diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore new file mode 100644 index 0000000000..1f8ec242b8 --- /dev/null +++ b/.devcontainer/.gitignore @@ -0,0 +1 @@ +.Xauthority \ No newline at end of file diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile new file mode 100644 index 0000000000..e72704bfd0 --- /dev/null +++ b/.devcontainer/Dockerfile @@ -0,0 +1,6 @@ +FROM ghcr.io/commaai/openpilot-base:latest + +# remove gitconfig if exists, since its gonna be replaced by host one +RUN rm -f /root/.gitconfig +RUN apt update && apt install -y vim net-tools usbutils htop ripgrep +RUN pip install ipython jupyter jupyterlab diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000000..2dfe46b4f0 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,34 @@ +{ + "name": "openpilot devcontainer", + "build": { + "dockerfile": "Dockerfile" + }, + "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'", + "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"", + "initializeCommand": ".devcontainer/setup_host.sh", + "privileged": true, + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}", + "PYTHONPATH": "${containerWorkspaceFolder}", + "force_color_prompt": "1" + }, + "runArgs": [ + "--volume=/tmp/.X11-unix:/tmp/.X11-unix", + "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority", + "--volume=${localEnv:HOME}/.comma:/root/.comma", + "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", + "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", + "--shm-size=1G" + ], + "customizations": { + "vscode": { + "extensions": [ + "ms-python.python", + "ms-vscode.cpptools", + "ms-toolsai.jupyter", + "guyskk.language-cython", + "lharri73.dbc" + ] + } + } +} \ No newline at end of file diff --git a/.devcontainer/setup_host.sh b/.devcontainer/setup_host.sh new file mode 100755 index 0000000000..5c3c5e900c --- /dev/null +++ b/.devcontainer/setup_host.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env bash + +# setup links to Xauthority +XAUTHORITY_LINK=".devcontainer/.Xauthority" +rm -f $XAUTHORITY_LINK +if [[ -z $XAUTHORITY ]]; then + echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..." + if ! [[ -f $HOME/.Xauthority ]]; then + echo "~/.XAuthority file does not exist. GUI tools may not work properly." + touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount + else + ln -sf $HOME/.Xauthority $XAUTHORITY_LINK + fi +else + ln -sf $XAUTHORITY $XAUTHORITY_LINK +fi diff --git a/.dockerignore b/.dockerignore index 4a19eb9c3f..1f261adf30 100644 --- a/.dockerignore +++ b/.dockerignore @@ -16,6 +16,9 @@ *.so *.a +venv/ +.venv/ + notebooks phone massivemap diff --git a/.gitattributes b/.gitattributes index 7a21b223d0..2d1df43fd3 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,2 +1,3 @@ *.dlc filter=lfs diff=lfs merge=lfs -text *.onnx filter=lfs diff=lfs merge=lfs -text +selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 16edb45c21..a2c2daab1a 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,7 +7,7 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c jobs: badges: @@ -18,7 +18,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Push badges run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 6acc7a2e9c..8b16ea90b9 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -5,12 +5,8 @@ on: workflow_dispatch: env: - BASE_IMAGE: openpilot-base - DOCKER_REGISTRY: ghcr.io/commaai - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD: selfdrive/test/docker_build.sh prebuilt jobs: build_prebuilt: @@ -18,7 +14,7 @@ jobs: runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' env: - IMAGE_NAME: openpilot-prebuilt + PUSH_IMAGE: true steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} @@ -31,13 +27,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: | - eval "$BUILD" - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot . - - name: Push to container registry + - name: Build and Push docker image run: | $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest - docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA - docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA + eval "$BUILD" diff --git a/.github/workflows/repo.yml b/.github/workflows/repo-maintenance.yaml similarity index 65% rename from .github/workflows/repo.yml rename to .github/workflows/repo-maintenance.yaml index 1445aa635d..060b7f3e6c 100644 --- a/.github/workflows/repo.yml +++ b/.github/workflows/repo-maintenance.yaml @@ -1,4 +1,4 @@ -name: repo +name: repo maintenance on: schedule: @@ -6,13 +6,17 @@ on: workflow_dispatch: jobs: - pre-commit-autoupdate: - name: pre-commit autoupdate + updates: + name: updates runs-on: ubuntu-20.04 container: image: ghcr.io/commaai/openpilot-base:latest steps: - uses: actions/checkout@v3 + - name: poetry lock + run: | + pip install poetry + poetry lock - name: pre-commit autoupdate run: | git config --global --add safe.directory '*' @@ -21,8 +25,8 @@ jobs: uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 with: token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update pre-commit hook versions - title: 'pre-commit: autoupdate hooks' - branch: pre-commit-updates + commit-message: Update Python packages and pre-commit hooks + title: 'Update Python packages and pre-commit hooks' + branch: auto-package-updates base: master delete-branch: true diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index de8fea4509..a631069726 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -2,8 +2,8 @@ name: selfdrive on: push: - branches-ignore: - - 'testing-closet*' + branches: + - master pull_request: concurrency: @@ -11,22 +11,22 @@ concurrency: cancel-in-progress: true env: + PYTHONWARNINGS: error BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_REGISTRY: ghcr.io/commaai AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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/sh -c - BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + BUILD_CL: selfdrive/test/docker_build.sh cl + + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover + PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 jobs: build_release: @@ -39,30 +39,33 @@ jobs: with: submodules: true - name: Build devel + timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + timeout-minutes: 1 run: release/check-submodules.sh - name: Build openpilot and run checks + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: | cd $STRIPPED_DIR ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" - name: Run tests + timeout-minutes: 2 run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ python -m unittest discover selfdrive/car" - name: pre-commit + timeout-minutes: 3 run: | cd $GITHUB_WORKSPACE cp .pre-commit-config.yaml $STRIPPED_DIR - cp .pylintrc $STRIPPED_DIR - cp mypy.ini $STRIPPED_DIR cp pyproject.toml $STRIPPED_DIR cp poetry.lock $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "pre-commit run --all" + ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" build_all: name: build all @@ -71,15 +74,23 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup - with: - save-cache: true + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot with all flags - run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" - - name: Cleanup scons cache + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache + run: | + ${{ env.RUN }} "scons -j$(nproc)" + ${{ env.RUN }} "release/check-dirty.sh" + - name: Cleanup scons cache and rebuild + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache run: | ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ scons -j$(nproc) --cache-populate" + - name: Save scons cache + uses: actions/cache/save@v3 + if: github.ref == 'refs/heads/master' + with: + path: .ci_cache/scons_cache + key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} build_mac: name: build macos @@ -103,9 +114,11 @@ jobs: restore-keys: macos_scons- - name: Cache dependencies id: dependency-cache - uses: actions/cache@v2 + uses: actions/cache@v3 with: path: | + .env + .venv ~/github_brew_cache_entries.txt ~/.pyenv ~/Library/Caches/pypoetry @@ -116,7 +129,7 @@ jobs: /opt/homebrew/opt /opt/homebrew/Caskroom/gcc-arm-* /Applications/ArmGNUToolchain/*/*/* - key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }} + key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }} restore-keys: macos_deps- - name: Brew link restored dependencies run: | @@ -132,20 +145,22 @@ jobs: - name: Install dependencies if: steps.dependency-cache.outputs.cache-hit != 'true' run: ./tools/mac_setup.sh + env: + # package install has DeprecationWarnings + PYTHONWARNINGS: default - name: Build openpilot run: | - source tools/openpilot_env.sh + eval "$(pyenv init --path)" poetry run scons -j$(nproc) - name: Run tests run: | - source tools/openpilot_env.sh - export PYTHONPATH=$PWD + eval "$(pyenv init --path)" poetry run tools/plotjuggler/test_plotjuggler.py - name: Pre Cache - Cleanup scons cache if: github.ref == 'refs/heads/master' run: | - source tools/openpilot_env.sh rm -rf /tmp/scons_cache/* + eval "$(pyenv init --path)" poetry run scons -j$(nproc) --cache-populate - name: Save scons cache id: scons-save-cache @@ -158,8 +173,9 @@ jobs: if: steps.dependency-cache.outputs.cache-hit != 'true' run: | new_cellar=$(brew list --formula -1) + exceptions="zstd lz4 xz" # caching step needs zstd comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do - if [[ $pkg != "zstd" ]]; then # caching step needs zstd + if [[ " $exceptions " != *" $pkg "* ]]; then rm -rf "$(brew --cellar)/$pkg" fi done @@ -176,22 +192,16 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: eval "$BUILD" - - name: Push to container registry + - name: Setup to push to repo run: | + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest - docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA - docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA - - name: Build CL Docker image - run: eval "$BUILD_CL" - - name: Push to container registry + - uses: ./.github/workflows/setup-with-retry + with: + git-lfs: false + - name: Build and push CL Docker image run: | - $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest - docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA - docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA + eval "$BUILD_CL" static_analysis: name: static analysis @@ -203,7 +213,8 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: pre-commit - run: ${{ env.RUN }} "pre-commit run --all" + timeout-minutes: 4 + run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" valgrind: name: valgrind @@ -212,10 +223,11 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run valgrind + timeout-minutes: 1 run: | ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py" - name: Print logs @@ -229,65 +241,53 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build openpilot + timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests + timeout-minutes: 40 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - $UNIT_TEST common && \ - $UNIT_TEST opendbc/can && \ - $UNIT_TEST selfdrive/boardd && \ - $UNIT_TEST selfdrive/controls && \ - $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST system/loggerd && \ - $UNIT_TEST selfdrive/car && \ - $UNIT_TEST selfdrive/locationd && \ - $UNIT_TEST system/tests && \ - $UNIT_TEST system/ubloxd && \ + $PYTEST && \ selfdrive/locationd/test/_test_locationd_lib.py && \ ./system/ubloxd/tests/test_glonass_runner && \ - $UNIT_TEST selfdrive/athena && \ - $UNIT_TEST selfdrive/thermald && \ - $UNIT_TEST system/hardware/tici && \ - $UNIT_TEST selfdrive/mapd && \ - $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ - ./common/tests/test_util && \ - ./common/tests/test_swaglog && \ + ./common/tests/test_common && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./system/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ - ./selfdrive/test/process_replay/test_fuzzy.py && \ - coverage xml" + ./selfdrive/test/process_replay/test_fuzzy.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 process_replay: name: process replay - runs-on: ubuntu-20.04 + runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }} steps: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Cache test routes id: dependency-cache uses: actions/cache@v3 with: - path: /tmp/comma_download_cache + path: .ci_cache/comma_download_cache key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay + timeout-minutes: 30 run: | ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + chmod -R 777 /tmp/comma_download_cache && \ coverage xml" - name: Print diff id: print-diff @@ -302,7 +302,7 @@ jobs: - name: Upload reference logs if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | - ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 @@ -313,7 +313,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Build base Docker image run: eval "$BUILD" - name: Build Docker image @@ -322,43 +322,22 @@ jobs: - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" + # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - name: Run model replay with ONNX + timeout-minutes: 2 run: | - ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ + ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ coverage xml" - name: Run unit tests + timeout-minutes: 4 run: | - ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ + ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \ + $UNIT_TEST selfdrive/modeld && \ coverage xml" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 - test_longitudinal: - name: longitudinal - runs-on: ubuntu-20.04 - steps: - - uses: actions/checkout@v3 - with: - submodules: true - - uses: ./.github/workflows/setup - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Test longitudinal - run: | - ${{ env.RUN }} "mkdir -p selfdrive/test/out && \ - cd selfdrive/test/longitudinal_maneuvers && \ - coverage run ./test_longitudinal.py && \ - coverage xml" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v3 - - uses: actions/upload-artifact@v2 - if: always() - continue-on-error: true - with: - name: longitudinal - path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/ - test_cars: name: cars runs-on: ubuntu-20.04 @@ -370,19 +349,19 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Cache test routes id: dependency-cache - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + uses: actions/cache@v3 with: - path: /tmp/comma_download_cache + path: .ci_cache/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models + timeout-minutes: 25 run: | - ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ - coverage xml && \ + ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 @@ -399,7 +378,7 @@ jobs: with: submodules: true ref: ${{ github.event.pull_request.base.ref }} - - uses: ./.github/workflows/setup + - uses: ./.github/workflows/setup-with-retry - name: Get base car info run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info" @@ -407,11 +386,13 @@ jobs: - uses: actions/checkout@v3 with: submodules: true + path: current - name: Save car docs diff id: save_diff run: | + cd current ${{ env.RUN }} "scons -j$(nproc)" - output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true + output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") output="${output//$'\n'/'%0A'}" echo "::set-output name=diff::$output" - name: Find comment diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml new file mode 100644 index 0000000000..427b5a45ac --- /dev/null +++ b/.github/workflows/setup-with-retry/action.yaml @@ -0,0 +1,39 @@ +name: 'openpilot env setup, with retry on failure' + +inputs: + git_lfs: + description: 'Whether or not to pull the git lfs' + required: false + default: 'true' + +env: + SLEEP_TIME: 30 # Time to sleep between retries + +runs: + using: "composite" + steps: + - id: setup1 + uses: ./.github/workflows/setup + continue-on-error: true + with: + git_lfs: ${{ inputs.git_lfs }} + is_retried: true + - if: steps.setup1.outcome == 'failure' + shell: bash + run: sleep ${{ env.SLEEP_TIME }} + - id: setup2 + if: steps.setup1.outcome == 'failure' + uses: ./.github/workflows/setup + continue-on-error: true + with: + git_lfs: ${{ inputs.git_lfs }} + is_retried: true + - if: steps.setup2.outcome == 'failure' + shell: bash + run: sleep ${{ env.SLEEP_TIME }} + - id: setup3 + if: steps.setup2.outcome == 'failure' + uses: ./.github/workflows/setup + with: + git_lfs: ${{ inputs.git_lfs }} + is_retried: true \ No newline at end of file diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 186a9d9095..74b82f9158 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -1,15 +1,28 @@ name: 'openpilot env setup' inputs: - save-cache: - default: false + git_lfs: + description: 'Whether or not to pull the git lfs' required: false + default: 'true' + is_retried: + description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' + required: false + default: 'false' runs: using: "composite" steps: + # assert that this action is retried using the setup-with-retry + - shell: bash + if: ${{ inputs.is_retried == 'false' }} + run: | + echo "You should not run this action directly. Use setup-with-retry instead" + exit 1 + # do this after checkout to ensure our custom LFS config is used to pull from GitLab - shell: bash + if: ${{ inputs.git_lfs == 'true' }} run: git lfs pull # build cache @@ -18,20 +31,32 @@ runs: run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash run: echo "$CACHE_COMMIT_DATE" - - shell: bash - run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV - if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false' - - id: scons-cache - # TODO: change the version to the released version - # when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + - id: restore-scons-cache + uses: actions/cache/restore@v3 with: - path: /tmp/scons_cache + path: .ci_cache/scons_cache key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | scons-${{ env.CACHE_COMMIT_DATE }}- scons- - + # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps + - id: scons-cache-setup + shell: bash + if: steps.restore-scons-cache.outputs.cache-hit != 'true' + run: mkdir -p $GITHUB_WORKSPACE/.ci_cache/scons_cache + # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 + - id: normalize-file-permissions + shell: bash + name: Normalize file permissions to ensure a consistent docker build cache + run: | + find . -type f -executable -not -perm 755 -exec chmod 755 {} \; + find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; + - id: setup-buildx-action + if: contains(runner.name, 'buildjet') + name: Set up Docker Buildx on buildjet to ensure a consistent cache + uses: docker/setup-buildx-action@v2 + with: + driver: docker-container # build our docker image - shell: bash - run: eval ${{ env.BUILD }} + run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 3b32d3c790..c7a5f80c3b 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -2,8 +2,8 @@ name: tools on: push: - branches-ignore: - - 'testing-closet*' + branches: + - master pull_request: concurrency: @@ -13,75 +13,88 @@ concurrency: env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_REGISTRY: ghcr.io/commaai DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/sh -c - BUILD_CL: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . - RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + BUILD_CL: selfdrive/test/docker_build.sh cl + + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 $CL_BASE_IMAGE /bin/sh -c jobs: plotjuggler: name: plotjuggler runs-on: ubuntu-20.04 + timeout-minutes: 45 steps: - uses: actions/checkout@v3 with: submodules: true - - name: Build Docker image - run: eval "$BUILD" - - name: Unit test + - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + timeout-minutes: 5 + run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal" + - name: Test PlotJuggler + timeout-minutes: 2 run: | - ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \ - apt-get update && \ - apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \ - cd /tmp/openpilot/tools/plotjuggler && \ - ./test_plotjuggler.py" + ${{ env.RUN }} "pytest tools/plotjuggler/" simulator: name: simulator runs-on: ubuntu-20.04 - env: - IMAGE_NAME: openpilot-sim if: github.repository == 'commaai/openpilot' + timeout-minutes: 45 steps: - uses: actions/checkout@v3 with: submodules: true - - name: Pull LFS - run: git lfs pull - - name: Build base image - run: eval "$BUILD" + - uses: ./.github/workflows/setup-with-retry - name: Build base cl image run: eval "$BUILD_CL" - - name: Build simulator image - run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - - name: Push to container registry + - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest + - name: Build and push sim image + run: | + selfdrive/test/docker_build.sh sim docs: name: build docs runs-on: ubuntu-20.04 + timeout-minutes: 45 steps: - uses: actions/checkout@v3 with: submodules: true - - name: Build docker container - run: | - DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - - name: Push docker container + - uses: ./.github/workflows/setup-with-retry + with: + git_lfs: false + - name: Setup to push to repo if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | + echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/openpilot-docs:latest - + - name: Build and push docs image + run: | + selfdrive/test/docker_build.sh docs + devcontainer: + name: devcontainer + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + with: + submodules: true + - name: Setup Dev Container CLI + run: npm install -g @devcontainers/cli + - name: Build dev container image + run: devcontainer build --workspace-folder . + - name: Run dev container + run: devcontainer up --workspace-folder . + - name: Test environment + run: devcontainer exec --workspace-folder . scons --dry-run diff --git a/.gitignore b/.gitignore index 91aecd9a72..a0c8df3142 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,6 @@ venv/ +.venv/ +.ci_cache .env .clang-format .DS_Store @@ -56,7 +58,6 @@ selfdrive/modeld/_dmonitoringmodeld /src/ one -openpilot notebooks xx yy @@ -85,3 +86,4 @@ build/ !**/.gitkeep poetry.toml +Pipfile diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index ae91dd3d7c..0000000000 --- a/.pylintrc +++ /dev/null @@ -1,469 +0,0 @@ -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av,pycurl - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -jobs=4 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# When enabled, pylint would attempt to guess common misconfiguration and emit -# user-friendly hints instead of false-positive error messages -suggestion-mode=yes - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514 - - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - -# Complete name of functions that never returns. When checking for -# inconsistent-return-statements if a never returning function is called then -# it will be considered as an explicit return statement and no message will be -# printed. -never-returning-functions=optparse.Values,sys.exit - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Limits count of emitted suggestions for spelling mistakes -max-spelling-suggestions=4 - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -notes=FIXME, - XXX, - TODO - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=no - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.* - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.* - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_, - _cb - -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,past.builtins,future.builtins - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -expected-line-ending-format= - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module -max-module-lines=1000 - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[BASIC] - -# Naming style matching correct argument names -argument-naming-style=snake_case - -# Regular expression matching correct argument names. Overrides argument- -# naming-style -#argument-rgx= - -# Naming style matching correct attribute names -attr-naming-style=snake_case - -# Regular expression matching correct attribute names. Overrides attr-naming- -# style -#attr-rgx= - -# Bad variable names which should always be refused, separated by a comma -bad-names=foo, - bar, - baz, - toto, - tutu, - tata - -# Naming style matching correct class attribute names -class-attribute-naming-style=any - -# Regular expression matching correct class attribute names. Overrides class- -# attribute-naming-style -#class-attribute-rgx= - -# Naming style matching correct class names -class-naming-style=PascalCase - -# Regular expression matching correct class names. Overrides class-naming-style -#class-rgx= - -# Naming style matching correct constant names -const-naming-style=UPPER_CASE - -# Regular expression matching correct constant names. Overrides const-naming- -# style -#const-rgx= - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming style matching correct function names -function-naming-style=snake_case - -# Regular expression matching correct function names. Overrides function- -# naming-style -#function-rgx= - -# Good variable names which should always be accepted, separated by a comma -good-names=i, - j, - k, - ex, - Run, - _ - -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no - -# Naming style matching correct inline iteration names -inlinevar-naming-style=any - -# Regular expression matching correct inline iteration names. Overrides -# inlinevar-naming-style -#inlinevar-rgx= - -# Naming style matching correct method names -method-naming-style=snake_case - -# Regular expression matching correct method names. Overrides method-naming- -# style -#method-rgx= - -# Naming style matching correct module names -module-naming-style=snake_case - -# Regular expression matching correct module names. Overrides module-naming- -# style -#module-rgx= - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty - -# Naming style matching correct variable names -variable-naming-style=snake_case - -# Regular expression matching correct variable names. Overrides variable- -# naming-style -#variable-rgx= - - -[DESIGN] - -# Maximum number of arguments for function / method -max-args=5 - -# Maximum number of attributes for a class (see R0902). -max-attributes=7 - -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 - -# Maximum number of branch for function / method body -max-branches=12 - -# Maximum number of locals for function / method body -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body -max-returns=6 - -# Maximum number of statements in function / method body -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=2 - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__, - __new__, - setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict, - _fields, - _replace, - _source, - _make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=regsub, - TERMIOS, - Bastion, - rexec - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - -[STRING] - -# This flag controls whether the implicit-str-concat should generate a warning -# on implicit string concatenation in sequences defined over several lines. -check-str-concat-over-line-jumps=yes - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" -overgeneral-exceptions= diff --git a/CHANGELOGS.md b/CHANGELOGS.md index 956cf17cbc..ccea9bf557 100644 --- a/CHANGELOGS.md +++ b/CHANGELOGS.md @@ -1,5 +1,6 @@ -sunnypilot - 0.9.4.2 (2023-08-xx) +sunnypilot - 0.9.5.1 (202x-xx-xx) ======================== +* NEW❗: Wide camera view when the steering angle is more than 45° sunnypilot - 0.9.4.1 (2023-08-11) ======================== diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 51907b7a44..3541be92b0 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -10,6 +10,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./laika ${OPENPILOT_PATH}/laika diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 9af628bd4c..e0581bd46e 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -12,22 +12,28 @@ ENV LANG en_US.UTF-8 ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 -ENV POETRY_VIRTUALENVS_CREATE=false -ENV PYENV_VERSION=3.11.4 -ENV PYENV_ROOT="/root/.pyenv" -ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" - -COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/ -COPY tools/ubuntu_setup.sh /tmp/tools/ +COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ RUN cd /tmp && \ - tools/ubuntu_setup.sh && \ + tools/install_ubuntu_dependencies.sh && \ rm -rf /var/lib/apt/lists/* && \ rm -rf /tmp/* && \ - rm -rf /root/.cache && \ - pip uninstall -y poetry && \ # remove unused architectures from gcc for panda cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ rm -rf arm/ && \ rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp +ENV POETRY_VIRTUALENVS_CREATE=false +ENV PYENV_VERSION=3.11.4 +ENV PYENV_ROOT="/root/.pyenv" +ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" + +COPY pyproject.toml poetry.lock .python-version /tmp/ +COPY tools/install_python_dependencies.sh /tmp/tools/ + +RUN cd /tmp && \ + tools/install_python_dependencies.sh && \ + rm -rf /tmp/* && \ + rm -rf /root/.cache && \ + pip uninstall -y poetry + RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/Jenkinsfile b/Jenkinsfile index 16a42413ea..c0bdd53253 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -6,6 +6,7 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash < set -e export CI=1 +export PYTHONWARNINGS=error export LOGPRINT=debug export TEST_DIR=${env.TEST_DIR} export SOURCE_DIR=${env.SOURCE_DIR} @@ -65,6 +66,7 @@ pipeline { agent none environment { CI = "1" + PYTHONWARNINGS = "error" TEST_DIR = "/data/openpilot" SOURCE_DIR = "/data/openpilot_source/" AZURE_TOKEN = credentials('azure_token') @@ -143,18 +145,22 @@ pipeline { } */ - stage('scons build test') { + stage('PC tests') { agent { dockerfile { filename 'Dockerfile.openpilot_base' - args '--user=root' + args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache' } } steps { sh "git config --global --add safe.directory '*'" sh "git submodule update --init --depth=1 --recursive" - sh "scons --clean && scons --no-cache -j42" + sh "git lfs pull" + // tests that our build system's dependencies are configured properly, needs a machine with lots of cores sh "scons --clean && scons --no-cache --random -j42" + sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ + pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" + sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" } post { @@ -189,7 +195,7 @@ pipeline { } steps { phone_steps("tici-needs-can", [ - ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], + ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], @@ -215,7 +221,6 @@ pipeline { ["build", "cd selfdrive/manager && ./build.py"], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"], - ["test loggerd", "pytest system/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"], ["test manager", "pytest selfdrive/manager/test/test_manager.py"], diff --git a/README.md b/README.md old mode 100755 new mode 100644 diff --git a/RELEASES.md b/RELEASES.md index 58b9593683..0a7925200e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,13 @@ +Version 0.9.5 (202X-XX-XX) +======================== +* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! +* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! +* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! +* Lexus IS 2023 support thanks to L3R5! + Version 0.9.4 (2023-07-27) ======================== +* comma 3X support * Navigate on openpilot in Experimental mode * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits diff --git a/SConstruct b/SConstruct index ce497e2134..f213a5e0bd 100644 --- a/SConstruct +++ b/SConstruct @@ -14,10 +14,6 @@ AGNOS = TICI Decider('MD5-timestamp') -AddOption('--extras', - action='store_true', - help='build misc extras, like setup and installer files') - AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers') @@ -48,34 +44,34 @@ AddOption('--external-sconscript', dest='external_sconscript', help='add an external SConscript to the build') -AddOption('--no-thneed', - action='store_true', - dest='no_thneed', - help='avoid using thneed') - AddOption('--pc-thneed', action='store_true', dest='pc_thneed', help='use thneed on pc') -AddOption('--no-test', +AddOption('--minimal', action='store_false', - dest='test', + dest='extras', default=os.path.islink(Dir('#laika/').abspath), - help='skip building test files') + help='the minimum build to run openpilot. no tests, tools, etc.') +## Architecture name breakdown (arch) +## - larch64: linux tici aarch64 +## - aarch64: linux pc aarch64 +## - x86_64: linux pc x64 +## - Darwin: mac x64 or arm64 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() if platform.system() == "Darwin": arch = "Darwin" brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() - -if arch == "aarch64" and AGNOS: +elif arch == "aarch64" and AGNOS: arch = "larch64" +assert arch in ["larch64", "aarch64", "x86_64", "Darwin"] lenv = { "PATH": os.environ['PATH'], "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath], - "PYTHONPATH": Dir("#").abspath, + "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath, "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath, "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath, @@ -117,9 +113,8 @@ else: # MacOS if arch == "Darwin": - yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64" libpath = [ - f"#third_party/libyuv/{yuv_dir}/lib", + f"#third_party/libyuv/{arch}/lib", f"#third_party/acados/{arch}/lib", f"{brew_prefix}/lib", f"{brew_prefix}/opt/openssl@3.0/lib", @@ -133,21 +128,25 @@ else: f"{brew_prefix}/opt/openssl@3.0/include", ] lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"] - # Linux 86_64 + # Linux else: libpath = [ - "#third_party/acados/x86_64/lib", - "#third_party/snpe/x86_64-linux-clang", - "#third_party/libyuv/x64/lib", - "#third_party/mapbox-gl-native-qt/x86_64", + f"#third_party/acados/{arch}/lib", + f"#third_party/libyuv/{arch}/lib", + f"#third_party/mapbox-gl-native-qt/{arch}", "#cereal", "#common", "/usr/lib", "/usr/local/lib", ] - rpath += [ - Dir("#third_party/snpe/x86_64-linux-clang").abspath, - ] + + if arch == "x86_64": + libpath += [ + f"#third_party/snpe/{arch}" + ] + rpath += [ + Dir(f"#third_party/snpe/{arch}").abspath, + ] if GetOption('asan'): ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"] @@ -193,7 +192,6 @@ env = Environment( "#third_party/catch2/include", "#third_party/libyuv/include", "#third_party/json11", - "#third_party/curl/include", "#third_party/linux/include", "#third_party/snpe/include", "#third_party/mapbox-gl-native-qt/include", @@ -268,9 +266,6 @@ envCython["CCFLAGS"].remove("-Werror") envCython["LIBS"] = [] if arch == "Darwin": envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags -elif arch == "aarch64": - envCython["LINKFLAGS"] = ["-shared"] - envCython["LIBS"] = [os.path.basename(py_include)] else: envCython["LINKFLAGS"] = ["-pthread", "-shared"] @@ -330,7 +325,6 @@ qt_flags = [ qt_env['CXXFLAGS'] += qt_flags qt_env['LIBPATH'] += ['#selfdrive/ui'] qt_env['LIBS'] = qt_libs -qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_' if GetOption("clazy"): checks = [ @@ -365,8 +359,9 @@ else: cereal = [File('#cereal/libcereal.a')] messaging = [File('#cereal/libmessaging.a')] visionipc = [File('#cereal/libvisionipc.a')] +messaging_python = [File('#cereal/messaging/messaging_pyx.so')] -Export('cereal', 'messaging', 'visionipc') +Export('cereal', 'messaging', 'messaging_python', 'visionipc') # Build rednose library and ekf models @@ -422,9 +417,6 @@ SConscript([ SConscript(['third_party/SConscript']) -SConscript(['common/kalman/SConscript']) -SConscript(['common/transformations/SConscript']) - SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript']) SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) @@ -433,7 +425,7 @@ SConscript(['selfdrive/navd/SConscript']) SConscript(['selfdrive/modeld/SConscript']) SConscript(['selfdrive/ui/SConscript']) -if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'): +if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'): SConscript(['tools/replay/SConscript']) SConscript(['tools/cabana/SConscript']) diff --git a/body b/body index 05021c559e..6ff44357a3 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 05021c559e78fd7c539abceeedcc47f981b05455 +Subproject commit 6ff44357a3e416d29044b1d085a3e9223db9691a diff --git a/cereal b/cereal index 9dc9164bb3..fae6aed120 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 9dc9164bb3bc6ff0b1471dfcebe38321b2d622c8 +Subproject commit fae6aed120b5b1b22e21785ecfc416fe1ed959d2 diff --git a/common/SConscript b/common/SConscript index 5d6170611f..d22aca128b 100644 --- a/common/SConscript +++ b/common/SConscript @@ -12,6 +12,7 @@ common_libs = [ 'util.cc', 'i2c.cc', 'watchdog.cc', + 'ratekeeper.cc' ] if arch != "Darwin": @@ -26,10 +27,20 @@ files = [ _gpucommon = fxn('gpucommon', files) Export('_common', '_gpucommon') -if GetOption('test'): - env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common]) - env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread']) +if GetOption('extras'): + env.Program('tests/test_common', + ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'], + LIBS=[_common, 'json11', 'zmq', 'pthread']) -# Cython -envCython.Program('clock.so', 'clock.pyx') -envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) +# Cython bindings +params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11']) + +SConscript([ + 'kalman/SConscript', + 'transformations/SConscript' +]) + +Import('simple_kalman_python', 'transformations_python') +common_python = [params_python, simple_kalman_python, transformations_python] + +Export('common_python') diff --git a/common/api/__init__.py b/common/api/__init__.py index c1fa635bd6..0eb8aa7627 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -2,8 +2,8 @@ import jwt import os import requests from datetime import datetime, timedelta -from common.basedir import PERSIST -from system.version import get_version +from openpilot.common.basedir import PERSIST +from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') diff --git a/common/basedir.py b/common/basedir.py index 371b54d3ef..b4486f9f08 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,7 +1,7 @@ import os from pathlib import Path -from system.hardware import PC +from openpilot.system.hardware import PC BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) diff --git a/common/clock.pyx b/common/clock.pyx deleted file mode 100644 index 81333565c5..0000000000 --- a/common/clock.pyx +++ /dev/null @@ -1,24 +0,0 @@ -# distutils: language = c++ -# cython: language_level = 3 -from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t - -IF UNAME_SYSNAME == "Darwin": - # Darwin doesn't have a CLOCK_BOOTTIME - CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW -ELSE: - from posix.time cimport CLOCK_BOOTTIME - -cdef double readclock(clockid_t clock_id): - cdef timespec ts - cdef double current - - clock_gettime(clock_id, &ts) - current = ts.tv_sec + (ts.tv_nsec / 1000000000.) - return current - -def monotonic_time(): - return readclock(CLOCK_MONOTONIC_RAW) - -def sec_since_boot(): - return readclock(CLOCK_BOOTTIME) - diff --git a/common/clutil.cc b/common/clutil.cc index 3cfc8a8c8c..4f2a783d3e 100644 --- a/common/clutil.cc +++ b/common/clutil.cc @@ -38,8 +38,8 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) { LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); - LOGD("max work group size: %d", work_group_size); - LOGD("type = %d = ", device_type, type_str); + LOGD("max work group size: %zu", work_group_size); + LOGD("type = %d, %s", (int)device_type, type_str); } void cl_print_build_errors(cl_program program, cl_device_id device) { @@ -62,7 +62,7 @@ cl_device_id cl_get_device_id(cl_device_type device_type) { CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); for (size_t i = 0; i < num_platforms; ++i) { - LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); + LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); // Get first device if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { @@ -75,6 +75,10 @@ cl_device_id cl_get_device_id(cl_device_type device_type) { return nullptr; } +cl_context cl_create_context(cl_device_id device_id) { + return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); +} + cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { return cl_program_from_source(ctx, device_id, util::read_file(path), args); } diff --git a/common/clutil.h b/common/clutil.h index be1a07c332..af986d6434 100644 --- a/common/clutil.h +++ b/common/clutil.h @@ -22,6 +22,7 @@ }) cl_device_id cl_get_device_id(cl_device_type device_type); +cl_context cl_create_context(cl_device_id device_id); 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); diff --git a/common/file_helpers.py b/common/file_helpers.py index 8a45fa313c..227d614d72 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -5,7 +5,7 @@ from atomicwrites import AtomicWriter def mkdirs_exists_ok(path): - if path.startswith('http://') or path.startswith('https://'): + if path.startswith(('http://', 'https://')): raise ValueError('URL path') try: os.makedirs(path) diff --git a/common/gpio.cc b/common/gpio.cc index 8a16cd3703..dd7ba34b6d 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -1,5 +1,7 @@ #include "common/gpio.h" +#include + #ifdef __APPLE__ int gpio_init(int pin_nr, bool output) { return 0; @@ -29,7 +31,7 @@ int gpio_init(int pin_nr, bool output) { char pin_dir_path[50]; int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path), "/sys/class/gpio/gpio%d/direction", pin_nr); - if(pin_dir_path_len <= 0) { + if (pin_dir_path_len <= 0) { return -1; } const char *value = output ? "out" : "in"; @@ -40,7 +42,7 @@ int gpio_set(int pin_nr, bool high) { char pin_val_path[50]; int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path), "/sys/class/gpio/gpio%d/value", pin_nr); - if(pin_val_path_len <= 0) { + if (pin_val_path_len <= 0) { return -1; } return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1); @@ -68,7 +70,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1); - int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); + int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); if (ret == -1) { LOGE("Unable to get line event from ioctl : %s", strerror(errno)); close(fd); diff --git a/common/gpio.h b/common/gpio.h index b2f67f8ba3..89cdedd66c 100644 --- a/common/gpio.h +++ b/common/gpio.h @@ -5,7 +5,7 @@ #define GPIO_HUB_RST_N 30 #define GPIO_UBLOX_RST_N 32 #define GPIO_UBLOX_SAFEBOOT_N 33 - #define GPIO_UBLOX_PWR_EN 34 + #define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ #define GPIO_STM_RST_N 124 #define GPIO_STM_BOOT0 134 #define GPIO_BMX_ACCEL_INT 21 @@ -17,7 +17,7 @@ #define GPIO_HUB_RST_N 0 #define GPIO_UBLOX_RST_N 0 #define GPIO_UBLOX_SAFEBOOT_N 0 - #define GPIO_UBLOX_PWR_EN 0 + #define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ #define GPIO_STM_RST_N 0 #define GPIO_STM_BOOT0 0 #define GPIO_BMX_ACCEL_INT 0 diff --git a/common/gpio.py b/common/gpio.py index 5ec23bf7b1..88a9479a60 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,3 +1,4 @@ +import os from functools import lru_cache from typing import Optional, List @@ -26,6 +27,9 @@ def gpio_read(pin: int) -> Optional[bool]: return val def gpio_export(pin: int) -> None: + if os.path.isdir(f"/sys/class/gpio/gpio{pin}"): + return + try: with open("/sys/class/gpio/export", 'w') as f: f.write(str(pin)) diff --git a/common/i2c.cc b/common/i2c.cc index ef788ac9ea..3d6c79efc5 100644 --- a/common/i2c.cc +++ b/common/i2c.cc @@ -8,7 +8,6 @@ #include #include -#include "common/util.h" #include "common/swaglog.h" #include "common/util.h" @@ -26,36 +25,42 @@ I2CBus::I2CBus(uint8_t bus_id) { snprintf(bus_name, 20, "/dev/i2c-%d", bus_id); i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR)); - if(i2c_fd < 0) { + if (i2c_fd < 0) { throw std::runtime_error("Failed to open I2C bus"); } } I2CBus::~I2CBus() { - if(i2c_fd >= 0) { close(i2c_fd); } + if (i2c_fd >= 0) { + close(i2c_fd); + } } int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { + std::lock_guard lk(m); + int ret = 0; ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if(ret < 0) { goto fail; } + if (ret < 0) { goto fail; } ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer); - if((ret < 0) || (ret != len)) { goto fail; } + if ((ret < 0) || (ret != len)) { goto fail; } fail: return ret; } int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) { + std::lock_guard lk(m); + int ret = 0; ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if(ret < 0) { goto fail; } + if (ret < 0) { goto fail; } ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data); - if(ret < 0) { goto fail; } + if (ret < 0) { goto fail; } fail: return ret; diff --git a/common/i2c.h b/common/i2c.h index 0669116bb8..ca0d4635b8 100644 --- a/common/i2c.h +++ b/common/i2c.h @@ -1,12 +1,14 @@ #pragma once #include +#include #include class I2CBus { private: int i2c_fd; + std::mutex m; public: I2CBus(uint8_t bus_id); diff --git a/common/kalman/SConscript b/common/kalman/SConscript index d60354c987..7cba4a9a61 100644 --- a/common/kalman/SConscript +++ b/common/kalman/SConscript @@ -1,3 +1,5 @@ Import('envCython') -envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx') +simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx') + +Export('simple_kalman_python') diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py index 33289e4f50..5e1b6ce1fb 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -1,3 +1,12 @@ -# pylint: skip-file -from common.kalman.simple_kalman_impl import KF1D as KF1D +from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D assert KF1D +import numpy as np + +def get_kalman_gain(dt, A, C, Q, R, iterations=100): + P = np.zeros_like(Q) + for _ in range(iterations): + P = A.dot(P).dot(A.T) + dt * Q + S = C.dot(P).dot(C.T) + R + K = P.dot(C.T).dot(np.linalg.inv(S)) + P = (np.eye(len(P)) - K.dot(C)).dot(P) + return K \ No newline at end of file diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py index 96b2527655..32cc79fc3d 100644 --- a/common/kalman/tests/test_simple_kalman.py +++ b/common/kalman/tests/test_simple_kalman.py @@ -3,8 +3,8 @@ import random import timeit import numpy as np -from common.kalman.simple_kalman import KF1D -from common.kalman.simple_kalman_old import KF1D as KF1D_old +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old class TestSimpleKalman(unittest.TestCase): @@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase): setup = """ import numpy as np -from common.kalman.simple_kalman import KF1D -from common.kalman.simple_kalman_old import KF1D as KF1D_old +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old dt = 0.01 x0_0 = 0.0 diff --git a/common/logging_extra.py b/common/logging_extra.py index 899ad7a391..5e0584c7bc 100644 --- a/common/logging_extra.py +++ b/common/logging_extra.py @@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter): return record_dict - def format(self, record): + def format(self, record): # noqa: A003 if self.swaglogger is None: raise Exception("must set swaglogger before calling format()") return json_robust_dumps(self.format_dict(record)) @@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter): k += "$a" return k, v - def format(self, record): + def format(self, record): # noqa: A003 if isinstance(record, str): v = json.loads(record) else: @@ -197,7 +197,7 @@ class SwagLogger(logging.Logger): filename = os.path.normcase(co.co_filename) # TODO: is this pylint exception correct? - if filename == _srcfile: # pylint: disable=comparison-with-callable + if filename == _srcfile: f = f.f_back continue sinfo = None diff --git a/common/mat.h b/common/mat.h index 626f3404fe..8e10d61971 100644 --- a/common/mat.h +++ b/common/mat.h @@ -1,7 +1,7 @@ #pragma once typedef struct vec3 { - float v[3]; + float v[3]; } vec3; typedef struct vec4 { @@ -9,7 +9,7 @@ typedef struct vec4 { } vec4; typedef struct mat3 { - float v[3*3]; + float v[3*3]; } mat3; typedef struct mat4 { diff --git a/common/model.h b/common/model.h index 9c736f3b4e..cdffd64108 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define CURRENT_MODEL "Moonrise (June 30, 2023)" +#define CURRENT_MODEL "Non-Inflatable (August 9, 2023)" diff --git a/common/params.cc b/common/params.cc index f1c7d7151a..372daa3716 100644 --- a/common/params.cc +++ b/common/params.cc @@ -158,6 +158,7 @@ std::unordered_map keys = { {"LongitudinalPersonality", PERSISTENT}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, + {"NavPastDestinations", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavSettingTime24h", PERSISTENT}, {"NavdRender", PERSISTENT}, @@ -298,6 +299,7 @@ std::unordered_map keys = { {"TrueVEgoUi", PERSISTENT}, {"TurnSpeedControl", PERSISTENT}, {"TurnVisionControl", PERSISTENT}, + {"DriverCameraHardwareMissing", PERSISTENT}, {"VisionCurveLaneless", PERSISTENT}, {"VwAccType", PERSISTENT}, {"Offroad_SupersededUpdate", PERSISTENT}, diff --git a/common/params.py b/common/params.py index b6be424d41..ea8ac7514a 100644 --- a/common/params.py +++ b/common/params.py @@ -1,4 +1,5 @@ -from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ + put_bool_nonblocking assert Params assert ParamKeyType assert UnknownKeyName diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx old mode 100755 new mode 100644 diff --git a/selfdrive/test/process_replay/helpers.py b/common/prefix.py similarity index 67% rename from selfdrive/test/process_replay/helpers.py rename to common/prefix.py index 42c3aeb02a..702b0feae4 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/common/prefix.py @@ -2,11 +2,11 @@ import os import shutil import uuid -from typing import List, Optional +from typing import Optional -from common.params import Params +from openpilot.common.params import Params -class OpenpilotPrefix(object): +class OpenpilotPrefix: def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): self.prefix = prefix if prefix else str(uuid.uuid4()) self.msgq_path = os.path.join('/dev/shm', self.prefix) @@ -19,10 +19,15 @@ class OpenpilotPrefix(object): except FileExistsError: pass + return self + def __exit__(self, exc_type, exc_obj, exc_tb): if self.clean_dirs_on_exit: self.clean_dirs() - del os.environ['OPENPILOT_PREFIX'] + try: + del os.environ['OPENPILOT_PREFIX'] + except KeyError: + pass return False def clean_dirs(self): @@ -31,17 +36,3 @@ class OpenpilotPrefix(object): shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True) os.remove(symlink_path) shutil.rmtree(self.msgq_path, ignore_errors=True) - - -class DummySocket: - def __init__(self): - self.data: List[bytes] = [] - - def receive(self, non_blocking: bool = False) -> Optional[bytes]: - if non_blocking: - return None - - return self.data.pop() - - def send(self, data: bytes): - self.data.append(data) diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc new file mode 100644 index 0000000000..7e63815168 --- /dev/null +++ b/common/ratekeeper.cc @@ -0,0 +1,40 @@ +#include "common/ratekeeper.h" + +#include + +#include "common/swaglog.h" +#include "common/timing.h" +#include "common/util.h" + +RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold) + : name(name), + print_delay_threshold(std::max(0.f, print_delay_threshold)) { + interval = 1 / rate; + last_monitor_time = seconds_since_boot(); + next_frame_time = last_monitor_time + interval; +} + +bool RateKeeper::keepTime() { + bool lagged = monitorTime(); + if (remaining_ > 0) { + util::sleep_for(remaining_ * 1000); + } + return lagged; +} + +bool RateKeeper::monitorTime() { + ++frame_; + last_monitor_time = seconds_since_boot(); + remaining_ = next_frame_time - last_monitor_time; + + bool lagged = remaining_ < 0; + if (lagged) { + if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) { + LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000); + } + next_frame_time = last_monitor_time + interval; + } else { + next_frame_time += interval; + } + return lagged; +} diff --git a/common/ratekeeper.h b/common/ratekeeper.h new file mode 100644 index 0000000000..b6e8ac66a6 --- /dev/null +++ b/common/ratekeeper.