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Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'comma/master' into sync-20250309

Browse Source 
# Conflicts:
#	.github/workflows/ui_preview.yaml
#	common/params_keys.h
#	msgq_repo
#	opendbc_repo
#	panda
#	selfdrive/ui/qt/offroad/firehose.h
#	selfdrive/ui/tests/test_ui/run.py
#	system/manager/process_config.py
This commit is contained in:
DevTekVE
2025-03-09 14:53:03 +01:00
parent bc65c8bef7 b98e10acc1
commit a4ef5ad982
119 changed files with 1383 additions and 1338 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/release.yaml
+1 -1
View File
@@ -51,4 +51,4 @@ jobs:
- name: Push master-ci
run: |
unset TARGET_DIR
BRANCH=master-ci release/build_devel.sh
BRANCH=__nightly release/build_devel.sh
.github/workflows/repo-maintenance.yaml
+26
View File
@@ -5,7 +5,33 @@ on:
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
workflow_dispatch:
env:
BASE_IMAGE: openpilot-base
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
jobs:
update_translations:
runs-on: ubuntu-latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
- uses: ./.github/workflows/setup-with-retry
- name: Update translations
run: |
${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
- name: Create Pull Request
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
with:
author: Vehicle Researcher <user@comma.ai>
commit-message: "Update translations"
title: "[bot] Update translations"
body: "Automatic PR from repo-maintenance -> update_translations"
branch: "update-translations"
base: "master"
delete-branch: true
labels: bot
package_updates:
name: package_updates
runs-on: ubuntu-latest
.github/workflows/ui_preview.yaml
+1 -1
View File
@@ -86,7 +86,7 @@ jobs:
run: >-
sudo apt-get install -y imagemagick
scenes="homescreen settings_device settings_network settings_network_advanced settings_software settings_sunnylink settings_toggles settings_sunnypilot settings_sunnypilot_mads settings_trips settings_vehicle settings_developer offroad_alert update_available prime onroad onroad_disengaged onroad_override onroad_sidebar onroad_wide onroad_wide_sidebar onroad_alert_small onroad_alert_mid onroad_alert_full driver_camera body keyboard keyboard_uppercase"
scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
A=($scenes)
DIFF=""
.gitignore
+1
View File
@@ -36,6 +36,7 @@ a.out
*.pyxbldc
*.vcd
*.qm
*_pyx.cpp
config.json
clcache
compile_commands.json
Jenkinsfile
Vendored
+2 -6
View File
@@ -166,7 +166,7 @@ node {
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
'testing-closet*', 'hotfix-*']
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
@@ -183,7 +183,7 @@ node {
])
}
if (env.BRANCH_NAME == 'master-ci') {
if (env.BRANCH_NAME == '__nightly') {
parallel (
'nightly': {
deviceStage("build nightly", "tici-needs-can", [], [
@@ -203,8 +203,6 @@ node {
// tici tests
'onroad tests': {
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"],
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", [timeout: 60]),
@@ -240,7 +238,6 @@ node {
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
])
},
/*
'camerad OS04C10': {
deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
step("build", "cd system/manager && ./build.py"),
@@ -248,7 +245,6 @@ node {
step("test exposure", "pytest system/camerad/test/test_exposure.py"),
])
},
*/
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
step("build", "cd system/manager && ./build.py"),
RELEASES.md
+1
View File
@@ -12,6 +12,7 @@ Version 0.9.8 (2025-02-28)
* More GPU time for bigger driving models
* Power draw reduced 0.5W, which means your device runs cooler
* Added toggle to enable driver monitoring even when openpilot is not engaged
* Localizer rewritten to remove GPS dependency at runtime
* Firehose Mode for maximizing your training data uploads
* Enable openpilot longitudinal control for Ford Q3 vehicles
* New Toyota TSS2 longitudinal tune
cereal/log.capnp
+4
View File
@@ -151,6 +151,10 @@ struct InitData {
gitBranch @11 :Text;
gitRemote @13 :Text;
# this is source commit for prebuilt branches
gitSrcCommit @23 :Text;
gitSrcCommitDate @24 :Text;
androidProperties @16 :Map(Text, Text);
pandaInfo @8 :PandaInfo;
common/clutil.cc
-106
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@@ -96,109 +96,3 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
}
return prg;
}
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
cl_print_build_errors(prg, device_id);
assert(0);
}
return prg;
}
// Given a cl code and return a string representation
#define CL_ERR_TO_STR(err) case err: return #err
const char* cl_get_error_string(int err) {
switch (err) {
CL_ERR_TO_STR(CL_SUCCESS);
CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
CL_ERR_TO_STR(CL_MAP_FAILURE);
CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
CL_ERR_TO_STR(CL_INVALID_VALUE);
CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
CL_ERR_TO_STR(CL_INVALID_PLATFORM);
CL_ERR_TO_STR(CL_INVALID_DEVICE);
CL_ERR_TO_STR(CL_INVALID_CONTEXT);
CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
CL_ERR_TO_STR(CL_INVALID_SAMPLER);
CL_ERR_TO_STR(CL_INVALID_BINARY);
CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
CL_ERR_TO_STR(CL_INVALID_PROGRAM);
CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
CL_ERR_TO_STR(CL_INVALID_KERNEL);
CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
CL_ERR_TO_STR(CL_INVALID_EVENT);
CL_ERR_TO_STR(CL_INVALID_OPERATION);
CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
CL_ERR_TO_STR(CL_INVALID_PROPERTY);
CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
case -69: return "CL_INVALID_PIPE_SIZE";
case -70: return "CL_INVALID_DEVICE_QUEUE";
case -71: return "CL_INVALID_SPEC_ID";
case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
default: return "CL_UNKNOWN_ERROR";
}
}
common/clutil.h
-2
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@@ -25,6 +25,4 @@ cl_device_id cl_get_device_id(cl_device_type device_type);
cl_context cl_create_context(cl_device_id device_id);
void cl_release_context(cl_context context);
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
const char* cl_get_error_string(int err);
common/numpy_fast.py
-19
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@@ -1,19 +0,0 @@
def clip(x, lo, hi):
return max(lo, min(hi, x))
def interp(x, xp, fp):
N = len(xp)
def get_interp(xv):
hi = 0
while hi < N and xv > xp[hi]:
hi += 1
low = hi - 1
return fp[-1] if hi == N and xv > xp[low] else (
fp[0] if hi == 0 else
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
def mean(x):
return sum(x) / len(x)
common/params_keys.h
+1 -1
View File
@@ -8,6 +8,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"AdbEnabled", PERSISTENT},
{"AlwaysOnDM", PERSISTENT},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_FirehoseStats", PERSISTENT},
{"AssistNowToken", PERSISTENT},
{"AthenadPid", PERSISTENT},
{"AthenadUploadQueue", PERSISTENT},
@@ -36,7 +37,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
{"ExperimentalMode", PERSISTENT | BACKUP},
{"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
{"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ForcePowerDown", PERSISTENT},
{"GitBranch", PERSISTENT},
common/util.cc
-1
View File
@@ -257,7 +257,6 @@ bool ends_with(const std::string& s, const std::string& suffix) {
std::string strip(const std::string &str) {
auto should_trim = [](unsigned char ch) {
// trim whitespace or a null character
return std::isspace(ch) || ch == '\0';
};
conftest.py
+3 -1
View File
@@ -78,8 +78,10 @@ def openpilot_class_fixture():
@pytest.fixture(scope="function")
def tici_setup_fixture(openpilot_function_fixture):
def tici_setup_fixture(request, openpilot_function_fixture):
"""Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
if 'skip_tici_setup' in request.keywords:
return
HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False)
os.system("pkill -9 -f athena")
docs/CARS.md
+1 -1
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@@ -312,7 +312,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
### Footnotes
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
docs/contributing/roadmap.md
+1 -1
View File
@@ -16,7 +16,7 @@ a [learned simulator](https://youtu.be/EqQNZXqzFSI).
* Always-on driver monitoring (behind a toggle)
* GPS removed from the driving stack
* 100KB qlogs
* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
launch_chffrplus.sh
+2 -6
View File
@@ -1,13 +1,9 @@
#!/usr/bin/env bash
if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot"
fi
source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
source "$DIR/launch_env.sh"
function agnos_init {
# TODO: move this to agnos
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="11.8"
export AGNOS_VERSION="11.10"
fi
export STAGING_ROOT="/data/safe_staging"
opendbc_repo
+1 -1
Submodule opendbc_repo updated: a98ee4ec96...4b2472a6df
panda
+1 -1
Submodule panda updated: 0bacdb1268...5389b01bdb
pyproject.toml
+2 -1
View File
@@ -143,6 +143,7 @@ asyncio_default_fixture_loop_scope = "function"
markers = [
"slow: tests that take awhile to run and can be skipped with -m 'not slow'",
"tici: tests that are only meant to run on the C3/C3X",
"skip_tici_setup: mark test to skip tici setup fixture"
]
testpaths = [
"common",
@@ -216,7 +217,7 @@ lint.select = [
"E", "F", "W", "PIE", "C4", "ISC", "A", "B",
"NPY", # numpy
"UP", # pyupgrade
"TRY302", "TRY400", "TRY401", # try/excepts
"TRY203", "TRY400", "TRY401", # try/excepts
"RUF008", "RUF100",
"TID251",
"PLR1704",
release/build_devel.sh
+10 -6
View File
@@ -19,15 +19,15 @@ cd $TARGET_DIR
cp -r $SOURCE_DIR/.git $TARGET_DIR
pre-commit uninstall || true
echo "[-] bringing master-ci and devel in sync T=$SECONDS"
echo "[-] bringing __nightly and devel in sync T=$SECONDS"
cd $TARGET_DIR
git fetch --depth 1 origin master-ci
git fetch --depth 1 origin __nightly
git fetch --depth 1 origin devel
git checkout -f --track origin/master-ci
git reset --hard master-ci
git checkout master-ci
git checkout -f --track origin/__nightly
git reset --hard __nightly
git checkout __nightly
git reset --hard origin/devel
git clean -xdff
git lfs uninstall
@@ -51,9 +51,13 @@ rm -f panda/board/obj/panda.bin.signed
# include source commit hash and build date in commit
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
echo -n "$GIT_HASH" > git_src_commit
echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
echo "[-] committing version $VERSION T=$SECONDS"
git add -f .
git status
@@ -81,7 +85,7 @@ fi
if [ ! -z "$BRANCH" ]; then
echo "[-] Pushing to $BRANCH T=$SECONDS"
git push -f origin master-ci:$BRANCH
git push -f origin __nightly:$BRANCH
fi
echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
release/build_release.sh
+1 -6
View File
@@ -93,14 +93,9 @@ git add -f .
