7 @@ node { ["build openpilot", "cd system/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], + //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { From af774d894e6698f832c1d813587e3d7dabad0ea7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 15:20:58 -0700 Subject: [PATCH 034/191] Deprecate car onroadEvents (#33687) * new OnroadEvent struct * and migrate python * more forgotten * re-index new OnroadEvent struct * fix! * more missing * migrate onroadEvents migrate onroadEvents * migrate dm events * hacks to get proc replay to say succeeded * Revert "hacks to get proc replay to say succeeded" This reverts commit 0bb8803e5755d606ae9f09da5395d9f50678c7c7. * update refs --- cereal/car.capnp | 9 +- cereal/log.capnp | 120 ++++++++++++++++++++- selfdrive/car/car_specific.py | 4 +- selfdrive/car/card.py | 4 +- selfdrive/car/tests/test_models.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- selfdrive/monitoring/helpers.py | 4 +- selfdrive/monitoring/test_monitoring.py | 4 +- selfdrive/selfdrived/events.py | 4 +- selfdrive/selfdrived/selfdrived.py | 2 +- selfdrive/selfdrived/tests/test_alerts.py | 2 +- selfdrive/test/process_replay/migration.py | 32 +++++- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/test_onroad.py | 4 +- selfdrive/test/test_time_to_onroad.py | 4 +- 15 files changed, 171 insertions(+), 28 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 326f1eeef8..c8474f431b 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -5,9 +5,8 @@ $Cxx.namespace("cereal"); # ******* 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 { +# IMPORTANT: This struct is to not be modified so old logs can be parsed +struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 { name @0 :EventName; # event types @@ -289,12 +288,12 @@ struct CarState { } # deprecated - errorsDEPRECATED @0 :List(OnroadEvent.EventName); + errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); brakeLightsDEPRECATED @19 :Bool; steeringRateLimitedDEPRECATED @29 :Bool; canMonoTimesDEPRECATED @12: List(UInt64); canRcvTimeoutDEPRECATED @49 :Bool; - eventsDEPRECATED @13 :List(OnroadEvent); + eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); } # ******* radar state @ 20hz ******* diff --git a/cereal/log.capnp b/cereal/log.capnp index 3d5f7d9d7f..c35219b3ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -17,6 +17,118 @@ 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; + soundsUnavailable @47; + 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; + } +} + enum LongitudinalPersonality { aggressive @0; standard @1; @@ -1157,7 +1269,7 @@ 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 +2184,7 @@ 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 +2203,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; + eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); } struct Boot { @@ -2369,7 +2482,7 @@ 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 +2597,6 @@ struct Event { uiPlanDEPRECATED @106 :UiPlan; liveLocationKalmanDEPRECATED @72 :LiveLocationKalman; liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED); + onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED); } } diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py index 23719a8c4f..94afec50e2 100644 --- a/selfdrive/car/car_specific.py +++ b/selfdrive/car/car_specific.py @@ -1,5 +1,5 @@ from collections import deque -from cereal import car +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 @@ -11,7 +11,7 @@ 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 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 380d5df431..0afd0e7323 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -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 @@ -25,7 +25,7 @@ from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp REPLAY = "REPLAY" in os.environ -EventName = car.OnroadEvent.EventName +EventName = log.OnroadEvent.EventName # forward carlog.addHandler(ForwardingHandler(cloudlog)) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 10620c146f..ef54631e54 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -31,7 +31,7 @@ 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 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index ec32306436..11e75a7a8e 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -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() diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 72df724532..88665778a2 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -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. diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 31ae98c638..2a20b20dc1 100644 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -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 diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 070ca60ca2..7be514e350 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -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) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 160117faa8..8b7575d35d 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -35,7 +35,7 @@ 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 diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py index a5249cc03f..b916741ad0 100644 --- a/selfdrive/selfdrived/tests/test_alerts.py +++ b/selfdrive/selfdrived/tests/test_alerts.py @@ -38,7 +38,7 @@ class TestAlerts: 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"): diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index c4f1d19d9d..a90825cbd0 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -3,7 +3,7 @@ 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 @@ -37,6 +37,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo migrate_liveTracks, migrate_driverAssistance, migrate_drivingModelData, + migrate_onroadEvents, + migrate_driverMonitoringState, ] if manager_states: migrations.append(migrate_managerState) @@ -393,3 +395,31 @@ def migrate_sensorEvents(msgs): add_ops.append(m.as_reader()) del_ops.append(index) return [], add_ops, del_ops + + +@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] + 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] + ops.append((index, msg.as_reader())) + + return ops, [], [] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 9aa61ab9c4..eb67f60cc0 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fbf16d1e9b056830a12fcf29a5137e1fc0b01354 \ No newline at end of file +05570b52a90fb8bf092f7a2563d6019577e1aa5d \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f2afad82ee..f27e444dbe 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -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 log import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.common.basedir import BASEDIR @@ -422,7 +422,7 @@ 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): diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index d3692eabe2..e68386bb58 100644 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -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 From 8149f7cb119045028ba57f877e1d16d58c2ae712 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 16:40:24 -0700 Subject: [PATCH 035/191] move car.capnp to opendbc (#33722) * move car.capnp to opendbc * bump * do card * fix some more tests * rm helpers * format fp * more * whoops * bump * bump to master --- cereal/car.capnp | 723 +----------------- opendbc_repo | 2 +- selfdrive/car/card.py | 24 +- selfdrive/car/helpers.py | 74 -- selfdrive/car/tests/test_car_interfaces.py | 15 +- selfdrive/car/tests/test_models.py | 17 +- .../controls/lib/tests/test_latcontrol.py | 2 - .../controls/lib/tests/test_vehicle_model.py | 3 +- selfdrive/debug/format_fingerprints.py | 11 +- selfdrive/modeld/modeld.py | 3 +- selfdrive/modeld/tests/test_modeld.py | 3 +- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- system/hardware/tici/tests/test_power_draw.py | 3 +- 14 files changed, 41 insertions(+), 845 deletions(-) mode change 100644 => 120000 cereal/car.capnp delete mode 100644 selfdrive/car/helpers.py diff --git a/cereal/car.capnp b/cereal/car.capnp deleted file mode 100644 index c8474f431b..0000000000 --- a/cereal/car.capnp +++ /dev/null @@ -1,722 +0,0 @@ -using Cxx = import "./include/c++.capnp"; -$Cxx.namespace("cereal"); - -@0x8e2af1e708af8b8d; - -# ******* events causing controls state machine transition ******* - -# IMPORTANT: This struct is to not be modified so old logs can be parsed -struct OnroadEventDEPRECATED @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; - 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; - startupNoSecOcKey @125; - 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; - 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; - - 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; - lowSpeedLockoutDEPRECATED @31; - lkasDisabledDEPRECATED @107; - } -} - -# ******* main car state @ 100hz ******* -# all speeds in m/s - -struct CarState { - # 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 - invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) - 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. - lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed - - # 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; - mainCruise @8; - setCruise @9; - resumeCruise @10; - gapAdjustCruise @11; - } - } - - # deprecated - errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); - brakeLightsDEPRECATED @19 :Bool; - steeringRateLimitedDEPRECATED @29 :Bool; - canMonoTimesDEPRECATED @12: List(UInt64); - canRcvTimeoutDEPRECATED @49 :Bool; - eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); -} - -# ******* 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 - - secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate - secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params - - struct SafetyConfig { - safetyModel @0 :SafetyModel; - safetyParam @3 :UInt16; - safetyParamDEPRECATED @1 :Int16; - safetyParam2DEPRECATED @2 :UInt32; - } - - 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; -} diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 120000 index 0000000000..4bc7f89b1f --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1 @@ +../opendbc_repo/opendbc/car/car.capnp \ No newline at end of file diff --git a/opendbc_repo b/opendbc_repo index a363ce1ff4..ff2ac79e07 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e +Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 0afd0e7323..9bd03bad80 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -21,7 +21,6 @@ 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 MockCarState -from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp REPLAY = "REPLAY" in os.environ @@ -63,8 +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) @@ -144,9 +142,7 @@ class Car: 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) @@ -160,19 +156,19 @@ 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) @@ -192,20 +188,20 @@ class Car: return CS, RD - 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 @@ -219,7 +215,7 @@ 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): @@ -235,7 +231,7 @@ 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 diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py deleted file mode 100644 index 75e1c66d24..0000000000 --- a/selfdrive/car/helpers.py +++ /dev/null @@ -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 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 66cf0dc696..4370ea141b 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -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) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ef54631e54..72f511b7ce 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,6 +1,4 @@ import capnp -import copy -import dataclasses import os import pytest import random @@ -20,7 +18,6 @@ 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 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 @@ -187,7 +184,7 @@ 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) @@ -195,7 +192,7 @@ 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() @@ -220,7 +217,7 @@ 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(),))) @@ -312,17 +309,17 @@ 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 @@ -409,7 +406,7 @@ class TestCarModelBase(unittest.TestCase): 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) diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index c8c8d02751..ba4bd0faec 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -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) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index b58bdbe522..d15519a866 100644 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -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 diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index ae1ed06b75..7207bd1ef1 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -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__": diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ec258f42f0..4e91d32400 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -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 @@ -184,7 +183,7 @@ 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) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 1bf2977a91..145ba31ade 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -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 @@ -24,7 +23,7 @@ class TestModeld: 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.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']) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b6d5ba6afd..9abdb6476a 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -24,7 +24,7 @@ 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 @@ -370,7 +370,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): 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): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eb67f60cc0..67d865a654 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -05570b52a90fb8bf092f7a2563d6019577e1aa5d \ No newline at end of file +cbe81fea9b820b8dd38667866aac72a8a0dae966 \ No newline at end of file diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 3b9d65b85a..c4ff080fa4 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,7 +10,6 @@ from cereal.services import SERVICE_LIST from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.mock import mock_messages from openpilot.common.params import Params -from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.system.manager.process_config import managed_processes from openpilot.system.manager.manager import manager_cleanup @@ -43,7 +42,7 @@ PROCS = [ class TestPowerDraw: def setup_method(self): - Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) + Params().put("CarParams", get_demo_car_params()).to_bytes() # wait a bit for power save to disable time.sleep(5) From 9d52a5b485fc45d3b05f2021bbf1bd1c4f15c83e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 16:57:45 -0700 Subject: [PATCH 036/191] Revert "move car.capnp to opendbc" (#33725) Revert "move car.capnp to opendbc (#33722)" This reverts commit 8149f7cb119045028ba57f877e1d16d58c2ae712. --- cereal/car.capnp | 723 +++++++++++++++++- opendbc_repo | 2 +- selfdrive/car/card.py | 24 +- selfdrive/car/helpers.py | 74 ++ selfdrive/car/tests/test_car_interfaces.py | 15 +- selfdrive/car/tests/test_models.py | 17 +- .../controls/lib/tests/test_latcontrol.py | 2 + .../controls/lib/tests/test_vehicle_model.py | 3 +- selfdrive/debug/format_fingerprints.py | 11 +- selfdrive/modeld/modeld.py | 3 +- selfdrive/modeld/tests/test_modeld.py | 3 +- .../test/process_replay/process_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- system/hardware/tici/tests/test_power_draw.py | 3 +- 14 files changed, 845 insertions(+), 41 deletions(-) mode change 120000 => 100644 cereal/car.capnp create mode 100644 selfdrive/car/helpers.py diff --git a/cereal/car.capnp b/cereal/car.capnp deleted file mode 120000 index 4bc7f89b1f..0000000000 --- a/cereal/car.capnp +++ /dev/null @@ -1 +0,0 @@ -../opendbc_repo/opendbc/car/car.capnp \ No newline at end of file diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 100644 index 0000000000..c8474f431b --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1,722 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x8e2af1e708af8b8d; + +# ******* events causing controls state machine transition ******* + +# IMPORTANT: This struct is to not be modified so old logs can be parsed +struct OnroadEventDEPRECATED @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; + 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; + startupNoSecOcKey @125; + 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; + 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; + + 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; + lowSpeedLockoutDEPRECATED @31; + lkasDisabledDEPRECATED @107; + } +} + +# ******* main car state @ 100hz ******* +# all speeds in m/s + +struct CarState { + # 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 + invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) + 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. + lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed + + # 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; + mainCruise @8; + setCruise @9; + resumeCruise @10; + gapAdjustCruise @11; + } + } + + # deprecated + errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); + brakeLightsDEPRECATED @19 :Bool; + steeringRateLimitedDEPRECATED @29 :Bool; + canMonoTimesDEPRECATED @12: List(UInt64); + canRcvTimeoutDEPRECATED @49 :Bool; + eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); +} + +# ******* 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 + + secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate + secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params + + struct SafetyConfig { + safetyModel @0 :SafetyModel; + safetyParam @3 :UInt16; + safetyParamDEPRECATED @1 :Int16; + safetyParam2DEPRECATED @2 :UInt32; + } + + 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; +} diff --git a/opendbc_repo b/opendbc_repo index ff2ac79e07..a363ce1ff4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694 +Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 9bd03bad80..0afd0e7323 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -21,6 +21,7 @@ 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 MockCarState +from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp REPLAY = "REPLAY" in os.environ @@ -62,7 +63,8 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket class Car: CI: CarInterfaceBase RI: RadarInterfaceBase - CP: car.CarParams + CP: structs.CarParams + CP_capnp: car.CarParams def __init__(self, CI=None, RI=None) -> None: self.can_sock = messaging.sub_sock('can', timeout=20) @@ -142,7 +144,9 @@ class Car: self.params.put("CarParamsPrevRoute", prev_cp) # Write CarParams for controls and radard - cp_bytes = self.CP.to_bytes() + # convert to pycapnp representation for caching and logging + self.CP_capnp = convert_to_capnp(self.CP) + cp_bytes = self.CP_capnp.to_bytes() self.params.put("CarParams", cp_bytes) self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) @@ -156,19 +160,19 @@ 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.RadarDataT | None]: + def state_update(self) -> tuple[car.CarState, structs.RadarData | 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 = self.CI.update(can_list) + CS = convert_to_capnp(self.CI.update(can_list)) if self.CP.carName == 'mock': CS = self.mock_carstate.update(CS) # Update radar tracks from CAN - RD: structs.RadarDataT | None = self.RI.update(can_list) + RD: structs.RadarData | None = self.RI.update(can_list) self.sm.update(0) @@ -188,20 +192,20 @@ class Car: return CS, RD - def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None): + def state_publish(self, CS: car.CarState, RD: structs.RadarData | 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 + cp_send.carParams = self.CP_capnp 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 = self.last_actuators_output + co_send.carOutput.actuatorsOutput = convert_to_capnp(self.last_actuators_output) self.pm.send('carOutput', co_send) # kick off controlsd step while we actuate the latest carControl packet @@ -215,7 +219,7 @@ class Car: if RD is not None: tracks_msg = messaging.new_message('liveTracks') tracks_msg.valid = len(RD.errors) == 0 - tracks_msg.liveTracks = RD + tracks_msg.liveTracks = convert_to_capnp(RD) self.pm.send('liveTracks', tracks_msg) def controls_update(self, CS: car.CarState, CC: car.CarControl): @@ -231,7 +235,7 @@ 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(CC, now_nanos) + self.last_actuators_output, can_sends = self.CI.apply(convert_carControl(CC), now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) self.CC_prev = CC diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py new file mode 100644 index 0000000000..75e1c66d24 --- /dev/null +++ b/selfdrive/car/helpers.py @@ -0,0 +1,74 @@ +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 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 4370ea141b..66cf0dc696 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -12,6 +12,7 @@ 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 @@ -40,7 +41,6 @@ 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 = CC.as_reader() + CC = convert_carControl(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 = CC.as_reader() + CC = convert_carControl(CC.as_reader()) for _ in range(10): car_interface.update([]) car_interface.apply(CC, now_nanos) @@ -89,10 +89,11 @@ 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 - LongControl(car_params) + car_params_capnp = convert_to_capnp(car_params).as_reader() + LongControl(car_params_capnp) if car_params.steerControlType == CarParams.SteerControlType.angle: - LatControlAngle(car_params, car_interface) + LatControlAngle(car_params_capnp, car_interface) elif car_params.lateralTuning.which() == 'pid': - LatControlPID(car_params, car_interface) + LatControlPID(car_params_capnp, car_interface) elif car_params.lateralTuning.which() == 'torque': - LatControlTorque(car_params, car_interface) + LatControlTorque(car_params_capnp, car_interface) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 72f511b7ce..ef54631e54 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,4 +1,6 @@ import capnp +import copy +import dataclasses import os import pytest import random @@ -18,6 +20,7 @@ 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 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 @@ -184,7 +187,7 @@ class TestCarModelBase(unittest.TestCase): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) + self.CI = self.CarInterface(copy.deepcopy(self.CP), self.CarController, self.CarState) assert self.CI Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) @@ -192,7 +195,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda - cfg = self.CP.safetyConfigs[-1] + cfg = car.CarParams.SafetyConfig(**dataclasses.asdict(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() @@ -217,7 +220,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 can_valid = False - CC = structs.CarControl().as_reader() + CC = structs.CarControl() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) @@ -309,17 +312,17 @@ class TestCarModelBase(unittest.TestCase): # Make sure we can send all messages while inactive CC = structs.CarControl() - test_car_controller(CC.as_reader()) + test_car_controller(CC) # 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.as_reader()) + test_car_controller(CC) # 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.as_reader()) + test_car_controller(CC) # Skip stdout/stderr capture with pytest, causes elevated memory usage @pytest.mark.nocapture @@ -406,7 +409,7 @@ class TestCarModelBase(unittest.TestCase): selfdrived = SelfdriveD(CP=self.CP) selfdrived.initialized = True for idx, can in enumerate(self.can_msgs): - CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() + CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))) 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) diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index ba4bd0faec..c8c8d02751 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -5,6 +5,7 @@ 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 @@ -20,6 +21,7 @@ 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) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index d15519a866..b58bdbe522 100644 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -5,13 +5,14 @@ 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(CP) + self.VM = VehicleModel(convert_to_capnp(CP)) def test_round_trip_yaw_rate(self): # TODO: fix VM to work at zero speed diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index 7207bd1ef1..ae1ed06b75 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -2,16 +2,12 @@ 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] %} @@ -49,7 +45,7 @@ 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.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ + (Ecu.{{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}}, @@ -71,9 +67,8 @@ 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, ECU_NAME=ECU_NAME, - FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, - extra_fw_versions=extra_fw_versions)) + f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, FINGERPRINTS=FINGERPRINTS, + FW_VERSIONS=FW_VERSIONS, extra_fw_versions=extra_fw_versions)) if __name__ == "__main__": diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 4e91d32400..ec258f42f0 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -17,6 +17,7 @@ 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 @@ -183,7 +184,7 @@ def main(demo=False): if demo: - CP = get_demo_car_params() + CP = convert_to_capnp(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) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 145ba31ade..1bf2977a91 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -7,6 +7,7 @@ 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 @@ -23,7 +24,7 @@ class TestModeld: 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.start_listener() - Params().put("CarParams", get_demo_car_params().to_bytes()) + Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9abdb6476a..b6d5ba6afd 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -24,7 +24,7 @@ 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 +from openpilot.selfdrive.car.card import can_comm_callbacks, 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, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all @@ -370,7 +370,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): if not params.get_bool("DisengageOnAccelerator"): CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - params.put("CarParams", CP.to_bytes()) + params.put("CarParams", convert_to_capnp(CP).to_bytes()) def selfdrived_rcv_callback(msg, cfg, frame): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 67d865a654..eb67f60cc0 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cbe81fea9b820b8dd38667866aac72a8a0dae966 \ No newline at end of file +05570b52a90fb8bf092f7a2563d6019577e1aa5d \ No newline at end of file diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index c4ff080fa4..3b9d65b85a 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,6 +10,7 @@ from cereal.services import SERVICE_LIST from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.mock import mock_messages from openpilot.common.params import Params +from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.system.manager.process_config import managed_processes from openpilot.system.manager.manager import manager_cleanup @@ -42,7 +43,7 @@ PROCS = [ class TestPowerDraw: def setup_method(self): - Params().put("CarParams", get_demo_car_params()).to_bytes() + Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) # wait a bit for power save to disable time.sleep(5) From 68f4c8a9868d7fdb9b46e2d96f1d345e62a4a443 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 4 Oct 2024 09:19:06 +0900 Subject: [PATCH 037/191] ui: remove space (#33724) --- selfdrive/ui/ui.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index a9206b59bb..b11330a046 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -70,7 +70,7 @@ void ui_update_params(UIState *s) { void UIState::updateStatus() { if (scene.started && sm->updated("selfdriveState")) { auto ss = (*sm)["selfdriveState"].getSelfdriveState(); - auto state = ss .getState(); + auto state = ss.getState(); if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) { status = STATUS_OVERRIDE; } else { From 4a5052606463ccac2a740b3b8c20fdfd422ef237 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 3 Oct 2024 21:20:01 -0300 Subject: [PATCH 038/191] Typo on README.md of replay instructions (#33726) --- tools/replay/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/README.md b/tools/replay/README.md index 65a1e7a0b3..5e91aae943 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -37,7 +37,7 @@ tools/replay/replay --data_dir="/path_to/route" # a2a0ccea32023010|2023-07-27--13-01-19--0 # a2a0ccea32023010|2023-07-27--13-01-19--1 # You can replay it like this: -tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data-dir="/path_to_routes" +tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes" ``` ## Send Messages via ZMQ From 7556233cca6acc8484020e2ae667df95c25631fe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 22:47:03 -0700 Subject: [PATCH 039/191] Reapply "move car.capnp to opendbc (#33722)" (#33728) * Reapply "move car.capnp to opendbc" (#33725) This reverts commit 9d52a5b485fc45d3b05f2021bbf1bd1c4f15c83e. * why can't i repro?! * Revert "why can't i repro?!" This reverts commit 0435d218f790faf7b7aaed27d05ab9ee67b087e6. * does this cause card to try and read it? * better place * wtf * Reapply "why can't i repro?!" This reverts commit d24fd5a0abf454f47d5591e3b39039fdc4d0251c. * also here --- cereal/car.capnp | 723 +----------------- opendbc_repo | 2 +- selfdrive/car/card.py | 26 +- selfdrive/car/helpers.py | 74 -- selfdrive/car/tests/test_car_interfaces.py | 15 +- selfdrive/car/tests/test_models.py | 17 +- .../controls/lib/tests/test_latcontrol.py | 2 - .../controls/lib/tests/test_vehicle_model.py | 3 +- selfdrive/debug/format_fingerprints.py | 11 +- selfdrive/modeld/modeld.py | 3 +- selfdrive/modeld/tests/test_modeld.py | 3 +- .../test/process_replay/process_replay.py | 6 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/test_onroad.py | 5 +- system/hardware/tici/tests/test_power_draw.py | 3 +- 15 files changed, 47 insertions(+), 848 deletions(-) mode change 100644 => 120000 cereal/car.capnp delete mode 100644 selfdrive/car/helpers.py diff --git a/cereal/car.capnp b/cereal/car.capnp deleted file mode 100644 index c8474f431b..0000000000 --- a/cereal/car.capnp +++ /dev/null @@ -1,722 +0,0 @@ -using Cxx = import "./include/c++.capnp"; -$Cxx.namespace("cereal"); - -@0x8e2af1e708af8b8d; - -# ******* events causing controls state machine transition ******* - -# IMPORTANT: This struct is to not be modified so old logs can be parsed -struct OnroadEventDEPRECATED @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; - 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; - startupNoSecOcKey @125; - 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; - 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; - - 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; - lowSpeedLockoutDEPRECATED @31; - lkasDisabledDEPRECATED @107; - } -} - -# ******* main car state @ 100hz ******* -# all speeds in m/s - -struct CarState { - # 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 - invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) - 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. - lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed - - # 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; - mainCruise @8; - setCruise @9; - resumeCruise @10; - gapAdjustCruise @11; - } - } - - # deprecated - errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); - brakeLightsDEPRECATED @19 :Bool; - steeringRateLimitedDEPRECATED @29 :Bool; - canMonoTimesDEPRECATED @12: List(UInt64); - canRcvTimeoutDEPRECATED @49 :Bool; - eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); -} - -# ******* 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 - - secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate - secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params - - struct SafetyConfig { - safetyModel @0 :SafetyModel; - safetyParam @3 :UInt16; - safetyParamDEPRECATED @1 :Int16; - safetyParam2DEPRECATED @2 :UInt32; - } - - 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; -} diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 120000 index 0000000000..4bc7f89b1f --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1 @@ +../opendbc_repo/opendbc/car/car.capnp \ No newline at end of file diff --git a/opendbc_repo b/opendbc_repo index a363ce1ff4..ff2ac79e07 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e +Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 0afd0e7323..a83d5bb989 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -21,7 +21,6 @@ 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 MockCarState -from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp REPLAY = "REPLAY" in os.environ @@ -63,8 +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) @@ -98,7 +96,7 @@ 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) @@ -144,9 +142,7 @@ class Car: 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) @@ -160,19 +156,19 @@ 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) @@ -192,20 +188,20 @@ class Car: return CS, RD - 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 @@ -219,7 +215,7 @@ 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): @@ -235,7 +231,7 @@ 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 diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py deleted file mode 100644 index 75e1c66d24..0000000000 --- a/selfdrive/car/helpers.py +++ /dev/null @@ -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 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 66cf0dc696..4370ea141b 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -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) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ef54631e54..72f511b7ce 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,6 +1,4 @@ import capnp -import copy -import dataclasses import os import pytest import random @@ -20,7 +18,6 @@ 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 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 @@ -187,7 +184,7 @@ 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) @@ -195,7 +192,7 @@ 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() @@ -220,7 +217,7 @@ 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(),))) @@ -312,17 +309,17 @@ 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 @@ -409,7 +406,7 @@ class TestCarModelBase(unittest.TestCase): 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) diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index c8c8d02751..ba4bd0faec 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -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) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index b58bdbe522..d15519a866 100644 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -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 diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index ae1ed06b75..7207bd1ef1 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -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__": diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ec258f42f0..4e91d32400 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -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 @@ -184,7 +183,7 @@ 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) diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 1bf2977a91..145ba31ade 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -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 @@ -24,7 +23,7 @@ class TestModeld: 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.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']) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b6d5ba6afd..a4392f908d 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -24,7 +24,7 @@ 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 @@ -363,14 +363,14 @@ 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): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index eb67f60cc0..67d865a654 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -05570b52a90fb8bf092f7a2563d6019577e1aa5d \ No newline at end of file +cbe81fea9b820b8dd38667866aac72a8a0dae966 \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f27e444dbe..8a5f770636 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -13,7 +13,7 @@ from collections import Counter, defaultdict from functools import cached_property from pathlib import Path -from cereal import log +from cereal import car, log import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.common.basedir import BASEDIR @@ -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(): diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 3b9d65b85a..0ef34549b5 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -10,7 +10,6 @@ from cereal.services import SERVICE_LIST from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.mock import mock_messages from openpilot.common.params import Params -from openpilot.selfdrive.car.card import convert_to_capnp from openpilot.system.hardware.tici.power_monitor import get_power from openpilot.system.manager.process_config import managed_processes from openpilot.system.manager.manager import manager_cleanup @@ -43,7 +42,7 @@ PROCS = [ class TestPowerDraw: def setup_method(self): - Params().put("CarParams", convert_to_capnp(get_demo_car_params()).to_bytes()) + Params().put("CarParams", get_demo_car_params().to_bytes()) # wait a bit for power save to disable time.sleep(5) From 81ed1decc99ced8ffad1000568baa0dedba0ca89 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 22:50:09 -0700 Subject: [PATCH 040/191] unused import --- selfdrive/test/process_replay/process_replay.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index a4392f908d..0b71a2a1b9 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -17,7 +17,6 @@ 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 66ec7880053b01b81aec13c1a91bae60c3b5529e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 23:39:13 -0700 Subject: [PATCH 041/191] Test all of selfdrive/ (#33575) * test selfdrived! * exit() is for interactive sessions * fix * comments * more * test all of selfdrive/ * ignore what we used to * fix test_alerts * fix test_alertmanager.py --- conftest.py | 13 +++++++++++++ pyproject.toml | 9 +-------- selfdrive/selfdrived/tests/test_alertmanager.py | 4 ++-- selfdrive/selfdrived/tests/test_alerts.py | 2 +- selfdrive/test/cpp_harness.py | 3 +-- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/ui/tests/test_runner.cc | 1 + 7 files changed, 20 insertions(+), 14 deletions(-) diff --git a/conftest.py b/conftest.py index fc4931fb54..7ee0c78943 100644 --- a/conftest.py +++ b/conftest.py @@ -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 diff --git a/pyproject.toml b/pyproject.toml index 8ed4ff855b..00b9ecf3e5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -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", diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py index 20bf4e8903..b75a4d1cbe 100644 --- a/selfdrive/selfdrived/tests/test_alertmanager.py +++ b/selfdrive/selfdrived/tests/test_alertmanager.py @@ -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 @@ -34,6 +34,6 @@ class TestAlertManager: AM.add_many(frame, [alert, ]) AM.process_alerts(frame, {}) - 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=}" diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py index b916741ad0..f6a0e365fc 100644 --- a/selfdrive/selfdrived/tests/test_alerts.py +++ b/selfdrive/selfdrived/tests/test_alerts.py @@ -33,7 +33,7 @@ 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): diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py index f9d3e681a5..f9f425102b 100755 --- a/selfdrive/test/cpp_harness.py +++ b/selfdrive/test/cpp_harness.py @@ -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) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 0b71a2a1b9..a5008931c8 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -466,7 +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"], diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc index ac63139d17..c8cc0d3e05 100644 --- a/selfdrive/ui/tests/test_runner.cc +++ b/selfdrive/ui/tests/test_runner.cc @@ -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; From 77f8275b19d52b325a2564d7560a537c29885f8d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Oct 2024 23:44:04 -0700 Subject: [PATCH 042/191] bump opendbc update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index ff2ac79e07..739117d561 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694 +Subproject commit 739117d561b265de5caf843c3f117490a9de57e6 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 67d865a654..0ec17758ac 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cbe81fea9b820b8dd38667866aac72a8a0dae966 \ No newline at end of file +bfbdd4706abcf5757790526d99d0000644017b1e \ No newline at end of file From ad5933cefe41136110aeeaf7b02990bb61dae5a1 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 4 Oct 2024 16:56:47 -0700 Subject: [PATCH 043/191] Toyota: 2021-23 RAV4 Prime (#33654) * bump submodules * bump opendbc * from @pd0wm commaai/openpilot#31179 * bump panda * we did need that flag rename * bump opendbc * bump opendbc * bump submodules * remove the SecOC key from CarParams * don't log contents of SecOCKey Param * read and set secoc_key from card * bump opendbc * better init flow * bump opendbc * saved SecOC key validation * concise * CarParams.SecurityConfig * de-bump panda * bump opendbc * cleanup, pass only if required * add startup event for missing SecOC key * comment tweak * bump opendbc * add capnp entry for startupNoSecOcKey * bump panda * bump opendbc * need priority over underlying LKA fault * diff reduction: won't need the flag rename * bump opendbc and panda * bump submodules * bump submodules * bump panda * bump submodules * bump panda * bump opendbc * bump panda * bump opendbc * bump panda * bump opendbc * bump opendbc * bump panda * bump opendbc * bump panda to master * bump opendbc --- opendbc_repo | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 739117d561..201ff2daa9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 739117d561b265de5caf843c3f117490a9de57e6 +Subproject commit 201ff2daa96314c0bd134487e3d997af4e86cb73 diff --git a/panda b/panda index 08c95bf47b..abdc41856b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 08c95bf47ba6d0c5d11a7616e42e10b8dbde19eb +Subproject commit abdc41856b62cc269e63374354f132dc168c28b4 From 91e497898458d39318a1f0e9099bba0b4a996ad7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Oct 2024 16:57:40 -0700 Subject: [PATCH 044/191] OnroadEvent migration: ignore deprecated events (#33731) ignore deprecate --- selfdrive/test/process_replay/migration.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index a90825cbd0..16ca239aeb 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -406,7 +406,8 @@ def migrate_onroadEvents(msgs): 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] + 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, [], [] @@ -419,7 +420,8 @@ def migrate_driverMonitoringState(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] + msg.driverMonitoringState.eventsDEPRECATED if + not str(event.name).endswith('DEPRECATED')] ops.append((index, msg.as_reader())) return ops, [], [] From cf50d4ae19634f04c4484aed1eb2815c40d907d4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Oct 2024 16:57:55 -0700 Subject: [PATCH 045/191] AlertManager: reset duration when re-adding an event (#33478) * fix alert duration when re-adding an alert before it's ended (personality) * clean up * messy test * clean up test * Revert "clean up test" This reverts commit e7c0f80cb3d0061558920cf2baf37c6ea6935c81. * better name * debug * Revert "debug" This reverts commit da8d561445f0f0d142cec99c583dda798973544c. * Reapply "clean up test" This reverts commit a7dba540f78d1c32317e5f89e83de5aac1136c38. * update refs --- selfdrive/selfdrived/alertmanager.py | 6 +++++- .../selfdrived/tests/test_alertmanager.py | 21 ++++++++++++++++++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 26 insertions(+), 3 deletions(-) diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py index 4a406d3962..ac1006ff25 100644 --- a/selfdrive/selfdrived/alertmanager.py +++ b/selfdrive/selfdrived/alertmanager.py @@ -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() diff --git a/selfdrive/selfdrived/tests/test_alertmanager.py b/selfdrive/selfdrived/tests/test_alertmanager.py index b75a4d1cbe..030b7d4515 100644 --- a/selfdrive/selfdrived/tests/test_alertmanager.py +++ b/selfdrive/selfdrived/tests/test_alertmanager.py @@ -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 != 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=}" diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0ec17758ac..22cae4b8cc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -bfbdd4706abcf5757790526d99d0000644017b1e \ No newline at end of file +36bb37715542677db4a42464128ca10968f2c589 \ No newline at end of file From eca88f5ea2bb01f1be79d80abc499883a8dc98d9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sat, 5 Oct 2024 19:28:09 -0700 Subject: [PATCH 046/191] jenkins: run tests when certain files change (#33682) * test * change * work? * debug * git * temp * save * test * test * work? * fix * test * cleanup * fix * final test * fix * clean * null * final * test * save * test this * final --- Jenkinsfile | 32 +++++++++++++++++++++++++++++++- 1 file changed, 31 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 7137b8bf36..47c0ad6f60 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -89,7 +89,12 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) } steps.each { item -> - device(device_ip, item[0], item[1]) + if (branch != "master" && item.size() == 3 && !hasPathChanged(item[2])) { + println "Skipping ${item[0]}: no changes in ${item[2]}." + return; + } else { + device(device_ip, item[0], item[1]) + } } } } @@ -97,6 +102,31 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) } } +@NonCPS +def hasPathChanged(List paths) { + changedFiles = [] + for (changeLogSet in currentBuild.changeSets) { + for (entry in changeLogSet.getItems()) { + for (file in entry.getAffectedFiles()) { + changedFiles.add(file.getPath()) + } + } + } + + env.CHANGED_FILES = changedFiles.join(" ") + if (currentBuild.number > 1) { + env.CHANGED_FILES += currentBuild.previousBuild.getBuildVariables().get("CHANGED_FILES") + } + + for (path in paths) { + if (env.CHANGED_FILES.contains(path)) { + return true; + } + } + + return false; +} + def setupCredentials() { withCredentials([ string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'), From 4501d633ea13b58c192e0a388e3f59603a5d11f8 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 7 Oct 2024 09:25:40 -0700 Subject: [PATCH 047/191] [bot] Update Python packages (#33736) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 273 ++++++++++++++++++++++++++------------------------- 2 files changed, 142 insertions(+), 133 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 201ff2daa9..78fdc463f4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 201ff2daa96314c0bd134487e3d997af4e86cb73 +Subproject commit 78fdc463f43bd95d0a9f5c0a927ca4625c6e4009 diff --git a/uv.lock b/uv.lock index 81c6fa00c2..91577f63ae 100644 --- a/uv.lock +++ b/uv.lock @@ -11,16 +11,16 @@ resolution-markers = [ [[package]] name = "aiohappyeyeballs" -version = "2.4.2" +version = "2.4.3" source = { registry = "https://pypi.org/simple" } -sdist = { url = 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2040f04c453fa10ce22ebd6099379c2fce4f02ff Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 7 Oct 2024 09:40:27 -0700 Subject: [PATCH 048/191] MLSIM V2 (#33727) * bb2f7438-51f1-41ce-b337-238eaf2fd14d/100 * bb2f7438-51f1-41ce-b337-238eaf2fd14d/110 * bb2f7438-51f1-41ce-b337-238eaf2fd14d/330 * c3aa47aa-a00e-4b42-a40b-526039378a3a/400 * bd637aab-4274-41c1-95ac-25fb8bf88547/400 * Update ref * 5705291a-5f7b-4849-91e8-4b0ea87f44d3/400 * 9f345169-a30d-4fec-bf06-2a457bf0071f/400 * update refs --------- Co-authored-by: Yassine --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 89042dbe47..93781abba1 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95 +oid sha256:06d94d907a437121b1a86b59065f44e4875ed68e554487f5c500982273d63630 size 50309976 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index f14eef06b9..bfa63a007c 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -c4d60dfe4b677f9230eebb47614501ea8d0b99a3 +ef4faa7e90e530ce20c345ee68467c7e1f7e7a14 From 853febe21d7b629d4211f7f7adf4d2e5b97f030e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 7 Oct 2024 13:24:57 -0700 Subject: [PATCH 049/191] visionipc: remove RGB support (#33739) * visionipc: remove RGB support * bump * msgq master * fix sim --- msgq_repo | 2 +- selfdrive/modeld/tests/test_modeld.py | 6 +++--- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/ui/tests/test_ui/run.py | 2 +- system/camerad/cameras/camera_common.cc | 2 +- system/loggerd/tests/test_loggerd.py | 3 +-- tools/replay/camera.cc | 2 +- tools/sim/lib/camerad.py | 4 ++-- 8 files changed, 11 insertions(+), 12 deletions(-) diff --git a/msgq_repo b/msgq_repo index cdcf84f44a..b4f0692c1a 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit cdcf84f44a4edd40f7aa4d06eb95550ac64b3b37 +Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 145ba31ade..6927c9e473 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -19,9 +19,9 @@ 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", get_demo_car_params().to_bytes()) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index a5008931c8..ef17325642 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -212,7 +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 diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index a918a57364..0b98cb0b38 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -48,7 +48,7 @@ def setup_settings_toggles(click, pm: PubMaster): 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 diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 769557d70b..9fa9bb6a73 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -89,7 +89,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width; - vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset); + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset); diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index cfd1247702..34abe553a1 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -150,7 +150,7 @@ class TestLoggerd: pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) vipc_server = VisionIpcServer("camerad") for stream_type, frame_spec, _ in streams: - vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) + vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec)) vipc_server.start_listener() num_segs = random.randint(2, 5) @@ -281,4 +281,3 @@ class TestLoggerd: segment_dir = self._get_latest_log_dir() assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None - diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 914c18e15f..73243ed20d 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -51,7 +51,7 @@ void CameraServer::startVipcServer() { if (cam.width > 0 && cam.height > 0) { rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height); auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height); - vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height, + vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height, nv12_buffer_size, nv12_width, nv12_width * nv12_height); if (!cam.thread.joinable()) { cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam)); diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index b58cbeaaf2..be4e1a610c 100644 --- a/tools/sim/lib/camerad.py +++ b/tools/sim/lib/camerad.py @@ -18,9 +18,9 @@ class Camerad: self.frame_wide_id = 0 self.vipc_server = VisionIpcServer("camerad") - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H) + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H) if dual_camera: - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H) + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H) self.vipc_server.start_listener() From 85278520ed4976f0d5280566e560df3ad6c55741 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 7 Oct 2024 13:44:38 -0700 Subject: [PATCH 050/191] test models: allow public routes (#33740) * source doesn't matter * this too * and --- selfdrive/car/tests/test_models.py | 27 ++------------------------- 1 file changed, 2 insertions(+), 25 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 72f511b7ce..025c3ab660 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -4,7 +4,6 @@ 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 @@ -23,7 +22,7 @@ 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 from openpilot.tools.lib.route import SegmentName from panda.tests.libpanda import libpanda_py @@ -68,7 +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]] @@ -126,31 +124,15 @@ 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: 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?") @@ -467,11 +449,6 @@ 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') From 939d306ac342727454dc95cae02687d44c52995c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 7 Oct 2024 16:22:43 -0700 Subject: [PATCH 051/191] jenkins: run pandad tests only when relevant paths change (#33733) * only * more --- Jenkinsfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 47c0ad6f60..5380d5d698 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -185,7 +185,7 @@ node { '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 pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]], ["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"], @@ -231,7 +231,7 @@ node { ["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 pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]], ["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"], From 8bcf930a286b545ea2e86b61a1b8332f031de42b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 7 Oct 2024 19:01:13 -0700 Subject: [PATCH 052/191] tools: fix compressed_vipc --- tools/camerastream/compressed_vipc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index f531a289f9..cbea060920 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -120,7 +120,7 @@ class CompressedVipc: self.vipc_server = VisionIpcServer("camerad") for vst in vision_streams: ed = sm[ENCODE_SOCKETS[vst]] - self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height) + self.vipc_server.create_buffers(vst, 4, ed.width, ed.height) self.vipc_server.start_listener() self.procs = [] From 2e83e379841d5d41fb087133514d51e656deafc4 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 7 Oct 2024 21:40:00 -0700 Subject: [PATCH 053/191] jenkins: model replay report in PR (#33723) * first * first * first * token * edit previous comment * clean * plots * linter * cleaner * comment * save ref * fix * remove refs * add tokens * fix branch * table * fix * real data * title * github * fix * github api * better * clean * errors * create bucket * true * fix --- Jenkinsfile | 14 +++ selfdrive/test/process_replay/model_replay.py | 88 ++++++++++---- .../process_replay/model_replay_ref_commit | 1 - tools/lib/github_utils.py | 109 ++++++++++++++++++ 4 files changed, 187 insertions(+), 25 deletions(-) delete mode 100644 selfdrive/test/process_replay/model_replay_ref_commit create mode 100644 tools/lib/github_utils.py diff --git a/Jenkinsfile b/Jenkinsfile index 5380d5d698..c42817a556 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -25,6 +25,8 @@ 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" @@ -133,6 +135,18 @@ def setupCredentials() { ]) { 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}" + } } diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 9ee1b6be4e..f88ccab96c 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -3,14 +3,18 @@ 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 +23,55 @@ 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): + return f"{test_route}_model_tici_master.bz2" + +def plot(proposed, master, title, tmp): + fig, ax = plt.subplots() + ax.plot(list(proposed), label='PROPOSED') + ax.plot(list(master), label='MASTER') + plt.legend(loc='best') + plt.title(title) + plt.savefig(f'{tmp}/{title}.png') + return title + '.png' + +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): + 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)), v[1], tmp) \ + for v,event in [*ModelV2_Plots]] + +def comment_replay_report(proposed, master): + with tempfile.TemporaryDirectory() as tmp: + PR_BRANCH=os.getenv("GIT_BRANCH","") + DATA_BUCKET=f"model_replay_{PR_BRANCH}" + + files = generate_report(proposed, master, tmp) + + GITHUB.comment_images_on_pr("Model Replay Plots", + "commaci-public", + PR_BRANCH, + DATA_BUCKET, + [(x, tmp + '/' + x) for x in files]) def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): all_msgs = [] @@ -68,9 +117,8 @@ 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 +136,9 @@ 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 +180,14 @@ 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: + if not PC: + comment_replay_report(log_msgs, cmp_log) + failed = False print(diff_long) print('-------------\n'*5) print(diff_short) @@ -149,22 +198,13 @@ 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)) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit deleted file mode 100644 index bfa63a007c..0000000000 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ /dev/null @@ -1 +0,0 @@ -ef4faa7e90e530ce20c345ee68467c7e1f7e7a14 diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py new file mode 100644 index 0000000000..607fdfdae9 --- /dev/null +++ b/tools/lib/github_utils.py @@ -0,0 +1,109 @@ +import base64 +import requests +from http import HTTPMethod + +class GithubUtils: + def __init__(self, api_token, data_token, owner='commaai', api_repo='openpilot', data_repo='ci-artifacts'): + self.OWNER = owner + self.API_REPO = api_repo + self.DATA_REPO = data_repo + self.API_TOKEN = api_token + self.DATA_TOKEN = data_token + + @property + def API_ROUTE(self): + return f"https://api.github.com/repos/{self.OWNER}/{self.API_REPO}" + + @property + def DATA_ROUTE(self): + return f"https://api.github.com/repos/{self.OWNER}/{self.DATA_REPO}" + + def api_call(self, path, data="", method=HTTPMethod.GET, accept="", data_call=False, raise_on_failure=True): + token = self.DATA_TOKEN if data_call else self.API_TOKEN + if token: + headers = {"Authorization": f"Bearer {self.DATA_TOKEN if data_call else self.API_TOKEN}", \ + "Accept": f"application/vnd.github{accept}+json"} + else: + headers = {} + path = f'{self.DATA_ROUTE if data_call else self.API_ROUTE}/{path}' + r = requests.request(method, path, headers=headers, data=data) + if not r.ok and raise_on_failure: + raise Exception(f"Call to {path} failed with {r.status_code}") + else: + return r + + def upload_file(self, bucket, path, file_name): + with open(path, "rb") as f: + encoded = base64.b64encode(f.read()).decode() + + # check if file already exists + sha = self.get_file_sha(bucket, file_name) + sha = f'"sha":"{sha}",' if sha else '' + + data = f'{{"message":"uploading {file_name}", \ + "branch":"{bucket}", \ + "committer":{{"name":"Vehicle Researcher", "email": "user@comma.ai"}}, \ + {sha} \ + "content":"{encoded}"}}' + github_path = f"contents/{file_name}" + self.api_call(github_path, data=data, method=HTTPMethod.PUT, data_call=True) + + def upload_files(self, bucket, files): + self.create_bucket(bucket) + for file_name,path in files: + self.upload_file(bucket, path, file_name) + + def create_bucket(self, bucket): + if self.get_bucket_sha(bucket): + return + master_sha = self.get_bucket_sha('master') + github_path = "git/refs" + data = f'{{"ref":"refs/heads/{bucket}", "sha":"{master_sha}"}}' + self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True) + + def get_bucket_sha(self, bucket): + github_path = f"git/refs/heads/{bucket}" + r = self.api_call(github_path, data_call=True, raise_on_failure=False) + return r.json()['object']['sha'] if r.ok else None + + def get_file_url(self, bucket, file_name): + github_path = f"contents/{file_name}?ref={bucket}" + r = self.api_call(github_path, data_call=True) + return r.json()['download_url'] + + def get_file_sha(self, bucket, file_name): + github_path = f"contents/{file_name}?ref={bucket}" + r = self.api_call(github_path, data_call=True, raise_on_failure=False) + return r.json()['sha'] if r.ok else None + + def get_pr_number(self, pr_branch): + github_path = f"commits/{pr_branch}/pulls" + r = self.api_call(github_path) + return r.json()[0]['number'] + + def comment_on_pr(self, comment, commenter, pr_branch): + pr_number = self.get_pr_number(pr_branch) + data = f'{{"body": "{comment}"}}' + github_path = f'issues/{pr_number}/comments' + r = self.api_call(github_path) + comments = [x['id'] for x in r.json() if x['user']['login'] == commenter] + if comments: + github_path = f'issues/comments/{comments[0]}' + self.api_call(github_path, data=data, method=HTTPMethod.PATCH) + else: + github_path=f'issues/{pr_number}/comments' + self.api_call(github_path, data=data, method=HTTPMethod.POST) + + # upload files to github and comment them on the pr + def comment_images_on_pr(self, title, commenter, pr_branch, bucket, images): + self.upload_files(bucket, images) + table = [f'