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include + +class RateKeeper { +public: + RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0); + ~RateKeeper() {} + bool keepTime(); + bool monitorTime(); + inline double frame() const { return frame_; } + inline double remaining() const { return remaining_; } + +private: + double interval; + double next_frame_time; + double last_monitor_time; + double remaining_ = 0; + float print_delay_threshold = 0; + uint64_t frame_ = 0; + std::string name; +}; diff --git a/common/realtime.py b/common/realtime.py index 7dd2eb98a6..05e19e770f 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -5,10 +5,9 @@ import time from collections import deque from typing import Optional, List, Union -from setproctitle import getproctitle # pylint: disable=no-name-in-module +from setproctitle import getproctitle -from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error -from system.hardware import PC +from openpilot.system.hardware import PC # time step for each process @@ -31,12 +30,12 @@ class Priority: def set_realtime_priority(level: int) -> None: if not PC: - os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # pylint: disable=no-member + os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) def set_core_affinity(cores: List[int]) -> None: if not PC: - os.sched_setaffinity(0, cores) # pylint: disable=no-member + os.sched_setaffinity(0, cores) def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None: @@ -50,13 +49,13 @@ class Ratekeeper: def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None: """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative.""" self._interval = 1. / rate - self._next_frame_time = sec_since_boot() + self._interval + self._next_frame_time = time.monotonic() + self._interval self._print_delay_threshold = print_delay_threshold self._frame = 0 self._remaining = 0.0 self._process_name = getproctitle() self._dts = deque([self._interval], maxlen=100) - self._last_monitor_time = sec_since_boot() + self._last_monitor_time = time.monotonic() @property def frame(self) -> int: @@ -82,11 +81,11 @@ class Ratekeeper: # this only monitor the cumulative lag, but does not enforce a rate def monitor_time(self) -> bool: prev = self._last_monitor_time - self._last_monitor_time = sec_since_boot() + self._last_monitor_time = time.monotonic() self._dts.append(self._last_monitor_time - prev) lagged = False - remaining = self._next_frame_time - sec_since_boot() + remaining = self._next_frame_time - time.monotonic() self._next_frame_time += self._interval if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold: print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms") diff --git a/common/spinner.py b/common/spinner.py index 57242d644d..43d4bb2cc2 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -1,6 +1,6 @@ import os import subprocess -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR class Spinner(): @@ -29,11 +29,11 @@ class Spinner(): def close(self): if self.spinner_proc is not None: + self.spinner_proc.kill() try: - self.spinner_proc.stdin.close() - except BrokenPipeError: - pass - self.spinner_proc.terminate() + self.spinner_proc.communicate(timeout=2.) + except subprocess.TimeoutExpired: + print("WARNING: failed to kill spinner") self.spinner_proc = None def __del__(self): diff --git a/common/swaglog.cc b/common/swaglog.cc index 060090e18f..923f701ab2 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -12,7 +12,7 @@ #include #include -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "common/util.h" #include "common/version.h" @@ -64,8 +64,7 @@ static void log(int levelnum, const char* filename, int lineno, const char* func if (levelnum >= s.print_level) { printf("%s: %s\n", filename, msg); } - char levelnum_c = levelnum; - zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK); + zmq_send(s.sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); } static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, @@ -87,8 +86,11 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons log_j["msg"] = msg_j; } - std::string log_s = ((json11::Json)log_j).dump(); + std::string log_s; + log_s += (char)levelnum; + ((json11::Json)log_j).dump(log_s); log(levelnum, filename, lineno, func, msg_buf, log_s); + free(msg_buf); } diff --git a/common/swaglog.h b/common/swaglog.h index 25368501ac..06d45b1d98 100644 --- a/common/swaglog.h +++ b/common/swaglog.h @@ -9,14 +9,20 @@ #define CLOUDLOG_CRITICAL 50 +#ifdef __GNUC__ +#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b))) +#else +#define SWAG_LOG_CHECK_FMT(a, b) +#endif + void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/; + uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7); #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \ @@ -38,7 +44,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun int __millis = (millis); \ uint64_t __ts = nanos_since_boot(); \ \ - if (!__begin) __begin = __ts; \ + if (!__begin) { __begin = __ts; } \ \ if (__begin + __millis*1000000ULL < __ts) { \ if (__missed) { \ diff --git a/common/tests/.gitignore b/common/tests/.gitignore index 1350b3b825..6cddfc7bdf 100644 --- a/common/tests/.gitignore +++ b/common/tests/.gitignore @@ -1,2 +1 @@ -test_util -test_swaglog +test_common diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index d39e66de13..e36df57a32 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -2,8 +2,8 @@ import os import unittest from uuid import uuid4 -from common.file_helpers import atomic_write_on_fs_tmp -from common.file_helpers import atomic_write_in_dir +from openpilot.common.file_helpers import atomic_write_on_fs_tmp +from openpilot.common.file_helpers import atomic_write_in_dir class TestFileHelpers(unittest.TestCase): diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py index 2fb8a1cef3..de7bb972e7 100644 --- a/common/tests/test_numpy_fast.py +++ b/common/tests/test_numpy_fast.py @@ -1,7 +1,7 @@ import numpy as np import unittest -from common.numpy_fast import interp +from openpilot.common.numpy_fast import interp class InterpTest(unittest.TestCase): diff --git a/common/tests/test_params.py b/common/tests/test_params.py index d432218c8a..fb6f320ea4 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,21 +1,14 @@ import os import threading import time -import tempfile -import shutil import uuid import unittest -from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking class TestParams(unittest.TestCase): def setUp(self): - self.tmpdir = tempfile.mkdtemp() - print("using", self.tmpdir) - self.params = Params(self.tmpdir) - - def tearDown(self): - shutil.rmtree(self.tmpdir) + self.params = Params() def test_params_put_and_get(self): self.params.put("DongleId", "cb38263377b873ee") @@ -90,19 +83,19 @@ class TestParams(unittest.TestCase): self.assertFalse(self.params.get_bool("IsMetric")) def test_put_non_blocking_with_get_block(self): - q = Params(self.tmpdir) + q = Params() def _delayed_writer(): time.sleep(0.1) - put_nonblocking("CarParams", "test", self.tmpdir) + put_nonblocking("CarParams", "test") threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" def test_put_bool_non_blocking_with_get_block(self): - q = Params(self.tmpdir) + q = Params() def _delayed_writer(): time.sleep(0.1) - put_bool_nonblocking("CarParams", True, self.tmpdir) + put_bool_nonblocking("CarParams", True) threading.Thread(target=_delayed_writer).start() assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc new file mode 100644 index 0000000000..f5aa16a859 --- /dev/null +++ b/common/tests/test_ratekeeper.cc @@ -0,0 +1,16 @@ +#include "catch2/catch.hpp" +#include "common/ratekeeper.h" +#include "common/timing.h" +#include "common/util.h" + +TEST_CASE("RateKeeper") { + float freq = GENERATE(10, 50, 100); + RateKeeper rk("Test RateKeeper", freq); + for (int i = 0; i < freq; ++i) { + double begin = seconds_since_boot(); + util::sleep_for(util::random_int(0, 1000.0 / freq - 1)); + bool lagged = rk.keepTime(); + REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3); + REQUIRE(lagged == false); + } +} diff --git a/common/tests/test_runner.cc b/common/tests/test_runner.cc new file mode 100644 index 0000000000..62bf7476a1 --- /dev/null +++ b/common/tests/test_runner.cc @@ -0,0 +1,2 @@ +#define CATCH_CONFIG_MAIN +#include "catch2/catch.hpp" diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc index 20455ec74c..322354d730 100644 --- a/common/tests/test_swaglog.cc +++ b/common/tests/test_swaglog.cc @@ -1,13 +1,13 @@ #include -#include -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" -#include "json11.hpp" +#include + +#include "catch2/catch.hpp" #include "common/swaglog.h" #include "common/util.h" #include "common/version.h" #include "system/hardware/hw.h" +#include "third_party/json11/json11.hpp" const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage"; std::string daemon_name = "testy"; diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index 25ecf09aa9..68fced19c2 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -5,10 +5,10 @@ #include #include +#include #include #include -#define CATCH_CONFIG_MAIN #include "catch2/catch.hpp" #include "common/util.h" diff --git a/common/text_window.py b/common/text_window.py index bea3a149f8..d2762ebf7d 100755 --- a/common/text_window.py +++ b/common/text_window.py @@ -2,7 +2,7 @@ import os import time import subprocess -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR class TextWindow: diff --git a/common/transformations/SConscript b/common/transformations/SConscript index ee9b9a2b73..4ac73a165e 100644 --- a/common/transformations/SConscript +++ b/common/transformations/SConscript @@ -1,6 +1,5 @@ Import('env', 'envCython') transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc']) -Export('transformations') - -envCython.Program('transformations.so', 'transformations.pyx') +transformations_python = envCython.Program('transformations.so', 'transformations.pyx') +Export('transformations', 'transformations_python') diff --git a/common/transformations/camera.py b/common/transformations/camera.py index b20ed5c64b..c643cb5702 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -1,6 +1,6 @@ import numpy as np -import common.transformations.orientation as orient +import openpilot.common.transformations.orientation as orient ## -- hardcoded hardware params -- eon_f_focal_length = 910.0 @@ -61,14 +61,6 @@ device_frame_from_view_frame = np.array([ view_frame_from_device_frame = device_frame_from_view_frame.T -def get_calib_from_vp(vp): - vp_norm = normalize(vp) - yaw_calib = np.arctan(vp_norm[0]) - pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) - roll_calib = 0 - return roll_calib, pitch_calib, yaw_calib - - # aka 'extrinsic_matrix' # road : x->forward, y -> left, z->up def get_view_frame_from_road_frame(roll, pitch, yaw, height): @@ -131,6 +123,14 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf return img_pts_denormalized[:, :2].reshape(input_shape) +def get_calib_from_vp(vp, intrinsics=fcam_intrinsics): + vp_norm = normalize(vp, intrinsics) + yaw_calib = np.arctan(vp_norm[0]) + pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib)) + roll_calib = 0 + return roll_calib, pitch_calib, yaw_calib + + def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef): # device from ecef frame # device frame is x -> forward, y-> right, z -> down diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc index b729ac3d87..5b00b53a4f 100644 --- a/common/transformations/coordinates.cc +++ b/common/transformations/coordinates.cc @@ -1,13 +1,11 @@ #define _USE_MATH_DEFINES +#include "common/transformations/coordinates.hpp" + #include #include #include -#include "coordinates.hpp" - - - double a = 6378137; // lgtm [cpp/short-global-name] double b = 6356752.3142; // lgtm [cpp/short-global-name] double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name] diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp index f5ba0d3fe7..32ec2ff66e 100644 --- a/common/transformations/coordinates.hpp +++ b/common/transformations/coordinates.hpp @@ -1,5 +1,7 @@ #pragma once +#include + #define DEG2RAD(x) ((x) * M_PI / 180.0) #define RAD2DEG(x) ((x) * 180.0 / M_PI) diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py index 46cc0ded0d..696e7de2e5 100644 --- a/common/transformations/coordinates.py +++ b/common/transformations/coordinates.py @@ -1,8 +1,7 @@ -# pylint: skip-file -from common.transformations.orientation import numpy_wrap -from common.transformations.transformations import (ecef2geodetic_single, +from openpilot.common.transformations.orientation import numpy_wrap +from openpilot.common.transformations.transformations import (ecef2geodetic_single, geodetic2ecef_single) -from common.transformations.transformations import LocalCoord as LocalCoord_single +from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single class LocalCoord(LocalCoord_single): diff --git a/common/transformations/model.py b/common/transformations/model.py index 811a17eafe..7e40767f63 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -1,7 +1,9 @@ import numpy as np -from common.transformations.camera import (FULL_FRAME_SIZE, - get_view_frame_from_calib_frame) +from openpilot.common.transformations.orientation import rot_from_euler +from openpilot.common.transformations.camera import ( + FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame, + eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics) # segnet SEGNET_SIZE = (512, 384) @@ -57,61 +59,20 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics, medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) +calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3]) +calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3]) -### This function mimics the update_calibration logic in modeld.cc -### Manually verified to give similar results to xx.uncommon.utils.transform_img -def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): - from common.transformations.orientation import rot_from_euler - from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics - - if tici and wide_cam: - intrinsics = tici_ecam_intrinsics +# This function is verified to give similar results to xx.uncommon.utils.transform_img +def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray: + if tici and wide_camera: + cam_intrinsics = tici_ecam_intrinsics elif tici: - intrinsics = tici_fcam_intrinsics + cam_intrinsics = tici_fcam_intrinsics else: - intrinsics = eon_fcam_intrinsics + cam_intrinsics = eon_fcam_intrinsics - if big_model: - sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)] - calib_from_model = np.linalg.inv(sbigmodel_from_calib) - else: - medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)] - calib_from_model = np.linalg.inv(medmodel_from_calib) - device_from_calib = rot_from_euler(rpy_calib) - camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib)) - warp_matrix = camera_from_calib.dot(calib_from_model) - return warp_matrix - - -### This is old, just for debugging -def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True): - from common.transformations.orientation import rot_from_euler - from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics - - - def get_view_frame_from_road_frame(roll, pitch, yaw, height): - device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1])) - view_from_road = view_frame_from_device_frame.dot(device_from_road) - return np.hstack((view_from_road, [[0], [height], [0]])) - - if tici and wide_cam: - intrinsics = tici_ecam_intrinsics - elif tici: - intrinsics = tici_fcam_intrinsics - else: - intrinsics = eon_fcam_intrinsics - - model_height = 1.22 - if big_model: - model_from_road = np.dot(sbigmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - else: - model_from_road = np.dot(medmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)]) - - E = get_view_frame_from_road_frame(*rpy_calib, 1.22) - camera_frame_from_road_frame = intrinsics.dot(E) - camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)] - warp_matrix = camera_frame_from_ground .dot(ground_from_model) + calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel + device_from_calib = rot_from_euler(device_from_calib_euler) + camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib + warp_matrix: np.ndarray = camera_from_calib @ calib_from_model return warp_matrix diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc index 7909c0affb..00888c3a92 100644 --- a/common/transformations/orientation.cc +++ b/common/transformations/orientation.cc @@ -4,8 +4,8 @@ #include #include -#include "orientation.hpp" -#include "coordinates.hpp" +#include "common/transformations/orientation.hpp" +#include "common/transformations/coordinates.hpp" Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){ if (quat.w() > 0){ diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp index ebd7da0aee..150b12cade 100644 --- a/common/transformations/orientation.hpp +++ b/common/transformations/orientation.hpp @@ -1,6 +1,6 @@ #pragma once #include -#include "coordinates.hpp" +#include "common/transformations/coordinates.hpp" Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat); diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py index 134442b624..ce4378738d 100644 --- a/common/transformations/orientation.py +++ b/common/transformations/orientation.py @@ -1,8 +1,7 @@ -# pylint: skip-file import numpy as np from typing import Callable -from common.transformations.transformations import (ecef_euler_from_ned_single, +from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single, euler2quat_single, euler2rot_single, ned_euler_from_ecef_single, diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index dc70faed0b..7ae79403bd 100755 --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -3,7 +3,7 @@ import numpy as np import unittest -import common.transformations.coordinates as coord +import openpilot.common.transformations.coordinates as coord geodetic_positions = np.array([[37.7610403, -122.4778699, 115], [27.4840915, -68.5867592, 2380], diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py index 50978e1a63..f77827d2f9 100755 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -3,7 +3,7 @@ import numpy as np import unittest -from common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ +from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ ned_euler_from_ecef diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx index ce80d90d29..c5cb9e0056 100644 --- a/common/transformations/transformations.pyx +++ b/common/transformations/transformations.pyx @@ -1,20 +1,20 @@ # distutils: language = c++ # cython: language_level = 3 -from common.transformations.transformations cimport Matrix3, Vector3, Quaternion -from common.transformations.transformations cimport ECEF, NED, Geodetic +from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion +from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic -from common.transformations.transformations cimport euler2quat as euler2quat_c -from common.transformations.transformations cimport quat2euler as quat2euler_c -from common.transformations.transformations cimport quat2rot as quat2rot_c -from common.transformations.transformations cimport rot2quat as rot2quat_c -from common.transformations.transformations cimport euler2rot as euler2rot_c -from common.transformations.transformations cimport rot2euler as rot2euler_c -from common.transformations.transformations cimport rot_matrix as rot_matrix_c -from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c -from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c -from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c -from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c -from common.transformations.transformations cimport LocalCoord_c +from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c +from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c +from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c +from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c +from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c +from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c +from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c +from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c +from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c +from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c +from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c +from openpilot.common.transformations.transformations cimport LocalCoord_c import cython diff --git a/common/util.cc b/common/util.cc index 55a8b1fb3e..8af9f5884c 100644 --- a/common/util.cc +++ b/common/util.cc @@ -2,7 +2,7 @@ #include #include -#include +#include #include #include @@ -60,6 +60,20 @@ int set_core_affinity(std::vector cores) { #endif } +int set_file_descriptor_limit(uint64_t limit_val) { + struct rlimit limit; + int status; + + if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0) + return status; + + limit.rlim_cur = limit_val; + if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0) + return status; + + return 0; +} + std::string read_file(const std::string& fn) { std::ifstream f(fn, std::ios::binary | std::ios::in); if (f.is_open()) { @@ -213,10 +227,17 @@ std::string hexdump(const uint8_t* in, const size_t size) { return ss.str(); } +int random_int(int min, int max) { + std::random_device dev; + std::mt19937 rng(dev()); + std::uniform_int_distribution dist(min, max); + return dist(rng); +} + std::string random_string(std::string::size_type length) { - const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; + const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; std::mt19937 rg{std::random_device{}()}; - std::uniform_int_distribution pick(0, sizeof(chrs) - 2); + std::uniform_int_distribution pick(0, chrs.length() - 1); std::string s; s.reserve(length); while (length--) { @@ -231,6 +252,14 @@ std::string dir_name(std::string const &path) { return path.substr(0, pos); } +bool starts_with(const std::string &s1, const std::string &s2) { + return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0; +} + +bool ends_with(const std::string &s1, const std::string &s2) { + return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0; +} + std::string check_output(const std::string& command) { char buffer[128]; std::string result; diff --git a/common/util.h b/common/util.h index 34721700e7..30f514f8dc 100644 --- a/common/util.h +++ b/common/util.h @@ -44,6 +44,7 @@ namespace util { void set_thread_name(const char* name); int set_realtime_priority(int level); int set_core_affinity(std::vector cores); +int set_file_descriptor_limit(uint64_t limit); // ***** Time helpers ***** struct tm get_time(); @@ -75,10 +76,15 @@ int getenv(const char* key, int default_val); float getenv(const char* key, float default_val); std::string hexdump(const uint8_t* in, const size_t size); -std::string random_string(std::string::size_type length); std::string dir_name(std::string const& path); +bool starts_with(const std::string &s1, const std::string &s2); +bool ends_with(const std::string &s1, const std::string &s2); -// **** file fhelpers ***** +// ***** random helpers ***** +int random_int(int min, int max); +std::string random_string(std::string::size_type length); + +// **** file helpers ***** std::string read_file(const std::string& fn); std::map read_files_in_dir(const std::string& path); int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); @@ -111,7 +117,7 @@ public: #ifndef __APPLE__ std::signal(SIGPWR, (sighandler_t)set_do_exit); #endif - }; + } inline static std::atomic power_failure = false; inline static std::atomic signal = 0; inline operator bool() { return do_exit; } @@ -147,12 +153,18 @@ struct unique_fd { class FirstOrderFilter { public: - FirstOrderFilter(float x0, float ts, float dt) { + FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) { k_ = (dt / ts) / (1.0 + dt / ts); x_ = x0; + initialized_ = initialized; } inline float update(float x) { - x_ = (1. - k_) * x_ + k_ * x; + if (initialized_) { + x_ = (1. - k_) * x_ + k_ * x; + } else { + initialized_ = true; + x_ = x; + } return x_; } inline void reset(float x) { x_ = x; } @@ -160,12 +172,13 @@ public: private: float x_, k_; + bool initialized_; }; template void update_max_atomic(std::atomic& max, T const& value) { T prev = max; - while(prev < value && !max.compare_exchange_weak(prev, value)) {} + while (prev < value && !max.compare_exchange_weak(prev, value)) {} } class LogState { diff --git a/common/version.h b/common/version.h index 2bcff9a140..78d9d61ab4 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.4.2" +#define COMMA_VERSION "0.9.5.1" diff --git a/common/watchdog.cc b/common/watchdog.cc index 920df4030a..3483ad21c2 100644 --- a/common/watchdog.cc +++ b/common/watchdog.cc @@ -1,3 +1,5 @@ +#include + #include "common/watchdog.h" #include "common/util.h" diff --git a/common/window.py b/common/window.py index 613b3b201b..95886c0c92 100644 --- a/common/window.py +++ b/common/window.py @@ -1,6 +1,6 @@ import sys -import pygame # pylint: disable=import-error -import cv2 # pylint: disable=import-error +import pygame +import cv2 class Window: def __init__(self, w, h, caption="window", double=False, halve=False): diff --git a/conftest.py b/conftest.py new file mode 100644 index 0000000000..e139ab8400 --- /dev/null +++ b/conftest.py @@ -0,0 +1,10 @@ +import pytest + +from openpilot.common.prefix import OpenpilotPrefix + + +@pytest.fixture(scope="function", autouse=True) +def global_setup_and_teardown(): + # setup a clean environment for each test + with OpenpilotPrefix(): + yield diff --git a/docs/CARS.md b/docs/CARS.md index 96eecd4860..e99cdcf071 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,275 +2,280 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. +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. -# 255 Supported Cars +# 260 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Buick|LaCrosse 2017-19[4](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Buick|LaCrosse 2017-19[4](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade 2017[4](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade ESV 2016[4](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Volt 2017-18[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV60 (Performance Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (2.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV70 (3.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|GV80 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|EV6 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Forester 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Fabia 2022-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Kamiq 2021[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Karoq 2019-21[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia 2015, 2018-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry 2021-23|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Advanced Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV60 (Performance Trim) 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (2.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV70 (3.5T Trim) 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Genesis|GV80 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Acadia 2018[4](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[5](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 6 (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Electric 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Electric (with HDA II, Korea only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Cruz 2022-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2021-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2022[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Tucson Hybrid 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Carnival (China only) 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-23[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (with HDA II) 2022-23[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (without HDA II) 2022-23[6](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2021-23[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Hybrid 2023[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento Plug-in Hybrid 2022-23[6](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Forester 2019-21|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Legacy 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|Outback 2020-22|All[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| +|Škoda|Fabia 2022-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Škoda|Kamiq 2021[9,11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Škoda|Karoq 2019-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015-19[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020-23[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Škoda|Superb 2015-22[11](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[10](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes -1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
+1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By 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. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
4Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
52019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-6Requires a red panda for this CAN FD car. All the hardware needed is sold in the CAN FD kit.
+6Requires a comma 3X or CAN FD panda kit for this CAN FD car.
7In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
8openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
9Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
@@ -311,7 +316,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi ### Toyota Security openpilot does not yet support these Toyota models due to a new message authentication method. -[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models. +[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models. * Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ diff --git a/docs/conf.py b/docs/conf.py index fea921de1f..9a8d646697 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,5 +1,4 @@ # type: ignore -# pylint: skip-file # Configuration file for the Sphinx documentation builder. # @@ -17,8 +16,8 @@ import os import sys from os.path import exists -from common.basedir import BASEDIR -from system.version import get_version +from openpilot.common.basedir import BASEDIR +from openpilot.system.version import get_version sys.path.insert(0, os.path.abspath('.')) sys.path.insert(0, os.path.abspath('..')) @@ -29,7 +28,7 @@ VERSION = get_version() # -- Project information ----------------------------------------------------- project = 'openpilot docs' -copyright = '2021, comma.ai' +copyright = '2021, comma.ai' # noqa: A001 author = 'comma.ai' version = VERSION release = VERSION @@ -100,7 +99,7 @@ breathe_projects_source = {} # only document files that have accompanying .cc files next to them print("searching for c_docs...") -for root, dirs, files in os.walk(BASEDIR): +for root, _, files in os.walk(BASEDIR): found = False breath_src = {} breathe_srcs_list = [] diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 08b318a59a..1bae2be24a 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 -ENV OPENPILOT_PATH /home/batman/openpilot/ +ENV OPENPILOT_PATH /tmp/openpilot ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} ENV POETRY_VIRUALENVS_CREATE false @@ -11,11 +11,12 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./laika ${OPENPILOT_PATH}/laika COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo +RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika COPY ./rednose ${OPENPILOT_PATH}/rednose COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo COPY ./tools ${OPENPILOT_PATH}/tools @@ -28,7 +29,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system COPY ./*.md ${OPENPILOT_PATH}/ -RUN scons -j$(nproc) +RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly RUN apt update && apt install doxygen -y COPY ./docs ${OPENPILOT_PATH}/docs @@ -37,5 +38,5 @@ WORKDIR ${OPENPILOT_PATH}/docs RUN make html FROM nginx:1.21 -COPY --from=0 /home/batman/openpilot/build/docs/html /usr/share/nginx/html +COPY --from=0 /tmp/openpilot/build/docs/html /usr/share/nginx/html COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf diff --git a/laika_repo b/laika_repo index 3b3d41a885..8861844c9b 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 3b3d41a885d16f4c3739a14ef06bebca858b6e3a +Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9 diff --git a/mypy.ini b/mypy.ini deleted file mode 100644 index 74d0ac2175..0000000000 --- a/mypy.ini +++ /dev/null @@ -1,16 +0,0 @@ -[mypy] -python_version = 3.11 -plugins = numpy.typing.mypy_plugin -files = body, common, docs, scripts, selfdrive, site_scons, system, tools -exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/) - -; third-party packages -ignore_missing_imports = True - -; helpful warnings -warn_redundant_casts = True -warn_unreachable = True -warn_unused_ignores = True - -; restrict dynamic typing -warn_return_any = True diff --git a/opendbc b/opendbc index bb5500f3b2..d292afe444 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit bb5500f3b2fc5a34d8734e7d3669717a9da2b721 +Subproject commit d292afe444489f172ad2837c80b292fcc6aa6113 diff --git a/openpilot/__init__.py b/openpilot/__init__.py new file mode 100644 index 0000000000..b28b04f643 --- /dev/null +++ b/openpilot/__init__.py @@ -0,0 +1,3 @@ + + + diff --git a/openpilot/common b/openpilot/common new file mode 120000 index 0000000000..60d3b0a6a8 --- /dev/null +++ b/openpilot/common @@ -0,0 +1 @@ +../common \ No newline at end of file diff --git a/openpilot/selfdrive b/openpilot/selfdrive new file mode 120000 index 0000000000..e005fd0d04 --- /dev/null +++ b/openpilot/selfdrive @@ -0,0 +1 @@ +../selfdrive/ \ No newline at end of file diff --git a/openpilot/system b/openpilot/system new file mode 120000 index 0000000000..16f8cc2b23 --- /dev/null +++ b/openpilot/system @@ -0,0 +1 @@ +../system/ \ No newline at end of file diff --git a/openpilot/third_party b/openpilot/third_party new file mode 120000 index 0000000000..d838c05a86 --- /dev/null +++ b/openpilot/third_party @@ -0,0 +1 @@ +../third_party \ No newline at end of file diff --git a/openpilot/tools b/openpilot/tools new file mode 120000 index 0000000000..4887d6e0c9 --- /dev/null +++ b/openpilot/tools @@ -0,0 +1 @@ +../tools \ No newline at end of file diff --git a/panda b/panda index b2b9ad9e92..7e41b7b517 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b2b9ad9e92c35f9b39bc0b5457212220e3b087a1 +Subproject commit 7e41b7b517e2703b95255ab72a182424b7423494 diff --git a/poetry.lock b/poetry.lock index 0af41c2b1d..b1bd2df7c6 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,5397 +1,12 @@ -[[package]] -name = "adal" -version = "1.2.7" -description = "Note: This library is already replaced by MSAL Python, available here: https://pypi.org/project/msal/ .ADAL Python remains available here as a legacy. The ADAL for Python library makes it easy for python application to authenticate to Azure Active Directory (AAD) in order to access AAD protected web resources." -category = "dev" -optional = false -python-versions = "*" - -[package.dependencies] -cryptography = ">=1.1.0" -PyJWT = ">=1.0.0,<3" -python-dateutil = ">=2.1.0,<3" -requests = ">=2.0.0,<3" - -[[package]] -name = "aenum" -version = "3.1.15" -description = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants" -category = "dev" -optional = false -python-versions = "*" +# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. [[package]] name = "aiohttp" version = "3.8.5" description = "Async http client/server framework (asyncio)" -category = "main" optional = false python-versions = ">=3.6" - -[package.dependencies] -aiosignal = ">=1.1.2" -async-timeout = ">=4.0.0a3,<5.0" -attrs = ">=17.3.0" -charset-normalizer = ">=2.0,<4.0" -frozenlist = ">=1.1.1" -multidict = ">=4.5,<7.0" -yarl = ">=1.0,<2.0" - -[package.extras] -speedups = ["Brotli", "aiodns", "cchardet"] - -[[package]] -name = "aioice" -version = "0.9.0" -description = "An implementation of Interactive Connectivity Establishment (RFC 5245)" -category = "main" -optional = false -python-versions = ">=3.7" - -[package.dependencies] -dnspython = ">=2.0.0" -ifaddr = ">=0.2.0" - -[[package]] -name = "aiortc" -version = "1.5.0" -description = "An implementation of WebRTC and ORTC" -category = "main" -optional = false -python-versions = ">=3.7" - -[package.dependencies] -aioice = ">=0.9.0,<1.0.0" -av = ">=9.0.0,<11.0.0" -cffi = ">=1.0.0" -cryptography = ">=2.2" -google-crc32c = ">=1.1" -pyee = ">=9.0.0" -pylibsrtp = ">=0.5.6" -pyopenssl = ">=23.1.0" - -[package.extras] -dev = ["aiohttp (>=3.7.0)", "coverage (>=5.0)", "numpy (>=1.19.0)"] - -[[package]] -name = "aiosignal" -version = "1.3.1" -description = "aiosignal: a list of registered asynchronous callbacks" -category = "main" -optional = false -python-versions = ">=3.7" - -[package.dependencies] -frozenlist = ">=1.1.0" - -[[package]] -name = "alabaster" -version = "0.7.13" -description = "A configurable sidebar-enabled Sphinx theme" -category = "main" -optional = false -python-versions = ">=3.6" - -[[package]] -name = "albumentations" -version = "1.3.1" -description = "Fast image augmentation library and easy to use wrapper around other libraries" -category = "dev" -optional = false -python-versions = ">=3.7" - -[package.dependencies] -numpy = ">=1.11.1" -opencv-python-headless = ">=4.1.1" -PyYAML = "*" -qudida = ">=0.0.4" -scikit-image = ">=0.16.1" -scipy = ">=1.1.0" - -[package.extras] -develop = ["imgaug (>=0.4.0)", "pytest"] -imgaug = ["imgaug (>=0.4.0)"] -tests = ["pytest"] - -[[package]] -name = "antlr4-python3-runtime" -version = "4.9.3" -description = "ANTLR 4.9.3 runtime for Python 3.7" -category = "dev" -optional = false -python-versions = "*" - -[[package]] -name = "anyio" -version = "3.7.1" -description = "High level compatibility layer for multiple asynchronous event loop implementations" -category = "dev" -optional = false -python-versions = ">=3.7" - -[package.dependencies] -idna = ">=2.8" -sniffio = ">=1.1" - -[package.extras] -doc = ["Sphinx", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme (>=1.2.2)", "sphinxcontrib-jquery"] -test = ["anyio[trio]", "coverage[toml] (>=4.5)", "hypothesis (>=4.0)", "mock (>=4)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.17)"] -trio = ["trio (<0.22)"] - -[[package]] -name = "apex" -version = "0.1" -description = "PyTorch Extensions written by NVIDIA" -category = "dev" -optional = false -python-versions = "*" - -[package.dependencies] -packaging = ">20.6" - 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"jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] +testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"] + +[metadata] +lock-version = "2.0" +python-versions = "~3.11" +content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1" diff --git a/pyproject.toml b/pyproject.toml index 3d6d79c4cf..1c7d857652 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,3 +1,59 @@ +[tool.pytest.ini_options] +minversion = "6.0" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers" +python_files = "test_*.py" +#timeout = "30" # you get this long by default +markers = [ + "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)" +] +testpaths = [ + "common", + "selfdrive/athena", + "selfdrive/boardd", + "selfdrive/car", + "selfdrive/controls", + "selfdrive/locationd", + "selfdrive/monitoring", + "selfdrive/thermald", + "selfdrive/test/longitudinal_maneuvers", + "system/hardware/tici", + "system/loggerd", + "system/tests", + "system/ubloxd", + "tools/lib/tests" +] + +[tool.mypy] +python_version = "3.11" +plugins = [ + "numpy.typing.mypy_plugin", +] +exclude = [ + "body/", + "cereal/", + "opendbc/", + "panda/", + "laika/", + "laika_repo/", + "rednose/", + "rednose_repo/", + "tinygrad/", + "tinygrad_repo/", + "third_party/", +] + +# third-party packages +ignore_missing_imports=true + +# helpful warnings +warn_redundant_casts=true +warn_unreachable=true +warn_unused_ignores=true + +# restrict dynamic typing +warn_return_any=true + + [tool.poetry] name = "openpilot" version = "0.1.0" @@ -16,38 +72,34 @@ aiohttp = "*" aiortc = "*" casadi = "==3.6.3" cffi = "*" +control = "*" crcmod = "*" cryptography = "*" Cython = "*" -flake8 = "*" -Flask = "*" future-fstrings = "*" # for acados -gunicorn = "*" hatanaka = "==2.4" hexdump = "*" Jinja2 = "*" json-rpc = "*" libusb1 = "*" -numpy = "==1.23.0" # locked pending deprecation fixes in xx +numpy = "*" onnx = ">=1.14.0" onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" } pillow = "*" -poetry = "==1.2.2" -protobuf = "==3.20.3" psutil = "*" pyaudio = "*" pycapnp = "*" pycryptodome = "*" +pycurl = "*" pydub = "*" PyJWT = "*" pyopencl = "*" pyserial = "*" -python-dateutil = "*" PyYAML = "*" pyzmq = "*" requests = "*" scons = "*" -sentry-sdk = "*" +sentry-sdk = "==1.28.1" # needs to be updated with AGNOS setproctitle = "*" smbus2 = "*" sounddevice = "*" @@ -57,7 +109,6 @@ sympy = "*" timezonefinder = "*" tqdm = "*" urllib3 = "*" -utm = "*" websocket_client = "*" polyline = "*" sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} @@ -65,21 +116,19 @@ sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} [tool.poetry.group.dev.dependencies] av = "*" -azure-storage-blob = "~2.1" +azure-identity = "*" +azure-storage-blob = "*" breathe = "*" carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" } -control = "*" coverage = "*" dictdiffer = "*" -fastcluster = "*" ft4222 = "*" -hexdump = "*" hypothesis = "==6.46.7" inputs = "*" lru-dict = "*" -lxml = "*" markdown-it-py = "*" matplotlib = "*" +metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" @@ -87,17 +136,17 @@ natsort = "*" opencv-python-headless = "*" pandas = "*" parameterized = "^0.8" -paramiko = "*" pprofile = "*" pre-commit = "*" -pycurl = "*" pygame = "*" -pylint = "*" pyprof2calltree = "*" pytest = "*" +pytest-cov = "*" +pytest-subtests = "*" pytest-xdist = "*" -reverse_geocoder = "*" -scipy = "==1.9.3" # pinned until xx refs changes can be checked +pytest-timeout = "*" +pytest-timeouts = "*" +scipy = "*" sphinx = "*" sphinx-rtd-theme = "*" sphinx-sitemap = "*" @@ -106,83 +155,28 @@ tenacity = "*" types-atomicwrites = "*" types-certifi = "*" types-pycurl = "*" -types-python-dateutil = "*" types-PyYAML = "*" types-requests = "*" types-tabulate = "*" - - -[tool.poetry.group.xx] -optional = true - -[tool.poetry.group.xx.dependencies] -aenum = "*" -aiohttp = "*" -albumentations = "*" -azure-cli-core = "*" -azure-common = "*" -azure-core = "*" -azure-nspkg = "~3.0" -azure-storage-common = "~2.1" -azure-storage-nspkg = "~3.1" -blosc = "==1.9.2" -cloudpickle = "*" -configargparse = "*" -cupy-cuda11x = "*" -datadog = "*" -dotmap = "*" -einops = "*" -elasticsearch = "*" -Flask-Cors = "*" -Flask-SocketIO = "*" -GeoAlchemy2 = "*" -imageio = "*" -influxdb-client = "*" -ipykernel = "*" -ipython = "*" -joblib = "*" -json-logging-py = "*" -jupyter = "*" -jupyterlab = "*" -jupyterlab-vim = "*" -Markdown = "*" -msgpack-python = "*" -networkx = "~2.8" -nvidia-ml-py3 = "*" -onnx2torch = "*" -onnxoptimizer = "*" -osmium = "*" -pillow-avif-plugin = "*" -pipenv = "==2022.10.12" -plotly = "*" -pycuda = "*" -Pygments = "*" -PyMySQL = "~0.9" -pyproj = "*" -python-logstash = "*" -redis = "*" -s2sphere = "*" -scikit-image = "*" -scikit-learn = "*" -segmentation-models-pytorch = "==0.3.3" -simplejson = "*" -SQLAlchemy = "*" -torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" } -torchsummary = "*" -torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" } -triton = "*" -Werkzeug = "*" -zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } -omegaconf = "*" -osmnx = "==1.2.2" -tritonclient = {version = "2.28.0", extras = ["http"]} -transformers = "*" -timm = "==0.9.2" -PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git", rev = "3347e55" } -apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.1%2Bcu11.8/apex-0.1-cp311-cp311-linux_x86_64.whl" } -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" } +pyqt5 = { version = "*", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux [build-system] requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" + +# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml +[tool.ruff] +select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"] +ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] +line-length = 160 +target-version="py311" +exclude = [ + "panda", + "opendbc", + "laika_repo", + "rednose_repo", + "tinygrad_repo", + "third_party", +] +flake8-implicit-str-concat.allow-multiline=false diff --git a/rednose_repo b/rednose_repo index de6e160b0e..8658bed296 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit de6e160b0e6ef4e286461d6d08297eed8f6fc493 +Subproject commit 8658bed29686b2ddae191fd18302986c85542431 diff --git a/release/build_devel.sh b/release/build_devel.sh index 668ac0de19..ca04c56f1e 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -44,9 +44,6 @@ git clean -xdff echo "[-] copying files T=$SECONDS" cd $SOURCE_DIR cp -pR --parents $(cat release/files_*) $TARGET_DIR/ -if [ ! -z "$EXTRA_FILES" ]; then - cp -pR --parents $EXTRA_FILES $TARGET_DIR/ -fi # in the directory cd $TARGET_DIR diff --git a/release/build_release.sh b/release/build_release.sh index 2f35e934d8..e7f169c1db 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -49,17 +49,13 @@ git add -f . git commit -a -m "sunnypilot v$VERSION release" git branch --set-upstream-to=origin/$RELEASE_BRANCH -# Build panda firmware -pushd panda/ -scons -u . -mkdir /tmp/panda_obj/ -mv board/obj/panda.bin.signed board/obj/panda_h7.bin.signed board/obj/bootstub.panda.bin board/obj/bootstub.panda_h7.bin /tmp/panda_obj/ -popd - # Build export PYTHONPATH="$BUILD_DIR" scons -j$(nproc) +# release panda fw +scons -j$(nproc) panda/ + # Ensure no submodules in release if test "$(git submodule--helper list | wc -l)" -gt "0"; then echo "submodules found:" @@ -77,14 +73,9 @@ find . -name 'moc_*' -delete find . -name '*.cc' -delete find . -name '__pycache__' -delete find selfdrive/ui/ -name '*.h' -delete -rm -rf panda/board panda/certs panda/crypto rm -rf .sconsign.dblite Jenkinsfile release/ rm selfdrive/modeld/models/supercombo.onnx -#rm models/supercombo_badweights.thneed rm -rf selfdrive/ui/replay/ -# Move back signed panda fw -mkdir -p panda/board/obj -mv /tmp/panda_obj/* panda/board/obj/ # Restore third_party git checkout third_party/ diff --git a/release/files_common b/release/files_common index e29152713d..efe558fe6b 100644 --- a/release/files_common +++ b/release/files_common @@ -19,12 +19,14 @@ docs/LIMITATIONS.md docs/sunnyhaibin0850_qrcode_paypal.me.png site_scons/site_tools/cython.py +openpilot/__init__.py +openpilot/** + common/.gitignore common/__init__.py common/conversions.py common/gpio.py common/realtime.py -common/clock.pyx common/timeout.py common/ffi_wrapper.py common/file_helpers.py @@ -67,6 +69,7 @@ installer/custom/install_osm_db.sh tools/__init__.py tools/lib/* +tools/bodyteleop/* tools/joystick/* tools/replay/*.cc tools/replay/*.h @@ -177,6 +180,8 @@ common/clutil.cc common/clutil.h common/params.h common/params.cc +common/ratekeeper.cc +common/ratekeeper.h common/watchdog.cc common/watchdog.h @@ -335,6 +340,8 @@ selfdrive/ui/tests/test_translations.py selfdrive/ui/qt/*.cc selfdrive/ui/qt/*.h +selfdrive/ui/qt/network/*.cc +selfdrive/ui/qt/network/*.h selfdrive/ui/qt/offroad/*.cc selfdrive/ui/qt/offroad/*.h selfdrive/ui/qt/offroad/*.qml @@ -376,9 +383,10 @@ selfdrive/manager/process.py selfdrive/manager/test/__init__.py selfdrive/manager/test/test_manager.py +selfdrive/modeld/.gitignore selfdrive/modeld/__init__.py selfdrive/modeld/SConscript -selfdrive/modeld/modeld.cc +selfdrive/modeld/modeld.py selfdrive/modeld/navmodeld.cc selfdrive/modeld/dmonitoringmodeld.cc selfdrive/modeld/constants.py @@ -386,6 +394,10 @@ selfdrive/modeld/modeld selfdrive/modeld/navmodeld selfdrive/modeld/dmonitoringmodeld +selfdrive/modeld/models/__init__.py +selfdrive/modeld/models/*.pxd +selfdrive/modeld/models/*.pyx + selfdrive/modeld/models/commonmodel.cc selfdrive/modeld/models/commonmodel.h @@ -414,12 +426,12 @@ selfdrive/modeld/thneed/thneed_common.cc selfdrive/modeld/thneed/thneed_qcom2.cc selfdrive/modeld/thneed/serialize.cc -selfdrive/modeld/runners/snpemodel.cc -selfdrive/modeld/runners/snpemodel.h -selfdrive/modeld/runners/thneedmodel.cc -selfdrive/modeld/runners/thneedmodel.h -selfdrive/modeld/runners/runmodel.h -selfdrive/modeld/runners/run.h +selfdrive/modeld/runners/__init__.py +selfdrive/modeld/runners/*.pxd +selfdrive/modeld/runners/*.pyx +selfdrive/modeld/runners/*.cc +selfdrive/modeld/runners/*.h +selfdrive/modeld/runners/*.py selfdrive/monitoring/dmonitoringd.py selfdrive/monitoring/driver_monitor.py @@ -445,8 +457,6 @@ selfdrive/assets/navigation/* third_party/.gitignore third_party/SConscript -third_party/cluster/* - third_party/linux/** third_party/opencl/** @@ -460,15 +470,11 @@ third_party/kaitai/*.h third_party/kaitai/*.cpp third_party/libyuv/include/** -third_party/libyuv/lib/** -third_party/libyuv/larch64/** third_party/snpe/include/** third_party/snpe/dsp** third_party/acados/.gitignore -third_party/acados/x86_64/** -third_party/acados/larch64/** third_party/acados/include/** third_party/acados/acados_template/** @@ -602,6 +608,7 @@ opendbc/nissan_x_trail_2017_generated.dbc opendbc/nissan_leaf_2018_generated.dbc opendbc/subaru_global_2017_generated.dbc +opendbc/subaru_global_2020_hybrid_generated.dbc opendbc/subaru_outback_2015_generated.dbc opendbc/subaru_outback_2019_generated.dbc opendbc/subaru_forester_2017_generated.dbc diff --git a/release/files_pc b/release/files_pc index 01ecae4327..13f1b52166 100644 --- a/release/files_pc +++ b/release/files_pc @@ -1,7 +1,6 @@ -selfdrive/modeld/runners/onnx* - third_party/mapbox-gl-native-qt/x86_64/*.so -third_party/libyuv/x64/** +third_party/libyuv/x86_64/** third_party/snpe/x86_64/** third_party/snpe/x86_64-linux-clang/** +third_party/acados/x86_64/** diff --git a/release/files_tici b/release/files_tici index 892b7cd2f4..ab49de34f6 100644 --- a/release/files_tici +++ b/release/files_tici @@ -1,6 +1,8 @@ +third_party/libyuv/larch64/** third_party/snpe/larch64** third_party/snpe/aarch64-ubuntu-gcc7.5/* third_party/mapbox-gl-native-qt/include/* +third_party/acados/larch64/** system/timezoned.py diff --git a/scripts/code_stats.py b/scripts/code_stats.py index 6c6db4335a..59b5724a68 100755 --- a/scripts/code_stats.py +++ b/scripts/code_stats.py @@ -8,7 +8,7 @@ fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']) pyf = [] for d in ["cereal", "common", "scripts", "selfdrive", "tools"]: - for root, dirs, files in os.walk(d): + for root, _, files in os.walk(d): for f in files: if f.endswith(".py"): pyf.append(os.path.join(root, f)) @@ -40,7 +40,7 @@ for f in sorted(pyf): print("%5d %s %s" % (lns, f, xbit)) if 'test' in f: testlns += lns - elif f.startswith('tools/') or f.startswith('scripts/') or f.startswith('selfdrive/debug'): + elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')): scriptlns += lns elif f.startswith('selfdrive/car'): carlns += lns diff --git a/scripts/count_cars.py b/scripts/count_cars.py index 25bad2c9b4..8c0892bb82 100755 --- a/scripts/count_cars.py +++ b/scripts/count_cars.py @@ -2,7 +2,7 @@ from collections import Counter from pprint import pprint -from selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs import get_all_car_info if __name__ == "__main__": cars = get_all_car_info() diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py index 93688504f3..367b4108b0 100755 --- a/scripts/disable-powersave.py +++ b/scripts/disable-powersave.