git commit --amend -m "openpilot v$VERSION"
# Run tests
TEST_FILES="tools/"
cd $SOURCE_DIR
cp -pR -n --parents $TEST_FILES $BUILD_DIR/
cd $BUILD_DIR
RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
#system/manager/test/test_manager.py
pytest selfdrive/car/tests/test_car_interfaces.py
rm -rf $TEST_FILES
#pytest selfdrive/car/tests/test_car_interfaces.py
if [ ! -z "$RELEASE_BRANCH" ]; then
echo "[-] pushing release T=$SECONDS"
selfdrive/assets/offroad/tc.html
-44
View File
@@ -1,44 +0,0 @@
<!DOCTYPE html>
<head>
<meta charset="utf-8" />
<title>openpilot Terms of Service</title>
<style type="text/css">
p {
margin: 45px 0;
}
</style>
</head>
<body>
<p>The Terms and Conditions below are effective for all users</p>
<p>Last Updated on October 18, 2019</p>
<p>Please read these Terms of Use (“Terms”) carefully before using openpilot which is open-sourced software developed by Comma.ai, Inc., a corporation organized under the laws of Delaware (“comma,” “us,” “we,” or “our”).</p>
<p><strong>Before using and by accessing openpilot, you indicate that you have read, understood, and agree to these Terms.</strong> These Terms apply to all users and others who access or use openpilot. If others use openpilot through your user account or vehicle, you are responsible to ensure that they only use openpilot when it is safe to do so, and in compliance with these Terms and with applicable law. If you disagree with any part of the Terms, you should not access or use openpilot.</p>
<h3 id="communications">Communications</h3>
<p>You agree that comma may contact you by email or telephone in connection with openpilot or for other business purposes. You may opt out of receiving email messages at any time by contacting us at support@comma.ai.</p>
<p>We collect, use, and share information from and about you and your vehicle in connection with openpilot. You consent to comma accessing the systems associated with openpilot, without additional notice or consent, for the purposes of providing openpilot, data collection, software updates, safety and cybersecurity, suspension or removal of your account, and as disclosed in the Privacy Policy (available at https://connect.comma.ai/privacy).</p>
<h3 id="safety">Safety</h3>
<p>openpilot performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) designed for use in compatible motor vehicles. While using openpilot, it is your responsibility to obey all laws, traffic rules, and traffic regulations governing your vehicle and its operation. Access to and use of openpilot is at your own risk and responsibility, and openpilot should be accessed and/or used only when you can do so safely.</p>
<p>openpilot does not make your vehicle “autonomous” or capable of operation without the active monitoring of a licensed driver. It is designed to assist a licensed driver. A licensed driver must pay attention to the road, remain aware of navigation at all times, and be prepared to take immediate action. Failure to do so can cause damage, injury, or death.</p>
<h3 id="supported-locations-and-models">Supported Locations and Models</h3>
<p>openpilot is compatible only with particular makes and models of vehicles. For a complete list of currently supported vehicles, visit https://comma.ai. openpilot will not function properly when installed in an incompatible vehicle. openpilot is compatible only within the geographical boundaries of the United States of America.</p>
<h3 id="indemnification">Indemnification</h3>
<p><strong>To the maximum extent allowable by law, you agree to defend, indemnify and hold harmless comma, and its employees, partners, suppliers, contractors, investors, agents, officers, directors, and affiliates, from and against any and all claims, damages, causes of action, penalties, interest, demands, obligations, losses, liabilities, costs or debt, additional taxes, and expenses (including but not limited to attorneys’ fees), resulting from or arising out of (i) your use and access of, or inability to use or access, openpilot, (ii) your breach of these Terms, (iii) the inaccuracy of any information, representation or warranty made by you, (iv) activities of anyone other than you in connection with openpilot conducted through your comma device or account, (v) any other of your activities under or in connection with these Terms or openpilot.</strong></p>
<h3 id="limitation-of-liability">Limitation of Liability</h3>
<p>In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable for any indirect, incidental, special, consequential or punitive damages, including without limitation, loss of profits, data, use, goodwill, or other intangible losses, resulting from (i) your access to or use of or inability to access or use of the Software; or (ii) any conduct or content of any third party on the Software whether based on warranty, contract, tort (including negligence) or any other legal theory, whether or not we have been informed of the possibility of such damage, and even if a remedy set forth herein is found to have failed of its essential purpose.</p>
<h3 id="no-warranty-or-obligations-to-maintain-or-service">No Warranty or Obligations to Maintain or Service</h3>
<p>comma provides openpilot without representations, conditions, or warranties of any kind. openpilot is provided on an “AS IS” and “AS AVAILABLE” basis, including with all faults and errors as may occur. To the extent permitted by law and unless prohibited by law, comma on behalf of itself and all persons and parties acting by, through, or for comma, explicitly disclaims all warranties or conditions, express, implied, or collateral, including any implied warranties of merchantability, satisfactory quality, and fitness for a particular purpose in respect of openpilot.</p>
<p>To the extent permitted by law, comma does not warrant the operation, performance, or availability of openpilot under all conditions. comma is not responsible for any failures caused by server errors, misdirected or redirected transmissions, failed internet connections, interruptions or failures in the transmission of data, any computer virus, or any acts or omissions of third parties that damage the network or impair wireless service.</p>
<p>We undertake reasonable measures to preserve and secure information collected through our openpilot. However, no data collection, transmission or storage system is 100% secure, and there is always a risk that your information may be intercepted without our consent. <em>In using openpilot, you acknowledge that comma is not responsible for intercepted information, and you hereby release us from any and all claims arising out of or related to the use of intercepted information in any unauthorized manner.</em></p>
<p>By providing openpilot, comma does not transfer or license its intellectual property or grant rights in its brand names, nor does comma make representations with respect to third-party intellectual property rights.</p>
<p>We are not obligated to provide any maintenance or support for openpilot, technical or otherwise. If we voluntarily provide any maintenance or support for openpilot, we may stop any such maintenance, support, or services at any time in our sole discretion.</p>
<h3 id="modification-of-software">Modification of Software</h3>
<p>In no event shall comma, nor its directors, employees, partners, agents, suppliers, or affiliates, be liable if you choose to modify the software.</p>
<h3 id="changes">Changes</h3>
<p>We reserve the right, at our sole discretion, to modify or replace these Terms at any time. If a revision is material we will provide at least 15 days’ notice prior to any new terms taking effect. What constitutes a material change will be determined at our sole discretion.</p>
<p>By continuing to access or use our Software after any revisions become effective, you agree to be bound by the revised terms. If you do not agree to the new terms, you are no longer authorized to use the Software.</p>
<h3 id="contact-us">Contact Us</h3>
<p>If you have any questions about these Terms, please contact us at support@comma.ai.</p>
</body>
</html>
selfdrive/car/CARS_template.md
+2 -2
View File
@@ -12,11 +12,11 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# {{all_car_docs | length}} Supported Cars
# {{all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) | list | length}} Supported Cars
|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
{% for car_docs in all_car_docs %}
{% for car_docs in all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) %}
|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
{% endfor %}
selfdrive/car/cruise.py
+3
View File
@@ -56,6 +56,9 @@ class VCruiseHelper:
if CS.cruiseState.speed == 0:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
elif CS.cruiseState.speed == -1:
self.v_cruise_kph = -1
self.v_cruise_cluster_kph = -1
else:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
selfdrive/car/tests/test_models.py
+3
View File
@@ -270,6 +270,9 @@ class TestCarModelBase(unittest.TestCase):
def test_panda_safety_tx_cases(self, data=None):
"""Asserts we can tx common messages"""
if self.CP.dashcamOnly:
self.skipTest("no need to check panda safety for dashcamOnly")
if self.CP.notCar:
self.skipTest("Skipping test for notCar")
selfdrive/controls/controlsd.py
+9 -9
View File
@@ -45,7 +45,7 @@ class Controls:
poll='selfdriveState')
self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
self.steer_limited = False
self.steer_limited_by_controls = False
self.desired_curvature = 0.0
self.pose_calibrator = PoseCalibrator()
@@ -121,11 +121,11 @@ class Controls:
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
# Steering PID loop and lateral MPC
self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
actuators.curvature = float(self.desired_curvature)
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
actuators.curvature = self.desired_curvature
steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited, self.desired_curvature,
self.calibrated_pose) # TODO what if not available
self.steer_limited_by_controls, self.desired_curvature,
self.calibrated_pose, curvature_limited) # TODO what if not available
actuators.torque = float(steer)
actuators.steeringAngleDeg = float(steeringAngleDeg)
# Ensure no NaNs/Infs
@@ -176,10 +176,10 @@ class Controls:
if self.sm['selfdriveState'].active:
CO = self.sm['carOutput']
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
STEER_ANGLE_SATURATION_THRESHOLD
self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
STEER_ANGLE_SATURATION_THRESHOLD
else:
self.steer_limited = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
# TODO: both controlsState and carControl valids should be set by
# sm.all_checks(), but this creates a circular dependency
@@ -195,7 +195,7 @@ class Controls:
cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
cs.desiredCurvature = float(self.desired_curvature)
cs.desiredCurvature = self.desired_curvature
cs.longControlState = self.LoC.long_control_state
cs.upAccelCmd = float(self.LoC.pid.p)
cs.uiAccelCmd = float(self.LoC.pid.i)
selfdrive/controls/lib/drive_helpers.py
+24 -10
View File
@@ -1,5 +1,6 @@
import numpy as np
from cereal import log
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.realtime import DT_CTRL
MIN_SPEED = 1.0
@@ -7,20 +8,33 @@ CONTROL_N = 17
CAR_ROTATION_RADIUS = 0.0
# This is a turn radius smaller than most cars can achieve
MAX_CURVATURE = 0.2
MAX_VEL_ERR = 5.0 # m/s
# EU guidelines
MAX_LATERAL_JERK = 5.0
MAX_VEL_ERR = 5.0
MAX_LATERAL_JERK = 5.0 # m/s^3
MAX_LATERAL_ACCEL_NO_ROLL = 3.0 # m/s^2
def clip_curvature(v_ego, prev_curvature, new_curvature):
new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
v_ego = max(MIN_SPEED, v_ego)
max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
safe_desired_curvature = np.clip(new_curvature,
prev_curvature - max_curvature_rate * DT_CTRL,
prev_curvature + max_curvature_rate * DT_CTRL)
return safe_desired_curvature
def clamp(val, min_val, max_val):
clamped_val = float(np.clip(val, min_val, max_val))
return clamped_val, clamped_val != val
def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
# This function respects ISO lateral jerk and acceleration limits + a max curvature
v_ego = max(v_ego, MIN_SPEED)
max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
new_curvature = np.clip(new_curvature,
prev_curvature - max_curvature_rate * DT_CTRL,
prev_curvature + max_curvature_rate * DT_CTRL)
roll_compensation = roll * ACCELERATION_DUE_TO_GRAVITY
max_lat_accel = MAX_LATERAL_ACCEL_NO_ROLL + roll_compensation
min_lat_accel = -MAX_LATERAL_ACCEL_NO_ROLL + roll_compensation
new_curvature, limited_accel = clamp(new_curvature, min_lat_accel / v_ego ** 2, max_lat_accel / v_ego ** 2)
new_curvature, limited_max_curv = clamp(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
return float(new_curvature), limited_accel or limited_max_curv
def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
selfdrive/controls/lib/latcontrol.py
+4 -3
View File
@@ -17,14 +17,15 @@ class LatControl(ABC):
self.steer_max = 1.0
@abstractmethod
def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
pass
def reset(self):
self.sat_count = 0.
def _check_saturation(self, saturated, CS, steer_limited):
if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
# Saturated only if control output is not being limited by car torque/angle rate limits
if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
self.sat_count += self.sat_count_rate
else:
self.sat_count -= self.sat_count_rate
selfdrive/controls/lib/latcontrol_angle.py
+2 -2
View File
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
super().__init__(CP, CI)
self.sat_check_min_speed = 5.
def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
angle_log = log.ControlsState.LateralAngleState.new_message()
if not active:
@@ -23,7 +23,7 @@ class LatControlAngle(LatControl):
angle_steers_des += params.angleOffsetDeg
angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
angle_log.steeringAngleDesiredDeg = angle_steers_des
return 0, float(angle_steers_des), angle_log
selfdrive/controls/lib/latcontrol_pid.py
+2 -2
View File
@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
super().reset()
self.pid.reset()
def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -43,6 +43,6 @@ class LatControlPID(LatControl):
pid_log.i = float(self.pid.i)
pid_log.f = float(self.pid.f)
pid_log.output = float(output_steer)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
return output_steer, angle_steers_des, pid_log
selfdrive/controls/lib/latcontrol_torque.py
+3 -3
View File
@@ -37,7 +37,7 @@ class LatControlTorque(LatControl):
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
def update(self, active, CS, VM, params, steer_limited, desired_curvature, calibrated_pose):
def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralTorqueState.new_message()
if not active:
output_torque = 0.0
@@ -73,7 +73,7 @@ class LatControlTorque(LatControl):
desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
gravity_adjusted=True)
freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(pid_log.error,
feedforward=ff,
speed=CS.vEgo,
@@ -87,7 +87,7 @@ class LatControlTorque(LatControl):
pid_log.output = float(-output_torque)
pid_log.actualLateralAccel = float(actual_lateral_accel)
pid_log.desiredLateralAccel = float(desired_lateral_accel)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log
selfdrive/controls/lib/tests/test_latcontrol.py
+10 -2
View File
@@ -34,7 +34,15 @@ class TestLatControl:
lp = generate_livePose()
pose = Pose.from_live_pose(lp.livePose)
# Saturate for curvature limited and controller limited
for _ in range(1000):
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose)
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
assert lac_log.saturated
for _ in range(1000):
_, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
assert not lac_log.saturated
for _ in range(1000):
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
assert lac_log.saturated
selfdrive/debug/test_fw_query_on_routes.py
+2 -3
View File
@@ -65,8 +65,7 @@ if __name__ == "__main__":
CP = msg.carParams
car_fw = [fw for fw in CP.carFw if not fw.logging]
if len(car_fw) == 0:
print("no fw")
break
print("WARNING: no fw")
live_fingerprint = CP.carFingerprint
live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -98,7 +97,7 @@ if __name__ == "__main__":
print("New style (exact):", exact_matches)
print("New style (fuzzy):", fuzzy_matches)
padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw] + [0])
for version in sorted(car_fw, key=lambda fw: fw.brand):
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +
selfdrive/locationd/locationd.py
+1 -1
View File
@@ -147,13 +147,13 @@ class LocationEstimator:
self.car_speed = abs(msg.vEgo)
elif which == "liveCalibration":
# Note that we use this message during calibration
if len(msg.rpyCalib) > 0:
calib = np.array(msg.rpyCalib)
if calib.min() < -CALIB_RPY_SANITY_CHECK or calib.max() > CALIB_RPY_SANITY_CHECK:
return HandleLogResult.INPUT_INVALID
self.device_from_calib = rot_from_euler(calib)
self.calibrated = msg.calStatus == log.LiveCalibrationData.Status.calibrated
elif which == "cameraOdometry":
if not self._validate_timestamp(t):
selfdrive/locationd/paramsd.py
+15 -14
View File
@@ -46,18 +46,25 @@ class ParamsLearner:
self.yaw_rate_std = 0.0
self.roll = 0.0
self.steering_angle = 0.0
self.roll_valid = False
def handle_log(self, t, which, msg):
if which == 'livePose':
device_pose = Pose.from_live_pose(msg)
calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s
yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s
if yaw_rate_valid:
self.yaw_rate, self.yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
else:
# This is done to bound the yaw rate estimate when localizer values are invalid or calibrating
self.yaw_rate, self.yaw_rate_std = 0.0, np.radians(1)
localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
if self.roll_valid:
roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
if roll_valid:
roll = localizer_roll
# Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar?