{title}'] + for i,f in enumerate(images): + if not (i % 2): + table.append('') + table.append(f'') + if (i % 2): + table.append('') + table.append('
') + table = ''.join(table) + self.comment_on_pr(table, commenter, pr_branch) From 22bc50fee4aa0798e315088f4d3ee6ace01a98b2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 7 Oct 2024 22:02:09 -0700 Subject: [PATCH 054/191] jenkins: model replay only when modeld is in diff (#33743) * only * more --- Jenkinsfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index c42817a556..a98280ccd9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -236,8 +236,8 @@ node { }, 'replay': { deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["model replay", "selfdrive/test/process_replay/model_replay.py"], + ["build", "cd system/manager && ./build.py", ["selfdrive/modeld/"]], + ["model replay", "selfdrive/test/process_replay/model_replay.py", ["selfdrive/modeld/"]], ]) }, 'tizi': { From 6547d9593c0c819cf19915ff7b7bd5e35249e372 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 9 Oct 2024 02:20:14 +0800 Subject: [PATCH 055/191] =?UTF-8?q?cabana:=20fix=20issue=20where=20video?= =?UTF-8?q?=20can=E2=80=99t=20be=20paused=20by=20click=20during=20alert=20?= =?UTF-8?q?(#33746)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit fix pause issue --- tools/cabana/videowidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 07d283787f..66a6efe569 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -368,6 +368,7 @@ bool Slider::event(QEvent *event) { InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) { setAttribute(Qt::WA_ShowWithoutActivating); + setAttribute(Qt::WA_TransparentForMouseEvents); setVisible(false); } From 19fdf90585173b43831993e4d3c00fef8fe5ae6e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 9 Oct 2024 02:20:29 +0800 Subject: [PATCH 056/191] cabana: fix mouse wheel not scrolling charts when hovering over tips (#33747) fix mouse wheel not scrolling charts when hovering over tips --- tools/cabana/chart/chartswidget.cc | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 27846f9c92..8154a85d6b 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -434,7 +434,9 @@ void ChartsWidget::alignCharts() { } bool ChartsWidget::eventFilter(QObject *o, QEvent *e) { - if (value_tip_visible_ && e->type() == QEvent::MouseMove) { + if (!value_tip_visible_) return false; + + if (e->type() == QEvent::MouseMove) { bool on_tip = qobject_cast(o) != nullptr; auto global_pos = static_cast(e)->globalPos(); @@ -449,6 +451,11 @@ bool ChartsWidget::eventFilter(QObject *o, QEvent *e) { } showValueTip(-1); + } else if (e->type() == QEvent::Wheel) { + if (auto tip = qobject_cast(o)) { + // Forward the event to the parent widget + QCoreApplication::sendEvent(tip->parentWidget(), e); + } } return false; } From 196fb0a7eab86d43a5dd584f421e21051ff55f22 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 9 Oct 2024 02:20:43 +0800 Subject: [PATCH 057/191] cabana: Insert newly split charts directly after the original chart (#33748) split charts under current chart --- tools/cabana/chart/chartswidget.cc | 10 ++++++---- tools/cabana/chart/chartswidget.h | 2 +- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 8154a85d6b..e2f0d4d0c9 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -255,14 +255,15 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si return nullptr; } -ChartView *ChartsWidget::createChart() { +ChartView *ChartsWidget::createChart(int pos) { auto chart = new ChartView(can->timeRange().value_or(display_range), this); chart->setFixedHeight(settings.chart_height); chart->setMinimumWidth(CHART_MIN_WIDTH); chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start)); - charts.push_front(chart); - currentCharts().push_front(chart); + pos = std::clamp(pos, 0, charts.size()); + charts.insert(pos, chart); + currentCharts().insert(pos, chart); updateLayout(true); updateToolBar(); return chart; @@ -281,8 +282,9 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo void ChartsWidget::splitChart(ChartView *src_chart) { if (src_chart->sigs.size() > 1) { + int pos = charts.indexOf(src_chart) + 1; for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { - auto c = createChart(); + auto c = createChart(pos); src_chart->chart()->removeSeries(it->series); // Restore to the original color diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index a925191792..bfdaaaa954 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -58,7 +58,7 @@ private: bool event(QEvent *event) override; void alignCharts(); void newChart(); - ChartView *createChart(); + ChartView *createChart(int pos = 0); void removeChart(ChartView *chart); void splitChart(ChartView *chart); QRect chartVisibleRect(ChartView *chart); From 8b5df1e9ee70938c0397ba6b3c893f6cd26cca98 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 8 Oct 2024 16:41:02 -0400 Subject: [PATCH 058/191] tools: print VIN when getting UDS fingerprints from a route (#33750) * tools: print VIN when getting UDS fingerprints * set in case not there --------- Co-authored-by: Shane Smiskol --- selfdrive/debug/fingerprint_from_route.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index 68308bb627..9da388999b 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -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__": From 8cf1b79189431c9289485b49240928e46f2a01a7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Oct 2024 14:07:13 -0700 Subject: [PATCH 059/191] camerad: more ISP prep (#33752) --- system/camerad/cameras/camera_common.h | 3 -- system/camerad/cameras/camera_qcom2.cc | 4 +- system/camerad/cameras/cdm.h | 66 ++++++++++++++++++++++++++ system/camerad/test/debug.sh | 15 ++++++ 4 files changed, 84 insertions(+), 4 deletions(-) create mode 100644 system/camerad/cameras/cdm.h create mode 100755 system/camerad/test/debug.sh diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index e0e16e18fc..a52fc59c41 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -13,11 +13,8 @@ const int YUV_BUFFER_COUNT = 20; typedef struct FrameMetadata { uint32_t frame_id; uint32_t request_id; - - // Timestamps uint64_t timestamp_sof; uint64_t timestamp_eof; - float processing_time; } FrameMetadata; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 3d5507add9..df884e7b92 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -64,6 +64,8 @@ public: }; void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { + if (!camera.enabled) return; + camera.camera_open(v, device_id, ctx); fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm; @@ -73,7 +75,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct gain_idx = camera.sensor->analog_gain_rec_idx; cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time; - if (camera.enabled) thread = std::thread(&CameraState::run, this); + thread = std::thread(&CameraState::run, this); } CameraState::~CameraState() { diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h new file mode 100644 index 0000000000..413c4e23d7 --- /dev/null +++ b/system/camerad/cameras/cdm.h @@ -0,0 +1,66 @@ +// from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h} + +enum cam_cdm_command { + CAM_CDM_CMD_UNUSED = 0x0, + CAM_CDM_CMD_DMI = 0x1, + CAM_CDM_CMD_NOT_DEFINED = 0x2, + CAM_CDM_CMD_REG_CONT = 0x3, + CAM_CDM_CMD_REG_RANDOM = 0x4, + CAM_CDM_CMD_BUFF_INDIRECT = 0x5, + CAM_CDM_CMD_GEN_IRQ = 0x6, + CAM_CDM_CMD_WAIT_EVENT = 0x7, + CAM_CDM_CMD_CHANGE_BASE = 0x8, + CAM_CDM_CMD_PERF_CTRL = 0x9, + CAM_CDM_CMD_DMI_32 = 0xa, + CAM_CDM_CMD_DMI_64 = 0xb, + CAM_CDM_CMD_PRIVATE_BASE = 0xc, + CAM_CDM_CMD_SWD_DMI_32 = (CAM_CDM_CMD_PRIVATE_BASE + 0x64), + CAM_CDM_CMD_SWD_DMI_64 = (CAM_CDM_CMD_PRIVATE_BASE + 0x65), + CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F +}; + +/** + * struct cdm_regrandom_cmd - Definition for CDM random register command. + * @count: Number of register writes + * @reserved: reserved bits + * @cmd: Command ID (CDMCmd) + */ +struct cdm_regrandom_cmd { + unsigned int count : 16; + unsigned int reserved : 8; + unsigned int cmd : 8; +} __attribute__((__packed__)); + +/** + * struct cdm_regcontinuous_cmd - Definition for a CDM register range command. + * @count: Number of register writes + * @reserved0: reserved bits + * @cmd: Command ID (CDMCmd) + * @offset: Start address of the range of registers + * @reserved1: reserved bits + */ +struct cdm_regcontinuous_cmd { + unsigned int count : 16; + unsigned int reserved0 : 8; + unsigned int cmd : 8; + unsigned int offset : 24; + unsigned int reserved1 : 8; +} __attribute__((__packed__)); + +/** + * struct cdm_dmi_cmd - Definition for a CDM DMI command. + * @length: Number of bytes in LUT - 1 + * @reserved: reserved bits + * @cmd: Command ID (CDMCmd) + * @addr: Address of the LUT in memory + * @DMIAddr: Address of the target DMI config register + * @DMISel: DMI identifier + */ +struct cdm_dmi_cmd { + unsigned int length : 16; + unsigned int reserved : 8; + unsigned int cmd : 8; + unsigned int addr; + unsigned int DMIAddr : 24; + unsigned int DMISel : 8; +} __attribute__((__packed__)); diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh new file mode 100755 index 0000000000..40d2dda237 --- /dev/null +++ b/system/camerad/test/debug.sh @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +#echo 4294967295 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl + +# no CCI and UTIL, very spammy +echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl + +sudo dmesg -C +scons -u -j8 --minimal . +export DEBUG_FRAMES=1 +#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 +export DISABLE_DRIVER=1 +#export LOGPRINT=debug +./camerad From d72b59832c1d25d856680c9768ff9bd6083130f0 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 8 Oct 2024 14:24:46 -0700 Subject: [PATCH 060/191] ci: remove model_replay on pc (#33751) remove --- .github/workflows/selfdrive_tests.yaml | 7 ------- 1 file changed, 7 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b47d06f06d..7557b7c554 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -222,13 +222,6 @@ 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 timeout-minutes: 4 run: | From 8a8d8c2272a8dc16a2fc46342ffac98aaa3a0af7 Mon Sep 17 00:00:00 2001 From: Will Date: Tue, 8 Oct 2024 15:50:55 -0600 Subject: [PATCH 061/191] rerun: fix rp_visualization TypeError (#33749) * Fixed iteration over liveTracks in radar visualization by ensuring the data structure is iterable and made the background black * Requested changes, moved conditional to function call * Simplified conditional, renamed method --- tools/replay/lib/rp_helpers.py | 5 +++-- tools/replay/rp_visualization.py | 5 +++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py index 95eef9d233..aa20ab8e32 100644 --- a/tools/replay/lib/rp_helpers.py +++ b/tools/replay/lib/rp_helpers.py @@ -8,7 +8,8 @@ rerunColorPalette = [(96, "red", (255, 0, 0)), (230, "vibrantpink", (255, 36, 170)), (240, "orange", (255, 146, 0)), (255, "white", (255, 255, 255)), - (110, "carColor", (255,0,127))] + (110, "carColor", (255,0,127)), + (0, "background", (0, 0, 0))] class UIParams: @@ -68,7 +69,7 @@ def plot_lead(rs, lid_overlay): lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0] -def maybe_update_radar_points(lt, lid_overlay): +def update_radar_points(lt, lid_overlay): ar_pts = [] if lt is not None: ar_pts = {} diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py index 01058967b2..25169b72ae 100755 --- a/tools/replay/rp_visualization.py +++ b/tools/replay/rp_visualization.py @@ -8,7 +8,7 @@ import cereal.messaging as messaging from openpilot.common.basedir import BASEDIR from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette, get_blank_lid_overlay, - maybe_update_radar_points, plot_lead, + update_radar_points, plot_lead, plot_model) from msgq.visionipc import VisionIpcClient, VisionStreamType @@ -33,7 +33,8 @@ def visualize(addr): if sm.recv_frame['radarState']: plot_lead(sm['radarState'], lid_overlay) liveTracksTime = sm.logMonoTime['liveTracks'] - maybe_update_radar_points(sm['liveTracks'], lid_overlay) + if sm.updated['liveTracks']: + update_radar_points(sm['liveTracks'], lid_overlay) rr.set_time_nanos("TIMELINE", liveTracksTime) rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) From 596d8b13bbd82fdbc728d7b123c22f43e7b257f5 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 8 Oct 2024 17:39:13 -0700 Subject: [PATCH 062/191] ci: model_replay improvements (#33753) * diff * tr * cleanup * at the end * fix --- selfdrive/test/process_replay/model_replay.py | 55 +++++++++++++------ tools/lib/github_utils.py | 3 + 2 files changed, 42 insertions(+), 16 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index f88ccab96c..9d102fb589 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -8,6 +8,7 @@ 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 get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff @@ -29,17 +30,19 @@ MODEL_REPLAY_BUCKET="model_replay_master" GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) -def get_log_fn(test_route): - return f"{test_route}_model_tici_master.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(list(proposed), label='PROPOSED') - ax.plot(list(master), label='MASTER') + 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' + 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)) @@ -60,18 +63,39 @@ def generate_report(proposed, master, tmp): map(v[0], get_event(master, event)), v[1], tmp) \ for v,event in [*ModelV2_Plots]] -def comment_replay_report(proposed, master): +def create_table(title, files, link, open_table=False): + if not files: + return "" + table = [f'
{title}'] + for i,f in enumerate(files): + if not (i % 2): + table.append("") + table.append(f'') + if (i % 2): + table.append("") + table.append("
") + 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}" + PR_BRANCH = os.getenv("GIT_BRANCH","") + DATA_BUCKET = f"model_replay_{PR_BRANCH}" files = generate_report(proposed, master, tmp) - GITHUB.comment_images_on_pr("Model Replay Plots", - "commaci-public", - PR_BRANCH, - DATA_BUCKET, - [(x, tmp + '/' + x) for x in files]) + GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files]) + + log_name = get_log_fn(TEST_ROUTE, get_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"new ref: {link}/{log_name}" + diff_plots + all_plots + GITHUB.comment_on_pr(comment, "commaci-public", PR_BRANCH) def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): all_msgs = [] @@ -185,9 +209,8 @@ if __name__ == "__main__": diff_short, diff_long, failed = format_diff(results, log_paths, 'master') if "CI" in os.environ: - if not PC: - comment_replay_report(log_msgs, cmp_log) - failed = False + comment_replay_report(log_msgs, cmp_log, log_msgs) + failed = False print(diff_long) print('-------------\n'*5) print(diff_short) diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py index 607fdfdae9..dd1c3e20d0 100644 --- a/tools/lib/github_utils.py +++ b/tools/lib/github_utils.py @@ -81,6 +81,9 @@ class GithubUtils: r = self.api_call(github_path) return r.json()[0]['number'] + def get_bucket_link(self, bucket): + return f'https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/refs/heads/{bucket}' + def comment_on_pr(self, comment, commenter, pr_branch): pr_number = self.get_pr_number(pr_branch) data = f'{{"body": "{comment}"}}' From 50baf37dddbe7fbad68eae097546de653a7ad8ff Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 9 Oct 2024 11:56:46 -0700 Subject: [PATCH 063/191] camerad: fix CAM_SYNC requests (#33757) * camerad: fix CAM_SYNC requests * cast --------- Co-authored-by: Comma Device --- system/camerad/cameras/spectra.cc | 26 +++++++++++++++++++++++--- 1 file changed, 23 insertions(+), 3 deletions(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index ef771a64b7..e4036ca6f6 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -37,6 +37,26 @@ int do_cam_control(int fd, int op_code, void *handle, int size) { return ret; } +int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) { + struct cam_private_ioctl_arg arg = { + .id = id, + .size = size, + .ioctl_ptr = (uint64_t)handle, + }; + int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg)); + + int32_t ioctl_result = (int32_t)arg.result; + if (ret < 0) { + LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result); + return ret; + } + if (ioctl_result < 0) { + LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result); + return ioctl_result; + } + return ret; +} + std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { struct cam_acquire_dev_cmd cmd = { .session_handle = session_handle, @@ -558,7 +578,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { struct cam_sync_wait sync_wait = {0}; sync_wait.sync_obj = sync_objs[i]; sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 - ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); + ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); if (ret != 0) { LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); // TODO: handle frame drop cleanly @@ -570,7 +590,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // destroy old output fence struct cam_sync_info sync_destroy = {0}; sync_destroy.sync_obj = sync_objs[i]; - ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); + ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); if (ret != 0) { LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj); } @@ -579,7 +599,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // create output fence struct cam_sync_info sync_create = {0}; strcpy(sync_create.name, "NodeOutputPortFence"); - ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); + ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); if (ret != 0) { LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); } From 682857f0cd1ab71be6af1f3e445637790e0a1ec9 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 9 Oct 2024 13:23:52 -0700 Subject: [PATCH 064/191] MLSIM V3 (#33745) * 09366265-2385-4c47-85a9-009aaabc283d/400 * 7a744f78-ac70-4070-b2b2-fd25b736667b/400 * ff6c6166-a9e0-40bc-8867-b0b35bcad8b8/380 * 241215ad-05e1-4153-8fc9-5108c6002123/400 --- selfdrive/modeld/models/supercombo.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 93781abba1..b80a79624d 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:06d94d907a437121b1a86b59065f44e4875ed68e554487f5c500982273d63630 +oid sha256:8f61f872fef307b82e08ac5bcbd6cfa1a0943e1597376b05a7b27ff77cc2abfe size 50309976 From 48abdf825bc646ee38d3a2e3bb03286ad4afcea1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 10 Oct 2024 04:42:53 +0800 Subject: [PATCH 065/191] sensord: Handle EINTR for GPIO event reading (#33715) handle eintr --- system/sensord/sensors_qcom2.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 9cbc24864d..189da78099 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -62,7 +62,7 @@ void interrupt_loop(std::vector> sensors) { // Read all events struct gpioevent_data evdata[16]; - err = read(fd, evdata, sizeof(evdata)); + err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata))); if (err < 0 || err % sizeof(*evdata) != 0) { LOGE("error reading event data %d", err); continue; From d7c0906d0bfa930f3713eeb153ed6a00d055212c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 9 Oct 2024 15:16:50 -0700 Subject: [PATCH 066/191] ci: faster metadrive test (#33755) * fast * fix * same ratio * output * check old * error * fail * better * log * test faster runner * work? * test * ratio * forward * try without wait * test old distance * fxi * test old runner * test this * assert distance * cleanup * better * get distance * cleanup * choose runner * very slow * wait * put this back --- .github/workflows/tools_tests.yaml | 4 +++- tools/sim/bridge/metadrive/metadrive_bridge.py | 5 +++-- tools/sim/bridge/metadrive/metadrive_process.py | 15 +++++++++++++-- tools/sim/bridge/metadrive/metadrive_world.py | 6 +++--- tools/sim/tests/test_metadrive_bridge.py | 10 ++++------ 5 files changed, 26 insertions(+), 14 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index c1c3552472..81da841dd2 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -27,7 +27,9 @@ env: jobs: simulator_driving: name: simulator driving - 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-latest' }} timeout-minutes: 20 steps: - uses: actions/checkout@v4 diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index b8dc94cf86..7bfadc5533 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -50,12 +50,13 @@ def create_map(track_size=60): class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 - def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False): + def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False): super().__init__(dual_camera, high_quality) self.should_render = False self.test_run = test_run self.test_duration = test_duration if self.test_run else math.inf + self.minimal_distance = minimal_distance if self.test_run else 0 def spawn_world(self, queue: Queue): sensors = { @@ -90,4 +91,4 @@ class MetaDriveBridge(SimulatorBridge): anisotropic_filtering=False ) - return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera) + return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, self.test_run, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 2486d87ff9..c788b8cda2 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -19,6 +19,7 @@ from openpilot.tools.sim.lib.camerad import W, H C3_POSITION = Vec3(0.0, 0, 1.22) C3_HPR = Vec3(0, 0,0) +VEHICLE_STARTING_POS = [110, 4.5] metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"]) metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"]) @@ -50,7 +51,7 @@ def apply_metadrive_patches(arrive_dest_done=True): def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, - exit_event, op_engaged, test_duration, test_run): + exit_event, op_engaged, test_duration, minimal_distance, test_run): arrive_dest_done = config.pop("arrive_dest_done", True) apply_metadrive_patches(arrive_dest_done) @@ -70,6 +71,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera env.reset() env.vehicle.config["max_speed_km_h"] = 1000 lane_idx_prev, _ = get_current_lane_info(env.vehicle) + env.vehicle.set_position(VEHICLE_STARTING_POS) simulation_state = metadrive_simulation_state( running=True, @@ -98,6 +100,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera steer_ratio = 8 vc = [0,0] + total_distance = 0 + prev_x_pos = VEHICLE_STARTING_POS[0] + while not exit_event.is_set(): vehicle_state = metadrive_vehicle_state( velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0), @@ -107,6 +112,9 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera ) vehicle_state_send.send(vehicle_state) + total_distance += abs(env.vehicle.position[0] - prev_x_pos) + prev_x_pos = env.vehicle.position[0] + if controls_recv.poll(0): while controls_recv.poll(0): steer_angle, gas, should_reset = controls_recv.recv() @@ -137,7 +145,10 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera elif out_of_lane: done_result = (True, {"out_of_lane" : True}) elif timeout: - done_result = (True, {"timeout" : True}) + if total_distance < minimal_distance: + done_result = (True, {"minimal_distance" : True}) + else: + done_result = (True, {"timeout" : True}) simulation_state = metadrive_simulation_state( running=False, diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 5bb4555dc1..7b6c865690 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H class MetaDriveWorld(World): - def __init__(self, status_q, config, test_duration, test_run, dual_camera=False): + def __init__(self, status_q, config, test_duration, minimal_distance, test_run, dual_camera=False): super().__init__(dual_camera) self.status_q = status_q self.camera_array = Array(ctypes.c_uint8, W*H*3) @@ -41,7 +41,7 @@ class MetaDriveWorld(World): functools.partial(metadrive_process, dual_camera, config, self.camera_array, self.wide_camera_array, self.image_lock, self.controls_recv, self.simulation_state_send, - self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run)) + self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, minimal_distance, self.test_run)) self.metadrive_process.start() self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting")) @@ -105,7 +105,7 @@ class MetaDriveWorld(World): if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving self.distance_moved += x_dist + y_dist - time_check_threshold = 30 + time_check_threshold = 7.5 current_time = time.monotonic() since_last_check = current_time - self.last_check_timestamp if since_last_check >= time_check_threshold: diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 8849e901cb..bed0601b7a 100644 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -11,11 +11,9 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log class TestMetaDriveBridge(TestSimBridgeBase): @pytest.fixture(autouse=True) - def setup_create_bridge(self, test_duration): - # run bridge test for at least 60s, since not-moving check runs every 30s - if test_duration < 60: - test_duration = 60 - self.test_duration = test_duration + def setup_create_bridge(self): + self.test_duration = 15 + self.minimal_distance = 10 def create_bridge(self): - return MetaDriveBridge(False, False, self.test_duration, True) + return MetaDriveBridge(False, False, self.test_duration, self.minimal_distance, True) From f11e5492f803f58d8fc39472f467df798144a29e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 9 Oct 2024 15:29:41 -0700 Subject: [PATCH 067/191] ci: keep old comment on model replay report (#33759) keep old --- selfdrive/test/process_replay/model_replay.py | 7 +++--- tools/lib/github_utils.py | 22 ++++++++++--------- 2 files changed, 16 insertions(+), 13 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 9d102fb589..1233834772 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -86,7 +86,8 @@ def comment_replay_report(proposed, master, full_logs): GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files]) - log_name = get_log_fn(TEST_ROUTE, get_commit()) + commit = get_commit() + 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) @@ -94,8 +95,8 @@ def comment_replay_report(proposed, master, full_logs): 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"new ref: {link}/{log_name}" + diff_plots + all_plots - GITHUB.comment_on_pr(comment, "commaci-public", PR_BRANCH) + 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 = [] diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py index dd1c3e20d0..4dc22b9524 100644 --- a/tools/lib/github_utils.py +++ b/tools/lib/github_utils.py @@ -84,18 +84,20 @@ class GithubUtils: def get_bucket_link(self, bucket): return f'https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/refs/heads/{bucket}' - def comment_on_pr(self, comment, commenter, pr_branch): + def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False): pr_number = self.get_pr_number(pr_branch) data = f'{{"body": "{comment}"}}' - github_path = f'issues/{pr_number}/comments' - r = self.api_call(github_path) - comments = [x['id'] for x in r.json() if x['user']['login'] == commenter] - if comments: - github_path = f'issues/comments/{comments[0]}' - self.api_call(github_path, data=data, method=HTTPMethod.PATCH) - else: - github_path=f'issues/{pr_number}/comments' - self.api_call(github_path, data=data, method=HTTPMethod.POST) + if overwrite: + github_path = f'issues/{pr_number}/comments' + r = self.api_call(github_path) + comments = [x['id'] for x in r.json() if x['user']['login'] == commenter] + if comments: + github_path = f'issues/comments/{comments[0]}' + self.api_call(github_path, data=data, method=HTTPMethod.PATCH) + return + + github_path=f'issues/{pr_number}/comments' + self.api_call(github_path, data=data, method=HTTPMethod.POST) # upload files to github and comment them on the pr def comment_images_on_pr(self, title, commenter, pr_branch, bucket, images): From 21a8f9e9ba110d8cc0f57efae9166b559605620c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 10 Oct 2024 21:07:03 -0700 Subject: [PATCH 068/191] experimental_model typo --- selfdrive/ui/qt/onroad/model.cc | 4 ++-- selfdrive/ui/qt/onroad/model.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index 9a2c989b26..c709145980 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -25,7 +25,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { } clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN); - experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode(); + experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode(); painter.save(); @@ -107,7 +107,7 @@ void ModelRenderer::drawLaneLines(QPainter &painter) { void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) { QLinearGradient bg(0, height, 0, 0); - if (experimental_model) { + 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(track_vertices.length() / 2, acceleration.size()); diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index 358fce53f4..a0476d542a 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -22,7 +22,7 @@ private: void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height); bool longitudinal_control = false; - bool experimental_model = false; + bool experimental_mode = false; float lane_line_probs[4] = {}; float road_edge_stds[2] = {}; QPolygonF track_vertices; From 7150c145ae724e5d9f2e49bfcf2877f265fde579 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 11 Oct 2024 09:30:53 -0700 Subject: [PATCH 069/191] selfdrived: remove redundant sound card check (#33767) rm --- cereal/log.capnp | 3 ++- selfdrive/selfdrived/events.py | 5 ----- selfdrive/selfdrived/selfdrived.py | 6 ------ system/hardware/base.py | 4 ---- system/hardware/pc/hardware.py | 3 --- system/hardware/tici/hardware.py | 6 ------ 6 files changed, 2 insertions(+), 25 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index c35219b3ac..0a3673208e 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -80,7 +80,6 @@ struct OnroadEvent @0xc4fa6047f024e718 { commIssueAvgFreq @44; tooDistracted @45; posenetInvalid @46; - soundsUnavailable @47; preLaneChangeLeft @48; preLaneChangeRight @49; laneChange @50; @@ -126,6 +125,8 @@ struct OnroadEvent @0xc4fa6047f024e718 { espActive @90; personalityChanged @91; aeb @92; + + soundsUnavailableDEPRECATED @47; } } diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 7be514e350..cdc23e53c9 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -724,11 +724,6 @@ 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"), }, diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 8b7575d35d..0aeff3a116 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -21,7 +21,6 @@ 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 REPLAY = "REPLAY" in os.environ @@ -88,9 +87,6 @@ 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 @@ -129,8 +125,6 @@ class SelfdriveD: 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) diff --git a/system/hardware/base.py b/system/hardware/base.py index 6cdb4a4d64..620f2c71b8 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -41,10 +41,6 @@ class HardwareBase(ABC): def get_device_type(self): pass - @abstractmethod - def get_sound_card_online(self): - pass - @abstractmethod def get_imei(self, slot) -> str: pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 719e272aea..a2cbafeae8 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -14,9 +14,6 @@ class Pc(HardwareBase): def get_device_type(self): return "pc" - def get_sound_card_online(self): - return True - def reboot(self, reason=None): print("REBOOT!") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 03e973fd1a..70049d1849 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -123,12 +123,6 @@ class Tici(HardwareBase): def get_device_type(self): return get_device_type() - def get_sound_card_online(self): - if os.path.isfile('/proc/asound/card0/state'): - with open('/proc/asound/card0/state') as f: - return f.read().strip() == 'ONLINE' - return False - def reboot(self, reason=None): subprocess.check_output(["sudo", "reboot"]) From 747acaac71a7271e4f3d81c1184bdf8b3a919a3b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 11 Oct 2024 20:49:30 -0700 Subject: [PATCH 070/191] camerad: prep to unify IFE + BPS processing (#33770) * unify * fixup * start porting over ife branch * setup new bufs --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_common.cc | 29 ++-- system/camerad/cameras/camera_common.h | 1 + system/camerad/cameras/spectra.cc | 215 +++++++++++++++++++----- system/camerad/cameras/spectra.h | 43 ++++- system/camerad/sensors/sensor.h | 3 + system/camerad/test/debug.sh | 5 +- system/camerad/test/intercept.sh | 2 + 7 files changed, 233 insertions(+), 65 deletions(-) create mode 100755 system/camerad/test/intercept.sh diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 9fa9bb6a73..44607b3044 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -65,39 +65,38 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const SensorInfo *sensor = cam->sensor.get(); - // RAW frame - const int frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; camera_bufs = std::make_unique(frame_buf_count); + camera_bufs_raw = std::make_unique(frame_buf_count); camera_bufs_metadata = std::make_unique(frame_buf_count); + // RAW + final frames from ISP + const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { - camera_bufs[i].allocate(frame_size); + camera_bufs[i].allocate(cam->yuv_size); camera_bufs[i].init_cl(device_id, context); + + camera_bufs_raw[i].allocate(raw_frame_size); + camera_bufs_raw[i].init_cl(device_id, context); } LOGD("allocated %d CL buffers", frame_buf_count); out_img_width = sensor->frame_width; out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height; - int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, out_img_width); - int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, out_img_height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, out_img_width)); - assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, out_img_height)); - size_t nv12_uv_offset = nv12_width * nv12_height; - // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width; + size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride; - vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset); - LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset); + LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, cam->stride, cam->y_height); - imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset); + imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset); } CameraBuf::~CameraBuf() { for (int i = 0; i < frame_buf_count; i++) { camera_bufs[i].free(); + camera_bufs_raw[i].free(); } if (imgproc) delete imgproc; } @@ -112,10 +111,10 @@ bool CameraBuf::acquire(int expo_time) { cur_frame_data = camera_bufs_metadata[cur_buf_idx]; cur_yuv_buf = vipc_server->get_buffer(stream_type); - cur_camera_buf = &camera_bufs[cur_buf_idx]; + cur_camera_buf = &camera_bufs_raw[cur_buf_idx]; double start_time = millis_since_boot(); - imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time); + imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time); cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; VisionIpcBufExtra extra = { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index a52fc59c41..96dc01c1c4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -36,6 +36,7 @@ public: VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs; + std::unique_ptr camera_bufs_raw; std::unique_ptr camera_bufs_metadata; int out_img_width, out_img_height; diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index e4036ca6f6..642e471f52 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -1,3 +1,5 @@ +#include "cdm.h" + #include #include #include @@ -5,9 +7,11 @@ #include "media/cam_defs.h" #include "media/cam_isp.h" +#include "media/cam_icp.h" #include "media/cam_isp_ife.h" #include "media/cam_sensor_cmn_header.h" #include "media/cam_sync.h" +#include "third_party/linux/include/msm_media_info.h" #include "common/util.h" #include "common/swaglog.h" @@ -16,6 +20,23 @@ // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl +int write_cont(uint8_t *dst, uint32_t reg, std::vector vals) { + struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst; + cmd->cmd = CAM_CDM_CMD_REG_CONT; + cmd->count = vals.size(); + cmd->offset = reg; + cmd->reserved0 = 0; + cmd->reserved1 = 0; + + uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd)); + for (int i = 0; i < vals.size(); i++) { + *vd = vals[i]; + vd++; + } + + return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t); +} + // ************** low level camera helpers **************** int do_cam_control(int fd, int op_code, void *handle, int size) { @@ -190,8 +211,12 @@ void SpectraMaster::init() { assert(isp_fd >= 0); LOGD("opened isp"); - // query icp for MMU handles - LOG("-- Query ICP for MMU handles"); + //icp_fd = open_v4l_by_name_and_index("cam-icp"); + //assert(icp_fd >= 0); + //LOGD("opened icp"); + + // query ISP for MMU handles + LOG("-- Query for MMU handles"); struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; struct cam_query_cap_cmd query_cap_cmd = {0}; query_cap_cmd.handle_type = 1; @@ -204,6 +229,17 @@ void SpectraMaster::init() { device_iommu = isp_query_cap_cmd.device_iommu.non_secure; cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure; + // query ICP for MMU handles + /* + struct cam_icp_query_cap_cmd icp_query_cap_cmd = {0}; + query_cap_cmd.caps_handle = (uint64_t)&icp_query_cap_cmd; + query_cap_cmd.size = sizeof(icp_query_cap_cmd); + ret = do_cam_control(icp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd)); + assert(ret == 0); + LOGD("using ICP MMU handle: %x", icp_query_cap_cmd.dev_iommu_handle.non_secure); + icp_device_iommu = icp_query_cap_cmd.dev_iommu_handle.non_secure; + */ + // subscribe LOG("-- Subscribing"); struct v4l2_event_subscription sub = {0}; @@ -245,8 +281,20 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c return; } + // size is driven by all the HW that handles frames, + // the video encoder has certain alignment requirements in this case + stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width); + y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); + uv_offset = stride*y_height; + yuv_size = uv_offset + stride*uv_height; + // TODO: for when the frames are coming out of the IFE directly + //uv_offset = ALIGNED_SIZE(stride*y_height, 0x1000); + //yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); + open = true; configISP(); + //configICP(); // needs the new AGNOS kernel configCSIPHY(); linkDevices(); @@ -411,20 +459,29 @@ int SpectraCamera::sensors_init() { return ret; } -void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx) { +void SpectraCamera::config_bps(int idx, int request_id) { + /* + Handles per-frame BPS config. + * BPS = Bayer Processing Segment + */ + (void)idx; + (void)request_id; +} + +void SpectraCamera::config_ife(int idx, int request_id, bool init) { /* Handles initial + per-frame IFE config. - IFE = Image Front End + * IFE = Image Front End */ int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2; - if (io_mem_handle != 0) { + if (!init) { size += sizeof(struct cam_buf_io_cfg); } uint32_t cam_packet_handle = 0; auto pkt = mm.alloc(size, &cam_packet_handle); - if (io_mem_handle != 0) { + if (!init) { pkt->header.op_code = CSLDeviceTypeIFE | OpcodesIFEUpdate; // 0xf000001 pkt->header.request_id = request_id; } else { @@ -446,12 +503,12 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int // *** first command *** // TODO: support MMU - buf_desc[0].size = buf0_size; + buf_desc[0].size = ife_cmd.size; buf_desc[0].length = 0; buf_desc[0].type = CAM_CMD_BUF_DIRECT; - buf_desc[0].meta_data = 3; - buf_desc[0].mem_handle = buf0_handle; - buf_desc[0].offset = ALIGNED_SIZE(buf0_size, buf0_alignment)*buf0_idx; + buf_desc[0].meta_data = CAM_ISP_PACKET_META_COMMON; + buf_desc[0].mem_handle = ife_cmd.handle; + buf_desc[0].offset = ife_cmd.aligned_size()*idx; // *** second command *** // parsed by cam_isp_packet_generic_blob_handler @@ -514,7 +571,7 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int static_assert(offsetof(struct isp_packet, type_2) == 0x60); buf_desc[1].size = sizeof(tmp); - buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0; + buf_desc[1].offset = !init ? 0x60 : 0; buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; @@ -523,37 +580,27 @@ void SpectraCamera::config_ife(int io_mem_handle, int fence, int request_id, int } // *** io config *** - if (io_mem_handle != 0) { + if (!init) { // configure output frame pkt->num_io_configs = 1; pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); io_cfg[0].offsets[0] = 0; - io_cfg[0].mem_handle[0] = io_mem_handle; + io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; io_cfg[0].planes[0] = (struct cam_plane_cfg){ .width = sensor->frame_width, .height = sensor->frame_height + sensor->extra_height, .plane_stride = sensor->frame_stride, .slice_height = sensor->frame_height + sensor->extra_height, - - // these are for UBWC, we'll want that eventually - .meta_stride = 0x0, - .meta_size = 0x0, - .meta_offset = 0x0, - .packer_config = 0x0, - .mode_config = 0x0, - .tile_config = 0x0, - .h_init = 0x0, - .v_init = 0x0, }; - io_cfg[0].format = sensor->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV - io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV - io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel - io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV - io_cfg[0].fence = fence; + io_cfg[0].format = sensor->mipi_format; + io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; + io_cfg[0].color_pattern = 0x5; + io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); + io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; + io_cfg[0].fence = sync_objs[idx]; io_cfg[0].direction = CAM_BUF_OUTPUT; io_cfg[0].subsample_pattern = 0x1; io_cfg[0].framedrop_pattern = 0x1; @@ -573,7 +620,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { int ret; uint64_t request_id = request_ids[i]; - if (buf_handle[i] && sync_objs[i]) { + if (buf_handle_raw[i] && sync_objs[i]) { // wait struct cam_sync_wait sync_wait = {0}; sync_wait.sync_obj = sync_objs[i]; @@ -588,15 +635,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { if (dp) buf.queue(i); // destroy old output fence - struct cam_sync_info sync_destroy = {0}; - sync_destroy.sync_obj = sync_objs[i]; - ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); - if (ret != 0) { - LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj); + for (auto so : {sync_objs, sync_objs_bps_out}) { + if (so[i] == 0) continue; + struct cam_sync_info sync_destroy = {0}; + sync_destroy.sync_obj = so[i]; + ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); + if (ret != 0) { + LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj); + } } } - // create output fence + // create output fences struct cam_sync_info sync_create = {0}; strcpy(sync_create.name, "NodeOutputPortFence"); ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); @@ -605,6 +655,14 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { } sync_objs[i] = sync_create.sync_obj; + /* + ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); + if (ret != 0) { + LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); + } + sync_objs_bps_out[i] = sync_create.sync_obj; + */ + // schedule request with camera request manager struct cam_req_mgr_sched_request req_mgr_sched_request = {0}; req_mgr_sched_request.session_hdl = session_handle; @@ -618,20 +676,33 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // poke sensor, must happen after schedule sensors_poke(request_id); - // submit request to the ife - config_ife(buf_handle[i], sync_objs[i], request_id, i); + // submit request to IFE and BPS + config_ife(i, request_id); + config_bps(i, request_id); } void SpectraCamera::camera_map_bufs() { + int ret; for (int i = 0; i < FRAME_BUF_COUNT; i++) { // configure ISP to put the image in place struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu; + //mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu; + //mem_mgr_map_cmd.num_hdl = 2; mem_mgr_map_cmd.num_hdl = 1; mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; + + // RAW bayer images + mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd; + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + assert(ret == 0); + LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); + buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle; + + // final processed images mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); - LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); + ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; } enqueue_req_multi(1, FRAME_BUF_COUNT, 0); @@ -691,7 +762,7 @@ void SpectraCamera::configISP() { .dt = sensor->frame_data_type, .format = sensor->mipi_format, - .test_pattern = 0x2, // 0x3? + .test_pattern = sensor->bayer_pattern, .usage_type = 0x0, .left_start = 0, @@ -735,10 +806,64 @@ void SpectraCamera::configISP() { LOGD("acquire isp dev"); // config IFE - alloc_w_mmu_hdl(m->video0_fd, FRAME_BUF_COUNT*ALIGNED_SIZE(buf0_size, buf0_alignment), (uint32_t*)&buf0_handle, buf0_alignment, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - m->device_iommu, m->cdm_iommu); - config_ife(0, 0, 1, 0); + ife_cmd.init(m, 67984, 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT); + config_ife(0, 1, true); +} + +void SpectraCamera::configICP() { + if (!enabled) return; + + /* + Configures both the ICP and BPS. + */ + + struct cam_icp_acquire_dev_info icp_info = { + .scratch_mem_size = 0x0, + .dev_type = 0x1, // BPS + .io_config_cmd_size = 0, + .io_config_cmd_handle = 0, + .secure_mode = 0, + .num_out_res = 1, + .in_res = (struct cam_icp_res_info){ + .format = 0x9, // RAW MIPI + .width = sensor->frame_width, + .height = sensor->frame_height, + .fps = 20, + }, + .out_res[0] = (struct cam_icp_res_info){ + .format = 0x3, // YUV420NV12 + .width = sensor->frame_width, + .height = sensor->frame_height, + .fps = 20, + }, + }; + auto h = device_acquire(m->icp_fd, session_handle, &icp_info); + assert(h); + icp_dev_handle = *h; + LOGD("acquire icp dev"); + + // BPS CMD buffer + unsigned char striping_out[] = "\x00"; + bps_cmd.init(m, FRAME_BUF_COUNT*ALIGNED_SIZE(464, 0x20), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + + bps_iq.init(m, 560, 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + bps_cdm_program_array.init(m, 0x40, 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + bps_striping.init(m, sizeof(striping_out), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); + memcpy(bps_striping.ptr, striping_out, sizeof(striping_out)); + + bps_cdm_striping_bl.init(m, 65216, 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS, + m->icp_device_iommu); } void SpectraCamera::configCSIPHY() { diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 5796f47098..e71483f500 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -63,8 +63,27 @@ public: unique_fd video0_fd; unique_fd cam_sync_fd; unique_fd isp_fd; + unique_fd icp_fd; int device_iommu = -1; int cdm_iommu = -1; + int icp_device_iommu = -1; +}; + +class SpectraBuf { +public: + void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) { + size = s; + alignment = a; + ptr = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2); + assert(ptr != NULL); + }; + + uint32_t aligned_size() { + return ALIGNED_SIZE(size, alignment); + }; + + void *ptr; + int size, alignment, handle; }; class SpectraCamera { @@ -76,7 +95,8 @@ public: void handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); - void config_ife(int io_mem_handle, int fence, int request_id, int buf0_idx); + void config_bps(int idx, int request_id); + void config_ife(int idx, int request_id, bool init=false); int clear_req_queue(); void enqueue_buffer(int i, bool dp); @@ -89,6 +109,7 @@ public: bool openSensor(); void configISP(); + void configICP(); void configCSIPHY(); void linkDevices(); @@ -99,22 +120,38 @@ public: CameraConfig cc; std::unique_ptr sensor; + // YUV image size + uint32_t stride; + uint32_t y_height; + uint32_t uv_height; + uint32_t uv_offset; + uint32_t yuv_size; + unique_fd sensor_fd; unique_fd csiphy_fd; int32_t session_handle = -1; int32_t sensor_dev_handle = -1; int32_t isp_dev_handle = -1; + int32_t icp_dev_handle = -1; int32_t csiphy_dev_handle = -1; int32_t link_handle = -1; - const int buf0_size = 65624; // unclear what this is and how it's determined, for internal ISP use? it's just copied from an ioctl dump - const int buf0_alignment = 0x20; + SpectraBuf ife_cmd; + + SpectraBuf bps_cmd; + SpectraBuf bps_cdm_buffer; + SpectraBuf bps_cdm_program_array; + SpectraBuf bps_cdm_striping_bl; + SpectraBuf bps_iq; + SpectraBuf bps_striping; int buf0_handle = 0; int buf_handle[FRAME_BUF_COUNT] = {}; + int buf_handle_raw[FRAME_BUF_COUNT] = {}; int sync_objs[FRAME_BUF_COUNT] = {}; + int sync_objs_bps_out[FRAME_BUF_COUNT] = {}; uint64_t request_ids[FRAME_BUF_COUNT] = {}; uint64_t request_id_last = 0; uint64_t frame_id_last = 0; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 4ab09a9fd2..0dea525347 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -5,6 +5,8 @@ #include #include #include + +#include "media/cam_isp.h" #include "media/cam_sensor.h" #include "cereal/gen/cpp/log.capnp.h" @@ -58,6 +60,7 @@ public: std::vector start_reg_array; std::vector init_reg_array; + uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR; uint32_t mipi_format; uint32_t mclk_frequency; uint32_t frame_data_type; diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh index 40d2dda237..438f1fdcf2 100755 --- a/system/camerad/test/debug.sh +++ b/system/camerad/test/debug.sh @@ -5,11 +5,12 @@ set -e # no CCI and UTIL, very spammy echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl +echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl sudo dmesg -C scons -u -j8 --minimal . export DEBUG_FRAMES=1 -#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 -export DISABLE_DRIVER=1 +export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 +#export DISABLE_DRIVER=1 #export LOGPRINT=debug ./camerad diff --git a/system/camerad/test/intercept.sh b/system/camerad/test/intercept.sh new file mode 100755 index 0000000000..e269929afc --- /dev/null +++ b/system/camerad/test/intercept.sh @@ -0,0 +1,2 @@ +#!