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE if __name__ == "__main__": HARDWARE.set_power_save(False) diff --git a/scripts/dump_pll.c b/scripts/dump_pll.c index 325ee2b4c0..3e2190235a 100644 --- a/scripts/dump_pll.c +++ b/scripts/dump_pll.c @@ -39,9 +39,9 @@ void hexdump(uint32_t *d, int l) { int main() { int fd = open("/dev/mem", O_RDWR); - volatile uint32_t *mb = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06400000); - volatile uint32_t *mc = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06480000); - volatile uint32_t *md = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x09A20000); + volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000); + volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000); + volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000); while (1) { printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n", mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4], diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py index 43716fbeb2..783728bdb8 100755 --- a/scripts/pyqt_demo.py +++ b/scripts/pyqt_demo.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 -from PyQt5.QtWidgets import QApplication, QLabel # pylint: disable=no-name-in-module, import-error -from selfdrive.ui.qt.python_helpers import set_main_window +from PyQt5.QtWidgets import QApplication, QLabel +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window if __name__ == "__main__": diff --git a/scripts/waste.py b/scripts/waste.py index d3c96bf198..0764ff77c3 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -1,23 +1,23 @@ #!/usr/bin/env python3 import os +import time import numpy as np -from common.realtime import sec_since_boot from multiprocessing import Process -from setproctitle import setproctitle # pylint: disable=no-name-in-module +from setproctitle import setproctitle def waste(core): - os.sched_setaffinity(0, [core,]) # pylint: disable=no-member + os.sched_setaffinity(0, [core,]) m1 = np.zeros((200, 200)) + 0.8 m2 = np.zeros((200, 200)) + 1.2 i = 1 - st = sec_since_boot() + st = time.monotonic() j = 0 while 1: if (i % 100) == 0: setproctitle("%3d: %8d" % (core, i)) - lt = sec_since_boot() + lt = time.monotonic() print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) st = lt i += 1 diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore index 283034ca8b..1f90a2a932 100644 --- a/selfdrive/assets/.gitignore +++ b/selfdrive/assets/.gitignore @@ -1 +1,2 @@ *.cc +translations_assets.qrc diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc index 79a1a1e272..6d8d8df334 100644 --- a/selfdrive/assets/assets.qrc +++ b/selfdrive/assets/assets.qrc @@ -14,5 +14,7 @@ offroad/icon_wifi_strength_medium.svg offroad/icon_wifi_strength_high.svg offroad/icon_wifi_strength_full.svg + + ../ui/translations/languages.json diff --git a/selfdrive/assets/navigation/direction_notificaiton_right.png b/selfdrive/assets/navigation/direction_notification_right.png similarity index 100% rename from selfdrive/assets/navigation/direction_notificaiton_right.png rename to selfdrive/assets/navigation/direction_notification_right.png diff --git a/selfdrive/assets/navigation/direction_notificaiton_sharp_right.png b/selfdrive/assets/navigation/direction_notification_sharp_right.png similarity index 100% rename from selfdrive/assets/navigation/direction_notificaiton_sharp_right.png rename to selfdrive/assets/navigation/direction_notification_sharp_right.png diff --git a/selfdrive/assets/navigation/direction_turn_slight_left_inactive.png b/selfdrive/assets/navigation/direction_turn_slight_left_inactive.png new file mode 100644 index 0000000000..37f1f83627 Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_slight_left_inactive.png differ diff --git a/selfdrive/assets/navigation/direction_turn_slight_right_inactive.png b/selfdrive/assets/navigation/direction_turn_slight_right_inactive.png new file mode 100644 index 0000000000..8be2245811 Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_slight_right_inactive.png differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 35a9eaf192..49b214f5e9 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -30,20 +30,20 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from common.api import Api -from common.basedir import PERSIST -from common.file_helpers import CallbackReader -from common.params import Params -from common.realtime import sec_since_boot, set_core_affinity -from system.hardware import HARDWARE, PC, AGNOS -from system.loggerd.config import ROOT -from system.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.statsd import STATS_DIR -from system.swaglog import SWAGLOG_DIR, cloudlog -from system.version import get_commit, get_origin, get_short_branch, get_version +from openpilot.common.api import Api +from openpilot.common.basedir import PERSIST +from openpilot.common.file_helpers import CallbackReader +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware import HARDWARE, PC, AGNOS +from openpilot.system.loggerd.config import ROOT +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.selfdrive.statsd import STATS_DIR +from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog +from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version -# missing in pysocket +# TODO: use socket constant when mypy recognizes this as a valid attribute TCP_USER_TIMEOUT = 18 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') @@ -75,7 +75,7 @@ class UploadFile: allow_cellular: bool @classmethod - def from_dict(cls, d: Dict) -> UploadFile: + def from_dict(cls, d: dict) -> UploadFile: return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False)) @@ -85,14 +85,14 @@ class UploadItem: url: str headers: Dict[str, str] created_at: int - id: Optional[str] + id: Optional[str] # noqa: A003 (to match the response from the remote server) retry_count: int = 0 current: bool = False progress: float = 0 allow_cellular: bool = False @classmethod - def from_dict(cls, d: Dict) -> UploadItem: + def from_dict(cls, d: dict) -> UploadItem: return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"], d["progress"], d["allow_cellular"]) @@ -213,6 +213,16 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr break +def cb(sm, item, tid, sz: int, cur: int) -> None: + # Abort transfer if connection changed to metered after starting upload + sm.update(0) + metered = sm['deviceState'].networkMetered + if metered and (not item.allow_cellular): + raise AbortTransferException + + cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) + + def upload_handler(end_event: threading.Event) -> None: sm = messaging.SubMaster(['deviceState']) tid = threading.get_ident() @@ -242,15 +252,6 @@ def upload_handler(end_event: threading.Event) -> None: continue try: - def cb(sz: int, cur: int) -> None: - # Abort transfer if connection changed to metered after starting upload - sm.update(0) - metered = sm['deviceState'].networkMetered - if metered and (not item.allow_cellular): - raise AbortTransferException - - cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) - fn = item.path try: sz = os.path.getsize(fn) @@ -258,7 +259,7 @@ def upload_handler(end_event: threading.Event) -> None: sz = -1 cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count) - response = _do_upload(item, cb) + response = _do_upload(item, partial(cb, sm, item, tid)) if response.status_code not in (200, 201, 401, 403, 412): cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered) @@ -308,7 +309,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> # security: user should be able to request any message from their car @dispatcher.add_method -def getMessage(service: str, timeout: int = 1000) -> Dict: +def getMessage(service: str, timeout: int = 1000) -> dict: if service is None or service not in service_list: raise Exception("invalid service") @@ -319,7 +320,7 @@ def getMessage(service: str, timeout: int = 1000) -> Dict: raise TimeoutError # this is because capnp._DynamicStructReader doesn't have typing information - return cast(Dict, ret.to_dict()) + return cast(dict, ret.to_dict()) @dispatcher.add_method @@ -551,7 +552,7 @@ def getNetworks(): @dispatcher.add_method def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: - from system.camerad.snapshot.snapshot import jpeg_write, snapshot + from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: def b64jpeg(x): @@ -592,10 +593,10 @@ def log_handler(end_event: threading.Event) -> None: return log_files = [] - last_scan = 0 + last_scan = 0. while not end_event.is_set(): try: - curr_scan = sec_since_boot() + curr_scan = time.monotonic() if curr_scan - last_scan > 10: log_files = get_logs_to_send_sorted() last_scan = curr_scan @@ -651,8 +652,8 @@ def log_handler(end_event: threading.Event) -> None: def stat_handler(end_event: threading.Event) -> None: while not end_event.is_set(): - last_scan = 0 - curr_scan = sec_since_boot() + last_scan = 0. + curr_scan = time.monotonic() try: if curr_scan - last_scan > 10: stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR))) @@ -720,7 +721,7 @@ def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket. def ws_recv(ws: WebSocket, end_event: threading.Event) -> None: - last_ping = int(sec_since_boot() * 1e9) + last_ping = int(time.monotonic() * 1e9) while not end_event.is_set(): try: opcode, data = ws.recv_data(control_frame=True) @@ -729,10 +730,10 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None: data = data.decode("utf-8") recv_queue.put_nowait(data) elif opcode == ABNF.OPCODE_PING: - last_ping = int(sec_since_boot() * 1e9) + last_ping = int(time.monotonic() * 1e9) Params().put("LastAthenaPingTime", str(last_ping)) except WebSocketTimeoutException: - ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping + ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9: cloudlog.exception("athenad.ws_recv.timeout") end_event.set() @@ -821,10 +822,6 @@ def main(exit_event: Optional[threading.Event] = None): except (ConnectionError, TimeoutError, WebSocketException): conn_retries += 1 params.remove("LastAthenaPingTime") - # TODO: socket.timeout and TimeoutError are now the same exception since python3.10 - # Remove the socket.timeout case once we have fully moved to python3.11 - except socket.timeout: # pylint: disable=duplicate-except - params.remove("LastAthenaPingTime") except Exception: cloudlog.exception("athenad.main.exception") diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 59ca2430ce..877d8aca03 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -3,10 +3,10 @@ import time from multiprocessing import Process -from common.params import Params -from selfdrive.manager.process import launcher -from system.swaglog import cloudlog -from system.version import get_version, is_dirty +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process import launcher +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 32bc92059c..0ab69371c2 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -6,13 +6,13 @@ from pathlib import Path from typing import Optional from datetime import datetime, timedelta -from common.api import api_get -from common.params import Params -from common.spinner import Spinner -from common.basedir import PERSIST -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.hardware import HARDWARE, PC -from system.swaglog import cloudlog +from openpilot.common.api import api_get +from openpilot.common.params import Params +from openpilot.common.spinner import Spinner +from openpilot.common.basedir import PERSIST +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 247aedd67a..34edeb2de5 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -6,7 +6,7 @@ import time from functools import wraps from multiprocessing import Process -from common.timeout import Timeout +from openpilot.common.timeout import Timeout class MockResponse: @@ -52,7 +52,7 @@ class MockApi(): class MockParams(): default_params = { "DongleId": b"0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 "GithubUsername": b"commaci", "GsmMetered": True, "AthenadUploadQueue": '[]', diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 8bd52d3772..e088bcf356 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -18,10 +18,10 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException -from system import swaglog -from selfdrive.athena import athenad -from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server +from openpilot.system import swaglog +from openpilot.selfdrive.athena import athenad +from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher +from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server from cereal import messaging @@ -48,6 +48,7 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) + dispatcher["listUploadQueue"]() # ensure queue is empty at start # *** test helpers *** @@ -253,7 +254,8 @@ class TestAthenadMethods(unittest.TestCase): end_event.set() def test_cancelUpload(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) + item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, + created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) dispatcher["cancelUpload"](item.id) @@ -317,7 +319,8 @@ class TestAthenadMethods(unittest.TestCase): end_event.set() def test_listUploadQueue(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) + item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, + created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) items = dispatcher["listUploadQueue"]() @@ -349,7 +352,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(athenad.upload_queue.qsize(), 1) self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) - @mock.patch('selfdrive.athena.athenad.create_connection') + @mock.patch('openpilot.selfdrive.athena.athenad.create_connection') def test_startLocalProxy(self, mock_create_connection): end_event = threading.Event() diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index f768fbebaa..3ec7cb115c 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -6,10 +6,11 @@ import unittest from typing import Callable, cast, Optional from unittest.mock import MagicMock -from common.params import Params -from common.timeout import Timeout -from selfdrive.athena import athenad -from system.hardware import TICI +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.athena import athenad +from openpilot.selfdrive.manager.helpers import write_onroad_params +from openpilot.system.hardware import TICI def wifi_radio(on: bool) -> None: @@ -37,9 +38,6 @@ class TestAthenadPing(unittest.TestCase): def _received_ping(self) -> bool: return self._get_ping_time() is not None - def _set_onroad(self, onroad: bool) -> None: - self.params.put_bool("IsOnroad", onroad) - @classmethod def setUpClass(cls) -> None: cls.params = Params() @@ -101,12 +99,12 @@ class TestAthenadPing(unittest.TestCase): @unittest.skipIf(not TICI, "only run on desk") def test_offroad(self) -> None: - self._set_onroad(False) + write_onroad_params(False, self.params) self.assertTimeout(100) # expect approx 90s @unittest.skipIf(not TICI, "only run on desk") def test_onroad(self) -> None: - self._set_onroad(True) + write_onroad_params(True, self.params) self.assertTimeout(30) # expect 20-30s diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py index 7a38477305..195fca2df9 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/selfdrive/athena/tests/test_registration.py @@ -7,9 +7,9 @@ from Crypto.PublicKey import RSA from pathlib import Path from unittest import mock -from common.params import Params -from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from selfdrive.athena.tests.helpers import MockResponse +from openpilot.common.params import Params +from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.selfdrive.athena.tests.helpers import MockResponse class TestRegistration(unittest.TestCase): @@ -23,7 +23,7 @@ class TestRegistration(unittest.TestCase): os.mkdir(os.path.join(self.persist.name, "comma")) self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa")) self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub")) - self.persist_patcher = mock.patch("selfdrive.athena.registration.PERSIST", self.persist.name) + self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name) self.persist_patcher.start() def tearDown(self): @@ -44,7 +44,7 @@ class TestRegistration(unittest.TestCase): self.params.put("HardwareSerial", "serial") self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" self.params.put("DongleId", dongle) self.assertEqual(register(), dongle) @@ -52,7 +52,7 @@ class TestRegistration(unittest.TestCase): def test_no_keys(self): # missing pubkey - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = register() self.assertEqual(m.call_count, 0) self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) @@ -61,7 +61,7 @@ class TestRegistration(unittest.TestCase): def test_missing_cache(self): # keys exist but no dongle id self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) self.assertEqual(register(), dongle) @@ -75,7 +75,7 @@ class TestRegistration(unittest.TestCase): def test_unregistered(self): # keys exist, but unregistered self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: m.return_value = MockResponse(None, 402) dongle = register() self.assertEqual(m.call_count, 1) diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index 2fe4591484..666763d9b0 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -7,5 +7,5 @@ env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index e26eb99cbd..2197fd0d21 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -18,11 +18,13 @@ #include #include #include +#include #include #include "cereal/gen/cpp/car.capnp.h" #include "cereal/messaging/messaging.h" #include "common/params.h" +#include "common/ratekeeper.h" #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" @@ -155,7 +157,7 @@ bool safety_setter_thread(std::vector pandas) { } util::sleep_for(100); } - LOGW("got %d bytes CarParams", params.size()); + LOGW("got %lu bytes CarParams", params.size()); AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size())); @@ -237,7 +239,7 @@ void can_send_thread(std::vector pandas, bool fake_send) { LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); } } else { - LOGE("sendcan too old to send: %llu, %llu", nanos_since_boot(), event.getLogMonoTime()); + LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime()); } } } @@ -248,8 +250,7 @@ void can_recv_thread(std::vector pandas) { PubMaster pm({"can"}); // run at 100Hz - const uint64_t dt = 10000000ULL; - uint64_t next_frame_time = nanos_since_boot() + dt; + RateKeeper rk("boardd_can_recv", 100); std::vector raw_can_data; while (!do_exit && check_all_connected(pandas)) { @@ -271,18 +272,7 @@ void can_recv_thread(std::vector pandas) { } pm.send("can", msg); - uint64_t cur_time = nanos_since_boot(); - int64_t remaining = next_frame_time - cur_time; - if (remaining > 0) { - std::this_thread::sleep_for(std::chrono::nanoseconds(remaining)); - } else { - if (ignition) { - LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining); - } - next_frame_time = cur_time; - } - - next_frame_time += dt; + rk.keepTime(); } } @@ -484,14 +474,16 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { LOGD("start panda state thread"); // run at 2hz - while (!do_exit && check_all_connected(pandas)) { - uint64_t start_time = nanos_since_boot(); + RateKeeper rk("panda_state_thread", 2); + while (!do_exit && check_all_connected(pandas)) { // send out peripheralState send_peripheral_state(&pm, peripheral_panda); auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); if (!ignition_opt) { + LOGE("Failed to get ignition_opt"); + rk.keepTime(); continue; } @@ -545,8 +537,7 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { panda->send_heartbeat(engaged && !parked); } - uint64_t dt = nanos_since_boot() - start_time; - util::sleep_for(500 - dt / 1000000ULL); + rk.keepTime(); } } diff --git a/selfdrive/boardd/boardd.h b/selfdrive/boardd/boardd.h index d3c9e1f94a..0646fc6189 100644 --- a/selfdrive/boardd/boardd.h +++ b/selfdrive/boardd/boardd.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include "selfdrive/boardd/panda.h" bool safety_setter_thread(std::vector pandas); diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py index 527f1f4f52..0cdaf5e912 100644 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/boardd/boardd.py @@ -1,7 +1,5 @@ -# pylint: skip-file - # Cython, now uses scons to build -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp assert can_list_to_can_capnp def can_capnp_to_can_list(can, src_filter=None): diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc index c1778c51a2..72ca72688a 100644 --- a/selfdrive/boardd/can_list_to_can_capnp.cc +++ b/selfdrive/boardd/can_list_to_can_capnp.cc @@ -1,5 +1,5 @@ #include "cereal/messaging/messaging.h" -#include "panda.h" +#include "selfdrive/boardd/panda.h" void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { MessageBuilder msg; diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 8849a46bd8..e075887a4d 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -4,6 +4,7 @@ #include #include +#include #include "cereal/messaging/messaging.h" #include "common/swaglog.h" diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 5edca04419..9d4b1b2092 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -6,6 +6,7 @@ #include #include #include +#include #include #include "cereal/gen/cpp/car.capnp.h" diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc index 120d2f67d5..bc4e5f5867 100644 --- a/selfdrive/boardd/panda_comms.cc +++ b/selfdrive/boardd/panda_comms.cc @@ -199,7 +199,7 @@ int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int } else if (err != 0 || length != transferred) { handle_usb_issue(err, __func__); } - } while(err != 0 && connected); + } while (err != 0 && connected); return transferred; } @@ -226,7 +226,7 @@ int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l handle_usb_issue(err, __func__); } - } while(err != 0 && connected); + } while (err != 0 && connected); return transferred; } diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index c102642e59..e61d25402f 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -20,8 +20,8 @@ // comms base class class PandaCommsHandle { public: - PandaCommsHandle(std::string serial) {}; - virtual ~PandaCommsHandle() {}; + PandaCommsHandle(std::string serial) {} + virtual ~PandaCommsHandle() {} virtual void cleanup() = 0; std::string hw_serial; diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 7cbac9b5d9..e614432fad 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -9,11 +9,11 @@ from typing import List, NoReturn from functools import cmp_to_key from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.boardd.set_time import set_time +from openpilot.system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: @@ -129,6 +129,7 @@ def main() -> NoReturn: count = 0 first_run = True params = Params() + no_internal_panda_count = 0 while True: try: @@ -136,6 +137,16 @@ def main() -> NoReturn: cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") + # Handle missing internal panda + if no_internal_panda_count > 0: + if no_internal_panda_count == 3: + cloudlog.info("No pandas found, putting internal panda into DFU") + HARDWARE.recover_internal_panda() + else: + cloudlog.info("No pandas found, resetting internal panda") + HARDWARE.reset_internal_panda() + time.sleep(3) # wait to come back up + # Flash all Pandas in DFU mode dfu_serials = PandaDFU.list() if len(dfu_serials) > 0: @@ -146,10 +157,7 @@ def main() -> NoReturn: panda_serials = Panda.list() if len(panda_serials) == 0: - if first_run: - cloudlog.info("No pandas found, resetting internal panda") - HARDWARE.reset_internal_panda() - time.sleep(2) # wait to come back up + no_internal_panda_count += 1 continue cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") @@ -162,14 +170,14 @@ def main() -> NoReturn: # Ensure internal panda is present if expected internal_pandas = [panda for panda in pandas if panda.is_internal()] if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: - cloudlog.error("Internal panda is missing, resetting") - HARDWARE.reset_internal_panda() - time.sleep(2) # wait to come back up + cloudlog.error("Internal panda is missing, trying again") + no_internal_panda_count += 1 continue + no_internal_panda_count = 0 # sort pandas to have deterministic order pandas.sort(key=cmp_to_key(panda_sort_cmp)) - panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) + panda_serials = [p.get_usb_serial() for p in pandas] # log panda fw versions params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 93453dcd97..fe17f64e82 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -3,7 +3,7 @@ import os import datetime from panda import Panda -from common.time import MIN_DATE +from openpilot.common.time import MIN_DATE def set_time(logger): sys_time = datetime.datetime.today() diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 1732e902d5..d11e955c49 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -43,7 +43,7 @@ public: LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) { m.lock(); flock(fd, LOCK_EX); - }; + } ~LockEx() { flock(fd, LOCK_UN); diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 593ccf595f..dfce0e3710 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -9,13 +9,12 @@ from pprint import pprint import cereal.messaging as messaging from cereal import car, log -from common.params import Params -from common.spinner import Spinner -from common.timeout import Timeout -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car import make_can_msg -from system.hardware import TICI -from selfdrive.test.helpers import phone_only, with_processes +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car import make_can_msg +from openpilot.system.hardware import TICI +from openpilot.selfdrive.test.helpers import phone_only, with_processes class TestBoardd(unittest.TestCase): @@ -24,11 +23,6 @@ class TestBoardd(unittest.TestCase): def setUpClass(cls): os.environ['STARTED'] = '1' os.environ['BOARDD_LOOPBACK'] = '1' - cls.spinner = Spinner() - - @classmethod - def tearDownClass(cls): - cls.spinner.close() @phone_only @with_processes(['pandad']) @@ -67,7 +61,6 @@ class TestBoardd(unittest.TestCase): n = 200 for i in range(n): print(f"boardd loopback {i}/{n}") - self.spinner.update(f"boardd loopback {i}/{n}") sent_msgs = defaultdict(set) for _ in range(random.randrange(20, 100)): diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index 3b78eb7bd2..86476d05cd 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -1,18 +1,11 @@ #define CATCH_CONFIG_MAIN #define CATCH_CONFIG_ENABLE_BENCHMARKING -#include #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" +#include "common/util.h" #include "selfdrive/boardd/panda.h" -int random_int(int min, int max) { - std::random_device dev; - std::mt19937 rng(dev()); - std::uniform_int_distribution dist(min, max); - return dist(rng); -} - struct PandaTest : public Panda { PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); void test_can_send(); @@ -44,10 +37,10 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState auto can_list = msg.initEvent().initSendcan(can_list_size); for (uint8_t i = 0; i < can_list_size; ++i) { auto can = can_list[i]; - uint32_t id = random_int(0, std::size(dlc_to_len) - 1); + uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1); const std::string &dat = test_data[dlc_to_len[id]]; can.setAddress(i); - can.setSrc(random_int(0, 3) + bus_offset); + can.setSrc(util::random_int(0, 3) + bus_offset); can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); total_pakets_size += sizeof(can_header) + dat.size(); } @@ -89,7 +82,7 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) { this->receive_buffer_size = 0; uint32_t pos = 0; - while(pos < size) { + while (pos < size) { uint32_t chunk_size = std::min(rx_chunk_size, size - pos); memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size); this->receive_buffer_size += chunk_size; diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 1d49446bf5..30a4a9b868 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -5,13 +5,13 @@ import unittest import cereal.messaging as messaging from cereal import log -from common.gpio import gpio_set, gpio_init -from common.params import Params +from openpilot.common.gpio import gpio_set, gpio_init +from openpilot.common.params import Params from panda import Panda, PandaDFU, PandaProtocolMismatch -from selfdrive.test.helpers import phone_only -from selfdrive.manager.process_config import managed_processes -from system.hardware import HARDWARE -from system.hardware.tici.pins import GPIO +from openpilot.selfdrive.test.helpers import phone_only +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.tici.pins import GPIO HERE = os.path.dirname(os.path.realpath(__file__)) @@ -25,13 +25,17 @@ class TestPandad(unittest.TestCase): def tearDown(self): managed_processes['pandad'].stop() - def _wait_for_boardd(self, timeout=30): + def _run_test(self, timeout=30): + managed_processes['pandad'].start() + sm = messaging.SubMaster(['peripheralState']) for _ in range(timeout*10): sm.update(100) if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: break + managed_processes['pandad'].stop() + if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: raise Exception("boardd failed to start") @@ -43,7 +47,11 @@ class TestPandad(unittest.TestCase): HARDWARE.recover_internal_panda() assert Panda.wait_for_dfu(None, 10) - def _flash_and_test(self, fn, expect_mismatch=False): + def _assert_no_panda(self): + assert not Panda.wait_for_dfu(None, 3) + assert not Panda.wait_for_panda(None, 3) + + def _flash_bootstub_and_test(self, fn, expect_mismatch=False): self._go_to_dfu() pd = PandaDFU(None) if fn is None: @@ -61,22 +69,19 @@ class TestPandad(unittest.TestCase): with Panda() as p: assert p.bootstub - managed_processes['pandad'].start() - self._wait_for_boardd(45) + self._run_test(45) @phone_only def test_in_dfu(self): HARDWARE.recover_internal_panda() - managed_processes['pandad'].start() - self._wait_for_boardd(60) + self._run_test(60) @phone_only def test_in_bootstub(self): with Panda() as p: p.reset(enter_bootstub=True) assert p.bootstub - managed_processes['pandad'].start() - self._wait_for_boardd() + self._run_test() @phone_only def test_internal_panda_reset(self): @@ -84,22 +89,17 @@ class TestPandad(unittest.TestCase): gpio_set(GPIO.STM_RST_N, 1) time.sleep(0.5) assert all(not Panda(s).is_internal() for s in Panda.list()) - - managed_processes['pandad'].start() - self._wait_for_boardd() + self._run_test() assert any(Panda(s).is_internal() for s in Panda.list()) @phone_only def test_best_case_startup_time(self): # run once so we're setup - managed_processes['pandad'].start() - self._wait_for_boardd() - managed_processes['pandad'].stop() + self._run_test() # should be fast this time - managed_processes['pandad'].start() - self._wait_for_boardd(8) + self._run_test(8) @phone_only def test_protocol_version_check(self): @@ -108,11 +108,23 @@ class TestPandad(unittest.TestCase): # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") - self._flash_and_test(fn, expect_mismatch=True) + self._flash_bootstub_and_test(fn, expect_mismatch=True) @phone_only def test_release_to_devel_bootstub(self): - self._flash_and_test(None) + self._flash_bootstub_and_test(None) + + @phone_only + def test_recover_from_bad_bootstub(self): + self._go_to_dfu() + with PandaDFU(None) as pd: + pd.program_bootstub(b"\x00"*1024) + pd.reset() + HARDWARE.reset_internal_panda() + self._assert_no_panda() + + self._run_test(60) + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 4d76e253cc..9d045e7627 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -10,7 +10,7 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. +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_info | length}} Supported Cars @@ -58,7 +58,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi ### Toyota Security openpilot does not yet support these Toyota models due to a new message authentication method. -[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models. +[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models. * Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c413ebd91f..ac833b6ae0 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,11 +1,11 @@ # functions common among cars from collections import namedtuple -from typing import Dict, Optional +from typing import Dict, List, Optional import capnp from cereal import car -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp # kg of standard extra cargo to count for drive, gas, etc... @@ -24,16 +24,19 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float: return val_steady -def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], - unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder: - if cur_but != unpressed: - be = car.CarState.ButtonEvent(pressed=True) - but = cur_but - else: - be = car.CarState.ButtonEvent(pressed=False) - but = prev_but - be.type = buttons_dict.get(but, ButtonType.unknown) - return be +def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], + unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]: + events: List[capnp.lib.capnp._DynamicStructBuilder] = [] + + if cur_btn == prev_btn: + return events + + # Add events for button presses, multiple when a button switches without going to unpressed + for pressed, btn in ((False, prev_btn), (True, cur_btn)): + if btn != unpressed_btn: + events.append(car.CarState.ButtonEvent(pressed=pressed, + type=buttons_dict.get(btn, ButtonType.unknown))) + return events def create_mads_event(mads_event_lock: bool) -> capnp.lib.capnp._DynamicStructBuilder: @@ -43,12 +46,11 @@ def create_mads_event(mads_event_lock: bool) -> capnp.lib.capnp._DynamicStructBu def gen_empty_fingerprint(): - return {i: {} for i in range(0, 8)} + return {i: {} for i in range(8)} -# FIXME: hardcoding honda civic 2016 touring params so they can be used to -# scale unknown params for other cars -class CivicParams: +# these params were derived for the Civic and used to calculate params for other cars +class VehicleDynamicsParams: MASS = 1326. + STD_CARGO_KG WHEELBASE = 2.70 CENTER_TO_FRONT = WHEELBASE * 0.4 @@ -61,18 +63,18 @@ class CivicParams: # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase def scale_rot_inertia(mass, wheelbase): - return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2) + return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors -def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0): +def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor): center_to_rear = wheelbase - center_to_front - tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \ - (center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE) + tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \ + (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE) - tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \ - (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE) + tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \ + (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE) return tire_stiffness_front, tire_stiffness_rear @@ -138,6 +140,30 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim) +def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int, + max_above_limit_frames: int, max_mismatching_frames: int = 1): + """ + Several cars have the ability to work around their EPS limits by cutting the + request bit of their LKAS message after a certain number of frames above the limit. + """ + + # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault + if request and fault_condition: + above_limit_frames += 1 + else: + above_limit_frames = 0 + + # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again. + # Some brands do not respect our workaround without multiple messages on the bus, for example + if above_limit_frames > max_above_limit_frames: + request = False + + if above_limit_frames >= max_above_limit_frames + max_mismatching_frames: + above_limit_frames = 0 + + return above_limit_frames, request + + def crc8_pedal(data): crc = 0xFF # standard init value poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 @@ -195,3 +221,24 @@ class CanBusBase: else: num = len(CP.safetyConfigs) self.offset = 4 * (num - 1) + + +class CanSignalRateCalculator: + """ + Calculates the instantaneous rate of a CAN signal by using the counter + variable and the known frequency of the CAN message that contains it. + """ + def __init__(self, frequency): + self.frequency = frequency + self.previous_counter = 0 + self.previous_value = 0 + self.rate = 0 + + def update(self, current_value, current_counter): + if current_counter != self.previous_counter: + self.rate = (current_value - self.previous_value) * self.frequency + + self.previous_counter = current_counter + self.previous_value = current_value + + return self.rate diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index ee5d3f6886..1dad8e796a 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,11 +1,11 @@ import numpy as np -from common.params import Params -from common.realtime import DT_CTRL +from openpilot.common.params import Params +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car.body import bodycan -from selfdrive.car.body.values import SPEED_FROM_RPM -from selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.car.body import bodycan +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.selfdrive.controls.lib.pid import PIDController MAX_TORQUE = 500 @@ -56,7 +56,7 @@ class CarController: speed_error = speed_desired - speed_measured if self.wheeled_body is None: - freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or + freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR)) angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator) diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py index dbbd85950d..fca9bcc627 100644 --- a/selfdrive/car/body/carstate.py +++ b/selfdrive/car/body/carstate.py @@ -1,7 +1,7 @@ from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.body.values import DBC +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.body.values import DBC STARTUP_TICKS = 100 @@ -32,29 +32,9 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("SPEED_L", "MOTORS_DATA"), - ("SPEED_R", "MOTORS_DATA"), - ("ELEC_ANGLE_L", "MOTORS_DATA"), - ("ELEC_ANGLE_R", "MOTORS_DATA"), - ("COUNTER", "MOTORS_DATA"), - ("CHECKSUM", "MOTORS_DATA"), - ("IGNITION", "VAR_VALUES"), - ("ENABLE_MOTORS", "VAR_VALUES"), - ("FAULT", "VAR_VALUES"), - ("MOTOR_ERR_L", "VAR_VALUES"), - ("MOTOR_ERR_R", "VAR_VALUES"), - ("MCU_TEMP", "BODY_DATA"), - ("BATT_VOLTAGE", "BODY_DATA"), - ("BATT_PERCENTAGE", "BODY_DATA"), - ("CHARGER_CONNECTED", "BODY_DATA"), - ] - - checks = [ + messages = [ ("MOTORS_DATA", 100), ("VAR_VALUES", 10), ("BODY_DATA", 1), ] - - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 4d583badae..12a2d5f304 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,10 +1,9 @@ -#!/usr/bin/env python3 import math from cereal import car -from common.realtime import DT_CTRL -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py index b2f7651136..e654bd61fd 100644 --- a/selfdrive/car/body/radar_interface.py +++ b/selfdrive/car/body/radar_interface.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 4fef966374..56d9723818 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -1,9 +1,9 @@ from typing import Dict from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index c8a7102cfa..6e3cb19a68 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -2,20 +2,22 @@ import os import requests import threading import time -from typing import Dict, List +from typing import Callable, Dict, List, Optional, Tuple from cereal import car -from common.params import Params -from common.basedir import BASEDIR -from system.version import is_comma_remote, is_tested_branch -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars -from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing -import selfdrive.sentry as sentry -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.system.version import is_comma_remote, is_tested_branch +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN +from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing +import openpilot.selfdrive.sentry as sentry +from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car import gen_empty_fingerprint + +FRAME_FINGERPRINT = 100 # 1s EventName = car.CarEvent.EventName @@ -46,7 +48,7 @@ def get_one_can(logcan): def load_interfaces(brand_names): ret = {} for brand_name in brand_names: - path = f'selfdrive.car.{brand_name}' + path = f'openpilot.selfdrive.car.{brand_name}' CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'): @@ -79,6 +81,46 @@ interface_names = _get_interface_names() interfaces = load_interfaces(interface_names) +def can_fingerprint(next_can: Callable) -> Tuple[Optional[str], Dict[int, dict]]: + finger = gen_empty_fingerprint() + candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 + frame = 0 + car_fingerprint = None + done = False + + while not done: + a = next_can() + + for can in a.can: + # The fingerprint dict is generated for all buses, this way the car interface + # can use it to detect a (valid) multipanda setup and initialize accordingly + if can.src < 128: + if can.src not in finger: + finger[can.src] = {} + finger[can.src][can.address] = len(can.dat) + + for b in candidate_cars: + # Ignore extended messages and VIN query response. + if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8): + candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b]) + + # if we only have one car choice and the time since we got our first + # message has elapsed, exit + for b in candidate_cars: + if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT: + # fingerprint done + car_fingerprint = candidate_cars[b][0] + + # bail if no cars left or we've been waiting for more than 2s + failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200 + succeeded = car_fingerprint is not None + done = failed or succeeded + + frame += 1 + + return car_fingerprint, finger + + # **** for use live only **** def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") @@ -87,6 +129,7 @@ def fingerprint(logcan, sendcan, num_pandas): ecu_rx_addrs = set() params = Params() + start_time = time.monotonic() if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 @@ -127,45 +170,12 @@ def fingerprint(logcan, sendcan, num_pandas): set_obd_multiplexing(params, False) params.put_bool("FirmwareQueryDone", True) - finger = gen_empty_fingerprint() - candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 - frame = 0 - frame_fingerprint = 100 # 1s - car_fingerprint = None - done = False + fw_query_time = time.monotonic() - start_time - # drain CAN socket so we always get the latest messages + # CAN fingerprint + # drain CAN socket so we get the latest messages messaging.drain_sock_raw(logcan) - - while not done: - a = get_one_can(logcan) - - for can in a.can: - # The fingerprint dict is generated for all buses, this way the car interface - # can use it to detect a (valid) multipanda setup and initialize accordingly - if can.src < 128: - if can.src not in finger: - finger[can.src] = {} - finger[can.src][can.address] = len(can.dat) - - for b in candidate_cars: - # Ignore extended messages and VIN query response. - if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8): - candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b]) - - # if we only have one car choice and the time since we got our first - # message has elapsed, exit - for b in candidate_cars: - if len(candidate_cars[b]) == 1 and frame > frame_fingerprint: - # fingerprint done - car_fingerprint = candidate_cars[b][0] - - # bail if no cars left or we've been waiting for more than 2s - failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200 - succeeded = car_fingerprint is not None - done = failed or succeeded - - frame += 1 + car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan)) exact_match = True source = car.CarParams.FingerprintSource.can @@ -181,7 +191,8 @@ def fingerprint(logcan, sendcan, num_pandas): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, - fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger, + fw_query_time=fw_query_time, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 10df916775..905529d154 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,12 +1,12 @@ import cereal.messaging as messaging from common.conversions import Conversions as CV from opendbc.can.packer import CANPacker -from common.params import Params, put_bool_nonblocking -from common.realtime import DT_CTRL -from selfdrive.car import apply_meas_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons, create_lkas_heartbit -from selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags -from selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_meas_steer_torque_limits +from openpilot.selfdrive.car.chrysler import chryslercan +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags +from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"] @@ -93,7 +93,7 @@ class CarController: lkas_active = CC.latActive and CS.madsEnabled if self.frame % 10 == 0 and self.CP.carFingerprint not in RAM_CARS: - can_sends.append(create_lkas_heartbit(self.packer, CS.madsEnabled, CS.lkas_heartbit)) + can_sends.append(chryslercan.create_lkas_heartbit(self.packer, CS.madsEnabled, CS.lkas_heartbit)) ram_cars = self.CP.carFingerprint in RAM_CARS @@ -104,21 +104,21 @@ class CarController: if ram_cars: if CS.buttonStates["cancel"]: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True)) else: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, - cruise_buttons_msg=CS.cruise_buttons, - cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, + cruise_buttons_msg=CS.cruise_buttons, + cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) # ACC cancellation elif CC.cruiseControl.cancel: self.last_button_frame = self.frame - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, cancel=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, cancel=True)) # ACC resume from standstill elif CC.cruiseControl.resume: self.last_button_frame = self.frame - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, resume=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, resume=True)) if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled: self.button_frame += 1 @@ -130,14 +130,15 @@ class CarController: if self.cruise_button is not None: if ram_cars: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, buttons=self.cruise_button)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, buttons=self.cruise_button)) elif button_counter_offset is not None: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + button_counter_offset, das_bus, self.CP, buttons=self.cruise_button)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + button_counter_offset, das_bus, self.CP, buttons=self.cruise_button)) # HUD alerts if self.frame % 25 == 0: if CS.lkas_car_model != -1: - can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CS.madsEnabled, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) + can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CS.madsEnabled, CC.hudControl.visualAlert, + self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) self.hud_count += 1 # steering @@ -173,7 +174,7 @@ class CarController: self.apply_steer_last = apply_steer self.lkas_control_bit_prev = lkas_control_bit - can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) + can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) self.frame += 1 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 34f4b4aa2e..7986f8d6ab 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -1,9 +1,9 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTON_STATES +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTON_STATES class CarState(CarStateBase): @@ -92,7 +92,8 @@ class CarState(CarStateBase): ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0 if self.CP.carFingerprint in RAM_CARS: - self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message + # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message + self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] == 1 or cp.vl["Center_Stack_1"]["LKAS_Button"] == 1 ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1 else: @@ -118,61 +119,16 @@ class CarState(CarStateBase): return ret @staticmethod - def get_cruise_signals(): - signals = [ - ("ACC_AVAILABLE", "DAS_3"), - ("ACC_ACTIVE", "DAS_3"), - ("ACC_FAULTED", "DAS_3"), - ("ACC_STANDSTILL", "DAS_3"), - ("COUNTER", "DAS_3"), - ("ACC_SET_SPEED_KPH", "DAS_4"), - ("ACC_STATE", "DAS_4"), - ] - checks = [ + def get_cruise_messages(): + messages = [ ("DAS_3", 50), ("DAS_4", 50), ] - return signals, checks + return messages @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("DOOR_OPEN_FL", "BCM_1"), - ("DOOR_OPEN_FR", "BCM_1"), - ("DOOR_OPEN_RL", "BCM_1"), - ("DOOR_OPEN_RR", "BCM_1"), - ("Brake_Pedal_State", "ESP_1"), - ("BRAKE_PRESSED_ACC", "ESP_1"), - ("Accelerator_Position", "ECM_5"), - ("WHEEL_SPEED_FL", "ESP_6"), - ("WHEEL_SPEED_RR", "ESP_6"), - ("WHEEL_SPEED_RL", "ESP_6"), - ("WHEEL_SPEED_FR", "ESP_6"), - ("STEERING_ANGLE", "STEERING"), - ("STEERING_ANGLE_HP", "STEERING"), - ("STEERING_RATE", "STEERING"), - ("TURN_SIGNALS", "STEERING_LEVERS"), - ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), - ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), - ("COUNTER", "EPS_2",), - ("COLUMN_TORQUE", "EPS_2"), - ("EPS_TORQUE_MOTOR", "EPS_2"), - ("LKAS_TEMPORARY_FAULT", "EPS_2"), - ("LKAS_STATE", "EPS_2"), - ("COUNTER", "CRUISE_BUTTONS"), - - ("ACC_Accel", "CRUISE_BUTTONS"), - ("ACC_Decel", "CRUISE_BUTTONS"), - ("ACC_Cancel", "CRUISE_BUTTONS"), - ("ACC_Resume", "CRUISE_BUTTONS"), - ("Cruise_OnOff", "CRUISE_BUTTONS"), - ("ACC_OnOff", "CRUISE_BUTTONS"), - ("ACC_Distance_Inc", "CRUISE_BUTTONS"), - ("ACC_Distance_Dec", "CRUISE_BUTTONS"), - ] - - checks = [ + messages = [ # sig_address, frequency ("ESP_1", 50), ("EPS_2", 100), @@ -186,21 +142,10 @@ class CarState(CarStateBase): ] if CP.enableBsm: - signals += [ - ("RIGHT_STATUS", "BSM_1"), - ("LEFT_STATUS", "BSM_1"), - ] - checks.append(("BSM_1", 2)) + messages.append(("BSM_1", 2)) if CP.carFingerprint in RAM_CARS: - signals += [ - ("DASM_FAULT", "EPS_3"), - ("Vehicle_Speed", "ESP_8"), - ("Gear_State", "Transmission_Status"), - ("LKAS_Button", "Center_Stack_1"), - ("LKAS_Button", "Center_Stack_2"), - ] - checks += [ + messages += [ ("ESP_8", 50), ("EPS_3", 50), ("Transmission_Status", 50), @@ -208,48 +153,24 @@ class CarState(CarStateBase): ("Center_Stack_2", 1), ] else: - signals += [ - ("PRNDL", "GEAR"), - ("SPEED_LEFT", "SPEED_1"), - ("SPEED_RIGHT", "SPEED_1"), - ("TOGGLE_LKAS", "TRACTION_BUTTON"), - ] - checks += [ + messages += [ ("GEAR", 50), ("SPEED_1", 100), ("TRACTION_BUTTON", 1), ] - signals += CarState.get_cruise_signals()[0] - checks += CarState.get_cruise_signals()[1] + messages += CarState.get_cruise_messages() - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): - signals = [ - # sig_name, sig_address, default - ("CAR_MODEL", "DAS_6"), - ] - checks = [ + messages = [ ("DAS_6", 4), ] if CP.carFingerprint in RAM_CARS: - signals += [ - ("AUTO_HIGH_BEAM_ON", "DAS_6"), - ] - signals += CarState.get_cruise_signals()[0] - checks += CarState.get_cruise_signals()[1] + messages += CarState.get_cruise_messages() else: - # LKAS_HEARTBIT data needs to be forwarded! - forward_lkas_heartbit_signals = [ - ("AUTO_HIGH_BEAM", "LKAS_HEARTBIT"), - ("FORWARD_1", "LKAS_HEARTBIT"), - ("FORWARD_2", "LKAS_HEARTBIT"), - ("FORWARD_3", "LKAS_HEARTBIT"), - ] + messages.append(("LKAS_HEARTBIT", 10)) - signals += forward_lkas_heartbit_signals - checks.append(("LKAS_HEARTBIT", 10)) - - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index abf8e2b482..80bf2f3591 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.chrysler.values import RAM_CARS +from openpilot.selfdrive.car.chrysler.values import RAM_CARS GearShifter = car.CarState.GearShifter VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 45d1ecdde9..0c759b6801 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event -from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config, create_mads_event +from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES +from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase): # Chrysler if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020): - ret.mass = 2242. + STD_CARGO_KG + ret.mass = 2242. ret.wheelbase = 3.089 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 @@ -54,7 +54,7 @@ class CarInterface(CarInterfaceBase): # Jeep elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): - ret.mass = 1778 + STD_CARGO_KG + ret.mass = 1778 ret.wheelbase = 2.71 ret.steerRatio = 16.7 ret.steerActuatorDelay = 0.2 @@ -69,7 +69,7 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.wheelbase = 3.88 ret.steerRatio = 16.3 - ret.mass = 2493. + STD_CARGO_KG + ret.mass = 2493. ret.minSteerSpeed = 0.5 ret.minEnableSpeed = 14.5 if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw): @@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.wheelbase = 3.785 ret.steerRatio = 15.61 - ret.mass = 3405. + STD_CARGO_KG + ret.mass = 3405. ret.minSteerSpeed = 16 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) ret.spFlags |= ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE.value diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index 0ab8c10b44..d982958422 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.chrysler.