roll_std = 2 * localizer_roll_std
@@ -67,18 +74,12 @@ class ParamsLearner:
roll_std = np.radians(10.0)
self.roll = np.clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrator.calib_valid
yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s
yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s
if self.active:
if msg.posenetOK:
if yaw_rate_valid:
self.kf.predict_and_observe(t,
ObservationKind.ROAD_FRAME_YAW_RATE,
np.array([[-self.yaw_rate]]),
np.array([np.atleast_2d(self.yaw_rate_std**2)]))
self.kf.predict_and_observe(t,
ObservationKind.ROAD_FRAME_YAW_RATE,
np.array([[-self.yaw_rate]]),
np.array([np.atleast_2d(self.yaw_rate_std**2)]))
self.kf.predict_and_observe(t,
ObservationKind.ROAD_ROLL,
selfdrive/modeld/.gitignore
-1
View File
@@ -1 +0,0 @@
*_pyx.cpp
selfdrive/modeld/constants.py
+7 -1
View File
@@ -14,8 +14,14 @@ class ModelConstants:
# model inputs constants
MODEL_FREQ = 20
HISTORY_FREQ = 5
HISTORY_LEN_SECONDS = 5
TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
FEATURE_LEN = 512
FULL_HISTORY_BUFFER_LEN = 100
DESIRE_LEN = 8
TRAFFIC_CONVENTION_LEN = 2
LAT_PLANNER_STATE_LEN = 4
selfdrive/modeld/dmonitoringmodeld
-4
View File
@@ -1,4 +0,0 @@
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
exec "$DIR/dmonitoringmodeld.py" "$@"
selfdrive/modeld/modeld
-4
View File
@@ -1,4 +0,0 @@
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
exec "$DIR/modeld.py" "$@"
selfdrive/modeld/modeld.py
+21 -10
View File
@@ -56,16 +56,24 @@ class ModelState:
prev_desire: np.ndarray # for tracking the rising edge of the pulse
def __init__(self, context: CLContext):
self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
self.frames = {
'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP),
'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP)
}
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
# policy inputs
self.numpy_inputs = {
'desire': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
'prev_desired_curv': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32),
'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32),
}
with open(VISION_METADATA_PATH, 'rb') as f:
@@ -104,8 +112,9 @@ class ModelState:
new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
self.prev_desire[:] = inputs['desire']
self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
self.numpy_inputs['desire'][0,-1] = new_desire
self.full_desire[0,:-1] = self.full_desire[0,1:]
self.full_desire[0,-1] = new_desire
self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
@@ -128,15 +137,17 @@ class ModelState:
self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten()
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
self.numpy_inputs['features_buffer'][0,-1] = vision_outputs_dict['hidden_state'][0, :]
self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
# TODO model only uses last value now
self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
self.numpy_inputs['prev_desired_curv'][0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
if SEND_RAW_PRED:
selfdrive/modeld/models/commonmodel.cc
+5 -4
View File
@@ -5,11 +5,12 @@
#include "common/clutil.h"
DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
input_frames = std::make_unique<uint8_t[]>(buf_size);
temporal_skip = _temporal_skip;
input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
region.origin = 1 * frame_size_bytes;
img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
region.origin = temporal_skip * frame_size_bytes;
region.size = frame_size_bytes;
last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
@@ -20,7 +21,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
for (int i = 0; i < 1; i++) {
for (int i = 0; i < temporal_skip; 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);
selfdrive/modeld/models/commonmodel.h
+3 -2
View File
@@ -64,20 +64,21 @@ protected:
class DrivingModelFrame : public ModelFrame {
public:
DrivingModelFrame(cl_device_id device_id, cl_context context);
DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
~DrivingModelFrame();
cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
const int MODEL_WIDTH = 512;
const int MODEL_HEIGHT = 256;
const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
const int buf_size = MODEL_FRAME_SIZE * 2;
const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
private:
LoadYUVState loadyuv;
cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
cl_buffer_region region;
int temporal_skip;
};
class MonitoringModelFrame : public ModelFrame {
selfdrive/modeld/models/commonmodel.pxd
+1 -1
View File
@@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
cppclass DrivingModelFrame:
int buf_size
DrivingModelFrame(cl_device_id, cl_context)
DrivingModelFrame(cl_device_id, cl_context, int)
cppclass MonitoringModelFrame:
int buf_size
selfdrive/modeld/models/commonmodel_pyx.pyx
+2 -2
View File
@@ -59,8 +59,8 @@ cdef class ModelFrame:
cdef class DrivingModelFrame(ModelFrame):
cdef cppDrivingModelFrame * _frame
def __cinit__(self, CLContext context):
self._frame = new cppDrivingModelFrame(context.device_id, context.context)
def __cinit__(self, CLContext context, int temporal_skip):
self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
self.frame = <cppModelFrame*>(self._frame)
self.buf_size = self._frame.buf_size
selfdrive/modeld/models/driving_policy.onnx
+2 -2
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5cae3285c876804e649b14adadcfb8be79a9bd5a1b928113e37f1f08e25e9688
size 16581121
oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
size 15966721
selfdrive/modeld/models/driving_vision.onnx
+1 -1
View File
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:29bbf79f9dfd7048c0013bb81e86d9b2979275b95ea1ed8a86d1a86a88695240
oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
size 34882971
selfdrive/modeld/tests/dmon_lag/repro.cc
-101
View File
@@ -1,101 +0,0 @@
// clang++ -O2 repro.cc && ./a.out
#include <sched.h>
#include <sys/types.h>
#include <unistd.h>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <ctime>
static inline double millis_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
}
#define MODEL_WIDTH 320
#define MODEL_HEIGHT 640
// null function still breaks it
#define input_lambda(x) x
// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
void inner(uint8_t *resized_buf, float *net_input_buf) {
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
for (int c = 0; c < MODEL_WIDTH/2; c++) {
// Y_ul
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
// Y_ur
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
// Y_dl
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
// Y_dr
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
// U
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
// V
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
}
}
}
float trial() {
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
// allocate the buffers
uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
// test for bad buffers
static int CNT = 20;
float avg = 0.0;
for (int i = 0; i < CNT; i++) {
double s4 = millis_since_boot();
inner(resized_buf, net_input_buf);
double s5 = millis_since_boot();
avg += s5-s4;
}
avg /= CNT;
// once it's bad, it's reliably bad
if (avg > 10) {
printf("HIT %f\n", avg);
printf("BAD\n");
for (int i = 0; i < 200; i++) {
double s4 = millis_since_boot();
inner(resized_buf, net_input_buf);
double s5 = millis_since_boot();
printf("%.2f ", s5-s4);
}
printf("\n");
exit(0);
}
// don't free so we get a different buffer each time
//free(resized_buf);
//free(net_input_buf);
return avg;
}
int main() {
while (true) {
float ret = trial();
printf("got %f\n", ret);
}
}
selfdrive/modeld/tests/tf_test/build.sh
-2
View File
@@ -1,2 +0,0 @@
#!/usr/bin/env bash
clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
selfdrive/modeld/tests/tf_test/main.cc
-69
View File
@@ -1,69 +0,0 @@
#include <cassert>
#include <cstdio>
#include <cstdlib>
#include "tensorflow/c/c_api.h"
void* read_file(const char* path, size_t* out_len) {
FILE* f = fopen(path, "r");
if (!f) {
return NULL;
}
fseek(f, 0, SEEK_END);
long f_len = ftell(f);
rewind(f);
char* buf = (char*)calloc(f_len, 1);
assert(buf);
size_t num_read = fread(buf, f_len, 1, f);
fclose(f);
if (num_read != 1) {
free(buf);
return NULL;
}
if (out_len) {
*out_len = f_len;
}
return buf;
}
static void DeallocateBuffer(void* data, size_t) {
free(data);
}
int main(int argc, char* argv[]) {
TF_Buffer* buf;
TF_Graph* graph;
TF_Status* status;
char *path = argv[1];
// load model
{
size_t model_size;
char tmp[1024];
snprintf(tmp, sizeof(tmp), "%s.pb", path);
printf("loading model %s\n", tmp);
uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
buf = TF_NewBuffer();
buf->data = model_data;
buf->length = model_size;
buf->data_deallocator = DeallocateBuffer;
printf("loaded model of size %d\n", model_size);
}
// import graph
status = TF_NewStatus();
graph = TF_NewGraph();
TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
TF_GraphImportGraphDef(graph, buf, opts, status);
TF_DeleteImportGraphDefOptions(opts);
TF_DeleteBuffer(buf);
if (TF_GetCode(status) != TF_OK) {
printf("FAIL: %s\n", TF_Message(status));
} else {
printf("SUCCESS\n");
}
}
selfdrive/modeld/tests/tf_test/pb_loader.py
-8
View File
@@ -1,8 +0,0 @@
#!/usr/bin/env python3
import sys
import tensorflow as tf
with open(sys.argv[1], "rb") as f:
graph_def = tf.compat.v1.GraphDef()
graph_def.ParseFromString(f.read())
#tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
selfdrive/modeld/tests/timing/benchmark.py
-39
View File
@@ -1,39 +0,0 @@
#!/usr/bin/env python3
# type: ignore
import os
import time
import numpy as np
import cereal.messaging as messaging
from openpilot.system.manager.process_config import managed_processes
N = int(os.getenv("N", "5"))
TIME = int(os.getenv("TIME", "30"))
if __name__ == "__main__":
sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
execution_times = []
for _ in range(N):
os.environ['LOGPRINT'] = 'debug'
managed_processes['modeld'].start()
time.sleep(5)
t = []
start = time.monotonic()
while time.monotonic() - start < TIME:
msgs = messaging.drain_sock(sock, wait_for_one=True)
for m in msgs:
t.append(m.modelV2.modelExecutionTime)
execution_times.append(np.array(t[10:]) * 1000)
managed_processes['modeld'].stop()
print("\n\n")
print(f"ran modeld {N} times for {TIME}s each")
for _, t in enumerate(execution_times):
print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
print("\n\n")
selfdrive/pandad/pandad_api_impl.pyx
+9 -3
View File
@@ -17,14 +17,17 @@ cdef extern from "opendbc/can/common.h":
vector[CanFrame] frames
cdef extern from "can_list_to_can_capnp.cc":
void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid)
void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil
void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
cdef CanFrame *f
cdef vector[CanFrame] can_list
cdef uint32_t cpp_can_msgs_len = len(can_msgs)
with nogil:
can_list.reserve(cpp_can_msgs_len)
can_list.reserve(len(can_msgs))
for can_msg in can_msgs:
f = &(can_list.emplace_back())
f.address = can_msg[0]
@@ -32,7 +35,10 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
f.src = can_msg[2]
cdef string out
can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
cdef bool is_sendcan = (msgtype == 'sendcan')
cdef bool is_valid = valid
with nogil:
can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid)
return out
def can_capnp_to_list(strings, msgtype='can'):
selfdrive/selfdrived/selfdrived.py
+5 -4
View File
@@ -31,6 +31,7 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
REPLAY = "REPLAY" in os.environ
SIMULATION = "SIMULATION" in os.environ
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
ThermalStatus = log.DeviceState.ThermalStatus
@@ -283,7 +284,7 @@ class SelfdriveD(CruiseHelper):
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:
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:
@@ -352,11 +353,11 @@ class SelfdriveD(CruiseHelper):
if lac.active and not recent_steer_pressed and not self.CP.notCar:
clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED)
actual_lateral_accel = controlstate.curvature * (clipped_speed**2)
desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2)
desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2)
undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
turning = abs(desired_lateral_accel) > 1.0
good_speed = CS.vEgo > 5
if undershooting and turning and good_speed and lac.saturated:
# TODO: lac.saturated includes speed and other checks, should be pulled out
if undershooting and turning and lac.saturated:
self.events.add(EventName.steerSaturated)
# Check for FCW
selfdrive/test/process_replay/migration.py
+1
View File
@@ -358,6 +358,7 @@ def migrate_cameraStates(msgs):
new_msg = messaging.new_message(msg.which())
new_camera_state = getattr(new_msg, new_msg.which())
new_camera_state.sensor = camera_state.sensor
new_camera_state.frameId = encode_id
new_camera_state.encodeId = encode_id
# timestampSof was added later so it might be missing on some old segments
selfdrive/test/process_replay/model_replay.py
+6 -3
View File
@@ -19,8 +19,8 @@ from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
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
TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
SEGMENT = 4
MAX_FRAMES = 100 if PC else 400
NO_MODEL = "NO_MODEL" in os.environ
@@ -66,6 +66,8 @@ def generate_report(proposed, master, tmp, commit):
(lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
(lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
(lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
(lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),
(lambda x: get_idx_if_non_empty(x.meta.desireState, 4), "desireState.laneChangeRight"),
(lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
], "modelV2")
DriverStateV2_Plots = zl([
@@ -143,7 +145,8 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
def model_replay(lr, frs):
# modeld is using frame pairs
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"})
modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
{"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
if not SEND_EXTRA_INPUTS:
selfdrive/test/process_replay/process_replay.py
+1 -1
View File
@@ -571,7 +571,7 @@ CONFIGS = [