/usr/bin/env bash +DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 DEBUG_FRAMES=1 LOGPRINT=debug LD_PRELOAD=/data/tici_test_scripts/isp/interceptor/tmpioctl.so ./camerad From 354e909ab1f75eec2e605e8e288845a06920f7f2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 12 Oct 2024 12:08:32 +0800 Subject: [PATCH 071/191] ui: smooth transition of path colors on AllowThrottle state changes (#33766) * smooth transition of path colors on AllowThrottle state changes * Invert blend factor when the state changes mid-animation --- selfdrive/ui/qt/onroad/model.cc | 48 ++++++++++++++++++++++++++++++--- selfdrive/ui/qt/onroad/model.h | 4 +++ selfdrive/ui/ui.cc | 2 +- 3 files changed, 50 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index c709145980..b395924226 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -135,15 +135,57 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade } } 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)); + 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(); + 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.; diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index a0476d542a..739dbce1c4 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -20,9 +20,13 @@ private: 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 = false; float lane_line_probs[4] = {}; float road_edge_stds[2] = {}; QPolygonF track_vertices; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index b11330a046..b6ce6cb02e 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -93,7 +93,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique(std::vector{ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2", - "wideRoadCameraState", "managerState", "selfdriveState", + "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan", }); prime_state = new PrimeState(this); language = QString::fromStdString(Params().get("LanguageSetting")); From 6f40dec42750074a92e69fa0b929cac2d0c50a64 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 12 Oct 2024 12:05:24 -0700 Subject: [PATCH 072/191] bump msgq (#33777) --- msgq_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/msgq_repo b/msgq_repo index b4f0692c1a..a3b51b311f 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d +Subproject commit a3b51b311fa45b0f67eb087bb5c1ef2a79e6ed91 From 8e8f61ad35a78a8a425f7d302f6f161dea8b080c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 12 Oct 2024 13:07:30 -0700 Subject: [PATCH 073/191] camerad: IFE debayer support (#33720) * ife is up * split out cdm, bps needs this too * straight to vipc buffer * start reducing the diff * support both * disable for now * cleanup --------- Co-authored-by: Comma Device --- msgq_repo | 2 +- system/camerad/SConscript | 2 +- system/camerad/cameras/camera_common.cc | 25 +- system/camerad/cameras/camera_common.h | 9 +- system/camerad/cameras/camera_qcom2.cc | 4 +- system/camerad/cameras/cdm.cc | 33 + system/camerad/cameras/cdm.h | 12 + system/camerad/cameras/ife.h | 767 ++++++++++++++++++++++++ system/camerad/cameras/spectra.cc | 149 +++-- system/camerad/cameras/spectra.h | 7 +- system/camerad/test/debug.sh | 4 +- 11 files changed, 930 insertions(+), 84 deletions(-) create mode 100644 system/camerad/cameras/cdm.cc create mode 100644 system/camerad/cameras/ife.h diff --git a/msgq_repo b/msgq_repo index a3b51b311f..3e17f865bb 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit a3b51b311fa45b0f67eb087bb5c1ef2a79e6ed91 +Subproject commit 3e17f865bbd3bbabb3841227ed0774c8fb74efef diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 1820d21b3d..a5a39b0e11 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -3,7 +3,7 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', - 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) + 'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 44607b3044..bfd9e1c54b 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -7,7 +7,6 @@ #include "common/clutil.h" #include "common/swaglog.h" -#include "third_party/linux/include/msm_media_info.h" #include "system/camerad/cameras/spectra.h" @@ -65,16 +64,13 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const SensorInfo *sensor = cam->sensor.get(); - camera_bufs = std::make_unique(frame_buf_count); + is_raw = cam->is_raw; camera_bufs_raw = std::make_unique(frame_buf_count); - camera_bufs_metadata = std::make_unique(frame_buf_count); + frame_metadata = std::make_unique(frame_buf_count); // RAW + final frames from ISP const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { - camera_bufs[i].allocate(cam->yuv_size); - camera_bufs[i].init_cl(device_id, context); - camera_bufs_raw[i].allocate(raw_frame_size); camera_bufs_raw[i].init_cl(device_id, context); } @@ -95,7 +91,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * CameraBuf::~CameraBuf() { for (int i = 0; i < frame_buf_count; i++) { - camera_bufs[i].free(); camera_bufs_raw[i].free(); } if (imgproc) delete imgproc; @@ -104,18 +99,22 @@ CameraBuf::~CameraBuf() { bool CameraBuf::acquire(int expo_time) { if (!safe_queue.try_pop(cur_buf_idx, 50)) return false; - if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { + if (frame_metadata[cur_buf_idx].frame_id == -1) { LOGE("no frame data? wtf"); return false; } - cur_frame_data = camera_bufs_metadata[cur_buf_idx]; - cur_yuv_buf = vipc_server->get_buffer(stream_type); + cur_frame_data = frame_metadata[cur_buf_idx]; cur_camera_buf = &camera_bufs_raw[cur_buf_idx]; + if (is_raw) { + cur_yuv_buf = vipc_server->get_buffer(stream_type); - double start_time = millis_since_boot(); - imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time); - cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; + double start_time = millis_since_boot(); + imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time); + cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; + } else { + cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx); + } VisionIpcBufExtra extra = { cur_frame_data.frame_id, diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 96dc01c1c4..a30730865c 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -24,20 +24,21 @@ class ImgProc; class CameraBuf { private: - VisionIpcServer *vipc_server; ImgProc *imgproc = nullptr; - VisionStreamType stream_type; int cur_buf_idx; SafeQueue safe_queue; int frame_buf_count; + bool is_raw; public: + VisionIpcServer *vipc_server; + VisionStreamType stream_type; + FrameMetadata cur_frame_data; VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; - std::unique_ptr camera_bufs; std::unique_ptr camera_bufs_raw; - std::unique_ptr camera_bufs_metadata; + std::unique_ptr frame_metadata; int out_img_width, out_img_height; CameraBuf() = default; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index df884e7b92..c79eb29db7 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -50,7 +50,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -285,7 +285,7 @@ void camerad_thread() { std::vector> cams; for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) { auto cam = std::make_unique(&m, config); - cam->init(&v, device_id ,ctx); + cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); } diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc new file mode 100644 index 0000000000..a4825a88bc --- /dev/null +++ b/system/camerad/cameras/cdm.cc @@ -0,0 +1,33 @@ +#include "cdm.h" + +int write_cont(uint8_t *dst, uint32_t reg, std::vector vals) { + struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst; + cmd->cmd = CAM_CDM_CMD_REG_CONT; + cmd->count = vals.size(); + cmd->offset = reg; + cmd->reserved0 = 0; + cmd->reserved1 = 0; + + uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd)); + for (int i = 0; i < vals.size(); i++) { + *vd = vals[i]; + vd++; + } + + return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t); +} + +int write_random(uint8_t *dst, std::vector vals) { + struct cdm_regrandom_cmd *cmd = (struct cdm_regrandom_cmd*)dst; + cmd->cmd = CAM_CDM_CMD_REG_RANDOM; + cmd->count = vals.size() / 2; + cmd->reserved = 0; + + uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regrandom_cmd)); + for (int i = 0; i < vals.size(); i++) { + *vd = vals[i]; + vd++; + } + + return sizeof(struct cdm_regrandom_cmd) + vals.size()*sizeof(uint32_t); +} diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h index 413c4e23d7..017ca55c9e 100644 --- a/system/camerad/cameras/cdm.h +++ b/system/camerad/cameras/cdm.h @@ -1,3 +1,15 @@ +#pragma once + +#include +#include +#include +#include +#include + +// our helpers +int write_random(uint8_t *dst, std::vector vals); +int write_cont(uint8_t *dst, uint32_t reg, std::vector vals); + // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h} enum cam_cdm_command { diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h new file mode 100644 index 0000000000..2226353318 --- /dev/null +++ b/system/camerad/cameras/ife.h @@ -0,0 +1,767 @@ +#include "cdm.h" + +int build_initial_config(uint8_t *dst) { + uint8_t *start = dst; + + // constants, some kind of HW quirk? + dst += write_random(dst, { + 0x2c, 0xffffffff, + 0x30, 0xffffffff, + 0x34, 0xffffffff, + 0x38, 0xffffffff, + 0x3c, 0xffffffff, + }); + + dst += write_cont(dst, 0x478, { + 0x00000004, + 0x004000c0, + }); + + dst += write_cont(dst, 0x488, { + 0x00000000, + 0x00000000, + 0x00000f0f, + }); + + dst += write_cont(dst, 0x49c, { + 0x00000001, + }); + + dst += write_cont(dst, 0xce4, { + 0x00000000, + 0x00000000, + }); + + dst += write_cont(dst, 0x4dc, { + 0x00000000, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + }); + /* TODO + cdm_dmi_cmd_t 248 + .length = 287 + .reserved = 33 + .cmd = 11 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 9 + */ + + dst += write_cont(dst, 0x560, { + 0x00000001, + 0x04440444, + 0x04450445, + 0x04440444, + 0x04450445, + 0x000000ca, + 0x0000009c, + }); + + dst += write_cont(dst, 0x5e8, { + 0x06363005, + }); + + dst += write_cont(dst, 0x5f4, { + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + 0x3b3839a0, + 0x003f8040, + 0x00000000, + 0x00000000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00000009, + 0x00400808, + 0x00000044, + 0x004000a0, + 0x0a0d00a6, + 0x0a0d00a6, + }); + /* TODO + cdm_dmi_cmd_t 392 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 12 + */ + + dst += write_cont(dst, 0x6bc, { + 0x0b3c0000, + 0x00670067, + 0xd3b1300c, + 0x13b1300c, + 0x00670067, + 0xd3b1300c, + 0x13b1300c, + 0xec4e4000, + 0x0100c003, + 0xec4e4000, + 0x0100c003, + }); + /* TODO + cdm_dmi_cmd_t 444 + .length = 883 + .reserved = 33 + .cmd = 10 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 14 + */ + /* TODO + cdm_dmi_cmd_t 444 + .length = 883 + .reserved = 33 + .cmd = 10 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 15 + */ + + dst += write_cont(dst, 0x6fc, { + 0x00bf0080, + 0x00000106, + 0x00000000, + 0x00000000, + }); + + dst += write_cont(dst, 0x6f8, { + 0x00000100, + }); + + dst += write_cont(dst, 0x71c, { + 0x00008000, + 0x08000066, + }); + + dst += write_cont(dst, 0x760, { + 0x00800080, + 0x00000000, + 0x00000000, + 0x00000000, + 0x00800080, + 0x00000000, + 0x00000000, + 0x00000000, + 0x00800080, + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + }); + + dst += write_cont(dst, 0x794, { + 0x00000000, + }); + /* TODO + cdm_dmi_cmd_t 568 + .length = 511 + .reserved = 33 + .cmd = 11 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 24 + */ + + dst += write_cont(dst, 0x798, { + 0x00000000, + }); + /* TODO + cdm_dmi_cmd_t 580 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 26 + */ + /* TODO + cdm_dmi_cmd_t 580 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 28 + */ + /* TODO + cdm_dmi_cmd_t 580 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 0 + .DMIAddr = 3108 + .DMISel = 30 + */ + + dst += write_cont(dst, 0xf30, { + 0x00750259, + 0x00000132, + 0x00000000, + 0x03ff0000, + 0x01fe1eae, + 0x00001f54, + 0x02000000, + 0x03ff0000, + 0x1fad1e55, + 0x000001fe, + 0x02000000, + 0x03ff0000, + }); + + dst += write_cont(dst, 0xa3c, { + 0x00000003, + 0x07870787, + 0x30036666, + 0x00000000, + 0x00000000, + 0x00000787, + 0x04b704b7, + 0x30036666, + 0x00000000, + 0x00000000, + 0x000004b7, + }); + + dst += write_cont(dst, 0xa68, { + 0x00000003, + 0x03c30787, + 0x3006cccc, + 0x00000000, + 0x00000000, + 0x00000787, + 0x025b04b7, + 0x3006cccc, + 0x00000000, + 0x00000000, + 0x00000787, + }); + + + dst += write_cont(dst, 0xe10, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xe30, { + 0x0000025b, + 0x00000787, + }); + + dst += write_cont(dst, 0xe18, { + 0x0ff00000, + 0x00000016, + }); + + dst += write_cont(dst, 0xe38, { + 0x0ff00000, + 0x00000017, + }); + + dst += write_cont(dst, 0xd84, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xda4, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xd60, { + 0x04380300, + 0x09016c7d, + 0x021c0300, + }); + + dst += write_cont(dst, 0xd98, { + 0x0ff00000, + 0x00000016, + }); + + dst += write_cont(dst, 0xdb8, { + 0x0ff00000, + 0x00000017, + }); + + dst += write_cont(dst, 0xd6c, { + 0x00000300, + }); + + dst += write_cont(dst, 0xd70, { + 0x010e0f00, + 0x09016c7d, + 0x00870f00, + }); + + dst += write_cont(dst, 0xd7c, { + 0x00000f00, + }); + + dst += write_cont(dst, 0x40, { + 0x00000586, + }); + + dst += write_cont(dst, 0x48, { + 0x0000000e, + }); + + dst += write_cont(dst, 0x4c, { + 0x00000019, + }); + + dst += write_cont(dst, 0xe4c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xe6c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xe0c, { + 0x00000e00, + }); + + dst += write_cont(dst, 0xe2c, { + 0x00000e00, + }); + + dst += write_cont(dst, 0xd8c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdac, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdcc, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdec, { + 0x00000000, + }); + + dst += write_cont(dst, 0x44, { + 0x00000000, + }); + + dst += write_cont(dst, 0xaac, { + 0x00000040, + }); + + dst += write_cont(dst, 0xf00, { + 0x00000000, + }); + + //hexdump(start, dst - start); + return dst - start; +} + +int build_first_update(uint8_t *dst) { + uint8_t *start = dst; + + dst += write_random(dst, { + 0x2c, 0xffffffff, + 0x30, 0xffffffff, + 0x34, 0xffffffff, + 0x38, 0xffffffff, + 0x3c, 0xffffffff, + }); + + dst += write_cont(dst, 0x4dc, { + 0x00000001, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + 0x04050b84, + 0x13031a82, + 0x22022981, + 0x3100387f, + 0x04010b80, + 0x13001a80, + 0x2200297f, + 0x30ff387f, + }); + /* TODO + cdm_dmi_cmd_t 184 + .length = 287 + .reserved = 33 + .cmd = 11 + .addr = 832 + .DMIAddr = 3108 + .DMISel = 10 + */ + + dst += write_cont(dst, 0x560, { + 0x00000001, + 0x04440444, + 0x04450445, + 0x04440444, + 0x04450445, + 0x000000ca, + 0x0000009c, + }); + + dst += write_cont(dst, 0x5c4, { + 0x00000000, + 0x00001000, + 0x00001000, + 0x00001000, + 0x00001000, + 0x00800080, + 0x00802040, + 0x00000000, + }); + + dst += write_cont(dst, 0x5e8, { + 0x06363007, + }); + + dst += write_cont(dst, 0x5f4, { + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + 0x3b3839a0, + 0x003f8040, + 0x00000000, + 0x00000000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00078000, + 0x00000009, + 0x00400808, + 0x00000044, + 0x004000a0, + 0x0a0d00a6, + 0x0a0d00a6, + }); + /* TODO + cdm_dmi_cmd_t 368 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 5344 + .DMIAddr = 3108 + .DMISel = 13 + */ + + dst += write_cont(dst, 0x6fc, { + 0x00800080, + 0x00000080, + 0x00000000, + 0x00000000, + }); + + dst += write_cont(dst, 0x6f8, { + 0x00000100, + }); + + dst += write_cont(dst, 0x71c, { + 0x00008000, + 0x08000066, + }); + + dst += write_cont(dst, 0x794, { + 0x00000001, + }); + /* TODO + cdm_dmi_cmd_t 432 + .length = 511 + .reserved = 33 + .cmd = 11 + .addr = 832 + .DMIAddr = 3108 + .DMISel = 25 + */ + + dst += write_cont(dst, 0x798, { + 0x00000007, + }); + /* TODO + cdm_dmi_cmd_t 444 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 5344 + .DMIAddr = 3108 + .DMISel = 27 + */ + /* TODO + cdm_dmi_cmd_t 444 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 5344 + .DMIAddr = 3108 + .DMISel = 29 + */ + /* TODO + cdm_dmi_cmd_t 444 + .length = 255 + .reserved = 33 + .cmd = 10 + .addr = 5344 + .DMIAddr = 3108 + .DMISel = 31 + */ + + dst += write_cont(dst, 0xd84, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xda4, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xd6c, { + 0x00000300, + }); + + dst += write_cont(dst, 0xd70, { + 0x02640f00, + 0x09016c7d, + 0x01320f00, + }); + + dst += write_cont(dst, 0xd7c, { + 0x00000f00, + }); + + dst += write_cont(dst, 0x40, { + 0x00000444, + }); + + dst += write_cont(dst, 0x48, { + 0x00000000, + }); + + dst += write_cont(dst, 0x4c, { + 0x00000019, + }); + + dst += write_cont(dst, 0xe4c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xe6c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xe0c, { + 0x00000e00, + }); + + dst += write_cont(dst, 0xe2c, { + 0x00000e00, + }); + + dst += write_cont(dst, 0xd8c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdac, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdcc, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdec, { + 0x00000000, + }); + + dst += write_cont(dst, 0x44, { + 0x00000000, + }); + + dst += write_cont(dst, 0xaac, { + 0x00000040, + }); + + dst += write_cont(dst, 0xf00, { + 0x00000000, + }); + + return dst - start; +} + +int build_update(uint8_t *dst) { + uint8_t *start = dst; + + dst += write_random(dst, { + 0x2c, 0xffffffff, + 0x30, 0xffffffff, + 0x34, 0xffffffff, + 0x38, 0xffffffff, + 0x3c, 0xffffffff, + }); + + dst += write_cont(dst, 0x560, { + 0x00000001, + 0x04440444, + 0x04450445, + 0x04440444, + 0x04450445, + 0x000000ca, + 0x0000009c, + }); + + dst += write_cont(dst, 0x6fc, { + 0x00800080, + 0x00000080, + 0x00000000, + 0x00000000, + }); + + dst += write_cont(dst, 0xd84, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xda4, { + 0x000004b7, + 0x00000787, + }); + + dst += write_cont(dst, 0xd6c, { + 0x00000300, + }); + + dst += write_cont(dst, 0xd70, { + 0x02640f00, + 0x09016c7d, + 0x01320f00, + }); + + dst += write_cont(dst, 0xd7c, { + 0x00000f00, + }); + + dst += write_cont(dst, 0x40, { + 0x00000444, + }); + + dst += write_cont(dst, 0x48, { + 0x00000000, + }); + + dst += write_cont(dst, 0x4c, { + 0x00000019, + }); + + dst += write_cont(dst, 0xe4c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xe6c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xe0c, { + 0x00000e00, + }); + + dst += write_cont(dst, 0xe2c, { + 0x00000e00, + }); + + dst += write_cont(dst, 0xd8c, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdac, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdcc, { + 0x00000000, + }); + + dst += write_cont(dst, 0xdec, { + 0x00000000, + }); + + dst += write_cont(dst, 0x44, { + 0x00000000, + }); + + dst += write_cont(dst, 0xaac, { + 0x00000040, + }); + + dst += write_cont(dst, 0xf00, { + 0x00000000, + }); + + return dst - start; +} diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 642e471f52..39c52e0d47 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -15,28 +15,13 @@ #include "common/util.h" #include "common/swaglog.h" +#include "system/camerad/cameras/ife.h" #include "system/camerad/cameras/spectra.h" +#include "third_party/linux/include/msm_media_info.h" // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl -int write_cont(uint8_t *dst, uint32_t reg, std::vector vals) { - struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst; - cmd->cmd = CAM_CDM_CMD_REG_CONT; - cmd->count = vals.size(); - cmd->offset = reg; - cmd->reserved0 = 0; - cmd->reserved1 = 0; - - uint32_t *vd = (uint32_t*)(dst + sizeof(struct cdm_regcontinuous_cmd)); - for (int i = 0; i < vals.size(); i++) { - *vd = vals[i]; - vd++; - } - - return sizeof(struct cdm_regcontinuous_cmd) + vals.size()*sizeof(uint32_t); -} - // ************** low level camera helpers **************** int do_cam_control(int fd, int op_code, void *handle, int size) { @@ -251,10 +236,11 @@ void SpectraMaster::init() { // *** SpectraCamera *** -SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config) +SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw) : m(master), - enabled(config.enabled) , - cc(config) { + enabled(config.enabled), + cc(config), + is_raw(raw) { mm.init(m->video0_fd); } @@ -288,9 +274,12 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height); uv_offset = stride*y_height; yuv_size = uv_offset + stride*uv_height; - // TODO: for when the frames are coming out of the IFE directly - //uv_offset = ALIGNED_SIZE(stride*y_height, 0x1000); - //yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); + if (!is_raw) { + uv_offset = ALIGNED_SIZE(uv_offset, 0x1000); + yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000); + } + assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width)); + assert(y_height/2 == uv_height); open = true; configISP(); @@ -490,19 +479,12 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { } pkt->header.size = size; - // *** kmd cmd buf *** - { - pkt->kmd_cmd_buf_index = 0; - pkt->kmd_cmd_buf_offset = 0; - } - // *** cmd buf *** { struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; pkt->num_cmd_buf = 2; // *** first command *** - // TODO: support MMU buf_desc[0].size = ife_cmd.size; buf_desc[0].length = 0; buf_desc[0].type = CAM_CMD_BUF_DIRECT; @@ -510,6 +492,20 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { buf_desc[0].mem_handle = ife_cmd.handle; buf_desc[0].offset = ife_cmd.aligned_size()*idx; + // stream of IFE register writes + if (!is_raw) { + if (init) { + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); + } else if (request_id == 1) { + buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); + } else { + buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); + } + } + + pkt->kmd_cmd_buf_offset = buf_desc[0].length; + pkt->kmd_cmd_buf_index = 0; + // *** second command *** // parsed by cam_isp_packet_generic_blob_handler struct isp_packet { @@ -530,14 +526,15 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8; static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20); tmp.resource_hfr = { - .num_ports = 1, // 10 for YUV (but I don't think we need them) + .num_ports = 1, .port_hfr_config[0] = { - .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV + .resource_type = static_cast(is_raw ? CAM_ISP_IFE_OUT_RES_RDI_0 : CAM_ISP_IFE_OUT_RES_FULL), .subsample_pattern = 1, .subsample_period = 0, .framedrop_pattern = 1, .framedrop_period = 0, - }}; + } + }; tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG; tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8; @@ -586,27 +583,54 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); - io_cfg[0].offsets[0] = 0; - io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; - io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = sensor->frame_width, - .height = sensor->frame_height + sensor->extra_height, - .plane_stride = sensor->frame_stride, - .slice_height = sensor->frame_height + sensor->extra_height, - }; - io_cfg[0].format = sensor->mipi_format; - io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; - io_cfg[0].color_pattern = 0x5; - io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); - io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; - io_cfg[0].fence = sync_objs[idx]; - io_cfg[0].direction = CAM_BUF_OUTPUT; - io_cfg[0].subsample_pattern = 0x1; - io_cfg[0].framedrop_pattern = 0x1; + if (is_raw) { + io_cfg[0].mem_handle[0] = buf_handle_raw[idx]; + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height, + .plane_stride = stride, + .slice_height = y_height, + }; + io_cfg[0].format = sensor->mipi_format; + io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; + io_cfg[0].color_pattern = 0x5; + io_cfg[0].bpp = (sensor->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); + io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; + io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].direction = CAM_BUF_OUTPUT; + io_cfg[0].subsample_pattern = 0x1; + io_cfg[0].framedrop_pattern = 0x1; + } else { + io_cfg[0].mem_handle[0] = buf_handle_yuv[idx]; + io_cfg[0].mem_handle[1] = buf_handle_yuv[idx]; + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height, + .plane_stride = stride, + .slice_height = y_height, + }; + io_cfg[0].planes[1] = (struct cam_plane_cfg){ + .width = sensor->frame_width, + .height = sensor->frame_height/2, + .plane_stride = stride, + .slice_height = uv_height, + }; + io_cfg[0].offsets[1] = uv_offset; + io_cfg[0].format = CAM_FORMAT_NV12; + io_cfg[0].color_space = 0; + io_cfg[0].color_pattern = 0x0; + io_cfg[0].bpp = 0; + io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_FULL; + io_cfg[0].fence = sync_objs[idx]; + io_cfg[0].direction = CAM_BUF_OUTPUT; + io_cfg[0].subsample_pattern = 0x1; + io_cfg[0].framedrop_pattern = 0x1; + } } // *** patches *** + // sets up the kernel driver to do address translation for the IFE { pkt->num_patches = 0; pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; @@ -631,7 +655,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { // TODO: handle frame drop cleanly } - buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof + buf.frame_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof if (dp) buf.queue(i); // destroy old output fence @@ -699,11 +723,13 @@ void SpectraCamera::camera_map_bufs() { LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle; + // TODO: this needs to match camera bufs length // final processed images - mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; + VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i); + mem_mgr_map_cmd.fd = vb->fd; ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); - LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); - buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; + LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret); + buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle; } enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } @@ -786,13 +812,19 @@ void SpectraCamera::configISP() { // ISP outputs .num_out_res = 0x1, .data[0] = (struct cam_isp_out_port_info){ - .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = sensor->mipi_format, + .res_type = CAM_ISP_IFE_OUT_RES_FULL, + .format = CAM_FORMAT_NV12, .width = sensor->frame_width, .height = sensor->frame_height + sensor->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, }, }; + + if (is_raw) { + in_port_info.data[0].res_type = CAM_ISP_IFE_OUT_RES_RDI_0; + in_port_info.data[0].format = sensor->mipi_format; + } + struct cam_isp_resource isp_resource = { .resource_id = CAM_ISP_RES_ID_PORT, .handle_type = CAM_HANDLE_USER_POINTER, @@ -968,7 +1000,8 @@ void SpectraCamera::camera_close() { LOGD("release csiphy: %d", ret); for (int i = 0; i < FRAME_BUF_COUNT; i++) { - release(m->video0_fd, buf_handle[i]); + release(m->video0_fd, buf_handle_yuv[i]); + release(m->video0_fd, buf_handle_raw[i]); } LOGD("released buffers"); } @@ -1013,7 +1046,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { frame_id_last = main_id; request_id_last = real_id; - auto &meta_data = buf.camera_bufs_metadata[buf_idx]; + auto &meta_data = buf.frame_metadata[buf_idx]; meta_data.frame_id = main_id - idx_offset; meta_data.request_id = real_id; meta_data.timestamp_sof = timestamp; diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index e71483f500..e295c67cb9 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -88,7 +88,7 @@ public: class SpectraCamera { public: - SpectraCamera(SpectraMaster *master, const CameraConfig &config); + SpectraCamera(SpectraMaster *master, const CameraConfig &config, bool raw); ~SpectraCamera(); void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); @@ -147,8 +147,7 @@ public: SpectraBuf bps_iq; SpectraBuf bps_striping; - int buf0_handle = 0; - int buf_handle[FRAME_BUF_COUNT] = {}; + int buf_handle_yuv[FRAME_BUF_COUNT] = {}; int buf_handle_raw[FRAME_BUF_COUNT] = {}; int sync_objs[FRAME_BUF_COUNT] = {}; int sync_objs_bps_out[FRAME_BUF_COUNT] = {}; @@ -158,6 +157,8 @@ public: uint64_t idx_offset = 0; bool skipped = true; + bool is_raw; + CameraBuf buf; MemoryManager mm; SpectraMaster *m; diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh index 438f1fdcf2..44ff0ffa89 100755 --- a/system/camerad/test/debug.sh +++ b/system/camerad/test/debug.sh @@ -10,7 +10,7 @@ echo 0 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl sudo dmesg -C scons -u -j8 --minimal . export DEBUG_FRAMES=1 -export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 -#export DISABLE_DRIVER=1 +#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1 +export DISABLE_DRIVER=1 #export LOGPRINT=debug ./camerad From 7aa4ef5fd6b293e52a125101dc774da73fcbd57d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 12 Oct 2024 15:31:34 -0700 Subject: [PATCH 074/191] sentry: fix deprecation warning --- system/sentry.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/system/sentry.py b/system/sentry.py index 5f4772fa71..6b0332169b 100644 --- a/system/sentry.py +++ b/system/sentry.py @@ -72,7 +72,4 @@ def init(project: SentryProject) -> bool: sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit) sentry_sdk.set_tag("device", HARDWARE.get_device_type()) - if project == SentryProject.SELFDRIVE: - sentry_sdk.Hub.current.start_session() - return True From a66851aa91f7c8df40641b527b0064ece946f6df Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 12 Oct 2024 17:11:35 -0700 Subject: [PATCH 075/191] jenkins: fix hanging on SSH (#33779) --- Jenkinsfile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index a98280ccd9..42db027f32 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -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 @@ -65,8 +67,6 @@ ln -snf ${env.TEST_DIR} /data/pythonpath cd ${env.TEST_DIR} || true ${cmd} -exit 0 - END""" sh script: ssh_cmd, label: step_label From 37ba89900054401be6f23baa54465757f1866a8a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 13 Oct 2024 09:10:00 -0700 Subject: [PATCH 076/191] AGNOS 11 (#33775) * agnos 11 * prod manifest --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 43 +++++++++++++++------------------ 2 files changed, 20 insertions(+), 25 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 1e5bc7b607..8f79835842 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="10.1" + export AGNOS_VERSION="11" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index b1862bdef9..ee860768e2 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,22 +1,22 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz", - "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", - "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", + "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz", + "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", + "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", "size": 16029696, "sparse": false, "full_check": true, "has_ab": true }, { - "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", - "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", - "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", - "size": 274432, + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz", + "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", + "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", + "size": 4194304000, "sparse": false, - "full_check": true, + "full_check": false, "has_ab": true }, { @@ -29,6 +29,16 @@ "full_check": true, "has_ab": true }, + { + "name": "abl", + "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz", + "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", + "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", + "size": 274432, + "sparse": false, + "full_check": true, + "has_ab": true + }, { "name": "xbl_config", "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", @@ -58,20 +68,5 @@ "sparse": false, "full_check": true, "has_ab": true - }, - { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", - "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f", - "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a", - "size": 10737418240, - "sparse": true, - "full_check": false, - "has_ab": true, - "alt": { - "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", - "size": 4548070000 - } } ] \ No newline at end of file From d96a0427224bcbc662ccc0299255c6808c05436c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 13 Oct 2024 09:53:47 -0700 Subject: [PATCH 077/191] Revert "AGNOS 11 (#33775)" This reverts commit 37ba89900054401be6f23baa54465757f1866a8a. --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 43 ++++++++++++++++++--------------- 2 files changed, 25 insertions(+), 20 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 8f79835842..1e5bc7b607 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11" + export AGNOS_VERSION="10.1" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index ee860768e2..b1862bdef9 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,22 +1,22 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz", - "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", - "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", + "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz", + "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", + "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", "size": 16029696, "sparse": false, "full_check": true, "has_ab": true }, { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz", - "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", - "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", - "size": 4194304000, + "name": "abl", + "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", + "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "size": 274432, "sparse": false, - "full_check": false, + "full_check": true, "has_ab": true }, { @@ -29,16 +29,6 @@ "full_check": true, "has_ab": true }, - { - "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz", - "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", - "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", - "size": 274432, - "sparse": false, - "full_check": true, - "has_ab": true - }, { "name": "xbl_config", "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", @@ -68,5 +58,20 @@ "sparse": false, "full_check": true, "has_ab": true + }, + { + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", + "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f", + "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a", + "size": 10737418240, + "sparse": true, + "full_check": false, + "has_ab": true, + "alt": { + "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", + "size": 4548070000 + } } ] \ No newline at end of file From 3dd127c5ad59a6b9b1038bb8ee0d2f04e6fd72e7 Mon Sep 17 00:00:00 2001 From: fishnux Date: Sun, 13 Oct 2024 17:55:06 +0100 Subject: [PATCH 078/191] tools: fix setup for directories with spaces (#33769) Now handles $DIR with spaces. Also fixes UV_BIN variable --- tools/install_python_dependencies.sh | 16 ++++++++-------- tools/ubuntu_setup.sh | 4 ++-- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index 8621ee0b00..7657457744 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -5,8 +5,8 @@ set -e export PIP_DEFAULT_TIMEOUT=200 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -ROOT=$DIR/../ -cd $ROOT +ROOT="$DIR"/../ +cd "$ROOT" # updating uv on macOS results in 403 sometimes function update_uv() { @@ -24,9 +24,9 @@ function update_uv() { if ! command -v "uv" > /dev/null 2>&1; then echo "installing uv..." curl -LsSf https://astral.sh/uv/install.sh | sh - UV_BIN='$HOME/.cargo/env' + UV_BIN="$HOME/.cargo/env" ADD_PATH_CMD=". \"$UV_BIN\"" - eval $ADD_PATH_CMD + eval "$ADD_PATH_CMD" fi echo "updating uv..." @@ -36,9 +36,9 @@ echo "installing python packages..." uv sync --frozen --all-extras source .venv/bin/activate -echo "PYTHONPATH=${PWD}" > $ROOT/.env +echo "PYTHONPATH=${PWD}" > "$ROOT"/.env if [[ "$(uname)" == 'Darwin' ]]; then - echo "# msgq doesn't work on mac" >> $ROOT/.env - echo "export ZMQ=1" >> $ROOT/.env - echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env + echo "# msgq doesn't work on mac" >> "$ROOT"/.env + echo "export ZMQ=1" >> "$ROOT"/.env + echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env fi diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index f425e14cf2..be4cfb68fa 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -6,5 +6,5 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" # NOTE: this is used in a docker build, so do not run any scripts here. -$DIR/install_ubuntu_dependencies.sh -$DIR/install_python_dependencies.sh +"$DIR"/install_ubuntu_dependencies.sh +"$DIR"/install_python_dependencies.sh From 8bf34d0dfbedd35293a5e805df0aeb2a5116f146 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 13 Oct 2024 13:40:18 -0700 Subject: [PATCH 079/191] Reapply "AGNOS 11 (#33775)" This reverts commit d96a0427224bcbc662ccc0299255c6808c05436c. --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 43 +++++++++++++++------------------ 2 files changed, 20 insertions(+), 25 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 1e5bc7b607..8f79835842 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="10.1" + export AGNOS_VERSION="11" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index b1862bdef9..ee860768e2 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,22 +1,22 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz", - "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", - "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", + "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz", + "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", + "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", "size": 16029696, "sparse": false, "full_check": true, "has_ab": true }, { - "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", - "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", - "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", - "size": 274432, + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz", + "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", + "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", + "size": 4194304000, "sparse": false, - "full_check": true, + "full_check": false, "has_ab": true }, { @@ -29,6 +29,16 @@ "full_check": true, "has_ab": true }, + { + "name": "abl", + "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz", + "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", + "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", + "size": 274432, + "sparse": false, + "full_check": true, + "has_ab": true + }, { "name": "xbl_config", "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", @@ -58,20 +68,5 @@ "sparse": false, "full_check": true, "has_ab": true - }, - { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", - "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f", - "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a", - "size": 10737418240, - "sparse": true, - "full_check": false, - "has_ab": true, - "alt": { - "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", - "size": 4548070000 - } } ] \ No newline at end of file From dc094792b70cd50528f237aca69307208db214fe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 14 Oct 2024 09:11:37 -0700 Subject: [PATCH 080/191] Revert "ci: faster metadrive test (#33755)" This reverts commit d7c0906d0bfa930f3713eeb153ed6a00d055212c. --- .github/workflows/tools_tests.yaml | 4 +--- tools/sim/bridge/metadrive/metadrive_bridge.py | 5 ++--- tools/sim/bridge/metadrive/metadrive_process.py | 15 ++------------- tools/sim/bridge/metadrive/metadrive_world.py | 6 +++--- tools/sim/tests/test_metadrive_bridge.py | 10 ++++++---- 5 files changed, 14 insertions(+), 26 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 81da841dd2..c1c3552472 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -27,9 +27,7 @@ env: jobs: 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-latest' }} + runs-on: ubuntu-latest timeout-minutes: 20 steps: - uses: actions/checkout@v4 diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 7bfadc5533..b8dc94cf86 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -50,13 +50,12 @@ def create_map(track_size=60): class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 - def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False): + def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False): super().__init__(dual_camera, high_quality) self.should_render = False self.test_run = test_run self.test_duration = test_duration if self.test_run else math.inf - self.minimal_distance = minimal_distance if self.test_run else 0 def spawn_world(self, queue: Queue): sensors = { @@ -91,4 +90,4 @@ class MetaDriveBridge(SimulatorBridge): anisotropic_filtering=False ) - return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, self.test_run, self.dual_camera) + return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index c788b8cda2..2486d87ff9 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -19,7 +19,6 @@ from openpilot.tools.sim.lib.camerad import W, H C3_POSITION = Vec3(0.0, 0, 1.22) C3_HPR = Vec3(0, 0,0) -VEHICLE_STARTING_POS = [110, 4.5] metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"]) metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"]) @@ -51,7 +50,7 @@ def apply_metadrive_patches(arrive_dest_done=True): def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, - exit_event, op_engaged, test_duration, minimal_distance, test_run): + exit_event, op_engaged, test_duration, test_run): arrive_dest_done = config.pop("arrive_dest_done", True) apply_metadrive_patches(arrive_dest_done) @@ -71,7 +70,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera env.reset() env.vehicle.config["max_speed_km_h"] = 1000 lane_idx_prev, _ = get_current_lane_info(env.vehicle) - env.vehicle.set_position(VEHICLE_STARTING_POS) simulation_state = metadrive_simulation_state( running=True, @@ -100,9 +98,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera steer_ratio = 8 vc = [0,0] - total_distance = 0 - prev_x_pos = VEHICLE_STARTING_POS[0] - while not exit_event.is_set(): vehicle_state = metadrive_vehicle_state( velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0), @@ -112,9 +107,6 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera ) vehicle_state_send.send(vehicle_state) - total_distance += abs(env.vehicle.position[0] - prev_x_pos) - prev_x_pos = env.vehicle.position[0] - if controls_recv.poll(0): while controls_recv.poll(0): steer_angle, gas, should_reset = controls_recv.recv() @@ -145,10 +137,7 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera elif out_of_lane: done_result = (True, {"out_of_lane" : True}) elif timeout: - if total_distance < minimal_distance: - done_result = (True, {"minimal_distance" : True}) - else: - done_result = (True, {"timeout" : True}) + done_result = (True, {"timeout" : True}) simulation_state = metadrive_simulation_state( running=False, diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 7b6c865690..5bb4555dc1 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -14,7 +14,7 @@ from openpilot.tools.sim.lib.camerad import W, H class MetaDriveWorld(World): - def __init__(self, status_q, config, test_duration, minimal_distance, test_run, dual_camera=False): + def __init__(self, status_q, config, test_duration, test_run, dual_camera=False): super().__init__(dual_camera) self.status_q = status_q self.camera_array = Array(ctypes.c_uint8, W*H*3) @@ -41,7 +41,7 @@ class MetaDriveWorld(World): functools.partial(metadrive_process, dual_camera, config, self.camera_array, self.wide_camera_array, self.image_lock, self.controls_recv, self.simulation_state_send, - self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, minimal_distance, self.test_run)) + self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run)) self.metadrive_process.start() self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting")) @@ -105,7 +105,7 @@ class MetaDriveWorld(World): if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving self.distance_moved += x_dist + y_dist - time_check_threshold = 7.5 + time_check_threshold = 30 current_time = time.monotonic() since_last_check = current_time - self.last_check_timestamp if since_last_check >= time_check_threshold: diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index bed0601b7a..8849e901cb 100644 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -11,9 +11,11 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log class TestMetaDriveBridge(TestSimBridgeBase): @pytest.fixture(autouse=True) - def setup_create_bridge(self): - self.test_duration = 15 - self.minimal_distance = 10 + def setup_create_bridge(self, test_duration): + # run bridge test for at least 60s, since not-moving check runs every 30s + if test_duration < 60: + test_duration = 60 + self.test_duration = test_duration def create_bridge(self): - return MetaDriveBridge(False, False, self.test_duration, self.minimal_distance, True) + return MetaDriveBridge(False, False, self.test_duration, True) From 3e9127be06bf072808288b9b3da5ff7dc3d2f316 Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Mon, 14 Oct 2024 09:35:35 -0700 Subject: [PATCH 081/191] Cleanup process config type annotations (#33782) --- system/manager/process_config.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index eca5184c92..f5f983700e 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -17,41 +17,41 @@ def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: return started and not CP.notCar -def logging(started, params, CP: car.CarParams) -> bool: +def logging(started: bool, params: Params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run def ublox_available() -> bool: return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') -def ublox(started, params, CP: car.CarParams) -> bool: +def ublox(started: bool, params: Params, CP: car.CarParams) -> bool: use_ublox = ublox_available() if use_ublox != params.get_bool("UbloxAvailable"): params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox -def joystick(started: bool, params, CP: car.CarParams) -> bool: +def joystick(started: bool, params: Params, CP: car.CarParams) -> bool: return started and params.get_bool("JoystickDebugMode") -def not_joystick(started: bool, params, CP: car.CarParams) -> bool: +def not_joystick(started: bool, params: Params, CP: car.CarParams) -> bool: return started and not params.get_bool("JoystickDebugMode") -def long_maneuver(started: bool, params, CP: car.CarParams) -> bool: +def long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool: return started and params.get_bool("LongitudinalManeuverMode") -def not_long_maneuver(started: bool, params, CP: car.CarParams) -> bool: +def not_long_maneuver(started: bool, params: Params, CP: car.CarParams) -> bool: return started and not params.get_bool("LongitudinalManeuverMode") -def qcomgps(started, params, CP: car.CarParams) -> bool: +def qcomgps(started: bool, params: Params, CP: car.CarParams) -> bool: return started and not ublox_available() -def always_run(started, params, CP: car.CarParams) -> bool: +def always_run(started: bool, params: Params, CP: car.CarParams) -> bool: return True -def only_onroad(started: bool, params, CP: car.CarParams) -> bool: +def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool: return started -def only_offroad(started, params, CP: car.CarParams) -> bool: +def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool: return not started def or_(*fns): From f0ccb78afa09a0fa97e31e59a4e839a24b1e3241 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 14 Oct 2024 09:35:43 -0700 Subject: [PATCH 082/191] [bot] Update Python packages (#33784) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 588 +++++++++++++++++++++++++++++---------------------- 2 files changed, 341 insertions(+), 249 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 78fdc463f4..3fc9bdb8c9 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 78fdc463f43bd95d0a9f5c0a927ca4625c6e4009 +Subproject commit 3fc9bdb8c939260134367ea9a077cdb90c338710 diff --git a/uv.lock b/uv.lock index 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[PATCH 083/191] Add missing detail for OP Long is required (#33780) --- tools/longitudinal_maneuvers/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md index 643af7fd82..f4c9d46edb 100644 --- a/tools/longitudinal_maneuvers/README.md +++ b/tools/longitudinal_maneuvers/README.md @@ -14,7 +14,7 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te echo -n 1 > /data/params/d/LongitudinalManeuverMode ``` -4. Turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert: +4. Ensure openpilot longitudinal control is toggle **on** then turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert: ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f) From eb0f6372981b7937063697cbd365557df832afb8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 15 Oct 2024 04:30:41 +0800 Subject: [PATCH 084/191] cabana: fix README example for streaming CAN messages from device (#33781) fix README example for stream command --- tools/cabana/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 27829979c0..1d9a2a2ccc 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -68,7 +68,7 @@ cd /data/openpilot/cereal/messaging/ Then Run Cabana with the device's IP address: ```shell -cabana --stream +cabana --stream --zmq ``` Replace <ipaddress> with your comma device's IP address. From c6c9a0da8f9001f936aed1ca215cd5357c6bcc97 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 14 Oct 2024 13:33:50 -0700 Subject: [PATCH 085/191] Revert "Add missing detail for OP Long is required (#33780)" This reverts commit 3420b2a02dcf34cd4dd5288ec27db40257fdb2d1. --- tools/longitudinal_maneuvers/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/README.md b/tools/longitudinal_maneuvers/README.md index f4c9d46edb..643af7fd82 100644 --- a/tools/longitudinal_maneuvers/README.md +++ b/tools/longitudinal_maneuvers/README.md @@ -14,7 +14,7 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te echo -n 1 > /data/params/d/LongitudinalManeuverMode ``` -4. Ensure openpilot longitudinal control is toggle **on** then turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert: +4. Turn your vehicle back on. You will see the "Longitudinal Maneuver Mode" alert: ![videoframe_6652](https://github.com/user-attachments/assets/e9d4c95a-cd76-4ab7-933e-19937792fa0f) From 363e020ce6053aa46a3dbe558c3af411e38592bb Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 14 Oct 2024 13:37:51 -0700 Subject: [PATCH 086/191] cabana: SG_ parse allow no space before colon (#33785) --- tools/cabana/dbc/dbcfile.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index cca9d0c0fa..1c03c8a0aa 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -145,7 +145,7 @@ void DBCFile::parseCM_BO(const QString &line, const QString &content, const QStr } void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) { - static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); + static QRegularExpression sg_regexp(R"(^SG_ (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); if (!current_msg) From 4d4df4822aff2d568e4b3e95ea79110d260492ca Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Oct 2024 13:58:31 -0700 Subject: [PATCH 087/191] maneuversd: start from stop repeats 2 times --- tools/longitudinal_maneuvers/maneuversd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index 07582c3e6c..e627274576 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -81,7 +81,7 @@ MANEUVERS = [ Maneuver( "start from stop", [Action(1.5, 5)], - repeat=3, + repeat=2, initial_speed=0., ), Maneuver( From abdd3ad2e9c9ae7c463b8717b84b563ebfd1fdd0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Oct 2024 14:07:48 -0700 Subject: [PATCH 088/191] lower card CPU usage threshold from removing capnp conversion! --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 8a5f770636..714de01ca2 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -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, From fa4a3e3c6376658136a531612409fb0bce1cb739 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Oct 2024 14:12:33 -0700 Subject: [PATCH 089/191] Allow throttle ui: only if openpilot longitudinal (#33787) check op long --- selfdrive/ui/qt/onroad/model.cc | 2 +- selfdrive/ui/qt/onroad/model.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index b395924226..595bb489a2 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -158,7 +158,7 @@ void ModelRenderer::updatePathGradient(QLinearGradient &bg) { constexpr float transition_speed = 0.1f; // Start transition if throttle state changes - bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle(); + 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 diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h index 739dbce1c4..50d81937e2 100644 --- a/selfdrive/ui/qt/onroad/model.h +++ b/selfdrive/ui/qt/onroad/model.h @@ -26,7 +26,7 @@ private: bool longitudinal_control = false; bool experimental_mode = false; float blend_factor = 1.0f; - bool prev_allow_throttle = false; + bool prev_allow_throttle = true; float lane_line_probs[4] = {}; float road_edge_stds[2] = {}; QPolygonF track_vertices; From bf04c4799ae2d46a2c53ea558b09c5efd719f2b3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Oct 2024 14:35:38 -0700 Subject: [PATCH 090/191] ui: always check for longitudinal control (#33788) should always check in case card publishes CP before we start camera paintGL --- selfdrive/ui/qt/onroad/model.cc | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index 595bb489a2..d1e3c7bde2 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -15,10 +15,6 @@ static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { auto &sm = *(uiState()->sm); - if (sm.updated("carParams")) { - longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); - } - // Check if data is up-to-date if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) { return; @@ -26,6 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { 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(); From 3c5d8da4691b83c8b682c9ebf9884c4219e868e6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 15 Oct 2024 05:48:26 +0800 Subject: [PATCH 091/191] ui: show tethering status in sidebar (#33786) show tethering status on sidebar --- selfdrive/ui/qt/network/wifi_manager.cc | 2 ++ selfdrive/ui/qt/network/wifi_manager.h | 1 + selfdrive/ui/qt/sidebar.cc | 10 ++++++---- selfdrive/ui/qt/sidebar.h | 2 ++ 4 files changed, 11 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc index ddf13d26b7..fd9ee17078 100644 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -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; } } diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h index 5d18b87d86..e5f79c5149 100644 --- a/selfdrive/ui/qt/network/wifi_manager.h +++ b/selfdrive/ui/qt/network/wifi_manager.h @@ -42,6 +42,7 @@ public: QMap seenNetworks; QMap knownConnections; QString ipv4_address; + bool tethering_on = false; bool ipv4_forward = false; explicit WifiManager(QObject* parent); diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 7a93534da9..966396edc2 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -74,9 +74,11 @@ void Sidebar::updateState(const UIState &s) { auto &sm = *(s.sm); + networking = networking ? networking : window()->findChild(""); + 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); diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index f627aac810..2091418e52 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -6,6 +6,7 @@ #include #include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/network/networking.h" typedef QPair, QColor> ItemStatus; Q_DECLARE_METATYPE(ItemStatus); @@ -59,4 +60,5 @@ protected: private: std::unique_ptr pm; + Networking *networking = nullptr; }; From 9674c7b5af0b38837f0902e58e246d1c777df5f9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Oct 2024 16:50:30 -0700 Subject: [PATCH 092/191] longitudinal maneuvers: summary table (#33790) * bob the builder * table * clean up --- .../longitudinal_maneuvers/generate_report.py | 220 ++++++++++-------- 1 file changed, 117 insertions(+), 103 deletions(-) diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index eb8c13271a..9d7865551f 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -8,6 +8,7 @@ import pprint from collections import defaultdict from pathlib import Path import matplotlib.pyplot as plt +from tabulate import tabulate from openpilot.tools.lib.logreader import LogReader from openpilot.system.hardware.hw import Paths @@ -22,110 +23,123 @@ def report(platform, route, _description, CP, maneuvers): output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html" output_path.mkdir(exist_ok=True) target_cross_times = defaultdict(list) + + builder = [ + "\n", + "