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.chrysler.values import DBC RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages @@ -22,18 +22,12 @@ def _create_radar_can_parser(car_fingerprint): # ('LONG_DIST', 1074), # ('LONG_DIST', 1075), - signals = list(zip(['LONG_DIST'] * msg_n + - ['LAT_DIST'] * msg_n + - ['REL_SPEED'] * msg_n, - RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST - RADAR_MSGS_D)) # REL_SPEED + messages = list(zip(RADAR_MSGS_C + + RADAR_MSGS_D, + [20] * msg_n + # 20Hz (0.05s) + [20] * msg_n, strict=True)) # 20Hz (0.05s) - checks = list(zip(RADAR_MSGS_C + - RADAR_MSGS_D, - [20] * msg_n + # 20Hz (0.05s) - [20] * msg_n)) # 20Hz (0.05s) - - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) def _address_to_track(address): if address in RADAR_MSGS_C: @@ -89,4 +83,4 @@ class RadarInterface(RadarInterfaceBase): ret.points = [x for x in self.pts.values() if x.dRel != 0] self.updated_messages.clear() - return ret \ No newline at end of file + return ret diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 7fd1d6e336..ea93342b54 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,12 +1,13 @@ +# ruff: noqa: E501 from enum import IntFlag from dataclasses import dataclass, field from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -143,7 +144,7 @@ FINGERPRINTS = { 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 }], CAR.JEEP_CHEROKEE: [{ - 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }, # Based on c88f65eeaee4003a|2022-08-04--15-37-16 { diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 36ebe12fa8..c11075342c 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,5 +1,6 @@ -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +#!/usr/bin/env python3 +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index ab2b0d7e0b..8475a69d8a 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -8,10 +8,10 @@ from natsort import natsorted from typing import Dict, List from cereal import car -from common.basedir import BASEDIR -from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType -from selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr def get_all_footnotes() -> Dict[Enum, int]: @@ -30,7 +30,8 @@ def get_all_car_info() -> List[CarInfo]: footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): # If available, uses experimental longitudinal limits for the docs - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), + car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) if CP.dashcamOnly or car_info is None: continue diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 5db720b8f5..60f9494708 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -6,7 +6,7 @@ from enum import Enum from typing import Dict, List, Optional, Tuple, Union from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" @@ -50,7 +50,7 @@ class BasePart: class EnumBase(Enum): @property - def type(self): + def part_type(self): return PartType(self.__class__) @@ -84,9 +84,12 @@ class CarHarness(EnumBase): nidec = BaseCarHarness("Honda Nidec connector") bosch_a = BaseCarHarness("Honda Bosch A connector") bosch_b = BaseCarHarness("Honda Bosch B connector") - toyota = BaseCarHarness("Toyota connector") + toyota_a = BaseCarHarness("Toyota A connector") + toyota_b = BaseCarHarness("Toyota B connector") subaru_a = BaseCarHarness("Subaru A connector") subaru_b = BaseCarHarness("Subaru B connector") + subaru_c = BaseCarHarness("Subaru C connector") + subaru_d = BaseCarHarness("Subaru D connector") fca = BaseCarHarness("FCA connector") ram = BaseCarHarness("Ram connector") vw = BaseCarHarness("VW connector") @@ -108,6 +111,7 @@ class CarHarness(EnumBase): hyundai_o = BaseCarHarness("Hyundai O connector") hyundai_p = BaseCarHarness("Hyundai P connector") hyundai_q = BaseCarHarness("Hyundai Q connector") + hyundai_r = BaseCarHarness("Hyundai R connector") custom = BaseCarHarness("Developer connector") obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False) gm = BaseCarHarness("GM connector") @@ -126,7 +130,13 @@ class Device(EnumBase): class Kit(EnumBase): - red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft]) + red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, + Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft]) + + +class Tool(EnumBase): + socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)") + pry_tool = BasePart("Pry Tool") class PartType(Enum): @@ -136,6 +146,7 @@ class PartType(Enum): device = Device kit = Kit mount = Mount + tool = Tool DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three] @@ -165,10 +176,12 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo class CommonFootnote(Enum): EXP_LONG_AVAIL = CarFootnote( - "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ", + "openpilot Longitudinal Control (Alpha) is available behind a toggle; " + + "the toggle is only available in non-release branches such as `devel` or `master-ci`.", Column.LONGITUDINAL, docs_only=True) EXP_LONG_DSU = CarFootnote( - "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 " + + "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. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", Column.LONGITUDINAL) @@ -265,10 +278,17 @@ class CarInfo: hardware_col = "None" if self.car_parts.parts: model_years = self.model + (' ' + self.years if self.years else '') - buy_link = f'Buy Here' - car_parts_docs = self.car_parts.all_parts() - parts = '
'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))]) - hardware_col = f'
View{parts}
{buy_link}
' + buy_link = f'Buy Here' + + tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)] + parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)] + + def display_func(parts): + return '
'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))]) + + hardware_col = f'
Parts{display_func(parts_docs)}
{buy_link}
' + if len(tools_docs): + hardware_col += f'
Tools{display_func(tools_docs)}
' self.row: Dict[Enum, Union[str, Star]] = { Column.MAKE: self.make, @@ -320,8 +340,6 @@ class CarInfo: exp_link = "Experimental mode" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable: sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}." - else: - sentence_builder += f" {exp_link}, with traffic light and stop sign handling, is not currently available for this car, but may be added in a future software update." return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 868f12cdb8..cff1df79a5 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -1,15 +1,14 @@ #!/usr/bin/env python3 import capnp import time -from typing import Optional, Set, Tuple +from typing import Optional, Set import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE -from selfdrive.car import make_can_msg -from selfdrive.boardd.boardd import can_list_to_can_capnp -from system.swaglog import cloudlog - -EcuAddrBusType = Tuple[int, Optional[int], int] +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.system.swaglog import cloudlog def make_tester_present_msg(addr, bus, subaddr=None): @@ -90,7 +89,7 @@ if __name__ == "__main__": print() print("Found ECUs on addresses:") - for addr, subaddr, bus in ecu_addrs: + for addr, subaddr, _ in ecu_addrs: msg = f" 0x{hex(addr)}" if subaddr is not None: msg += f" (sub-address: {hex(subaddr)})" diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 1a9bb8c4e7..1d627e4b37 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,4 +1,4 @@ -from selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.interfaces import get_interface_attr FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) @@ -29,9 +29,8 @@ def eliminate_incompatible_cars(msg, candidate_cars): car_fingerprints = _FINGERPRINTS[car_name] for fingerprint in car_fingerprints: - fingerprint.update(_DEBUG_ADDRESS) # add alien debug address - - if is_valid_for_fingerprint(msg, fingerprint): + # add alien debug address + if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS): compatible_cars.append(car_name) break diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 8c199877bc..2a98092984 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,10 +1,9 @@ from cereal import car -from common.numpy_fast import clip +from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ - create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.ford import fordcan +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -27,7 +26,7 @@ class CarController: self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) - self.CAN = CanBus(CP) + self.CAN = fordcan.CanBus(CP) self.frame = 0 self.apply_curvature_last = 0 @@ -47,15 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### # send steer msg at 20Hz @@ -73,13 +72,13 @@ class CarController: # TODO: extended mode mode = 1 if CC.latActive else 0 counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF - can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) + can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: - can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) + can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) # send lka msg at 33Hz if (self.frame % CarControllerParams.LKA_STEP) == 0: - can_sends.append(create_lka_msg(self.packer, self.CAN)) + can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) ### longitudinal control ### # send acc msg at 50Hz @@ -91,16 +90,16 @@ class CarController: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, + can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, fcw_alert, CS.out.cruiseState.standstill, hud_control, CS.acc_tja_status_stock_values, CS.gac_tr)) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 0a28d11216..d6265fd657 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -1,10 +1,10 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC, BUTTON_STATES +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC, BUTTON_STATES GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -129,72 +129,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("TrnAinTq_D_Qf", "VehicleOperatingModes"), # Used to detect hybrid or ICE platform variant - - ("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph) - ("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s) - ("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped - ("PrkBrkStatus", "DesiredTorqBrk"), # ABS park brake status - ("ApedPos_Pc_ActlArb", "EngVehicleSpThrottle"), # PCM throttle (pct) - ("BrkTot_Tq_Actl", "BrakeSnData_4"), # ABS brake torque (Nm) - ("BpedDrvAppl_D_Actl", "EngBrakeData"), # PCM driver brake pedal pressed - ("Veh_V_DsplyCcSet", "EngBrakeData"), # PCM ACC set speed (mph) - # The units might change with IPC settings? - ("CcStat_D_Actl", "EngBrakeData"), # PCM ACC status - ("AccStopMde_D_Rq", "EngBrakeData"), # PCM ACC standstill - ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"), # PCM ACC enable - ("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg) - ("StePinCompAnEst_D_Qf", "SteeringPinion_Data"), # PSCM estimated steering angle (quality flag) - # Calculates steering angle (and offset) from pinion - # angle and driving measurements. - # StePinRelInit_An_Sns is the pinion angle, initialised - # to zero at the beginning of the drive. - ("SteeringColumnTorque", "EPAS_INFO"), # PSCM steering column torque (Nm) - ("EPAS_Failure", "EPAS_INFO"), # PSCM EPAS status - ("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"), # SCCM Turn signal switch - ("TjaButtnOnOffPress", "Steering_Data_FD1"), # SCCM ACC button, lane-centering/traffic jam assist toggle - ("DrStatDrv_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, driver - ("DrStatPsngr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, passenger - ("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left - ("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right - ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver - ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons - ("WiprFront_D_Stat", "Steering_Data_FD1"), - ("LghtAmb_D_Sns", "Steering_Data_FD1"), - ("AccButtnGapDecPress", "Steering_Data_FD1"), - ("AccButtnGapIncPress", "Steering_Data_FD1"), - ("AslButtnOnOffCnclPress", "Steering_Data_FD1"), - ("AslButtnOnOffPress", "Steering_Data_FD1"), - ("LaSwtchPos_D_Stat", "Steering_Data_FD1"), - ("CcAslButtnCnclResPress", "Steering_Data_FD1"), - ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"), - ("CcAslButtnIndxDecPress", "Steering_Data_FD1"), - ("CcAslButtnIndxIncPress", "Steering_Data_FD1"), - ("CcAslButtnOffCnclPress", "Steering_Data_FD1"), - ("CcAslButtnOnOffCncl", "Steering_Data_FD1"), - ("CcAslButtnOnPress", "Steering_Data_FD1"), - ("CcAslButtnResDecPress", "Steering_Data_FD1"), - ("CcAslButtnResIncPress", "Steering_Data_FD1"), - ("CcAslButtnSetDecPress", "Steering_Data_FD1"), - ("CcAslButtnSetIncPress", "Steering_Data_FD1"), - ("CcAslButtnSetPress", "Steering_Data_FD1"), - ("CcButtnOffPress", "Steering_Data_FD1"), - ("CcButtnOnOffCnclPress", "Steering_Data_FD1"), - ("CcButtnOnOffPress", "Steering_Data_FD1"), - ("CcButtnOnPress", "Steering_Data_FD1"), - ("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"), - ("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"), - ("AhbStat_B_Dsply", "Steering_Data_FD1"), - ("AccButtnGapTogglePress", "Steering_Data_FD1"), - ("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"), - ("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"), - ("CcAslButtnCnclPress", "Steering_Data_FD1"), - ("CcAsllButtnResPress", "Steering_Data_FD1"), - ] - - checks = [ + messages = [ # sig_address, frequency ("VehicleOperatingModes", 100), ("BrakeSysFeatures", 50), @@ -212,93 +147,31 @@ class CarState(CarStateBase): ] if CP.carFingerprint in CANFD_CAR: - signals += [ - ("LatCtlSte_D_Stat", "Lane_Assist_Data3_FD1"), # PSCM lateral control status - ] - checks += [ + messages += [ ("Lane_Assist_Data3_FD1", 33), ] if CP.transmissionType == TransmissionType.automatic: - signals += [ - ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position - ] - checks += [ + messages += [ ("Gear_Shift_by_Wire_FD1", 10), ] elif CP.transmissionType == TransmissionType.manual: - signals += [ - ("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"), # PCM clutch (pct) - ("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"), # BCM reverse light - ] - checks += [ + messages += [ ("Engine_Clutch_Data", 33), ("BCM_Lamp_Stat_FD1", 1), ] if CP.enableBsm and CP.carFingerprint not in CANFD_CAR: - signals += [ - ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left - ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right - ] - checks += [ + messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).main) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main) @staticmethod def get_cam_can_parser(CP): - signals = [ - # sig_name, sig_address - ("CmbbDeny_B_Actl", "ACCDATA"), # ACC/AEB unavailable/lockout - - ("CmbbBrkDecel_B_Rq", "ACCDATA_2"), # AEB actuation request bit - - ("HaDsply_No_Cs", "ACCDATA_3"), - ("HaDsply_No_Cnt", "ACCDATA_3"), - ("AccStopStat_D_Dsply", "ACCDATA_3"), # ACC stopped status message - ("AccTrgDist2_D_Dsply", "ACCDATA_3"), # ACC target distance - ("AccStopRes_B_Dsply", "ACCDATA_3"), - ("TjaWarn_D_Rq", "ACCDATA_3"), # TJA warning - ("Tja_D_Stat", "ACCDATA_3"), # TJA status - ("TjaMsgTxt_D_Dsply", "ACCDATA_3"), # TJA text - ("IaccLamp_D_Rq", "ACCDATA_3"), # iACC status icon - ("AccMsgTxt_D2_Rq", "ACCDATA_3"), # ACC text - ("FcwDeny_B_Dsply", "ACCDATA_3"), # FCW disabled - ("FcwMemStat_B_Actl", "ACCDATA_3"), # FCW enabled setting - ("AccTGap_B_Dsply", "ACCDATA_3"), # ACC time gap display setting - ("CadsAlignIncplt_B_Actl", "ACCDATA_3"), - ("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC lead indicator - ("CadsRadrBlck_B_Actl", "ACCDATA_3"), - ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"), # AEB event status - ("AccStopMde_B_Dsply", "ACCDATA_3"), # ACC stop mode display setting - ("FcwMemSens_D_Actl", "ACCDATA_3"), # FCW sensitivity setting - ("FcwMsgTxt_D_Rq", "ACCDATA_3"), # FCW text - ("AccWarn_D_Dsply", "ACCDATA_3"), # ACC warning - ("FcwVisblWarn_B_Rq", "ACCDATA_3"), # FCW visible alert - ("FcwAudioWarn_B_Rq", "ACCDATA_3"), # FCW audio alert - ("AccTGap_D_Dsply", "ACCDATA_3"), # ACC time gap - ("AccMemEnbl_B_RqDrv", "ACCDATA_3"), # ACC adaptive/normal setting - ("FdaMem_B_Stat", "ACCDATA_3"), # FDA enabled setting - - ("FeatConfigIpmaActl", "IPMA_Data"), - ("FeatNoIpmaActl", "IPMA_Data"), - ("PersIndexIpma_D_Actl", "IPMA_Data"), - ("AhbcRampingV_D_Rq", "IPMA_Data"), # AHB ramping - ("LaDenyStats_B_Dsply", "IPMA_Data"), # LKAS error - ("CamraDefog_B_Req", "IPMA_Data"), # Windshield heater? - ("CamraStats_D_Dsply", "IPMA_Data"), # Camera status - ("DasAlrtLvl_D_Dsply", "IPMA_Data"), # DAS alert level - ("DasStats_D_Dsply", "IPMA_Data"), # DAS status - ("DasWarn_D_Dsply", "IPMA_Data"), # DAS warning - ("AhbHiBeam_D_Rq", "IPMA_Data"), # AHB status - ("Passthru_63", "IPMA_Data"), - ("Passthru_48", "IPMA_Data"), - ] - - checks = [ + messages = [ # sig_address, frequency ("ACCDATA", 50), ("ACCDATA_2", 50), @@ -307,13 +180,9 @@ class CarState(CarStateBase): ] if CP.enableBsm and CP.carFingerprint in CANFD_CAR: - signals += [ - ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left - ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right - ] - checks += [ + messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index b89a57e367..34cca9d2c3 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car import CanBusBase +from openpilot.selfdrive.car import CanBusBase HUDControl = car.CarControl.HUDControl diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index d8a555d130..f5c67dc378 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,11 +1,10 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu, BUTTON_STATES -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import get_safety_config, create_mads_event +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu, BUTTON_STATES +from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type TransmissionType = car.CarParams.TransmissionType @@ -45,33 +44,33 @@ class CarInterface(CarInterfaceBase): if candidate == CAR.BRONCO_SPORT_MK1: ret.wheelbase = 2.67 ret.steerRatio = 17.7 - ret.mass = 1625 + STD_CARGO_KG + ret.mass = 1625 elif candidate == CAR.ESCAPE_MK4: ret.wheelbase = 2.71 ret.steerRatio = 16.7 - ret.mass = 1750 + STD_CARGO_KG + ret.mass = 1750 elif candidate == CAR.EXPLORER_MK6: ret.wheelbase = 3.025 ret.steerRatio = 16.8 - ret.mass = 2050 + STD_CARGO_KG + ret.mass = 2050 elif candidate == CAR.F_150_MK14: # required trim only on SuperCrew ret.wheelbase = 3.69 ret.steerRatio = 17.0 - ret.mass = 2000 + STD_CARGO_KG + ret.mass = 2000 elif candidate == CAR.FOCUS_MK4: ret.wheelbase = 2.7 ret.steerRatio = 15.0 - ret.mass = 1350 + STD_CARGO_KG + ret.mass = 1350 elif candidate == CAR.MAVERICK_MK1: ret.wheelbase = 3.076 ret.steerRatio = 17.0 - ret.mass = 1650 + STD_CARGO_KG + ret.mass = 1650 else: raise ValueError(f"Unsupported car: {candidate}") diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index e44730ca4f..716c9b6e58 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -1,11 +1,10 @@ -#!/usr/bin/env python3 from math import cos, sin from cereal import car from opendbc.can.parser import CANParser -from common.conversions import Conversions as CV -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import DBC, RADAR -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import DBC, RADAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) @@ -15,30 +14,19 @@ DELPHI_MRR_RADAR_MSG_COUNT = 64 def _create_delphi_esr_radar_can_parser(CP) -> CANParser: msg_n = len(DELPHI_ESR_RADAR_MSGS) - signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, - DELPHI_ESR_RADAR_MSGS * 3)) - checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n)) + messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True)) - return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar) + return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar) def _create_delphi_mrr_radar_can_parser(CP) -> CANParser: - signals = [] - checks = [] + messages = [] for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1): msg = f"MRR_Detection_{i:03d}" - signals += [ - (f"CAN_DET_VALID_LEVEL_{i:02d}", msg), - (f"CAN_DET_AZIMUTH_{i:02d}", msg), - (f"CAN_DET_RANGE_{i:02d}", msg), - (f"CAN_DET_RANGE_RATE_{i:02d}", msg), - (f"CAN_DET_AMPLITUDE_{i:02d}", msg), - (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg), - ] - checks += [(msg, 20)] + messages += [(msg, 20)] - return CANParser(RADAR.DELPHI_MRR, signals, checks, CanBus(CP).radar) + return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar) class RadarInterface(RadarInterfaceBase): diff --git a/third_party/cluster/__init__.py b/selfdrive/car/ford/tests/__init__.py similarity index 100% rename from third_party/cluster/__init__.py rename to selfdrive/car/ford/tests/__init__.py diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py new file mode 100755 index 0000000000..e645b4cbe6 --- /dev/null +++ b/selfdrive/car/ford/tests/test_ford.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +import unittest +from parameterized import parameterized +from typing import Dict, Iterable, Optional, Tuple + +import capnp + +from cereal import car +from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS + +Ecu = car.CarParams.Ecu + + +ECU_ADDRESSES = { + Ecu.eps: 0x730, # Power Steering Control Module (PSCM) + Ecu.abs: 0x760, # Anti-Lock Brake System (ABS) + Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM) + Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA) + Ecu.engine: 0x7E0, # Powertrain Control Module (PCM) + Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM) +} + + +ECU_FW_CORE = { + Ecu.eps: [ + b"14D003", + ], + Ecu.abs: [ + b"2D053", + ], + Ecu.fwdRadar: [ + b"14D049", + ], + Ecu.fwdCamera: [ + b"14F397", # Ford Q3 + b"14H102", # Ford Q4 + ], + Ecu.engine: [ + b"14C204", + ], +} + + +class TestFordFW(unittest.TestCase): + def test_fw_query_config(self): + for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus: + self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") + self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") + self.assertIsNone(subaddr, "Unexpected ECU subaddress") + + @parameterized.expand(FW_VERSIONS.items()) + def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]): + for (ecu, addr, subaddr), fws in fw_versions.items(): + self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU") + self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") + self.assertIsNone(subaddr, "Unexpected ECU subaddress") + + # Software part number takes the form: PREFIX-CORE-SUFFIX + # Prefix changes based on the family of part. It includes the model year + # and likely the platform. + # Core identifies the type of the item (e.g. 14D003 = PSCM, 14C204 = PCM). + # Suffix specifies the version of the part. -AA would be followed by -AB. + # Small increments in the suffix are usually compatible. + # Details: https://forscan.org/forum/viewtopic.php?p=70008#p70008 + for fw in fws: + self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes") + + # TODO: parse with regex, don't need detailed error message + fw_parts = fw.rstrip(b'\x00').split(b'-') + self.assertEqual(len(fw_parts), 3, "Expected FW to be in format: prefix-core-suffix") + + prefix, core, suffix = fw_parts + self.assertEqual(len(prefix), 4, "Expected FW prefix to be 4 characters") + self.assertIn(len(core), (5, 6), "Expected FW core to be 5-6 characters") + self.assertIn(core, ECU_FW_CORE[ecu], f"Unexpected FW core for {ecu}") + self.assertIn(len(suffix), (2, 3), "Expected FW suffix to be 2-3 characters") + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 8eaf0cffb1..67ea1d1811 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,10 +4,10 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -103,7 +103,10 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { ], CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), - CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), + CAR.MAVERICK_MK1: [ + FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), + FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"), + ], } FW_QUERY_CONFIG = FwQueryConfig( @@ -115,7 +118,6 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], # whitelist_ecus=[Ecu.engine], - auxiliary=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], @@ -163,6 +165,7 @@ FW_VERSIONS = { b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -170,11 +173,13 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x706, None): [ b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -208,6 +213,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7E0, None): [ b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -269,6 +275,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index f9f8e30a68..1caedcd321 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -7,6 +7,9 @@ from typing import Callable, Dict, List, Optional, Set, Tuple import panda.python.uds as uds +AddrType = Tuple[int, Optional[int]] +EcuAddrBusType = Tuple[int, Optional[int], int] + def p16(val): return struct.pack("!H", val) @@ -76,7 +79,7 @@ class FwQueryConfig: extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, # returns set of candidates. Only will match if one candidate is returned - match_fw_to_car_fuzzy: Optional[Callable[[Dict[Tuple[int, Optional[int]], Set[bytes]]], Set[str]]] = None + match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None def __post_init__(self): for i in range(len(self.requests)): diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 5a7a2174c7..45c4967cb8 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,17 +1,18 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, DefaultDict, Dict, List, Optional, Set, Tuple +from typing import Any, DefaultDict, Dict, List, Optional, Set from tqdm import tqdm import capnp import panda.python.uds as uds from cereal import car -from common.params import Params -from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] @@ -35,8 +36,8 @@ def is_brand(brand: str, filter_brand: Optional[str]) -> bool: def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], - filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]: - fw_versions_dict = defaultdict(set) + filter_brand: Optional[str] = None) -> Dict[AddrType, Set[bytes]]: + fw_versions_dict: DefaultDict[AddrType, Set[bytes]] = defaultdict(set) for fw in fw_versions: if is_brand(fw.brand, filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None @@ -44,8 +45,8 @@ def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], return dict(fw_versions_dict) -def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]: - brand_addrs: DefaultDict[str, Set[Tuple[int, Optional[int]]]] = defaultdict(set) +def get_brand_addrs() -> Dict[str, Set[AddrType]]: + brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set) for brand, cars in VERSIONS.items(): # Add ecus in database + extra ecus to match against brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} @@ -54,7 +55,7 @@ def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]: return dict(brand_addrs) -def match_fw_to_car_fuzzy(live_fw_versions, log=True, exclude=None): +def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars the match is rejected.""" @@ -62,6 +63,9 @@ def match_fw_to_car_fuzzy(live_fw_versions, log=True, exclude=None): # Build lookup table from (addr, sub_addr, fw) to list of candidate cars all_fw_versions = defaultdict(list) for candidate, fw_by_addr in FW_VERSIONS.items(): + if not is_brand(MODEL_TO_BRAND[candidate], match_brand): + continue + if candidate == exclude: continue @@ -101,13 +105,14 @@ def match_fw_to_car_fuzzy(live_fw_versions, log=True, exclude=None): return set() -def match_fw_to_car_exact(live_fw_versions, log=True) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it needs to match the database.""" invalid = set() - candidates = FW_VERSIONS + candidates = {c: f for c, f in FW_VERSIONS.items() if + is_brand(MODEL_TO_BRAND[c], match_brand)} for candidate, fws in candidates.items(): config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] @@ -129,7 +134,7 @@ def match_fw_to_car_exact(live_fw_versions, log=True) -> Set[str]: if ecu_type == Ecu.debug: continue - if not any([found_version in expected_versions for found_version in found_versions]): + if not any(found_version in expected_versions for found_version in found_versions): invalid.add(candidate) break @@ -149,7 +154,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): matches = set() for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - matches |= match_func(fw_versions_dict, log=log) + matches |= match_func(fw_versions_dict, match_brand=brand, log=log) # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function config = FW_QUERY_CONFIGS[brand] @@ -208,7 +213,7 @@ def get_brand_ecu_matches(ecu_rx_addrs): brand_addrs = get_brand_addrs() brand_matches = {brand: set() for brand, _, _ in REQUESTS} - brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS) + brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS} for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -242,8 +247,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) - # Try to match using FW returned from this brand only - matches = match_fw_to_car_exact(build_fw_dict(car_fw)) + + # If there is a match using this brand's FW alone, finish querying early + _, matches = match_fw_to_car(car_fw, log=False) if len(matches) == 1: break @@ -332,7 +338,7 @@ if __name__ == "__main__": import time import argparse import cereal.messaging as messaging - from selfdrive.car.vin import get_vin + from openpilot.selfdrive.car.vin import get_vin parser = argparse.ArgumentParser(description='Get firmware version of ECUs') parser.add_argument('--scan', action='store_true') diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 8d9b048db2..cd2e8a6911 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import interp -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.gm import gmcan -from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.gm import gmcan +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation @@ -111,7 +111,8 @@ class CarController: # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled and CS.out.cruiseState.enabled, at_full_stop)) - can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP)) + can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, + idx, CC.enabled, near_stop, at_full_stop, self.CP)) # Send dashboard UI commands (ACC status) send_fcw = hud_alert == VisualAlert.fcw @@ -162,7 +163,8 @@ class CarController: lka_icon_status = (lka_active, lka_critical) # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): + if self.CP.networkLocation != NetworkLocation.fwdCamera and \ + (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) self.lka_icon_status_last = lka_icon_status diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 54afad2c6f..2a050a0e77 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -1,11 +1,11 @@ import copy from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import mean +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation @@ -125,66 +125,19 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - ("AEBCmdActive", "AEBCmd"), - ("RollingCounter", "ASCMLKASteeringCmd"), - ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), - ("ACCCruiseState", "ASCMActiveCruiseControlStatus"), - ] - checks += [ + messages += [ ("AEBCmd", 10), ("ASCMLKASteeringCmd", 10), ("ASCMActiveCruiseControlStatus", 25), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA) @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("BrakePedalPos", "ECMAcceleratorPos"), - ("FrontLeftDoor", "BCMDoorBeltStatus"), - ("FrontRightDoor", "BCMDoorBeltStatus"), - ("RearLeftDoor", "BCMDoorBeltStatus"), - ("RearRightDoor", "BCMDoorBeltStatus"), - ("LeftSeatBelt", "BCMDoorBeltStatus"), - ("RightSeatBelt", "BCMDoorBeltStatus"), - ("TurnSignals", "BCMTurnSignals"), - ("AcceleratorPedal2", "AcceleratorPedal2"), - ("CruiseState", "AcceleratorPedal2"), - ("ACCButtons", "ASCMSteeringButton"), - ("LKAButton", "ASCMSteeringButton", 0), - ("RollingCounter", "ASCMSteeringButton"), - ("DistanceButton", "ASCMSteeringButton"), - ("SteeringWheelAngle", "PSCMSteeringAngle"), - ("SteeringWheelRate", "PSCMSteeringAngle"), - ("FLWheelSpd", "EBCMWheelSpdFront"), - ("FRWheelSpd", "EBCMWheelSpdFront"), - ("RLWheelSpd", "EBCMWheelSpdRear"), - ("RRWheelSpd", "EBCMWheelSpdRear"), - ("MovingBackward", "EBCMWheelSpdRear"), - ("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"), - ("PRNDL2", "ECMPRDNL2"), - ("ManualMode", "ECMPRDNL2"), - ("LKADriverAppldTrq", "PSCMStatus"), - ("LKATorqueDelivered", "PSCMStatus"), - ("LKATorqueDeliveredStatus", "PSCMStatus"), - ("HandsOffSWlDetectionStatus", "PSCMStatus"), - ("HandsOffSWDetectionMode", "PSCMStatus"), - ("LKATotalTorqueDelivered", "PSCMStatus"), - ("PSCMStatusChecksum", "PSCMStatus"), - ("RollingCounter", "PSCMStatus"), - ("TractionControlOn", "ESPStatus"), - ("ParkBrake", "VehicleIgnitionAlt"), - ("CruiseMainOn", "ECMEngineStatus"), - ("BrakePressed", "ECMEngineStatus"), - ] - - checks = [ + messages = [ ("BCMTurnSignals", 1), ("ECMPRDNL2", 10), ("PSCMStatus", 10), @@ -203,27 +156,19 @@ class CarState(CarStateBase): # Used to read back last counter sent to PT by camera if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - ("RollingCounter", "ASCMLKASteeringCmd"), - ] - checks += [ + messages += [ ("ASCMLKASteeringCmd", 0), ] if CP.transmissionType == TransmissionType.direct: - signals.append(("RegenPaddle", "EBCMRegenPaddle")) - checks.append(("EBCMRegenPaddle", 50)) + messages.append(("EBCMRegenPaddle", 50)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN) @staticmethod def get_loopback_can_parser(CP): - signals = [ - ("RollingCounter", "ASCMLKASteeringCmd"), - ] - - checks = [ + messages = [ ("ASCMLKASteeringCmd", 0), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 5b6923526d..64318eaf7a 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,5 +1,5 @@ -from selfdrive.car import make_can_msg -from selfdrive.car.gm.values import CAR +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.gm.values import CAR def create_buttons(packer, bus, idx, button): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index d78ba5bda8..df6900f5ff 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -3,12 +3,12 @@ from cereal import car from math import fabs, exp from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event -from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG -from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD -from selfdrive.controls.lib.drive_helpers import get_friction +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event +from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG +from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus +from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from openpilot.selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -21,7 +21,8 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D NON_LINEAR_TORQUE_PARAMS = { CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178], - CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772] + CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772], + CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122] } @@ -128,17 +129,17 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet - tire_stiffness_factor = 0.444 # not optimized yet + ret.tireStiffnessFactor = 0.444 # not optimized yet ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: - ret.mass = 1607. + STD_CARGO_KG + ret.mass = 1607. ret.wheelbase = 2.69 ret.steerRatio = 17.7 # Stock 15.7, LiveParameters - tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters + ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.lateralTuning.pid.kpBP = [0., 40.] @@ -149,13 +150,13 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 elif candidate == CAR.MALIBU: - ret.mass = 1496. + STD_CARGO_KG + ret.mass = 1496. ret.wheelbase = 2.83 ret.steerRatio = 15.8 ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: - ret.mass = 1363. + STD_CARGO_KG + ret.mass = 1363. ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 @@ -163,7 +164,7 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 4353. * CV.LB_TO_KG ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 @@ -171,27 +172,27 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_LACROSSE: - ret.mass = 1712. + STD_CARGO_KG + ret.mass = 1712. ret.wheelbase = 2.91 ret.steerRatio = 15.8 ret.centerToFront = ret.wheelbase * 0.4 # wild guess CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_REGAL: - ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 + ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters ret.steerRatio = 14.4 # guess for tourx ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx elif candidate == CAR.CADILLAC_ATS: - ret.mass = 1601. + STD_CARGO_KG + ret.mass = 1601. ret.wheelbase = 2.78 ret.steerRatio = 15.3 ret.centerToFront = ret.wheelbase * 0.5 elif candidate == CAR.ESCALADE: ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG # (5552+5815)/2 + ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2 ret.wheelbase = 2.95 # 116 inches in meters ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.5 @@ -199,30 +200,30 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.ESCALADE_ESV: ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.mass = 2739. + STD_CARGO_KG + ret.mass = 2739. ret.wheelbase = 3.302 ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] ret.lateralTuning.pid.kf = 0.000045 - tire_stiffness_factor = 1.0 + ret.tireStiffnessFactor = 1.0 elif candidate == CAR.BOLT_EUV: - ret.mass = 1669. + STD_CARGO_KG + ret.mass = 1669. ret.wheelbase = 2.63779 ret.steerRatio = 16.8 ret.centerToFront = ret.wheelbase * 0.4 - tire_stiffness_factor = 1.0 + ret.tireStiffnessFactor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: - ret.mass = 2200. + STD_CARGO_KG + ret.mass = 2450. ret.wheelbase = 3.75 ret.steerRatio = 16.3 ret.centerToFront = ret.wheelbase * 0.5 - tire_stiffness_factor = 1.0 + ret.tireStiffnessFactor = 1.0 # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop # with foot on brake to allow engagement, but this platform only has that check in the camera. # TODO: check if this is split by EV/ICE with more platforms in the future @@ -231,26 +232,21 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.EQUINOX: - ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3500. * CV.LB_TO_KG ret.wheelbase = 2.72 ret.steerRatio = 14.4 ret.centerToFront = ret.wheelbase * 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.TRAILBLAZER: - ret.mass = 1345. + STD_CARGO_KG + ret.mass = 1345. ret.wheelbase = 2.64 ret.steerRatio = 16.8 ret.centerToFront = ret.wheelbase * 0.4 - tire_stiffness_factor = 1.0 + ret.tireStiffnessFactor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) - return ret # returns a car.CarState @@ -260,12 +256,10 @@ class CarInterface(CarInterfaceBase): buttonEvents = [] - if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: - buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)) - # Handle ACCButtons changing buttons mid-press - if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS: - buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)) - + # Don't add event if transitioning from INIT, unless it's to an actual button + if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT: + buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, + unpressed_btn=CruiseButtons.UNPRESS) self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS) if not self.CP.pcmCruise: diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index b86a85f915..b893babd31 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import math from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.gm.values import DBC, CanBus -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.gm.values import DBC, CanBus +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase RADAR_HEADER_MSG = 1120 SLOT_1_MSG = RADAR_HEADER_MSG + 1 @@ -25,11 +25,11 @@ def create_radar_can_parser(car_fingerprint): ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS + ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS + ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS, - [RADAR_HEADER_MSG] * 7 + radar_targets * 6)) + [RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True)) - checks = list({(s[1], 14) for s in signals}) + messages = list({(s[1], 14) for s in signals}) - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE) + return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE) class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py index 1fc8a25611..fce5fea720 100755 --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -2,7 +2,7 @@ from parameterized import parameterized import unittest -from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET +from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 4919a13288..d12c21dc23 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,11 +1,12 @@ +# ruff: noqa: E501 from collections import defaultdict from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column Ecu = car.CarParams.Ecu @@ -211,10 +212,10 @@ FINGERPRINTS = { }], # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. # TODO: split with FW versions - CAR.TRAILBLAZER: [ - { + # CAR.TRAILBLAZER: [ + # { # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 - }], + # }], } GM_RX_OFFSET = 0x400 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index b5bc175d51..cd0ac8161e 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -2,15 +2,15 @@ from collections import namedtuple from cereal import car import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.numpy_fast import clip, interp -from common.params import Params, put_bool_nonblocking -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import create_gas_interceptor_command -from selfdrive.car.honda import hondacan -from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams -from selfdrive.controls.lib.drive_helpers import rate_limit, HONDA_V_CRUISE_MIN +from openpilot.selfdrive.car import create_gas_interceptor_command +from openpilot.selfdrive.car.honda import hondacan +from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit, HONDA_V_CRUISE_MIN VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index dcd7c4bfb5..34fed58b3a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -1,50 +1,21 @@ from collections import defaultdict from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import interp +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus -from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS, SERIAL_STEERING -from selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus +from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ + HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \ + HONDA_BOSCH_RADARLESS, SERIAL_STEERING +from openpilot.selfdrive.car.interfaces import CarStateBase TransmissionType = car.CarParams.TransmissionType -def get_can_signals(CP, gearbox_msg, main_on_sig_msg): - signals = [ - ("XMISSION_SPEED", "ENGINE_DATA"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("STEER_ANGLE", "STEERING_SENSORS"), - ("STEER_ANGLE_RATE", "STEERING_SENSORS"), - ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"), - ("STEER_TORQUE_SENSOR", "STEER_STATUS"), - ("IMPERIAL_UNIT", "CAR_SPEED"), - ("ROUGH_CAR_SPEED_2", "CAR_SPEED"), - ("LEFT_BLINKER", "SCM_FEEDBACK"), - ("RIGHT_BLINKER", "SCM_FEEDBACK"), - ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"), - ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"), - ("BRAKE_PRESSED", "POWERTRAIN_DATA"), - ("BRAKE_SWITCH", "POWERTRAIN_DATA"), - ("CRUISE_BUTTONS", "SCM_BUTTONS"), - ("ESP_DISABLED", "VSA_STATUS"), - ("USER_BRAKE", "VSA_STATUS"), - ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"), - ("STEER_STATUS", "STEER_STATUS"), - ("GEAR_SHIFTER", gearbox_msg), - ("GEAR", gearbox_msg), - ("PEDAL_GAS", "POWERTRAIN_DATA"), - ("CRUISE_SETTING", "SCM_BUTTONS"), - ("ACC_STATUS", "POWERTRAIN_DATA"), - ("MAIN_ON", main_on_sig_msg), - ] - - checks = [ +def get_can_messages(CP, gearbox_msg): + messages = [ ("ENGINE_DATA", 100), ("WHEEL_SPEEDS", 50), ("STEERING_SENSORS", 100), @@ -58,86 +29,61 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ] if CP.carFingerprint in (SERIAL_STEERING | {CAR.ODYSSEY_CHN, }): - checks += [ + messages += [ ("SCM_FEEDBACK", 25), ("SCM_BUTTONS", 50), ] else: - checks += [ + messages += [ ("SCM_FEEDBACK", 10), ("SCM_BUTTONS", 25), ] if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): - checks.append((gearbox_msg, 50)) + messages.append((gearbox_msg, 50)) else: - checks.append((gearbox_msg, 100)) + messages.append((gearbox_msg, 100)) if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: - signals.append(("BRAKE_PRESSED", "BRAKE_MODULE")) - checks.append(("BRAKE_MODULE", 50)) + messages.append(("BRAKE_MODULE", 50)) if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}): - signals.append(("EPB_STATE", "EPB_STATUS")) - checks.append(("EPB_STATUS", 50)) + messages.append(("EPB_STATUS", 50)) if CP.carFingerprint in HONDA_BOSCH: # these messages are on camera bus on radarless cars if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS: - signals += [ - ("CRUISE_CONTROL_LABEL", "ACC_HUD"), - ("CRUISE_SPEED", "ACC_HUD"), - ("ACCEL_COMMAND", "ACC_CONTROL"), - ("AEB_STATUS", "ACC_CONTROL"), - ("BRAKE_LIGHTS", "ACC_CONTROL"), - ] - checks += [ + messages += [ ("ACC_HUD", 10), ("ACC_CONTROL", 50), ] else: # Nidec signals - signals += [("CRUISE_SPEED_PCM", "CRUISE"), - ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")] - if CP.carFingerprint in (SERIAL_STEERING | {CAR.ODYSSEY_CHN, }): - checks.append(("CRUISE_PARAMS", 10)) + messages.append(("CRUISE_PARAMS", 10)) else: - checks.append(("CRUISE_PARAMS", 50)) + messages.