),
ProcessConfig(
proc_name="modeld",
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
subs=["modelV2", "drivingModelData", "cameraOdometry"],
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
should_recv_callback=ModeldCameraSyncRcvCallback(),
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
d343af55506b14a4011bfe43b2a49c7e3c387d75
465979047295dad5da3a552db9227ed776a26a79
selfdrive/test/process_replay/regen.py
+17 -35
View File
@@ -12,10 +12,9 @@ from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKE
check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
from openpilot.selfdrive.test.update_ci_routes import upload_route
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
from openpilot.tools.lib.openpilotci import get_url
class DummyFrameReader(BaseFrameReader):
def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
@@ -55,45 +54,28 @@ def regen_segment(
def setup_data_readers(
route: str, sidx: int, use_route_meta: bool,
needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
route: str, sidx: int, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
) -> tuple[LogReader, dict[str, Any]]:
if use_route_meta:
r = Route(route)
lr = LogReader(r.log_paths()[sidx])
frs = {}
if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx])
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
else:
lr = LogReader(f"{route}/{sidx}/r")
frs = {}
if needs_road_cam:
frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
else:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc")
lr = LogReader(f"{route}/{sidx}/r")
frs = {}
if needs_road_cam:
frs['roadCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc"))
if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
if needs_driver_cam:
if dummy_driver_cam:
frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
else:
device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "dcamera.hevc"))
return lr, frs
def regen_and_save(
route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
upload: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
) -> str:
if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
raise ValueError("whitelist_proc must be a string or iterable")
@@ -110,7 +92,7 @@ def regen_and_save(
replayed_processes = CONFIGS
all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
lr, frs = setup_data_readers(route, sidx, use_route_meta,
lr, frs = setup_data_readers(route, sidx,
needs_driver_cam="driverCameraState" in all_vision_pubs,
needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
dummy_driver_cam=dummy_driver_cam)
selfdrive/test/process_replay/regen_all.py
+1 -1
View File
@@ -17,7 +17,7 @@ def regen_job(segment, upload, disable_tqdm):
sn = SegmentName(segment[1])
fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
try:
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload,
outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
relr = '|'.join(relr.split('/')[-2:])
return f' ("{segment[0]}", "{relr}"), '
selfdrive/test/process_replay/test_processes.py
+5 -5
View File
@@ -44,22 +44,22 @@ source_segments = [
segments = [
("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
("HONDA", "regenC8F0D6ADC5C|2024-08-30--02-54-01--0"),
("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
("SUBARU", "regenAA1FF48CF1F|2024-08-30--03-06-45--0"),
("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
]
selfdrive/test/test_onroad.py
+50 -54
View File
@@ -1,8 +1,6 @@
import math
import json
import os
import pathlib
import psutil
import pytest
import shutil
import subprocess
@@ -12,7 +10,7 @@ from collections import Counter, defaultdict
from pathlib import Path
from tabulate import tabulate
from cereal import car, log
from cereal import log
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from openpilot.common.basedir import BASEDIR
@@ -23,6 +21,7 @@ from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.hw import Paths
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.log_time_series import msgs_to_time_series
"""
CPU usage budget
@@ -112,6 +111,7 @@ def cputime_total(ct):
@pytest.mark.tici
@pytest.mark.skip_tici_setup
class TestOnroad:
@classmethod
@@ -119,7 +119,8 @@ class TestOnroad:
if "DEBUG" in os.environ:
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst")))
cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.zst")))
cls.ts = msgs_to_time_series(cls.lr)
return
# setup env
@@ -140,44 +141,31 @@ class TestOnroad:
proc = subprocess.Popen(["python", manager_path])
sm = messaging.SubMaster(['carState'])
with Timeout(150, "controls didn't start"):
while sm.recv_frame['carState'] < 0:
with Timeout(30, "controls didn't start"):
while not sm.seen['carState']:
sm.update(1000)
route = None
cls.segments = []
with Timeout(300, "timed out waiting for logs"):
while route is None:
route = params.get("CurrentRoute", encoding="utf-8")
time.sleep(0.01)
route = params.get("CurrentRoute", encoding="utf-8")
assert route is not None
# test car params caching
params.put("CarParamsCache", car.CarParams().to_bytes())
while len(cls.segments) < 1:
segs = set()
if Path(Paths.log_root()).exists():
segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
time.sleep(0.01)
segs = list(Path(Paths.log_root()).glob(f"{route}--*"))
assert len(segs) == 1
time.sleep(TEST_DURATION)
finally:
cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
if proc is not None:
proc.terminate()
if proc.wait(60) is None:
proc.kill()
cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.zst"))) for s in cls.segments]
cls.lr = list(LogReader(os.path.join(str(cls.segments[0]), "rlog.zst")))
cls.log_path = cls.segments[0]
cls.lr = list(LogReader(os.path.join(str(segs[0]), "rlog.zst")))
st = time.monotonic()
cls.ts = msgs_to_time_series(cls.lr)
print("msgs to time series", time.monotonic() - st)
log_path = segs[0]
cls.log_sizes = {}
for f in cls.log_path.iterdir():
for f in log_path.iterdir():
assert f.is_file()
cls.log_sizes[f] = f.stat().st_size / 1e6
@@ -198,7 +186,7 @@ class TestOnroad:
assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
def test_manager_starting_time(self):
st = self.msgs['managerState'][0].logMonoTime / 1e9
st = self.ts['managerState']['t'][0]
assert (st - self.manager_st) < 10, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
def test_cloudlog_size(self):
@@ -226,7 +214,7 @@ class TestOnroad:
result += "-------------- UI Draw Timing ------------------\n"
result += "------------------------------------------------\n"
ts = [m.uiDebug.drawTimeMillis for m in self.msgs['uiDebug']]
ts = self.ts['uiDebug']['drawTimeMillis']
result += f"min {min(ts):.2f}ms\n"
result += f"max {max(ts):.2f}ms\n"
result += f"std {np.std(ts):.2f}ms\n"
@@ -309,9 +297,6 @@ class TestOnroad:
assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
def test_gpu_usage(self):
assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
def test_camera_frame_timings(self, subtests):
# test timing within a single camera
result = "\n"
@@ -319,7 +304,7 @@ class TestOnroad:
result += "----------------- SOF Timing ------------------\n"
result += "------------------------------------------------\n"
for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
ts = self.ts[name]['timestampSof']
d_ms = np.diff(ts) / 1e6
d50 = np.abs(d_ms-50)
result += f"{name} sof delta vs 50ms: min {min(d50):.2f}ms\n"
@@ -338,35 +323,51 @@ class TestOnroad:
# sanity checks within a single cam
for cam in cams:
with subtests.test(test="frame_skips", camera=cam):
cam_log = [getattr(x, x.which()) for x in self.msgs[cam]]
assert set(np.diff([x.frameId for x in cam_log])) == {1, }, "Frame ID skips"
assert set(np.diff(self.ts[cam]['frameId'])) == {1, }, "Frame ID skips"
# EOF > SOF
eof_sof_diff = np.array([x.timestampEof - x.timestampSof for x in cam_log])
eof_sof_diff = self.ts[cam]['timestampEof'] - self.ts[cam]['timestampSof']
assert np.all(eof_sof_diff > 0)
assert np.all(eof_sof_diff < 50*1e6)
fid = {c: [getattr(m, m.which()).frameId for m in self.msgs[c]] for c in cams}
first_fid = [min(x) for x in fid.values()]
first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
if cam.endswith('CameraState'):
# camerad guarantees that all cams start on frame ID 0
# (note loggerd also needs to start up fast enough to catch it)
assert set(first_fid) == {0, }, "Cameras don't start on frame ID 0"
assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
else:
# encoder guarantees all cams start on the same frame ID
assert len(set(first_fid)) == 1, "Cameras don't start on same frame ID"
assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
# we don't do a full segment rotation, so these might not match exactly
last_fid = [max(x) for x in fid.values()]
assert max(last_fid) - min(last_fid) < 10
last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
assert max(last_fid.values()) - min(last_fid.values()) < 10
start, end = min(first_fid), min(last_fid)
all_ts = [[getattr(m, m.which()).timestampSof for m in self.msgs[c]] for c in cams]
start, end = min(first_fid.values()), min(last_fid.values())
for i in range(end-start):
ts = [round(x[i]/1e6, 1) for x in all_ts]
diff = max(ts) - min(ts)
ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
diff = (max(ts.values()) - min(ts.values()))
assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
def test_camera_encoder_matches(self, subtests):
# sanity check that the frame metadata is consistent with the encoded frames
pairs = [('roadCameraState', 'roadEncodeIdx'),
('wideRoadCameraState', 'wideRoadEncodeIdx'),
('driverCameraState', 'driverEncodeIdx')]
for cam, enc in pairs:
with subtests.test(camera=cam, encoder=enc):
cam_frames = {fid: (sof, eof) for fid, sof, eof in zip(
self.ts[cam]['frameId'],
self.ts[cam]['timestampSof'],
self.ts[cam]['timestampEof'],
strict=True,
)}
for i, fid in enumerate(self.ts[enc]['frameId']):
cam_sof, cam_eof = cam_frames[fid]
enc_sof, enc_eof = self.ts[enc]['timestampSof'][i], self.ts[enc]['timestampEof'][i]
assert enc_sof == cam_sof, f"SOF mismatch: frameId={fid}, enc_sof={enc_sof}, cam_sof={cam_sof}"
assert enc_eof == cam_eof, f"EOF mismatch: frameId={fid}, enc_eof={enc_eof}, cam_eof={cam_eof}"
def test_mpc_execution_timings(self):
result = "\n"
result += "------------------------------------------------\n"
@@ -438,12 +439,7 @@ class TestOnroad:
@release_only
def test_startup(self):
startup_alert = None
for msg in self.lrs[0]:
# can't use onroadEvents because the first msg can be dropped while loggerd is starting up
if msg.which() == "selfdriveState":
startup_alert = msg.selfdriveState.alertText1
break
startup_alert = self.ts['selfdriveState']['alertText1'][0]
expected = EVENTS[log.OnroadEvent.EventName.startup][ET.PERMANENT].alert_text_1
assert startup_alert == expected, "wrong startup alert"
selfdrive/ui/SConscript
-3
View File
@@ -47,12 +47,9 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v
translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
lupdate = qt_env.Command(translation_sources + ["translations/alerts_generated.h"], qt_src + widgets_src, "selfdrive/ui/update_translations.py")
lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES")
qt_env.Depends(lrelease, lupdate)
qt_env.NoClean(translation_sources)
qt_env.Precious(translation_sources)
qt_env.NoCache(lupdate)
# create qrc file for compiled translations to include with assets
translations_assets_src = "#selfdrive/assets/translations_assets.qrc"
selfdrive/ui/qt/offroad/firehose.cc
+52 -47
View File
@@ -8,6 +8,9 @@
#include <QScrollArea>
#include <QStackedLayout>
#include <QProgressBar>
#include <QJsonDocument>
#include <QJsonObject>
#include <QTimer>
FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) {
layout = new QVBoxLayout(this);
@@ -26,7 +29,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
content_layout->setSpacing(20);
// Top description
QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode."));
QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."));
description->setStyleSheet("font-size: 45px; padding-bottom: 20px;");
description->setWordWrap(true);
content_layout->addWidget(description);
@@ -38,41 +41,16 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
line->setStyleSheet("background-color: #444444; margin-top: 5px; margin-bottom: 5px;");
content_layout->addWidget(line);
enable_firehose = new ParamControl("FirehoseMode", tr("Enable Firehose Mode"), "", "");
toggle_label = new QLabel(tr("Firehose Mode: ACTIVE"));
toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: white;");
content_layout->addWidget(toggle_label);
content_layout->addWidget(enable_firehose);
// Create progress bar container
progress_container = new QFrame();
progress_container->hide();
QHBoxLayout *progress_layout = new QHBoxLayout(progress_container);
progress_layout->setContentsMargins(10, 0, 10, 10);
progress_layout->setSpacing(20);
progress_bar = new QProgressBar();
progress_bar->setRange(0, 100);
progress_bar->setValue(0);
progress_bar->setTextVisible(false);
progress_bar->setStyleSheet(R"(
QProgressBar {
background-color: #444444;
border-radius: 10px;
height: 20px;
}
QProgressBar::chunk {
background-color: #3498db;
border-radius: 10px;
}
)");
progress_bar->setFixedHeight(40);
// Progress text
progress_text = new QLabel(tr("0%"));
progress_text->setStyleSheet("font-size: 40px; font-weight: bold; color: white;");
progress_layout->addWidget(progress_text);
content_layout->addWidget(progress_container);
// Add contribution label
contribution_label = new QLabel();
contribution_label->setStyleSheet("font-size: 52px; margin-top: 10px; margin-bottom: 10px;");
contribution_label->setWordWrap(true);
contribution_label->hide();
content_layout->addWidget(contribution_label);
// Add a separator before detailed instructions
QFrame *line2 = new QFrame();
@@ -83,22 +61,49 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
// Detailed instructions at the bottom
detailed_instructions = new QLabel(tr(
"Follow these steps to get your device ready:<br>"
"\t1. Bring your device inside and connect to a good USB-C adapter<br>"
"\t2. Connect to Wi-Fi<br>"
"\t3. Enable the toggle<br>"
"\t4. Leave it connected for at least 30 minutes<br>"
"For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br>"
"<br>"
"The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness."