Longitudinal maneuver report

\n", + f"

{platform}

\n", + f"

{route}

\n" + ] + if _description is not None: + builder.append(f"

Description: {_description}

\n") + builder.append(f"

CarParams

{format_car_params(CP)}
\n") + builder.append('{ summary }') # to be replaced below + for description, runs in maneuvers: + print(f'plotting maneuver: {description}, runs: {len(runs)}') + builder.append("
\n") + builder.append(f"

{description}

\n") + for run, msgs in enumerate(runs): + t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True) + t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True) + t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True) + t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True) + t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True) + + # make time relative seconds + t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl] + t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput] + t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState] + t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose] + t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan] + + # maneuver validity + longActive = [m.longActive for m in carControl] + maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState) + + _open = 'open' if maneuver_valid else '' + title = f'Run #{int(run)+1}' + (' (invalid maneuver!)' if not maneuver_valid else '') + + builder.append(f"

{title}

\n") + + # get first acceleration target and first intersection + aTarget = longitudinalPlan[0].aTarget + target_cross_time = None + builder.append(f'

Initial aTarget: {aTarget} m/s^2') + + # Localizer is noisy, require two consecutive 20Hz frames above threshold + prev_crossed = False + for t, lp in zip(t_livePose, livePose, strict=True): + crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x) + if crossed and prev_crossed: + builder.append(f', crossed in {t:.3f}s') + target_cross_time = t + if maneuver_valid: + target_cross_times[description].append(t) + break + prev_crossed = crossed + else: + builder.append(', not crossed') + builder.append('

') + + pitches = [math.degrees(m.orientationNED[1]) for m in carControl] + builder.append(f'

Average pitch: {sum(pitches) / len(pitches):0.2f} degrees

') + + plt.rcParams['font.size'] = 40 + fig = plt.figure(figsize=(30, 26)) + ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]}) + + ax[0].grid(linewidth=4) + ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6) + ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6) + ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6) + ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6) + ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6) + # TODO localizer accel + ax[0].set_ylabel('Acceleration (m/s^2)') + #ax[0].set_ylim(-6.5, 6.5) + ax[0].legend(prop={'size': 30}) + + if target_cross_time is not None: + ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None') + + ax[1].grid(linewidth=4) + ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6) + ax[1].set_ylabel('Velocity (m/s)') + ax[1].legend() + + ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6) + ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6) + ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6) + for i in (2, 3): + ax[i].set_yticks([0, 1], minor=False) + ax[i].set_ylim(-1, 2) + ax[i].legend() + + ax[-1].set_xlabel("Time (s)") + fig.tight_layout() + + buffer = io.BytesIO() + fig.savefig(buffer, format='png') + buffer.seek(0) + builder.append(f"\n") + builder.append("
\n") + + summary = ["

Summary

\n"] + cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max'] + table = [] + for description, runs in maneuvers: + times = target_cross_times[description] + l = [description, len(times), len(runs)] + if len(times): + l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)]) + table.append(l) + summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n') + + sum_idx = builder.index('{ summary }') + builder[sum_idx:sum_idx + 1] = summary + with open(output_fn, "w") as f: - f.write("

Longitudinal maneuver report

\n") - f.write(f"

{platform}

\n") - f.write(f"

{route}

\n") - if _description is not None: - f.write(f"

Description: {_description}

\n") - f.write(f"

CarParams

{format_car_params(CP)}
\n") - for description, runs in maneuvers: - print(f'plotting maneuver: {description}, runs: {len(runs)}') - f.write("
\n") - f.write(f"

{description}

\n") - for run, msgs in enumerate(runs): - t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True) - t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True) - t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True) - t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True) - t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True) - - # make time relative seconds - t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl] - t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput] - t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState] - t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose] - t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan] - - # maneuver validity - longActive = [m.longActive for m in carControl] - maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState) - - _open = 'open' if maneuver_valid else '' - title = f'Run #{int(run)+1}' + (' (invalid maneuver!)' if not maneuver_valid else '') - - f.write(f"

{title}

\n") - - # get first acceleration target and first intersection - aTarget = longitudinalPlan[0].aTarget - target_cross_time = None - f.write(f'

Initial aTarget: {aTarget} m/s^2') - - # Localizer is noisy, require two consecutive 20Hz frames above threshold - prev_crossed = False - for t, lp in zip(t_livePose, livePose, strict=True): - crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x) - if crossed and prev_crossed: - f.write(f', crossed in {t:.3f}s') - target_cross_time = t - if maneuver_valid: - target_cross_times[description].append(t) - break - prev_crossed = crossed - else: - f.write(', not crossed') - f.write('

') - - pitches = [math.degrees(m.orientationNED[1]) for m in carControl] - f.write(f'

Average pitch: {sum(pitches) / len(pitches):0.2f} degrees

') - - plt.rcParams['font.size'] = 40 - fig = plt.figure(figsize=(30, 26)) - ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]}) - - ax[0].grid(linewidth=4) - ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6) - ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6) - ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6) - ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6) - ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6) - # TODO localizer accel - ax[0].set_ylabel('Acceleration (m/s^2)') - #ax[0].set_ylim(-6.5, 6.5) - ax[0].legend(prop={'size': 30}) - - if target_cross_time is not None: - ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None') - - ax[1].grid(linewidth=4) - ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6) - ax[1].set_ylabel('Velocity (m/s)') - ax[1].legend() - - ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6) - ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6) - ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6) - for i in (2, 3): - ax[i].set_yticks([0, 1], minor=False) - ax[i].set_ylim(-1, 2) - ax[i].legend() - - ax[-1].set_xlabel("Time (s)") - fig.tight_layout() - - buffer = io.BytesIO() - fig.savefig(buffer, format='png') - buffer.seek(0) - f.write(f"\n") - f.write("
\n") - - f.write("

Summary

\n") - for description, runs in maneuvers: - times = target_cross_times[description] - f.write(f"

{description}

\n") - f.write(f"

Target crossed {len(times)} out of {len(runs)} runs

\n") - if len(times): - f.write(f"

Mean time to cross: {sum(times) / len(times):.3f}s, min: {min(times):.3f}s, max: {max(times):.3f}s

\n") + f.write(''.join(builder)) print(f"\nReport written to {output_fn}\n") From af727d41bbc094da7c56aa38e0526019125b935f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Oct 2024 20:54:42 -0700 Subject: [PATCH 093/191] long planner: allow throttle reflects usage (#33792) * UI is now accurate * update refs --- selfdrive/controls/lib/longitudinal_planner.py | 5 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 54838924be..c5aaafa096 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -146,9 +146,10 @@ class LongitudinalPlanner: # 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) - self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD + # 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 <= 5.0 - if not self.allow_throttle and v_ego > 5.0: # Don't clip at low speeds since throttle_prob doesn't account for creep + if not self.allow_throttle: # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN) accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 22cae4b8cc..ea0c416f20 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -36bb37715542677db4a42464128ca10968f2c589 \ No newline at end of file +4e595fcc2e8e4ef1564d915f697ddd9334067a7f \ No newline at end of file From ebe0dee2eef59e45c81d378046118b2076518016 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 16 Oct 2024 05:03:11 +0800 Subject: [PATCH 094/191] card: remove unused `CS_prev` variable (#33796) remove unused CS_prev variable --- selfdrive/car/card.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index a83d5bb989..92d9b7eb11 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -72,7 +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() @@ -250,7 +249,6 @@ 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(): From 3a150e51e4153114015aaedc317ca2981bf49009 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Oct 2024 14:42:45 -0700 Subject: [PATCH 095/191] longitudinal report: add git data (#33799) * add git data * fix --- tools/longitudinal_maneuvers/generate_report.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index 9d7865551f..04eae69d26 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -18,7 +18,7 @@ def format_car_params(CP): return pprint.pformat({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2) -def report(platform, route, _description, CP, maneuvers): +def report(platform, route, _description, CP, ID, maneuvers): output_path = Path(__file__).resolve().parent / "longitudinal_reports" output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html" output_path.mkdir(exist_ok=True) @@ -28,7 +28,8 @@ def report(platform, route, _description, CP, maneuvers): "\n", "

Longitudinal maneuver report

\n", f"

{platform}

\n", - f"

{route}

\n" + f"

{route}

\n", + f"

{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}

\n", ] if _description is not None: builder.append(f"

Description: {_description}

\n") @@ -158,6 +159,7 @@ if __name__ == '__main__': lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs]) CP = lr.first('carParams') + ID = lr.first('initData') platform = CP.carFingerprint print('processing report for', platform) @@ -179,4 +181,4 @@ if __name__ == '__main__': if active_prev: maneuvers[-1][1][-1].append(msg) - report(platform, args.route, args.description, CP, maneuvers) + report(platform, args.route, args.description, CP, ID, maneuvers) From 277691cf8359d209aa9bddf3419a0e5bb6f75633 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Oct 2024 14:48:38 -0700 Subject: [PATCH 096/191] longitudinal reports: save as webp --- tools/longitudinal_maneuvers/generate_report.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index 04eae69d26..b29777f894 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -120,9 +120,9 @@ def report(platform, route, _description, CP, ID, maneuvers): fig.tight_layout() buffer = io.BytesIO() - fig.savefig(buffer, format='png') + fig.savefig(buffer, format='webp') buffer.seek(0) - builder.append(f"\n") + builder.append(f"\n") builder.append("\n") summary = ["

Summary

\n"] From b4252404ec80d30248d6b05188a113c0a7bb13d4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Oct 2024 20:05:44 -0700 Subject: [PATCH 097/191] round aTarget --- tools/longitudinal_maneuvers/generate_report.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index b29777f894..d38ae87d90 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -65,7 +65,7 @@ def report(platform, route, _description, CP, ID, maneuvers): # get first acceleration target and first intersection aTarget = longitudinalPlan[0].aTarget target_cross_time = None - builder.append(f'

Initial aTarget: {aTarget} m/s^2') + builder.append(f'