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): - signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) + # TODO: clean this up + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, + CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): + pass elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): - signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) + pass else: - signals += [("DOOR_OPEN_FL", "DOORS_STATUS"), - ("DOOR_OPEN_FR", "DOORS_STATUS"), - ("DOOR_OPEN_RL", "DOORS_STATUS"), - ("DOOR_OPEN_RR", "DOORS_STATUS")] - checks.append(("DOORS_STATUS", 3)) + messages.append(("DOORS_STATUS", 3)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: - signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) - signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) - checks.append(("GAS_SENSOR", 50)) + messages.append(("GAS_SENSOR", 50)) if CP.carFingerprint in HONDA_BOSCH_RADARLESS: - signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS")) - checks.append(("CRUISE_FAULT_STATUS", 50)) + messages.append(("CRUISE_FAULT_STATUS", 50)) elif CP.carFingerprint == CAR.CLARITY: - signals += [ - ("BRAKE_ERROR_1", "BRAKE_ERROR"), - ("BRAKE_ERROR_2", "BRAKE_ERROR") - ] - checks.append(("BRAKE_ERROR", 100)), + messages.append(("BRAKE_ERROR", 100)), elif CP.openpilotLongitudinalControl: - signals += [ - ("BRAKE_ERROR_1", "STANDSTILL"), - ("BRAKE_ERROR_2", "STANDSTILL") - ] - checks.append(("STANDSTILL", 50)) + messages.append(("STANDSTILL", 50)) - return signals, checks + return messages class CarState(CarStateBase): @@ -186,7 +132,8 @@ class CarState(CarStateBase): # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 # TODO: find a common signal across all cars - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, + CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -300,7 +247,7 @@ class CarState(CarStateBase): ret.brakePressed = True if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, - CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): + CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E): ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else \ bool(ret.brake > 0.4) elif self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, @@ -334,59 +281,39 @@ class CarState(CarStateBase): return ret def get_can_parser(self, CP): - signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint)) + messages = get_can_messages(CP, self.gearbox_msg) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint)) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [ - ("STEERING_CONTROL", 100), - ] + messages = [] - if CP.carFingerprint in SERIAL_STEERING: - checks = [] + if CP.carFingerprint not in SERIAL_STEERING: + messages = [ + ("STEERING_CONTROL", 100), + ] if CP.carFingerprint in HONDA_BOSCH_RADARLESS: - signals.append(("LKAS_PROBLEM", "LKAS_HUD")) - checks.append(("LKAS_HUD", 10)) + messages.append(("LKAS_HUD", 10)) if not CP.openpilotLongitudinalControl: - signals += [ - ("CRUISE_SPEED", "ACC_HUD"), - ("CRUISE_CONTROL_LABEL", "ACC_HUD"), - ] - checks.append(("ACC_HUD", 10)) + messages.append(("ACC_HUD", 10)) elif CP.carFingerprint not in HONDA_BOSCH: - aeb_sig = "COMPUTER_BRAKE_ALT" if CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE" - signals += [(aeb_sig, "BRAKE_COMMAND"), - ("AEB_REQ_1", "BRAKE_COMMAND"), - ("FCW", "BRAKE_COMMAND"), - ("CHIME", "BRAKE_COMMAND"), - ("LKAS_PROBLEM", "LKAS_HUD"), - ("FCM_OFF", "ACC_HUD"), - ("FCM_OFF_2", "ACC_HUD"), - ("FCM_PROBLEM", "ACC_HUD"), - ("ACC_PROBLEM", "ACC_HUD"), - ("ICONS", "ACC_HUD")] - checks += [ + messages += [ ("ACC_HUD", 10), ("LKAS_HUD", 10), ("BRAKE_COMMAND", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) @staticmethod def get_body_can_parser(CP): if CP.enableBsm: - signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), - ("BSM_ALERT", "BSM_STATUS_LEFT")] - - checks = [ + messages = [ ("BSM_STATUS_LEFT", 3), ("BSM_STATUS_RIGHT", 3), ] bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port) - return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body) + return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body) return None diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index f5a4067fd5..c1aefc20c5 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ -from common.conversions import Conversions as CV -from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams # CAN bus layout with relay # 0 = ACC-CAN - radar side diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 7e93ed5ee3..dc8e217a18 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from common.numpy_fast import interp -from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.disable_ecu import disable_ecu +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ + HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS +from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu ButtonType = car.CarState.ButtonEvent.Type @@ -90,9 +91,9 @@ class CarInterface(CarInterfaceBase): eps_modified = True if candidate == CAR.CIVIC: - ret.mass = CivicParams.MASS - ret.wheelbase = CivicParams.WHEELBASE - ret.centerToFront = CivicParams.CENTER_TO_FRONT + ret.mass = 1326. + ret.wheelbase = 2.70 + ret.centerToFront = ret.wheelbase * 0.4 ret.steerRatio = 15.38 # 10.93 is end-to-end spec if eps_modified: # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE @@ -106,24 +107,22 @@ class CarInterface(CarInterfaceBase): else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] - tire_stiffness_factor = 1. elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): - ret.mass = CivicParams.MASS - ret.wheelbase = CivicParams.WHEELBASE - ret.centerToFront = CivicParams.CENTER_TO_FRONT + ret.mass = 1326. + ret.wheelbase = 2.70 + ret.centerToFront = ret.wheelbase * 0.4 ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 1. ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.ACCORD, CAR.ACCORDH): - ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3279. * CV.LB_TO_KG ret.wheelbase = 2.83 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.8467 + ret.tireStiffnessFactor = 0.8467 if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] @@ -131,26 +130,26 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: - ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3095. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.37 ret.steerRatio = 18.61 # 15.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.72 + ret.tireStiffnessFactor = 0.72 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.CRV, CAR.CRV_EU): - ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3572. * CV.LB_TO_KG ret.wheelbase = 2.62 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.89 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.444 + ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_5G: - ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3410. * CV.LB_TO_KG ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end @@ -163,45 +162,45 @@ class CarInterface(CarInterfaceBase): else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] - tire_stiffness_factor = 0.677 + ret.tireStiffnessFactor = 0.677 ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_HYBRID: - ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg + ret.mass = 1667. # mean of 4 models in kg ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.677 + ret.tireStiffnessFactor = 0.677 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.FIT: - ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 2644. * CV.LB_TO_KG ret.wheelbase = 2.53 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.75 + ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: - ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3086. * CV.LB_TO_KG ret.wheelbase = 2.74 # the remaining parameters were copied from FIT ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] - tire_stiffness_factor = 0.75 + ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate in (CAR.HRV, CAR.HRV_3G): - ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3125 * CV.LB_TO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] - tire_stiffness_factor = 0.5 + ret.tireStiffnessFactor = 0.5 if candidate == CAR.HRV: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.wheelSpeedFactor = 1.025 @@ -209,22 +208,22 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: - ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3935. * CV.LB_TO_KG ret.wheelbase = 2.68 ret.centerToFront = ret.wheelbase * 0.38 ret.steerRatio = 15.0 # as spec - tire_stiffness_factor = 0.444 + ret.tireStiffnessFactor = 0.444 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: - ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 4068. * CV.LB_TO_KG ret.wheelbase = 2.75 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 11.95 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] - tire_stiffness_factor = 0.677 + ret.tireStiffnessFactor = 0.677 elif candidate == CAR.ACCORD_NIDEC_4CYL: ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG @@ -241,11 +240,11 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiV = [0.2, 0.16] elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): - ret.mass = 1900. + STD_CARGO_KG + ret.mass = 1900. ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec - tire_stiffness_factor = 0.82 + ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] if candidate == CAR.ODYSSEY_CHN: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end @@ -253,39 +252,39 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end elif candidate == CAR.PILOT: - ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG # average weight + ret.mass = 4278. * CV.LB_TO_KG # average weight ret.wheelbase = 2.86 ret.centerToFront = ret.wheelbase * 0.428 ret.steerRatio = 16.0 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.444 + ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: - ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 4515. * CV.LB_TO_KG ret.wheelbase = 3.18 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.444 + ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: - ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 2987. * CV.LB_TO_KG ret.wheelbase = 2.7 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.82 + ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: - ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3338.8 * CV.LB_TO_KG ret.wheelbase = 2.5 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 16.71 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.82 + ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning elif candidate == CAR.CLARITY: @@ -331,11 +330,6 @@ class CarInterface(CarInterfaceBase): ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) - ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 @@ -351,13 +345,10 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) self.CS = self.sp_update_params(self.CS) - buttonEvents = [] - - if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: - buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT)) - - if self.CS.cruise_setting != self.CS.prev_cruise_setting: - buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1})) + buttonEvents = [ + *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT), + *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}), + ] self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS) @@ -387,7 +378,9 @@ class CarInterface(CarInterfaceBase): self.CS.accEnabled = False self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled - ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3)) + ret, self.CS = self.get_sp_common_state(ret, self.CS, + min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed), + gap_button=(self.CS.cruise_setting == 3)) ret.buttonEvents = buttonEvents diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 660be4c449..8090f8e03e 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -1,18 +1,14 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.honda.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.honda.values import DBC def _create_nidec_can_parser(car_fingerprint): radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446)) - signals = list(zip(['RADAR_STATE'] + - ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 + - ['REL_SPEED'] * 16, - [0x400] + radar_messages[1:] * 4)) - checks = [(s[1], 20) for s in signals] - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + messages = [(m, 20) for m in radar_messages] + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py index 7a8c86fb0a..da64b8f70b 100755 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -2,7 +2,7 @@ import re import unittest -from selfdrive.car.honda.values import FW_VERSIONS +from openpilot.selfdrive.car.honda.values import FW_VERSIONS HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index a0aba02e5b..5451f60b12 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -3,11 +3,11 @@ from enum import Enum, IntFlag from typing import Dict, List, Optional, Union from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -133,7 +133,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", + footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 98b50fae4d..e1a5041bd9 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,15 +1,15 @@ from cereal import car import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.numpy_fast import clip -from common.params import Params, put_bool_nonblocking -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.hyundai import hyundaicanfd, hyundaican -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR -from selfdrive.controls.lib.drive_helpers import HYUNDAI_V_CRUISE_MIN +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR +from openpilot.selfdrive.controls.lib.drive_helpers import HYUNDAI_V_CRUISE_MIN VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -120,9 +120,17 @@ class CarController: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) + # >90 degree steering fault prevention + self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive, + self.angle_limit_counter, MAX_ANGLE_FRAMES, + MAX_ANGLE_CONSECUTIVE_FRAMES) + if not CC.latActive: apply_steer = 0 + # Hold torque with induced temporary fault when cutting the actuation bit + torque_fault = CC.latActive and not apply_steer_req + self.apply_steer_last = apply_steer # accel + longitudinal @@ -180,32 +188,19 @@ class CarController: if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN]) - # >90 degree steering fault prevention - # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault - if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE: - self.angle_limit_counter += 1 - else: - self.angle_limit_counter = 0 - - # Cut steer actuation bit for two frames and hold torque with induced temporary fault - torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES - lat_active = CC.latActive and not torque_fault - - if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: - self.angle_limit_counter = 0 - # CAN-FD platforms if self.CP.carFingerprint in CANFD_CAR: hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer, + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, lateral_paused, blinking_icon)) - # disable LFA on HDA2 + # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU if self.frame % 5 == 0 and hda2: - can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4)) + can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg, + self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING)) # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): @@ -225,26 +220,7 @@ class CarController: self.accel_last = accel else: # button presses - if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: - # cruise cancel - if CC.cruiseControl.cancel: - if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) - self.last_button_frame = self.frame - else: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) - self.last_button_frame = self.frame - - # cruise standstill resume - elif CC.cruiseControl.resume: - if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - # TODO: resume for alt button cars - pass - else: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) - self.last_button_frame = self.frame + can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) if CS.buttons_counter != self.last_button_frame: self.last_button_frame = CS.buttons_counter if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: @@ -256,23 +232,15 @@ class CarController: if self.cruise_button is not None: can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, self.cruise_button)) else: - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning, lateral_paused, blinking_icon)) if not self.CP.openpilotLongitudinalControl: - if CC.cruiseControl.cancel: - can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) - elif CC.cruiseControl.resume: - # send resume at a max freq of 10Hz - if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: - # send 25 messages at a time to increases the likelihood of resume being accepted - can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) - if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: - self.last_button_frame = self.frame - elif CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: + can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True)) + if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and CS.out.cruiseState.enabled and not self.CP.pcmCruiseSpeed: self.cruise_button = self.get_cruise_buttons(CS, CC.vCruise) if self.cruise_button is not None: send_freq = 1 @@ -290,9 +258,10 @@ class CarController: stopping = stopping and CS.out.vEgoRaw < 0.05 # TODO: unclear if this is needed jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 + use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2), - hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override, CS.mainEnabled, - CS, escc, self.CP.carFingerprint)) + hud_control.leadVisible, set_speed_in_units, stopping, + CC.cruiseControl.override, use_fca, CS.mainEnabled, CS, escc, self.CP.carFingerprint)) # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: @@ -314,6 +283,42 @@ class CarController: self.frame += 1 return new_actuators, can_sends + def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool): + can_sends = [] + if use_clu11: + if CC.cruiseControl.cancel: + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) + elif CC.cruiseControl.resume: + # send resume at a max freq of 10Hz + if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: + # send 25 messages at a time to increases the likelihood of resume being accepted + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) + if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: + self.last_button_frame = self.frame + else: + if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: + # cruise cancel + if CC.cruiseControl.cancel: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) + self.last_button_frame = self.frame + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) + self.last_button_frame = self.frame + + # cruise standstill resume + elif CC.cruiseControl.resume: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + # TODO: resume for alt button cars + pass + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) + self.last_button_frame = self.frame + + return can_sends + # multikyd methods, sunnyhaibin logic def get_cruise_buttons_status(self, CS): if not CS.out.cruiseState.enabled or CS.cruise_buttons[-1] != Buttons.NONE: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 55818d00d1..6aabe5e3bc 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -3,15 +3,18 @@ import copy import math from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, NON_SCC_CAR, NON_SCC_NO_FCA_CAR, NON_SCC_RADAR_FCA_CAR, Buttons, CarControllerParams -from selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \ + CANFD_CAR, EV_CAR, HYBRID_CAR, NON_SCC_CAR, NON_SCC_NO_FCA_CAR, NON_SCC_RADAR_FCA_CAR,\ + Buttons, CarControllerParams +from openpilot.selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 CLUSTER_SAMPLE_RATE = 20 # frames +STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS class CarState(CarStateBase): @@ -22,8 +25,8 @@ class CarState(CarStateBase): self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) - self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ - "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ + "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] @@ -34,6 +37,11 @@ class CarState(CarStateBase): else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] + self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \ + "ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \ + "ACCELERATOR_BRAKE_ALT" + self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \ + "CRUISE_BUTTONS" self.is_metric = False self.buttons_counter = 0 @@ -76,7 +84,7 @@ class CarState(CarStateBase): ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.1 + ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD self.cluster_speed_counter += 1 if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: @@ -212,13 +220,11 @@ class CarState(CarStateBase): speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR): - if self.CP.carFingerprint in EV_CAR: - ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. - else: - ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. + offset = 255. if self.CP.carFingerprint in EV_CAR else 1023. + ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset ret.gasPressed = ret.gas > 1e-5 else: - ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"]) + ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"]) ret.brakePressed = ret.brakeLights = cp.vl["TCS"]["DriverBraking"] == 1 @@ -237,7 +243,7 @@ class CarState(CarStateBase): ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.1 + ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"] ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 @@ -246,8 +252,12 @@ class CarState(CarStateBase): ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 + # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP'] + left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP" + if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN: + left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT" ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_lamp( - 50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) + 50, cp.vl["BLINKERS"][left_blinker_sig], cp.vl["BLINKERS"][right_blinker_sig]) if self.CP.enableBsm: ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 @@ -266,19 +276,19 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] self.prev_main_buttons = self.main_buttons[-1] - self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) - self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) + self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) + self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) self.prev_mads_enabled = self.mads_enabled self.prev_lfa_enabled = self.lfa_enabled - self.lfa_enabled = cp.vl[cruise_btn_msg]["LFA_BTN"] - self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] + self.lfa_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"] + self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: - self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) + self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING + else cp_cam.vl["CAM_0x2a4"]) if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: self._update_traffic_signals(self.CP, cp, cp_cam) @@ -288,74 +298,17 @@ class CarState(CarStateBase): def _update_traffic_signals(self, CP, cp, cp_cam): speed_limit_clu_canfd = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam - self._speed_limit_clu = speed_limit_clu_canfd.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"] if CP.carFingerprint in CANFD_CAR else\ - cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] + self._speed_limit_clu = speed_limit_clu_canfd.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"] if CP.carFingerprint in CANFD_CAR else \ + cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] def _calculate_speed_limit(self): return self._speed_limit_clu if self._speed_limit_clu not in (0, 255) else 0 - @staticmethod - def get_can_parser(CP): + def get_can_parser(self, CP): if CP.carFingerprint in CANFD_CAR: - return CarState.get_can_parser_canfd(CP) + return self.get_can_parser_canfd(CP) - signals = [ - # signal_name, signal_address - ("WHL_SPD_FL", "WHL_SPD11"), - ("WHL_SPD_FR", "WHL_SPD11"), - ("WHL_SPD_RL", "WHL_SPD11"), - ("WHL_SPD_RR", "WHL_SPD11"), - - ("YAW_RATE", "ESP12"), - - ("CF_Gway_DrvSeatBeltInd", "CGW4"), - - ("CF_Gway_DrvSeatBeltSw", "CGW1"), - ("CF_Gway_DrvDrSw", "CGW1"), # Driver Door - ("CF_Gway_AstDrSw", "CGW1"), # Passenger Door - ("CF_Gway_RLDrSw", "CGW2"), # Rear left Door - ("CF_Gway_RRDrSw", "CGW2"), # Rear right Door - ("CF_Gway_TurnSigLh", "CGW1"), - ("CF_Gway_TurnSigRh", "CGW1"), - ("CF_Gway_ParkBrakeSw", "CGW1"), - - ("CYL_PRES", "ESP12"), - - ("CF_Clu_CruiseSwState", "CLU11"), - ("CF_Clu_CruiseSwMain", "CLU11"), - ("CF_Clu_SldMainSW", "CLU11"), - ("CF_Clu_ParityBit1", "CLU11"), - ("CF_Clu_VanzDecimal" , "CLU11"), - ("CF_Clu_Vanz", "CLU11"), - ("CF_Clu_SPEED_UNIT", "CLU11"), - ("CF_Clu_DetentOut", "CLU11"), - ("CF_Clu_RheostatLevel", "CLU11"), - ("CF_Clu_CluInfo", "CLU11"), - ("CF_Clu_AmpInfo", "CLU11"), - ("CF_Clu_AliveCnt1", "CLU11"), - - ("CF_Clu_VehicleSpeed", "CLU15"), - - ("ACCEnable", "TCS13"), - ("ACC_REQ", "TCS13"), - ("BrakeLight", "TCS13"), - ("DriverBraking", "TCS13"), - ("StandStill", "TCS13"), - ("PBRAKE_ACT", "TCS13"), - - ("ESC_Off_Step", "TCS15"), - ("AVH_LAMP", "TCS15"), - - ("CR_Mdps_StrColTq", "MDPS12"), - ("CF_Mdps_ToiActive", "MDPS12"), - ("CF_Mdps_ToiUnavail", "MDPS12"), - ("CF_Mdps_ToiFlt", "MDPS12"), - ("CR_Mdps_OutTq", "MDPS12"), - - ("SAS_Angle", "SAS11"), - ("SAS_Speed", "SAS11"), - ] - checks = [ + messages = [ # address, frequency ("MDPS12", 50), ("TCS13", 50), @@ -372,226 +325,78 @@ class CarState(CarStateBase): if not CP.openpilotLongitudinalControl and CP.carFingerprint not in (CAMERA_SCC_CAR | (NON_SCC_CAR - NON_SCC_RADAR_FCA_CAR)): if CP.carFingerprint not in NON_SCC_CAR: - signals += [ - ("MainMode_ACC", "SCC11"), - ("VSetDis", "SCC11"), - ("SCCInfoDisplay", "SCC11"), - ("ACC_ObjDist", "SCC11"), - ("ACCMode", "SCC12"), - ] - checks += [ + messages += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("FCA_CmdAct", "FCA11"), - ("CF_VSM_Warn", "FCA11"), - ("CF_VSM_DecCmdAct", "FCA11"), - ] - checks.append(("FCA11", 50)) - elif CP.carFingerprint not in NON_SCC_CAR: - signals += [ - ("AEB_CmdAct", "SCC12"), - ("CF_VSM_Warn", "SCC12"), - ("CF_VSM_DecCmdAct", "SCC12"), - ] - - if not CP.openpilotLongitudinalControl and CP.carFingerprint in NON_SCC_CAR: - signals += [ - ("CRUISE_LAMP_M", "EMS16"), - ("CF_Lvr_CruiseSet", "LVR12"), - ] + messages.append(("FCA11", 50)) if CP.enableBsm: - signals += [ - ("CF_Lca_IndLeft", "LCA11"), - ("CF_Lca_IndRight", "LCA11"), - ] - checks.append(("LCA11", 50)) + messages.append(("LCA11", 50)) if CP.carFingerprint in (HYBRID_CAR | EV_CAR): - if CP.carFingerprint in HYBRID_CAR: - signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11")) - else: - signals.append(("Accel_Pedal_Pos", "E_EMS11")) - checks.append(("E_EMS11", 50)) + messages.append(("E_EMS11", 50)) else: - signals += [ - ("PV_AV_CAN", "EMS12"), - ("CF_Ems_AclAct", "EMS16"), - ] - checks += [ + messages += [ ("EMS12", 100), ("EMS16", 100), ] if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: - signals.append(("CF_Clu_Gear", "CLU15")) + pass elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: - signals.append(("CUR_GR", "TCU12")) - checks.append(("TCU12", 100)) + messages.append(("TCU12", 100)) elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]: - signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) - checks.append(("ELECT_GEAR", 20)) + messages.append(("ELECT_GEAR", 20)) else: - signals.append(("CF_Lvr_Gear", "LVR12")) - checks.append(("LVR12", 100)) + messages.append(("LVR12", 100)) if CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN: - signals.append(("LFA_Pressed", "BCM_PO_11")) - checks.append(("BCM_PO_11", 50)) + messages.append(("BCM_PO_11", 50)) if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value: - if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("FCA_CmdAct", "ESCC"), - ("CF_VSM_Warn_FCA11", "ESCC"), - ("CF_VSM_DecCmdAct_FCA11", "ESCC"), - ("CR_VSM_DecCmd_FCA11", "ESCC"), - ] - else: - signals += [ - ("AEB_CmdAct", "ESCC"), - ("CF_VSM_Warn_SCC12", "ESCC"), - ("CF_VSM_DecCmdAct_SCC12", "ESCC"), - ("CR_VSM_DecCmd_SCC12", "ESCC"), - ] - checks.append(("ESCC", 50)) + messages.append(("ESCC", 50)) if CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: - signals.append(("SpeedLim_Nav_Clu", "Navi_HU")) - checks.append(("Navi_HU", 5)) + messages.append(("Navi_HU", 5)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in CANFD_CAR: return CarState.get_cam_can_parser_canfd(CP) - signals = [ - # signal_name, signal_address - ("CF_Lkas_LdwsActivemode", "LKAS11"), - ("CF_Lkas_LdwsSysState", "LKAS11"), - ("CF_Lkas_SysWarning", "LKAS11"), - ("CF_Lkas_LdwsLHWarning", "LKAS11"), - ("CF_Lkas_LdwsRHWarning", "LKAS11"), - ("CF_Lkas_HbaLamp", "LKAS11"), - ("CF_Lkas_FcwBasReq", "LKAS11"), - ("CF_Lkas_HbaSysState", "LKAS11"), - ("CF_Lkas_FcwOpt", "LKAS11"), - ("CF_Lkas_HbaOpt", "LKAS11"), - ("CF_Lkas_FcwSysState", "LKAS11"), - ("CF_Lkas_FcwCollisionWarning", "LKAS11"), - ("CF_Lkas_FusionState", "LKAS11"), - ("CF_Lkas_FcwOpt_USM", "LKAS11"), - ("CF_Lkas_LdwsOpt_USM", "LKAS11"), - ] - checks = [ + messages = [ ("LKAS11", 100) ] if not CP.openpilotLongitudinalControl and CP.carFingerprint in (CAMERA_SCC_CAR | (NON_SCC_CAR - NON_SCC_NO_FCA_CAR - NON_SCC_RADAR_FCA_CAR)): if CP.carFingerprint in CAMERA_SCC_CAR: - signals += [ - ("MainMode_ACC", "SCC11"), - ("VSetDis", "SCC11"), - ("SCCInfoDisplay", "SCC11"), - ("ACC_ObjDist", "SCC11"), - ("ACCMode", "SCC12"), - ] - checks += [ + messages += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("FCA_CmdAct", "FCA11"), - ("CF_VSM_Warn", "FCA11"), - ("CF_VSM_DecCmdAct", "FCA11"), - ] - checks.append(("FCA11", 50)) - elif CP.carFingerprint in CAMERA_SCC_CAR: - signals += [ - ("AEB_CmdAct", "SCC12"), - ("CF_VSM_Warn", "SCC12"), - ("CF_VSM_DecCmdAct", "SCC12"), - ] + messages.append(("FCA11", 50)) if CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR: if CP.flags & HyundaiFlags.USE_FCA.value: - signals += [ - ("CF_VSM_Prefill", "FCA11"), - ("CF_VSM_HBACmd", "FCA11"), - ("CF_VSM_BeltCmd", "FCA11"), - ("CR_VSM_DecCmd", "FCA11"), - ("FCA_Status", "FCA11"), - ("FCA_StopReq", "FCA11"), - ("FCA_DrvSetStatus", "FCA11"), - ("FCA_Failinfo", "FCA11"), - ("CR_FCA_Alive", "FCA11"), - ("FCA_RelativeVelocity", "FCA11"), - ("FCA_TimetoCollision", "FCA11"), - ("CR_FCA_ChkSum", "FCA11"), - ("PAINT1_Status", "FCA11"), - ("FCA_CmdAct", "FCA11"), - ("CF_VSM_Warn", "FCA11"), - ("CF_VSM_DecCmdAct", "FCA11"), - - ("FCA_USM", "FCA12"), - ("FCA_DrvSetState", "FCA12"), - ] - checks += [ + messages += [ ("FCA11", 50), ("FCA12", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) - @staticmethod - def get_can_parser_canfd(CP): - - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" - gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ - "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ - "GEAR_SHIFTER" - signals = [ - ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_3", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), - - ("GEAR", gear_msg), - - ("STEERING_RATE", "STEERING_SENSORS"), - ("STEERING_ANGLE", "STEERING_SENSORS"), - ("STEERING_COL_TORQUE", "MDPS"), - ("STEERING_OUT_TORQUE", "MDPS"), - ("LKA_FAULT", "MDPS"), - - ("DriverBraking", "TCS"), - ("ACCEnable", "TCS"), - ("ACC_REQ", "TCS"), - - ("COUNTER", cruise_btn_msg), - ("CRUISE_BUTTONS", cruise_btn_msg), - ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), - ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"), - ("LFA_BTN", cruise_btn_msg), - - ("LEFT_LAMP", "BLINKERS"), - ("RIGHT_LAMP", "BLINKERS"), - - ("DRIVER_DOOR", "DOORS_SEATBELTS"), - ("DRIVER_SEATBELT", "DOORS_SEATBELTS"), - ] - - checks = [ + def get_can_parser_canfd(self, CP): + messages = [ + (self.gear_msg_canfd, 100), + (self.accelerator_msg_canfd, 100), ("WHEEL_SPEEDS", 100), - (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), @@ -601,84 +406,37 @@ class CarState(CarStateBase): ] if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): - checks.append(("CRUISE_BUTTONS", 50)) + messages += [ + ("CRUISE_BUTTONS", 50) + ] if CP.enableBsm: - signals += [ - ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), - ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), - ] - checks += [ + messages += [ ("BLINDSPOTS_REAR_CORNERS", 20), ] if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: - signals += [ - ("COUNTER", "SCC_CONTROL"), - ("CHECKSUM", "SCC_CONTROL"), - ("ACCMode", "SCC_CONTROL"), - ("VSetDis", "SCC_CONTROL"), - ("CRUISE_STANDSTILL", "SCC_CONTROL"), - ] - checks += [ + messages += [ ("SCC_CONTROL", 50), ] - if CP.carFingerprint in EV_CAR: - signals += [ - ("ACCELERATOR_PEDAL", "ACCELERATOR"), - ] - checks += [ - ("ACCELERATOR", 100), - ] - elif CP.carFingerprint in HYBRID_CAR: - signals += [ - ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), - ] - checks += [ - ("ACCELERATOR_ALT", 100), - ] - else: - signals += [ - ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"), - ] - checks += [ - ("ACCELERATOR_BRAKE_ALT", 100), - ] - if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: - signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT")) - checks.append(("CLUSTER_SPEED_LIMIT", 10)) + messages.append(("CLUSTER_SPEED_LIMIT", 10)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN) @staticmethod def get_cam_can_parser_canfd(CP): - signals = [] - checks = [] + messages = [] if CP.flags & HyundaiFlags.CANFD_HDA2: - signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] - checks += [("CAM_0x2a4", 20)] + block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4" + messages += [(block_lfa_msg, 20)] elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: - signals += [ - ("COUNTER", "SCC_CONTROL"), - ("CHECKSUM", "SCC_CONTROL"), - ("NEW_SIGNAL_1", "SCC_CONTROL"), - ("MainMode_ACC", "SCC_CONTROL"), - ("ACCMode", "SCC_CONTROL"), - ("ZEROS_9", "SCC_CONTROL"), - ("CRUISE_STANDSTILL", "SCC_CONTROL"), - ("ZEROS_5", "SCC_CONTROL"), - ("DISTANCE_SETTING", "SCC_CONTROL"), - ("VSetDis", "SCC_CONTROL"), - ] - - checks += [ + messages += [ ("SCC_CONTROL", 50), ] if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG: - signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT")) - checks.append(("CLUSTER_SPEED_LIMIT", 10)) + messages.append(("CLUSTER_SPEED_LIMIT", 10)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 6d32be43fe..292d84a5eb 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR +from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) @@ -128,8 +128,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon } return packer.make_can_msg("LFAHDA_MFC", 0, values) -def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, main_enabled, - CS, escc, car_fingerprint): +def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, + main_enabled, CS, escc, car_fingerprint): commands = [] scc11_values = { @@ -157,6 +157,13 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s "CF_VSM_DecCmdAct": CS.escc_aeb_dec_cmd_act, "CR_VSM_DecCmd": CS.escc_aeb_dec_cmd, } + + # show AEB disabled indicator on dash with SCC12 if not sending FCA messages. + # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal + if not use_fca: + scc12_values["CF_VSM_ConfMode"] = 1 + scc12_values["AEB_Status"] = 1 # AEB disabled + scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2] scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 @@ -172,28 +179,30 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s } commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) - # note that some vehicles most likely have an alternate checksum/counter definition - # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 - if car_fingerprint in CAMERA_SCC_CAR: - fca11_values = CS.fca11 - fca11_values["PAINT1_Status"] = 1 - fca11_values["FCA_DrvSetStatus"] = 1 - fca11_values["FCA_Status"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified - else: - fca11_values = { - "CR_FCA_Alive": idx % 0xF, - "PAINT1_Status": 0 if escc else 1, - "FCA_DrvSetStatus": 0 if escc else 1, - "FCA_Status": 0 if escc else 1, # AEB disabled + # Only send FCA11 on cars where it exists on the bus + if use_fca: + if car_fingerprint in CAMERA_SCC_CAR: + fca11_values = CS.fca11 + fca11_values["PAINT1_Status"] = 1 + fca11_values["FCA_DrvSetStatus"] = 1 + fca11_values["FCA_Status"] = 1 # AEB disabled, until a route with AEB or FCW trigger is verified + else: + # note that some vehicles most likely have an alternate checksum/counter definition + # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 + fca11_values = { + "CR_FCA_Alive": idx % 0xF, + "PAINT1_Status": 0 if escc else 1, + "FCA_DrvSetStatus": 0 if escc else 1, + "FCA_Status": 0 if escc else 1, # AEB disabled - "FCA_CmdAct": CS.escc_cmd_act, - "CF_VSM_Warn": CS.escc_aeb_warning, - "CF_VSM_DecCmdAct": CS.escc_aeb_dec_cmd_act, - "CR_VSM_DecCmd": CS.escc_aeb_dec_cmd, - } - fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] - fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) - commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) + "FCA_CmdAct": CS.escc_cmd_act, + "CF_VSM_Warn": CS.escc_aeb_warning, + "CF_VSM_DecCmdAct": CS.escc_aeb_dec_cmd_act, + "CR_VSM_DecCmd": CS.escc_aeb_dec_cmd, + } + fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] + fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) + commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) return commands @@ -207,6 +216,7 @@ def create_acc_opt(packer, escc, CS, car_fingerprint): } commands.append(packer.make_can_msg("SCC13", 0, scc13_values)) + # TODO: this needs to be detected and conditionally sent on unsupported long cars if car_fingerprint in CAMERA_SCC_CAR: fca12_values = CS.fca12 fca12_values["FCA_DrvSetState"] = 2 diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 96519ca80b..5501cd962d 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,6 +1,6 @@ -from common.numpy_fast import clip -from selfdrive.car import CanBusBase -from selfdrive.car.hyundai.values import HyundaiFlags +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.car import CanBusBase +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags class CanBus(CanBusBase): @@ -46,25 +46,32 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer , "LKA_ASSIST": 0, "STEER_REQ": 1 if lat_active else 0, "STEER_MODE": 0, - "SET_ME_1": 0, + "HAS_LANE_SAFETY": 0, # hide LKAS settings "NEW_SIGNAL_1": 0, "NEW_SIGNAL_2": 0, } if CP.flags & HyundaiFlags.CANFD_HDA2: + hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS" if CP.openpilotLongitudinalControl: ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) - ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values)) + ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values)) else: ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) return ret -def create_cam_0x2a4(packer, CAN, cam_0x2a4): - values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)} - values['COUNTER'] = cam_0x2a4['COUNTER'] - values["BYTE7"] = 0 - return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) +def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering): + suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4" + msg_bytes = 32 if hda2_alt_steering else 24 + + values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7} + values["COUNTER"] = hda2_lfa_block_msg["COUNTER"] + values["SET_ME_0"] = 0 + values["SET_ME_0_2"] = 0 + values["LEFT_LANE_LINE"] = 0 + values["RIGHT_LANE_LINE"] = 0 + return packer.make_can_msg(suppress_msg, CAN.ACAN, values) def create_buttons(packer, CP, CAN, cnt, btn): values = { diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6a7bbd404f..481cf1ff7e 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,14 +1,15 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from common.params import Params -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, NON_SCC_CAR, Buttons -from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR -from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.disable_ecu import disable_ecu +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ + EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, NON_SCC_CAR, \ + Buttons +from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR +from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type @@ -29,7 +30,8 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6} + # FIXME: the Optima Hybrid uses a different SCC12 checksum + ret.dashcamOnly = candidate in ({CAR.KIA_OPTIMA_H, }) hda2 = Ecu.adas in [fw.ecu for fw in car_fw] CAN = CanBus(None, hda2, fingerprint) @@ -38,6 +40,8 @@ class CarInterface(CarInterfaceBase): # detect HDA2 with ADAS Driving ECU if hda2: ret.flags |= HyundaiFlags.CANFD_HDA2.value + if 0x110 in fingerprint[CAN.CAM]: + ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value else: # non-HDA2 if 0x1cf not in fingerprint[CAN.ECAN]: @@ -64,183 +68,185 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 - tire_stiffness_factor = 1. CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): - ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3982. * CV.LB_TO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end - tire_stiffness_factor = 0.82 + ret.tireStiffnessFactor = 0.82 elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): - ret.mass = 1513. + STD_CARGO_KG + ret.mass = 1513. ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - tire_stiffness_factor = 0.65 + ret.tireStiffnessFactor = 0.65 elif candidate == CAR.SONATA_LF: - ret.mass = 4497. * CV.LB_TO_KG + ret.mass = 1536. ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable elif candidate == CAR.PALISADE: - ret.mass = 1999. + STD_CARGO_KG + ret.mass = 1999. ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 - tire_stiffness_factor = 0.63 + ret.tireStiffnessFactor = 0.63 elif candidate == CAR.ELANTRA: - ret.mass = 1275. + STD_CARGO_KG + ret.mass = 1275. ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 - tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 + ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate in (CAR.ELANTRA_2021, CAR.ELANTRA_2022_NON_SCC): - ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG + ret.mass = 2800. * CV.LB_TO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 - tire_stiffness_factor = 0.65 + ret.tireStiffnessFactor = 0.65 elif candidate == CAR.ELANTRA_HEV_2021: - ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG + ret.mass = 3017. * CV.LB_TO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 - tire_stiffness_factor = 0.65 + ret.tireStiffnessFactor = 0.65 elif candidate == CAR.HYUNDAI_GENESIS: - ret.mass = 2060. + STD_CARGO_KG + ret.mass = 2060. ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.minSteerSpeed = 60 * CV.KPH_TO_MS - elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): - ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG - ret.wheelbase = 2.6 - ret.steerRatio = 13.42 # Spec - tire_stiffness_factor = 0.385 + elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN): + ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.) + ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6) + ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec + ret.tireStiffnessFactor = 0.385 elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV): - ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx + ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec - tire_stiffness_factor = 0.385 + ret.tireStiffnessFactor = 0.385 if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: - ret.mass = 3558. * CV.LB_TO_KG + ret.mass = 2917. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 - tire_stiffness_factor = 0.5 + ret.tireStiffnessFactor = 0.5 elif candidate == CAR.TUCSON: ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 - tire_stiffness_factor = 0.385 + ret.tireStiffnessFactor = 0.385 elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN): - ret.mass = 1630. + STD_CARGO_KG # average + ret.mass = 1630. # average ret.wheelbase = 2.756 ret.steerRatio = 16. - tire_stiffness_factor = 0.385 + ret.tireStiffnessFactor = 0.385 elif candidate == CAR.SANTA_CRUZ_1ST_GEN: - ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim + ret.mass = 1870. # weight from Limited trim - the only supported trim ret.wheelbase = 3.000 - ret.steerRatio = 14.2 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf + # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf + ret.steerRatio = 14.2 # Kia elif candidate == CAR.KIA_SORENTO: - ret.mass = 1985. + STD_CARGO_KG + ret.mass = 1985. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): - ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars + ret.mass = 3543. * CV.LB_TO_KG # average of all the cars ret.wheelbase = 2.7 ret.steerRatio = 13.6 # average of all the cars - tire_stiffness_factor = 0.385 + ret.tireStiffnessFactor = 0.385 if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: - ret.mass = 1337. + STD_CARGO_KG + ret.mass = 1337. ret.wheelbase = 2.63 ret.steerRatio = 14.56 - tire_stiffness_factor = 1 elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: - ret.mass = 1700. + STD_CARGO_KG # weight from SX and above trims, average of FWD and AWD versions + ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions ret.wheelbase = 2.756 ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 - tire_stiffness_factor = 0.5 + ret.tireStiffnessFactor = 0.5 if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022): - ret.mass = 1825. + STD_CARGO_KG + ret.mass = 1825. ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable elif candidate in (CAR.KIA_FORTE, CAR. KIA_FORTE_2019_NON_SCC, CAR.KIA_FORTE_2021_NON_SCC): - ret.mass = 3558. * CV.LB_TO_KG + ret.mass = 2878. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 - tire_stiffness_factor = 0.5 + ret.tireStiffnessFactor = 0.5 elif candidate == CAR.KIA_CEED: - ret.mass = 1450. + STD_CARGO_KG + ret.mass = 1450. ret.wheelbase = 2.65 ret.steerRatio = 13.75 - tire_stiffness_factor = 0.5 + ret.tireStiffnessFactor = 0.5 elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020): - ret.mass = 3228. * CV.LB_TO_KG + ret.mass = 3381. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) - tire_stiffness_factor = 0.5 + ret.tireStiffnessFactor = 0.5 elif candidate == CAR.KIA_EV6: - ret.mass = 2055 + STD_CARGO_KG + ret.mass = 2055 ret.wheelbase = 2.9 ret.steerRatio = 16. - tire_stiffness_factor = 0.65 + ret.tireStiffnessFactor = 0.65 elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6): - ret.mass = 1948 + STD_CARGO_KG + ret.mass = 1948 ret.wheelbase = 2.97 ret.steerRatio = 14.26 - tire_stiffness_factor = 0.65 + ret.tireStiffnessFactor = 0.65 elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: - ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only + ret.mass = 1767. # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 - elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): + elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): ret.wheelbase = 2.81 ret.steerRatio = 13.5 # average of the platforms if candidate == CAR.KIA_SORENTO_4TH_GEN: - ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3957 * CV.LB_TO_KG + elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN: + ret.mass = 4255 * CV.LB_TO_KG else: - ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 4537 * CV.LB_TO_KG elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: - ret.mass = 2087. + STD_CARGO_KG + ret.mass = 2087. ret.wheelbase = 3.09 ret.steerRatio = 14.23 # Genesis elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: - ret.mass = 2205 + STD_CARGO_KG + ret.mass = 2205 ret.wheelbase = 2.9 - ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. + # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. + ret.steerRatio = 12.6 elif candidate == CAR.GENESIS_G70: ret.steerActuatorDelay = 0.1 - ret.mass = 1640.0 + STD_CARGO_KG + ret.mass = 1640.0 ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate in (CAR.GENESIS_G70_2020, CAR.GENESIS_G70_2021_NON_SCC): - ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3673.0 * CV.LB_TO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 elif candidate == CAR.GENESIS_GV70_1ST_GEN: - ret.mass = 1950. + STD_CARGO_KG + ret.mass = 1950. ret.wheelbase = 2.87 ret.steerRatio = 14.6 elif candidate == CAR.GENESIS_G80: - ret.mass = 2060. + STD_CARGO_KG + ret.mass = 2060. ret.wheelbase = 3.01 ret.steerRatio = 16.5 elif candidate == CAR.GENESIS_G90: - ret.mass = 2200 + ret.mass = 2200. ret.wheelbase = 3.15 ret.steerRatio = 12.069 elif candidate == CAR.GENESIS_GV80: - ret.mass = 2258. + STD_CARGO_KG + ret.mass = 2258. ret.wheelbase = 2.95 ret.steerRatio = 14.14 @@ -253,7 +259,7 @@ class CarInterface(CarInterfaceBase): else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | NON_SCC_CAR) + ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | NON_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl @@ -285,6 +291,8 @@ class CarInterface(CarInterfaceBase): if ret.flags & HyundaiFlags.CANFD_HDA2: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: @@ -322,11 +330,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.4 - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) - # Detect smartMDPS, which bypasses EPS low speed lockout, allowing sunnypilot to send steering commands down to 0 if 0x2AA in fingerprint[0]: ret.minSteerSpeed = 0. @@ -353,13 +356,7 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam) self.CS = self.sp_update_params(self.CS) - buttonEvents = [] - - if self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons: - buttonEvents.append(create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)) - # Handle CF_Clu_CruiseSwState changing buttons mid-press - if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0: - buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT)) + buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT) self.CS.accEnabled, buttonEvents = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled, buttonEvents, c.vCruise) diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 85517cb1be..bf08e2d130 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -1,10 +1,9 @@ -#!/usr/bin/env python3 import math from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP RADAR_START_ADDR = 0x500 RADAR_MSG_COUNT = 32 @@ -12,36 +11,14 @@ RADAR_MSG_COUNT = 32 def get_radar_can_parser(CP): if (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None: - msg = "ESCC" - signals = [ - ("ObjValid", msg), - ("ACC_ObjStatus", msg), - ("ACC_ObjLatPos", msg), - ("ACC_ObjDist", msg), - ("ACC_ObjRelSpd", msg), - ] - checks = [ - (msg, 50), - ] - return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0) + messages = ("ESCC", 50) + return CANParser(DBC[CP.carFingerprint]['pt'], messages, 0) else: if DBC[CP.carFingerprint]['radar'] is None: return None - signals = [] - checks = [] - - for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT): - msg = f"RADAR_TRACK_{addr:x}" - signals += [ - ("STATE", msg), - ("AZIMUTH", msg), - ("LONG_DIST", msg), - ("REL_ACCEL", msg), - ("REL_SPEED", msg), - ] - checks += [(msg, 50)] - return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1) + messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)] + return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1) class RadarInterface(RadarInterfaceBase): diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py index 1bc8a4e366..6fe4582f54 100755 --- a/selfdrive/car/hyundai/tests/print_platform_codes.py +++ b/selfdrive/car/hyundai/tests/print_platform_codes.