"<br><br><b>FAQ</b><br>"
"<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br>"
"<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br>"
"<i>Do I need to be on Wi-Fi?</i> Yes.<br>"
"<i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br>"
"Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br>"
"<br><br>"
"<b>Frequently Asked Questions</b><br><br>"
"<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br>"
"<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br>"
"<i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training."
));
detailed_instructions->setStyleSheet("font-size: 40px; padding: 20px; color: #E4E4E4;");
detailed_instructions->setStyleSheet("font-size: 40px; color: #E4E4E4;");
detailed_instructions->setWordWrap(true);
content_layout->addWidget(detailed_instructions);
layout->addWidget(content, 1);
// Set up the API request for firehose stats
const QString dongle_id = QString::fromStdString(Params().get("DongleId"));
firehose_stats = new RequestRepeater(this, CommaApi::BASE_URL + "/v1/devices/" + dongle_id + "/firehose_stats",
"ApiCache_FirehoseStats", 30, true);
QObject::connect(firehose_stats, &RequestRepeater::requestDone, [=](const QString &response, bool success) {
if (success) {
QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
QJsonObject json = doc.object();
int count = json["firehose"].toInt();
contribution_label->setText(tr("<b>%1 %2</b> of your driving are in the training dataset so far.").arg(count).arg(count == 1 ? "segment" : "segments"));
contribution_label->show();
}
});
QObject::connect(uiState(), &UIState::uiUpdate, this, &FirehosePanel::refresh);
}
void FirehosePanel::refresh() {
auto deviceState = (*uiState()->sm)["deviceState"].getDeviceState();
auto networkType = deviceState.getNetworkType();
bool networkMetered = deviceState.getNetworkMetered();
bool is_active = !networkMetered && (networkType != cereal::DeviceState::NetworkType::NONE);
if (is_active) {
toggle_label->setText(tr("ACTIVE"));
toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: #2ecc71;");
} else {
toggle_label->setText(tr("<span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network"));
toggle_label->setStyleSheet("font-size: 60px;");
}
}
selfdrive/ui/qt/offroad/firehose.h
+9 -9
View File
@@ -2,9 +2,8 @@
#include <QWidget>
#include <QVBoxLayout>
#include <QProgressBar>
#include <QLabel>
#include "common/params.h"
#include "selfdrive/ui/qt/request_repeater.h"
#ifdef SUNNYPILOT
#include "selfdrive/ui/sunnypilot/ui.h"
@@ -26,12 +25,13 @@ public:
private:
QVBoxLayout *layout;
ParamControl *enable_firehose;
QFrame *progress_container;
QProgressBar *progress_bar;
QLabel *progress_text;
QLabel *detailed_instructions;
void updateFirehoseState(bool enabled);
QLabel *contribution_label;
QLabel *toggle_label;
RequestRepeater *firehose_stats;
private slots:
void refresh();
};
selfdrive/ui/qt/offroad/onboarding.cc
+14 -35
View File
@@ -4,7 +4,6 @@
#include <QLabel>
#include <QPainter>
#include <QScrollBar>
#include <QTransform>
#include <QVBoxLayout>
@@ -12,7 +11,6 @@
#include "common/params.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/input.h"
#include "selfdrive/ui/qt/widgets/scrollview.h"
TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) {
setAttribute(Qt::WA_OpaquePaintEvent);
@@ -85,29 +83,25 @@ void TrainingGuide::paintEvent(QPaintEvent *event) {
}
void TermsPage::showEvent(QShowEvent *event) {
// late init, building QML widget takes 200ms
if (layout()) {
return;
}
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(45, 35, 45, 45);
main_layout->setSpacing(0);
QLabel *title = new QLabel(tr("Terms & Conditions"));
title->setStyleSheet("font-size: 90px; font-weight: 600;");
main_layout->addWidget(title);
QVBoxLayout *vlayout = new QVBoxLayout();
vlayout->setContentsMargins(165, 165, 165, 0);
main_layout->addLayout(vlayout);
QLabel *text = new QLabel(this);
text->setTextFormat(Qt::RichText);
text->setWordWrap(true);
text->setText(QString::fromStdString(util::read_file("../assets/offroad/tc.html")));
text->setStyleSheet("font-size:50px; font-weight: 200; color: #C9C9C9; background-color:#1B1B1B; padding:50px 50px;");
ScrollView *scroll = new ScrollView(text, this);
QLabel *title = new QLabel(tr("Welcome to openpilot"));
title->setStyleSheet("font-size: 90px; font-weight: 500;");
vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
main_layout->addSpacing(30);
main_layout->addWidget(scroll);
main_layout->addSpacing(50);
vlayout->addSpacing(90);
QLabel *desc = new QLabel(tr("You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing."));
desc->setWordWrap(true);
desc->setStyleSheet("font-size: 80px; font-weight: 300;");
vlayout->addWidget(desc, 0);
vlayout->addStretch();
QHBoxLayout* buttons = new QHBoxLayout;
buttons->setMargin(0);
@@ -118,8 +112,7 @@ void TermsPage::showEvent(QShowEvent *event) {
buttons->addWidget(decline_btn);
QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
accept_btn = new QPushButton(tr("Scroll to accept"));
accept_btn->setEnabled(false);
accept_btn = new QPushButton(tr("Agree"));
accept_btn->setStyleSheet(R"(
QPushButton {
background-color: #465BEA;
@@ -127,23 +120,9 @@ void TermsPage::showEvent(QShowEvent *event) {
QPushButton:pressed {
background-color: #3049F4;
}
QPushButton:disabled {
background-color: #4F4F4F;
}
)");
buttons->addWidget(accept_btn);
QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
QScrollBar *scroll_bar = scroll->verticalScrollBar();
connect(scroll_bar, &QScrollBar::valueChanged, this, [this, scroll_bar](int value) {
if (value == scroll_bar->maximum()) {
enableAccept();
}
});
}
void TermsPage::enableAccept() {
accept_btn->setText(tr("Agree"));
accept_btn->setEnabled(true);
}
void DeclinePage::showEvent(QShowEvent *event) {
selfdrive/ui/qt/offroad/onboarding.h
-3
View File
@@ -65,9 +65,6 @@ class TermsPage : public QFrame {
public:
explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}
public slots:
void enableAccept();
private:
void showEvent(QShowEvent *event) override;
selfdrive/ui/qt/offroad/software_settings.cc
+1 -1
View File
@@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
auto current = params.get("GitBranch");
QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master-ci", "master"}) {
for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master"}) {
auto i = branches.indexOf(b);
if (i >= 0) {
branches.removeAt(i);
selfdrive/ui/qt/onroad/hud.cc
+4 -1
View File
@@ -26,6 +26,7 @@ void HudRenderer::updateState(const UIState &s) {
// Handle older routes where vCruiseCluster is not set
set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA;
is_cruise_available = set_speed != -1;
if (is_cruise_set && !is_metric) {
set_speed *= KM_TO_MILE;
@@ -47,7 +48,9 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
drawSetSpeed(p, surface_rect);
if (is_cruise_available) {
drawSetSpeed(p, surface_rect);
}
drawCurrentSpeed(p, surface_rect);
p.restore();
selfdrive/ui/qt/onroad/hud.h
+1
View File
@@ -25,6 +25,7 @@ protected:
float speed = 0;
float set_speed = 0;
bool is_cruise_set = false;
bool is_cruise_available = true;
bool is_metric = false;
bool v_ego_cluster_seen = false;
int status = STATUS_DISENGAGED;
selfdrive/ui/soundd.py
+6 -7
View File
@@ -69,14 +69,13 @@ class Soundd:
for sound in sound_list:
filename, play_count, volume = sound_list[sound]
wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r')
with wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') as wavefile:
assert wavefile.getnchannels() == 1
assert wavefile.getsampwidth() == 2
assert wavefile.getframerate() == SAMPLE_RATE
assert wavefile.getnchannels() == 1
assert wavefile.getsampwidth() == 2
assert wavefile.getframerate() == SAMPLE_RATE
length = wavefile.getnframes()
self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
length = wavefile.getnframes()
self.loaded_sounds[sound] = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
def get_sound_data(self, frames): # get "frames" worth of data from the current alert sound, looping when required
selfdrive/ui/tests/test_translations.py
+1 -13
View File
@@ -2,14 +2,12 @@ import pytest
import json
import os
import re
import shutil
import tempfile
import xml.etree.ElementTree as ET
import string
import requests
from parameterized import parameterized_class
from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE
with open(LANGUAGES_FILE) as f:
translation_files = json.load(f)
@@ -34,16 +32,6 @@ class TestTranslations:
assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \
f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
def test_translations_updated(self):
with tempfile.TemporaryDirectory() as tmpdir:
shutil.copytree(TRANSLATIONS_DIR, tmpdir, dirs_exist_ok=True)
update_translations(translation_files=[self.file], translations_dir=tmpdir)
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
new_translations = self._read_translation_file(tmpdir, self.file)
assert cur_translations == new_translations, \
f"{self.file} ({self.name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files"
@pytest.mark.skip("Only test unfinished translations before going to release")
def test_unfinished_translations(self):
cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file)
selfdrive/ui/translations/main_ar.ts
+24 -16
View File
@@ -421,22 +421,30 @@
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -1451,22 +1459,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>الشروط والأحكام</translation>
</message>
<message>
<source>Decline</source>
<translation>رفض</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>قم بالتمرير للقبول</translation>
</message>
<message>
<source>Agree</source>
<translation>أوافق</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
selfdrive/ui/translations/main_de.ts
+24 -16
View File
@@ -421,22 +421,30 @@
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -1435,22 +1443,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>Benutzungsbedingungen</translation>
</message>
<message>
<source>Decline</source>
<translation>Ablehnen</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>Scrolle herunter um zu akzeptieren</translation>
</message>
<message>
<source>Agree</source>
<translation>Zustimmen</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
selfdrive/ui/translations/main_es.ts
+24 -16
View File
@@ -421,22 +421,30 @@
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -1435,22 +1443,22 @@ Esto puede tardar un minuto.</translation>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>Términos &amp; Condiciones</translation>
</message>
<message>
<source>Decline</source>
<translation>Rechazar</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>Desliza para aceptar</translation>
</message>
<message>
<source>Agree</source>
<translation>Aceptar</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
selfdrive/ui/translations/main_fr.ts
+24 -16
View File
@@ -421,22 +421,30 @@
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -1435,22 +1443,22 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>Termes &amp; Conditions</translation>
</message>
<message>
<source>Decline</source>
<translation>Refuser</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>Faire défiler pour accepter</translation>
</message>
<message>
<source>Agree</source>
<translation>Accepter</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
selfdrive/ui/translations/main_ja.ts
+29 -21
View File
@@ -419,24 +419,32 @@
<name>FirehosePanel</name>
<message>
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
<translation>🔥 Firehoseモード 🔥</translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -897,7 +905,7 @@ This may take up to a minute.</source>
</message>
<message>
<source>Firehose</source>
<translation type="unfinished"></translation>
<translation>データ学習</translation>
</message>
</context>
<context>
@@ -1431,22 +1439,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>利用規約</translation>
</message>
<message>
<source>Decline</source>
<translation>拒否</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>スクロールして同意</translation>
</message>
<message>
<source>Agree</source>
<translation>同意</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
@@ -1606,15 +1614,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name>
<message>
<source>Open</source>
<translation type="unfinished"></translation>
<translation>開く</translation>
</message>
<message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation>
<translation>openpilotの運転モデルを改善するために、大容量の学習データをアップロードして下さい。</translation>
</message>
<message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation>
<translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehoseモード &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_ko.ts
+35 -27
View File
@@ -121,27 +121,27 @@
</message>
<message>
<source>Longitudinal Maneuver Mode</source>
<translation>롱컨 기동 모드</translation>
<translation>롱컨 제어 모드</translation>
</message>
<message>
<source>openpilot Longitudinal Control (Alpha)</source>
<translation type="unfinished">openpilot 가감속 제어 (알파)</translation>
<translation>openpilot 가감속 제어 (알파)</translation>
</message>
<message>
<source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation type="unfinished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
<translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
<translation>이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
</message>
<message>
<source>Enable ADB</source>
<translation type="unfinished"></translation>
<translation>ADB 사용</translation>
</message>
<message>
<source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