Initial aTarget: {round(aTarget, 2)} m/s^2') # Localizer is noisy, require two consecutive 20Hz frames above threshold prev_crossed = False From 53f514cbd31f95aa155a70bfb52824806925304b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 16 Oct 2024 09:57:57 -0700 Subject: [PATCH 098/191] athena: update SSH port (#33804) --- system/athena/athenad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 52e3a29ac8..56b3bb609c 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -44,7 +44,7 @@ from openpilot.system.hardware.hw import Paths ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) -LOCAL_PORT_WHITELIST = {8022} +LOCAL_PORT_WHITELIST = {22, } # SSH LOG_ATTR_NAME = 'user.upload' LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder) From 9ad23335460eabcb5390bd21a5f5a8bc9dbb7dec Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 16 Oct 2024 10:59:58 -0700 Subject: [PATCH 099/191] athena: migrate old termux SSH port to new one --- system/athena/athenad.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 56b3bb609c..b5a8f5127f 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -445,6 +445,10 @@ def setRouteViewed(route: str) -> dict[str, int | str]: def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]: try: + # migration, can be removed once 0.9.8 is out for a while + if local_port == 8022: + local_port = 22 + if local_port not in LOCAL_PORT_WHITELIST: raise Exception("Requested local port not whitelisted") From 34dde0bb36b528febee292891523e30e82835aac Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 17 Oct 2024 13:14:09 -0700 Subject: [PATCH 100/191] MLSIM V4 (#33809) bf0b9aac-ca49-446d-9274-81dcc7c28621/400 --- selfdrive/modeld/models/supercombo.onnx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index b80a79624d..5ec978e566 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f61f872fef307b82e08ac5bcbd6cfa1a0943e1597376b05a7b27ff77cc2abfe +oid sha256:2a845fd16d6482222c574db833d2badb37ebcdf9c7d2987ab347ef63e728a146 size 50309976 From 6175106b197f811a0da2dc1856a31abf9f0a9a82 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 18 Oct 2024 11:25:32 +0800 Subject: [PATCH 101/191] ui: enhance DriverView with real-time driver state rendering (#33776) enhance DriverView --- selfdrive/ui/qt/offroad/driverview.cc | 11 ++--------- selfdrive/ui/qt/offroad/driverview.h | 3 ++- 2 files changed, 4 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 00f7415cba..9010227f18 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -5,10 +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()) { @@ -68,12 +65,8 @@ 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() { diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 00acb68d29..f6eb752fe6 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,6 +1,7 @@ #pragma once #include "selfdrive/ui/qt/widgets/cameraview.h" +#include "selfdrive/ui/qt/onroad/driver_monitoring.h" class DriverViewWindow : public CameraWidget { Q_OBJECT @@ -18,5 +19,5 @@ protected: void paintGL() override; Params params; - QPixmap face_img; + DriverMonitorRenderer driver_monitor; }; From 4537a9d2ac9a6d6fdb4180c5062186ad53bb4a53 Mon Sep 17 00:00:00 2001 From: Mauricio Alvarez Leon <65101411+BBBmau@users.noreply.github.com> Date: Fri, 18 Oct 2024 10:46:11 -0700 Subject: [PATCH 102/191] `ui-preview`: increases delay between frames from 40 ms to 100ms (#33805) increases delay between frames from 40 ms to 100ms --- .github/workflows/ui_preview.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 13337bacbe..a6daaad19f 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -99,7 +99,7 @@ jobs: 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 From af73d6084d5ac77935282442c909432eebd676d1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 19 Oct 2024 04:16:34 +0800 Subject: [PATCH 103/191] ui: revert the 'alive' check to compare with scene.started_frame (#33794) Revert the 'alive' check to compare with scene.started_frame --- selfdrive/ui/qt/onroad/hud.cc | 2 +- selfdrive/ui/qt/onroad/model.cc | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc index 50b563b228..c63962caf6 100644 --- a/selfdrive/ui/qt/onroad/hud.cc +++ b/selfdrive/ui/qt/onroad/hud.cc @@ -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; diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc index d1e3c7bde2..5263f4cede 100644 --- a/selfdrive/ui/qt/onroad/model.cc +++ b/selfdrive/ui/qt/onroad/model.cc @@ -14,9 +14,11 @@ static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float } void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { - auto &sm = *(uiState()->sm); + auto *s = uiState(); + auto &sm = *(s->sm); // Check if data is up-to-date - if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) { + if (sm.rcv_frame("liveCalibration") < s->scene.started_frame || + sm.rcv_frame("modelV2") < s->scene.started_frame) { return; } From 66804173c1f7707d08eb4c2466ae2bfb04a8a4b7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 18 Oct 2024 13:53:53 -0700 Subject: [PATCH 104/191] Revert "AGNOS 11 (#33775)" This reverts commit 8bf34d0dfbedd35293a5e805df0aeb2a5116f146. --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 43 ++++++++++++++++++--------------- 2 files changed, 25 insertions(+), 20 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 8f79835842..1e5bc7b607 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11" + export AGNOS_VERSION="10.1" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index ee860768e2..b1862bdef9 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,22 +1,22 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f.img.xz", - "hash": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", - "hash_raw": "68227215e67079b85b85632b113d5de1c50ca7c92d63a77eea00e5c72ebb753f", + "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz", + "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", + "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", "size": 16029696, "sparse": false, "full_check": true, "has_ab": true }, { - "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24.img.xz", - "hash": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", - "hash_raw": "d1d51bfb7e2cb46be31220184cde832d7ef3628e79993cc0768b082ebaed6f24", - "size": 4194304000, + "name": "abl", + "url": "https://commadist.azureedge.net/agnosupdate/abl-eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39.img.xz", + "hash": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "hash_raw": "eeb89a74c968a5a2ffce96f23158b72e03e2814adf72ef59d1200ba8ea5d2f39", + "size": 274432, "sparse": false, - "full_check": false, + "full_check": true, "has_ab": true }, { @@ -29,16 +29,6 @@ "full_check": true, "has_ab": true }, - { - "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b.img.xz", - "hash": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", - "hash_raw": "6ce46c75c6270e4cb2f98998b4415177d46d0197e1348dea7d510534b206179b", - "size": 274432, - "sparse": false, - "full_check": true, - "has_ab": true - }, { "name": "xbl_config", "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", @@ -68,5 +58,20 @@ "sparse": false, "full_check": true, "has_ab": true + }, + { + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate/system-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", + "hash": "328e90c62068222dfd98f71dd3f6251fcb962f082b49c6be66ab2699f5db6f4f", + "hash_raw": "1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a", + "size": 10737418240, + "sparse": true, + "full_check": false, + "has_ab": true, + "alt": { + "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", + "size": 4548070000 + } } ] \ No newline at end of file From c11d0a651816199c2987d940183db939827a8af3 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 18 Oct 2024 14:24:51 -0700 Subject: [PATCH 105/191] setup: upper bound on python version (#33816) ub --- pyproject.toml | 2 +- tools/op.sh | 17 ++- uv.lock | 308 +------------------------------------------------ 3 files changed, 15 insertions(+), 312 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 00b9ecf3e5..c27ebcdb4f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -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" diff --git a/tools/op.sh b/tools/op.sh index 4c792edefe..62d390c9b5 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -148,15 +148,20 @@ function op_check_python() { INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true) if [[ -z $INSTALLED_PYTHON_VERSION ]]; then - echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" + echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!" loge "ERROR_PYTHON_NOT_FOUND" return 1 - elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then - echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected." else - echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" - loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION" - return 1 + LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1) + UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2) + VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') + if [[ $VERSION -ge LB && $VERSION -le UB ]]; then + echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected." + else + echo -e " ↳ [${RED}✗${NC}] You need a python version satisfying $(echo $REQUIRED_PYTHON_VERSION | cut -d '=' -f2-) to continue!" + loge "ERROR_PYTHON_VERSION" "$INSTALLED_PYTHON_VERSION" + return 1 + fi fi } diff --git a/uv.lock b/uv.lock index 3d6dd37366..244a18d9e2 100644 --- a/uv.lock +++ b/uv.lock @@ -1,5 +1,5 @@ version = 1 -requires-python = ">=3.11" +requires-python = ">=3.11, <=3.12" resolution-markers = [ "python_full_version < '3.12' and platform_system == 'Darwin'", "python_full_version < '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux'", @@ -62,21 +62,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/05/be/6a403b464dcab3631fe8e27b0f1d906d9e45c5e92aca97ee007e5a895560/aiohttp-3.10.10-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:c1277cd707c465cd09572a774559a3cc7c7a28802eb3a2a9472588f062097205", size = 1306186 }, { url = "https://files.pythonhosted.org/packages/8e/fd/bb50fe781068a736a02bf5c7ad5f3ab53e39f1d1e63110da6d30f7605edc/aiohttp-3.10.10-cp312-cp312-win32.whl", hash = "sha256:59bb3c54aa420521dc4ce3cc2c3fe2ad82adf7b09403fa1f48ae45c0cbde6628", size = 359289 }, { url = "https://files.pythonhosted.org/packages/70/9e/5add7e240f77ef67c275c82cc1d08afbca57b77593118c1f6e920ae8ad3f/aiohttp-3.10.10-cp312-cp312-win_amd64.whl", hash = "sha256:0e1b370d8007c4ae31ee6db7f9a2fe801a42b146cec80a86766e7ad5c4a259cf", size = 379313 }, - 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if (branch != "master" && item.size() == 3 && !hasPathChanged(item[2])) { + if (branch != "master" && item.size() == 3 && !hasPathChanged(gitDiff, item[2])) { println "Skipping ${item[0]}: no changes in ${item[2]}." - return; + return } else { device(device_ip, item[0], item[1]) } @@ -104,29 +105,13 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) } } -@NonCPS -def hasPathChanged(List paths) { - changedFiles = [] - for (changeLogSet in currentBuild.changeSets) { - for (entry in changeLogSet.getItems()) { - for (file in entry.getAffectedFiles()) { - changedFiles.add(file.getPath()) - } - } - } - - env.CHANGED_FILES = changedFiles.join(" ") - if (currentBuild.number > 1) { - env.CHANGED_FILES += currentBuild.previousBuild.getBuildVariables().get("CHANGED_FILES") - } - +def hasPathChanged(String gitDiff, List paths) { for (path in paths) { - if (env.CHANGED_FILES.contains(path)) { - return true; + if (gitDiff.contains(path)) { + return true } } - - return false; + return false } def setupCredentials() { From debd71ebec37e789473ce16bdb76bf3ab79c3472 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 19 Oct 2024 12:32:43 +0800 Subject: [PATCH 109/191] replay: replace QCommandLineParser with getopt for command-line argument parsing. (#33812) * use getopt * fix -h * show help if no args are provided --- tools/replay/main.cc | 182 ++++++++++++++++++++++++++++++------------- 1 file changed, 126 insertions(+), 56 deletions(-) diff --git a/tools/replay/main.cc b/tools/replay/main.cc index a0c072438d..0bf7cc3423 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -1,10 +1,123 @@ +#include + #include -#include +#include +#include +#include #include "common/prefix.h" #include "tools/replay/consoleui.h" #include "tools/replay/replay.h" +const std::string helpText = +R"(Usage: replay [options] +Options: + -a, --allow Whitelist of services to send + -b, --block Blacklist of services to send + -c, --cache Cache segments in memory. Default is 5 + -s, --start Start from + -x, --playback Playback + --demo Use a demo route instead of providing your own + -d, --data_dir Local directory with routes + -p, --prefix Set OPENPILOT_PREFIX + --dcam Load driver camera + --ecam Load wide road camera + --no-loop Stop at the end of the route + --no-cache Turn off local cache + --qcam Load qcamera + --no-hw-decoder Disable HW video decoding + --no-vipc Do not output video + --all Output all messages including uiDebug, userFlag + -h, --help Show this help message +)"; + +struct ReplayConfig { + QString route; + QStringList allow; + QStringList block; + QString data_dir; + std::string prefix; + uint32_t flags = REPLAY_FLAG_NONE; + int start_seconds = 0; + int cache_segments = -1; + float playback_speed = -1; +}; + +bool parseArgs(int argc, char *argv[], ReplayConfig &config) { + const struct option cli_options[] = { + {"allow", required_argument, nullptr, 'a'}, + {"block", required_argument, nullptr, 'b'}, + {"cache", required_argument, nullptr, 'c'}, + {"start", required_argument, nullptr, 's'}, + {"playback", required_argument, nullptr, 'x'}, + {"demo", no_argument, nullptr, 0}, + {"data_dir", required_argument, nullptr, 'd'}, + {"prefix", required_argument, nullptr, 'p'}, + {"dcam", no_argument, nullptr, 0}, + {"ecam", no_argument, nullptr, 0}, + {"no-loop", no_argument, nullptr, 0}, + {"no-cache", no_argument, nullptr, 0}, + {"qcam", no_argument, nullptr, 0}, + {"no-hw-decoder", no_argument, nullptr, 0}, + {"no-vipc", no_argument, nullptr, 0}, + {"all", no_argument, nullptr, 0}, + {"help", no_argument, nullptr, 'h'}, + {nullptr, 0, nullptr, 0}, // Terminating entry + }; + + const std::map flag_map = { + {"dcam", REPLAY_FLAG_DCAM}, + {"ecam", REPLAY_FLAG_ECAM}, + {"no-loop", REPLAY_FLAG_NO_LOOP}, + {"no-cache", REPLAY_FLAG_NO_FILE_CACHE}, + {"qcam", REPLAY_FLAG_QCAMERA}, + {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER}, + {"no-vipc", REPLAY_FLAG_NO_VIPC}, + {"all", REPLAY_FLAG_ALL_SERVICES}, + }; + + if (argc == 1) { + std::cout << helpText; + return false; + } + + int opt, option_index = 0; + while ((opt = getopt_long(argc, argv, "a:b:c:s:x:d:p:h", cli_options, &option_index)) != -1) { + switch (opt) { + case 'a': config.allow = QString(optarg).split(","); break; + case 'b': config.block = QString(optarg).split(","); break; + case 'c': config.cache_segments = std::atoi(optarg); break; + case 's': config.start_seconds = std::atoi(optarg); break; + case 'x': config.playback_speed = std::atof(optarg); break; + case 'd': config.data_dir = optarg; break; + case 'p': config.prefix = optarg; break; + case 0: { + std::string name = cli_options[option_index].name; + if (name == "demo") { + config.route = DEMO_ROUTE; + } else { + config.flags |= flag_map.at(name); + } + break; + } + case 'h': std::cout << helpText; return false; + default: return false; + } + } + + // Check for a route name (first positional argument) + if (config.route.isEmpty() && optind < argc) { + config.route = argv[optind]; + } + + if (config.route.isEmpty()) { + std::cerr << "No route provided. Use --help for usage information.\n"; + return false; + } + + return true; +} + int main(int argc, char *argv[]) { #ifdef __APPLE__ // With all sockets opened, we might hit the default limit of 256 on macOS @@ -12,72 +125,29 @@ int main(int argc, char *argv[]) { #endif QCoreApplication app(argc, argv); + ReplayConfig config; - const std::tuple flags[] = { - {"dcam", REPLAY_FLAG_DCAM, "load driver camera"}, - {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"}, - {"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"}, - {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"}, - {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, - {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"}, - {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, - {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag" - ". this may causes issues when used along with UI"} - }; - - QCommandLineParser parser; - parser.setApplicationDescription("Mock openpilot components by publishing logged messages."); - parser.addHelpOption(); - parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai"); - parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"}); - parser.addOption({{"b", "block"}, "blacklist of services to send", "block"}); - parser.addOption({{"c", "cache"}, "cache segments in memory. default is 5", "n"}); - parser.addOption({{"s", "start"}, "start from ", "seconds"}); - parser.addOption({"x", QString("playback . between %1 - %2") - .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"}); - parser.addOption({"demo", "use a demo route instead of providing your own"}); - parser.addOption({"data_dir", "local directory with routes", "data_dir"}); - parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"}); - for (auto &[name, _, desc] : flags) { - parser.addOption({name, desc}); - } - - parser.process(app); - const QStringList args = parser.positionalArguments(); - if (args.empty() && !parser.isSet("demo")) { - parser.showHelp(); - } - - const QString route = args.empty() ? DEMO_ROUTE : args.first(); - QStringList allow = parser.value("allow").isEmpty() ? QStringList{} : parser.value("allow").split(","); - QStringList block = parser.value("block").isEmpty() ? QStringList{} : parser.value("block").split(","); - - uint32_t replay_flags = REPLAY_FLAG_NONE; - for (const auto &[name, flag, _] : flags) { - if (parser.isSet(name)) { - replay_flags |= flag; - } + if (!parseArgs(argc, argv, config)) { + return 1; } std::unique_ptr op_prefix; - auto prefix = parser.value("prefix"); - if (!prefix.isEmpty()) { - op_prefix.reset(new OpenpilotPrefix(prefix.toStdString())); + if (!config.prefix.empty()) { + op_prefix = std::make_unique(config.prefix); } - Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); - if (!parser.value("c").isEmpty()) { - replay->setSegmentCacheLimit(parser.value("c").toInt()); + Replay *replay = new Replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, &app); + if (config.cache_segments > 0) { + replay->setSegmentCacheLimit(config.cache_segments); } - if (!parser.value("x").isEmpty()) { - replay->setSpeed(std::clamp(parser.value("x").toFloat(), - ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back())); + if (config.playback_speed > 0) { + replay->setSpeed(std::clamp(config.playback_speed, ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back())); } if (!replay->load()) { - return 0; + return 1; } ConsoleUI console_ui(replay); - replay->start(parser.value("start").toInt()); + replay->start(config.start_seconds); return app.exec(); } From 30853a2c413f4bad4abbf63dfdccc674994a13cd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 20 Oct 2024 03:29:15 +0800 Subject: [PATCH 110/191] replay: replace Qt data types with standard C++ data types (#33823) replace Qt data types with c++ data types --- tools/cabana/streams/replaystream.cc | 6 +- tools/cabana/streams/replaystream.h | 2 +- tools/replay/consoleui.cc | 2 +- tools/replay/main.cc | 18 +++--- tools/replay/replay.cc | 49 +++++++++------- tools/replay/replay.h | 6 +- tools/replay/route.cc | 84 ++++++++++++++++------------ tools/replay/route.h | 30 +++++----- tools/replay/tests/test_replay.cc | 8 +-- tools/replay/util.cc | 30 ++++++++++ tools/replay/util.h | 5 ++ 11 files changed, 148 insertions(+), 92 deletions(-) diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 293b363532..18b0317d46 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -49,8 +49,8 @@ void ReplayStream::mergeSegments() { } bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { - replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, - {}, nullptr, replay_flags, data_dir, this)); + replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, + {}, nullptr, replay_flags, data_dir.toStdString(), this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking); @@ -153,7 +153,7 @@ AbstractStream *OpenReplayWidget::open() { route = route.mid(idx + 1); } - bool is_valid_format = Route::parseRoute(route).str.size() > 0; + bool is_valid_format = Route::parseRoute(route.toStdString()).str.size() > 0; if (!is_valid_format) { QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); } else { diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 25d6ef4a72..2a9f343645 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -20,7 +20,7 @@ public: bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } bool liveStreaming() const override { return false; } - inline QString routeName() const override { return replay->route()->name(); } + inline QString routeName() const override { return QString::fromStdString(replay->route()->name()); } inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } double minSeconds() const override { return replay->minSeconds(); } double maxSeconds() const { return replay->maxSeconds(); } diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 21ca0ad74b..5d2cf409d9 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -247,7 +247,7 @@ void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) { void ConsoleUI::updateSummary() { const auto &route = replay->route(); - mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", qPrintable(route->name()), route->segments().size()); + mvwprintw(w[Win::Stats], 0, 0, "Route: %s, %lu segments", route->name().c_str(), route->segments().size()); mvwprintw(w[Win::Stats], 1, 0, "Car Fingerprint: %s", replay->carFingerprint().c_str()); wrefresh(w[Win::Stats]); } diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 0bf7cc3423..4e11ddb583 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -4,10 +4,12 @@ #include #include #include +#include #include "common/prefix.h" #include "tools/replay/consoleui.h" #include "tools/replay/replay.h" +#include "tools/replay/util.h" const std::string helpText = R"(Usage: replay [options] @@ -32,10 +34,10 @@ Options: )"; struct ReplayConfig { - QString route; - QStringList allow; - QStringList block; - QString data_dir; + std::string route; + std::vector allow; + std::vector block; + std::string data_dir; std::string prefix; uint32_t flags = REPLAY_FLAG_NONE; int start_seconds = 0; @@ -84,8 +86,8 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { int opt, option_index = 0; while ((opt = getopt_long(argc, argv, "a:b:c:s:x:d:p:h", cli_options, &option_index)) != -1) { switch (opt) { - case 'a': config.allow = QString(optarg).split(","); break; - case 'b': config.block = QString(optarg).split(","); break; + case 'a': config.allow = split(optarg, ','); break; + case 'b': config.block = split(optarg, ','); break; case 'c': config.cache_segments = std::atoi(optarg); break; case 's': config.start_seconds = std::atoi(optarg); break; case 'x': config.playback_speed = std::atof(optarg); break; @@ -106,11 +108,11 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) { } // Check for a route name (first positional argument) - if (config.route.isEmpty() && optind < argc) { + if (config.route.empty() && optind < argc) { config.route = argv[optind]; } - if (config.route.isEmpty()) { + if (config.route.empty()) { std::cerr << "No route provided. Use --help for usage information.\n"; return false; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 34dd33bc1a..a0ae90c079 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -11,36 +11,43 @@ static void interrupt_sleep_handler(int signal) {} -Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, - uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { +Replay::Replay(const std::string &route, std::vector allow, std::vector block, SubMaster *sm_, + uint32_t flags, const std::string &data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { // Register signal handler for SIGUSR1 std::signal(SIGUSR1, interrupt_sleep_handler); if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { - block << "uiDebug" << "userFlag"; + block.insert(block.end(), {"uiDebug", "userFlag"}); } - auto event_struct = capnp::Schema::from().asStruct(); - sockets_.resize(event_struct.getUnionFields().size()); + + auto event_schema = capnp::Schema::from().asStruct(); + sockets_.resize(event_schema.getUnionFields().size()); + std::vector active_services; + for (const auto &[name, _] : services) { - if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) { - uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); + bool in_block = std::find(block.begin(), block.end(), name) != block.end(); + bool in_allow = std::find(allow.begin(), allow.end(), name) != allow.end(); + if (!in_block && (allow.empty() || in_allow)) { + uint16_t which = event_schema.getFieldByName(name).getProto().getDiscriminantValue(); sockets_[which] = name.c_str(); + active_services.push_back(name); } } - if (!allow.isEmpty()) { + + if (!allow.empty()) { for (int i = 0; i < sockets_.size(); ++i) { filters_.push_back(i == cereal::Event::Which::INIT_DATA || i == cereal::Event::Which::CAR_PARAMS || sockets_[i]); } } - std::vector s; - std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s), - [](const char *name) { return name != nullptr; }); - qDebug() << "services " << s; - qDebug() << "loading route " << route; + rInfo("active services: %s", join(active_services, ',').c_str()); + rInfo("loading route %s", route.c_str()); if (sm == nullptr) { - pm = std::make_unique(s); + std::vector socket_names; + std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(socket_names), + [](const char *name) { return name != nullptr; }); + pm = std::make_unique(socket_names); } route_ = std::make_unique(route, data_dir); } @@ -68,23 +75,23 @@ void Replay::stop() { bool Replay::load() { if (!route_->load()) { - qCritical() << "failed to load route" << route_->name() - << "from" << (route_->dir().isEmpty() ? "server" : route_->dir()); + rError("failed to load route %s from %s", route_->name().c_str(), + route_->dir().empty() ? "server" : route_->dir().c_str()); return false; } for (auto &[n, f] : route_->segments()) { - bool has_log = !f.rlog.isEmpty() || !f.qlog.isEmpty(); - bool has_video = !f.road_cam.isEmpty() || !f.qcamera.isEmpty(); + bool has_log = !f.rlog.empty() || !f.qlog.empty(); + bool has_video = !f.road_cam.empty() || !f.qcamera.empty(); if (has_log && (has_video || hasFlag(REPLAY_FLAG_NO_VIPC))) { segments_.insert({n, nullptr}); } } if (segments_.empty()) { - qCritical() << "no valid segments in route" << route_->name(); + rInfo("no valid segments in route: %s", route_->name().c_str()); return false; } - rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size()); + rInfo("load route %s with %zu valid segments", route_->name().c_str(), segments_.size()); max_seconds_ = (segments_.rbegin()->first + 1) * 60; return true; } @@ -167,7 +174,7 @@ void Replay::buildTimeline() { const auto &route_segments = route_->segments(); for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { std::shared_ptr log(new LogReader()); - if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue; + if (!log->load(it->second.qlog, &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue; std::vector> timeline; for (const Event &e : log->events) { diff --git a/tools/replay/replay.h b/tools/replay/replay.h index ac829ffb71..8d2e07ba5b 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -15,7 +15,7 @@ #include "tools/replay/camera.h" #include "tools/replay/route.h" -const QString DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"; +#define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19" // one segment uses about 100M of memory constexpr int MIN_SEGMENTS_CACHE = 5; @@ -49,8 +49,8 @@ class Replay : public QObject { Q_OBJECT public: - Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, - uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); + Replay(const std::string &route, std::vector allow, std::vector block, SubMaster *sm = nullptr, + uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "", QObject *parent = 0); ~Replay(); bool load(); RouteLoadError lastRouteError() const { return route_->lastError(); } diff --git a/tools/replay/route.cc b/tools/replay/route.cc index c1e65526cf..e298b88b79 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -4,35 +4,44 @@ #include #include #include -#include #include #include +#include +#include #include "selfdrive/ui/qt/api.h" #include "system/hardware/hw.h" #include "tools/replay/replay.h" #include "tools/replay/util.h" -Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) { +Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) { route_ = parseRoute(route); } -RouteIdentifier Route::parseRoute(const QString &str) { +RouteIdentifier Route::parseRoute(const std::string &str) { RouteIdentifier identifier = {}; - QRegularExpression rx(R"(^((?[a-z0-9]{16})[|_/])?(?.{20})((?--|/)(?((-?\d+(:(-?\d+)?)?)|(:-?\d+))))?$)"); - if (auto match = rx.match(str); match.hasMatch()) { - identifier.dongle_id = match.captured("dongle_id"); - identifier.timestamp = match.captured("timestamp"); + static const std::regex pattern(R"(^(([a-z0-9]{16})[|_/])?(.{20})((--|/)((-?\d+(:(-?\d+)?)?)|(:-?\d+)))?$)"); + std::smatch match; + + if (std::regex_match(str, match, pattern)) { + identifier.dongle_id = match[2].str(); + identifier.timestamp = match[3].str(); identifier.str = identifier.dongle_id + "|" + identifier.timestamp; - auto range_str = match.captured("range"); - if (auto separator = match.captured("separator"); separator == "/" && !range_str.isEmpty()) { - auto range = range_str.split(":"); - identifier.begin_segment = identifier.end_segment = range[0].toInt(); - if (range.size() == 2) { - identifier.end_segment = range[1].isEmpty() ? -1 : range[1].toInt(); + + const auto separator = match[5].str(); + const auto range_str = match[6].str(); + if (!range_str.empty()) { + if (separator == "/") { + int pos = range_str.find(':'); + int begin_seg = std::stoi(range_str.substr(0, pos)); + identifier.begin_segment = identifier.end_segment = begin_seg; + if (pos != std::string::npos) { + auto end_seg_str = range_str.substr(pos + 1); + identifier.end_segment = end_seg_str.empty() ? -1 : std::stoi(end_seg_str); + } + } else if (separator == "--") { + identifier.begin_segment = std::atoi(range_str.c_str()); } - } else if (separator == "--") { - identifier.begin_segment = range_str.toInt(); } } return identifier; @@ -40,12 +49,12 @@ RouteIdentifier Route::parseRoute(const QString &str) { bool Route::load() { err_ = RouteLoadError::None; - if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) { + if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) { rInfo("invalid route format"); return false; } - date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss"); - bool ret = data_dir_.isEmpty() ? loadFromServer() : loadFromLocal(); + date_time_ = QDateTime::fromString(route_.timestamp.c_str(), "yyyy-MM-dd--HH-mm-ss"); + bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); if (ret) { if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first; @@ -69,7 +78,7 @@ bool Route::loadFromServer(int retries) { result = json; loop.exit((int)err); }); - http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + route_.str + "/files"); + http.sendRequest(CommaApi::BASE_URL + "/v1/route/" + QString::fromStdString(route_.str) + "/files"); auto err = (QNetworkReply::NetworkError)loop.exec(); if (err == QNetworkReply::NoError) { return loadFromJson(result); @@ -96,7 +105,7 @@ bool Route::loadFromJson(const QString &json) { for (const auto &url : value.toArray()) { QString url_str = url.toString(); if (rx.indexIn(url_str) != -1) { - addFileToSegment(rx.cap(1).toInt(), url_str); + addFileToSegment(rx.cap(1).toInt(), url_str.toStdString()); } } } @@ -104,23 +113,26 @@ bool Route::loadFromJson(const QString &json) { } bool Route::loadFromLocal() { - QDirIterator it(data_dir_, {QString("%1--*").arg(route_.timestamp)}, QDir::Dirs | QDir::NoDotAndDotDot); - while (it.hasNext()) { - QString segment = it.next(); - const int seg_num = segment.mid(segment.lastIndexOf("--") + 2).toInt(); - QDir segment_dir(segment); - for (const auto &f : segment_dir.entryList(QDir::Files)) { - addFileToSegment(seg_num, segment_dir.absoluteFilePath(f)); + std::string pattern = route_.timestamp + "--"; + for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) { + if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) { + std::string segment = entry.path().string(); + int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str()); + + for (const auto &file : std::filesystem::directory_iterator(segment)) { + if (file.is_regular_file()) { + addFileToSegment(seg_num, file.path().string()); + } + } } } return !segments_.empty(); } -void Route::addFileToSegment(int n, const QString &file) { - QString name = QUrl(file).fileName(); - - const int pos = name.lastIndexOf("--"); - name = pos != -1 ? name.mid(pos + 2) : name; +void Route::addFileToSegment(int n, const std::string &file) { + std::string name = extractFileName(file); + auto pos = name.find_last_of("--"); + name = pos != std::string::npos ? name.substr(pos + 2) : name; if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") { segments_[n].rlog = file; @@ -143,15 +155,15 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vec : seg_num(n), flags(flags), filters_(filters) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog const std::array file_list = { - (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, + (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam, flags & REPLAY_FLAG_DCAM ? files.driver_cam : "", flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "", - files.rlog.isEmpty() ? files.qlog : files.rlog, + files.rlog.empty() ? files.qlog : files.rlog, }; for (int i = 0; i < file_list.size(); ++i) { - if (!file_list[i].isEmpty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) { + if (!file_list[i].empty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) { ++loading_; - synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i].toStdString())); + synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i])); } } } diff --git a/tools/replay/route.h b/tools/replay/route.h index acc73d509a..9c1cc37e2a 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -21,42 +21,42 @@ enum class RouteLoadError { }; struct RouteIdentifier { - QString dongle_id; - QString timestamp; + std::string dongle_id; + std::string timestamp; int begin_segment = 0; int end_segment = -1; - QString str; + std::string str; }; struct SegmentFile { - QString rlog; - QString qlog; - QString road_cam; - QString driver_cam; - QString wide_road_cam; - QString qcamera; + std::string rlog; + std::string qlog; + std::string road_cam; + std::string driver_cam; + std::string wide_road_cam; + std::string qcamera; }; class Route { public: - Route(const QString &route, const QString &data_dir = {}); + Route(const std::string &route, const std::string &data_dir = {}); bool load(); RouteLoadError lastError() const { return err_; } - inline const QString &name() const { return route_.str; } + inline const std::string &name() const { return route_.str; } inline const QDateTime datetime() const { return date_time_; } - inline const QString &dir() const { return data_dir_; } + inline const std::string &dir() const { return data_dir_; } inline const RouteIdentifier &identifier() const { return route_; } inline const std::map &segments() const { return segments_; } inline const SegmentFile &at(int n) { return segments_.at(n); } - static RouteIdentifier parseRoute(const QString &str); + static RouteIdentifier parseRoute(const std::string &str); protected: bool loadFromLocal(); bool loadFromServer(int retries = 3); bool loadFromJson(const QString &json); - void addFileToSegment(int seg_num, const QString &file); + void addFileToSegment(int seg_num, const std::string &file); RouteIdentifier route_ = {}; - QString data_dir_; + std::string data_dir_; std::map segments_; QDateTime date_time_; RouteLoadError err_ = RouteLoadError::None; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 3e5bfdf984..2fe468e726 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -122,12 +122,12 @@ std::string download_demo_route() { assert(remote_route.load()); // Create a local route from remote for testing - const std::string route_name = DEMO_ROUTE.mid(17).toStdString(); + const std::string route_name = std::string(DEMO_ROUTE).substr(17); for (int i = 0; i < 2; ++i) { std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); util::create_directories(log_path, 0755); - REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); - REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); + REQUIRE(download_to_file(remote_route.at(i).rlog, log_path + "rlog.bz2")); + REQUIRE(download_to_file(remote_route.at(i).qcamera, log_path + "qcamera.ts")); } } @@ -139,7 +139,7 @@ TEST_CASE("Local route") { std::string data_dir = download_demo_route(); auto flags = GENERATE(0, REPLAY_FLAG_QCAMERA); - Route route(DEMO_ROUTE, QString::fromStdString(data_dir)); + Route route(DEMO_ROUTE, data_dir); REQUIRE(route.load()); REQUIRE(route.segments().size() == 2); for (int i = 0; i < TEST_REPLAY_SEGMENTS; ++i) { diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 0ae0c05f9b..91f6af4f84 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -14,6 +14,7 @@ #include #include #include +#include #include #include @@ -390,6 +391,35 @@ std::string sha256(const std::string &str) { return util::hexdump(hash, SHA256_DIGEST_LENGTH); } +std::vector split(std::string_view source, char delimiter) { + std::vector fields; + size_t last = 0; + for (size_t i = 0; i < source.length(); ++i) { + if (source[i] == delimiter) { + fields.emplace_back(source.substr(last, i - last)); + last = i + 1; + } + } + fields.emplace_back(source.substr(last)); + return fields; +} + +std::string join(const std::vector &elements, char separator) { + std::ostringstream oss; + for (size_t i = 0; i < elements.size(); ++i) { + if (i != 0) oss << separator; + oss << elements[i]; + } + return oss.str(); +} + +std::string extractFileName(const std::string &file) { + size_t queryPos = file.find_first_of("?"); + std::string path = (queryPos != std::string::npos) ? file.substr(0, queryPos) : file; + size_t lastSlash = path.find_last_of("/\\"); + return (lastSlash != std::string::npos) ? path.substr(lastSlash + 1) : path; +} + // MonotonicBuffer void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) { diff --git a/tools/replay/util.h b/tools/replay/util.h index d6c26a3471..317b964181 100644 --- a/tools/replay/util.h +++ b/tools/replay/util.h @@ -4,6 +4,8 @@ #include #include #include +#include +#include #include "cereal/messaging/messaging.h" enum CameraType { @@ -57,3 +59,6 @@ typedef std::function Download void installDownloadProgressHandler(DownloadProgressHandler); bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic *abort = nullptr); std::string formattedDataSize(size_t size); +std::vector split(std::string_view source, char delimiter); +std::string join(const std::vector &elements, char separator); +std::string extractFileName(const std::string& file); From 371f60413ae40555fe275dd6798764de8bc933ab Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 21 Oct 2024 04:08:24 +0800 Subject: [PATCH 111/191] replay: refactor ConsoleUI to remove Qt dependency (#33826) Refactor ConsoleUI to remove Qt dependency --- tools/replay/consoleui.cc | 91 +++++++++++++++++++++------------------ tools/replay/consoleui.h | 38 +++++++--------- tools/replay/main.cc | 2 +- tools/replay/replay.h | 5 +-- 4 files changed, 66 insertions(+), 70 deletions(-) diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5d2cf409d9..42c7238f7a 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -7,6 +7,7 @@ #include +#include "common/ratekeeper.h" #include "common/util.h" #include "common/version.h" @@ -57,7 +58,7 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold } // namespace -ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) { +ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "liveParameters"}) { // Initialize curses initscr(); clear(); @@ -80,24 +81,16 @@ ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"car initWindows(); - qRegisterMetaType("uint64_t"); - qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { - emit logMessageSignal(type, QString::fromStdString(msg)); + std::scoped_lock lock(mutex); + logs.emplace_back(type, msg); }); installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { - emit updateProgressBarSignal(cur, total, success); + std::scoped_lock lock(mutex); + progress_cur = cur; + progress_total = total; + download_success = success; }); - - QObject::connect(replay, &Replay::streamStarted, this, &ConsoleUI::updateSummary); - QObject::connect(¬ifier, SIGNAL(activated(int)), SLOT(readyRead())); - QObject::connect(this, &ConsoleUI::updateProgressBarSignal, this, &ConsoleUI::updateProgressBar); - QObject::connect(this, &ConsoleUI::logMessageSignal, this, &ConsoleUI::logMessage); - - sm_timer.callOnTimeout(this, &ConsoleUI::updateStatus); - sm_timer.start(100); - getch_timer.start(1000, this); - readyRead(); } ConsoleUI::~ConsoleUI() { @@ -136,9 +129,7 @@ void ConsoleUI::initWindows() { } } -void ConsoleUI::timerEvent(QTimerEvent *ev) { - if (ev->timerId() != getch_timer.timerId()) return; - +void ConsoleUI::updateSize() { if (is_term_resized(max_height, max_width)) { for (auto win : w) { if (win) delwin(win); @@ -149,7 +140,6 @@ void ConsoleUI::timerEvent(QTimerEvent *ev) { initWindows(); rWarning("resize term %dx%d", max_height, max_width); } - updateTimeline(); } void ConsoleUI::updateStatus() { @@ -169,12 +159,6 @@ void ConsoleUI::updateStatus() { sm.update(0); - if (status != Status::Paused) { - auto events = replay->events(); - uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9; - bool playing = !events->empty() && events->back().mono_time > current_mono_time; - status = playing ? Status::Playing : Status::Waiting; - } auto [status_str, status_color] = status_text[status]; write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60)); @@ -218,7 +202,7 @@ void ConsoleUI::displayTimelineDesc() { } } -void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) { +void ConsoleUI::logMessage(ReplyMsgType type, const std::string &msg) { if (auto win = w[Win::Log]) { Color color = Color::Default; if (type == ReplyMsgType::Debug) { @@ -228,19 +212,19 @@ void ConsoleUI::logMessage(ReplyMsgType type, const QString &msg) { } else if (type == ReplyMsgType::Critical) { color = Color::Red; } - add_str(win, qPrintable(msg + "\n"), color); + add_str(win, (msg + "\n").c_str(), color); wrefresh(win); } } -void ConsoleUI::updateProgressBar(uint64_t cur, uint64_t total, bool success) { +void ConsoleUI::updateProgressBar() { werase(w[Win::DownloadBar]); - if (success && cur < total) { + if (download_success && progress_cur < progress_total) { const int width = 35; - const float progress = cur / (double)total; + const float progress = progress_cur / (double)progress_total; const int pos = width * progress; wprintw(w[Win::DownloadBar], "Downloading [%s>%s] %d%% %s", std::string(pos, '=').c_str(), - std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(total).c_str()); + std::string(width - pos, ' ').c_str(), int(progress * 100.0), formattedDataSize(progress_total).c_str()); } wrefresh(w[Win::DownloadBar]); } @@ -288,16 +272,9 @@ void ConsoleUI::updateTimeline() { wrefresh(win); } -void ConsoleUI::readyRead() { - int c; - while ((c = getch()) != ERR) { - handleKey(c); - } -} - void ConsoleUI::pauseReplay(bool pause) { replay->pause(pause); - status = pause ? Status::Paused : Status::Waiting; + status = pause ? Status::Paused : Status::Playing; } void ConsoleUI::handleKey(char c) { @@ -305,7 +282,6 @@ void ConsoleUI::handleKey(char c) { // pause the replay and blocking getchar() pauseReplay(true); updateStatus(); - getch_timer.stop(); curs_set(true); nodelay(stdscr, false); @@ -330,7 +306,6 @@ void ConsoleUI::handleKey(char c) { nodelay(stdscr, true); curs_set(false); refresh(); - getch_timer.start(1000, this); } else if (c == '+' || c == '=') { auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed()); @@ -367,7 +342,37 @@ void ConsoleUI::handleKey(char c) { replay->seekTo(-10, true); } else if (c == ' ') { pauseReplay(!replay->isPaused()); - } else if (c == 'q' || c == 'Q') { - qApp->exit(); } } + +int ConsoleUI::exec() { + RateKeeper rk("Replay", 20); + while (true) { + int c = getch(); + if (c == 'q' || c == 'Q') { + break; + } + handleKey(c); + + if (rk.frame() % 25) { + updateSize(); + updateSummary(); + } + + updateTimeline(); + updateStatus(); + + { + std::scoped_lock lock(mutex); + updateProgressBar(); + for (auto &[type, msg] : logs) { + logMessage(type, msg); + } + logs.clear(); + } + + qApp->processEvents(); + rk.keepTime(); + } + return 0; +} diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h index 6ed44bc623..3d4abeb458 100644 --- a/tools/replay/consoleui.h +++ b/tools/replay/consoleui.h @@ -1,21 +1,17 @@ #pragma once #include -#include -#include -#include -#include -#include +#include +#include #include "tools/replay/replay.h" #include -class ConsoleUI : public QObject { - Q_OBJECT - +class ConsoleUI { public: - ConsoleUI(Replay *replay, QObject *parent = 0); + ConsoleUI(Replay *replay); ~ConsoleUI(); + int exec(); inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f}; private: @@ -27,25 +23,21 @@ private: void updateSummary(); void updateStatus(); void pauseReplay(bool pause); + void updateSize(); + void updateProgressBar(); + void logMessage(ReplyMsgType type, const std::string &msg); - enum Status { Waiting, Playing, Paused }; + enum Status { Playing, Paused }; enum Win { Title, Stats, Log, LogBorder, DownloadBar, Timeline, TimelineDesc, Help, CarState, Max}; std::array w{}; SubMaster sm; Replay *replay; - QBasicTimer getch_timer; - QTimer sm_timer; - QSocketNotifier notifier{0, QSocketNotifier::Read, this}; int max_width, max_height; - Status status = Status::Waiting; + Status status = Status::Playing; -signals: - void updateProgressBarSignal(uint64_t cur, uint64_t total, bool success); - void logMessageSignal(ReplyMsgType type, const QString &msg); - -private slots: - void readyRead(); - void timerEvent(QTimerEvent *ev); - void updateProgressBar(uint64_t cur, uint64_t total, bool success); - void logMessage(ReplyMsgType type, const QString &msg); + std::mutex mutex; + std::vector> logs; + uint64_t progress_cur = 0; + uint64_t progress_total = 0; + bool download_success = false; }; diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 4e11ddb583..b880e99e23 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -151,5 +151,5 @@ int main(int argc, char *argv[]) { ConsoleUI console_ui(replay); replay->start(config.start_seconds); - return app.exec(); + return console_ui.exec(); } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 8d2e07ba5b..e828b369aa 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -43,6 +43,7 @@ enum class FindFlag { enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; typedef bool (*replayEventFilter)(const Event *, void *); +typedef std::map> SegmentMap; Q_DECLARE_METATYPE(std::shared_ptr); class Replay : public QObject { @@ -82,8 +83,7 @@ public: inline double maxSeconds() const { return max_seconds_; } inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } - inline const std::vector *events() const { return &events_; } - inline const std::map> &segments() const { return segments_; } + inline const SegmentMap &segments() const { return segments_; } inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); @@ -102,7 +102,6 @@ protected slots: void segmentLoadFinished(bool success); protected: - typedef std::map> SegmentMap; std::optional find(FindFlag flag); void pauseStreamThread(); void startStream(const Segment *cur_segment); From 3e5e2b52eae39a27092c35528489f37b67179fc1 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 20 Oct 2024 13:27:08 -0700 Subject: [PATCH 112/191] lint: catch NOMERGE comments (#33820) * nomerge * Update modeld.py --- scripts/lint/check_nomerge_comments.sh | 10 ++++++++++ scripts/lint/lint.sh | 1 + 2 files changed, 11 insertions(+) create mode 100755 scripts/lint/check_nomerge_comments.sh diff --git a/scripts/lint/check_nomerge_comments.sh b/scripts/lint/check_nomerge_comments.sh new file mode 100755 index 0000000000..6737d62a20 --- /dev/null +++ b/scripts/lint/check_nomerge_comments.sh @@ -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 diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh index 4b65e4a895..578c63cd18 100755 --- a/scripts/lint/lint.sh +++ b/scripts/lint/lint.sh @@ -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 From 9daec14220f6fa8ba95e57a9801d622143c8030f Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 21 Oct 2024 10:05:52 -0700 Subject: [PATCH 113/191] [bot] Update Python packages (#33833) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 452 +++++++++++++++++++++++++-------------------------- 2 files changed, 227 insertions(+), 227 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 2f4fe0ca7c..5d258ce7c4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 2f4fe0ca7c754be90dc5c12976b277cd2c7ff6c2 +Subproject commit 5d258ce7c482f1c73560f4ae762badb4eba44ca5 diff --git a/uv.lock b/uv.lock index 244a18d9e2..c74e704dc7 100644 --- a/uv.lock +++ b/uv.lock @@ -377,30 +377,30 @@ wheels = [ [[package]] name = "coverage" -version = "7.6.3" +version = "7.6.4" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/12/50/51ec496dd2ad84ca3e5f67de23f6de630be923dd6f5aed31bb60eda540e5/coverage-7.6.3.tar.gz", hash = "sha256:bb7d5fe92bd0dc235f63ebe9f8c6e0884f7360f88f3411bfed1350c872ef2054", size = 798337 } +sdist = { url = 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Subject: [PATCH 114/191] jenkins: fix files diff on orphan branches (#33835) diverge --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 737c68588c..64b2f05758 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -81,7 +81,7 @@ 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', label: 'Getting changes' + 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') { From 24a8c7ee1a35755489dc1b4010db7e7969ca8b30 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 21 Oct 2024 15:46:27 -0300 Subject: [PATCH 115/191] ssh_keys.h import not used by settings.cc (#33829) --- selfdrive/ui/qt/offroad/settings.