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 6a37ded35e..39a9aaf627 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,10 +2,10 @@ import unittest from cereal import car -from selfdrive.car.fw_versions import build_fw_dict -from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ +from openpilot.selfdrive.car.fw_versions import build_fw_dict +from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ - PLATFORM_CODE_ECUS, get_platform_codes + UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} @@ -37,7 +37,7 @@ NO_DATES_PLATFORMS = { class TestHyundaiFingerprint(unittest.TestCase): def test_canfd_not_in_can_features(self): - can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR) + can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR) for car_model in CANFD_CAR: self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") @@ -70,7 +70,7 @@ class TestHyundaiFingerprint(unittest.TestCase): # fingerprint in the absence of full FW matches: def test_platform_code_ecus_available(self): # TODO: add queries for these non-CAN FD cars to get EPS - no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, + no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80} # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms @@ -102,16 +102,16 @@ class TestHyundaiFingerprint(unittest.TestCase): codes |= result if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS: - self.assertTrue(all({date is None for _, date in codes})) + self.assertTrue(all(date is None for _, date in codes)) else: - self.assertTrue(all({date is not None for _, date in codes})) + self.assertTrue(all(date is not None for _, date in codes)) if car_model == CAR.HYUNDAI_GENESIS: raise unittest.SkipTest("No part numbers for car model") # Hyundai places the ECU part number in their FW versions, assert all parsable # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300" - self.assertTrue(all({b"-" in code for code, _ in codes}), + self.assertTrue(all(b"-" in code for code, _ in codes), f"FW does not have part number: {fw}") def test_platform_codes_spot_check(self): diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 95629a38a0..ce451601af 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,3 +1,4 @@ +# ruff: noqa: E501 import re from dataclasses import dataclass from enum import Enum, IntFlag @@ -5,10 +6,10 @@ from typing import Dict, List, Optional, Set, Tuple, Union from cereal import car from panda.python import uds -from common.conversions import Conversions as CV -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -63,6 +64,7 @@ class HyundaiFlags(IntFlag): CANFD_ALT_GEARS_2 = 64 SEND_LFA = 128 USE_FCA = 256 + CANFD_HDA2_ALT_STEERING = 512 class HyundaiFlagsSP(IntFlag): @@ -87,6 +89,7 @@ class CAR: KONA = "HYUNDAI KONA 2020" KONA_EV = "HYUNDAI KONA ELECTRIC 2019" KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022" + KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN" KONA_HEV = "HYUNDAI KONA HYBRID 2020" SANTA_FE = "HYUNDAI SANTA FE 2019" SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" @@ -122,6 +125,7 @@ class CAR: KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" + KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN" KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN" KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" @@ -142,10 +146,9 @@ class CAR: class Footnote(Enum): - # footnotes which mention "red panda" will be replaced with the CAN FD panda kit on the shop page CANFD = CarFootnote( - "Requires a red panda for this CAN FD car. " + - "All the hardware needed is sold in the CAN FD kit.", + "Requires a comma 3X or CAN FD panda kit " + + "for this CAN FD car.", Column.MODEL, shop_footnote=True) @@ -165,9 +168,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", + car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.HYUNDAI_GENESIS: [ - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), # TODO: check 2015 packages + # TODO: check 2015 packages + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), @@ -179,12 +184,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", + car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", + car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", + car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.TUCSON: [ HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), @@ -202,7 +211,6 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], CAR.IONIQ_6: [ - HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), # TODO: unknown HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), ], CAR.TUCSON_4TH_GEN: [ @@ -234,7 +242,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", + car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years @@ -243,13 +252,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", + car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", + car_parts=CarParts.common([CarHarness.hyundai_c])), CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ @@ -393,6 +405,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: # Non-electric CAN FD platforms often do not have platform code specifiers needed # to distinguish between hybrid and ICE. All EVs so far are either exclusively # electric or specify electric in the platform code. + # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR) candidates = set() @@ -579,11 +592,13 @@ FW_VERSIONS = { b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -596,6 +611,7 @@ FW_VERSIONS = { b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt', + b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00', ], }, CAR.IONIQ_EV_2020: { @@ -611,6 +627,7 @@ FW_VERSIONS = { b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516', b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', + b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2600 190730', ], }, CAR.IONIQ_EV_LTD: { @@ -1471,16 +1488,26 @@ FW_VERSIONS = { b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', ], }, + CAR.KONA_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410', + ], + }, CAR.KIA_NIRO_EV: { (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', @@ -1629,6 +1656,14 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, + CAR.KIA_OPTIMA_H: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711', + ], + }, CAR.ELANTRA: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', @@ -1850,6 +1885,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', ], }, CAR.IONIQ_6: { @@ -1876,10 +1912,12 @@ FW_VERSIONS = { b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', + b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ', ], }, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { @@ -1938,10 +1976,12 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ', ], }, CAR.KIA_NIRO_HEV_2ND_GEN: { @@ -1971,10 +2011,21 @@ FW_VERSIONS = { b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ', ], }, + CAR.KIA_SORENTO_HEV_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331', + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', + ], + }, } CHECKSUM = { - "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020, CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC], + "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, + CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020, + CAR.ELANTRA_2022_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC], "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } @@ -1982,23 +2033,40 @@ CAN_GEARS = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, - "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, + CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, + CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, + CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, + CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, + CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN} +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, + CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN} +# these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, + CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, + CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H} + +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, + CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, - CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4, + CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, + CAR.KIA_OPTIMA_H} + +# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. +UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL} NON_SCC_CAR = {CAR.KIA_FORTE_2021_NON_SCC, CAR.ELANTRA_2022_NON_SCC, CAR.KIA_FORTE_2019_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC} NON_SCC_NO_FCA_CAR = {CAR.KIA_FORTE_2019_NON_SCC, } @@ -2069,4 +2137,6 @@ DBC = { CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 5a8946f795..3e08c75b15 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -2,21 +2,22 @@ import yaml import operator import os import time +import numpy as np from abc import abstractmethod, ABC from typing import Any, Dict, Optional, Tuple, List, Callable from cereal import car -from common.basedir import BASEDIR -from common.conversions import Conversions as CV -from common.kalman.simple_kalman import KF1D -from common.numpy_fast import clip -from common.params import Params, put_nonblocking, put_bool_nonblocking -from common.realtime import DT_CTRL -from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness -from selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction -from selfdrive.controls.lib.events import Events -from selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.common.basedir import BASEDIR +from openpilot.common.conversions import Conversions as CV +from openpilot.common.kalman.simple_kalman import KF1D, get_kalman_gain +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -133,22 +134,20 @@ class CarInterfaceBase(ABC): if Params().get_bool("EnforceTorqueLateral") and ret.steerControlType != car.CarParams.SteerControlType.angle: ret = CarInterfaceBase.sp_configure_torque_tune(candidate, ret) - # Set common params using fields set by the car interface - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload + if not ret.notCar: + ret.mass = ret.mass + STD_CARGO_KG - # TODO: some car interfaces set stiffness factor - if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0: - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) + # Set params dependent on values set by the car interface + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor) return ret @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): + def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], + car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError @staticmethod @@ -184,6 +183,7 @@ class CarInterfaceBase(ABC): ret.autoResumeSng = True # describes whether car can resume from a stop automatically # standard ALC params + ret.tireStiffnessFactor = 1.0 ret.steerControlType = car.CarParams.SteerControlType.torque ret.minSteerSpeed = 0. ret.wheelSpeedFactor = 1.0 @@ -390,13 +390,14 @@ class CarInterfaceBase(ABC): return acc_enabled, button_events def get_sp_cancel_cruise_state(self, mads_enabled, acc_enabled=False): - mads_enabled = False if not self.enable_mads else mads_enabled + mads_enabled = False if not self.enable_mads or self.disengage_on_accelerator else mads_enabled return mads_enabled, acc_enabled def get_sp_pedal_disengage(self, cs_out): + accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator brake = cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill) regen = cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill) - return brake or regen + return accel_pedal or brake or regen def get_sp_cruise_main_state(self, cs_out, CS): if not CS.control_initialized: @@ -408,8 +409,10 @@ class CarInterfaceBase(ABC): return mads_enabled - def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False): - cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled + def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False): + cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \ + cs_out.cruiseState.enabled + if not self.enable_mads: if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled: CS.madsEnabled = True @@ -606,12 +609,13 @@ class CarStateBase(ABC): self.gap_dist_button = 0 self.gac_tr = round(float(self.param_s.get("GapAdjustCruiseTr", encoding="utf8"))) - # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]]) - # R = 0.3 - self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], - A=[[1.0, DT_CTRL], [0.0, 1.0]], - C=[1.0, 0.0], - K=[[0.17406039], [1.65925647]]) + Q = [[0.0, 0.0], [0.0, 100.0]] + R = 0.3 + A = [[1.0, DT_CTRL], [0.0, 1.0]] + C = [[1.0, 0.0]] + x0=[[0.0], [0.0]] + K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R) + self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K) def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed @@ -722,7 +726,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): try: brand_name = car_folder.split('/')[-1] - brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]) + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr]) if hasattr(brand_values, attr) or not ignore_none: attr_data = getattr(brand_values, attr, None) else: diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 93033126a0..adbc598ea6 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -3,8 +3,8 @@ from collections import defaultdict from functools import partial import cereal.messaging as messaging -from system.swaglog import cloudlog -from selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 05c41aef94..e2b476737f 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,13 +1,13 @@ from cereal import car import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.params import Params, put_bool_nonblocking -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.mazda import mazdacan -from selfdrive.car.mazda.values import CarControllerParams, Buttons -from selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.mazda import mazdacan +from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons +from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 05a45947d4..4fb1f8cf75 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -1,9 +1,9 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1, BUTTON_STATES +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1, BUTTON_STATES class CarState(CarStateBase): def __init__(self, CP): @@ -125,22 +125,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("LEFT_BLINK", "BLINK_INFO"), - ("RIGHT_BLINK", "BLINK_INFO"), - ("HIGH_BEAMS", "BLINK_INFO"), - ("STEER_ANGLE", "STEER"), - ("STEER_ANGLE_RATE", "STEER_RATE"), - ("STEER_TORQUE_SENSOR", "STEER_TORQUE"), - ("STEER_TORQUE_MOTOR", "STEER_TORQUE"), - ("FL", "WHEEL_SPEEDS"), - ("FR", "WHEEL_SPEEDS"), - ("RL", "WHEEL_SPEEDS"), - ("RR", "WHEEL_SPEEDS"), - ] - - checks = [ + messages = [ # sig_address, frequency ("BLINK_INFO", 10), ("STEER", 67), @@ -150,35 +135,7 @@ class CarState(CarStateBase): ] if CP.carFingerprint in GEN1: - signals += [ - ("LKAS_BLOCK", "STEER_RATE"), - ("LKAS_TRACK_STATE", "STEER_RATE"), - ("HANDS_OFF_5_SECONDS", "STEER_RATE"), - ("CRZ_ACTIVE", "CRZ_CTRL"), - ("CRZ_AVAILABLE", "CRZ_CTRL"), - ("CRZ_SPEED", "CRZ_EVENTS"), - ("STANDSTILL", "PEDALS"), - ("BRAKE_ON", "PEDALS"), - ("BRAKE_PRESSURE", "BRAKE"), - ("GEAR", "GEAR"), - ("DRIVER_SEATBELT", "SEATBELT"), - ("FL", "DOORS"), - ("FR", "DOORS"), - ("BL", "DOORS"), - ("BR", "DOORS"), - ("PEDAL_GAS", "ENGINE_DATA"), - ("SPEED", "ENGINE_DATA"), - ("CTR", "CRZ_BTNS"), - ("LEFT_BS_STATUS", "BSM"), - ("RIGHT_BS_STATUS", "BSM"), - - ("SET_P", "CRZ_BTNS"), - ("SET_M", "CRZ_BTNS"), - ("CAN_OFF", "CRZ_BTNS"), - ("RES", "CRZ_BTNS"), - ] - - checks += [ + messages += [ ("ENGINE_DATA", 100), ("CRZ_CTRL", 50), ("CRZ_EVENTS", 50), @@ -191,41 +148,17 @@ class CarState(CarStateBase): ("BSM", 10), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.carFingerprint in GEN1: - signals += [ - # sig_name, sig_address - ("LKAS_REQUEST", "CAM_LKAS"), - ("CTR", "CAM_LKAS"), - ("ERR_BIT_1", "CAM_LKAS"), - ("LINE_NOT_VISIBLE", "CAM_LKAS"), - ("BIT_1", "CAM_LKAS"), - ("ERR_BIT_2", "CAM_LKAS"), - ("STEERING_ANGLE", "CAM_LKAS"), - ("ANGLE_ENABLED", "CAM_LKAS"), - ("CHKSUM", "CAM_LKAS"), - - ("LINE_VISIBLE", "CAM_LANEINFO"), - ("LINE_NOT_VISIBLE", "CAM_LANEINFO"), - ("LANE_LINES", "CAM_LANEINFO"), - ("BIT1", "CAM_LANEINFO"), - ("BIT2", "CAM_LANEINFO"), - ("BIT3", "CAM_LANEINFO"), - ("NO_ERR_BIT", "CAM_LANEINFO"), - ("S1", "CAM_LANEINFO"), - ("S1_HBEAM", "CAM_LANEINFO"), - ] - - checks += [ + messages += [ # sig_address, frequency ("CAM_LANEINFO", 2), ("CAM_LKAS", 16), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 97621cd52c..4bc1d1491e 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.mazda.values import CAR, LKAS_LIMITS, BUTTON_STATES -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config, create_mads_event -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS, BUTTON_STATES +from openpilot.selfdrive.car import get_safety_config, create_mads_event +from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -25,24 +25,24 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 - tire_stiffness_factor = 0.70 # not optimized yet + ret.tireStiffnessFactor = 0.70 # not optimized yet CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.CX5, CAR.CX5_2022): - ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3655 * CV.LB_TO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.5 elif candidate in (CAR.CX9, CAR.CX9_2021): - ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 4217 * CV.LB_TO_KG ret.wheelbase = 3.1 ret.steerRatio = 17.6 elif candidate == CAR.MAZDA3: - ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 2875 * CV.LB_TO_KG ret.wheelbase = 2.7 ret.steerRatio = 14.0 elif candidate == CAR.MAZDA6: - ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG + ret.mass = 3443 * CV.LB_TO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.5 @@ -51,11 +51,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.41 - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) - return ret # returns a car.CarState diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index 3dce07ae6b..12ca5d21f3 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,4 +1,4 @@ -from selfdrive.car.mazda.values import GEN1, Buttons +from openpilot.selfdrive.car.mazda.values import GEN1, Buttons def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py index b2f7651136..b461fcd5f8 100755 --- a/selfdrive/car/mazda/radar_interface.py +++ b/selfdrive/car/mazda/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 97bc18c49e..eb1843e66e 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -2,9 +2,9 @@ from dataclasses import dataclass, field from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -96,6 +96,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -113,6 +114,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 1c74aef1fa..d36f972a87 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from system.swaglog import cloudlog +from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase # mocked car interface to work with chffrplus @@ -26,8 +26,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13. # reasonable - ret.tireStiffnessFront = 1e6 # very stiff to neglect slip - ret.tireStiffnessRear = 1e6 # very stiff to neglect slip return ret diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py index b2f7651136..b461fcd5f8 100755 --- a/selfdrive/car/mock/radar_interface.py +++ b/selfdrive/car/mock/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index dfc7902e41..8426041b32 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -1,6 +1,6 @@ from typing import Dict, List, Optional, Union -from selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.docs_definitions import CarInfo class CAR: diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index bba013e9e2..eb634a7bb3 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -1,9 +1,9 @@ from cereal import car -from common.realtime import DT_CTRL +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.nissan import nissancan -from selfdrive.car.nissan.values import CAR, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.nissan import nissancan +from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -84,8 +84,9 @@ class CarController: # Below are the HUD messages. We copy the stock message and modify if self.CP.carFingerprint != CAR.ALTIMA: if self.frame % 2 == 0: - can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, CS.lkas_hud_msg, CC.latActive, blinking_icon, lateral_paused, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.latActive, blinking_icon, lateral_paused, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index 72673e9fc3..090fc5f269 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -2,10 +2,10 @@ import copy from collections import deque from cereal import car from opendbc.can.can_define import CANDefine -from selfdrive.car.interfaces import CarStateBase -from common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams +from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams TORQUE_SAMPLES = 12 @@ -121,29 +121,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR"), - - ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), - - ("DOOR_OPEN_FR", "DOORS_LIGHTS"), - ("DOOR_OPEN_FL", "DOORS_LIGHTS"), - ("DOOR_OPEN_RR", "DOORS_LIGHTS"), - ("DOOR_OPEN_RL", "DOORS_LIGHTS"), - - ("RIGHT_BLINKER", "LIGHTS"), - ("LEFT_BLINKER", "LIGHTS"), - - ("ESP_DISABLED", "ESP"), - - ("GEAR_SHIFTER", "GEARBOX"), - ] - - checks = [ + messages = [ # sig_address, frequency ("STEER_ANGLE_SENSOR", 100), ("WHEEL_SPEEDS_REAR", 50), @@ -155,51 +133,14 @@ class CarState(CarStateBase): ] if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): - signals += [ - ("USER_BRAKE_PRESSED", "DOORS_LIGHTS"), - - ("GAS_PEDAL", "GAS_PEDAL"), - ("SEATBELT_DRIVER_LATCHED", "HUD"), - ("SPEED_MPH", "HUD"), - - ("PROPILOT_BUTTON", "CRUISE_THROTTLE"), - ("CANCEL_BUTTON", "CRUISE_THROTTLE"), - ("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE"), - ("SET_BUTTON", "CRUISE_THROTTLE"), - ("RES_BUTTON", "CRUISE_THROTTLE"), - ("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE"), - ("NO_BUTTON_PRESSED", "CRUISE_THROTTLE"), - ("GAS_PEDAL", "CRUISE_THROTTLE"), - ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), - ("NEW_SIGNAL_2", "CRUISE_THROTTLE"), - ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"), - ("COUNTER", "CRUISE_THROTTLE"), - ("unsure1", "CRUISE_THROTTLE"), - ("unsure2", "CRUISE_THROTTLE"), - ("unsure3", "CRUISE_THROTTLE"), - ] - - checks += [ + messages += [ ("GAS_PEDAL", 100), ("CRUISE_THROTTLE", 50), ("HUD", 25), ] elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): - signals += [ - ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), - ("GAS_PEDAL", "CRUISE_THROTTLE"), - ("CRUISE_AVAILABLE", "CRUISE_THROTTLE"), - ("SPEED_MPH", "HUD_SETTINGS"), - ("SEATBELT_DRIVER_LATCHED", "SEATBELT"), - - # Copy other values, we use this to cancel - ("CANCEL_SEATBELT", "CANCEL_MSG"), - ("NEW_SIGNAL_1", "CANCEL_MSG"), - ("NEW_SIGNAL_2", "CANCEL_MSG"), - ("NEW_SIGNAL_3", "CANCEL_MSG"), - ] - checks += [ + messages += [ ("BRAKE_PEDAL", 100), ("CRUISE_THROTTLE", 50), ("CANCEL_MSG", 50), @@ -208,126 +149,28 @@ class CarState(CarStateBase): ] if CP.carFingerprint == CAR.ALTIMA: - signals += [ - ("LKAS_ENABLED", "LKAS_SETTINGS"), - ("CRUISE_ENABLED", "CRUISE_STATE"), - ("SET_SPEED", "PROPILOT_HUD"), - ] - checks += [ + messages += [ ("CRUISE_STATE", 10), ("LKAS_SETTINGS", 10), ("PROPILOT_HUD", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1) - signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR")) - checks.append(("STEER_TORQUE_SENSOR", 100)) + messages.append(("STEER_TORQUE_SENSOR", 100)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_adas_can_parser(CP): # this function generates lists for signal, messages and initial values if CP.carFingerprint == CAR.ALTIMA: - signals = [ - ("DESIRED_ANGLE", "LKAS"), - ("SET_0x80_2", "LKAS"), - ("MAX_TORQUE", "LKAS"), - ("SET_0x80", "LKAS"), - ("COUNTER", "LKAS"), - ("LKA_ACTIVE", "LKAS"), - - ("CRUISE_ON", "PRO_PILOT"), - ] - checks = [ + messages = [ ("LKAS", 100), ("PRO_PILOT", 100), ] else: - signals = [ - # sig_name, sig_address - ("LKAS_ENABLED", "LKAS_SETTINGS"), - - ("CRUISE_ENABLED", "CRUISE_STATE"), - - ("DESIRED_ANGLE", "LKAS"), - ("SET_0x80_2", "LKAS"), - ("MAX_TORQUE", "LKAS"), - ("SET_0x80", "LKAS"), - ("COUNTER", "LKAS"), - ("LKA_ACTIVE", "LKAS"), - - # Below are the HUD messages. We copy the stock message and modify - ("LARGE_WARNING_FLASHING", "PROPILOT_HUD"), - ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD"), - ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD"), - ("LEAD_CAR", "PROPILOT_HUD"), - ("LEAD_CAR_ERROR", "PROPILOT_HUD"), - ("FRONT_RADAR_ERROR", "PROPILOT_HUD"), - ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD"), - ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD"), - ("LKAS_ERROR_FLASHING", "PROPILOT_HUD"), - ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD"), - ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD"), - ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD"), - ("FOLLOW_DISTANCE", "PROPILOT_HUD"), - ("AUDIBLE_TONE", "PROPILOT_HUD"), - ("SPEED_SET_ICON", "PROPILOT_HUD"), - ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD"), - ("unknown59", "PROPILOT_HUD"), - ("unknown55", "PROPILOT_HUD"), - ("unknown26", "PROPILOT_HUD"), - ("unknown28", "PROPILOT_HUD"), - ("unknown31", "PROPILOT_HUD"), - ("SET_SPEED", "PROPILOT_HUD"), - ("unknown43", "PROPILOT_HUD"), - ("unknown08", "PROPILOT_HUD"), - ("unknown05", "PROPILOT_HUD"), - ("unknown02", "PROPILOT_HUD"), - - ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG"), - ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG"), - ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG"), - ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"), - ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"), - ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"), - ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"), - ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"), - ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG"), - ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG"), - ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG"), - ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG"), - ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG"), - ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"), - ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"), - ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG"), - ("unknown07", "PROPILOT_HUD_INFO_MSG"), - ("unknown10", "PROPILOT_HUD_INFO_MSG"), - ("unknown15", "PROPILOT_HUD_INFO_MSG"), - ("unknown23", "PROPILOT_HUD_INFO_MSG"), - ("unknown19", "PROPILOT_HUD_INFO_MSG"), - ("unknown31", "PROPILOT_HUD_INFO_MSG"), - ("unknown32", "PROPILOT_HUD_INFO_MSG"), - ("unknown46", "PROPILOT_HUD_INFO_MSG"), - ("unknown61", "PROPILOT_HUD_INFO_MSG"), - ("unknown55", "PROPILOT_HUD_INFO_MSG"), - ("unknown50", "PROPILOT_HUD_INFO_MSG"), - ] - - checks = [ + messages = [ ("PROPILOT_HUD_INFO_MSG", 2), ("LKAS_SETTINGS", 10), ("CRUISE_STATE", 50), @@ -335,19 +178,16 @@ class CarState(CarStateBase): ("LKAS", 100), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL): - signals.append(("CRUISE_ON", "PRO_PILOT")) - checks.append(("PRO_PILOT", 100)) + messages.append(("PRO_PILOT", 100)) elif CP.carFingerprint == CAR.ALTIMA: - signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR")) - checks.append(("STEER_TORQUE_SENSOR", 100)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + messages.append(("STEER_TORQUE_SENSOR", 100)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1) diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index a5cd11c097..fc0c3cbaf2 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,8 +1,8 @@ -#!/usr/bin/env python3 from cereal import car -from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.nissan.values import CAR +from panda import Panda +from openpilot.selfdrive.car import get_safety_config, create_mads_event +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.nissan.values import CAR ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -25,17 +25,17 @@ class CarInterface(CarInterfaceBase): ret.radarUnavailable = True if candidate in (CAR.ROGUE, CAR.XTRAIL): - ret.mass = 1610 + STD_CARGO_KG + ret.mass = 1610 ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 elif candidate in (CAR.LEAF, CAR.LEAF_IC): - ret.mass = 1610 + STD_CARGO_KG + ret.mass = 1610 ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 elif candidate == CAR.ALTIMA: # Altima has EPS on C-CAN unlike the others that have it on V-CAN - ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus - ret.mass = 1492 + STD_CARGO_KG + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS + ret.mass = 1492 ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index 84d8285328..32d94b2a59 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.nissan.values import CAR +from openpilot.selfdrive.car.nissan.values import CAR # TODO: add this checksum to the CANPacker nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff) diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py index b2f7651136..e654bd61fd 100644 --- a/selfdrive/car/nissan/radar_interface.py +++ b/selfdrive/car/nissan/radar_interface.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index d4e10e11ca..979e09eb66 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,11 +1,12 @@ +# ruff: noqa: E501 from dataclasses import dataclass, field from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -79,9 +80,14 @@ FINGERPRINTS = { ] } +# Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81]) +# Manufacturer specific +NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda]) +NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda]) + NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' @@ -98,6 +104,11 @@ FW_QUERY_CONFIG = FwQueryConfig( [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], rx_offset=NISSAN_RX_OFFSET, ), + # Rogue's engine solely responds to this + Request( + [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], + [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], + ), Request( [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], @@ -120,6 +131,20 @@ FW_VERSIONS = { (Ecu.gateway, 0x18dad0f1, None): [ b'284U29HE0A', ], + }, + CAR.LEAF: { + (Ecu.abs, 0x740, None): [ + b'476606WK9B', + ], + (Ecu.eps, 0x742, None): [ + b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80', + ], + (Ecu.fwdCamera, 0x707, None): [ + b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80', + ], + (Ecu.gateway, 0x18dad0f1, None): [ + b'284U26WK0C', + ], }, CAR.LEAF_IC: { (Ecu.fwdCamera, 0x707, None): [ diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 41fc55b6e0..45fb114e6e 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,7 +1,8 @@ +from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.subaru import subarucan +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags class CarController: @@ -11,7 +12,6 @@ class CarController: self.frame = 0 self.cruise_button_prev = 0 - self.last_cancel_frame = 0 self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) @@ -36,12 +36,27 @@ class CarController: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive, self.frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive)) else: can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive)) self.apply_steer_last = apply_steer + # *** longitudinal *** + + if CC.longActive: + apply_throttle = int(round(interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V))) + apply_rpm = int(round(interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V))) + apply_brake = int(round(interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V))) + + # limit min and max values + cruise_throttle = clip(apply_throttle, CarControllerParams.THROTTLE_MIN, CarControllerParams.THROTTLE_MAX) + cruise_rpm = clip(apply_rpm, CarControllerParams.RPM_MIN, CarControllerParams.RPM_MAX) + cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX) + else: + cruise_throttle = CarControllerParams.THROTTLE_INACTIVE + cruise_rpm = CarControllerParams.RPM_MIN + cruise_brake = CarControllerParams.BRAKE_MIN # *** alerts and pcm cancel *** if self.CP.carFingerprint in PREGLOBAL_CARS: @@ -64,20 +79,31 @@ class CarController: can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) else: - if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2: - bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main - can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) - self.last_cancel_frame = self.frame - if self.frame % 10 == 0: - can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) + can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, + CC.longActive, hud_control.leadVisible)) - can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.latActive, CS.madsEnabled, hud_control.visualAlert, + can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, CS.madsEnabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: - can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert)) + can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert)) + + if self.CP.openpilotLongitudinalControl: + if self.frame % 5 == 0: + can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) + + can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake)) + + can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd, + self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) + else: + if pcm_cancel_cmd: + if self.CP.carFingerprint not in HYBRID_CARS: + bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main + can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index be404eae33..768929aa46 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -1,10 +1,11 @@ import copy from cereal import car from opendbc.can.can_define import CANDefine -from common.conversions import Conversions as CV -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags +from openpilot.selfdrive.car import CanSignalRateCalculator class CarState(CarStateBase): @@ -13,6 +14,8 @@ class CarState(CarStateBase): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["Transmission"]["Gear"] + self.angle_rate_calulator = CanSignalRateCalculator(50) + self.lkas_enabled = None self.prev_lkas_enabled = None @@ -22,10 +25,11 @@ class CarState(CarStateBase): self.prev_mads_enabled = self.mads_enabled self.prev_lkas_enabled = self.lkas_enabled - ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255. + throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"] + ret.gas = throttle_msg["Throttle_Pedal"] / 255. ret.gasPressed = ret.gas > 1e-5 if self.car_fingerprint in PREGLOBAL_CARS: - ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2 + ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0 else: cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1 @@ -58,10 +62,16 @@ class CarState(CarStateBase): ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1) ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1) - can_gear = int(cp.vl["Transmission"]["Gear"]) + cp_transmission = cp_body if self.car_fingerprint in HYBRID_CARS else cp + can_gear = int(cp_transmission.vl["Transmission"]["Gear"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] + + if self.car_fingerprint not in PREGLOBAL_CARS: + # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it + ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"]) + ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] @@ -69,8 +79,12 @@ class CarState(CarStateBase): ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp - ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 - ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 + if self.car_fingerprint in HYBRID_CARS: + ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0 + ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0 + else: + ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 + ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \ @@ -84,7 +98,7 @@ class CarState(CarStateBase): cp.vl["BodyInfo"]["DOOR_OPEN_FL"]]) ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1 - cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam + cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam if self.car_fingerprint in PREGLOBAL_CARS: self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"] self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"] @@ -94,12 +108,24 @@ class CarState(CarStateBase): ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \ (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2) - # 8 is known AEB, there are a few other values related to AEB we ignore - ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ - (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) - self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) - self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + cp_es_brake = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam + self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"]) + cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam + + # TODO: Hybrid cars don't have ES_Distance, need a replacement + if self.car_fingerprint not in HYBRID_CARS: + # 8 is known AEB, there are a few other values related to AEB we ignore + ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \ + (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0) + + self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"]) + self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"]) + + if self.car_fingerprint not in HYBRID_CARS: + self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"]) @@ -107,249 +133,103 @@ class CarState(CarStateBase): return ret @staticmethod - def get_common_global_body_signals(): - signals = [ - ("Cruise_On", "CruiseControl"), - ("Cruise_Activated", "CruiseControl"), - ("FL", "Wheel_Speeds"), - ("FR", "Wheel_Speeds"), - ("RL", "Wheel_Speeds"), - ("RR", "Wheel_Speeds"), - ("Brake", "Brake_Status"), - ] - checks = [ - ("CruiseControl", 20), + def get_common_global_body_messages(CP): + messages = [ ("Wheel_Speeds", 50), ("Brake_Status", 50), ] - return signals, checks + if CP.carFingerprint not in HYBRID_CARS: + messages.append(("CruiseControl", 20)) + + return messages @staticmethod - def get_common_global_es_signals(): - signals = [ - ("AEB_Status", "ES_Brake"), - ("Brake_Pressure", "ES_Brake"), - ("COUNTER", "ES_Distance"), - ("CHECKSUM", "ES_Distance"), - ("Signal1", "ES_Distance"), - ("Cruise_Fault", "ES_Distance"), - ("Cruise_Throttle", "ES_Distance"), - ("Signal2", "ES_Distance"), - ("Car_Follow", "ES_Distance"), - ("Signal3", "ES_Distance"), - ("Cruise_Soft_Disable", "ES_Distance"), - ("Signal7", "ES_Distance"), - ("Cruise_Brake_Active", "ES_Distance"), - ("Distance_Swap", "ES_Distance"), - ("Cruise_EPB", "ES_Distance"), - ("Signal4", "ES_Distance"), - ("Close_Distance", "ES_Distance"), - ("Signal5", "ES_Distance"), - ("Cruise_Cancel", "ES_Distance"), - ("Cruise_Set", "ES_Distance"), - ("Cruise_Resume", "ES_Distance"), - ("Signal6", "ES_Distance"), - ] - - checks = [ + def get_common_global_es_messages(CP): + messages = [ ("ES_Brake", 20), - ("ES_Distance", 20), ] - return signals, checks + if CP.carFingerprint not in HYBRID_CARS: + messages += [ + ("ES_Distance", 20), + ("ES_Status", 20) + ] + + return messages + + @staticmethod + def get_common_preglobal_body_messages(): + messages = [ + ("CruiseControl", 50), + ("Wheel_Speeds", 50), + ("Dash_State2", 1), + ] + + return messages @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("Steer_Torque_Sensor", "Steering_Torque"), - ("Steer_Torque_Output", "Steering_Torque"), - ("Steering_Angle", "Steering_Torque"), - ("Steer_Error_1", "Steering_Torque"), - ("Brake_Pedal", "Brake_Pedal"), - ("Throttle_Pedal", "Throttle"), - ("LEFT_BLINKER", "Dashlights"), - ("RIGHT_BLINKER", "Dashlights"), - ("SEATBELT_FL", "Dashlights"), - ("DOOR_OPEN_FR", "BodyInfo"), - ("DOOR_OPEN_FL", "BodyInfo"), - ("DOOR_OPEN_RR", "BodyInfo"), - ("DOOR_OPEN_RL", "BodyInfo"), - ("Gear", "Transmission"), - ] - - checks = [ + messages = [ # sig_address, frequency - ("Throttle", 100), ("Dashlights", 10), - ("Brake_Pedal", 50), - ("Transmission", 100), ("Steering_Torque", 50), ("BodyInfo", 1), + ("Brake_Pedal", 50), ] - if CP.enableBsm: - signals += [ - ("L_ADJACENT", "BSD_RCTA"), - ("R_ADJACENT", "BSD_RCTA"), - ("L_APPROACHING", "BSD_RCTA"), - ("R_APPROACHING", "BSD_RCTA"), + if CP.carFingerprint not in HYBRID_CARS: + messages += [ + ("Throttle", 100), + ("Transmission", 100) ] - checks.append(("BSD_RCTA", 17)) + + if CP.enableBsm: + messages.append(("BSD_RCTA", 17)) if CP.carFingerprint not in PREGLOBAL_CARS: if CP.carFingerprint not in GLOBAL_GEN2: - signals += CarState.get_common_global_body_signals()[0] - checks += CarState.get_common_global_body_signals()[1] - - signals += [ - ("Steer_Warning", "Steering_Torque"), - ("UNITS", "Dashlights"), - ] - - checks += [ - ("Dashlights", 10), - ("BodyInfo", 10), - ] + messages += CarState.get_common_global_body_messages(CP) else: - signals += [ - ("FL", "Wheel_Speeds"), - ("FR", "Wheel_Speeds"), - ("RL", "Wheel_Speeds"), - ("RR", "Wheel_Speeds"), - ("UNITS", "Dash_State2"), - ("Cruise_On", "CruiseControl"), - ("Cruise_Activated", "CruiseControl"), - ] - checks += [ - ("Wheel_Speeds", 50), - ("Dash_State2", 1), - ] + messages += CarState.get_common_preglobal_body_messages() - if CP.carFingerprint == CAR.FORESTER_PREGLOBAL: - checks += [ - ("Dashlights", 20), - ("BodyInfo", 1), - ("CruiseControl", 50), - ] - - if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): - checks += [ - ("Dashlights", 10), - ("CruiseControl", 50), - ] - - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.main) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in PREGLOBAL_CARS: - signals = [ - ("Cruise_Set_Speed", "ES_DashStatus"), - ("Not_Ready_Startup", "ES_DashStatus"), - - ("Cruise_Throttle", "ES_Distance"), - ("Signal1", "ES_Distance"), - ("Car_Follow", "ES_Distance"), - ("Signal2", "ES_Distance"), - ("Brake_On", "ES_Distance"), - ("Distance_Swap", "ES_Distance"), - ("Standstill", "ES_Distance"), - ("Signal3", "ES_Distance"), - ("Close_Distance", "ES_Distance"), - ("Signal4", "ES_Distance"), - ("Standstill_2", "ES_Distance"), - ("Cruise_Fault", "ES_Distance"), - ("Signal5", "ES_Distance"), - ("COUNTER", "ES_Distance"), - ("Signal6", "ES_Distance"), - ("Cruise_Button", "ES_Distance"), - ("Signal7", "ES_Distance"), - ("Brake_Light", "ES_Brake"), - ] - - checks = [ + messages = [ ("ES_DashStatus", 20), ("ES_Distance", 20), ("ES_Brake", 20), ] else: - signals = [ - ("COUNTER", "ES_DashStatus"), - ("CHECKSUM", "ES_DashStatus"), - ("PCB_Off", "ES_DashStatus"), - ("LDW_Off", "ES_DashStatus"), - ("Signal1", "ES_DashStatus"), - ("Cruise_State_Msg", "ES_DashStatus"), - ("LKAS_State_Msg", "ES_DashStatus"), - ("Signal2", "ES_DashStatus"), - ("Cruise_Soft_Disable", "ES_DashStatus"), - ("Cruise_Status_Msg", "ES_DashStatus"), - ("Signal3", "ES_DashStatus"), - ("Cruise_Distance", "ES_DashStatus"), - ("Signal4", "ES_DashStatus"), - ("Conventional_Cruise", "ES_DashStatus"), - ("Signal5", "ES_DashStatus"), - ("Cruise_Disengaged", "ES_DashStatus"), - ("Cruise_Activated", "ES_DashStatus"), - ("Signal6", "ES_DashStatus"), - ("Cruise_Set_Speed", "ES_DashStatus"), - ("Cruise_Fault", "ES_DashStatus"), - ("Cruise_On", "ES_DashStatus"), - ("Display_Own_Car", "ES_DashStatus"), - ("Brake_Lights", "ES_DashStatus"), - ("Car_Follow", "ES_DashStatus"), - ("Signal7", "ES_DashStatus"), - ("Far_Distance", "ES_DashStatus"), - ("Cruise_State", "ES_DashStatus"), - - ("COUNTER", "ES_LKAS_State"), - ("CHECKSUM", "ES_LKAS_State"), - ("LKAS_Alert_Msg", "ES_LKAS_State"), - ("Signal1", "ES_LKAS_State"), - ("LKAS_ACTIVE", "ES_LKAS_State"), - ("LKAS_Dash_State", "ES_LKAS_State"), - ("Signal2", "ES_LKAS_State"), - ("Backward_Speed_Limit_Menu", "ES_LKAS_State"), - ("LKAS_Left_Line_Enable", "ES_LKAS_State"), - ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"), - ("LKAS_Right_Line_Enable", "ES_LKAS_State"), - ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"), - ("LKAS_Left_Line_Visible", "ES_LKAS_State"), - ("LKAS_Right_Line_Visible", "ES_LKAS_State"), - ("LKAS_Alert", "ES_LKAS_State"), - ("Signal3", "ES_LKAS_State"), - ] - - checks = [ + messages = [ ("ES_DashStatus", 10), ("ES_LKAS_State", 10), ] if CP.carFingerprint not in GLOBAL_GEN2: - signals += CarState.get_common_global_es_signals()[0] - checks += CarState.get_common_global_es_signals()[1] + messages += CarState.get_common_global_es_messages(CP) if CP.flags & SubaruFlags.SEND_INFOTAINMENT: - signals += [ - ("COUNTER", "ES_Infotainment"), - ("CHECKSUM", "ES_Infotainment"), - ("LKAS_State_Infotainment", "ES_Infotainment"), - ("LKAS_Blue_Lines", "ES_Infotainment"), - ("Signal1", "ES_Infotainment"), - ("Signal2", "ES_Infotainment"), - ] - checks.append(("ES_Infotainment", 10)) + messages.append(("ES_Infotainment", 10)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.camera) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera) @staticmethod def get_body_can_parser(CP): - if CP.carFingerprint in GLOBAL_GEN2: - signals, checks = CarState.get_common_global_body_signals() - signals += CarState.get_common_global_es_signals()[0] - checks += CarState.get_common_global_es_signals()[1] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.alt) + messages = [] + + if CP.carFingerprint in GLOBAL_GEN2: + messages += CarState.get_common_global_body_messages(CP) + messages += CarState.get_common_global_es_messages(CP) + + if CP.carFingerprint in HYBRID_CARS: + messages += [ + ("Throttle_Hybrid", 40), + ("Transmission", 100) + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt) - return None diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8f6d8a3ca3..bc157589ff 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,9 +1,8 @@ -#!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags +from openpilot.selfdrive.car import get_safety_config, create_mads_event +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -16,6 +15,11 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True + # for HYBRID CARS to be upstreamed, we need: + # - replacement for ES_Distance so we can cancel the cruise control + # - to find the Cruise_Activated bit from the car + # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) + ret.dashcamOnly = candidate in (LKAS_ANGLE | HYBRID_CARS) ret.autoResumeSng = False # Detect infotainment message sent from the camera @@ -33,10 +37,14 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.steerActuatorDelay = 0.1 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate == CAR.ASCENT: - ret.mass = 2031. + STD_CARGO_KG + if candidate in LKAS_ANGLE: + ret.steerControlType = car.CarParams.SteerControlType.angle + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + if candidate in (CAR.ASCENT, CAR.ASCENT_2023): + ret.mass = 2031. ret.wheelbase = 2.89 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13.5 @@ -47,7 +55,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] elif candidate == CAR.IMPREZA: - ret.mass = 1568. + STD_CARGO_KG + ret.mass = 1568. ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 15 @@ -65,7 +73,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] elif candidate == CAR.IMPREZA_2020: - ret.mass = 1480. + STD_CARGO_KG + ret.mass = 1480. ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock @@ -74,8 +82,15 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] - elif candidate == CAR.FORESTER: - ret.mass = 1568. + STD_CARGO_KG + elif candidate == CAR.CROSSTREK_HYBRID: + ret.mass = 1668. + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 17 + ret.steerActuatorDelay = 0.1 + + elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID): + ret.mass = 1568. ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock @@ -84,37 +99,47 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] - elif candidate in (CAR.OUTBACK, CAR.LEGACY): - ret.mass = 1568. + STD_CARGO_KG + elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023): + ret.mass = 1568. ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 ret.steerActuatorDelay = 0.1 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_LEGACY_FLIP_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal - ret.mass = 1568 + STD_CARGO_KG + ret.mass = 1568 ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock elif candidate == CAR.LEGACY_PREGLOBAL: - ret.mass = 1568 + STD_CARGO_KG + ret.mass = 1568 ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 elif candidate == CAR.OUTBACK_PREGLOBAL: - ret.mass = 1568 + STD_CARGO_KG + ret.mass = 1568 ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock - else: raise ValueError(f"unknown car: {candidate}") + #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS) + ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable + + if ret.openpilotLongitudinalControl: + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.54, 0.36] + + ret.stoppingControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG + return ret # returns a car.CarState diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py index b2f7651136..e654bd61fd 100644 --- a/selfdrive/car/subaru/radar_interface.py +++ b/selfdrive/car/subaru/radar_interface.