<translation type="unfinished"></translation>
<translation>ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
</message>
<message>
<source>Hyundai: Enable Radar Tracks</source>
@@ -419,24 +419,32 @@
<name>FirehosePanel</name>
<message>
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
<translation>🔥 파이어호스 모드 🔥</translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -897,7 +905,7 @@ This may take up to a minute.</source>
</message>
<message>
<source>Firehose</source>
<translation type="unfinished"></translation>
<translation>파이어호스</translation>
</message>
</context>
<context>
@@ -1431,22 +1439,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>이용약관</translation>
</message>
<message>
<source>Decline</source>
<translation>거절</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>동의하려면 아래로 스크롤하세요</translation>
</message>
<message>
<source>Agree</source>
<translation>동의</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
@@ -1606,15 +1614,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name>
<message>
<source>Open</source>
<translation type="unfinished"></translation>
<translation>열기</translation>
</message>
<message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation>
<translation>훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요.</translation>
</message>
<message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation>
<translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 파이어호스 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_pt-BR.ts
+29 -21
View File
@@ -419,24 +419,32 @@
<name>FirehosePanel</name>
<message>
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
<translation>🔥 Mode Firehose 🔥</translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -901,7 +909,7 @@ Isso pode levar até um minuto.</translation>
</message>
<message>
<source>Firehose</source>
<translation type="unfinished"></translation>
<translation>Firehose</translation>
</message>
</context>
<context>
@@ -1435,22 +1443,22 @@ Isso pode levar até um minuto.</translation>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>Termos &amp; Condições</translation>
</message>
<message>
<source>Decline</source>
<translation>Declinar</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>Role a tela para aceitar</translation>
</message>
<message>
<source>Agree</source>
<translation>Concordo</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
@@ -1610,15 +1618,15 @@ Isso pode levar até um minuto.</translation>
<name>WiFiPromptWidget</name>
<message>
<source>Open</source>
<translation type="unfinished"></translation>
<translation>Abrir</translation>
</message>
<message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation>
<translation>Maximize seus envios de dados de treinamento para melhorar os modelos de direção do openpilot.</translation>
</message>
<message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation>
<translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Mode Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_th.ts
+24 -16
View File
@@ -421,22 +421,30 @@
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -1431,22 +1439,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>ข้อตกลงและเงื่อนไข</translation>
</message>
<message>
<source>Decline</source>
<translation>ปฏิเสธ</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>เลื่อนเพื่อตอบรับข้อตกลง</translation>
</message>
<message>
<source>Agree</source>
<translation>ยอมรับ</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
selfdrive/ui/translations/main_tr.ts
+24 -16
View File
@@ -421,22 +421,30 @@
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -1429,22 +1437,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>Şartlar ve Koşullar</translation>
</message>
<message>
<source>Decline</source>
<translation>Reddet</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>Kabul etmek için kaydırın</translation>
</message>
<message>
<source>Agree</source>
<translation>Kabul et</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
selfdrive/ui/translations/main_zh-CHS.ts
+29 -21
View File
@@ -419,24 +419,32 @@
<name>FirehosePanel</name>
<message>
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
<translation>🔥 训练数据上传模式 🔥</translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -897,7 +905,7 @@ This may take up to a minute.</source>
</message>
<message>
<source>Firehose</source>
<translation type="unfinished"></translation>
<translation>训练上传</translation>
</message>
</context>
<context>
@@ -1431,22 +1439,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>条款和条件</translation>
</message>
<message>
<source>Decline</source>
<translation>拒绝</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>滑动以接受</translation>
</message>
<message>
<source>Agree</source>
<translation>同意</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
@@ -1606,15 +1614,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name>
<message>
<source>Open</source>
<translation type="unfinished"></translation>
<translation>开启</translation>
</message>
<message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation>
<translation>最大化您的训练数据上传，以改善 openpilot 的驾驶模型。</translation>
</message>
<message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation>
<translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 训练数据上传模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message>
</context>
<context>
selfdrive/ui/translations/main_zh-CHT.ts
+29 -21
View File
@@ -419,24 +419,32 @@
<name>FirehosePanel</name>
<message>
<source>🔥 Firehose Mode 🔥</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable Firehose Mode</source>
<translation type="unfinished"></translation>
<translation>🔥 訓練資料上傳模式 🔥</translation>
</message>
<message>
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>0%</source>
<translation type="unfinished">5G {0%?}</translation>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Follow these steps to get your device ready:&lt;br&gt; 1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt; 2. Connect to Wi-Fi&lt;br&gt; 3. Enable the toggle&lt;br&gt; 4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
</context>
@@ -897,7 +905,7 @@ This may take up to a minute.</source>
</message>
<message>
<source>Firehose</source>
<translation type="unfinished"></translation>
<translation>訓練上傳</translation>
</message>
</context>
<context>
@@ -1431,22 +1439,22 @@ This may take up to a minute.</source>
</context>
<context>
<name>TermsPage</name>
<message>
<source>Terms &amp; Conditions</source>
<translation>條款和條件</translation>
</message>
<message>
<source>Decline</source>
<translation>拒絕</translation>
</message>
<message>
<source>Scroll to accept</source>
<translation>滑動至頁尾接受條款</translation>
</message>
<message>
<source>Agree</source>
<translation>接受</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>TogglesPanel</name>
@@ -1606,15 +1614,15 @@ This may take up to a minute.</source>
<name>WiFiPromptWidget</name>
<message>
<source>Open</source>
<translation type="unfinished"></translation>
<translation>開啟</translation>
</message>
<message>
<source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
<translation type="unfinished"></translation>
<translation>最大化您的訓練數據上傳，以改善 openpilot 的駕駛模型。</translation>
</message>
<message>
<source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
<translation type="unfinished"></translation>
<translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; 訓練資料上傳模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
</message>
</context>
<context>
system/athena/athenad.py
-4
View File
@@ -523,10 +523,6 @@ def getSshAuthorizedKeys() -> str:
def getGithubUsername() -> str:
return Params().get("GithubUsername", encoding='utf8') or ''
@dispatcher.add_method
def getFirehoseMode() -> bool:
return Params().get_bool("FirehoseMode") or False
@dispatcher.add_method
def getSimInfo():
return HARDWARE.get_sim_info()
system/camerad/cameras/camera_common.cc
+1 -1
View File
@@ -15,7 +15,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
const SensorInfo *sensor = cam->sensor.get();
// RAW frames from ISP
if (cam->output_type != ISP_IFE_PROCESSED) {
if (cam->cc.output_type != ISP_IFE_PROCESSED) {
camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
system/camerad/cameras/camera_qcom2.cc
+2 -2
View File
@@ -55,7 +55,7 @@ public:
float fl_pix = 0;
std::unique_ptr<PubMaster> pm;
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
~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);
@@ -268,7 +268,7 @@ void camerad_thread() {
// *** per-cam init ***
std::vector<std::unique_ptr<CameraState>> cams;
for (const auto &config : {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG}) {
for (const auto &config : ALL_CAMERA_CONFIGS) {
auto cam = std::make_unique<CameraState>(&m, config);
cam->init(&v, device_id, ctx);
cams.emplace_back(std::move(cam));
system/camerad/cameras/hw.h
+11
View File
@@ -6,6 +6,13 @@
#include "media/cam_isp_ife.h"
typedef enum {
ISP_RAW_OUTPUT, // raw frame from sensor
ISP_IFE_PROCESSED, // fully processed image through the IFE
ISP_BPS_PROCESSED, // fully processed image through the BPS
} SpectraOutputType;
// For the comma 3/3X three camera platform
struct CameraConfig {
@@ -17,6 +24,7 @@ struct CameraConfig {
bool enabled;
uint32_t phy;
bool vignetting_correction;
SpectraOutputType output_type;
};
// NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
@@ -30,6 +38,7 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
.enabled = !getenv("DISABLE_WIDE_ROAD"),
.phy = CAM_ISP_IFE_IN_RES_PHY_0,
.vignetting_correction = false,
.output_type = ISP_IFE_PROCESSED,
};
const CameraConfig ROAD_CAMERA_CONFIG = {
@@ -41,6 +50,7 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
.enabled = !getenv("DISABLE_ROAD"),
.phy = CAM_ISP_IFE_IN_RES_PHY_1,
.vignetting_correction = true,
.output_type = ISP_IFE_PROCESSED,
};
const CameraConfig DRIVER_CAMERA_CONFIG = {
@@ -52,6 +62,7 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
.enabled = !getenv("DISABLE_DRIVER"),
.phy = CAM_ISP_IFE_IN_RES_PHY_2,
.vignetting_correction = false,
.output_type = ISP_BPS_PROCESSED,
};
const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};
system/camerad/cameras/spectra.cc
+142 -156
View File
@@ -233,12 +233,11 @@ void SpectraMaster::init() {
// *** SpectraCamera ***
SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out)
SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config)
: m(master),
enabled(config.enabled),
cc(config),
output_type(out) {
ife_buf_depth = (out == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
cc(config) {
ife_buf_depth = (cc.output_type == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
assert(ife_buf_depth < MAX_IFE_BUFS);
}
@@ -249,13 +248,7 @@ SpectraCamera::~SpectraCamera() {
}
int SpectraCamera::clear_req_queue() {
struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
req_mgr_flush_request.session_hdl = session_handle;
req_mgr_flush_request.link_hdl = link_handle;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
LOGD("flushed all req: %d", ret);
// for "non-realtime" BPS
if (icp_dev_handle > 0) {
struct cam_flush_dev_cmd cmd = {
.session_handle = session_handle,
@@ -264,8 +257,17 @@ int SpectraCamera::clear_req_queue() {
};
int err = do_cam_control(m->icp_fd, CAM_FLUSH_REQ, &cmd, sizeof(cmd));
assert(err == 0);
LOGD("flushed bps: %d", err);
}
// for "realtime" devices
struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
req_mgr_flush_request.session_hdl = session_handle;
req_mgr_flush_request.link_hdl = link_handle;
req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
LOGD("flushed all req: %d", ret);
for (int i = 0; i < MAX_IFE_BUFS; ++i) {
destroySyncObjectAt(i);
}
@@ -287,7 +289,7 @@ 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;
if (output_type != ISP_RAW_OUTPUT) {
if (cc.output_type != ISP_RAW_OUTPUT) {
uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
}
@@ -296,21 +298,14 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
open = true;
configISP();
if (output_type == ISP_BPS_PROCESSED) configICP();
if (cc.output_type == ISP_BPS_PROCESSED) configICP();
configCSIPHY();
linkDevices();
LOGD("camera init %d", cc.camera_num);
buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
camera_map_bufs();
enqueue_req_multi(1, ife_buf_depth);
}
void SpectraCamera::enqueue_req_multi(uint64_t start, int n) {
for (uint64_t request_id = start; request_id < start + n; ++request_id) {
uint64_t idx = (request_id - 1) % ife_buf_depth;
enqueue_buffer(idx, request_id);
}
clearAndRequeue(1);
}
void SpectraCamera::sensors_start() {
@@ -740,7 +735,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
buf_desc[0].offset = ife_cmd.aligned_size()*idx;
// stream of IFE register writes
bool is_raw = output_type != ISP_IFE_PROCESSED;
bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
if (!is_raw) {
if (init) {
buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
@@ -829,7 +824,7 @@ 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);
if (output_type != ISP_IFE_PROCESSED) {
if (cc.output_type != ISP_IFE_PROCESSED) {
io_cfg[0].mem_handle[0] = buf_handle_raw[idx];
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = sensor->frame_width,
@@ -900,60 +895,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
assert(ret == 0);
}
// Enqueue buffer for the given index and return true if the frame is ready
bool SpectraCamera::enqueue_buffer(int i, uint64_t request_id) {
int ret;
bool frame_ready = false;
// Before queuing up a new frame, wait for the
// previous one in this slot (index) to come in.