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index a2b91534dd..c1f26c950e 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -13,7 +13,6 @@ #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" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon From 89d5761329516f1ba320356085731e9469b6fd21 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Oct 2024 14:23:44 -0700 Subject: [PATCH 116/191] camerad: setup IFE black level and color correction (#33834) * black level * enable cc * seems to work * doesnt do anything * sensorinfo * this is fine * cleanup * disable * cleanup os * revert --------- Co-authored-by: Comma Device Co-authored-by: ZwX1616 --- system/camerad/SConscript | 7 +++-- system/camerad/cameras/camera_qcom2.cc | 9 ++++-- system/camerad/cameras/ife.h | 38 ++++++++++++-------------- system/camerad/cameras/spectra.cc | 4 +-- system/camerad/sensors/ar0231.cc | 8 ++++++ system/camerad/sensors/os04c10.cc | 8 ++++++ system/camerad/sensors/ox03c10.cc | 8 ++++++ system/camerad/sensors/sensor.h | 5 ++++ 8 files changed, 60 insertions(+), 27 deletions(-) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index a5a39b0e11..46eacf94ef 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -2,9 +2,10 @@ Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon] -camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', - 'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) -env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) +if arch != "Darwin": + camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', + 'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) + env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index c79eb29db7..192bb6c363 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -12,7 +12,12 @@ #include #include +#ifdef QCOM2 #include "CL/cl_ext_qcom.h" +#else +#define CL_PRIORITY_HINT_HIGH_QCOM NULL +#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL +#endif #include "media/cam_sensor_cmn_header.h" @@ -50,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.camera_num == 2*/) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -283,7 +288,7 @@ void camerad_thread() { // *** per-cam init *** std::vector> cams; - for (const auto &config : {ROAD_CAMERA_CONFIG, WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) { + for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG, ROAD_CAMERA_CONFIG}) { auto cam = std::make_unique(&m, config); cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 2226353318..b4a8a130df 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -1,9 +1,12 @@ #include "cdm.h" -int build_initial_config(uint8_t *dst) { +#include "system/camerad/cameras/tici.h" +#include "system/camerad/sensors/sensor.h" + + +int build_initial_config(uint8_t *dst, const SensorInfo *s) { uint8_t *start = dst; - // constants, some kind of HW quirk? dst += write_random(dst, { 0x2c, 0xffffffff, 0x30, 0xffffffff, @@ -173,21 +176,7 @@ int build_initial_config(uint8_t *dst) { 0x08000066, }); - dst += write_cont(dst, 0x760, { - 0x00800080, - 0x00000000, - 0x00000000, - 0x00000000, - 0x00800080, - 0x00000000, - 0x00000000, - 0x00000000, - 0x00800080, - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - }); + dst += write_cont(dst, 0x760, s->color_correct_matrix); dst += write_cont(dst, 0x794, { 0x00000000, @@ -655,7 +644,7 @@ int build_first_update(uint8_t *dst) { return dst - start; } -int build_update(uint8_t *dst) { +int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) { uint8_t *start = dst; dst += write_random(dst, { @@ -708,11 +697,11 @@ int build_update(uint8_t *dst) { }); dst += write_cont(dst, 0x40, { - 0x00000444, + 0x00000c04, }); dst += write_cont(dst, 0x48, { - 0x00000000, + 0b10, }); dst += write_cont(dst, 0x4c, { @@ -763,5 +752,14 @@ int build_update(uint8_t *dst) { 0x00000000, }); + // *** extras, not in original dump *** + + // black level scale + offset + dst += write_cont(dst, 0x6b0, { + (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0), + 0x0, + 0x0, + }); + return dst - start; } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 39c52e0d47..09d3bc6ee3 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -495,11 +495,11 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { // stream of IFE register writes if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get()); } else if (request_id == 1) { buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); } else { - buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); + buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get()); } } diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index db709e355a..3d74266645 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -93,6 +93,7 @@ AR0231::AR0231() { init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); probe_reg_addr = 0x3000; probe_expected_data = 0x354; + bits_per_pixel = 12; mipi_format = CAM_FORMAT_MIPI_RAW_12; frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead mclk_frequency = 19200000; //Hz @@ -116,6 +117,13 @@ AR0231::AR0231() { min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; target_grey_factor = 1.0; + + black_level = 168; + color_correct_matrix = { + 0x000000af, 0x00000ff9, 0x00000fd8, + 0x00000fbc, 0x000000bb, 0x00000009, + 0x00000fb6, 0x00000fe0, 0x000000ea, + }; } void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const { diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index a741aaf4fe..cf68923232 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -37,6 +37,7 @@ OS04C10::OS04C10() { init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); probe_reg_addr = 0x300a; probe_expected_data = 0x5304; + bits_per_pixel = 10; mipi_format = CAM_FORMAT_MIPI_RAW_10; frame_data_type = 0x2b; mclk_frequency = 24000000; // Hz @@ -60,6 +61,13 @@ OS04C10::OS04C10() { min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx]; max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; target_grey_factor = 0.01; + + black_level = 64; + color_correct_matrix = { + 0x000000c2, 0x00000fe0, 0x00000fde, + 0x00000fa7, 0x000000d9, 0x00001000, + 0x00000fca, 0x00000fef, 0x000000c7, + }; } std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 80b9c79212..739c1e4277 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -37,6 +37,7 @@ OX03C10::OX03C10() { init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10)); probe_reg_addr = 0x300a; probe_expected_data = 0x5803; + bits_per_pixel = 12; mipi_format = CAM_FORMAT_MIPI_RAW_12; frame_data_type = 0x2c; // one is 0x2a, two are 0x2b mclk_frequency = 24000000; //Hz @@ -60,6 +61,13 @@ OX03C10::OX03C10() { min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; target_grey_factor = 0.01; + + black_level = 64; + color_correct_matrix = { + 0x000000b6, 0x00000ff1, 0x00000fda, + 0x00000fcc, 0x000000b9, 0x00000ffb, + 0x00000fc2, 0x00000ff6, 0x000000c9, + }; } std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 0dea525347..a037942fb7 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -60,10 +60,15 @@ public: std::vector start_reg_array; std::vector init_reg_array; + uint32_t bits_per_pixel; uint32_t bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR; uint32_t mipi_format; uint32_t mclk_frequency; uint32_t frame_data_type; + + // ISP image processing params + uint32_t black_level; + std::vector color_correct_matrix; }; class AR0231 : public SensorInfo { From 67ced42a15f4eda189f938e4ad7bc0df251fa40f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 21 Oct 2024 15:13:08 -0700 Subject: [PATCH 117/191] process_replay: longitudinalPlan migration (#33832) * migration for longitudinalPlan aTarget * Fix file * Fix * Car params optional, not critical * Save should stop too --- selfdrive/test/process_replay/migration.py | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 16ca239aeb..cb3db26344 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -9,6 +9,7 @@ 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 @@ -39,6 +40,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo migrate_drivingModelData, migrate_onroadEvents, migrate_driverMonitoringState, + migrate_longitudinalPlan, ] if manager_states: migrations.append(migrate_managerState) @@ -91,6 +93,24 @@ def migration(inputs: list[str], product: str|None=None): 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 = [] From 0d6baffcbfc94b5c383da361b17d4bf923114b75 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 21 Oct 2024 16:14:26 -0700 Subject: [PATCH 118/191] camerad: disable os HDR (#33838) * revert hdr settings * 12 * pv12 --------- Co-authored-by: Comma Device --- system/camerad/sensors/os04c10.cc | 12 +-- system/camerad/sensors/os04c10_cl.h | 13 ++- system/camerad/sensors/os04c10_registers.h | 106 ++++++++++----------- 3 files changed, 69 insertions(+), 62 deletions(-) diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index cf68923232..dbdceb9189 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -25,10 +25,10 @@ OS04C10::OS04C10() { pixel_size_mm = 0.004; data_word = false; - hdr_offset = 64 * 2 + 8; // stagger + // hdr_offset = 64 * 2 + 8; // stagger frame_width = 1344; - frame_height = 760 * 2 + hdr_offset; - frame_stride = (frame_width * 10 / 8); // no alignment + frame_height = 760; //760 * 2 + hdr_offset; + frame_stride = (frame_width * 12 / 8); // no alignment extra_height = 0; frame_offset = 0; @@ -37,9 +37,9 @@ OS04C10::OS04C10() { init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); probe_reg_addr = 0x300a; probe_expected_data = 0x5304; - bits_per_pixel = 10; - mipi_format = CAM_FORMAT_MIPI_RAW_10; - frame_data_type = 0x2b; + bits_per_pixel = 12; + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x2c; mclk_frequency = 24000000; // Hz dc_gain_factor = 1; diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h index 61775dcdc8..7cfc99655e 100644 --- a/system/camerad/sensors/os04c10_cl.h +++ b/system/camerad/sensors/os04c10_cl.h @@ -2,8 +2,9 @@ #define BGGR -#define BIT_DEPTH 10 +#define BIT_DEPTH 12 #define PV_MAX10 1023 +#define PV_MAX12 4096 #define PV_MAX16 65536 // gamma curve is calibrated to 16bit #define BLACK_LVL 64 #define VIGNETTE_RSZ 2.2545f @@ -38,6 +39,11 @@ float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, i return clamp(pv*vignette_factor, 0.0, 1.0); } +float4 normalize_pv(int4 parsed, float vignette_factor) { + float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL); + return clamp(pv*vignette_factor, 0.0, 1.0); +} + float3 color_correct(float3 rgb) { float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219); corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146); @@ -46,10 +52,11 @@ float3 color_correct(float3 rgb) { } float3 apply_gamma(float3 rgb, int expo_time) { - float s = log2((float)expo_time); + return powr(rgb, 0.7); +/*float s = log2((float)expo_time); if (s < 6) {s = fmin(12.0 - s, 9.0);} // log function adaptive to number of bits - return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0; + return clamp(log(1 + rgb*(PV_MAX16 - BLACK_LVL)) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;*/ } #endif diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index d698b1311f..53e80e079f 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -8,14 +8,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x0103, 0x01}, // PLL - {0x0301, 0x84}, + {0x0301, 0xe4}, {0x0303, 0x01}, - {0x0305, 0x61}, + {0x0305, 0xb6}, {0x0306, 0x01}, {0x0307, 0x17}, {0x0323, 0x04}, {0x0324, 0x01}, - {0x0325, 0x7a}, + {0x0325, 0x62}, {0x3012, 0x06}, {0x3013, 0x02}, @@ -30,40 +30,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3660, 0x04}, {0x3666, 0xa5}, {0x3667, 0xa5}, - {0x366a, 0x54}, + {0x366a, 0x50}, {0x3673, 0x0d}, {0x3672, 0x0d}, {0x3671, 0x0d}, {0x3670, 0x0d}, - {0x3685, 0x0a}, + {0x3685, 0x00}, {0x3694, 0x0d}, {0x3693, 0x0d}, {0x3692, 0x0d}, {0x3691, 0x0d}, {0x3696, 0x4c}, {0x3697, 0x4c}, - {0x3698, 0x00}, + {0x3698, 0x40}, {0x3699, 0x80}, - {0x369a, 0x80}, + {0x369a, 0x18}, {0x369b, 0x1f}, - {0x369c, 0x1f}, + {0x369c, 0x14}, {0x369d, 0x80}, {0x369e, 0x40}, {0x369f, 0x21}, {0x36a0, 0x12}, - {0x36a1, 0xdd}, + {0x36a1, 0x5d}, {0x36a2, 0x66}, - {0x370a, 0x00}, - {0x370e, 0x00}, + {0x370a, 0x02}, + {0x370e, 0x0c}, {0x3710, 0x00}, - {0x3713, 0x04}, + {0x3713, 0x00}, {0x3725, 0x02}, {0x372a, 0x03}, {0x3738, 0xce}, - {0x3748, 0x00}, - {0x374a, 0x00}, - {0x374c, 0x00}, - {0x374e, 0x00}, + {0x3748, 0x02}, + {0x374a, 0x02}, + {0x374c, 0x02}, + {0x374e, 0x02}, {0x3756, 0x00}, {0x3757, 0x00}, {0x3767, 0x00}, @@ -81,11 +81,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37ba, 0x03}, {0x37bb, 0x00}, {0x37bc, 0x04}, - {0x37be, 0x26}, + {0x37be, 0x08}, {0x37c4, 0x11}, {0x37c5, 0x80}, {0x37c6, 0x14}, - {0x37c7, 0xa8}, + {0x37c7, 0x08}, {0x37da, 0x11}, {0x381f, 0x08}, // {0x3829, 0x03}, @@ -111,7 +111,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x4045, 0x7e}, {0x4047, 0x7e}, {0x4049, 0x7e}, - {0x4090, 0x14}, + {0x4090, 0x04}, {0x40b0, 0x00}, {0x40b1, 0x00}, {0x40b2, 0x00}, @@ -129,7 +129,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x4503, 0x00}, {0x4504, 0x06}, {0x4506, 0x00}, - {0x4507, 0x57}, + {0x4507, 0x47}, {0x4803, 0x00}, {0x480c, 0x32}, {0x480e, 0x04}, @@ -139,7 +139,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x4823, 0x3f}, {0x4825, 0x30}, {0x4833, 0x10}, - {0x484b, 0x07}, + {0x484b, 0x27}, {0x488b, 0x00}, {0x4d00, 0x04}, {0x4d01, 0xad}, @@ -152,7 +152,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x4e0d, 0x00}, // ISP - {0x5001, 0x00}, + {0x5001, 0x09}, {0x5004, 0x00}, {0x5080, 0x04}, {0x5036, 0x80}, @@ -173,32 +173,32 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x301c, 0xf8}, {0x301e, 0xb4}, {0x301f, 0xf0}, - {0x3022, 0x01}, + {0x3022, 0x61}, {0x3109, 0xe7}, {0x3600, 0x00}, - {0x3610, 0x75}, + {0x3610, 0x65}, {0x3611, 0x85}, {0x3613, 0x3a}, {0x3615, 0x60}, - {0x3621, 0x90}, + {0x3621, 0xb0}, {0x3620, 0x0c}, {0x3629, 0x00}, {0x3661, 0x04}, {0x3664, 0x70}, {0x3665, 0x00}, - {0x3681, 0x80}, - {0x3682, 0x40}, - {0x3683, 0x21}, - {0x3684, 0x12}, + {0x3681, 0xa6}, + {0x3682, 0x53}, + {0x3683, 0x2a}, + {0x3684, 0x15}, {0x3700, 0x2a}, {0x3701, 0x12}, {0x3703, 0x28}, {0x3704, 0x0e}, - {0x3706, 0x4a}, + {0x3706, 0x9d}, {0x3709, 0x4a}, - {0x370b, 0xa2}, + {0x370b, 0x48}, {0x370c, 0x01}, - {0x370f, 0x00}, + {0x370f, 0x04}, {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, @@ -206,19 +206,19 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3720, 0x00}, {0x3724, 0x13}, {0x373f, 0xb0}, - {0x3741, 0x4a}, - {0x3743, 0x4a}, - {0x3745, 0x4a}, - {0x3747, 0x4a}, - {0x3749, 0xa2}, - {0x374b, 0xa2}, - {0x374d, 0xa2}, - {0x374f, 0xa2}, + {0x3741, 0x9d}, + {0x3743, 0x9d}, + {0x3745, 0x9d}, + {0x3747, 0x9d}, + {0x3749, 0x48}, + {0x374b, 0x48}, + {0x374d, 0x48}, + {0x374f, 0x48}, {0x3755, 0x10}, {0x376c, 0x00}, - {0x378d, 0x30}, - {0x3790, 0x4a}, - {0x3791, 0xa2}, + {0x378d, 0x3c}, + {0x3790, 0x01}, + {0x3791, 0x01}, {0x3798, 0x40}, {0x379e, 0x00}, {0x379f, 0x04}, @@ -278,27 +278,27 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3816, 0x03}, {0x3817, 0x01}, - {0x380c, 0x04}, {0x380d, 0x2e}, // HTS - {0x380e, 0x09}, {0x380f, 0xdb}, // VTS + {0x380c, 0x08}, {0x380d, 0x5c}, // HTS + {0x380e, 0x09}, {0x380f, 0x38}, // VTS {0x3820, 0xb3}, - {0x3821, 0x05}, - {0x3880, 0x00}, + {0x3821, 0x01}, + {0x3880, 0x25}, {0x3882, 0x20}, {0x3c91, 0x0b}, {0x3c94, 0x45}, - // {0x3cad, 0x00}, - // {0x3cae, 0x00}, + {0x3cad, 0x00}, + {0x3cae, 0x00}, {0x4000, 0xf3}, {0x4001, 0x60}, - {0x4003, 0x40}, + {0x4003, 0x80}, {0x4300, 0xff}, {0x4302, 0x0f}, - {0x4305, 0x93}, + {0x4305, 0x83}, {0x4505, 0x84}, {0x4809, 0x0e}, {0x480a, 0x04}, - {0x4837, 0x14}, + {0x4837, 0x15}, {0x4c00, 0x08}, {0x4c01, 0x08}, {0x4c04, 0x00}, @@ -307,7 +307,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { // {0x0100, 0x01}, // {0x320d, 0x00}, // {0x3208, 0xa0}, - // {0x3822, 0x14}, + {0x3822, 0x14}, // initialize exposure {0x3503, 0x88}, From 3396c59151ffc2723422be8d034f54aa70901eff Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Oct 2024 19:33:48 -0500 Subject: [PATCH 119/191] maneuversd: auto-resume if possible (#33841) maneuversd auto-resume --- tools/longitudinal_maneuvers/maneuversd.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index e627274576..b10ffa1ac0 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -168,6 +168,8 @@ def main(): longitudinalPlan.allowThrottle = True longitudinalPlan.hasLead = True + longitudinalPlan.speeds = [0.2] # triggers carControl.cruiseControl.resume in controlsd + pm.send('longitudinalPlan', plan_send) assistance_send = messaging.new_message('driverAssistance') From c78fc60d9b63e8258cd31c839d5f463b232f7b5c Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 21 Oct 2024 19:22:34 -0700 Subject: [PATCH 120/191] [bot] Update Python packages (#33842) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 70 ++++++++++++++++++++++++++-------------------------- 2 files changed, 36 insertions(+), 36 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 5d258ce7c4..9f9a5fe56f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5d258ce7c482f1c73560f4ae762badb4eba44ca5 +Subproject commit 9f9a5fe56ff04d0b207c3ac01afe454021ca385b diff --git a/uv.lock b/uv.lock index c74e704dc7..ae6f8e9b16 100644 --- a/uv.lock +++ b/uv.lock @@ -5110,48 +5110,48 @@ wheels = [ [[package]] name = "yarl" -version = "1.15.5" +version = "1.16.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "idna" }, { name = "multidict" }, { name = "propcache" }, ] -sdist = { url = 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[PATCH 121/191] CSID cropping for IFE (#33844) * ife csid crop * fix reg processing --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_qcom2.cc | 6 ++++-- system/camerad/cameras/spectra.cc | 14 +++++++++----- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 192bb6c363..0c102051a5 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); @@ -262,7 +262,9 @@ void CameraState::run() { } // Process camera registers and set camera exposure - camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed); + if (camera.is_raw) { + camera.sensor->processRegisters((uint8_t *)camera.buf.cur_camera_buf->addr, framed); + } set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4)); // Send the message diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 09d3bc6ee3..f7364bc954 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -589,8 +589,8 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { io_cfg[0].planes[0] = (struct cam_plane_cfg){ .width = sensor->frame_width, .height = sensor->frame_height, - .plane_stride = stride, - .slice_height = y_height, + .plane_stride = sensor->frame_stride, + .slice_height = sensor->frame_height + sensor->extra_height, }; io_cfg[0].format = sensor->mipi_format; io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; @@ -799,9 +799,9 @@ void SpectraCamera::configISP() { .right_stop = sensor->frame_width - 1, .right_width = sensor->frame_width, - .line_start = 0, - .line_stop = sensor->frame_height + sensor->extra_height - 1, - .height = sensor->frame_height + sensor->extra_height, + .line_start = sensor->frame_offset, + .line_stop = sensor->frame_height + sensor->frame_offset - 1, + .height = sensor->frame_height + sensor->frame_offset, .pixel_clk = 0x0, .batch_size = 0x0, @@ -821,6 +821,10 @@ void SpectraCamera::configISP() { }; if (is_raw) { + in_port_info.line_start = 0; + in_port_info.line_stop = sensor->frame_height + sensor->extra_height - 1; + in_port_info.height = sensor->frame_height + sensor->extra_height; + in_port_info.data[0].res_type = CAM_ISP_IFE_OUT_RES_RDI_0; in_port_info.data[0].format = sensor->mipi_format; } From b87a52a9a09c3c2347fe9d6cda45ce70b9a2534d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Oct 2024 20:13:29 -0700 Subject: [PATCH 122/191] all raw for now --- system/camerad/cameras/camera_qcom2.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 0c102051a5..fb325ac772 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -55,7 +55,7 @@ public: float fl_pix = 0; - CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {}; + CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {}; ~CameraState(); void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); From d26730ffd5d8ee0b84cacc55f109bf53ed0ea3b3 Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Tue, 22 Oct 2024 13:50:06 -0600 Subject: [PATCH 123/191] Remove steering wheel offset for planner slow down for curves (#33827) * long planner: use vehicle model w/ avg steer offset for limit accel in turns * remove unused CP in limit_accel_in_turns * revert use of vehicle model, keeping angle offset in limit accel in turns * only the offset fix, check valid, and fix process replay * update refs (valid two frames later) --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/lib/longitudinal_planner.py | 3 ++- selfdrive/controls/plannerd.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c5aaafa096..0fc8b8ef66 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -131,7 +131,8 @@ 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] diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index ae8301871d..bcfc4d0c14 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -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) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index ef17325642..448dc6896d 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -508,7 +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, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ea0c416f20..7892dd52d8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4e595fcc2e8e4ef1564d915f697ddd9334067a7f \ No newline at end of file +a000c117d4082c2688735b6e21073e5df0626e63 \ No newline at end of file From 4f8b11257e86b407fad67cff047b91d9dcee21cc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Oct 2024 14:58:06 -0500 Subject: [PATCH 124/191] Revert "Remove steering wheel offset for planner slow down for curves" (#33848) Revert "Remove steering wheel offset for planner slow down for curves (#33827)" This reverts commit d26730ffd5d8ee0b84cacc55f109bf53ed0ea3b3. --- selfdrive/controls/lib/longitudinal_planner.py | 3 +-- selfdrive/controls/plannerd.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 5 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 0fc8b8ef66..c5aaafa096 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -131,8 +131,7 @@ class LongitudinalPlanner: if self.mpc.mode == 'acc': accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] - 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) + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) else: accel_limits = [ACCEL_MIN, ACCEL_MAX] accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index bcfc4d0c14..ae8301871d 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -19,7 +19,7 @@ def main(): ldw = LaneDepartureWarning() longitudinal_planner = LongitudinalPlanner(CP) pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance']) - sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'], + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', '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', 'liveParameters']) + msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2']) msg.driverAssistance.leftLaneDeparture = ldw.left msg.driverAssistance.rightLaneDeparture = ldw.right pm.send('driverAssistance', msg) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 448dc6896d..ef17325642 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -508,7 +508,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="plannerd", - pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"], + pubs=["modelV2", "carControl", "carState", "controlsState", "radarState", "selfdriveState"], subs=["longitudinalPlan", "driverAssistance"], ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], init_callback=get_car_params_callback, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7892dd52d8..ea0c416f20 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a000c117d4082c2688735b6e21073e5df0626e63 \ No newline at end of file +4e595fcc2e8e4ef1564d915f697ddd9334067a7f \ No newline at end of file From fc5f761fa857403f372f3aed3161b5596028e412 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Oct 2024 14:41:51 -0700 Subject: [PATCH 125/191] camerad: setup IFE gamma correction (#33837) * setup gamma * ife happy * config for sensor * fill and clean up * cleanup --------- Co-authored-by: Comma Device Co-authored-by: ZwX1616 --- system/camerad/cameras/cdm.cc | 14 +++++ system/camerad/cameras/cdm.h | 1 + system/camerad/cameras/ife.h | 98 ++++--------------------------- system/camerad/cameras/spectra.cc | 27 +++++++-- system/camerad/cameras/spectra.h | 6 +- system/camerad/sensors/ar0231.cc | 12 ++++ system/camerad/sensors/os04c10.cc | 4 ++ system/camerad/sensors/ox03c10.cc | 5 ++ system/camerad/sensors/sensor.h | 3 +- 9 files changed, 76 insertions(+), 94 deletions(-) diff --git a/system/camerad/cameras/cdm.cc b/system/camerad/cameras/cdm.cc index a4825a88bc..8b319bc70c 100644 --- a/system/camerad/cameras/cdm.cc +++ b/system/camerad/cameras/cdm.cc @@ -1,4 +1,18 @@ #include "cdm.h" +#include "stddef.h" + +int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel) { + struct cdm_dmi_cmd *cmd = (struct cdm_dmi_cmd*)dst; + cmd->cmd = CAM_CDM_CMD_DMI_32; + cmd->length = length - 1; + cmd->reserved = 0; + cmd->addr = 0; // gets patched in + cmd->DMIAddr = dmi_addr; + cmd->DMISel = sel; + + *addr = (uint64_t)(dst + offsetof(struct cdm_dmi_cmd, addr)); + return sizeof(struct cdm_dmi_cmd); +} int write_cont(uint8_t *dst, uint32_t reg, std::vector vals) { struct cdm_regcontinuous_cmd *cmd = (struct cdm_regcontinuous_cmd*)dst; diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h index 017ca55c9e..bd7a50e0ec 100644 --- a/system/camerad/cameras/cdm.h +++ b/system/camerad/cameras/cdm.h @@ -9,6 +9,7 @@ // our helpers int write_random(uint8_t *dst, std::vector vals); int write_cont(uint8_t *dst, uint32_t reg, std::vector vals); +int write_dmi(uint8_t *dst, uint64_t *addr, uint32_t length, uint32_t dmi_addr, uint8_t sel); // from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h} diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index b4a8a130df..18fbfb0067 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -4,7 +4,7 @@ #include "system/camerad/sensors/sensor.h" -int build_initial_config(uint8_t *dst, const SensorInfo *s) { +int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; dst += write_random(dst, { @@ -178,49 +178,17 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s) { dst += write_cont(dst, 0x760, s->color_correct_matrix); - dst += write_cont(dst, 0x794, { - 0x00000000, - }); - /* TODO - cdm_dmi_cmd_t 568 - .length = 511 - .reserved = 33 - .cmd = 11 - .addr = 0 - .DMIAddr = 3108 - .DMISel = 24 - */ - + // gamma dst += write_cont(dst, 0x798, { 0x00000000, }); - /* TODO - cdm_dmi_cmd_t 580 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 0 - .DMIAddr = 3108 - .DMISel = 26 - */ - /* TODO - cdm_dmi_cmd_t 580 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 0 - .DMIAddr = 3108 - .DMISel = 28 - */ - /* TODO - cdm_dmi_cmd_t 580 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 0 - .DMIAddr = 3108 - .DMISel = 30 - */ + uint64_t addr; + dst += write_dmi(dst, &addr, 256, 0xc24, 26); // G + patches.push_back(addr - (uint64_t)start); + dst += write_dmi(dst, &addr, 256, 0xc24, 28); // B + patches.push_back(addr - (uint64_t)start); + dst += write_dmi(dst, &addr, 256, 0xc24, 30); // R + patches.push_back(addr - (uint64_t)start); dst += write_cont(dst, 0xf30, { 0x00750259, @@ -517,50 +485,6 @@ int build_first_update(uint8_t *dst) { 0x08000066, }); - dst += write_cont(dst, 0x794, { - 0x00000001, - }); - /* TODO - cdm_dmi_cmd_t 432 - .length = 511 - .reserved = 33 - .cmd = 11 - .addr = 832 - .DMIAddr = 3108 - .DMISel = 25 - */ - - dst += write_cont(dst, 0x798, { - 0x00000007, - }); - /* TODO - cdm_dmi_cmd_t 444 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 5344 - .DMIAddr = 3108 - .DMISel = 27 - */ - /* TODO - cdm_dmi_cmd_t 444 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 5344 - .DMIAddr = 3108 - .DMISel = 29 - */ - /* TODO - cdm_dmi_cmd_t 444 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 5344 - .DMIAddr = 3108 - .DMISel = 31 - */ - dst += write_cont(dst, 0xd84, { 0x000004b7, 0x00000787, @@ -644,7 +568,7 @@ int build_first_update(uint8_t *dst) { return dst - start; } -int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) { +int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; dst += write_random(dst, { @@ -701,7 +625,7 @@ int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s) { }); dst += write_cont(dst, 0x48, { - 0b10, + (1 << 3) | (1 << 1), }); dst += write_cont(dst, 0x4c, { diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index f7364bc954..0f5fdd30f6 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -463,6 +463,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { * IFE = Image Front End */ int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2; + size += sizeof(struct cam_patch_desc)*3; if (!init) { size += sizeof(struct cam_buf_io_cfg); } @@ -480,6 +481,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { pkt->header.size = size; // *** cmd buf *** + std::vector patches; { struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; pkt->num_cmd_buf = 2; @@ -495,11 +497,11 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { // stream of IFE register writes if (!is_raw) { if (init) { - buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get()); + buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches); } else if (request_id == 1) { buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); } else { - buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get()); + buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); } } @@ -632,8 +634,18 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { // *** patches *** // sets up the kernel driver to do address translation for the IFE { - pkt->num_patches = 0; + pkt->num_patches = patches.size(); pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; + if (pkt->num_patches > 0) { + // gamma LUT + for (int i = 0; i < 3; i++) { + struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*i); + patch->dst_buf_hdl = ife_cmd.handle; + patch->src_buf_hdl = ife_gamma_lut.handle; + patch->dst_offset = patches[i]; + patch->src_offset = ife_gamma_lut.size*i; + } + } } int ret = device_config(m->isp_fd, session_handle, isp_dev_handle, cam_packet_handle); @@ -841,10 +853,17 @@ void SpectraCamera::configISP() { isp_dev_handle = *isp_dev_handle_; LOGD("acquire isp dev"); - // config IFE + // allocate IFE memory, then configure it ife_cmd.init(m, 67984, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT); + ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + m->device_iommu, m->cdm_iommu, 3); // 3 for RGB + for (int i = 0; i < 3; i++) { + memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size); + } + config_ife(0, 1, true); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index e295c67cb9..fd2843b39e 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -74,7 +74,8 @@ public: void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) { size = s; alignment = a; - ptr = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2); + void *p = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2); + ptr = (unsigned char*)p; assert(ptr != NULL); }; @@ -82,7 +83,7 @@ public: return ALIGNED_SIZE(size, alignment); }; - void *ptr; + unsigned char *ptr; int size, alignment, handle; }; @@ -139,6 +140,7 @@ public: int32_t link_handle = -1; SpectraBuf ife_cmd; + SpectraBuf ife_gamma_lut; SpectraBuf bps_cmd; SpectraBuf bps_cdm_buffer; diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 3d74266645..5b2b7445b1 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -124,6 +124,18 @@ AR0231::AR0231() { 0x00000fbc, 0x000000bb, 0x00000009, 0x00000fb6, 0x00000fe0, 0x000000ea, }; + for (int i = 0; i < 64; i++) { + float fx = i / 63.0; + const float gamma_k = 0.75; + const float gamma_b = 0.125; + const float mp = 0.01; // ideally midpoint should be adaptive + const float rk = 9 - 100*mp; + // poly approximation for s curve + fx = (fx > mp) ? + ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) : + ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b); + gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); + } } void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const { diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index dbdceb9189..0ec891a4c0 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -68,6 +68,10 @@ OS04C10::OS04C10() { 0x00000fa7, 0x000000d9, 0x00001000, 0x00000fca, 0x00000fef, 0x000000c7, }; + for (int i = 0; i < 64; i++) { + float fx = i / 63.0; + gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5)); + } } std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 739c1e4277..04184cc99b 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -68,6 +68,11 @@ OX03C10::OX03C10() { 0x00000fcc, 0x000000b9, 0x00000ffb, 0x00000fc2, 0x00000ff6, 0x000000c9, }; + for (int i = 0; i < 64; i++) { + float fx = i / 63.0; + fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089; + gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); + } } std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index a037942fb7..2dfb4d647b 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -68,7 +68,8 @@ public: // ISP image processing params uint32_t black_level; - std::vector color_correct_matrix; + std::vector color_correct_matrix; // 3x3 + std::vector gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here }; class AR0231 : public SensorInfo { From fc5aed10d54ce3f2277a0b55c4d9046c0dd8ddb3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Oct 2024 15:14:39 -0700 Subject: [PATCH 126/191] Enable IFE linearization (#33852) * enable linearization * fixup * gate that --------- Co-authored-by: Comma Device --- system/camerad/cameras/ife.h | 56 ++++--------------------------- system/camerad/cameras/spectra.cc | 29 +++++++++++----- system/camerad/cameras/spectra.h | 1 + system/camerad/sensors/ox03c10.cc | 3 ++ system/camerad/sensors/sensor.h | 3 +- 5 files changed, 34 insertions(+), 58 deletions(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 18fbfb0067..b30c0a7d2a 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -5,6 +5,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector &patches) { + uint64_t addr; uint8_t *start = dst; dst += write_random(dst, { @@ -70,6 +71,9 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectornum_patches = patches.size(); pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; if (pkt->num_patches > 0) { + // linearization LUT + struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset); + patch->dst_buf_hdl = ife_cmd.handle; + patch->src_buf_hdl = ife_linearization_lut.handle; + patch->dst_offset = patches[0]; + patch->src_offset = 0; + // gamma LUT for (int i = 0; i < 3; i++) { - struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*i); + patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*(i+1)); patch->dst_buf_hdl = ife_cmd.handle; patch->src_buf_hdl = ife_gamma_lut.handle; - patch->dst_offset = patches[i]; + patch->dst_offset = patches[i+1]; patch->src_offset = ife_gamma_lut.size*i; } } @@ -857,11 +864,17 @@ void SpectraCamera::configISP() { ife_cmd.init(m, 67984, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT); - ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20, - CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - m->device_iommu, m->cdm_iommu, 3); // 3 for RGB - for (int i = 0; i < 3; i++) { - memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size); + if (!is_raw) { + ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + m->device_iommu, m->cdm_iommu, 3); // 3 for RGB + for (int i = 0; i < 3; i++) { + memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size); + } + ife_linearization_lut.init(m, sensor->linearization_lut.size(), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + m->device_iommu, m->cdm_iommu); + memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size); } config_ife(0, 1, true); diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index fd2843b39e..9da66a0900 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -141,6 +141,7 @@ public: SpectraBuf ife_cmd; SpectraBuf ife_gamma_lut; + SpectraBuf ife_linearization_lut; SpectraBuf bps_cmd; SpectraBuf bps_cdm_buffer; diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 04184cc99b..b39b496bfa 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -73,6 +73,9 @@ OX03C10::OX03C10() { fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089; gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); } + for (int i = 0; i < 288; i++) { + linearization_lut.push_back(0xff); + } } std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 2dfb4d647b..5cb7b686d4 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -69,7 +69,8 @@ public: // ISP image processing params uint32_t black_level; std::vector color_correct_matrix; // 3x3 - std::vector gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here + std::vector gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here + std::vector linearization_lut; // length 288 }; class AR0231 : public SensorInfo { From cf420ed00185b12ce2d4f7012e883e45ecaa8a78 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Oct 2024 18:35:04 -0700 Subject: [PATCH 127/191] IFE register cleanup (#33854) * remove first update * no duplicates * fix build * lil more * lil more * lil more * cleanup --------- Co-authored-by: Comma Device --- system/camerad/cameras/ife.h | 536 +++++------------------------- system/camerad/cameras/spectra.cc | 4 +- 2 files changed, 83 insertions(+), 457 deletions(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index b30c0a7d2a..85d3fe35e9 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -4,8 +4,7 @@ #include "system/camerad/sensors/sensor.h" -int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector &patches) { - uint64_t addr; +int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patches) { uint8_t *start = dst; dst += write_random(dst, { @@ -16,26 +15,94 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorbits_per_pixel) - 1) << 0xf) | (s->black_level << 0), + 0x0, + 0x0, + }); + + return dst - start; +} + + +int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector &patches) { + uint8_t *start = dst; + + // start with the every frame config + dst += build_update(dst, s, patches); + + uint64_t addr; + + // setup dst += write_cont(dst, 0x478, { 0x00000004, 0x004000c0, }); - dst += write_cont(dst, 0x488, { 0x00000000, 0x00000000, 0x00000f0f, }); - dst += write_cont(dst, 0x49c, { 0x00000001, }); - dst += write_cont(dst, 0xce4, { 0x00000000, 0x00000000, }); + // linearization dst += write_cont(dst, 0x4dc, { 0x00000000, 0x04050b84, @@ -84,54 +151,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorcolor_correct_matrix); // gamma @@ -193,6 +207,7 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorframe_height - 1, + s->frame_width - 1, }); - dst += write_cont(dst, 0xe30, { - 0x0000025b, - 0x00000787, + s->frame_height/2 - 1, + s->frame_width - 1, }); - dst += write_cont(dst, 0xe18, { 0x0ff00000, 0x00000016, }); - dst += write_cont(dst, 0xe38, { 0x0ff00000, 0x00000017, }); - dst += write_cont(dst, 0xd84, { - 0x000004b7, - 0x00000787, - }); - - dst += write_cont(dst, 0xda4, { - 0x000004b7, - 0x00000787, - }); - - dst += write_cont(dst, 0xd60, { - 0x04380300, - 0x09016c7d, - 0x021c0300, - }); - - dst += write_cont(dst, 0xd98, { - 0x0ff00000, - 0x00000016, - }); - - dst += write_cont(dst, 0xdb8, { - 0x0ff00000, - 0x00000017, - }); - - dst += write_cont(dst, 0xd6c, { - 0x00000300, - }); - - dst += write_cont(dst, 0xd70, { - 0x010e0f00, - 0x09016c7d, - 0x00870f00, - }); - - dst += write_cont(dst, 0xd7c, { - 0x00000f00, - }); - - dst += write_cont(dst, 0x40, { - 0x00000c06, - }); - - dst += write_cont(dst, 0x48, { - 0x0000000e, - }); - - dst += write_cont(dst, 0x4c, { - 0x00000019, - }); - - dst += write_cont(dst, 0xe4c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xe6c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xe0c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xe2c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xd8c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdac, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdcc, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdec, { - 0x00000000, - }); - - dst += write_cont(dst, 0x44, { - 0x00000000, - }); - - dst += write_cont(dst, 0xaac, { - 0x00000040, - }); - - dst += write_cont(dst, 0xf00, { - 0x00000000, - }); - - //hexdump(start, dst - start); return dst - start; } -int build_first_update(uint8_t *dst) { - uint8_t *start = dst; - dst += write_random(dst, { - 0x2c, 0xffffffff, - 0x30, 0xffffffff, - 0x34, 0xffffffff, - 0x38, 0xffffffff, - 0x3c, 0xffffffff, - }); - - dst += write_cont(dst, 0x560, { - 0x00000001, - 0x04440444, - 0x04450445, - 0x04440444, - 0x04450445, - 0x000000ca, - 0x0000009c, - }); - - dst += write_cont(dst, 0x5c4, { - 0x00000000, - 0x00001000, - 0x00001000, - 0x00001000, - 0x00001000, - 0x00800080, - 0x00802040, - 0x00000000, - }); - - dst += write_cont(dst, 0x5e8, { - 0x06363007, - }); - - dst += write_cont(dst, 0x5f4, { - 0x00000000, - 0x00000000, - 0x00000000, - 0x00000000, - 0x3b3839a0, - 0x003f8040, - 0x00000000, - 0x00000000, - 0x00078000, - 0x00078000, - 0x00078000, - 0x00078000, - 0x00078000, - 0x00078000, - 0x00078000, - 0x00078000, - 0x00000009, - 0x00400808, - 0x00000044, - 0x004000a0, - 0x0a0d00a6, - 0x0a0d00a6, - }); - /* TODO - cdm_dmi_cmd_t 368 - .length = 255 - .reserved = 33 - .cmd = 10 - .addr = 5344 - .DMIAddr = 3108 - .DMISel = 13 - */ - - dst += write_cont(dst, 0x6fc, { - 0x00800080, - 0x00000080, - 0x00000000, - 0x00000000, - }); - - dst += write_cont(dst, 0x6f8, { - 0x00000100, - }); - - dst += write_cont(dst, 0x71c, { - 0x00008000, - 0x08000066, - }); - - dst += write_cont(dst, 0xd84, { - 0x000004b7, - 0x00000787, - }); - - dst += write_cont(dst, 0xda4, { - 0x000004b7, - 0x00000787, - }); - - dst += write_cont(dst, 0xd6c, { - 0x00000300, - }); - - dst += write_cont(dst, 0xd70, { - 0x02640f00, - 0x09016c7d, - 0x01320f00, - }); - - dst += write_cont(dst, 0xd7c, { - 0x00000f00, - }); - - dst += write_cont(dst, 0x40, { - 0x00000c06, - }); - - dst += write_cont(dst, 0x48, { - 0x00000000, - }); - - dst += write_cont(dst, 0x4c, { - 0x00000019, - }); - - dst += write_cont(dst, 0xe4c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xe6c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xe0c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xe2c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xd8c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdac, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdcc, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdec, { - 0x00000000, - }); - - dst += write_cont(dst, 0x44, { - 0x00000000, - }); - - dst += write_cont(dst, 0xaac, { - 0x00000040, - }); - - dst += write_cont(dst, 0xf00, { - 0x00000000, - }); - - return dst - start; -} - -int build_update(uint8_t *dst, const CameraConfig &cc, const SensorInfo *s, std::vector &patches) { - uint8_t *start = dst; - - dst += write_random(dst, { - 0x2c, 0xffffffff, - 0x30, 0xffffffff, - 0x34, 0xffffffff, - 0x38, 0xffffffff, - 0x3c, 0xffffffff, - }); - - dst += write_cont(dst, 0x560, { - 0x00000001, - 0x04440444, - 0x04450445, - 0x04440444, - 0x04450445, - 0x000000ca, - 0x0000009c, - }); - - dst += write_cont(dst, 0x6fc, { - 0x00800080, - 0x00000080, - 0x00000000, - 0x00000000, - }); - - dst += write_cont(dst, 0xd84, { - 0x000004b7, - 0x00000787, - }); - - dst += write_cont(dst, 0xda4, { - 0x000004b7, - 0x00000787, - }); - - dst += write_cont(dst, 0xd6c, { - 0x00000300, - }); - - dst += write_cont(dst, 0xd70, { - 0x02640f00, - 0x09016c7d, - 0x01320f00, - }); - - dst += write_cont(dst, 0xd7c, { - 0x00000f00, - }); - - dst += write_cont(dst, 0x40, { - 0x00000c06, - }); - - dst += write_cont(dst, 0x48, { - (1 << 3) | (1 << 1), - }); - - dst += write_cont(dst, 0x4c, { - 0x00000019, - }); - - dst += write_cont(dst, 0xe4c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xe6c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xe0c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xe2c, { - 0x00000e00, - }); - - dst += write_cont(dst, 0xd8c, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdac, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdcc, { - 0x00000000, - }); - - dst += write_cont(dst, 0xdec, { - 0x00000000, - }); - - dst += write_cont(dst, 0x44, { - 0x00000000, - }); - - dst += write_cont(dst, 0xaac, { - 0x00000040, - }); - - dst += write_cont(dst, 0xf00, { - 0x00000000, - }); - - // *** extras, not in original dump *** - - // black level scale + offset - dst += write_cont(dst, 0x6b0, { - (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0), - 0x0, - 0x0, - }); - - return dst - start; -} diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index a03ef6766c..d6de08de46 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -498,10 +498,8 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { if (!is_raw) { if (init) { buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches); - } else if (request_id == 1) { - buf_desc[0].length = build_first_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset); } else { - buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches); + buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, sensor.get(), patches); } } From 0ff498cc83f4306714fcf5c209a715ee0d33b9fe Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 22 Oct 2024 20:49:10 -0700 Subject: [PATCH 128/191] longitudinal_planner: allow for zero actuator delay (#33855) Allow zero actuator delay --- selfdrive/controls/lib/longitudinal_planner.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c5aaafa096..d4352791ed 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -56,7 +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: From 0440c3a83b94eea3afcf6f0f194260b171dfb5b7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Oct 2024 15:49:10 -0500 Subject: [PATCH 129/191] Deprecate some controls fields (#33857) * deprecate a field * some more * bump --- cereal/log.capnp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 0a3673208e..142d4afcb9 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -844,7 +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; @@ -853,7 +852,6 @@ struct ControlsState @0x97ff69c53601abf1 { forceDecel @51 :Bool; lateralControlState :union { - indiState @52 :LateralINDIState; pidState @53 :LateralPIDState; angleState @58 :LateralAngleState; debugState @59 :LateralDebugState; @@ -861,6 +859,7 @@ struct ControlsState @0x97ff69c53601abf1 { curvatureStateDEPRECATED @65 :LateralCurvatureState; lqrStateDEPRECATED @55 :LateralLQRState; + indiStateDEPRECATED @52 :LateralINDIState; } struct LateralINDIState { @@ -994,6 +993,7 @@ struct ControlsState @0x97ff69c53601abf1 { startMonoTimeDEPRECATED @48 :UInt64; cumLagMsDEPRECATED @15 :Float32; aTargetDEPRECATED @35 :Float32; + vTargetLeadDEPRECATED @3 :Float32; } struct DrivingModelData { From c473688b2b63fa7d3e64186f836bad9a7ab250a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Oct 2024 16:09:39 -0500 Subject: [PATCH 130/191] bump opendbc (#33862) * bump * update docs * update refs --- docs/CARS.md | 2 +- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 43bd18cdcd..84efe3c041 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 9f9a5fe56f..42848c7c73 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 9f9a5fe56ff04d0b207c3ac01afe454021ca385b +Subproject commit 42848c7c73112752aa16350546bf3fa1a53fb1a1 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ea0c416f20..b40eed5a54 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4e595fcc2e8e4ef1564d915f697ddd9334067a7f \ No newline at end of file +a43b1b988601b519c7add6fb0333962a1b3864b7 \ No newline at end of file From 0b200072423abd469540d5537e6e10ace8eeef34 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Oct 2024 21:07:57 -0500 Subject: [PATCH 131/191] longitudinal report: valid if capable of resuming (#33864) . --- tools/longitudinal_maneuvers/generate_report.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index d38ae87d90..f038469e94 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -55,7 +55,7 @@ def report(platform, route, _description, CP, ID, maneuvers): # maneuver validity longActive = [m.longActive for m in carControl] - maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState) + maneuver_valid = all(longActive) and (not any(cs.cruiseState.standstill for cs in carState) or CP.autoResumeSng) _open = 'open' if maneuver_valid else '' title = f'Run #{int(run)+1}' + (' (invalid maneuver!)' if not maneuver_valid else '') From 0466d111d220b7f8ce8b702cdd36d08f0ae3c83a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Oct 2024 19:08:21 -0700 Subject: [PATCH 132/191] camerad: set EOF based on readout time (#33859) * camerad: set EOF based on readout time * set ar * debug * set processing time * set ox --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_common.cc | 1 + system/camerad/cameras/camera_common.h | 1 + system/camerad/cameras/spectra.cc | 6 +++--- system/camerad/sensors/ar0231.cc | 2 ++ system/camerad/sensors/ar0231_registers.h | 2 ++ system/camerad/sensors/ox03c10.cc | 2 ++ system/camerad/sensors/ox03c10_registers.h | 1 + system/camerad/sensors/sensor.h | 2 ++ 8 files changed, 14 insertions(+), 3 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index bfd9e1c54b..97df4ea75f 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -114,6 +114,7 @@ bool CameraBuf::acquire(int expo_time) { cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; } else { cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx); + cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-6; } VisionIpcBufExtra extra = { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index a30730865c..e4cdb27e71 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -15,6 +15,7 @@ typedef struct FrameMetadata { uint32_t request_id; uint64_t timestamp_sof; uint64_t timestamp_eof; + uint64_t timestamp_end_of_isp; float processing_time; } FrameMetadata; diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index d6de08de46..b8827e66d8 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -671,8 +671,8 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) { LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); // TODO: handle frame drop cleanly } - - buf.frame_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof + buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot(); + buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns; if (dp) buf.queue(i); // destroy old output fence @@ -1083,7 +1083,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) { auto &meta_data = buf.frame_metadata[buf_idx]; meta_data.frame_id = main_id - idx_offset; meta_data.request_id = real_id; - meta_data.timestamp_sof = timestamp; + meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback // dispatch enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1); diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 5b2b7445b1..11e06de76a 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -98,6 +98,8 @@ AR0231::AR0231() { frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead mclk_frequency = 19200000; //Hz + readout_time_ns = 22850000; + dc_gain_factor = 2.5; dc_gain_min_weight = 0; dc_gain_max_weight = 1; diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h index 6c4c251e8e..e0872a673a 100644 --- a/system/camerad/sensors/ar0231_registers.h +++ b/system/camerad/sensors/ar0231_registers.h @@ -6,6 +6,8 @@ const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; const struct i2c_random_wr_payload init_array_ar0231[] = { {0x301A, 0x0018}, // RESET_REGISTER + // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config + // CLOCK Settings // input clock is 19.2 / 2 * 0x37 = 528 MHz // pixclk is 528 / 6 = 88 MHz diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index b39b496bfa..b2e90c4e1d 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -42,6 +42,8 @@ OX03C10::OX03C10() { frame_data_type = 0x2c; // one is 0x2a, two are 0x2b mclk_frequency = 24000000; //Hz + readout_time_ns = 14697000; + dc_gain_factor = 7.32; dc_gain_min_weight = 1; // always on is fine dc_gain_max_weight = 1; diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h index 575a2cb934..ffa0b79574 100644 --- a/system/camerad/sensors/ox03c10_registers.h +++ b/system/camerad/sensors/ox03c10_registers.h @@ -31,6 +31,7 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = { // delay launch group 2 {0x3208, 0xa2},*/ + // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config // PLL setup {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix {0x0303, 0x01}, // pll1_prediv diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 5cb7b686d4..b4c4303b66 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -66,6 +66,8 @@ public: uint32_t mclk_frequency; uint32_t frame_data_type; + uint32_t readout_time_ns; // used to recover EOF from SOF + // ISP image processing params uint32_t black_level; std::vector color_correct_matrix; // 3x3 From 8557b0440e5127eab901dc0f72054fc06849025e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Oct 2024 19:38:05 -0700 Subject: [PATCH 133/191] camerad: fixup IFE cropping (#33865) * start fixing * cleanup --------- Co-authored-by: Comma Device --- system/camerad/cameras/ife.h | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 85d3fe35e9..44c4bb58ef 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -226,29 +226,29 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorframe_width - 1) << 16) | (s->frame_width - 1), 0x30036666, 0x00000000, 0x00000000, - 0x00000787, - 0x04b704b7, + s->frame_width - 1, + ((s->frame_height - 1) << 16) | (s->frame_height - 1), 0x30036666, 0x00000000, 0x00000000, - 0x000004b7, + s->frame_height - 1, }); dst += write_cont(dst, 0xa68, { 0x00000003, - 0x03c30787, + ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1), 0x3006cccc, 0x00000000, 0x00000000, - 0x00000787, - 0x025b04b7, + s->frame_width - 1, + ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1), 0x3006cccc, 0x00000000, 0x00000000, - 0x00000787, + s->frame_height - 1, }); // cropping From 719c634668ae2745b705cb897e5b20a6699cf8c3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 23 Oct 2024 19:52:06 -0700 Subject: [PATCH 134/191] Setup IFE vignetting correction (#33853) * vignetting * lil more * cleanup --------- Co-authored-by: Comma Device --- system/camerad/cameras/ife.h | 24 ++++--------------- system/camerad/cameras/spectra.cc | 39 ++++++++++++++++++++----------- system/camerad/cameras/spectra.h | 1 + system/camerad/sensors/ox03c10.cc | 3 +++ system/camerad/sensors/sensor.h | 1 + 5 files changed, 36 insertions(+), 32 deletions(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 44c4bb58ef..380a6ae134 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch }); dst += write_cont(dst, 0x40, { - 0x00000c04, + 0x00000c04, // (1<<8) to enable vignetting correction }); dst += write_cont(dst, 0x48, { @@ -165,24 +165,10 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectordst_buf_hdl = dst_hdl; + p->src_buf_hdl = src_hdl; + p->dst_offset = dst_offset; + p->src_offset = src_offset; +}; + void SpectraCamera::config_ife(int idx, int request_id, bool init) { /* Handles initial + per-frame IFE config. * IFE = Image Front End */ int size = sizeof(struct cam_packet) + sizeof(struct cam_cmd_buf_desc)*2; - size += sizeof(struct cam_patch_desc)*4; + size += sizeof(struct cam_patch_desc)*10; if (!init) { size += sizeof(struct cam_buf_io_cfg); } @@ -632,23 +640,24 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) { // *** patches *** // sets up the kernel driver to do address translation for the IFE { + // order here corresponds to the one in build_initial_config + assert(patches.size() == 6 || patches.size() == 0); + pkt->num_patches = patches.size(); pkt->patch_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf + sizeof(struct cam_buf_io_cfg)*pkt->num_io_configs; if (pkt->num_patches > 0) { - // linearization LUT - struct cam_patch_desc *patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset); - patch->dst_buf_hdl = ife_cmd.handle; - patch->src_buf_hdl = ife_linearization_lut.handle; - patch->dst_offset = patches[0]; - patch->src_offset = 0; + void *p = (char*)&pkt->payload + pkt->patch_offset; - // gamma LUT + // linearization LUT + add_patch(p, 0, ife_cmd.handle, patches[0], ife_linearization_lut.handle, 0); + + // vignetting correction LUTs + add_patch(p, 1, ife_cmd.handle, patches[1], ife_vignetting_lut.handle, 0); + add_patch(p, 2, ife_cmd.handle, patches[2], ife_vignetting_lut.handle, ife_vignetting_lut.size); + + // gamma LUTs for (int i = 0; i < 3; i++) { - patch = (struct cam_patch_desc *)((char*)&pkt->payload + pkt->patch_offset + sizeof(cam_patch_desc)*(i+1)); - patch->dst_buf_hdl = ife_cmd.handle; - patch->src_buf_hdl = ife_gamma_lut.handle; - patch->dst_offset = patches[i+1]; - patch->src_offset = ife_gamma_lut.size*i; + add_patch(p, i+3, ife_cmd.handle, patches[i+3], ife_gamma_lut.handle, ife_gamma_lut.size*i); } } } @@ -873,6 +882,10 @@ void SpectraCamera::configISP() { CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, m->device_iommu, m->cdm_iommu); memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size); + ife_vignetting_lut.init(m, sensor->vignetting_lut.size(), 0x20, + CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + m->device_iommu, m->cdm_iommu, 2); + memcpy(ife_vignetting_lut.ptr, sensor->vignetting_lut.data(), ife_vignetting_lut.size*2); } config_ife(0, 1, true); diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 9da66a0900..ea5c563167 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -142,6 +142,7 @@ public: SpectraBuf ife_cmd; SpectraBuf ife_gamma_lut; SpectraBuf ife_linearization_lut; + SpectraBuf ife_vignetting_lut; SpectraBuf bps_cmd; SpectraBuf bps_cdm_buffer; diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index b2e90c4e1d..edfb47f439 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -78,6 +78,9 @@ OX03C10::OX03C10() { for (int i = 0; i < 288; i++) { linearization_lut.push_back(0xff); } + for (int i = 0; i < 884*2; i++) { + vignetting_lut.push_back(0xff); + } } std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index b4c4303b66..4fba4ff594 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -73,6 +73,7 @@ public: std::vector color_correct_matrix; // 3x3 std::vector gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here std::vector linearization_lut; // length 288 + std::vector vignetting_lut; // 2x length 884 }; class AR0231 : public SensorInfo { From a8908b5c082c76075f800303ee4648866f1f3dc6 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 23 Oct 2024 21:22:03 -0700 Subject: [PATCH 135/191] model_replay: skip report if no PR associated with the branch (#33866) * no pr number * better * test * cleanup --- selfdrive/test/process_replay/model_replay.