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 52cc16dc56..f73c23420b 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.subaru.values import CanBus +from openpilot.selfdrive.car.subaru.values import CanBus VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -16,17 +16,15 @@ def create_steering_control(packer, apply_steer, steer_req): def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) - -def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): +def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0): values = {s: es_distance_msg[s] for s in [ "CHECKSUM", - "COUNTER", "Signal1", "Cruise_Fault", "Cruise_Throttle", "Signal2", "Car_Follow", - "Signal3", + "Low_Speed_Follow", "Cruise_Soft_Disable", "Signal7", "Cruise_Brake_Active", @@ -40,16 +38,28 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): "Cruise_Resume", "Signal6", ]} - values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 + + values["COUNTER"] = frame % 0x10 + + if long_enabled: + values["Cruise_Throttle"] = cruise_throttle + + # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long + values["Cruise_Soft_Disable"] = 0 + + if brake_cmd: + values["Cruise_Brake_Active"] = 1 + if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 + values["Cruise_Throttle"] = 1818 # inactive throttle + return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas_state(packer, es_lkas_state_msg, lat_active, mads_enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): +def create_es_lkas_state(packer, frame, es_lkas_state_msg, lat_active, mads_enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): values = {s: es_lkas_state_msg[s] for s in [ "CHECKSUM", - "COUNTER", "LKAS_Alert_Msg", "Signal1", "LKAS_ACTIVE", @@ -66,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, lat_active, mads_enabled, vi "Signal3", ]} + values["COUNTER"] = frame % 0x10 + # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: values["LKAS_Alert_Msg"] = 0 @@ -97,22 +109,25 @@ def create_es_lkas_state(packer, es_lkas_state_msg, lat_active, mads_enabled, vi elif right_lane_depart: values["LKAS_Alert"] = 11 # Right lane departure dash alert - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 if lat_active else 1 if mads_enabled and not lat_active else 0 # 2 = Green enabled indicator, 1 = White ready indicator, 0 = LKAS Not enabled + if lat_active: + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 # Green enabled indicator - values["LKAS_Left_Line_Enable"] = 1 if lat_active else 0 - values["LKAS_Right_Line_Enable"] = 1 if lat_active else 0 + values["LKAS_Left_Line_Enable"] = 1 + values["LKAS_Right_Line_Enable"] = 1 + elif mads_enabled and not lat_active: + values["LKAS_Dash_State"] = 1 # White ready indicator + else: + values["LKAS_Dash_State"] = 0 # LKAS Not enabled values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line) return packer.make_can_msg("ES_LKAS_State", CanBus.main, values) - -def create_es_dashstatus(packer, dashstatus_msg): +def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible): values = {s: dashstatus_msg[s] for s in [ "CHECKSUM", - "COUNTER", "PCB_Off", "LDW_Off", "Signal1", @@ -140,23 +155,85 @@ def create_es_dashstatus(packer, dashstatus_msg): "Cruise_State", ]} + values["COUNTER"] = frame % 0x10 + + if enabled and long_active: + values["Cruise_State"] = 0 + values["Cruise_Activated"] = 1 + values["Cruise_Disengaged"] = 0 + values["Car_Follow"] = int(lead_visible) + + if long_enabled: + values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if values["LKAS_State_Msg"] in (2, 3): values["LKAS_State_Msg"] = 0 return packer.make_can_msg("ES_DashStatus", CanBus.main, values) +def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): + values = {s: es_brake_msg[s] for s in [ + "CHECKSUM", + "Signal1", + "Brake_Pressure", + "AEB_Status", + "Cruise_Brake_Lights", + "Cruise_Brake_Fault", + "Cruise_Brake_Active", + "Cruise_Activated", + "Signal3", + ]} -def create_es_infotainment(packer, es_infotainment_msg, visual_alert): + values["COUNTER"] = frame % 0x10 + + if enabled: + values["Cruise_Activated"] = 1 + + values["Brake_Pressure"] = brake_value + + if brake_value > 0: + values["Cruise_Brake_Active"] = 1 + values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0 + + return packer.make_can_msg("ES_Brake", CanBus.main, values) + +def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm): + values = {s: es_status_msg[s] for s in [ + "CHECKSUM", + "Signal1", + "Cruise_Fault", + "Cruise_RPM", + "Signal2", + "Cruise_Activated", + "Brake_Lights", + "Cruise_Hold", + "Signal3", + ]} + + values["COUNTER"] = frame % 0x10 + + if long_enabled: + values["Cruise_RPM"] = cruise_rpm + + if long_active: + values["Cruise_Activated"] = 1 + + return packer.make_can_msg("ES_Status", CanBus.main, values) + + +def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert): # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts values = {s: es_infotainment_msg[s] for s in [ "CHECKSUM", - "COUNTER", "LKAS_State_Infotainment", "LKAS_Blue_Lines", "Signal1", "Signal2", ]} + + values["COUNTER"] = frame % 0x10 + if values["LKAS_State_Infotainment"] in (3, 4): values["LKAS_State_Infotainment"] = 0 @@ -173,17 +250,14 @@ def create_es_infotainment(packer, es_infotainment_msg, visual_alert): # *** Subaru Pre-global *** -def subaru_preglobal_checksum(packer, values, addr): +def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7): dat = packer.make_can_msg(addr, 0, values)[2] - return (sum(dat[:7])) % 256 + return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256 -def create_preglobal_steering_control(packer, apply_steer, steer_req, frame, steer_step): - - idx = (frame / steer_step) % 8 - +def create_preglobal_steering_control(packer, frame, apply_steer, steer_req): values = { - "COUNTER": idx, + "COUNTER": frame % 0x08, "LKAS_Command": apply_steer, "LKAS_Active": steer_req, } @@ -198,7 +272,7 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): "Signal1", "Car_Follow", "Signal2", - "Brake_On", + "Cruise_Brake_Active", "Distance_Swap", "Standstill", "Signal3", diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 4824ac72bf..832c070585 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -5,9 +5,9 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -32,6 +32,29 @@ class CarControllerParams: else: self.STEER_MAX = 2047 + THROTTLE_MIN = 808 + THROTTLE_MAX = 3400 + + THROTTLE_INACTIVE = 1818 # corresponds to zero acceleration + THROTTLE_ENGINE_BRAKE = 808 # while braking, eyesight sets throttle to this, probably for engine braking + + BRAKE_MIN = 0 + BRAKE_MAX = 600 # about -3.5m/s2 from testing + + RPM_MIN = 0 + RPM_MAX = 2400 + + RPM_INACTIVE = 600 # a good base rpm for zero acceleration + + THROTTLE_LOOKUP_BP = [0, 1] + THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX] + + RPM_LOOKUP_BP = [0, 1] + RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX] + + BRAKE_LOOKUP_BP = [-1, 0] + BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN] + class SubaruFlags(IntFlag): SEND_INFOTAINMENT = 1 @@ -46,11 +69,16 @@ class CanBus: class CAR: # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" + ASCENT_2023 = "SUBARU ASCENT 2023" IMPREZA = "SUBARU IMPREZA LIMITED 2019" IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" FORESTER = "SUBARU FORESTER 2019" OUTBACK = "SUBARU OUTBACK 6TH GEN" + CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020" + FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020" LEGACY = "SUBARU LEGACY 7TH GEN" + FORESTER_2022 = "SUBARU FORESTER 2022" + OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN" # Pre-global FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" @@ -71,6 +99,8 @@ class SubaruCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a])) footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL]) + def init_make(self, CP: car.CarParams): + self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), @@ -86,11 +116,17 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { SubaruCarInfo("Subaru Crosstrek 2020-23"), SubaruCarInfo("Subaru XV 2020-21"), ], + # TODO: is there an XV and Impreza too? + CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"), + CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"), CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), + CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), + CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ @@ -104,6 +140,12 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], ), + # Some Eyesight modules fail on TESTER_PRESENT_REQUEST + # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars + Request( + [SUBARU_VERSION_REQUEST], + [SUBARU_VERSION_RESPONSE], + ), ], ) @@ -141,6 +183,23 @@ FW_VERSIONS = { b'\x01\xfe\xfa\x00\x00', ], }, + CAR.ASCENT_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa5 #\x03\x00', + ], + (Ecu.eps, 0x746, None): [ + b'%\xc0\xd0\x11', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x05!\x08\x1dK\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xe5,\xa0P\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\x04\xfe\xf3\x00\x00', + ], + }, CAR.LEGACY: { (Ecu.abs, 0x7b0, None): [ b'\xa1\\ x04\x01', @@ -254,6 +313,7 @@ FW_VERSIONS = { b'\xa2 !`\000', b'\xf1\x00\xb2\x06\x04', b'\xa2 `\x00', + b'\xa2 !3\x00', ], (Ecu.eps, 0x746, None): [ b'\x9a\xc0\000\000', @@ -267,6 +327,7 @@ FW_VERSIONS = { b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', + b'\x00\x00e\xa4\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xca!ap\a', @@ -279,6 +340,9 @@ FW_VERSIONS = { b'\xf3"f@\x07', b'\xe6!fp\x07', b'\xf3"fp\x07', + b'\xe6"f0\x07', + b'\xe6"fp\x07', + b'\xe6!`@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -289,6 +353,26 @@ FW_VERSIONS = { b'\xe6\xf5D0\x00', b'\xe9\xf6F0\x00', b'\xe9\xf5B0\x00', + b'\xe9\xf6B0\x00', + b'\xe9\xf5"\x00\x00', + ], + }, + CAR.CROSSTREK_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa2 \x19e\x01', + b'\xa2 !e\x01', + ], + (Ecu.eps, 0x746, None): [ + b'\x9a\xc2\x01\x00', + b'\n\xc2\x01\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00el\x1f@ #', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd7!`@\x07', + b'\xd7!`p\a', + b'\xf4!`0\x07', ], }, CAR.FORESTER: { @@ -334,6 +418,23 @@ FW_VERSIONS = { b'\x1a\xe6F1\x00', ], }, + CAR.FORESTER_HYBRID: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 \x19T\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x8d\xc2\x00\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eY\x1f@ !', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd2\xa1`r\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1b\xa7@a\x00', + ], + }, CAR.FORESTER_PREGLOBAL: { (Ecu.abs, 0x7b0, None): [ b'\x7d\x97\x14\x40', @@ -539,14 +640,65 @@ FW_VERSIONS = { b'\xa5\xfe\xf8@\x00', ], }, + CAR.FORESTER_2022: { + (Ecu.abs, 0x7b0, None): [ + b'\xa3 !x\x00', + b'\xa3 !v\x00', + b'\xa3 "v\x00', + b'\xa3 "x\x00', + ], + (Ecu.eps, 0x746, None): [ + b'-\xc0%0', + b'-\xc0\x040', + b'=\xc0%\x02', + b'=\xc04\x02', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x04!\x01\x1eD\x07!\x00\x04,' + ], + (Ecu.engine, 0x7e0, None): [ + b'\xd5"a0\x07', + b'\xd5"`0\x07', + b'\xf1"aq\x07', + b'\xf1"`q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\x1d\x86B0\x00', + b'\x1d\xf6B0\x00', + b'\x1e\x86B0\x00', + b'\x1e\xf6D0\x00', + ], + }, + CAR.OUTBACK_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1 #\x17\x00', + ], + (Ecu.eps, 0x746, None): [ + b'+\xc0\x12\x11\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\t!\x08\x046\x05!\x08\x01/', + ], + (Ecu.engine, 0x7a2, None): [ + b'\xed,\xa2q\x07', + ], + (Ecu.transmission, 0x7a3, None): [ + b'\xa8\x8e\xf41\x00', + ] + } } DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), + CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), + CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None), CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), + CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), + CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), + CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None), CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), @@ -554,5 +706,7 @@ DBC = { CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } -GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY) -PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018) +LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} +GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} +PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018} +HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID} diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index aeaaba88e7..95a248a614 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -1,8 +1,8 @@ -from common.numpy_fast import clip +from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.tesla.teslacan import TeslaCAN -from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams class CarController: diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 0f373842f2..2cb4f09d79 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -1,9 +1,9 @@ import copy from collections import deque from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine @@ -78,7 +78,7 @@ class CarState(CarStateBase): ret.buttonEvents = buttonEvents # Doors - ret.doorOpen = any([(self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS]) + ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS) # Blinkers ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1) @@ -101,68 +101,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("ESP_vehicleSpeed", "ESP_B"), - ("DI_pedalPos", "DI_torque1"), - ("DI_brakePedal", "DI_torque2"), - ("StW_AnglHP", "STW_ANGLHP_STAT"), - ("StW_AnglHP_Spd", "STW_ANGLHP_STAT"), - ("EPAS_handsOnLevel", "EPAS_sysStatus"), - ("EPAS_torsionBarTorque", "EPAS_sysStatus"), - ("EPAS_internalSAS", "EPAS_sysStatus"), - ("EPAS_eacStatus", "EPAS_sysStatus"), - ("EPAS_eacErrorCode", "EPAS_sysStatus"), - ("DI_cruiseState", "DI_state"), - ("DI_digitalSpeed", "DI_state"), - ("DI_speedUnits", "DI_state"), - ("DI_gear", "DI_torque2"), - ("DOOR_STATE_FL", "GTW_carState"), - ("DOOR_STATE_FR", "GTW_carState"), - ("DOOR_STATE_RL", "GTW_carState"), - ("DOOR_STATE_RR", "GTW_carState"), - ("DOOR_STATE_FrontTrunk", "GTW_carState"), - ("BOOT_STATE", "GTW_carState"), - ("BC_indicatorLStatus", "GTW_carState"), - ("BC_indicatorRStatus", "GTW_carState"), - ("SDM_bcklDrivStatus", "SDM1"), - ("driverBrakeStatus", "BrakeMessage"), - - # We copy this whole message when spamming cancel - ("SpdCtrlLvr_Stat", "STW_ACTN_RQ"), - ("VSL_Enbl_Rq", "STW_ACTN_RQ"), - ("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"), - ("DTR_Dist_Rq", "STW_ACTN_RQ"), - ("TurnIndLvr_Stat", "STW_ACTN_RQ"), - ("HiBmLvr_Stat", "STW_ACTN_RQ"), - ("WprWashSw_Psd", "STW_ACTN_RQ"), - ("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"), - ("StW_Lvr_Stat", "STW_ACTN_RQ"), - ("StW_Cond_Flt", "STW_ACTN_RQ"), - ("StW_Cond_Psd", "STW_ACTN_RQ"), - ("HrnSw_Psd", "STW_ACTN_RQ"), - ("StW_Sw00_Psd", "STW_ACTN_RQ"), - ("StW_Sw01_Psd", "STW_ACTN_RQ"), - ("StW_Sw02_Psd", "STW_ACTN_RQ"), - ("StW_Sw03_Psd", "STW_ACTN_RQ"), - ("StW_Sw04_Psd", "STW_ACTN_RQ"), - ("StW_Sw05_Psd", "STW_ACTN_RQ"), - ("StW_Sw06_Psd", "STW_ACTN_RQ"), - ("StW_Sw07_Psd", "STW_ACTN_RQ"), - ("StW_Sw08_Psd", "STW_ACTN_RQ"), - ("StW_Sw09_Psd", "STW_ACTN_RQ"), - ("StW_Sw10_Psd", "STW_ACTN_RQ"), - ("StW_Sw11_Psd", "STW_ACTN_RQ"), - ("StW_Sw12_Psd", "STW_ACTN_RQ"), - ("StW_Sw13_Psd", "STW_ACTN_RQ"), - ("StW_Sw14_Psd", "STW_ACTN_RQ"), - ("StW_Sw15_Psd", "STW_ACTN_RQ"), - ("WprSw6Posn", "STW_ACTN_RQ"), - ("MC_STW_ACTN_RQ", "STW_ACTN_RQ"), - ("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"), - ] - - checks = [ + messages = [ # sig_address, frequency ("ESP_B", 50), ("DI_torque1", 100), @@ -175,19 +114,12 @@ class CarState(CarStateBase): ("SDM1", 10), ("BrakeMessage", 50), ] - - return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.chassis) + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis) @staticmethod def get_cam_can_parser(CP): - signals = [ - # sig_name, sig_address - ("DAS_accState", "DAS_control"), - ("DAS_aebEvent", "DAS_control"), - ("DAS_controlCounter", "DAS_control"), - ] - checks = [ + messages = [ # sig_address, frequency ("DAS_control", 40), ] - return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot_chassis) + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis) diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index afd3fb3be4..e06139729c 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car.tesla.values import CANBUS, CAR -from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.tesla.values import CANBUS, CAR +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.25 if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS): - ret.mass = 2100. + STD_CARGO_KG + ret.mass = 2100. ret.wheelbase = 2.959 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 15.0 diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index a09f53e758..b3e7c7fcb1 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.tesla.values import DBC, CANBUS -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase RADAR_MSGS_A = list(range(0x310, 0x36E, 3)) RADAR_MSGS_B = list(range(0x311, 0x36F, 3)) @@ -10,13 +10,7 @@ NUM_POINTS = len(RADAR_MSGS_A) def get_radar_can_parser(CP): # Status messages - signals = [ - ('RADC_HWFail', 'TeslaRadarSguInfo'), - ('RADC_SGUFail', 'TeslaRadarSguInfo'), - ('RADC_SensorDirty', 'TeslaRadarSguInfo'), - ] - - checks = [ + messages = [ ('TeslaRadarSguInfo', 10), ] @@ -25,28 +19,12 @@ def get_radar_can_parser(CP): for i in range(NUM_POINTS): msg_id_a = RADAR_MSGS_A[i] msg_id_b = RADAR_MSGS_B[i] - - # There is a bunch more info in the messages, - # but these are the only things actually used in openpilot - signals.extend([ - ('LongDist', msg_id_a), - ('LongSpeed', msg_id_a), - ('LatDist', msg_id_a), - ('LongAccel', msg_id_a), - ('Meas', msg_id_a), - ('Tracked', msg_id_a), - ('Index', msg_id_a), - - ('LatSpeed', msg_id_b), - ('Index2', msg_id_b), - ]) - - checks.extend([ + messages.extend([ (msg_id_a, 8), (msg_id_b, 8), ]) - return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, CANBUS.radar) + return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar) class RadarInterface(RadarInterfaceBase): def __init__(self, CP): diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index a491c030f8..6bb27b995f 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -1,7 +1,7 @@ import crcmod -from common.conversions import Conversions as CV -from selfdrive.car.tesla.values import CANBUS, CarControllerParams +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams class TeslaCAN: diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index f79e5f0097..15283ae4b2 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,10 +1,11 @@ +# ruff: noqa: E501 from collections import namedtuple from typing import Dict, List, Union from cereal import car -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py old mode 100644 new mode 100755 index 66f4ad2de5..8299d15d52 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -1,18 +1,18 @@ #!/usr/bin/env python3 -from collections import namedtuple +from typing import NamedTuple, Optional -from selfdrive.car.chrysler.values import CAR as CHRYSLER -from selfdrive.car.gm.values import CAR as GM -from selfdrive.car.ford.values import CAR as FORD -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.nissan.values import CAR as NISSAN -from selfdrive.car.mazda.values import CAR as MAZDA -from selfdrive.car.subaru.values import CAR as SUBARU -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN -from selfdrive.car.tesla.values import CAR as TESLA -from selfdrive.car.body.values import CAR as COMMA +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN +from openpilot.selfdrive.car.tesla.values import CAR as TESLA +from openpilot.selfdrive.car.body.values import CAR as COMMA # TODO: add routes for these cars non_tested_cars = [ @@ -22,15 +22,19 @@ non_tested_cars = [ GM.MALIBU, GM.EQUINOX, HYUNDAI.GENESIS_G90, - HYUNDAI.IONIQ_6, - HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, TOYOTA.RAV4H_TSS2_2023, + SUBARU.FORESTER_HYBRID, ] -CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) + +class CarTestRoute(NamedTuple): + route: str + car_model: Optional[str] + segment: Optional[int] = None + routes = [ CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), @@ -105,6 +109,7 @@ routes = [ CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), + CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), @@ -114,18 +119,23 @@ routes = [ CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5), + CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14), CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN), CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 + CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), + CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV), # openpilot longitudinal enabled CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), + CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ), # openpilot longitudinal enabled CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), + CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13), CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), @@ -158,6 +168,7 @@ routes = [ CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2), CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), + CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2), CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH), @@ -165,7 +176,6 @@ routes = [ CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2), CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS), - CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4), CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), @@ -191,6 +201,7 @@ routes = [ CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), + CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2), CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), @@ -198,6 +209,7 @@ routes = [ CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), + # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHRH_TSS2), # openpilot longitudinal, radar disabled CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), @@ -232,8 +244,13 @@ routes = [ CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), + # CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), + CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2), + CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4), + CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7), + CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.ASCENT_2023, segment=7), # Pre-global, dashcam CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py new file mode 100755 index 0000000000..406ccd07f0 --- /dev/null +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +from parameterized import parameterized +import unittest + +from cereal import log, messaging +from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint +from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS + + +class TestCanFingerprint(unittest.TestCase): + @parameterized.expand([(c, f) for c, f in FINGERPRINTS.items()]) + def test_can_fingerprint(self, car_model, fingerprints): + """Tests online fingerprinting function on offline fingerprints""" + + for fingerprint in fingerprints: # can have multiple fingerprints for each platform + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src) + for address, length in fingerprint.items() for src in (0, 1)] + + fingerprint_iter = iter([can]) + empty_can = messaging.new_message('can', 0) + car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can)) # noqa: B023 + + self.assertEqual(car_fingerprint, car_model) + self.assertEqual(finger[0], fingerprint) + self.assertEqual(finger[1], fingerprint) + self.assertEqual(finger[2], {}) + + def test_timing(self): + # just pick any CAN fingerprinting car + car_model = 'CHEVROLET BOLT EUV 2022' + fingerprint = FINGERPRINTS[car_model][0] + + cases = [] + + # case 1 - one match, make sure we keep going for 100 frames + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src) + for address, length in fingerprint.items() for src in (0, 1)] + cases.append((FRAME_FINGERPRINT, car_model, can)) + + # case 2 - no matches, make sure we keep going for 100 frames + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)] # uncommon address + cases.append((FRAME_FINGERPRINT, None, can)) + + # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some + can = messaging.new_message('can', 1) + can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)] # common address + cases.append((FRAME_FINGERPRINT * 2, None, can)) + + for expected_frames, car_model, can in cases: + with self.subTest(expected_frames=expected_frames, car_model=car_model): + frames = 0 + + def test(): + nonlocal frames + frames += 1 + return can # noqa: B023 + + car_fingerprint, _ = can_fingerprint(test) + self.assertEqual(car_fingerprint, car_model) + self.assertEqual(frames, expected_frames + 2) # TODO: fix extra frames + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 005ea114fd..0c970f5c75 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,17 +1,24 @@ #!/usr/bin/env python3 +import os import math import unittest import hypothesis.strategies as st -from hypothesis import given, settings +from hypothesis import Phase, given, settings import importlib from parameterized import parameterized -from cereal import car -from common.realtime import DT_CTRL -from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator +from cereal import car, messaging +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.fw_versions import FW_VERSIONS +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator + +ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) + +MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '5')) def get_fuzzy_car_interface_args(draw: DrawType) -> dict: @@ -20,12 +27,8 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: st.integers(min_value=0, max_value=64)) for key in gen_empty_fingerprint()}) - # just the most important fields - car_fw_strategy = st.lists(st.fixed_dictionaries({ - 'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())), - # TODO: only use reasonable addrs for the paired ecu and brand/platform - 'address': st.integers(min_value=0, max_value=0x800), - })) + # only pick from possible ecus to reduce search space + car_fw_strategy = st.lists(st.sampled_from(ALL_ECUS)) params_strategy = st.fixed_dictionaries({ 'fingerprints': fingerprint_strategy, @@ -34,14 +37,21 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict: }) params: dict = draw(params_strategy) - params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']] + params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']] return params class TestCarInterfaces(unittest.TestCase): + @classmethod + def setUpClass(cls): + os.environ['NO_RADAR_SLEEP'] = '1' + + # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause + # many generated examples to overrun when max_examples > ~20, don't use it @parameterized.expand([(car,) for car in sorted(all_known_cars())]) - @settings(max_examples=5) + @settings(max_examples=MAX_EXAMPLES, deadline=None, + phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_car_interfaces(self, car_name, data): CarInterface, CarController, CarState = interfaces[car_name] @@ -109,5 +119,37 @@ class TestCarInterfaces(unittest.TestCase): hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): radar_interface._update([radar_interface.trigger_msg]) + # Test radar fault + if not car_params.radarUnavailable and radar_interface.rcp is not None: + cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] + rr = radar_interface.update(cans) + self.assertTrue(rr is None or len(rr.errors) > 0) + + def test_interface_attrs(self): + """Asserts basic behavior of interface attribute getter""" + num_brands = len(get_interface_attr('CAR')) + self.assertGreaterEqual(num_brands, 13) + + # Should return value for all brands when not combining, even if attribute doesn't exist + ret = get_interface_attr('FAKE_ATTR') + self.assertEqual(len(ret), num_brands) + + # Make sure we can combine dicts + ret = get_interface_attr('DBC', combine_brands=True) + self.assertGreaterEqual(len(ret), 170) + + # We don't support combining non-dicts + ret = get_interface_attr('CAR', combine_brands=True) + self.assertEqual(len(ret), 0) + + # If brand has None value, it shouldn't return when ignore_none=True is specified + none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None} + self.assertGreaterEqual(len(none_brands), 1) + + ret = get_interface_attr('FINGERPRINTS', ignore_none=True) + none_brands_in_ret = none_brands.intersection(ret) + self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}') + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 7ea9f6c9fe..d9d67fe87d 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -4,13 +4,13 @@ import os import re import unittest -from common.basedir import BASEDIR -from selfdrive.car.car_helpers import interfaces, get_interface_attr -from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info -from selfdrive.car.docs_definitions import Cable, Column, PartType, Star -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.debug.dump_car_info import dump_car_info -from selfdrive.debug.print_docs_diff import print_car_info_diff +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info +from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.debug.dump_car_info import dump_car_info +from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff class TestCarDocs(unittest.TestCase): @@ -84,8 +84,8 @@ class TestCarDocs(unittest.TestCase): if car.name == "comma body": raise unittest.SkipTest - car_part_type = [p.type for p in car.car_parts.all_parts()] - car_parts = [p for p in car.car_parts.all_parts()] + car_part_type = [p.part_type for p in car.car_parts.all_parts()] + car_parts = list(car.car_parts.all_parts()) self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}") self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py index 26ade29e4a..61e9a4d165 100755 --- a/selfdrive/car/tests/test_fingerprints.py +++ b/selfdrive/car/tests/test_fingerprints.py @@ -3,7 +3,7 @@ import os import sys from typing import Dict, List -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR # messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can) # (addr, len) @@ -70,7 +70,7 @@ if __name__ == "__main__": for brand in fingerprints: for car in fingerprints[brand]: fingerprints_flat += fingerprints[brand][car] - for i in range(len(fingerprints[brand][car])): + for _ in range(len(fingerprints[brand][car])): car_names.append(car) brand_names.append(brand) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index c1e1d68d2c..7d5bd85e99 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -7,11 +7,12 @@ from parameterized import parameterized import threading from cereal import car -from common.params import Params -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus -from selfdrive.car.vin import get_vin +from openpilot.common.params import Params +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ + match_fw_to_car, get_fw_versions, get_present_ecus +from openpilot.selfdrive.car.vin import get_vin CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -167,10 +168,14 @@ class TestFwFingerprint(unittest.TestCase): for request_obj in config.requests: self.assertEqual(len(request_obj.request), len(request_obj.response)) + # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda + self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing, + f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}") + class TestFwFingerprintTiming(unittest.TestCase): N: int = 5 - TOL: float = 0.1 + TOL: float = 0.12 @staticmethod def _run_thread(thread: threading.Thread) -> float: @@ -192,7 +197,7 @@ class TestFwFingerprintTiming(unittest.TestCase): kwargs=dict(num_pandas=num_pandas)) brand_time += self._run_thread(thread) - return round(brand_time / self.N, 2) + return brand_time / self.N def _assert_timing(self, avg_time, ref_time): self.assertLess(avg_time, ref_time + self.TOL) @@ -220,24 +225,24 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin, query time={vin_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = 6.0 + total_ref_time = 6.07 brand_ref_times = { 1: { - 'body': 0.1, + 'body': 0.11, 'chrysler': 0.3, 'ford': 0.2, - 'honda': 0.5, - 'hyundai': 0.7, + 'honda': 0.52, + 'hyundai': 0.72, 'mazda': 0.2, - 'nissan': 0.3, - 'subaru': 0.1, + 'nissan': 0.4, + 'subaru': 0.2, 'tesla': 0.2, 'toyota': 1.6, 'volkswagen': 0.2, }, 2: { - 'ford': 0.4, - 'hyundai': 1.1, + 'ford': 0.3, + 'hyundai': 1.12, } } @@ -251,10 +256,12 @@ class TestFwFingerprintTiming(unittest.TestCase): avg_time = self._benchmark_brand(brand, num_pandas) total_time += avg_time + avg_time = round(avg_time, 2) self._assert_timing(avg_time, brand_ref_times[num_pandas][brand]) print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') with self.subTest(brand='all_brands'): + total_time = round(total_time, 2) self._assert_timing(total_time, total_ref_time) print(f'all brands, total FW query time={total_time} seconds') diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 7ccd5e3c97..9de6063f3d 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -6,11 +6,11 @@ import sys from typing import DefaultDict, Dict import unittest -from common.realtime import DT_CTRL -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.interfaces import get_torque_params -from selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.interfaces import get_torque_params +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU CAR_MODELS = all_known_cars() @@ -95,7 +95,8 @@ if __name__ == "__main__": _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \ + m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") # exit with test result sys.exit(not result.result.wasSuccessful()) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index cf7727dafe..6cebdde77b 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -# pylint: disable=E1101 +import capnp import os import importlib import unittest @@ -8,46 +8,70 @@ from typing import List, Optional, Tuple from parameterized import parameterized_class from cereal import log, car -from common.realtime import DT_CTRL -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.gm.values import CAR as GM -from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.common.basedir import BASEDIR +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py +from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR PandaType = log.PandaState.PandaType +SafetyModel = car.CarParams.SafetyModel NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) JOB_ID = int(os.environ.get("JOB_ID", "0")) +INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") +INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) ignore_addr_checks_valid = [ GM.BUICK_REGAL, HYUNDAI.GENESIS_G70_2020, ] -# build list of test cases -routes_by_car = defaultdict(set) -for r in routes: - routes_by_car[r.car_model].add(r) -test_cases: List[Tuple[str, Optional[CarTestRoute]]] = [] -for i, c in enumerate(sorted(all_known_cars())): - if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None, )))) +def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: + # build list of test cases + test_cases = [] + if not len(INTERNAL_SEG_LIST): + routes_by_car = defaultdict(set) + for r in routes: + routes_by_car[r.car_model].add(r) + + for i, c in enumerate(sorted(all_known_cars())): + if i % NUM_JOBS == JOB_ID: + test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) + + else: + with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: + seg_list = f.read().splitlines() + + cnt = INTERNAL_SEG_CNT or len(seg_list) + seg_list_iter = iter(seg_list[:cnt]) + + for platform in seg_list_iter: + platform = platform[2:] # get rid of comment + segment_name = SegmentName(next(seg_list_iter)) + test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, + segment=segment_name.segment_num))) + return test_cases -SKIP_ENV_VAR = "SKIP_LONG_TESTS" class TestCarModelBase(unittest.TestCase): - car_model = None - test_route = None - ci = True + car_model: Optional[str] = None + test_route: Optional[CarTestRoute] = None + ci: bool = True + + can_msgs: List[capnp.lib.capnp._DynamicStructReader] + elm_frame: Optional[int] @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run") @classmethod @@ -65,14 +89,16 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.car_model}") - experimental_long = False test_segs = (2, 1, 0) if cls.test_route.segment is not None: test_segs = (cls.test_route.segment,) for seg in test_segs: try: - if cls.ci: + if len(INTERNAL_SEG_LIST): + route_name = RouteName(cls.test_route.route) + lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2") + elif cls.ci: lr = LogReader(get_url(cls.test_route.route, seg)) else: lr = LogReader(Route(cls.test_route.route).log_paths()[seg]) @@ -81,25 +107,50 @@ class TestCarModelBase(unittest.TestCase): car_fw = [] can_msgs = [] + cls.elm_frame = None fingerprint = defaultdict(dict) + experimental_long = False + enabled_toggle = True + dashcam_only = False for msg in lr: if msg.which() == "can": - for m in msg.can: - if m.src < 64: - fingerprint[m.src][m.address] = len(m.dat) can_msgs.append(msg) + if len(can_msgs) <= FRAME_FINGERPRINT: + for m in msg.can: + if m.src < 64: + fingerprint[m.src][m.address] = len(m.dat) + elif msg.which() == "carParams": car_fw = msg.carParams.carFw + dashcam_only = msg.carParams.dashcamOnly if msg.carParams.openpilotLongitudinalControl: experimental_long = True if cls.car_model is None and not cls.ci: cls.car_model = msg.carParams.carFingerprint + elif msg.which() == 'initData': + for param in msg.initData.params.entries: + if param.key == 'OpenpilotEnabledToggle': + enabled_toggle = param.value.strip(b'\x00') == b'1' + + # Log which can frame the panda safety mode left ELM327, for CAN validity checks + if msg.which() == 'pandaStates': + for ps in msg.pandaStates: + if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + + elif msg.which() == 'pandaStateDEPRECATED': + if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: + cls.elm_frame = len(can_msgs) + if len(can_msgs) > int(50 / DT_CTRL): break else: raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") + # if relay is expected to be open in the route + cls.openpilot_enabled = enabled_toggle and not dashcam_only + cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] @@ -166,8 +217,10 @@ class TestCarModelBase(unittest.TestCase): RI = RadarInterface(self.CP) assert RI + # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, + # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 - for i, msg in enumerate(self.can_msgs): + for i, msg in enumerate(self.can_msgs[self.elm_frame:]): rr = RI.update((msg.as_builder().to_bytes(),)) if rr is not None and i > 50: error_cnt += car.RadarData.Error.canError in rr.errors @@ -199,6 +252,14 @@ class TestCarModelBase(unittest.TestCase): self.safety.safety_tick_current_rx_checks() if t > 1e6: self.assertTrue(self.safety.addr_checks_valid()) + + # No need to check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (1s of tolerance to exit silent mode) + if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) + self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") def test_panda_safety_tx_cases(self, data=None): @@ -274,9 +335,7 @@ class TestCarModelBase(unittest.TestCase): # TODO: check rest of panda's carstate (steering, ACC main on, etc.) checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() - if self.CP.carName not in ("hyundai", "body"): - # TODO: fix standstill mismatches for other makes - checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() + checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() # TODO: remove this exception once this mismatch is resolved brake_pressed = CS.brakePressed @@ -296,6 +355,10 @@ class TestCarModelBase(unittest.TestCase): checks['controlsAllowed'] += not self.safety.get_controls_allowed() else: checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed() + + # TODO: fix notCar mismatch + if not self.CP.notCar: + checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for enable events on rising edge of controls allowed button_enable = any(evt.enable for evt in CS.events) @@ -314,7 +377,7 @@ class TestCarModelBase(unittest.TestCase): self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") -@parameterized_class(('car_model', 'test_route'), test_cases) +@parameterized_class(('car_model', 'test_route'), get_test_cases()) class TestCarModel(TestCarModelBase): pass diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt new file mode 100644 index 0000000000..11c19685da --- /dev/null +++ b/selfdrive/car/tests/test_models_segs.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b93de5a9a259934896d8573d9b0f696289b88693908968009fe144e2e10a3355 +size 127597 diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 5c8f3877da..149ae6ee97 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -7,6 +7,11 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] NISSAN ROGUE 2019: [.nan, 1.5, .nan] +# New subarus angle based controllers +SUBARU FORESTER 2022: [.nan, 3.0, .nan] +SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] +SUBARU ASCENT 2023: [.nan, 3.0, .nan] + # Toyota LTA also has torque TOYOTA RAV4 2023: [.nan, 3.0, .nan] TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] @@ -50,6 +55,10 @@ KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] GENESIS GV80 2023: [2.5, 2.5, 0.1] KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15] GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2] +LEXUS IS 2023: [2.0, 2.0, 0.1] +KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] +HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] +HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] HONDA ACCORD 4CYL 9TH GEN: [1.7, 0.35, 0.21] # Dashcam or fallback configured as ideal car diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index f491aba526..e2ef4627e4 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -36,7 +36,6 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 -HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI ELANTRA SE 2022 NON-SCC: HYUNDAI ELANTRA 2021 @@ -80,6 +79,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN +SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020 +SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020 SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN # Old subarus don't have much data guessing it's like low torque impreza diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 5f3c754e83..8ce4270be6 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,13 +1,11 @@ from cereal import car -from common.numpy_fast import clip, interp -from common.params import Params -from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, \ +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params +from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ create_gas_interceptor_command, make_can_msg -from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ - create_accel_command, create_acc_cancel_command, \ - create_fcw_command, create_lta_steer_command -from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ - MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \ +from openpilot.selfdrive.car.toyota import toyotacan +from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ + MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \ UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker @@ -60,25 +58,18 @@ class CarController: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params) - # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault - if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: - self.steer_rate_counter += 1 - else: - self.steer_rate_counter = 0 + # >100 degree/sec steering fault prevention + self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive, + self.steer_rate_counter, MAX_STEER_RATE_FRAMES) - apply_steer_req = 1 - if not lat_active: + if not CC.latActive: apply_steer = 0 - apply_steer_req = 0 - elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES: - apply_steer_req = 0 - self.steer_rate_counter = 0 # *** steer angle *** if self.CP.steerControlType == SteerControlType.angle: # If using LTA control, disable LKA and set steering angle command apply_steer = 0 - apply_steer_req = 0 + apply_steer_req = False if self.frame % 2 == 0: # EPS uses the torque sensor angle to control with, offset to compensate apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg @@ -96,13 +87,13 @@ class CarController: # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed # on consecutive messages - can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) + can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req)) if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) setme_x64 = 100 if lta_active and full_torque_condition else 0 - can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) # *** gas and brake *** if self.CP.enableGasInterceptor and CC.longActive: @@ -136,6 +127,10 @@ class CarController: self.last_standstill = CS.out.standstill + # handle UI messages + fcw_alert = hud_control.visualAlert == VisualAlert.fcw + steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + # we can spam can to cancel the system even if we are using lat only control if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged @@ -143,12 +138,12 @@ class CarController: # Lexus IS uses a different cancellation message if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: - can_sends.append(create_acc_cancel_command(self.packer)) + can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: - can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, reverse_acc, CS.gac_send)) + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, reverse_acc, CS.gac_send)) self.accel = pcm_accel_cmd else: - can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, reverse_acc, CS.gac_send)) + can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, reverse_acc, CS.gac_send)) if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. @@ -161,9 +156,6 @@ class CarController: # ui mesg is at 1Hz but we send asap if: # - there is something to display # - there is something to stop displaying - fcw_alert = hud_control.visualAlert == VisualAlert.fcw - steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) - send_ui = False if ((fcw_alert or steer_alert) and not self.alert_active) or \ (not (fcw_alert or steer_alert) and self.alert_active): @@ -174,18 +166,22 @@ class CarController: send_ui = True if self.frame % 20 == 0 or send_ui: - can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, - hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.latActive, CS.lkas_hud, CS.madsEnabled)) + can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, + hud_control.rightLaneDepart, CC.latActive, CS.lkas_hud, CS.madsEnabled)) - if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: - can_sends.append(create_fcw_command(self.packer, fcw_alert)) + if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): + can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) # *** static msgs *** for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars: can_sends.append(make_can_msg(addr, vl, bus)) + # keep radar disabled + if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: + can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) + new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 3fe100afce..c012ff0065 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -1,14 +1,15 @@ import copy from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import mean -from common.filter_simple import FirstOrderFilter -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ + TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR SteerControlType = car.CarParams.SteerControlType @@ -166,10 +167,10 @@ class CarState(CarStateBase): cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp - if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): + if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] - ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"]) + ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"]) if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): self.gap_dist_button = cp_cam.vl["ACC_CONTROL"]["DISTANCE"] @@ -196,7 +197,7 @@ class CarState(CarStateBase): ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 - if not self.CP.enableDsu: + if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5) if self.CP.enableBsm: @@ -291,45 +292,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - signals = [ - # sig_name, sig_address - ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), - ("GEAR", "GEAR_PACKET"), - ("BRAKE_PRESSED", "BRAKE_MODULE"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"), - ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"), - ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"), - ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"), - ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"), - ("PARKING_BRAKE", "BODY_CONTROL_STATE"), - ("UNITS", "BODY_CONTROL_STATE_2"), - ("TC_DISABLED", "ESP_CONTROL"), - ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), - ("BRAKE_LIGHTS_ACC", "ESP_CONTROL"), - ("STEER_FRACTION", "STEER_ANGLE_SENSOR"), - ("STEER_RATE", "STEER_ANGLE_SENSOR"), - ("CRUISE_ACTIVE", "PCM_CRUISE"), - ("CRUISE_STATE", "PCM_CRUISE"), - ("GAS_RELEASED", "PCM_CRUISE"), - ("UI_SET_SPEED", "PCM_CRUISE_SM"), - ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"), - ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"), - ("STEER_ANGLE", "STEER_TORQUE_SENSOR"), - ("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"), - ("TURN_SIGNALS", "BLINKERS_STATE"), - ("LKA_STATE", "EPS_STATUS"), - ("AUTO_HIGH_BEAM", "LIGHT_STALK"), - ] - - # Check LTA state if using LTA angle control - if CP.steerControlType == SteerControlType.angle: - signals.append(("LTA_STATE", "EPS_STATUS")) - - checks = [ + messages = [ ("GEAR_PACKET", 1), ("LIGHT_STALK", 1), ("BLINKERS_STATE", 0.15), @@ -346,120 +309,61 @@ class CarState(CarStateBase): ] if CP.flags & ToyotaFlags.HYBRID: - signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID")) - checks.append(("GAS_PEDAL_HYBRID", 33)) + messages.append(("GAS_PEDAL_HYBRID", 33)) else: - signals.append(("GAS_PEDAL", "GAS_PEDAL")) - checks.append(("GAS_PEDAL", 33)) + messages.append(("GAS_PEDAL", 33)) if CP.carFingerprint in UNSUPPORTED_DSU_CAR: - signals.append(("MAIN_ON", "DSU_CRUISE")) - signals.append(("SET_SPEED", "DSU_CRUISE")) - signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT")) - checks.append(("DSU_CRUISE", 5)) - checks.append(("PCM_CRUISE_ALT", 1)) + messages.append(("DSU_CRUISE", 5)) + messages.append(("PCM_CRUISE_ALT", 1)) else: - signals.append(("MAIN_ON", "PCM_CRUISE_2")) - signals.append(("SET_SPEED", "PCM_CRUISE_2")) - signals.append(("ACC_FAULTED", "PCM_CRUISE_2")) - signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2")) - signals.append(("PCM_FOLLOW_DISTANCE", "PCM_CRUISE_2")) - checks.append(("PCM_CRUISE_2", 33)) + messages.append(("PCM_CRUISE_2", 33)) # add gas interceptor reading if we are using it if CP.enableGasInterceptor: - signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR")) - signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) - checks.append(("GAS_SENSOR", 50)) + messages.append(("GAS_SENSOR", 50)) if CP.enableBsm: - signals += [ - ("L_ADJACENT", "BSM"), - ("L_APPROACHING", "BSM"), - ("R_ADJACENT", "BSM"), - ("R_APPROACHING", "BSM"), - ] - checks.append(("BSM", 1)) + messages.append(("BSM", 1)) - if CP.carFingerprint in RADAR_ACC_CAR: + if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: if not CP.flags & ToyotaFlags.SMART_DSU.value: - signals += [ - ("ACC_TYPE", "ACC_CONTROL"), - ] - checks += [ + messages += [ ("ACC_CONTROL", 33), ] - signals += [ - ("FCW", "ACC_HUD"), - ] - checks += [ - ("ACC_HUD", 1), + messages += [ + ("PCS_HUD", 1), ] - if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu: - signals += [ - ("FORCE", "PRE_COLLISION"), - ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), - ] - checks += [ + if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: + messages += [ ("PRE_COLLISION", 33), ] if CP.flags & ToyotaFlags.SMART_DSU: - signals.append(("FD_BUTTON", "SDSU", 0)) - checks.append(("SDSU", 33)) + messages.append(("SDSU", 33)) - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): - signals = [] - checks = [] + messages = [] - # Include traffic signal signals. - signals += [ - ("TSGN1", "RSA1", 0), - ("SPDVAL1", "RSA1", 0), - ("SPLSGN1", "RSA1", 0), - ("TSGN2", "RSA1", 0), - ("SPLSGN2", "RSA1", 0), - ("TSGN3", "RSA2", 0), - ("SPLSGN3", "RSA2", 0), - ("TSGN4", "RSA2", 0), - ("SPLSGN4", "RSA2", 0), - ] - - checks += [ + messages += [ ("RSA1", 0), ("RSA2", 0), ] if CP.carFingerprint != CAR.PRIUS_V: - signals += [ - ("LANE_SWAY_FLD", "LKAS_HUD"), - ("LANE_SWAY_BUZZER", "LKAS_HUD"), - ("LANE_SWAY_WARNING", "LKAS_HUD"), - ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"), - ("LANE_SWAY_TOGGLE", "LKAS_HUD"), - ("LKAS_STATUS", "LKAS_HUD"), - ("SET_ME_X02", "LKAS_HUD"), - ] - checks += [ + messages += [ ("LKAS_HUD", 1), ] if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): - signals += [ - ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), - ("FORCE", "PRE_COLLISION"), - ("ACC_TYPE", "ACC_CONTROL"), - ("FCW", "ACC_HUD"), - ("DISTANCE", 'ACC_CONTROL'), - ] - checks += [ + messages += [ ("PRE_COLLISION", 33), ("ACC_CONTROL", 33), - ("ACC_HUD", 1), + ("PCS_HUD", 1), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 640e94c4aa..89adf20a57 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,12 +1,13 @@ -#!