if (sync_objs_ife[i]) {
// TODO: write a test to stress test w/ a low timeout and check camera frame ids match
struct cam_sync_wait sync_wait = {0};
// *** Wait for IFE ***
// in RAW_OUTPUT mode, this is just the frame readout from the sensor
// in IFE_PROCESSED mode, this is both frame readout and image processing (~1ms)
sync_wait.sync_obj = sync_objs_ife[i];
sync_wait.timeout_ms = 100;
if (stress_test("IFE sync")) {
sync_wait.timeout_ms = 1;
}
ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
if (ret != 0) {
LOGE("failed to wait for IFE sync: %d %d", ret, sync_wait.sync_obj);
}
// *** Wait for BPS ***
if (ret == 0 && sync_objs_bps[i]) {
sync_wait.sync_obj = sync_objs_bps[i];
sync_wait.timeout_ms = 50; // typically 7ms
if (stress_test("BPS sync")) {
sync_wait.timeout_ms = 1;
}
ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
if (ret != 0) {
LOGE("failed to wait for BPS sync: %d %d", ret, sync_wait.sync_obj);
}
}
// all good, hand off frame
if (ret == 0) {
frame_ready = true;
}
if (ret != 0) {
clear_req_queue();
}
destroySyncObjectAt(i);
}
void SpectraCamera::enqueue_frame(uint64_t request_id) {
int i = request_id % ife_buf_depth;
assert(sync_objs_ife[i] == 0);
// 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));
int 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);
} else {
@@ -984,9 +933,7 @@ bool SpectraCamera::enqueue_buffer(int i, uint64_t request_id) {
// submit request to IFE and BPS
config_ife(i, request_id);
if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
return frame_ready;
if (cc.output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
}
void SpectraCamera::destroySyncObjectAt(int index) {
@@ -1019,7 +966,7 @@ void SpectraCamera::camera_map_bufs() {
mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
}
if (output_type != ISP_IFE_PROCESSED) {
if (cc.output_type != ISP_IFE_PROCESSED) {
// 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));
@@ -1028,7 +975,7 @@ void SpectraCamera::camera_map_bufs() {
buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
}
if (output_type != ISP_RAW_OUTPUT) {
if (cc.output_type != ISP_RAW_OUTPUT) {
// final processed images
VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
mem_mgr_map_cmd.fd = vb->fd;
@@ -1125,7 +1072,7 @@ void SpectraCamera::configISP() {
},
};
if (output_type != ISP_IFE_PROCESSED) {
if (cc.output_type != ISP_IFE_PROCESSED) {
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;
@@ -1148,7 +1095,7 @@ void SpectraCamera::configISP() {
// allocate IFE memory, then configure it
ife_cmd.init(m, 67984, 0x20, false, m->device_iommu, m->cdm_iommu, ife_buf_depth);
if (output_type == ISP_IFE_PROCESSED) {
if (cc.output_type == ISP_IFE_PROCESSED) {
assert(sensor->gamma_lut_rgb.size() == 64);
ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
for (int i = 0; i < 3; i++) {
@@ -1300,7 +1247,7 @@ void SpectraCamera::linkDevices() {
ret = device_control(m->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
LOGD("start isp: %d", ret);
assert(ret == 0);
if (output_type == ISP_BPS_PROCESSED) {
if (cc.output_type == ISP_BPS_PROCESSED) {
ret = device_control(m->icp_fd, CAM_START_DEV, session_handle, icp_dev_handle);
LOGD("start icp: %d", ret);
assert(ret == 0);
@@ -1315,7 +1262,7 @@ void SpectraCamera::camera_close() {
// LOGD("stop sensor: %d", ret);
int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle);
LOGD("stop isp: %d", ret);
if (output_type == ISP_BPS_PROCESSED) {
if (cc.output_type == ISP_BPS_PROCESSED) {
ret = device_control(m->icp_fd, CAM_STOP_DEV, session_handle, icp_dev_handle);
LOGD("stop icp: %d", ret);
}
@@ -1344,7 +1291,7 @@ void SpectraCamera::camera_close() {
LOGD("-- Release devices");
ret = device_control(m->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle);
LOGD("release isp: %d", ret);
if (output_type == ISP_BPS_PROCESSED) {
if (cc.output_type == ISP_BPS_PROCESSED) {
ret = device_control(m->icp_fd, CAM_RELEASE_DEV, session_handle, icp_dev_handle);
LOGD("release icp: %d", ret);
}
@@ -1371,90 +1318,129 @@ void SpectraCamera::camera_close() {
LOGD("destroyed session %d: %d", cc.camera_num, ret);
}
// Processes camera events and returns true if the frame is ready for further processing
bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
if (stress_test("skipping handling camera event")) {
LOGW("skipping event");
/*
Handles camera SOF event. Returns true if the frame is valid for publishing.
*/
uint64_t request_id = event_data->u.frame_msg.request_id; // ID from the camera request manager
uint64_t frame_id_raw = event_data->u.frame_msg.frame_id; // raw as opposed to our re-indexed frame ID
uint64_t timestamp = event_data->u.frame_msg.timestamp; // timestamped in the kernel's SOF IRQ callback
//LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
if (stress_test("skipping SOF event")) return false;
if (!validateEvent(request_id, frame_id_raw)) {
return false;
}
if (!enabled) return false;
// Update tracking variables
if (request_id == request_id_last + 1) {
skip_expected = false;
}
frame_id_raw_last = frame_id_raw;
request_id_last = request_id;
// ID from the qcom camera request manager
uint64_t request_id = event_data->u.frame_msg.request_id;
// raw as opposed to our re-indexed frame ID
uint64_t frame_id_raw = event_data->u.frame_msg.frame_id;
if (request_id != 0) { // next ready
// check for skipped_last frames
if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) {
LOGE("camera %d realign", cc.camera_num);
clear_req_queue();
enqueue_req_multi(request_id + 1, ife_buf_depth - 1);
skipped_last = true;
} else if (frame_id_raw == frame_id_raw_last + 1) {
skipped_last = false;
}
// check for dropped requests
if (request_id > request_id_last + 1) {
LOGE("camera %d dropped requests %ld %ld", cc.camera_num, request_id, request_id_last);
enqueue_req_multi(request_id_last + 1 + ife_buf_depth, request_id - (request_id_last + 1));
}
// metas
frame_id_raw_last = frame_id_raw;
request_id_last = request_id;
int buf_idx = (request_id - 1) % ife_buf_depth;
uint64_t timestamp = event_data->u.frame_msg.timestamp; // this is timestamped in the kernel's SOF IRQ callback
if (syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp)) {
// wait for this frame's EOF, then queue up the next one
if (enqueue_buffer(buf_idx, request_id + ife_buf_depth)) {
// Frame is ready
// in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time
uint64_t timestamp_eof = timestamp + sensor->readout_time_ns;
// Update buffer and frame data
buf.cur_buf_idx = buf_idx;
buf.cur_frame_data = {
.frame_id = (uint32_t)(frame_id_raw - camera_sync_data[cc.camera_num].frame_id_offset),
.request_id = (uint32_t)request_id,
.timestamp_sof = timestamp,
.timestamp_eof = timestamp_eof,
.processing_time = float((nanos_since_boot() - timestamp_eof) * 1e-9)
};
return true;
}
// LOGW("camerad %d synced req %d fid %d, publishing ts %.2f cereal_frame_id %d", cc.camera_num, (int)request_id, (int)frame_id_raw, (double)(timestamp)*1e-6, meta_data.frame_id);
} else {
// Frames not yet synced
enqueue_req_multi(request_id + ife_buf_depth, 1);
// LOGW("camerad %d not synced req %d fid %d", cc.camera_num, (int)request_id, (int)frame_id_raw);
}
} else { // not ready
if (frame_id_raw > frame_id_raw_last + 10) {
LOGE("camera %d reset after half second of no response", cc.camera_num);
clear_req_queue();
enqueue_req_multi(request_id_last + 1, ife_buf_depth);
frame_id_raw_last = frame_id_raw;
skipped_last = true;
}
// Wait until frame's fully read out and processed
if (!waitForFrameReady(request_id)) {
// Reset queue on sync failure to prevent frame tearing
LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, frame_id_raw);
clearAndRequeue(request_id + 1);
return false;
}
return false;
int buf_idx = request_id % ife_buf_depth;
bool ret = processFrame(buf_idx, request_id, frame_id_raw, timestamp);
destroySyncObjectAt(buf_idx);
enqueue_frame(request_id + ife_buf_depth); // request next frame for this slot
return ret;
}
bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
// check if the request ID is even valid. this happens after queued
// requests are cleared. unclear if it happens any other time.
if (request_id == 0) {
if (invalid_request_count++ > ife_buf_depth+2) {
LOGE("camera %d reset after half second of invalid requests", cc.camera_num);
clearAndRequeue(request_id_last + 1);
invalid_request_count = 0;
}
return false;
}
invalid_request_count = 0;
// check for skips in frame_id or request_id
if (!skip_expected) {
if (frame_id_raw != frame_id_raw_last + 1) {
LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, frame_id_raw_last, frame_id_raw);
clearAndRequeue(request_id + 1);
return false;
}
if (request_id != request_id_last + 1) {
LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, request_id_last, request_id);
clearAndRequeue(request_id_last + 1);
return false;
}
}
return true;
}
void SpectraCamera::clearAndRequeue(uint64_t from_request_id) {
// clear everything, then queue up a fresh set of frames
LOGW("clearing and requeuing camera %d from %lu", cc.camera_num, from_request_id);
clear_req_queue();
for (uint64_t id = from_request_id; id < from_request_id + ife_buf_depth; ++id) {
enqueue_frame(id);
}
skip_expected = true;
}
bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
int buf_idx = request_id % ife_buf_depth;
assert(sync_objs_ife[buf_idx]);
auto waitForSync = [&](uint32_t sync_obj, int timeout_ms, const char *sync_type) {
struct cam_sync_wait sync_wait = {};
sync_wait.sync_obj = sync_obj;
sync_wait.timeout_ms = stress_test(sync_type) ? 1 : timeout_ms;
return do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)) == 0;
};
// wait for frame from IFE
// - in RAW_OUTPUT mode, this time is just the frame readout from the sensor
// - in IFE_PROCESSED mode, this time also includes image processing (~1ms)
bool success = waitForSync(sync_objs_ife[buf_idx], 100, "IFE sync");
if (success && sync_objs_bps[buf_idx]) {
// BPS is typically 7ms
success = waitForSync(sync_objs_bps[buf_idx], 50, "BPS sync");
}
return success;
}
bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp) {
if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp)) {
return false;
}
// in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time
uint64_t timestamp_eof = timestamp + sensor->readout_time_ns;
// Update buffer and frame data
buf.cur_buf_idx = buf_idx;
buf.cur_frame_data = {
.frame_id = (uint32_t)(frame_id_raw - camera_sync_data[cc.camera_num].frame_id_offset),
.request_id = (uint32_t)request_id,
.timestamp_sof = timestamp,
.timestamp_eof = timestamp_eof,
.processing_time = float((nanos_since_boot() - timestamp_eof) * 1e-9)
};
return true;
}
bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp) {
if (first_frame_synced) return true;
// OX and OS cameras require a few frames for the FSIN to sync up
if (request_id < 3) {
return false;
}
// Store the frame data for this camera
camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1};
@@ -1468,7 +1454,7 @@ bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t
for (const auto &[_, sync_data] : camera_sync_data) {
uint64_t diff = std::max(timestamp, sync_data.timestamp) -
std::min(timestamp, sync_data.timestamp);
if (diff > 0.5*1e6) { // within 0.5ms
if (diff > 0.2*1e6) { // milliseconds
all_cams_synced = false;
}
}
system/camerad/cameras/spectra.h
+12 -18
View File
@@ -22,7 +22,6 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
// For use with the Titan 170 ISP in the SDM845
// https://github.com/commaai/agnos-kernel-sdm845
// CSLDeviceType/CSLPacketOpcodesIFE from camx
// cam_packet_header.op_code = (device << 24) | (opcode);
#define CSLDeviceTypeImageSensor (0x01 << 24)
@@ -31,12 +30,6 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
#define OpcodesIFEInitialConfig 0x0
#define OpcodesIFEUpdate 0x1
typedef enum {
ISP_RAW_OUTPUT, // raw frame from sensor
ISP_IFE_PROCESSED, // fully processed image through the IFE
ISP_BPS_PROCESSED, // fully processed image through the BPS
} SpectraOutputType;
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1);
int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle);
int device_control(int fd, int op_code, int session_handle, int dev_handle);
@@ -117,7 +110,7 @@ public:
class SpectraCamera {
public:
SpectraCamera(SpectraMaster *master, const CameraConfig &config, SpectraOutputType out);
SpectraCamera(SpectraMaster *master, const CameraConfig &config);
~SpectraCamera();
void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
@@ -128,8 +121,7 @@ public:
void config_ife(int idx, int request_id, bool init=false);
int clear_req_queue();
bool enqueue_buffer(int i, uint64_t request_id);
void enqueue_req_multi(uint64_t start, int n);
void enqueue_frame(uint64_t request_id);
int sensors_init();
void sensors_start();
@@ -190,15 +182,17 @@ public:
int sync_objs_bps[MAX_IFE_BUFS] = {};
uint64_t request_id_last = 0;
uint64_t frame_id_raw_last = 0;
int64_t frame_id_offset = 0;
bool skipped_last = true;
SpectraOutputType output_type;
int invalid_request_count = 0;
bool skip_expected = true;
CameraBuf buf;
SpectraMaster *m;
private:
void clearAndRequeue(uint64_t from_request_id);
bool validateEvent(uint64_t request_id, uint64_t frame_id_raw);
bool waitForFrameReady(uint64_t request_id);
bool processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp);
static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp);
struct SyncData {
uint64_t timestamp;
@@ -208,11 +202,11 @@ private:
inline static bool first_frame_synced = false;
// a mode for stressing edge cases: realignment, sync failures, etc.