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 1233834772..b0ef6a55d5 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -82,6 +82,12 @@ def comment_replay_report(proposed, master, full_logs): 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 + files = generate_report(proposed, master, tmp) GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files]) From 07ad6e27d0a93941a2ee208eac03f68931a65801 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 23 Oct 2024 22:13:08 -0700 Subject: [PATCH 136/191] radard: remove deprecated function --- selfdrive/controls/radard.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index a5987b4bcc..fb69fb736f 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -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 From db98ba88aba539eeace8d772a0dd4243b5b80779 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Oct 2024 13:35:58 -0700 Subject: [PATCH 137/191] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 9aec4294cc..8422a7437f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 9aec4294cc940964a5b2fa34aa83301ab408b377 +Subproject commit 8422a7437f8221175d4c8b857c676ed616cad7a5 From 24a32c3decd36223fc1c3482156fd5a717415836 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Oct 2024 04:41:01 +0800 Subject: [PATCH 138/191] replay: remove Qt dependency from Segment and Timeline (#33847) remove Segment, Timeline dependency on Qt --- tools/cabana/streams/replaystream.cc | 4 + tools/cabana/streams/replaystream.h | 7 +- tools/cabana/videowidget.cc | 47 +++------- tools/cabana/videowidget.h | 16 ++-- tools/replay/SConscript | 3 +- tools/replay/consoleui.cc | 20 +++-- tools/replay/replay.cc | 128 +++++---------------------- tools/replay/replay.h | 39 +++----- tools/replay/route.cc | 30 ++++--- tools/replay/route.h | 23 +++-- tools/replay/tests/test_replay.cc | 13 +-- tools/replay/timeline.cc | 109 +++++++++++++++++++++++ tools/replay/timeline.h | 46 ++++++++++ tools/replay/util.cc | 10 --- tools/replay/util.h | 14 ++- 15 files changed, 281 insertions(+), 228 deletions(-) create mode 100644 tools/replay/timeline.cc create mode 100644 tools/replay/timeline.h diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 18b0317d46..ac137434d3 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -53,6 +53,10 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint {}, nullptr, replay_flags, data_dir.toStdString(), this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); + + // Forward replay callbacks to corresponding Qt signals. + replay->onQLogLoaded = [this](std::shared_ptr qlog) { emit qLogLoaded(qlog); }; + QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 2a9f343645..1d1cdaec9e 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -10,6 +10,8 @@ #include "tools/cabana/streams/abstractstream.h" #include "tools/replay/replay.h" +Q_DECLARE_METATYPE(std::shared_ptr); + class ReplayStream : public AbstractStream { Q_OBJECT @@ -24,7 +26,7 @@ public: inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } double minSeconds() const override { return replay->minSeconds(); } double maxSeconds() const { return replay->maxSeconds(); } - inline QDateTime beginDateTime() const { return replay->routeDateTime(); } + inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); } inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline float getSpeed() const { return replay->getSpeed(); } @@ -32,6 +34,9 @@ public: inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; +signals: + void qLogLoaded(std::shared_ptr qlog); + private: void mergeSegments(); std::unique_ptr replay = nullptr; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 66a6efe569..7f9e3d6960 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -13,8 +13,6 @@ #include #include -#include "tools/cabana/streams/replaystream.h" - const int MIN_VIDEO_HEIGHT = 100; const int THUMBNAIL_MARGIN = 3; @@ -167,10 +165,7 @@ QWidget *VideoWidget::createCameraWidget() { QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) { if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt()); }); - - auto replay = static_cast(can)->getReplay(); - QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection); - QObject::connect(replay, &Replay::minMaxTimeChanged, this, &VideoWidget::timeRangeChanged, Qt::QueuedConnection); + QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection); return w; } @@ -248,11 +243,8 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { setMouseTracking(true); } -AlertInfo Slider::alertInfo(double seconds) { - uint64_t mono_time = can->toMonoTime(seconds); - auto alert_it = alerts.lower_bound(mono_time); - bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8); - return has_alert ? alert_it->second : AlertInfo{}; +std::optional Slider::alertInfo(double seconds) { + return getReplay()->findAlertAtTime(seconds); } QPixmap Slider::thumbnail(double seconds) { @@ -277,14 +269,6 @@ void Slider::parseQLog(std::shared_ptr qlog) { std::lock_guard lk(mutex); thumbnails[thumb.getTimestampEof()] = scaled; } - } else if (e.which == cereal::Event::Which::SELFDRIVE_STATE) { - capnp::FlatArrayMessageReader reader(e.data); - auto cs = reader.getRoot().getSelfdriveState(); - if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 && - cs.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) { - std::lock_guard lk(mutex); - alerts.emplace(e.mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()}); - } } }); update(); @@ -306,8 +290,8 @@ void Slider::paintEvent(QPaintEvent *ev) { auto replay = getReplay(); if (replay) { - for (auto [begin, end, type] : replay->getTimeline()) { - fillRange(begin, end, timeline_colors[(int)type]); + for (const auto &entry: *replay->getTimeline()) { + fillRange(entry.start_time, entry.end_time, timeline_colors[(int)entry.type]); } QColor empty_color = palette().color(QPalette::Window); @@ -372,7 +356,7 @@ InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint setVisible(false); } -void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) { +void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional &alert) { second = sec; pixmap = pm; alert_info = alert; @@ -381,10 +365,10 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap & update(); } -void InfoLabel::showAlert(const AlertInfo &alert) { +void InfoLabel::showAlert(const std::optional &alert) { alert_info = alert; pixmap = {}; - setVisible(!alert_info.text1.isEmpty()); + setVisible(alert_info.has_value()); update(); } @@ -396,18 +380,11 @@ void InfoLabel::paintEvent(QPaintEvent *event) { p.drawRect(rect()); p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom); } - if (alert_info.text1.size() > 0) { - QColor color = timeline_colors[(int)TimelineType::AlertInfo]; - if (alert_info.status == cereal::SelfdriveState::AlertStatus::USER_PROMPT) { - color = timeline_colors[(int)TimelineType::AlertWarning]; - } else if (alert_info.status == cereal::SelfdriveState::AlertStatus::CRITICAL) { - color = timeline_colors[(int)TimelineType::AlertCritical]; - } + if (alert_info) { + QColor color = timeline_colors[int(alert_info->type)]; color.setAlphaF(0.5); - QString text = alert_info.text1; - if (!alert_info.text2.isEmpty()) { - text += "\n" + alert_info.text2; - } + QString text = QString::fromStdString(alert_info->text1); + if (!alert_info->text2.empty()) text += "\n" + QString::fromStdString(alert_info->text2); if (!pixmap.isNull()) { QFont font; diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 17bec78545..d3342c34d7 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -16,22 +16,17 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" #include "tools/cabana/utils/util.h" #include "tools/replay/logreader.h" - -struct AlertInfo { - cereal::SelfdriveState::AlertStatus status; - QString text1; - QString text2; -}; +#include "tools/cabana/streams/replaystream.h" class InfoLabel : public QWidget { public: InfoLabel(QWidget *parent); - void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert); - void showAlert(const AlertInfo &alert); + void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const std::optional &alert); + void showAlert(const std::optional &alert); void paintEvent(QPaintEvent *event) override; QPixmap pixmap; QString second; - AlertInfo alert_info; + std::optional alert_info; }; class Slider : public QSlider { @@ -42,7 +37,7 @@ public: double currentSecond() const { return value() / factor; } void setCurrentSecond(double sec) { setValue(sec * factor); } void setTimeRange(double min, double max); - AlertInfo alertInfo(double sec); + std::optional alertInfo(double sec); QPixmap thumbnail(double sec); void parseQLog(std::shared_ptr qlog); @@ -55,7 +50,6 @@ private: void paintEvent(QPaintEvent *ev) override; QMap thumbnails; - std::map alerts; InfoLabel *thumbnail_label; }; diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 1f966d4372..179af69d42 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -9,7 +9,8 @@ if arch == "Darwin": else: base_libs.append('OpenCL') -replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] +replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", + "route.cc", "util.cc", "timeline.cc"] replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 42c7238f7a..b5415ac808 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -1,5 +1,6 @@ #include "tools/replay/consoleui.h" +#include #include #include #include @@ -152,7 +153,6 @@ void ConsoleUI::updateStatus() { add_str(win, unit.c_str()); }; static const std::pair status_text[] = { - {"loading...", Color::Red}, {"playing", Color::Green}, {"paused...", Color::Yellow}, }; @@ -161,8 +161,10 @@ void ConsoleUI::updateStatus() { auto [status_str, status_color] = status_text[status]; write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); + auto cur_ts = replay->routeDateTime() + (int)replay->currentSeconds(); + char *time_string = ctime(&cur_ts); std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60)); - write_item(0, 25, "TIME: ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true); + write_item(0, 25, "TIME: ", time_string, current_segment, true); auto p = sm["liveParameters"].getLiveParameters(); write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " "); @@ -247,18 +249,18 @@ void ConsoleUI::updateTimeline() { wattroff(win, COLOR_PAIR(Color::Disengaged)); const int total_sec = replay->maxSeconds() - replay->minSeconds(); - for (auto [begin, end, type] : replay->getTimeline()) { - int start_pos = ((begin - replay->minSeconds()) / total_sec) * width; - int end_pos = ((end - replay->minSeconds()) / total_sec) * width; - if (type == TimelineType::Engaged) { + for (const auto &entry : *replay->getTimeline()) { + int start_pos = ((entry.start_time - replay->minSeconds()) / total_sec) * width; + int end_pos = ((entry.end_time - replay->minSeconds()) / total_sec) * width; + if (entry.type == TimelineType::Engaged) { mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); - } else if (type == TimelineType::UserFlag) { + } else if (entry.type == TimelineType::UserFlag) { mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL); } else { auto color_id = Color::Green; - if (type != TimelineType::AlertInfo) { - color_id = type == TimelineType::AlertWarning ? Color::Yellow : Color::Red; + if (entry.type != TimelineType::AlertInfo) { + color_id = entry.type == TimelineType::AlertWarning ? Color::Yellow : Color::Red; } mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, color_id, NULL); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index a0ae90c079..82e231937c 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -1,7 +1,5 @@ #include "tools/replay/replay.h" -#include -#include #include #include #include "cereal/services.h" @@ -11,6 +9,14 @@ static void interrupt_sleep_handler(int signal) {} +// Helper function to notify events with safety checks +template +void notifyEvent(Callback &callback, Args &&...args) { + if (callback) { + callback(std::forward(args)...); + } +} + Replay::Replay(const std::string &route, std::vector allow, std::vector block, SubMaster *sm_, uint32_t flags, const std::string &data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { // Register signal handler for SIGUSR1 @@ -40,7 +46,7 @@ Replay::Replay(const std::string &route, std::vector allow, std::ve } } - rInfo("active services: %s", join(active_services, ',').c_str()); + rInfo("active services: %s", join(active_services, ", ").c_str()); rInfo("loading route %s", route.c_str()); if (sm == nullptr) { @@ -68,7 +74,6 @@ void Replay::stop() { stream_thread_ = nullptr; rInfo("shutdown: done"); } - timeline_future.waitForFinished(); camera_server_.reset(nullptr); segments_.clear(); } @@ -151,101 +156,11 @@ void Replay::checkSeekProgress() { } void Replay::seekToFlag(FindFlag flag) { - if (auto next = find(flag)) { + if (auto next = timeline_.find(currentSeconds(), flag)) { seekTo(*next - 2, false); // seek to 2 seconds before next } } -void Replay::buildTimeline() { - uint64_t engaged_begin = 0; - bool engaged = false; - - auto alert_status = cereal::SelfdriveState::AlertStatus::NORMAL; - auto alert_size = cereal::SelfdriveState::AlertSize::NONE; - uint64_t alert_begin = 0; - std::string alert_type; - - const TimelineType timeline_types[] = { - [(int)cereal::SelfdriveState::AlertStatus::NORMAL] = TimelineType::AlertInfo, - [(int)cereal::SelfdriveState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning, - [(int)cereal::SelfdriveState::AlertStatus::CRITICAL] = TimelineType::AlertCritical, - }; - - const auto &route_segments = route_->segments(); - for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { - std::shared_ptr log(new LogReader()); - if (!log->load(it->second.qlog, &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue; - - std::vector> timeline; - for (const Event &e : log->events) { - if (e.which == cereal::Event::Which::SELFDRIVE_STATE) { - capnp::FlatArrayMessageReader reader(e.data); - auto event = reader.getRoot(); - auto cs = event.getSelfdriveState(); - - if (engaged != cs.getEnabled()) { - if (engaged) { - timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged}); - } - engaged_begin = e.mono_time; - engaged = cs.getEnabled(); - } - - if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) { - if (!alert_type.empty() && alert_size != cereal::SelfdriveState::AlertSize::NONE) { - timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]}); - } - alert_begin = e.mono_time; - alert_type = cs.getAlertType().cStr(); - alert_size = cs.getAlertSize(); - alert_status = cs.getAlertStatus(); - } - } else if (e.which == cereal::Event::Which::USER_FLAG) { - timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag}); - } - } - - if (it->first == route_segments.rbegin()->first) { - if (engaged) { - timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged}); - } - if (!alert_type.empty() && alert_size != cereal::SelfdriveState::AlertSize::NONE) { - timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]}); - } - - max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time)); - emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_); - } - { - std::lock_guard lk(timeline_lock); - timeline_.insert(timeline_.end(), timeline.begin(), timeline.end()); - std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); }); - } - emit qLogLoaded(log); - } -} - -std::optional Replay::find(FindFlag flag) { - int cur_ts = currentSeconds(); - for (auto [start_ts, end_ts, type] : getTimeline()) { - if (type == TimelineType::Engaged) { - if (flag == FindFlag::nextEngagement && start_ts > cur_ts) { - return start_ts; - } else if (flag == FindFlag::nextDisEngagement && end_ts > cur_ts) { - return end_ts; - } - } else if (start_ts > cur_ts) { - if ((flag == FindFlag::nextUserFlag && type == TimelineType::UserFlag) || - (flag == FindFlag::nextInfo && type == TimelineType::AlertInfo) || - (flag == FindFlag::nextWarning && type == TimelineType::AlertWarning) || - (flag == FindFlag::nextCritical && type == TimelineType::AlertCritical)) { - return start_ts; - } - } - } - return std::nullopt; -} - void Replay::pause(bool pause) { if (user_paused_ != pause) { pauseStreamThread(); @@ -266,16 +181,15 @@ void Replay::pauseStreamThread() { } } -void Replay::segmentLoadFinished(bool success) { +void Replay::segmentLoadFinished(int seg_num, bool success) { if (!success) { - Segment *seg = qobject_cast(sender()); - rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num); + rWarning("failed to load segment %d, removing it from current replay list", seg_num); updateEvents([&]() { - segments_.erase(seg->seg_num); + segments_.erase(seg_num); return !segments_.empty(); }); } - updateSegmentsCache(); + QMetaObject::invokeMethod(this, &Replay::updateSegmentsCache, Qt::QueuedConnection); } void Replay::updateSegmentsCache() { @@ -306,8 +220,10 @@ void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); }); if (it != last && !it->second) { rDebug("loading segment %d...", it->first); - it->second = std::make_unique(it->first, route_->at(it->first), flags_, filters_); - QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); + it->second = std::make_unique(it->first, route_->at(it->first), flags_, filters_, + [this](int seg_num, bool success) { + segmentLoadFinished(seg_num, success); + }); return true; } return false; @@ -373,7 +289,7 @@ void Replay::startStream(const Segment *cur_segment) { auto event = reader.getRoot(); uint64_t wall_time = event.getInitData().getWallTimeNanos(); if (wall_time > 0) { - route_date_time_ = QDateTime::fromMSecsSinceEpoch(wall_time / 1e6); + route_date_time_ = wall_time / 1e6; } } @@ -405,12 +321,16 @@ void Replay::startStream(const Segment *cur_segment) { } emit segmentsMerged(); + + timeline_.initialize(*route_, route_start_ts_, !(flags_ & REPLAY_FLAG_NO_FILE_CACHE), + [this](std::shared_ptr log) { + notifyEvent(onQLogLoaded, log); + }); // start stream thread stream_thread_ = new QThread(); QObject::connect(stream_thread_, &QThread::started, [=]() { streamThread(); }); stream_thread_->start(); - timeline_future = QtConcurrent::run(this, &Replay::buildTimeline); emit streamStarted(); } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e828b369aa..d3f5425308 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -6,7 +6,6 @@ #include #include #include -#include #include #include @@ -14,6 +13,7 @@ #include "tools/replay/camera.h" #include "tools/replay/route.h" +#include "tools/replay/timeline.h" #define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19" @@ -32,19 +32,8 @@ enum REPLAY_FLAGS { REPLAY_FLAG_ALL_SERVICES = 0x0800, }; -enum class FindFlag { - nextEngagement, - nextDisEngagement, - nextUserFlag, - nextInfo, - nextWarning, - nextCritical -}; - -enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; typedef bool (*replayEventFilter)(const Event *, void *); typedef std::map> SegmentMap; -Q_DECLARE_METATYPE(std::shared_ptr); class Replay : public QObject { Q_OBJECT @@ -75,8 +64,7 @@ public: inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; } inline const Route* route() const { return route_.get(); } inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; } - inline QDateTime routeDateTime() const { return route_date_time_; } - inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); } + inline std::time_t routeDateTime() const { return route_date_time_; } inline uint64_t routeStartNanos() const { return route_start_ts_; } inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; } @@ -85,22 +73,20 @@ public: inline float getSpeed() const { return speed_; } inline const SegmentMap &segments() const { return segments_; } inline const std::string &carFingerprint() const { return car_fingerprint_; } - inline const std::vector> getTimeline() { - std::lock_guard lk(timeline_lock); - return timeline_; - } + inline const std::shared_ptr> getTimeline() const { return timeline_.get(); } + inline const std::optional findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); } + + // Event callback functions + std::function)> onQLogLoaded = nullptr; + signals: void streamStarted(); void segmentsMerged(); void seeking(double sec); void seekedTo(double sec); - void qLogLoaded(std::shared_ptr qlog); void minMaxTimeChanged(double min_sec, double max_sec); -protected slots: - void segmentLoadFinished(bool success); - protected: std::optional find(FindFlag flag); void pauseStreamThread(); @@ -108,16 +94,18 @@ protected: void streamThread(); void updateSegmentsCache(); void loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end); + void segmentLoadFinished(int seg_num, bool success); void mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end); void updateEvents(const std::function& update_events_function); std::vector::const_iterator publishEvents(std::vector::const_iterator first, std::vector::const_iterator last); void publishMessage(const Event *e); void publishFrame(const Event *e); - void buildTimeline(); void checkSeekProgress(); inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; } + Timeline timeline_; + pthread_t stream_thread_id = 0; QThread *stream_thread_ = nullptr; std::mutex stream_lock_; @@ -130,7 +118,7 @@ protected: std::atomic exit_ = false; std::atomic paused_ = false; bool events_ready_ = false; - QDateTime route_date_time_; + std::time_t route_date_time_; uint64_t route_start_ts_ = 0; std::atomic cur_mono_time_ = 0; std::atomic max_seconds_ = 0; @@ -146,9 +134,6 @@ protected: std::unique_ptr camera_server_; std::atomic flags_ = REPLAY_FLAG_NONE; - std::mutex timeline_lock; - QFuture timeline_future; - std::vector> timeline_; std::string car_fingerprint_; std::atomic speed_ = 1.0; replayEventFilter event_filter = nullptr; diff --git a/tools/replay/route.cc b/tools/replay/route.cc index e298b88b79..0d8d6d8fb7 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -1,10 +1,8 @@ #include "tools/replay/route.h" -#include #include #include #include -#include #include #include #include @@ -53,7 +51,11 @@ bool Route::load() { rInfo("invalid route format"); return false; } - date_time_ = QDateTime::fromString(route_.timestamp.c_str(), "yyyy-MM-dd--HH-mm-ss"); + + struct tm tm_time = {0}; + strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time); + date_time_ = mktime(&tm_time); + bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal(); if (ret) { if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first; @@ -151,8 +153,9 @@ void Route::addFileToSegment(int n, const std::string &file) { // class Segment -Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector &filters) - : seg_num(n), flags(flags), filters_(filters) { +Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector &filters, + std::function callback) + : seg_num(n), flags(flags), filters_(filters), onLoadFinished_(callback) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog const std::array file_list = { (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam, @@ -163,16 +166,20 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vec for (int i = 0; i < file_list.size(); ++i) { if (!file_list[i].empty() && (!(flags & REPLAY_FLAG_NO_VIPC) || i >= MAX_CAMERAS)) { ++loading_; - synchronizer_.addFuture(QtConcurrent::run(this, &Segment::loadFile, i, file_list[i])); + threads_.emplace_back(&Segment::loadFile, this, i, file_list[i]); } } } Segment::~Segment() { - disconnect(); + { + std::lock_guard lock(mutex_); + onLoadFinished_ = nullptr; // Prevent callback after destruction + } abort_ = true; - synchronizer_.setCancelOnWait(true); - synchronizer_.waitForFinished(); + for (auto &thread : threads_) { + if (thread.joinable()) thread.join(); + } } void Segment::loadFile(int id, const std::string file) { @@ -192,6 +199,9 @@ void Segment::loadFile(int id, const std::string file) { } if (--loading_ == 0) { - emit loadFinished(!abort_); + std::lock_guard lock(mutex_); + if (onLoadFinished_) { + onLoadFinished_(seg_num, !abort_); + } } } diff --git a/tools/replay/route.h b/tools/replay/route.h index 9c1cc37e2a..a2a8121de7 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -2,11 +2,12 @@ #include #include +#include #include +#include #include -#include -#include +#include #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" @@ -43,7 +44,7 @@ public: bool load(); RouteLoadError lastError() const { return err_; } inline const std::string &name() const { return route_.str; } - inline const QDateTime datetime() const { return date_time_; } + inline const std::time_t datetime() const { return date_time_; } inline const std::string &dir() const { return data_dir_; } inline const RouteIdentifier &identifier() const { return route_; } inline const std::map &segments() const { return segments_; } @@ -58,15 +59,14 @@ protected: RouteIdentifier route_ = {}; std::string data_dir_; std::map segments_; - QDateTime date_time_; + std::time_t date_time_; RouteLoadError err_ = RouteLoadError::None; }; -class Segment : public QObject { - Q_OBJECT - +class Segment { public: - Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector &filters = {}); + Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector &filters, + std::function callback); ~Segment(); inline bool isLoaded() const { return !loading_ && !abort_; } @@ -74,15 +74,14 @@ public: std::unique_ptr log; std::unique_ptr frames[MAX_CAMERAS] = {}; -signals: - void loadFinished(bool success); - protected: void loadFile(int id, const std::string file); std::atomic abort_ = false; std::atomic loading_ = 0; - QFutureSynchronizer synchronizer_; + std::mutex mutex_; + std::vector threads_; + std::function onLoadFinished_ = nullptr; uint32_t flags; std::vector filters_; }; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 2fe468e726..d350df570a 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -72,9 +72,9 @@ TEST_CASE("LogReader") { } void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) { - QEventLoop loop; - Segment segment(n, segment_file, flags); - QObject::connect(&segment, &Segment::loadFinished, [&]() { + std::mutex mutex; + std::condition_variable cv; + Segment segment(n, segment_file, flags, {}, [&](int, bool) { REQUIRE(segment.isLoaded() == true); REQUIRE(segment.log != nullptr); REQUIRE(segment.frames[RoadCam] != nullptr); @@ -105,10 +105,11 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) { REQUIRE(fr->get(i, &buf)); } } - - loop.quit(); + cv.notify_one(); }); - loop.exec(); + + std::unique_lock lock(mutex); + cv.wait(lock); } std::string download_demo_route() { diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc new file mode 100644 index 0000000000..5a4f58a46f --- /dev/null +++ b/tools/replay/timeline.cc @@ -0,0 +1,109 @@ +#include "tools/replay/timeline.h" + +#include + +#include "cereal/gen/cpp/log.capnp.h" + +Timeline::~Timeline() { + should_exit_.store(true); + if (thread_.joinable()) { + thread_.join(); + } +} + +void Timeline::initialize(const Route &route, uint64_t route_start_ts, bool local_cache, + std::function)> callback) { + thread_ = std::thread(&Timeline::buildTimeline, this, route, route_start_ts, local_cache, callback); +} + +std::optional Timeline::find(double cur_ts, FindFlag flag) const { + for (const auto &entry : *get()) { + if (entry.type == TimelineType::Engaged) { + if (flag == FindFlag::nextEngagement && entry.start_time > cur_ts) { + return entry.start_time; + } else if (flag == FindFlag::nextDisEngagement && entry.end_time > cur_ts) { + return entry.end_time; + } + } else if (entry.start_time > cur_ts) { + if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) || + (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) || + (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) || + (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) { + return entry.start_time; + } + } + } + return std::nullopt; +} + +std::optional Timeline::findAlertAtTime(double target_time) const { + for (const auto &entry : *get()) { + if (entry.start_time > target_time) break; + if (entry.end_time >= target_time && entry.type >= TimelineType::AlertInfo) { + return entry; + } + } + return std::nullopt; +} + +void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache, + std::function)> callback) { + std::optional current_engaged_idx, current_alert_idx; + + for (const auto &segment : route.segments()) { + if (should_exit_) break; + + auto log = std::make_shared(); + if (!log->load(segment.second.qlog, &should_exit_, local_cache, 0, 3) || log->events.empty()) { + continue; // Skip if log loading fails or no events + } + + for (const Event &e : log->events) { + double seconds = (e.mono_time - route_start_ts) / 1e9; + if (e.which == cereal::Event::Which::SELFDRIVE_STATE) { + capnp::FlatArrayMessageReader reader(e.data); + auto cs = reader.getRoot().getSelfdriveState(); + updateEngagementStatus(cs, current_engaged_idx, seconds); + updateAlertStatus(cs, current_alert_idx, seconds); + } else if (e.which == cereal::Event::Which::USER_FLAG) { + staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag}); + } + } + + callback(log); // Notify the callback once the log is processed + + // Sort and finalize the timeline entries + std::sort(staging_entries_.begin(), staging_entries_.end(), [](auto &a, auto &b) { return a.start_time < b.start_time; }); + timeline_entries_ = std::make_shared>(staging_entries_); + } +} + +void Timeline::updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional &idx, double seconds) { + if (idx) staging_entries_[*idx].end_time = seconds; + if (cs.getEnabled()) { + if (!idx) { + idx = staging_entries_.size(); + staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::Engaged}); + } + } else { + idx.reset(); + } +} + +void Timeline::updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional &idx, double seconds) { + static auto alert_types = std::array{TimelineType::AlertInfo, TimelineType::AlertWarning, TimelineType::AlertCritical}; + + Entry *entry = idx ? &staging_entries_[*idx] : nullptr; + if (entry) entry->end_time = seconds; + if (cs.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) { + auto type = alert_types[(int)cs.getAlertStatus()]; + std::string text1 = cs.getAlertText1().cStr(); + std::string text2 = cs.getAlertText2().cStr(); + if (!entry || entry->type != type || entry->text1 != text1 || entry->text2 != text2) { + idx = staging_entries_.size(); + staging_entries_.emplace_back(Entry{seconds, seconds, type, text1, text2}); // Start a new entry + } + } else { + idx.reset(); + } +} diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h new file mode 100644 index 0000000000..b2535fd8b0 --- /dev/null +++ b/tools/replay/timeline.h @@ -0,0 +1,46 @@ +#pragma once + +#include +#include +#include +#include + +#include "tools/replay/route.h" + +enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; +enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical }; + +class Timeline { +public: + struct Entry { + double start_time; + double end_time; + TimelineType type; + std::string text1; + std::string text2; + }; + + Timeline() : timeline_entries_(std::make_shared>()) {} + ~Timeline(); + + void initialize(const Route &route, uint64_t route_start_ts, bool local_cache, + std::function)> callback); + std::optional find(double cur_ts, FindFlag flag) const; + std::optional findAlertAtTime(double target_time) const; + const std::shared_ptr> get() const { return timeline_entries_; } + +private: + void buildTimeline(const Route &route, uint64_t route_start_ts, bool local_cache, + std::function)> callback); + void updateEngagementStatus(const cereal::SelfdriveState::Reader &cs, std::optional &idx, double seconds); + void updateAlertStatus(const cereal::SelfdriveState::Reader &cs, std::optional &idx, double seconds); + + std::thread thread_; + std::atomic should_exit_ = false; + + // Temporarily holds entries before they are sorted and finalized + std::vector staging_entries_; + + // Final sorted timeline entries + std::shared_ptr> timeline_entries_; +}; diff --git a/tools/replay/util.cc b/tools/replay/util.cc index 91f6af4f84..fac1e11c47 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -14,7 +14,6 @@ #include #include #include -#include #include #include @@ -404,15 +403,6 @@ std::vector split(std::string_view source, char delimiter) { return fields; } -std::string join(const std::vector &elements, char separator) { - std::ostringstream oss; - for (size_t i = 0; i < elements.size(); ++i) { - if (i != 0) oss << separator; - oss << elements[i]; - } - return oss.str(); -} - std::string extractFileName(const std::string &file) { size_t queryPos = file.find_first_of("?"); std::string path = (queryPos != std::string::npos) ? file.substr(0, queryPos) : file; diff --git a/tools/replay/util.h b/tools/replay/util.h index 317b964181..46df2bc191 100644 --- a/tools/replay/util.h +++ b/tools/replay/util.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -59,6 +60,15 @@ typedef std::function Download void installDownloadProgressHandler(DownloadProgressHandler); bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic *abort = nullptr); std::string formattedDataSize(size_t size); -std::vector split(std::string_view source, char delimiter); -std::string join(const std::vector &elements, char separator); std::string extractFileName(const std::string& file); +std::vector split(std::string_view source, char delimiter); + +template +std::string join(const Iterable& elements, const std::string& separator) { + std::ostringstream oss; + for (auto it = elements.begin(); it != elements.end(); ++it) { + if (it != elements.begin()) oss << separator; + oss << *it; + } + return oss.str(); +} From 2f7d09bb01426bfc5c1a3bfbe4d6bbd9804a1ded Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Oct 2024 04:41:14 +0800 Subject: [PATCH 139/191] bridge: improve message sending loop (#33810) improve sending loop --- cereal/messaging/msgq_to_zmq.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc index a130f7dd04..ce626f2aad 100644 --- a/cereal/messaging/msgq_to_zmq.cc +++ b/cereal/messaging/msgq_to_zmq.cc @@ -48,11 +48,12 @@ void MsgqToZmq::run(const std::vector &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(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; } } From 47aee33ad2d94baecb806993e2d9d0b8aea51f71 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Oct 2024 14:00:13 -0700 Subject: [PATCH 140/191] sensord: fix timestamp race condition (#33867) Co-authored-by: Comma Device --- system/sensord/sensors_qcom2.cc | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 189da78099..55c8d2a448 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -39,6 +39,7 @@ void interrupt_loop(std::vector> sensors) { } } + uint64_t offset = 0; struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; fd_list[0].events = POLLIN | POLLPRI; @@ -68,9 +69,19 @@ void interrupt_loop(std::vector> sensors) { continue; } + uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot(); + uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset; + if (diff > 1*1e6) { // 1ms + LOGW("time jumped: %lu %lu", cur_offset, offset); + offset = cur_offset; + + // we don't have a valid timestamp since the + // time jumped, so throw out this measurement. + continue; + } + int num_events = err / sizeof(*evdata); - uint64_t offset = nanos_since_epoch() - nanos_since_boot(); - uint64_t ts = evdata[num_events - 1].timestamp - offset; + uint64_t ts = evdata[num_events - 1].timestamp - cur_offset; for (auto &[sensor, msg_name] : sensors) { if (!sensor->has_interrupt_enabled()) { From 835a27e993c569cbd9930f157658d10fd2ae1c78 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Oct 2024 16:15:10 -0700 Subject: [PATCH 141/191] statsd: don't use datetime in filename (#33868) --- system/statsd.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/statsd.py b/system/statsd.py index 5e76b73ae9..b8a7f2c661 100755 --- a/system/statsd.py +++ b/system/statsd.py @@ -2,6 +2,7 @@ import os import zmq import time +import uuid from pathlib import Path from collections import defaultdict from datetime import datetime, UTC @@ -102,6 +103,7 @@ def main() -> NoReturn: sm = SubMaster(['deviceState']) idx = 0 + boot_uid = str(uuid.uuid4())[:8] last_flush_time = time.monotonic() gauges = {} samples: dict[str, list[float]] = defaultdict(list) @@ -164,7 +166,7 @@ def main() -> NoReturn: # check that we aren't filling up the drive if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: if len(result) > 0: - stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}") + stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}") with atomic_write_in_dir(stats_path) as f: f.write(result) idx += 1 From 85c1b2b620ca784898aaf6c85b2827367f520bfc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 24 Oct 2024 17:02:58 -0700 Subject: [PATCH 142/191] selfdrived: log all not running (#33869) --- selfdrive/selfdrived/selfdrived.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 0aeff3a116..d24939884d 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -255,11 +255,12 @@ 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): From 5f3625436ceba9ca4d597e4ed10f906483462a46 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 25 Oct 2024 08:10:50 +0800 Subject: [PATCH 143/191] ui: show driver camera in popup on demand (#33459) * show driver camera in a popup dialog * zero margins * merge master --- selfdrive/ui/qt/home.cc | 15 ------------ selfdrive/ui/qt/home.h | 3 --- selfdrive/ui/qt/offroad/driverview.cc | 35 +++++++++++++-------------- selfdrive/ui/qt/offroad/driverview.h | 20 +++++++-------- selfdrive/ui/qt/offroad/settings.cc | 9 +++++-- selfdrive/ui/qt/offroad/settings.h | 2 -- selfdrive/ui/qt/window.cc | 3 --- 7 files changed, 33 insertions(+), 54 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 648f3685c7..9f179e0a38 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -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())) { diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index a19b70ac3f..55bc706c0d 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -8,7 +8,6 @@ #include #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: diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 9010227f18..a8d3151627 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -6,24 +6,6 @@ #include "selfdrive/ui/qt/util.h" DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) { - 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() { @@ -80,3 +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); +} diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index f6eb752fe6..10a97c1da8 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -2,22 +2,20 @@ #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; - - Params params; + mat4 calcFrameMatrix() override; DriverMonitorRenderer driver_monitor; }; + +class DriverViewDialog : public DialogBase { + Q_OBJECT +public: + DriverViewDialog(QWidget *parent); + void done(int r) override; +}; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index c1f26c950e..29ff9807a1 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -8,6 +8,7 @@ #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" @@ -203,7 +204,12 @@ 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"), ""); @@ -375,7 +381,6 @@ 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); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 68ba0d1898..de0528ee0a 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -28,7 +28,6 @@ protected: signals: void closeSettings(); void reviewTrainingGuide(); - void showDriverView(); void expandToggleDescription(const QString ¶m); private: @@ -45,7 +44,6 @@ public: signals: void reviewTrainingGuide(); - void showDriverView(); private slots: void poweroff(); diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 6b579fcc5d..e1ec916c6f 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -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); From e42c2034481ee4b57f621e3adedcfe2c6faf09f3 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 24 Oct 2024 18:46:57 -0700 Subject: [PATCH 144/191] [bot] Update Python packages (#33870) * Update Python packages * Update ref_commit --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- uv.lock | 146 +++++++++++------------ 3 files changed, 75 insertions(+), 75 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 42848c7c73..04b17b9346 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 42848c7c73112752aa16350546bf3fa1a53fb1a1 +Subproject commit 04b17b934655fb11a34727854b0b9a6b8f6ac82a diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b40eed5a54..1365eb1798 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a43b1b988601b519c7add6fb0333962a1b3864b7 \ No 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selfdrive/controls/plannerd.py | 4 ++-- selfdrive/test/longitudinal_maneuvers/plant.py | 2 ++ selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index d4352791ed..5f47cebb1f 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -134,7 +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] diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index ae8301871d..bcfc4d0c14 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -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) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 3c8c09d6be..c08ac6d369 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -64,6 +64,7 @@ class Plant: 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 @@ -130,6 +131,7 @@ class Plant: '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 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index ef17325642..448dc6896d 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -508,7 +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, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1365eb1798..66abbd2803 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e7db12387eecd077c6eaca6622b7863ee1af7105 +22530fd1bd915d5b37db900e2ac42a9501cd5972 From 251a9f028fff4ea04e06236e34bee10776c1af24 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 24 Oct 2024 20:15:59 -0700 Subject: [PATCH 146/191] jenkins: unsafe checkout for test_onroad (#33872) unsafe --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 64b2f05758..23e5b016d3 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -172,7 +172,7 @@ node { parallel ( // tici tests 'onroad tests': { - deviceStage("onroad", "tici-needs-can", [], [ + deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [ // 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"], From 1570aa79610bd26bad06286fd085113db8695e27 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Oct 2024 10:47:08 -0700 Subject: [PATCH 147/191] ci: tmp disable regen --- .github/workflows/selfdrive_tests.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7557b7c554..9456914371 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -223,6 +223,7 @@ jobs: run: | ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: Run regen + if: false timeout-minutes: 4 run: | ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ From 72a88c931976463d4662272e9902daf7bd84160d Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 25 Oct 2024 21:37:15 -0300 Subject: [PATCH 148/191] Add Developer Panel in Settings (#33828) * hello world * hello btn * add ssh toggles * split out developer panel code * test this * fix * add ZMQ button * add developer panel case to bot autogen screenshots * give up bridge * fix CI (generate screenshots) * change from btn to toggles and interlock protection * duplicated --------- Co-authored-by: Comma Device --- .github/workflows/ui_preview.yaml | 2 +- selfdrive/ui/SConscript | 2 +- selfdrive/ui/qt/network/networking.cc | 4 --- selfdrive/ui/qt/offroad/developer_panel.cc | 36 ++++++++++++++++++++++ selfdrive/ui/qt/offroad/developer_panel.h | 14 +++++++++ selfdrive/ui/qt/offroad/settings.cc | 2 ++ selfdrive/ui/tests/test_ui/run.py | 8 ++++- selfdrive/ui/translations/main_ar.ts | 15 +++++++++ selfdrive/ui/translations/main_de.ts | 15 +++++++++ selfdrive/ui/translations/main_es.ts | 15 +++++++++ selfdrive/ui/translations/main_fr.ts | 15 +++++++++ selfdrive/ui/translations/main_ja.ts | 15 +++++++++ selfdrive/ui/translations/main_ko.ts | 15 +++++++++ selfdrive/ui/translations/main_pt-BR.ts | 15 +++++++++ selfdrive/ui/translations/main_th.ts | 15 +++++++++ selfdrive/ui/translations/main_tr.ts | 15 +++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 15 +++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 15 +++++++++ 18 files changed, 226 insertions(+), 7 deletions(-) create mode 100644 selfdrive/ui/qt/offroad/developer_panel.cc create mode 100644 selfdrive/ui/qt/offroad/developer_panel.h diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index a6daaad19f..3ed882ed05 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -84,7 +84,7 @@ 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="" diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 643951fff3..19dcc625e2 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -28,7 +28,7 @@ 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/model.cc", "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 22d9c01efe..066dc3ca7e 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -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); diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc new file mode 100644 index 0000000000..bb11b35404 --- /dev/null +++ b/selfdrive/ui/qt/offroad/developer_panel.cc @@ -0,0 +1,36 @@ +#include + +#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()) { + btn->setVisible(!is_release); + btn->setEnabled(offroad); + } + }); + +} diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h new file mode 100644 index 0000000000..9fcff1e97b --- /dev/null +++ b/selfdrive/ui/qt/offroad/developer_panel.h @@ -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; +}; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 29ff9807a1..d4aab53f5a 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -14,6 +14,7 @@ #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/offroad/developer_panel.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon @@ -393,6 +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); diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 0b98cb0b38..e6fd9a016a 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -42,7 +42,12 @@ 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): @@ -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, diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 5f254e9cd4..2854aceeaa 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -113,6 +113,17 @@ رفض، إلغاء التثبيت %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -618,6 +629,10 @@ This may take up to a minute. Software البرنامج + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 4f5997228a..2abed6e305 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -113,6 +113,17 @@ Ablehnen, deinstallieren %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -600,6 +611,10 @@ This may take up to a minute. Software Software + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index fa50f33f15..45309eb745 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -113,6 +113,17 @@ Rechazar, desinstalar %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -602,6 +613,10 @@ Esto puede tardar un minuto. Software Software + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 566ed32f11..f4251bc41d 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -113,6 +113,17 @@ Refuser, désinstaller %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -602,6 +613,10 @@ Cela peut prendre jusqu'à une minute. Software Logiciel + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 90c8aba00b..bc83d3f9ae 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -113,6 +113,17 @@ 拒否して %1 をｱﾝｲﾝｽﾄｰﾙ + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -596,6 +607,10 @@ This may take up to a minute. Software ｿﾌﾄｳｪｱ + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 6d01b1289f..0839ddf15e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -113,6 +113,17 @@ 거절, %1 제거 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -598,6 +609,10 @@ This may take up to a minute. Software 소프트웨어 + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index ba50e97141..342a212045 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -113,6 +113,17 @@ Rejeitar, desintalar %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -602,6 +613,10 @@ Isso pode levar até um minuto. Software Software + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 6d89c049b1..c2b2771830 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -113,6 +113,17 @@ ปฏิเสธ และถอนการติดตั้ง %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -598,6 +609,10 @@ This may take up to a minute. Software ซอฟต์แวร์ + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 663ad8c281..9a53449276 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -113,6 +113,17 @@ Reddet, Kurulumu kaldır. %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -596,6 +607,10 @@ This may take up to a minute. Software Yazılım + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 494b1bc170..f061322c45 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -113,6 +113,17 @@ 拒绝并卸载%1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -598,6 +609,10 @@ This may take up to a minute. Software 软件 + + Developer + + Setup diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 7ce6ac6d20..04e76a8d95 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -113,6 +113,17 @@ 拒絕並解除安裝 %1 + + DeveloperPanel + + Joystick Debug Mode + + + + Longitudinal Maneuver Mode + + + DevicePanel @@ -598,6 +609,10 @@ This may take up to a minute. Software 軟體 + + Developer + + Setup From 1932aff0d97b3da2d46b1522a1bf45675c6adcea Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 25 Oct 2024 17:41:23 -0700 Subject: [PATCH 149/191] sensord: cleanup logging (#33875) Co-authored-by: Comma Device --- system/sensord/sensors/bmx055_accel.cc | 9 ++++++++- system/sensord/sensors/bmx055_gyro.cc | 4 ++++ system/sensord/sensors/bmx055_magn.cc | 6 ++++-- system/sensord/sensors/i2c_sensor.h | 2 +- system/sensord/sensors/sensor.h | 2 ++ system/sensord/sensors_qcom2.cc | 2 +- 6 files changed, 20 insertions(+), 5 deletions(-) diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc index bdb0113de3..bcc31e1d6c 100644 --- a/system/sensord/sensors/bmx055_accel.cc +++ b/system/sensord/sensors/bmx055_accel.cc @@ -10,12 +10,15 @@ BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Accel::init() { int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}); - if (ret == -1) return -1; + if (ret == -1) { + goto fail; + } ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); if (ret < 0) { goto fail; } + // bmx055 accel has a 1.3ms wakeup time from deep suspend mode util::sleep_for(10); @@ -36,11 +39,15 @@ int BMX055_Accel::init() { goto fail; } + enabled = true; + fail: return ret; } int BMX055_Accel::shutdown() { + if (!enabled) return 0; + // enter deep suspend mode (lowest power mode) int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND); if (ret < 0) { diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc index 411b2f445e..0cc405f654 100644 --- a/system/sensord/sensors/bmx055_gyro.cc +++ b/system/sensord/sensors/bmx055_gyro.cc @@ -46,11 +46,15 @@ int BMX055_Gyro::init() { goto fail; } + enabled = true; + fail: return ret; } int BMX055_Gyro::shutdown() { + if (!enabled) return 0; + // enter deep suspend mode (lowest power mode) int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND); if (ret < 0) { diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc index 223f0337e8..b498c5fe3d 100644 --- a/system/sensord/sensors/bmx055_magn.cc +++ b/system/sensord/sensors/bmx055_magn.cc @@ -78,7 +78,7 @@ int BMX055_Magn::init() { // suspend -> sleep int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); if (ret < 0) { - LOGW("Enabling power failed: %d", ret); + LOGD("Enabling power failed: %d", ret); goto fail; } util::sleep_for(5); // wait until the chip is powered on @@ -139,7 +139,7 @@ int BMX055_Magn::init() { goto fail; } - + enabled = true; return 0; fail: @@ -147,6 +147,8 @@ int BMX055_Magn::init() { } int BMX055_Magn::shutdown() { + if (!enabled) return 0; + // move to suspend mode int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0); if (ret < 0) { diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h index 6082510083..e6d328ce72 100644 --- a/system/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -39,7 +39,7 @@ public: uint8_t chip_id = 0; int ret = read_register(address, &chip_id, 1); if (ret < 0) { - LOGW("Reading chip ID failed: %d", ret); + LOGD("Reading chip ID failed: %d", ret); return -1; } for (int i = 0; i < expected_ids.size(); ++i) { diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h index 1b0e3be0dc..ccf998d161 100644 --- a/system/sensord/sensors/sensor.h +++ b/system/sensord/sensors/sensor.h @@ -5,8 +5,10 @@ class Sensor { public: int gpio_fd = -1; + bool enabled = false; uint64_t start_ts = 0; uint64_t init_delay = 500e6; // default dealy 500ms + virtual ~Sensor() {} virtual int init() = 0; virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 55c8d2a448..532e28053f 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -39,7 +39,7 @@ void interrupt_loop(std::vector> sensors) { } } - uint64_t offset = 0; + uint64_t offset = nanos_since_epoch() - nanos_since_boot(); struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; fd_list[0].events = POLLIN | POLLPRI; From 9fcd1591410584870ff6c8a15a54badadeaadb23 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 25 Oct 2024 23:29:49 -0700 Subject: [PATCH 150/191] [bot] Update Python packages (#33877) * Update Python packages * just setting ki --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- opendbc_repo | 2 +- panda | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- uv.lock | 6 +++--- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 04b17b9346..92da02f476 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 04b17b934655fb11a34727854b0b9a6b8f6ac82a +Subproject commit 92da02f476d0b17ade35fcb33b5b483c8f8bfac2 diff --git a/panda b/panda index 8422a7437f..2bd2f2a702 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8422a7437f8221175d4c8b857c676ed616cad7a5 +Subproject commit 2bd2f2a7029e629518bfec60d30891fb0e2e0a88 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 66abbd2803..92de522199 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -22530fd1bd915d5b37db900e2ac42a9501cd5972 +fd0a24f9269e21dd5d4a0a4fcc0b29f1324a47f0 diff --git a/uv.lock b/uv.lock index eed10e22ea..c4079add69 100644 --- a/uv.lock +++ b/uv.lock @@ -4494,14 +4494,14 @@ wheels = [ [[package]] name = "pytest-randomly" -version = "3.15.0" +version = "3.16.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "pytest" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/c9/d4/6e924a0b2855736d942703dec88dfc98b4fe0881c8fa849b6b0fbb9182fa/pytest_randomly-3.15.0.tar.gz", hash = "sha256:b908529648667ba5e54723088edd6f82252f540cc340d748d1fa985539687047", size = 21743 } +sdist = { url = "https://files.pythonhosted.org/packages/c0/68/d221ed7f4a2a49a664da721b8e87b52af6dd317af2a6cb51549cf17ac4b8/pytest_randomly-3.16.0.tar.gz", hash = "sha256:11bf4d23a26484de7860d82f726c0629837cf4064b79157bd18ec9d41d7feb26", size = 13367 } wheels = [ - { url = "https://files.pythonhosted.org/packages/24/d3/00e575657422055c4ea220b2f80e8cc6026ab7130372b7067444d1b0ac10/pytest_randomly-3.15.0-py3-none-any.whl", hash = "sha256:0516f4344b29f4e9cdae8bce31c4aeebf59d0b9ef05927c33354ff3859eeeca6", size = 8685 }, + { url = "https://files.pythonhosted.org/packages/22/70/b31577d7c46d8e2f9baccfed5067dd8475262a2331ffb0bfdf19361c9bde/pytest_randomly-3.16.0-py3-none-any.whl", hash = "sha256:8633d332635a1a0983d3bba19342196807f6afb17c3eef78e02c2f85dade45d6", size = 8396 }, ] [[package]] From 94d10ebf6a14d4cad82fff8547fc4de5a7c8c4a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 26 Oct 2024 01:36:48 -0500 Subject: [PATCH 151/191] Ford: higher curvature rate limits at low speed (#33846) * use closer to eps limits * bump * we've seen ~0.009 at 7 m/s, so allow that * bump * bump * update refs --- opendbc_repo | 2 +- panda | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 92da02f476..4aae6d02be 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 92da02f476d0b17ade35fcb33b5b483c8f8bfac2 +Subproject commit 4aae6d02bece759b6f25666db6b9428ae5011161 diff --git a/panda b/panda index 2bd2f2a702..3066f93d8a 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2bd2f2a7029e629518bfec60d30891fb0e2e0a88 +Subproject commit 3066f93d8a1db92ac900e6ccc64ff68c154deafb diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 92de522199..6842530946 100644 --- a/selfdrive/test/process_replay/ref_commit +++ 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<66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 28 Oct 2024 14:39:49 -0300 Subject: [PATCH 153/191] update pt-BR translations (#33879) --- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 342a212045..a89c85510e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -117,11 +117,11 @@ DeveloperPanel Joystick Debug Mode - + Modo Joystick Debug Longitudinal Maneuver Mode - + Modo Longitudinal Maneuver @@ -615,7 +615,7 @@ Isso pode levar até um minuto. Developer - + Desenvdor From 21bb0a2d7a5a6f8942f8a3eb1d5b2bc2d950feba Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 28 Oct 2024 12:57:36 -0700 Subject: [PATCH 154/191] jenkins: revert unsafe checkout (#33881) revert --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 23e5b016d3..64b2f05758 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -172,7 +172,7 @@ node { parallel ( // tici tests 'onroad tests': { - deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [ + 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"], From 628e0daee034ff42e5e9f59a445c77c577daa3f3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 28 Oct 2024 15:00:59 -0700 Subject: [PATCH 155/191] tici: remove power save test, it's testing the wrong thing --- Jenkinsfile | 1 - system/hardware/tici/tests/test_hardware.py | 26 --------------------- 2 files changed, 27 deletions(-) delete mode 100644 system/hardware/tici/tests/test_hardware.py diff --git a/Jenkinsfile b/Jenkinsfile index 64b2f05758..5afffad48f 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -232,7 +232,6 @@ node { ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"], ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]], ["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"], ]) }, diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py deleted file mode 100644 index 75f53e7cdb..0000000000 --- a/system/hardware/tici/tests/test_hardware.py +++ /dev/null @@ -1,26 +0,0 @@ -import pytest -import time -import numpy as np - -from openpilot.system.hardware.tici.hardware import Tici - -HARDWARE = Tici() - - -@pytest.mark.tici -class TestHardware: - - def test_power_save_time(self): - ts = {True: [], False: []} - for _ in range(5): - for on in (True, False): - st = time.monotonic() - HARDWARE.set_power_save(on) - ts[on].append(time.monotonic() - st) - - # disabling power save is the main time-critical one - assert 0.1 < np.mean(ts[False]) < 0.15 - assert max(ts[False]) < 0.2 - - assert 0.1 < np.mean(ts[True]) < 0.35 - assert max(ts[True]) < 0.4 From 7fc7874804fac6a19d711fa54eb009e81493001f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 28 Oct 2024 15:22:11 -0700 Subject: [PATCH 156/191] test_pandad: adjust startup time --- selfdrive/pandad/tests/test_pandad.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py index 467c7f04c9..213678193f 100644 --- a/selfdrive/pandad/tests/test_pandad.py +++ b/selfdrive/pandad/tests/test_pandad.py @@ -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: From fcbdd39aaf3a17a7bf76d2986159028556b29a57 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 28 Oct 2024 17:25:48 -0700 Subject: [PATCH 157/191] test_onroad: lower bound for soundd cpu usage (#33883) lb --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 714de01ca2..35338419de 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -53,7 +53,7 @@ PROCS = { "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.locationd.locationd": 25.0, - "selfdrive.ui.soundd": 3.38, + "selfdrive.ui.soundd": 3.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, From 22a1b40566ec5887c336c7f8389477ddda0ce6ec Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 28 Oct 2024 18:54:05 -0700 Subject: [PATCH 158/191] camerad: IFE BLC/linearization (#33884) * simplify * not all needed * need to combine this * there is none * p0s * cleanup * lgtm * lgtm2 * same * 4 --------- Co-authored-by: Comma Device --- system/camerad/cameras/ife.h | 40 +++++-------------------------- system/camerad/sensors/ar0231.cc | 15 ++++++++++++ system/camerad/sensors/os04c10.cc | 15 ++++++++++++ system/camerad/sensors/ox03c10.cc | 18 +++++++++++--- system/camerad/sensors/sensor.h | 1 + 5 files changed, 52 insertions(+), 37 deletions(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 380a6ae134..70a448dd1f 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -34,7 +34,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch }); dst += write_cont(dst, 0x40, { - 0x00000c04, // (1<<8) to enable vignetting correction + 0x00000c06, // (1<<8) to enable vignetting correction }); dst += write_cont(dst, 0x48, { @@ -67,7 +67,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch // black level scale + offset dst += write_cont(dst, 0x6b0, { - (((uint32_t)(1 << s->bits_per_pixel) - 1) << 0xf) | (s->black_level << 0), + ((uint32_t)(1 << 11) << 0xf) | (s->black_level << 0), 0x0, 0x0, }); @@ -105,39 +105,11 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vectorlinearization_pts); + dst += write_cont(dst, 0x4f0, s->linearization_pts); + dst += write_cont(dst, 0x500, s->linearization_pts); + dst += write_cont(dst, 0x510, s->linearization_pts); // TODO: this is DMI64 in the dump, does that matter? dst += write_dmi(dst, &addr, 288, 0xc24, 9); patches.push_back(addr - (uint64_t)start); diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 11e06de76a..a107a6e1b9 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -138,6 +138,21 @@ AR0231::AR0231() { ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b); gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); } + linearization_lut = { + 0x02000000, 0x02000000, 0x02000000, 0x02000000, + 0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff, + 0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff, + 0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff, + 0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff, + 0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff, + 0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff, + 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, + 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, + }; + for (int i = 0; i < 252; i++) { + linearization_lut.push_back(0x0); + } + linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff}; } void AR0231::processRegisters(uint8_t *cur_buf, cereal::FrameData::Builder &framed) const { diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 0ec891a4c0..08530989fe 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -72,6 +72,21 @@ OS04C10::OS04C10() { float fx = i / 63.0; gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5)); } + linearization_lut = { + 0x02000000, 0x02000000, 0x02000000, 0x02000000, + 0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff, + 0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff, + 0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff, + 0x020006ff, 0x020006ff, 0x020006ff, 0x020006ff, + 0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff, + 0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff, + 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, + 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, + }; + for (int i = 0; i < 252; i++) { + linearization_lut.push_back(0x0); + } + linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x3fff3fff}; } std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index edfb47f439..16ab0a65bc 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -64,7 +64,7 @@ OX03C10::OX03C10() { max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; target_grey_factor = 0.01; - black_level = 64; + black_level = 0; color_correct_matrix = { 0x000000b6, 0x00000ff1, 0x00000fda, 0x00000fcc, 0x000000b9, 0x00000ffb, @@ -75,9 +75,21 @@ OX03C10::OX03C10() { fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089; gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); } - for (int i = 0; i < 288; i++) { - linearization_lut.push_back(0xff); + linearization_lut = { + 0x00200000, 0x00200000, 0x00200000, 0x00200000, + 0x00404080, 0x00404080, 0x00404080, 0x00404080, + 0x00804100, 0x00804100, 0x00804100, 0x00804100, + 0x006b8402, 0x006b8402, 0x006b8402, 0x006b8402, + 0x00b8c070, 0x00b8c070, 0x00b8c070, 0x00b8c070, + 0x06044804, 0x06044804, 0x06044804, 0x06044804, + 0x100ba015, 0x100ba015, 0x100ba015, 0x100ba015, + 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, + 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, + }; + for (int i = 0; i < 252; i++) { + linearization_lut.push_back(0x0); } + linearization_pts = {0x07ff0bff, 0x17ff06ff, 0x1bff23ff, 0x27ff3fff}; for (int i = 0; i < 884*2; i++) { vignetting_lut.push_back(0xff); } diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 4fba4ff594..d94cd57c8d 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -73,6 +73,7 @@ public: std::vector color_correct_matrix; // 3x3 std::vector gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here std::vector linearization_lut; // length 288 + std::vector linearization_pts; // length 4 std::vector vignetting_lut; // 2x length 884 }; From a0548168857548eb9ea38c4a4a2ecc897f83455b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 13:26:34 -0700 Subject: [PATCH 159/191] nightly-dev (#33876) * dev * installer' * remove * debug --- Jenkinsfile | 1 + release/build_release.sh | 9 +++++++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 5afffad48f..9d6828000b 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -165,6 +165,7 @@ node { if (env.BRANCH_NAME == 'master-ci') { deviceStage("build nightly", "tici-needs-can", [], [ ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], + ["build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"], ]) } diff --git a/release/build_release.sh b/release/build_release.sh index bcc4b5cded..62c2085300 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -50,8 +50,13 @@ git commit -a -m "openpilot v$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 From e6afe355d434cddf417e6ce04d6699ca28b493f7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 13:56:16 -0700 Subject: [PATCH 160/191] model_replay: save plots for each commits (#33886) * fix * better * cleanup --- selfdrive/test/process_replay/model_replay.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index b0ef6a55d5..7ffaea76b4 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -50,7 +50,7 @@ def get_event(logs, event): def zl(array, fill): return zip_longest(array, [], fillvalue=fill) -def generate_report(proposed, master, tmp): +def generate_report(proposed, master, tmp, commit): ModelV2_Plots = zl([ (lambda x: x.velocity.x[0], "velocity.x"), (lambda x: x.action.desiredCurvature, "desiredCurvature"), @@ -60,7 +60,7 @@ def generate_report(proposed, master, tmp): ], "modelV2") return [plot(map(v[0], get_event(proposed, event)), \ - map(v[0], get_event(master, event)), v[1], tmp) \ + 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): @@ -88,11 +88,11 @@ def comment_replay_report(proposed, master, full_logs): print("No PR associated with this branch. Skipping report.") return - files = generate_report(proposed, master, tmp) + commit = get_commit() + files = generate_report(proposed, master, tmp, commit) GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files]) - commit = get_commit() 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) From bce376f1206a28215d62f966db9484392f7b3840 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 15:46:48 -0700 Subject: [PATCH 161/191] ui_preview: auto expand diffs (#33887) auto exp --- .github/workflows/ui_preview.yaml | 15 +++------------ 1 file changed, 3 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 3ed882ed05..4f25a71452 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -88,22 +88,20 @@ jobs: A=($scenes) DIFF="" - open=false - TABLE="All Screenshots" + TABLE="
All Screenshots" TABLE="${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 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}
" + DIFF="${DIFF}
" DIFF="${DIFF}${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$" DIFF="${DIFF}
" @@ -133,14 +131,7 @@ jobs: fi done - TABLE="${TABLE}
" - TABLE="${TABLE}
" - - if $open; then - TABLE="
${TABLE}" - else - TABLE="
${TABLE}" - fi + TABLE="${TABLE}
" echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT" From db98566084278cd60f3a00588d52809b6ab3b265 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 16:59:48 -0700 Subject: [PATCH 162/191] ci: faster sim test (#33888) * sim * no more --- .github/workflows/selfdrive_tests.yaml | 20 +++++++++++++++++++ .github/workflows/tools_tests.yaml | 18 ----------------- tools/sim/bridge/metadrive/metadrive_world.py | 2 +- tools/sim/tests/test_metadrive_bridge.py | 5 +---- tools/sim/tests/test_sim_bridge.py | 5 +---- 5 files changed, 23 insertions(+), 27 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9456914371..9d37714c17 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -327,6 +327,26 @@ 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 diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index c1c3552472..493671051f 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -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 diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 5bb4555dc1..a34d270994 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -105,7 +105,7 @@ class MetaDriveWorld(World): if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving self.distance_moved += x_dist + y_dist - time_check_threshold = 30 + time_check_threshold = 15 current_time = time.monotonic() since_last_check = current_time - self.last_check_timestamp if since_last_check >= time_check_threshold: diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py index 8849e901cb..04ce5d584f 100644 --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -12,10 +12,7 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase class TestMetaDriveBridge(TestSimBridgeBase): @pytest.fixture(autouse=True) def setup_create_bridge(self, test_duration): - # run bridge test for at least 60s, since not-moving check runs every 30s - if test_duration < 60: - test_duration = 60 - self.test_duration = test_duration + self.test_duration = 30 def create_bridge(self): return MetaDriveBridge(False, False, self.test_duration, True) diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index 12f38b86c3..d58cddff7f 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -89,7 +89,4 @@ class TestSimBridgeBase: p.terminate() for p in reversed(self.processes): - if isinstance(p, subprocess.Popen): - p.wait(15) - else: - p.join(15) + p.kill() From 3f09d19c95e3c5a2bb87f881645213723716da8e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 17:08:57 -0700 Subject: [PATCH 163/191] ci: x86 build on namespace runner (#33889) ns --- .github/workflows/selfdrive_tests.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9d37714c17..e98b4a19f7 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -76,7 +76,9 @@ 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: From fe53185f64a882a2007c7c180ef0995018a4c4c8 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 19:32:31 -0700 Subject: [PATCH 164/191] ci: faster ui preview (#33890) * fast * fast * cleanup --- .github/workflows/selfdrive_tests.yaml | 14 ++++++- selfdrive/ui/tests/test_ui/run.py | 58 ++++++++++---------------- 2 files changed, 34 insertions(+), 38 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e98b4a19f7..b510e8509d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -352,19 +352,29 @@ jobs: 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: diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index e6fd9a016a..8cd5f1930d 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -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 @@ -23,8 +22,9 @@ from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_c 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]] = [] @@ -222,41 +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(): @@ -277,13 +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() @@ -302,6 +291,3 @@ def create_screenshots(): if __name__ == "__main__": print("creating test screenshots") create_screenshots() - - print("creating html report") - create_html_report() From 219fd82b2cce1137f5dfd885037f608d8cc67022 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 29 Oct 2024 19:49:23 -0700 Subject: [PATCH 165/191] ci: fix ui_preview when testing the tests (#33891) fix for loop --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/ui_preview.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index b510e8509d..593fff8f09 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -378,5 +378,5 @@ jobs: - 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 diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 4f25a71452..1842ef21e9 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -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 From 935e4b9c83de6bed24152a33999590d47cb1038e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Oct 2024 01:22:41 -0700 Subject: [PATCH 166/191] bump opendbc docs --- docs/CARS.md | 6 +++--- opendbc_repo | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 84efe3c041..44c9327378 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |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)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -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[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc_repo b/opendbc_repo index 4aae6d02be..4493062729 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 4aae6d02bece759b6f25666db6b9428ae5011161 +Subproject commit 44930627296dd4adbe10c79e74b763edef7909b3 From 5df9fcbde4980b66c15cac4427c3876f00397836 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Oct 2024 11:51:32 -0700 Subject: [PATCH 167/191] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 3066f93d8a..352e7ff138 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3066f93d8a1db92ac900e6ccc64ff68c154deafb +Subproject commit 352e7ff138e9706715c8f0b76a985751ac620ae3 From 390713428242bc71208e4cae41b5a96e84ba76f9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Oct 2024 15:23:32 -0500 Subject: [PATCH 168/191] Ford: enable radar (#33893) * enable * updaterefs * updatedocs * bump to master * bump --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 4493062729..c4114772ba 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 44930627296dd4adbe10c79e74b763edef7909b3 +Subproject commit c4114772ba9d77bf03b97972611591e0bf8e4a25 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6842530946..80b8d3ac5c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8f9dba78b0a2a4fbf8122f61d49e9529dba9b3b4 \ No newline at end of file +2f17dc637bb685cadc08521c63f26c2f9af604d0 \ No newline at end of file From b470bef140e1f67dcba10bb7291d49feddd65801 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Wed, 30 Oct 2024 14:15:19 -0700 Subject: [PATCH 169/191] Fix low-speed allow_throttle behavior in long planner (#33894) * Misc fixes * don't check allow_throttle slowdown for e2e * Removed unused variable * believe this clip is still necessary * Update process replay refs --------- Co-authored-by: Bruce Wayne --- .../lib/longitudinal_mpc_lib/long_mpc.py | 4 ++- .../controls/lib/longitudinal_planner.py | 10 +++---- .../test_longitudinal.py | 26 ++++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 23 insertions(+), 19 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index fa6d5542bd..65e1421d77 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -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, diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 5f47cebb1f..f1637d960c 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -22,7 +22,7 @@ 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 -ACCEL_LIMIT_MARGIN = 0.05 +MIN_ALLOW_THROTTLE_SPEED = 2.5 # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] @@ -151,12 +151,12 @@ class LongitudinalPlanner: 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 <= 5.0 + self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED if not self.allow_throttle: - # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin - clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN) - accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast) + 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 diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 7eea44aae6..4bc1ebba8f 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -108,18 +108,6 @@ def create_maneuvers(kwargs): breakpoints=[0.0, 2., 2.01], **kwargs, ), - Maneuver( - "slow to 5m/s with allow_throttle = False and pitch = +0.1", - duration=25., - 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, - ), Maneuver( "approach slower cut-in car at 20m/s", duration=20., @@ -163,6 +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( diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 80b8d3ac5c..2f565836fd 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2f17dc637bb685cadc08521c63f26c2f9af604d0 \ No newline at end of file +992ac80ef848afb85562ca24b1c5a3d410aacd05 \ No newline at end of file From 25d2555e4957a259da65ba004278bc559a43d701 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Oct 2024 17:04:05 -0700 Subject: [PATCH 170/191] tizi: fix panda amp race condition (#33895) * backoff * bump panda * cleanup * fix mypy --------- Co-authored-by: Comma Device --- panda | 2 +- system/hardware/tici/amplifier.py | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 352e7ff138..0b364ece1e 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 352e7ff138e9706715c8f0b76a985751ac620ae3 +Subproject commit 0b364ece1eafa2e66b71be7cade3fdfb56a3014e diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index af82067467..f6b29ec0ce 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -125,13 +125,15 @@ class Amplifier: def set_configs(self, configs: list[AmpConfig]) -> bool: # retry in case panda is using the amp tries = 15 - for i in range(15): + backoff = 0. + for i in range(tries): try: self._set_configs(configs) return True except OSError: + backoff += 0.1 + time.sleep(backoff) print(f"Failed to set amp config, {tries - i - 1} retries left") - time.sleep(0.02) return False def set_global_shutdown(self, amp_disabled: bool) -> bool: From 78b83959e6db39402c25ef4fd38f7d3dfac2ac13 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 30 Oct 2024 18:55:19 -0700 Subject: [PATCH 171/191] IFE: update cst (#33896) cl was probably wrong --- system/camerad/cameras/ife.h | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 70a448dd1f..1616196a3f 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -167,16 +167,16 @@ int build_initial_config(uint8_t *dst, const SensorInfo *s, std::vector Date: Wed, 30 Oct 2024 18:55:43 -0700 Subject: [PATCH 172/191] IFE: fix gamma delta (#33897) update gtab Co-authored-by: Comma Device --- system/camerad/sensors/ar0231.cc | 5 +++-- system/camerad/sensors/os04c10.cc | 5 +++-- system/camerad/sensors/ox03c10.cc | 5 +++-- system/camerad/sensors/sensor.h | 6 ++++++ 4 files changed, 15 insertions(+), 6 deletions(-) diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index a107a6e1b9..e4ef3af404 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -126,8 +126,8 @@ AR0231::AR0231() { 0x00000fbc, 0x000000bb, 0x00000009, 0x00000fb6, 0x00000fe0, 0x000000ea, }; - for (int i = 0; i < 64; i++) { - float fx = i / 63.0; + for (int i = 0; i < 65; i++) { + float fx = i / 64.0; const float gamma_k = 0.75; const float gamma_b = 0.125; const float mp = 0.01; // ideally midpoint should be adaptive @@ -138,6 +138,7 @@ AR0231::AR0231() { ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b); gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); } + prepare_gamma_lut(); linearization_lut = { 0x02000000, 0x02000000, 0x02000000, 0x02000000, 0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff, diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 08530989fe..53ac37f08a 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -68,10 +68,11 @@ OS04C10::OS04C10() { 0x00000fa7, 0x000000d9, 0x00001000, 0x00000fca, 0x00000fef, 0x000000c7, }; - for (int i = 0; i < 64; i++) { - float fx = i / 63.0; + for (int i = 0; i < 65; i++) { + float fx = i / 64.0; gamma_lut_rgb.push_back((uint32_t)(pow(fx, 0.7)*1023.0 + 0.5)); } + prepare_gamma_lut(); linearization_lut = { 0x02000000, 0x02000000, 0x02000000, 0x02000000, 0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff, diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 16ab0a65bc..19742661b1 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -70,11 +70,12 @@ OX03C10::OX03C10() { 0x00000fcc, 0x000000b9, 0x00000ffb, 0x00000fc2, 0x00000ff6, 0x000000c9, }; - for (int i = 0; i < 64; i++) { - float fx = i / 63.0; + for (int i = 0; i < 65; i++) { + float fx = i / 64.0; fx = -0.507089*exp(-12.54124638*fx) + 0.9655*pow(fx, 0.5) - 0.472597*fx + 0.507089; gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); } + prepare_gamma_lut(); linearization_lut = { 0x00200000, 0x00200000, 0x00200000, 0x00200000, 0x00404080, 0x00404080, 0x00404080, 0x00404080, diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index d94cd57c8d..dc2aadfe13 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -72,6 +72,12 @@ public: uint32_t black_level; std::vector color_correct_matrix; // 3x3 std::vector gamma_lut_rgb; // gamma LUTs are length 64 * sizeof(uint32_t); same for r/g/b here + void prepare_gamma_lut() { + for (int i = 0; i < 64; i++) { + gamma_lut_rgb[i] |= ((uint32_t)(gamma_lut_rgb[i+1] - gamma_lut_rgb[i]) << 10); + } + gamma_lut_rgb.pop_back(); + } std::vector linearization_lut; // length 288 std::vector linearization_pts; // length 4 std::vector vignetting_lut; // 2x length 884 From 183a058853382193692608759df45f6d32849077 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 30 Oct 2024 19:57:27 -0700 Subject: [PATCH 173/191] ci: use setup with retry for static analysis (#33898) * docker * setup * now --- .github/workflows/selfdrive_tests.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 593fff8f09..7e122b57df 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -146,11 +146,12 @@ 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 From 3e1e9892a0789be2620f40518994b18a9d8c478e Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 30 Oct 2024 20:21:49 -0700 Subject: [PATCH 174/191] ci: increase submodules fetch timeout (#33899) * fix * increase --- .github/workflows/selfdrive_tests.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7e122b57df..6e17f5a480 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -48,7 +48,7 @@ jobs: - 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 +56,7 @@ jobs: cd $STRIPPED_DIR ${{ env.RUN }} "python3 system/manager/build.py" - name: Run tests - timeout-minutes: 3 + timeout-minutes: 1 run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ From 366d6abeb1c3ad673cbcd1f7d207c2e3e740e9cc Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 31 Oct 2024 10:46:34 -0700 Subject: [PATCH 175/191] fix build in master_ci (#33900) fix --- release/build_release.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/release/build_release.sh b/release/build_release.sh index 62c2085300..8b26dc74ab 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -50,7 +50,7 @@ git commit -a -m "openpilot v$VERSION release" export PYTHONPATH="$BUILD_DIR" scons -j$(nproc) --minimal -if [ -z "PANDA_DEBUG_BUILD" ]; then +if [ -z "$PANDA_DEBUG_BUILD" ]; then # release panda fw CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/ else From 4716629d7015833f94605aad6d6e7557255035a2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 31 Oct 2024 11:50:58 -0700 Subject: [PATCH 176/191] add nightly-dev to tested_branches (#33901) fix test --- system/version.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/version.py b/system/version.py index 94964526b3..2d8a387bf7 100755 --- a/system/version.py +++ b/system/version.py @@ -11,7 +11,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] -TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] +TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] BUILD_METADATA_FILENAME = "build.json" From c979282cfa7a4c6c04162fdb6d5fa52a0f3c8b2f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 31 Oct 2024 16:05:03 -0500 Subject: [PATCH 177/191] Ford: limit acceleration near PCM set speed (#33903) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index c4114772ba..d632cc5bec 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit c4114772ba9d77bf03b97972611591e0bf8e4a25 +Subproject commit d632cc5bec14d4e077fdf25e19b24b434c2653fd From 7899b9964c02d73c754ec997536f052ddf0bccdc Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 31 Oct 2024 16:00:09 -0700 Subject: [PATCH 178/191] IFE: fix bls offset scaling (#33905) 14u Co-authored-by: Comma Device --- system/camerad/cameras/ife.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h index 1616196a3f..a232000100 100644 --- a/system/camerad/cameras/ife.h +++ b/system/camerad/cameras/ife.h @@ -67,7 +67,7 @@ int build_update(uint8_t *dst, const SensorInfo *s, std::vector &patch // black level scale + offset dst += write_cont(dst, 0x6b0, { - ((uint32_t)(1 << 11) << 0xf) | (s->black_level << 0), + ((uint32_t)(1 << 11) << 0xf) | (s->black_level << (14 - s->bits_per_pixel)), 0x0, 0x0, }); From 736b6a2f8ab4405c77601a4b92b6b17532e40039 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 31 Oct 2024 16:11:15 -0700 Subject: [PATCH 179/191] agnos 11.2 (#33904) * agnos 11.2 * update kernel --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 77 +++++++++++++++------------------ 2 files changed, 37 insertions(+), 42 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 1e5bc7b607..781f40fc7e 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -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" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index b1862bdef9..3aa712a6b0 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,39 +1,49 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f.img.xz", - "hash": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", - "hash_raw": "5674ea6767e7198cf1e7def3de66a57061f001ed76d43dc4b4f84de545c53c6f", - "size": 16029696, + "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz", + "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a", + "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a", + "size": 16414720, + "sparse": false, + "full_check": true, + "has_ab": true + }, + { + "name": "system", + "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz", + "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea", + "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea", + "size": 4404019200, + "sparse": false, + "full_check": false, + "has_ab": true + }, + { + "name": "xbl", + "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz", + "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050", + "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050", + "size": 3282256, "sparse": false, "full_check": true, "has_ab": true }, { "name": "abl", - 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"full_check": true, - "has_ab": true - }, { "name": "xbl_config", - "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac.img.xz", - "hash": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", - "hash_raw": "19791056558c16f8dae787531b5e30b3b3db2ded9d666688df45ce1b91a72bac", + "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz", + "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995", + "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995", "size": 98124, "sparse": false, "full_check": true, @@ -41,9 +51,9 @@ }, { "name": "devcfg", - "url": "https://commadist.azureedge.net/agnosupdate/devcfg-be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27.img.xz", - "hash": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", - "hash_raw": "be44b73dda5be840b09d5347d536459e31098da3fea97596956c0bdad19bdf27", + "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz", + "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8", + "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8", "size": 40336, "sparse": false, "full_check": true, @@ -51,27 +61,12 @@ }, { "name": "aop", - 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"full_check": false, - "has_ab": true, - "alt": { - "hash": "bc11d2148f29862ee1326aca2af1cf6bbf5fed831e3f8f6b8f7a0f110dfe8d26", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-1badfe72851628d6cf9200a53a6151bb4e797b49c717141409fc57138eae388a.img.xz", - "size": 4548070000 - } } ] \ No newline at end of file From 420927c8dbc4dd1f7e8da06f7a2c243506f65b4b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 31 Oct 2024 20:23:16 -0700 Subject: [PATCH 180/191] jenkins: pass multiple args (#33907) args --- Jenkinsfile | 82 ++++++++++++++++++++++++++++++----------------------- 1 file changed, 47 insertions(+), 35 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 9d6828000b..07c6b4f4f5 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -92,11 +92,20 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) } steps.each { item -> - if (branch != "master" && item.size() == 3 && !hasPathChanged(gitDiff, item[2])) { - println "Skipping ${item[0]}: no changes in ${item[2]}." + 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 { - device(device_ip, item[0], item[1]) + timeout(time: cmdTimeout, unit: 'SECONDS') { + device(device_ip, name, cmd) + } } } } @@ -134,6 +143,9 @@ def setupCredentials() { } } +def step(String name, String cmd, Map args = [:]) { + return [name, cmd, args] +} node { env.CI = "1" @@ -158,14 +170,14 @@ 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"], - ["build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"], + step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"), + step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"), ]) } @@ -176,64 +188,64 @@ 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", ["panda/", "selfdrive/pandad/"]], - ["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", ["selfdrive/modeld/"]], - ["model replay", "selfdrive/test/process_replay/model_replay.py", ["selfdrive/modeld/"]], + 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", ["panda/", "selfdrive/pandad/"]], - ["test amp", "pytest system/hardware/tici/tests/test_amplifier.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"), ]) }, From df523385cad8c6c8d26d5f5ba804151bfb1304f9 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Nov 2024 11:15:21 -0700 Subject: [PATCH 181/191] ci: fix simulator test for github runner (#33910) * try * try * test * try * fix * back --- tools/sim/bridge/metadrive/metadrive_world.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index a34d270994..c5111289d0 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -105,7 +105,7 @@ class MetaDriveWorld(World): if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving self.distance_moved += x_dist + y_dist - time_check_threshold = 15 + time_check_threshold = 29 current_time = time.monotonic() since_last_check = current_time - self.last_check_timestamp if since_last_check >= time_check_threshold: From 572e9a466ca5759f85ed469d2460133626d26b10 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Nov 2024 11:16:37 -0700 Subject: [PATCH 182/191] jenkins: parallelizes build of nightly and nightly-dev (#33911) * split * fix --- Jenkinsfile | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 07c6b4f4f5..b47a3884a0 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -175,10 +175,18 @@ node { } if (env.BRANCH_NAME == 'master-ci') { - deviceStage("build nightly", "tici-needs-can", [], [ - step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"), - step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $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)) { From 61508e48a1f943f5e242b668218ab05fb1b09a3b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Nov 2024 15:44:57 -0500 Subject: [PATCH 183/191] PlotJuggler: add actuatorsOutput to longitudinal layout (#33912) * add actuators output * clean up --- tools/plotjuggler/layouts/longitudinal.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml index 33a24f76d6..460de97025 100644 --- a/tools/plotjuggler/layouts/longitudinal.xml +++ b/tools/plotjuggler/layouts/longitudinal.xml @@ -11,6 +11,7 @@ + From 2af9f6814723078af8a53dcb1072117c4c98e60b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Nov 2024 17:59:46 -0500 Subject: [PATCH 184/191] LogReader: more specific exceptions (#33914) * more specific logreader exceptions * huh * fix --- selfdrive/car/tests/test_models.py | 10 ++++------ tools/lib/logreader.py | 12 ++++++++---- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 025c3ab660..2a62127749 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -22,7 +22,7 @@ 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 +from openpilot.tools.lib.logreader import LogReader, LogsUnavailable from openpilot.tools.lib.route import SegmentName from panda.tests.libpanda import libpanda_py @@ -113,10 +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): @@ -130,7 +128,7 @@ class TestCarModelBase(unittest.TestCase): try: lr = LogReader(segment_range) return cls.get_testing_data_from_logreader(lr) - except Exception: + except (LogsUnavailable, AssertionError): 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?") diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index cf8748929c..5f7cdd3043 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -49,7 +49,7 @@ class _LogFileReader: _, ext = os.path.splitext(urllib.parse.urlparse(fn).path) if ext not in ('', '.bz2', '.zst'): # old rlogs weren't compressed - raise Exception(f"unknown extension {ext}") + raise ValueError(f"unknown extension {ext}") with FileReader(fn) as f: dat = f.read() @@ -99,6 +99,10 @@ Source = Callable[[SegmentRange, ReadMode], list[LogPath]] InternalUnavailableException = Exception("Internal source not available") +class LogsUnavailable(Exception): + pass + + @cache def default_valid_file(fn: LogPath) -> bool: return fn is not None and file_exists(fn) @@ -128,7 +132,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: list[LogPath], qlog_paths: list[L return auto_strategy(rlog_paths, qlog_paths, False, valid_file) elif mode == ReadMode.AUTO_INTERACTIVE: return auto_strategy(rlog_paths, qlog_paths, True, valid_file) - raise Exception(f"invalid mode: {mode}") + raise ValueError(f"invalid mode: {mode}") def comma_api_source(sr: SegmentRange, mode: ReadMode) -> list[LogPath]: @@ -224,8 +228,8 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG, sources: list[Source] = No except Exception as e: exceptions[source.__name__] = e - raise Exception("auto_source could not find any valid source, exceptions for sources:\n - " + - "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()])) + raise LogsUnavailable("auto_source could not find any valid source, exceptions for sources:\n - " + + "\n - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()])) def parse_indirect(identifier: str) -> str: From 4c0e2926e4da2b0c5875e2d8d0dac2c9f9561565 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Nov 2024 18:30:01 -0500 Subject: [PATCH 185/191] fix test_car_model.py segment format (#33915) fix test_car_model.py --- tools/car_porting/test_car_model.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py index 6f274aaf69..7ed7ba4f4d 100755 --- a/tools/car_porting/test_car_model.py +++ b/tools/car_porting/test_car_model.py @@ -5,7 +5,7 @@ import unittest # noqa: TID251 from opendbc.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModel -from openpilot.tools.lib.route import SegmentName +from openpilot.tools.lib.route import SegmentRange def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite: @@ -29,10 +29,9 @@ if __name__ == "__main__": parser.print_help() sys.exit() - route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True) - segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None + sr = SegmentRange(args.route_or_segment_name) - test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num) - test_suite = create_test_models_suite([test_route], ci=args.ci) + test_routes = [CarTestRoute(sr.route_name, args.car, segment=seg_idx) for seg_idx in sr.seg_idxs] + test_suite = create_test_models_suite(test_routes, ci=args.ci) unittest.TextTestRunner().run(test_suite) From 6fc14b5b9398a5c60239202102ef4a1923046e33 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 2 Nov 2024 07:35:39 +0800 Subject: [PATCH 186/191] selfdrive/debug: fix broken check_can_parser_performance.py (#33908) * fix check_can_parser_performance.py * no difference * this too --------- Co-authored-by: Shane Smiskol --- selfdrive/car/tests/test_models.py | 2 +- selfdrive/debug/check_can_parser_performance.py | 1 - tools/car_porting/test_car_model.py | 7 +++---- 3 files changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 2a62127749..e1e89abf9c 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -93,7 +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) diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index 2bddd362ae..7a0db1926b 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -14,7 +14,6 @@ N_RUNS = 10 class CarModelTestCase(TestCarModelBase): test_route = CarTestRoute(DEMO_ROUTE, None) - ci = False if __name__ == '__main__': diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py index 7ed7ba4f4d..dd248f562e 100755 --- a/tools/car_porting/test_car_model.py +++ b/tools/car_porting/test_car_model.py @@ -8,11 +8,11 @@ from openpilot.selfdrive.car.tests.test_models import TestCarModel from openpilot.tools.lib.route import SegmentRange -def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite: +def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite: test_suite = unittest.TestSuite() for test_route in routes: # create new test case and discover tests - test_case_args = {"platform": test_route.car_model, "test_route": test_route, "test_route_on_bucket": ci} + test_case_args = {"platform": test_route.car_model, "test_route": test_route} CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args) test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase)) return test_suite @@ -23,7 +23,6 @@ if __name__ == "__main__": "Uses selfdrive/car/tests/test_models.py") parser.add_argument("route_or_segment_name", help="Specify route to run tests on") parser.add_argument("--car", help="Specify car model for test route") - parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car") args = parser.parse_args() if len(sys.argv) == 1: parser.print_help() @@ -32,6 +31,6 @@ if __name__ == "__main__": sr = SegmentRange(args.route_or_segment_name) test_routes = [CarTestRoute(sr.route_name, args.car, segment=seg_idx) for seg_idx in sr.seg_idxs] - test_suite = create_test_models_suite(test_routes, ci=args.ci) + test_suite = create_test_models_suite(test_routes) unittest.TextTestRunner().run(test_suite) From 421ee1cffb226c237532bc82c61fa5c42625eac5 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 1 Nov 2024 22:06:10 -0700 Subject: [PATCH 187/191] ci: retry lfs pull (#33918) * retry * pin * name --- .github/workflows/selfdrive_tests.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 6e17f5a480..eba999e260 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -41,7 +41,12 @@ 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 From 08c8986dfaedb0876cb16689445a4a0aaeed39ac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Nov 2024 00:08:29 -0500 Subject: [PATCH 188/191] Ford long: smooth creep compensation (#33920) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index d632cc5bec..658eacdc51 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d632cc5bec14d4e077fdf25e19b24b434c2653fd +Subproject commit 658eacdc517c2311b8e7b705e782373f37a78452 From 02e71a8467c7a317782c648c3577bce5641b4f59 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 2 Nov 2024 00:15:13 -0500 Subject: [PATCH 189/191] Various CANParser optimizations (#33919) bump opendbc to master --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 658eacdc51..472c62e386 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 658eacdc517c2311b8e7b705e782373f37a78452 +Subproject commit 472c62e38690eca27f1eee9e8fe0eacde0de3d02 From 9d5ea83f5a1f351505288d5c03b87fdc226d7d0a Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 1 Oct 2024 15:04:42 -0400 Subject: [PATCH 190/191] Add Custom MIT License (#438) --- LICENSE.md | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 LICENSE.md diff --git a/LICENSE.md b/LICENSE.md new file mode 100644 index 0000000000..650b6f55b3 --- /dev/null +++ b/LICENSE.md @@ -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 for permission requests. + +--- + +Haibin Wen, SUNNYPILOT LLC From c05191949a2a7a54d65245f069cc42fa32b0f748 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 2 Nov 2024 19:15:58 +0100 Subject: [PATCH 191/191] Updating submodules --- .gitmodules | 12 ++++++------ opendbc_repo | 2 +- panda | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/.gitmodules b/.gitmodules index 54c7393986..10fa733cf3 100644 --- a/.gitmodules +++ b/.gitmodules @@ -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 \ No newline at end of file diff --git a/opendbc_repo b/opendbc_repo index 472c62e386..2313a2ad25 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 472c62e38690eca27f1eee9e8fe0eacde0de3d02 +Subproject commit 2313a2ad25ba58793bdd719c655bb6143fe03893 diff --git a/panda b/panda index 0b364ece1e..e46d040de5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0b364ece1eafa2e66b71be7cade3fdfb56a3014e +Subproject commit e46d040de51a7e4d5c24fb7fc1e7f561b0180ed5