inline bool stress_test(const char* log, float prob=0.01) {
static bool enable = getenv("SPECTRA_STRESS_TEST") != nullptr;
bool triggered = enable && ((static_cast<double>(rand()) / RAND_MAX) < prob);
inline bool stress_test(const char* log) {
static double prob = std::stod(util::getenv("SPECTRA_ERROR_PROB", "-1"));;
bool triggered = (prob > 0) && ((static_cast<double>(rand()) / RAND_MAX) < prob);
if (triggered) {
LOGE("stress test: %s", log);
LOGE("stress test (cam %d): %s", cc.camera_num, log);
}
return triggered;
}
system/camerad/sensors/os04c10.cc
+3
View File
@@ -43,6 +43,9 @@ OS04C10::OS04C10() {
frame_data_type = 0x2c;
mclk_frequency = 24000000; // Hz
// TODO: this was set from logs. actually calculate it out
readout_time_ns = 11000000;
ev_scale = 150.0;
dc_gain_factor = 1;
dc_gain_min_weight = 1; // always on is fine
system/camerad/test/test_camerad.py
+32 -4
View File
@@ -64,7 +64,35 @@ class TestCamerad:
laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
@pytest.mark.skip("TODO: enable this")
def test_stress_test(self, logs):
os.environ['SPECTRA_STRESS_TEST'] = '1'
run_and_log(["camerad", ], CAMERAS, 5)
def test_sanity_checks(self, logs):
self._sanity_checks(logs)
def _sanity_checks(self, ts):
for c in CAMERAS:
assert c in ts
assert len(ts[c]['t']) > 20
# not a valid request id
assert 0 not in ts[c]['requestId']
# should monotonically increase
assert np.all(np.diff(ts[c]['frameId']) >= 1)
assert np.all(np.diff(ts[c]['requestId']) >= 1)
# EOF > SOF
assert np.all((ts[c]['timestampEof'] - ts[c]['timestampSof']) > 0)
# logMonoTime > SOF
assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7)
def test_stress_test(self):
os.environ['SPECTRA_ERROR_PROB'] = '0.008'
logs = run_and_log(["camerad", ], CAMERAS, 10)
ts = msgs_to_time_series(logs)
# we should see some jumps from introduced errors
assert np.max([ np.max(np.diff(ts[c]['frameId'])) for c in CAMERAS ]) > 1
assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
self._sanity_checks(ts)
system/hardware/base.h
-2
View File
@@ -34,8 +34,6 @@ public:
static bool get_ssh_enabled() { return false; }
static void set_ssh_enabled(bool enabled) {}
static void config_cpu_rendering(bool offscreen);
static bool PC() { return false; }
static bool TICI() { return false; }
static bool AGNOS() { return false; }
system/hardware/pc/hardware.h
-8
View File
@@ -12,12 +12,4 @@ public:
static bool PC() { return true; }
static bool TICI() { return util::getenv("TICI", 0) == 1; }
static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
static void config_cpu_rendering(bool offscreen) {
if (offscreen) {
setenv("QT_QPA_PLATFORM", "offscreen", 1);
}
setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
}
};
system/hardware/tici/agnos.json
+10 -10
View File
@@ -56,28 +56,28 @@
},
{
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
"hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
"hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
"url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
"hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
"hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
"size": 18475008,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
"ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
},
{
"name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
"hash": "990ff7005a5bee8e759c96ddba23f1258f043fb038cf74083bf7d2d9c9a29e39",
"hash_raw": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
"url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img.xz",
"hash": "e4872f4132111b7b28586d978dd01bb48ffa031e103d029ebede7613c1bc2aa6",
"hash_raw": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
"size": 4404019200,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "d922fffe1b5f02898465a2d6625294abb70d22643ebf2d6a94f5d7512291d1a4",
"ondevice_hash": "4e5e680b4ac387ddc974b32dd3d5ec1d76282511eab974866b3b72399034985e",
"alt": {
"hash": "cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img",
"hash": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9",
"url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img",
"size": 4404019200
}
}
system/hardware/tici/all-partitions.json
+22 -22
View File
@@ -339,62 +339,62 @@
},
{
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170.img.xz",
"hash": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
"hash_raw": "c7cba1ce64bf85384241fa063971855c5ffcb4d90a0d07bed4733d46b94d4170",
"url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz",
"hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba",
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"size": 18475008,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "6a9a71bf01f2013f35bda9594cefe3cb4a3835402a6cb0e95306fe4decf261c5"
"ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0"
},
{
"name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-cd03486f6c7333dee21f59af771f9992ea90a9a04271c1506a663d658f391625.img.xz",
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"ondevice_hash": "4e5e680b4ac387ddc974b32dd3d5ec1d76282511eab974866b3b72399034985e",
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"size": 4404019200
}
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{
"name": "userdata_90",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-554a22697b356cb150c2c803b4cb1de79403849e9be451c844d218d38b5bc236.img.xz",
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"url": "https://commadist.azureedge.net/agnosupdate/userdata_90-16c037fa42ee99bc6ec92909efc8a8075a0e8a0232a7d90e39e7d40a7bd0ee8e.img.xz",
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"ondevice_hash": "7199262f209abbb07be5eece505ac4d4c7ba8957f2d9ff7b1ac1ef2063461665"
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{
"name": "userdata_89",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_89-6045b9a3f1ae6e0ee09b95da039b697ab8d8447cdd0796fa31afa9c7d324ee80.img.xz",
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{
"name": "userdata_30",
"url": "https://commadist.azureedge.net/agnosupdate/userdata_30-498358c1e5347dc3f8c369523bd77b94ef73d6c6729b40f376209d0d32b356fe.img.xz",
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"has_ab": false,
"ondevice_hash": "4beb60ffceff88b05daa014db50cb2f4e9acec3ed7ae1b89a8d3c84cfc3c1c92"
"ondevice_hash": "47c28e63209556442cd9d2fd06a6c0e7fcf35c8a4e4fbcc550b9c089429ad0e0"
}
]
system/hardware/tici/hardware.h
-7
View File
@@ -109,11 +109,4 @@ public:
static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
static void config_cpu_rendering(bool offscreen) {
if (offscreen) {
setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
}
setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
}
};
system/loggerd/deleter.py
+3 -3
View File
@@ -22,9 +22,9 @@ def has_preserve_xattr(d: str) -> bool:
return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
def get_preserved_segments(dirs_by_creation: list[str]) -> set[str]:
# skip deleting most recent N preserved segments (and their prior segment)
preserved = []
preserved = set()
for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))):
if n == PRESERVE_COUNT:
break
@@ -40,7 +40,7 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
# preserve segment and two prior
for _seg_num in range(max(0, seg_num - 2), seg_num + 1):
preserved.append(f"{date_str}--{_seg_num}")
preserved.add(f"{date_str}--{_seg_num}")
return preserved
system/loggerd/logger.cc
+4
View File
@@ -50,6 +50,10 @@ kj::Array<capnp::word> logger_build_init_data() {
init.setPassive(false);
init.setDongleId(params_map["DongleId"]);
// for prebuilt branches
init.setGitSrcCommit(util::read_file("../../git_src_commit"));
init.setGitSrcCommitDate(util::read_file("../../git_src_commit_date"));
auto lparams = init.initParams().initEntries(params_map.size());
int j = 0;
for (auto& [key, value] : params_map) {
system/loggerd/loggerd.cc
+57 -52
View File
@@ -64,6 +64,58 @@ struct RemoteEncoder {
bool seen_first_packet = false;
};
size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();
// if we aren't recording yet, try to start, since we are in the correct segment
if (!re.recording) {
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
// only create on iframe
if (re.dropped_frames) {
// this should only happen for the first segment, maybe
LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (encoder_info.record) {
assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
}
re.recording = true;
} else {
// this is a sad case when we aren't recording, but don't have an iframe
// nothing we can do but drop the frame
++re.dropped_frames;
return 0;
}
}
// we have to be recording if we are here
assert(re.recording);
// if we are actually writing the video file, do so
if (re.writer) {
auto data = edata.getData();
re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof() / 1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}
// put it in log stream as the idx packet
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
return new_msg.size();
}
int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
int bytes_count = 0;
@@ -72,7 +124,6 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
auto event = cmsg.getRoot<cereal::Event>();
auto edata = (event.*(encoder_info.get_encode_data_func))();
auto idx = edata.getIdx();
auto flags = idx.getFlags();
// encoderd can have started long before loggerd
if (!re.seen_first_packet) {
@@ -95,61 +146,15 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
re.marked_ready_to_rotate = false;
// we are in this segment now, process any queued messages before this one
if (!re.q.empty()) {
for (auto &qmsg : re.q) {
bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
for (auto qmsg : re.q) {
capnp::FlatArrayMessageReader reader({(capnp::word *)qmsg->getData(), qmsg->getSize() / sizeof(capnp::word)});
bytes_count += write_encode_data(s, reader.getRoot<cereal::Event>(), re, encoder_info);
delete qmsg;
}
re.q.clear();
}
}
// if we aren't recording yet, try to start, since we are in the correct segment
if (!re.recording) {
if (flags & V4L2_BUF_FLAG_KEYFRAME) {
// only create on iframe
if (re.dropped_frames) {
// this should only happen for the first segment, maybe
LOGW("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames);
re.dropped_frames = 0;
}
// if we aren't actually recording, don't create the writer
if (encoder_info.record) {
assert(encoder_info.filename != NULL);
re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
// write the header
auto header = edata.getHeader();
re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
}
re.recording = true;
} else {
// this is a sad case when we aren't recording, but don't have an iframe
// nothing we can do but drop the frame
delete msg;
++re.dropped_frames;
return bytes_count;
}
}
// we have to be recording if we are here
assert(re.recording);
// if we are actually writing the video file, do so
if (re.writer) {
auto data = edata.getData();
re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
}
// put it in log stream as the idx packet
MessageBuilder bmsg;
auto evt = bmsg.initEvent(event.getValid());
evt.setLogMonoTime(event.getLogMonoTime());
(evt.*(encoder_info.set_encode_idx_func))(idx);
auto new_msg = bmsg.toBytes();
s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog?
bytes_count += new_msg.size();
// free the message, we used it
bytes_count += write_encode_data(s, event, re, encoder_info);
delete msg;
} else if (offset_segment_num > s->logger.segment()) {
// encoderd packet has a newer segment, this means encoderd has rolled over
system/loggerd/tests/test_zstd_writer.cc
+7 -1
View File
@@ -18,15 +18,21 @@ TEST_CASE("ZstdFileWriter writes and compresses data correctly in loops", "[Zstd
// Step 1: Write compressed data to file in a loop
{
ZstdFileWriter writer(filename, LOG_COMPRESSION_LEVEL);
// Write various data sizes including edge cases
std::vector<size_t> testSizes = {dataSize, 1, 0, dataSize * 2}; // Normal, minimal, empty, large
for (int i = 0; i < iterations; ++i) {
std::string testData = util::random_string(dataSize);
size_t currentSize = testSizes[i % testSizes.size()];
std::string testData = util::random_string(currentSize);
totalTestData.append(testData);
writer.write((void *)testData.c_str(), testData.size());
}
}
// Step 2: Decompress the file and verify the data
auto compressedContent = util::read_file(filename);
REQUIRE(compressedContent.size() > 0);
REQUIRE(compressedContent.size() < totalTestData.size());
std::string decompressedData = zstd_decompress(compressedContent);
// Step 3: Verify that the decompressed data matches the original accumulated data

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