/usr/bin/env python3 from cereal import car -from common.conversions import Conversions as CV -from common.params import Params, put_nonblocking +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params, put_nonblocking from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ +from panda.python import uds +from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR -from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event +from openpilot.selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -47,14 +48,14 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop - stop_and_go = False + stop_and_go = candidate in TSS2_CAR if candidate == CAR.PRIUS: stop_and_go = True ret.wheelbase = 2.70 ret.steerRatio = 15.74 # unknown end-to-end spec - tire_stiffness_factor = 0.6371 # hand-tune - ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.6371 # hand-tune + ret.mass = 3045. * CV.LB_TO_KG # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': @@ -65,50 +66,50 @@ class CarInterface(CarInterfaceBase): stop_and_go = True ret.wheelbase = 2.78 ret.steerRatio = 17.4 - tire_stiffness_factor = 0.5533 - ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.5533 + ret.mass = 3340. * CV.LB_TO_KG elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False ret.wheelbase = 2.65 ret.steerRatio = 16.88 # 14.5 is spec end-to-end - tire_stiffness_factor = 0.5533 - ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + ret.tireStiffnessFactor = 0.5533 + ret.mass = 3650. * CV.LB_TO_KG # mean between normal and hybrid elif candidate == CAR.COROLLA: ret.wheelbase = 2.70 ret.steerRatio = 18.27 - tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + ret.tireStiffnessFactor = 0.444 # not optimized yet + ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end ret.wheelSpeedFactor = 1.035 - tire_stiffness_factor = 0.5533 - ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + ret.tireStiffnessFactor = 0.5533 + ret.mass = 4481. * CV.LB_TO_KG # mean between min and max elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2): stop_and_go = True ret.wheelbase = 2.63906 ret.steerRatio = 13.6 - tire_stiffness_factor = 0.7933 - ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.7933 + ret.mass = 3300. * CV.LB_TO_KG elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): stop_and_go = True ret.wheelbase = 2.82448 ret.steerRatio = 13.7 - tire_stiffness_factor = 0.7933 - ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + ret.tireStiffnessFactor = 0.7933 + ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 - tire_stiffness_factor = 0.8 - ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + ret.tireStiffnessFactor = 0.8 + ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): # starting from 2019, all Avalon variants have stop and go @@ -116,16 +117,15 @@ class CarInterface(CarInterfaceBase): stop_and_go = candidate != CAR.AVALON ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download - tire_stiffness_factor = 0.7983 - ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid + ret.tireStiffnessFactor = 0.7983 + ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): - stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 - tire_stiffness_factor = 0.7933 - ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid + ret.tireStiffnessFactor = 0.7933 + ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0] @@ -143,79 +143,74 @@ class CarInterface(CarInterfaceBase): break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): - stop_and_go = True ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.steerRatio = 13.9 - tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.444 # not optimized yet + ret.mass = 3060. * CV.LB_TO_KG elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized - tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + ret.tireStiffnessFactor = 0.444 # not optimized yet + ret.mass = 3677. * CV.LB_TO_KG # mean between min and max elif candidate == CAR.SIENNA: stop_and_go = True ret.wheelbase = 3.03 ret.steerRatio = 15.5 - tire_stiffness_factor = 0.444 - ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.444 + ret.mass = 4590. * CV.LB_TO_KG - elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): + elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC): ret.wheelbase = 2.79908 ret.steerRatio = 13.3 - tire_stiffness_factor = 0.444 - ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.444 + ret.mass = 3736.8 * CV.LB_TO_KG elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.wheelbase = 2.60 ret.steerRatio = 18.6 - tire_stiffness_factor = 0.517 - ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max + ret.tireStiffnessFactor = 0.517 + ret.mass = 3108 * CV.LB_TO_KG # mean between min and max elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): stop_and_go = True ret.wheelbase = 2.66 ret.steerRatio = 14.7 - tire_stiffness_factor = 0.444 # not optimized yet - ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.444 # not optimized yet + ret.mass = 4070 * CV.LB_TO_KG elif candidate == CAR.PRIUS_TSS2: - stop_and_go = True ret.wheelbase = 2.70002 # from toyota online sepc. ret.steerRatio = 13.4 # True steerRatio from older prius - tire_stiffness_factor = 0.6371 # hand-tune - ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.6371 # hand-tune + ret.mass = 3115. * CV.LB_TO_KG elif candidate == CAR.MIRAI: stop_and_go = True ret.wheelbase = 2.91 ret.steerRatio = 14.8 - tire_stiffness_factor = 0.8 - ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.8 + ret.mass = 4300. * CV.LB_TO_KG elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): - stop_and_go = True ret.wheelbase = 3.00 ret.steerRatio = 14.2 - tire_stiffness_factor = 0.444 - ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG + ret.tireStiffnessFactor = 0.444 + ret.mass = 4305. * CV.LB_TO_KG ret.centerToFront = ret.wheelbase * 0.44 - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) - + # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. + # Detect flipped signals and enable for C-HR and others ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it - if 0x2FF in fingerprint[0]: + # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs + if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): ret.flags |= ToyotaFlags.SMART_DSU.value # No radar dbc for cars without DSU which are not TSS 2.0 @@ -224,15 +219,22 @@ class CarInterface(CarInterfaceBase): # In TSS2 cars, the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU) + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ + and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. - # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle + # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) - if candidate in RADAR_ACC_CAR: + if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): ret.experimentalLongitudinalAvailable = use_sdsu - use_sdsu = use_sdsu and experimental_long + + if not use_sdsu: + # Disabling radar is only supported on TSS2 radar-ACC cars + if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet + ret.flags |= ToyotaFlags.DISABLE_RADAR.value + else: + use_sdsu = use_sdsu and experimental_long # openpilot longitudinal enabled by default: # - non-(TSS2 radar ACC cars) w/ smartDSU installed @@ -240,7 +242,10 @@ class CarInterface(CarInterfaceBase): # - TSS2 cars with camera sending ACC_CONTROL where we can block it # openpilot longitudinal behind experimental long toggle: # - TSS2 radar ACC cars w/ smartDSU installed - ret.openpilotLongitudinalControl = (use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)) and not Params().get_bool("StockLongToyota") + # - TSS2 radar ACC cars w/o smartDSU installed (disables radar) + # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) + ret.openpilotLongitudinalControl = (use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)) and \ + not Params().get_bool("StockLongToyota") ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: @@ -278,15 +283,19 @@ class CarInterface(CarInterfaceBase): return ret + @staticmethod + def init(CP, logcan, sendcan): + # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU + if CP.flags & ToyotaFlags.DISABLE_RADAR.value: + communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL]) + disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control) + # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) self.CS = self.sp_update_params(self.CS) - buttonEvents = [] - - if self.CS.gap_dist_button != self.CS.prev_gap_dist_button: - buttonEvents.append(create_button_event(self.CS.gap_dist_button, self.CS.prev_gap_dist_button, {1: ButtonType.gapAdjustCruise})) + buttonEvents = create_button_events(self.CS.gap_dist_button, self.CS.prev_gap_dist_button, {1: ButtonType.gapAdjustCruise}) self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS) @@ -338,6 +347,11 @@ class CarInterface(CarInterfaceBase): else: self.CS.madsEnabled = False + if self.get_sp_pedal_disengage(ret): + self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled) + if not self.CP.pcmCruise: + ret.cruiseState.enabled = self.CS.accEnabled + ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.gap_dist_button)) # CANCEL diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 64906b34be..fae6eecaf6 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.toyota.values import DBC, TSS2_CAR -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase def _create_radar_can_parser(car_fingerprint): @@ -15,14 +15,9 @@ def _create_radar_can_parser(car_fingerprint): msg_a_n = len(RADAR_A_MSGS) msg_b_n = len(RADAR_B_MSGS) + messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True)) - signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n + - ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n, - RADAR_A_MSGS * 5 + RADAR_B_MSGS)) - - checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n))) - - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1) + return CANParser(DBC[car_fingerprint]['radar'], messages, 1) class RadarInterface(RadarInterfaceBase): def __init__(self, CP): diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index 46e3fc2d27..c621734e2b 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -2,14 +2,15 @@ from cereal import car import unittest -from selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS Ecu = car.CarParams.Ecu class TestToyotaInterfaces(unittest.TestCase): - def test_angle_car_set(self): + def test_car_sets(self): self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) + self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0) def test_tss2_dbc(self): # We make some assumptions about TSS2 platforms, diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 9cc30c4e97..07f6298839 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64): return packer.make_can_msg("STEERING_LTA", 0, values) -def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, reverse_acc, gac_send): +def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, reverse_acc, gac_send): # TODO: find the exact canceling bit that does not create a chime values = { "ACCEL_CMD": accel, @@ -38,6 +38,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty "RELEASE_STANDSTILL": not standstill_req, "CANCEL_REQ": pcm_cancel, "ALLOW_LONG_PRESS": reverse_acc, + "ACC_CUT_IN": fcw_alert, # only shown when ACC enabled } return packer.make_can_msg("ACC_CONTROL", 0, values) @@ -56,14 +57,14 @@ def create_acc_cancel_command(packer): def create_fcw_command(packer, fcw): values = { - "PCS_INDICATOR": 1, + "PCS_INDICATOR": 1, # PCS turned off "FCW": fcw, "SET_ME_X20": 0x20, "SET_ME_X10": 0x10, "PCS_OFF": 1, "PCS_SENSITIVITY": 0, } - return packer.make_can_msg("ACC_HUD", 0, values) + return packer.make_can_msg("PCS_HUD", 0, values) def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, lat_active, stock_lkas_hud, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 58e3464e3c..b0f7a70985 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -4,10 +4,10 @@ from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu MIN_ACC_SPEED = 19. * CV.MPH_TO_MS @@ -42,6 +42,7 @@ class CarControllerParams: class ToyotaFlags(IntFlag): HYBRID = 1 SMART_DSU = 2 + DISABLE_RADAR = 4 class CAR: @@ -90,6 +91,7 @@ class CAR: LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019" LEXUS_IS = "LEXUS IS 2018" + LEXUS_IS_TSS2 = "LEXUS IS 2023" LEXUS_NX = "LEXUS NX 2018" LEXUS_NXH = "LEXUS NX HYBRID 2018" LEXUS_NX_TSS2 = "LEXUS NX 2020" @@ -110,7 +112,7 @@ class Footnote(Enum): @dataclass class ToyotaCarInfo(CarInfo): package: str = "All" - car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota])) + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a])) CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { @@ -183,6 +185,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), + CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"), CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), @@ -204,23 +207,31 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { STATIC_DSU_MSGS = [ (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), + 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, + CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), + 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, + CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers. @@ -630,12 +641,14 @@ FW_VERSIONS = { (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306T0000\x00\x00\x00\x00', b'\x018966306V1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 109): [ b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', @@ -745,6 +758,7 @@ FW_VERSIONS = { b'F152610040\x00\x00\x00\x00\x00\x00', b'F152610190\x00\x00\x00\x00\x00\x00', b'F152610200\x00\x00\x00\x00\x00\x00', + b'F152610220\x00\x00\x00\x00\x00\x00', b'F152610230\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ @@ -1243,6 +1257,23 @@ FW_VERSIONS = { b'8646F5301400\x00\x00\x00\x00', ], }, + CAR.LEXUS_IS_TSS2: { + (Ecu.engine, 0x700, None): [ + b'\x018966353S1000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15265342000\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B53450\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F6201300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + ], + }, CAR.PRIUS: { (Ecu.engine, 0x700, None): [ b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -2260,6 +2291,7 @@ DBC = { CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), @@ -2278,9 +2310,10 @@ DBC = { EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, - CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, - CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, + CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, + CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, + CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2293,8 +2326,9 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, C # these cars use the Lane Tracing Assist (LTA) message for lateral control ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} -EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, - CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, +EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, + CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index cf1c25e851..28edf157ae 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -3,9 +3,9 @@ import re import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.car.fw_query_definitions import StdQueries -from system.swaglog import cloudlog +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.selfdrive.car.fw_query_definitions import StdQueries +from openpilot.system.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 45c11c3d4a..39a0f7e71d 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -1,14 +1,14 @@ from cereal import car import cereal.messaging as messaging from opendbc.can.packer import CANPacker -from common.numpy_fast import clip -from common.conversions import Conversions as CV -from common.params import Params, put_bool_nonblocking -from common.realtime import DT_CTRL -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.volkswagen import mqbcan, pqcan -from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams -from selfdrive.controls.lib.drive_helpers import VOLKSWAGEN_V_CRUISE_MIN +from openpilot.common.numpy_fast import clip +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import VOLKSWAGEN_V_CRUISE_MIN VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -158,7 +158,8 @@ class CarController: if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor lead_distance = 512 if CS.upscale_lead_car_signal else 8 acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) - set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? + # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? + set_speed = hud_control.setSpeed * CV.MS_TO_KPH can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, lead_distance, CS.gac_tr)) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 5c9bcfe4f6..2e2cb50e79 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -1,9 +1,9 @@ import numpy as np from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ +from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ CarControllerParams, BUTTON_STATES @@ -284,55 +284,7 @@ class CarState(CarStateBase): if CP.carFingerprint in PQ_CARS: return CarState.get_can_parser_pq(CP) - signals = [ - # sig_name, sig_address - ("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle - ("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign - ("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate - ("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign - ("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left - ("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right - ("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left - ("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right - ("ESP_Gierrate", "ESP_02"), # Absolute yaw rate - ("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign - ("ZV_FT_offen", "Gateway_72"), # Door open, driver - ("ZV_BT_offen", "Gateway_72"), # Door open, passenger - ("ZV_HFS_offen", "Gateway_72"), # Door open, rear left - ("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right - ("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open - ("Comfort_Signal_Left", "Blinkmodi_02"), # Left turn signal including comfort blink interval - ("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval - ("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver - ("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger - ("ESP_Fahrer_bremst", "ESP_05"), # Driver applied brake pressure over threshold - ("MO_Fahrer_bremst", "Motor_14"), # Brake pedal switch - ("ESP_Status_Bremsdruck", "ESP_05"), # Brakes applied - ("ESP_Bremsdruck", "ESP_05"), # Brake pressure - ("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value - ("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input - ("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign - ("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status - ("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled - ("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation - ("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied - ("KBI_Variante", "Kombi_03"), # Digital/full-screen instrument cluster installed - ("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator - ("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off - ("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel - ("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set - ("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel - ("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel - ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume - ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj - ("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type - ("GRA_Codierung", "GRA_ACC_01"), # ACC button configuration/coding - ("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type - ("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type - ("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter - ] - - checks = [ + messages = [ # sig_address, frequency ("LWI_01", 100), # From J500 Steering Assist with integrated sensors ("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors @@ -352,108 +304,41 @@ class CarState(CarStateBase): ] if CP.transmissionType == TransmissionType.automatic: - signals.append(("GE_Fahrstufe", "Getriebe_11")) # Auto trans gear selector position - checks.append(("Getriebe_11", 20)) # From J743 Auto transmission control module + messages.append(("Getriebe_11", 20)) # From J743 Auto transmission control module elif CP.transmissionType == TransmissionType.direct: - signals.append(("GearPosition", "EV_Gearshift")) # EV gear selector position - checks.append(("EV_Gearshift", 10)) # From J??? unknown EV control module - elif CP.transmissionType == TransmissionType.manual: - signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch - ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM + messages.append(("EV_Gearshift", 10)) # From J??? unknown EV control module if CP.networkLocation == NetworkLocation.fwdCamera: # Radars are here on CANBUS.pt - signals += MqbExtraSignals.fwd_radar_signals - checks += MqbExtraSignals.fwd_radar_checks + messages += MqbExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += MqbExtraSignals.bsm_radar_signals - checks += MqbExtraSignals.bsm_radar_checks + messages += MqbExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt) @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in PQ_CARS: return CarState.get_cam_can_parser_pq(CP) - signals = [] - checks = [] + messages = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - # sig_name, sig_address - ("LDW_SW_Warnung_links", "LDW_02"), # Blind spot in warning mode on left side due to lane departure - ("LDW_SW_Warnung_rechts", "LDW_02"), # Blind spot in warning mode on right side due to lane departure - ("LDW_Seite_DLCTLC", "LDW_02"), # Direction of most likely lane departure (left or right) - ("LDW_DLC", "LDW_02"), # Lane departure, distance to line crossing - ("LDW_TLC", "LDW_02"), # Lane departure, time to line crossing - ] - checks += [ + messages += [ # sig_address, frequency ("LDW_02", 10) # From R242 Driver assistance camera ] else: # Radars are here on CANBUS.cam - signals += MqbExtraSignals.fwd_radar_signals - checks += MqbExtraSignals.fwd_radar_checks + messages += MqbExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += MqbExtraSignals.bsm_radar_signals - checks += MqbExtraSignals.bsm_radar_checks + messages += MqbExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam) @staticmethod def get_can_parser_pq(CP): - signals = [ - # sig_name, sig_address, default - ("LH3_BLW", "Lenkhilfe_3"), # Absolute steering angle - ("LH3_BLWSign", "Lenkhilfe_3"), # Steering angle sign - ("LH3_LM", "Lenkhilfe_3"), # Absolute driver torque input - ("LH3_LMSign", "Lenkhilfe_3"), # Driver torque input sign - ("LH2_Sta_HCA", "Lenkhilfe_2"), # Steering rack HCA status - ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"), # Absolute steering rate - ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"), # Steering rate sign - ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"), # Vehicle speed from ABS - ("Radgeschw__VL_4_1", "Bremse_3"), # ABS wheel speed, front left - ("Radgeschw__VR_4_1", "Bremse_3"), # ABS wheel speed, front right - ("Radgeschw__HL_4_1", "Bremse_3"), # ABS wheel speed, rear left - ("Radgeschw__HR_4_1", "Bremse_3"), # ABS wheel speed, rear right - ("Giergeschwindigkeit", "Bremse_5"), # Absolute yaw rate - ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"), # Yaw rate sign - ("Gurtschalter_Fahrer", "Airbag_1"), # Seatbelt status, driver - ("Gurtschalter_Beifahrer", "Airbag_1"), # Seatbelt status, passenger - ("Bremstestschalter", "Motor_2"), # Brake pedal pressed (brake light test switch) - ("Bremslichtschalter", "Motor_2"), # Brakes applied (brake light switch) - ("Bremsdruck", "Bremse_5"), # Brake pressure applied - ("Vorzeichen_Bremsdruck", "Bremse_5"), # Brake pressure applied sign (???) - ("Fahrpedal_Rohsignal", "Motor_3"), # Accelerator pedal value - ("ESP_Passiv_getastet", "Bremse_1"), # Stability control disabled - ("GRA_Hauptschalter", "Motor_5"), # ACC main switch - ("GRA_Status", "Motor_2"), # ACC engagement status - ("GK1_Fa_Tuerkont", "Gate_Komf_1"), # Door open, driver - ("BSK_BT_geoeffnet", "Gate_Komf_1"), # Door open, passenger - ("BSK_HL_geoeffnet", "Gate_Komf_1"), # Door open, rear left - ("BSK_HR_geoeffnet", "Gate_Komf_1"), # Door open, rear right - ("BSK_HD_Hauptraste", "Gate_Komf_1"), # Trunk or hatch open - ("GK1_Blinker_li", "Gate_Komf_1"), # Left turn signal on - ("GK1_Blinker_re", "Gate_Komf_1"), # Right turn signal on - ("Bremsinfo", "Kombi_1"), # Manual handbrake applied - ("GRA_Hauptschalt", "GRA_Neu"), # ACC button, on/off - ("GRA_Typ_Hauptschalt", "GRA_Neu"), # ACC button, momentary vs latching - ("GRA_Kodierinfo", "GRA_Neu"), # ACC button, configuration - ("GRA_Abbrechen", "GRA_Neu"), # ACC button, cancel - ("GRA_Neu_Setzen", "GRA_Neu"), # ACC button, set - ("GRA_Up_lang", "GRA_Neu"), # ACC button, increase or accel, long press - ("GRA_Down_lang", "GRA_Neu"), # ACC button, decrease or decel, long press - ("GRA_Up_kurz", "GRA_Neu"), # ACC button, increase or accel, short press - ("GRA_Down_kurz", "GRA_Neu"), # ACC button, decrease or decel, short press - ("GRA_Recall", "GRA_Neu"), # ACC button, resume - ("GRA_Zeitluecke", "GRA_Neu"), # ACC button, time gap adj - ("COUNTER", "GRA_Neu"), # ACC button, message counter - ("GRA_Sender", "GRA_Neu"), # ACC button, CAN message originator - ] - - checks = [ + messages = [ # sig_address, frequency ("Bremse_1", 100), # From J104 ABS/ESP controller ("Bremse_3", 100), # From J104 ABS/ESP controller @@ -471,95 +356,55 @@ class CarState(CarStateBase): ] if CP.transmissionType == TransmissionType.automatic: - signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)] # Auto trans gear selector position - checks += [("Getriebe_1", 100)] # From J743 Auto transmission control module + messages += [("Getriebe_1", 100)] # From J743 Auto transmission control module elif CP.transmissionType == TransmissionType.manual: - signals += [("Kupplungsschalter", "Motor_1", 0), # Clutch switch - ("GK1_Rueckfahr", "Gate_Komf_1", 0)] # Reverse light from BCM - checks += [("Motor_1", 100)] # From J623 Engine control module + messages += [("Motor_1", 100)] # From J623 Engine control module if CP.networkLocation == NetworkLocation.fwdCamera: # Extended CAN devices other than the camera are here on CANBUS.pt - signals += PqExtraSignals.fwd_radar_signals - checks += PqExtraSignals.fwd_radar_checks + messages += PqExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += PqExtraSignals.bsm_radar_signals - checks += PqExtraSignals.bsm_radar_checks + messages += PqExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt) @staticmethod def get_cam_can_parser_pq(CP): - signals = [] - checks = [] + messages = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals += [ - # sig_name, sig_address - ("LDW_SW_Warnung_links", "LDW_Status"), # Blind spot in warning mode on left side due to lane departure - ("LDW_SW_Warnung_rechts", "LDW_Status"), # Blind spot in warning mode on right side due to lane departure - ("LDW_Seite_DLCTLC", "LDW_Status"), # Direction of most likely lane departure (left or right) - ("LDW_DLC", "LDW_Status"), # Lane departure, distance to line crossing - ("LDW_TLC", "LDW_Status"), # Lane departure, time to line crossing - ] - checks += [ + messages += [ # sig_address, frequency ("LDW_Status", 10) # From R242 Driver assistance camera ] if CP.networkLocation == NetworkLocation.gateway: # Radars are here on CANBUS.cam - signals += PqExtraSignals.fwd_radar_signals - checks += PqExtraSignals.fwd_radar_checks + messages += PqExtraSignals.fwd_radar_messages if CP.enableBsm: - signals += PqExtraSignals.bsm_radar_signals - checks += PqExtraSignals.bsm_radar_checks + messages += PqExtraSignals.bsm_radar_messages - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam) class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers - fwd_radar_signals = [ - ("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed - ("ACC_Typ", "ACC_06"), # Basic vs FtS vs SnG - ("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release - ("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release - ("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release - ] - fwd_radar_checks = [ + fwd_radar_messages = [ ("ACC_06", 50), # From J428 ACC radar control module ("ACC_10", 50), # From J428 ACC radar control module ("ACC_02", 17), # From J428 ACC radar control module ] - bsm_radar_signals = [ - ("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left - ("SWA_Warnung_SWA_li", "SWA_01"), # Blind spot object warning, left - ("SWA_Infostufe_SWA_re", "SWA_01"), # Blind spot object info, right - ("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right - ] - bsm_radar_checks = [ + bsm_radar_messages = [ ("SWA_01", 20), # From J1086 Lane Change Assist ] class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers - fwd_radar_signals = [ - ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) - ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed - ] - fwd_radar_checks = [ + fwd_radar_messages = [ ("ACC_System", 50), # From J428 ACC radar control module ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module ] - bsm_radar_signals = [ - ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left - ("SWA_Warnung_SWA_li", "SWA_1"), # Blind spot object warning, left - ("SWA_Infostufe_SWA_re", "SWA_1"), # Blind spot object info, right - ("SWA_Warnung_SWA_re", "SWA_1"), # Blind spot object warning, right - ] - bsm_radar_checks = [ + bsm_radar_messages = [ ("SWA_1", 20), # From J1086 Lane Change Assist ] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 440c4261f6..f3fe1d83fd 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,9 +1,9 @@ from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import get_safety_config, create_mads_event +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -104,32 +104,32 @@ class CarInterface(CarInterfaceBase): # Per-chassis tuning values, override tuning defaults here if desired if candidate == CAR.ARTEON_MK1: - ret.mass = 1733 + STD_CARGO_KG + ret.mass = 1733 ret.wheelbase = 2.84 elif candidate == CAR.ATLAS_MK1: - ret.mass = 2011 + STD_CARGO_KG + ret.mass = 2011 ret.wheelbase = 2.98 elif candidate == CAR.CRAFTER_MK2: - ret.mass = 2100 + STD_CARGO_KG + ret.mass = 2100 ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference ret.minSteerSpeed = 50 * CV.KPH_TO_MS elif candidate == CAR.GOLF_MK7: - ret.mass = 1397 + STD_CARGO_KG + ret.mass = 1397 ret.wheelbase = 2.62 elif candidate == CAR.JETTA_MK7: - ret.mass = 1328 + STD_CARGO_KG + ret.mass = 1328 ret.wheelbase = 2.71 elif candidate == CAR.PASSAT_MK8: - ret.mass = 1551 + STD_CARGO_KG + ret.mass = 1551 ret.wheelbase = 2.79 elif candidate == CAR.PASSAT_NMS: - ret.mass = 1503 + STD_CARGO_KG + ret.mass = 1503 ret.wheelbase = 2.80 ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS ret.minSteerSpeed = 50 * CV.KPH_TO_MS @@ -137,86 +137,86 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.POLO_MK6: - ret.mass = 1230 + STD_CARGO_KG + ret.mass = 1230 ret.wheelbase = 2.55 elif candidate == CAR.SHARAN_MK2: - ret.mass = 1639 + STD_CARGO_KG + ret.mass = 1639 ret.wheelbase = 2.92 ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.steerActuatorDelay = 0.2 elif candidate == CAR.TAOS_MK1: - ret.mass = 1498 + STD_CARGO_KG + ret.mass = 1498 ret.wheelbase = 2.69 elif candidate == CAR.TCROSS_MK1: - ret.mass = 1150 + STD_CARGO_KG + ret.mass = 1150 ret.wheelbase = 2.60 elif candidate == CAR.TIGUAN_MK2: - ret.mass = 1715 + STD_CARGO_KG + ret.mass = 1715 ret.wheelbase = 2.74 elif candidate == CAR.TOURAN_MK2: - ret.mass = 1516 + STD_CARGO_KG + ret.mass = 1516 ret.wheelbase = 2.79 elif candidate == CAR.TRANSPORTER_T61: - ret.mass = 1926 + STD_CARGO_KG + ret.mass = 1926 ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference ret.minSteerSpeed = 14.0 elif candidate == CAR.TROC_MK1: - ret.mass = 1413 + STD_CARGO_KG + ret.mass = 1413 ret.wheelbase = 2.63 elif candidate == CAR.AUDI_A3_MK3: - ret.mass = 1335 + STD_CARGO_KG + ret.mass = 1335 ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q2_MK1: - ret.mass = 1205 + STD_CARGO_KG + ret.mass = 1205 ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q3_MK2: - ret.mass = 1623 + STD_CARGO_KG + ret.mass = 1623 ret.wheelbase = 2.68 elif candidate == CAR.SEAT_ATECA_MK1: - ret.mass = 1900 + STD_CARGO_KG + ret.mass = 1900 ret.wheelbase = 2.64 elif candidate == CAR.SEAT_LEON_MK3: - ret.mass = 1227 + STD_CARGO_KG + ret.mass = 1227 ret.wheelbase = 2.64 elif candidate == CAR.SKODA_FABIA_MK4: - ret.mass = 1266 + STD_CARGO_KG + ret.mass = 1266 ret.wheelbase = 2.56 elif candidate == CAR.SKODA_KAMIQ_MK1: - ret.mass = 1265 + STD_CARGO_KG + ret.mass = 1265 ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KAROQ_MK1: - ret.mass = 1278 + STD_CARGO_KG + ret.mass = 1278 ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KODIAQ_MK1: - ret.mass = 1569 + STD_CARGO_KG + ret.mass = 1569 ret.wheelbase = 2.79 elif candidate == CAR.SKODA_OCTAVIA_MK3: - ret.mass = 1388 + STD_CARGO_KG + ret.mass = 1388 ret.wheelbase = 2.68 elif candidate == CAR.SKODA_SCALA_MK1: - ret.mass = 1192 + STD_CARGO_KG + ret.mass = 1192 ret.wheelbase = 2.65 elif candidate == CAR.SKODA_SUPERB_MK3: - ret.mass = 1505 + STD_CARGO_KG + ret.mass = 1505 ret.wheelbase = 2.84 else: diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py index b2f7651136..e654bd61fd 100644 --- a/selfdrive/car/volkswagen/radar_interface.py +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py old mode 100755 new mode 100644 index 2ffec0d214..04225daf8d --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -6,10 +6,10 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu NetworkLocation = car.CarParams.NetworkLocation @@ -270,12 +270,12 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), - CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), + CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ - VWCarInfo("Škoda Octavia 2015, 2018-19"), + VWCarInfo("Škoda Octavia 2015-19"), VWCarInfo("Škoda Octavia RS 2016"), ], } @@ -468,6 +468,7 @@ FW_VERSIONS = { b'\xf1\x878V0906259H \xf1\x890002', b'\xf1\x878V0906259J \xf1\x890003', b'\xf1\x878V0906259K \xf1\x890001', + b'\xf1\x878V0906259K \xf1\x890003', b'\xf1\x878V0906259P \xf1\x890001', b'\xf1\x878V0906259Q \xf1\x890002', b'\xf1\x878V0906264F \xf1\x890003', @@ -496,6 +497,7 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894937', b'\xf1\x870D9300012 \xf1\x895045', + b'\xf1\x870D9300012 \xf1\x895046', b'\xf1\x870D9300014M \xf1\x895004', b'\xf1\x870D9300014Q \xf1\x895006', b'\xf1\x870D9300020J \xf1\x894902', @@ -963,6 +965,7 @@ FW_VERSIONS = { b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', + b'\xf1\x878V0906259E \xf1\x890001', b'\xf1\x878V0906259F \xf1\x890002', b'\xf1\x878V0906259H \xf1\x890002', b'\xf1\x878V0906259J \xf1\x890002', @@ -977,6 +980,7 @@ FW_VERSIONS = { b'\xf1\x870CW300048 \xf1\x895201', b'\xf1\x870D9300012 \xf1\x894912', b'\xf1\x870D9300012 \xf1\x894931', + b'\xf1\x870D9300012L \xf1\x894521', b'\xf1\x870D9300012K \xf1\x894513', b'\xf1\x870D9300013B \xf1\x894902', b'\xf1\x870D9300013B \xf1\x894931', @@ -1007,6 +1011,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561G01A13A0', b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', @@ -1022,6 +1027,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x875Q0907567M \xf1\x890398\xf1\x82\x0101', b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101', b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', @@ -1173,25 +1179,29 @@ FW_VERSIONS = { }, CAR.SKODA_KAROQ_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906013H \xf1\x892407', b'\xf1\x8705E906018P \xf1\x895472', b'\xf1\x8705E906018P \xf1\x896020', b'\xf1\x8705L906022BS\xf1\x890913', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300020T \xf1\x892202', b'\xf1\x870CW300041S \xf1\x891615', b'\xf1\x870GC300014L \xf1\x892802', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100', b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572AB\xf1\x890397', b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572T \xf1\x890383', @@ -1200,6 +1210,7 @@ FW_VERSIONS = { CAR.SKODA_KODIAQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', + b'\xf1\x8704E906027NB\xf1\x899504', b'\xf1\x8704E906027NB\xf1\x896517', b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', @@ -1253,6 +1264,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027HD\xf1\x893742', b'\xf1\x8704E906027MH\xf1\x894786', b'\xf1\x8704L906021DT\xf1\x898127', + b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BS\xf1\x891541', b'\xf1\x875G0906259C \xf1\x890002', ], @@ -1262,11 +1274,13 @@ FW_VERSIONS = { b'\xf1\x870CW300043B \xf1\x891601', b'\xf1\x870CW300043P \xf1\x891605', b'\xf1\x870D9300041C \xf1\x894936', + b'\xf1\x870D9300041H \xf1\x895220', b'\xf1\x870D9300041J \xf1\x894902', b'\xf1\x870D9300041P \xf1\x894507', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100', @@ -1278,13 +1292,15 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1', - b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1', + b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572R \xf1\x890771', ], @@ -1314,6 +1330,7 @@ FW_VERSIONS = { }, CAR.SKODA_SUPERB_MK3: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027BT\xf1\x899042', b'\xf1\x8704L906026ET\xf1\x891343', b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', @@ -1326,6 +1343,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870CW300049Q \xf1\x890906', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300013A \xf1\x894905', @@ -1342,12 +1360,14 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', + b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', + b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a623c4e3af..665cab0f22 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -1,32 +1,34 @@ #!/usr/bin/env python3 import os import math +import time from typing import SupportsFloat from cereal import car, log -from common.numpy_fast import clip -from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL -from common.profiler import Profiler -from common.params import Params, put_nonblocking, put_bool_nonblocking +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.profiler import Profiler +from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from system.swaglog import cloudlog -from system.version import is_release_branch, get_short_branch -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature -from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED -from selfdrive.controls.lib.longcontrol import LongControl -from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD -from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.events import Events, ET -from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert -from selfdrive.controls.lib.vehicle_model import VehicleModel -from system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import is_release_branch, get_short_branch +from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can +from openpilot.selfdrive.controls.lib.lane_planner import CAMERA_OFFSET +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED +from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS @@ -78,11 +80,19 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') self.params = Params() + + self.d_camera_hardware_missing = self.params.get_bool("DriverCameraHardwareMissing") and not is_registered_device() + if self.d_camera_hardware_missing: + IGNORE_PROCESSES.update({"dmonitoringd", "dmonitoringmodeld"}) + self.camera_packets.remove("driverCameraState") + self.sm = sm if self.sm is None: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] + if self.d_camera_hardware_missing: + ignore += ['driverMonitoringState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, @@ -107,9 +117,6 @@ class Controls: self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake") self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake - if self.enable_mads and self.disengage_on_accelerator: - self.params.put_bool("DisengageOnAccelerator", False) - self.disengage_on_accelerator = False self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS @@ -276,7 +283,8 @@ class Controls: self.events.add(EventName.gasPressedOverride) if not self.CP.notCar: - self.events.add_from_msg(self.sm['driverMonitoringState'].events) + if not self.d_camera_hardware_missing: + self.events.add_from_msg(self.sm['driverMonitoringState'].events) self.events.add_from_msg(self.sm['longitudinalPlan'].eventsDEPRECATED) # Add car events, ignore if CAN isn't valid @@ -372,6 +380,9 @@ class Controls: if not SIMULATION and not self.rk.lagging: if not self.sm.all_alive(self.camera_packets): self.events.add(EventName.cameraMalfunction) + if not self.sm.all_alive(['driverCameraState']) and not self.d_camera_hardware_missing: + self.d_camera_hardware_missing = True + put_bool_nonblocking("DriverCameraHardwareMissing", True) elif not self.sm.all_freq_ok(self.camera_packets): self.events.add(EventName.cameraFrameRate) self.process_not_running = False @@ -388,7 +399,7 @@ class Controls: # generic catch-all. ideally, a more specific event should be added above instead can_rcv_timeout = self.can_rcv_timeout_counter >= 5 - has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE)) + has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors: if not self.sm.all_alive(): @@ -529,11 +540,11 @@ class Controls: # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING if self.state != State.disabled: # user and immediate disable always have priority in a non-disabled state - if self.events.any(ET.USER_DISABLE): + if self.events.contains(ET.USER_DISABLE): self.state = State.disabled self.current_alert_types.append(ET.USER_DISABLE) - elif self.events.any(ET.IMMEDIATE_DISABLE): + elif self.events.contains(ET.IMMEDIATE_DISABLE): self.state = State.disabled if CS.gearShifter != 1: # CS.gearShifter == 1 park gear self.current_alert_types.append(ET.IMMEDIATE_DISABLE) @@ -547,18 +558,18 @@ class Controls: resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: self.current_alert_types.append(ET.NO_ENTRY) - if self.events.any(ET.SOFT_DISABLE): + if self.events.contains(ET.SOFT_DISABLE): self.state = State.softDisabling self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) - elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL): + elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): self.state = State.overriding self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] # SOFT DISABLING elif self.state == State.softDisabling: - if not self.events.any(ET.SOFT_DISABLE): + if not self.events.contains(ET.SOFT_DISABLE): # no more soft disabling condition, so go back to ENABLED self.state = State.enabled @@ -570,18 +581,18 @@ class Controls: # PRE ENABLING elif self.state == State.preEnabled: - if not self.events.any(ET.PRE_ENABLE): + if not self.events.contains(ET.PRE_ENABLE): self.state = State.enabled else: self.current_alert_types.append(ET.PRE_ENABLE) # OVERRIDING elif self.state == State.overriding: - if self.events.any(ET.SOFT_DISABLE): + if self.events.contains(ET.SOFT_DISABLE): self.state = State.softDisabling self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) - elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)): + elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)): self.state = State.enabled else: self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] @@ -590,14 +601,14 @@ class Controls: # DISABLED elif self.state == State.disabled: - if self.events.any(ET.ENABLE): - if self.events.any(ET.NO_ENTRY): + if self.events.contains(ET.ENABLE): + if self.events.contains(ET.NO_ENTRY): self.current_alert_types.append(ET.NO_ENTRY) else: - if self.events.any(ET.PRE_ENABLE): + if self.events.contains(ET.PRE_ENABLE): self.state = State.preEnabled - elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL): + elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL): self.state = State.overriding else: self.state = State.enabled @@ -625,7 +636,8 @@ class Controls: if self.CP.lateralTuning.which() == 'torque': torque_params = self.sm['liveTorqueParameters'] if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.live_torque) and not self.custom_torque: - self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) + self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, + torque_params.frictionCoefficientFiltered) lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] @@ -640,7 +652,7 @@ class Controls: (not CS.belowLaneChangeSpeed or (not (((self.sm.frame - self.last_blinker_frame) * DT_CTRL) < 1.0) and not (CS.leftBlinker or CS.rightBlinker))) and CS.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated and \ not self.process_not_running - CC.longActive = self.enabled_long and not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and not self.events.any(ET.OVERRIDE_LONGITUDINAL) + CC.longActive = self.enabled_long and not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state @@ -799,7 +811,7 @@ class Controls: if not self.read_only and self.initialized: # send car controls over can - now_nanos = self.can_log_mono_time if REPLAY else int(sec_since_boot() * 1e9) + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) CC.actuatorsOutput = self.last_actuators @@ -839,7 +851,7 @@ class Controls: controlsState.desiredCurvature = self.desired_curvature controlsState.desiredCurvatureRate = self.desired_curvature_rate controlsState.state = self.state - controlsState.engageable = not self.events.any(ET.NO_ENTRY) + controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) @@ -899,7 +911,7 @@ class Controls: self.CC = CC def step(self): - start_time = sec_since_boot() + start_time = time.monotonic() self.prof.checkpoint("Ratekeeper", ignore=True) self.is_metric = self.params.get_bool("IsMetric") diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index f32e838333..6abcf4cbba 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -5,9 +5,9 @@ from collections import defaultdict from dataclasses import dataclass from typing import List, Dict, Optional -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.events import Alert +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 7a4bab82a2..2fbc38db58 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,8 +1,8 @@ import numpy as np from cereal import log -from common.conversions import Conversions as CV -from common.params import Params -from common.realtime import DT_MDL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 98c8ba3d10..744629d1b7 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,10 +1,10 @@ import math from cereal import car, log -from common.conversions import Conversions as CV -from common.numpy_fast import clip, interp -from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import T_IDXS # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable @@ -260,7 +260,8 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): return safe_desired_curvature, safe_desired_curvature_rate -def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: +def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, + torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: friction_interp = interp( apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), [-friction_threshold, friction_threshold], diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 6b6334f4e1..05e479e0ea 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import math import os from enum import IntEnum @@ -5,10 +6,10 @@ from typing import Dict, Union, Callable, List, Optional from cereal import log, car import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.realtime import DT_CTRL -from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER -from system.version import get_short_branch +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from openpilot.system.version import get_short_branch AlertSize = log.ControlsState.AlertSize AlertStatus = log.ControlsState.AlertStatus @@ -67,7 +68,7 @@ class Events: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} self.events = self.static_events.copy() - def any(self, event_type: str) -> bool: + def contains(self, event_type: str) -> bool: return any(event_type in EVENTS.get(e, {}) for e in self.events) def create_alerts(self, event_types: List[str], callback_args=None): @@ -238,7 +239,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", "", AlertStatus.userPrompt, AlertSize.small, - Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: @@ -535,7 +536,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { "Press Resume to Exit Standstill", "", AlertStatus.userPrompt, AlertSize.small, - Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + Priority.MID, VisualAlert.none, AudibleAlert.none, .2), }, EventName.belowSteerSpeed: { @@ -611,7 +612,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { "Take Control", "Turn Exceeds Steering Limit", AlertStatus.userPrompt, AlertSize.mid, - Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.), + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.), }, # Thrown when the fan is driven at >50% but is not rotating diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index d38959c560..30e1918442 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -1,7 +1,7 @@ from abc import abstractmethod, ABC -from common.numpy_fast import clip -from common.realtime import DT_CTRL +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 9ed140d38e..b13d41e51c 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -1,7 +1,7 @@ import math from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.latcontrol import LatControl STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 6696d2e304..c41130af95 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -1,8 +1,8 @@ import math from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl -from selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController class LatControlPID(LatControl): diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index ee2b7ef958..914fea81f4 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -1,11 +1,11 @@ import math from cereal import log -from common.numpy_fast import interp -from common.params import Params -from selfdrive.controls.lib.latcontrol import LatControl -from selfdrive.controls.lib.pid import PIDController -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index af9283f073..49666abe69 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'common') +Import('env', 'envCython', 'arch') gen = "c_generated_code" @@ -32,25 +32,25 @@ generated_files = [ f'{gen}/Makefile', f'{gen}/main_lat.c', + f'{gen}/main_sim_lat.c', f'{gen}/acados_solver_lat.h', + f'{gen}/acados_sim_solver_lat.h', + f'{gen}/acados_sim_solver_lat.c', f'{gen}/acados_solver.pxd', f'{gen}/lat_model/lat_expl_vde_adj.c', f'{gen}/lat_model/lat_model.h', - f'{gen}/lat_cost/lat_cost_y_fun.h', - f'{gen}/lat_cost/lat_cost_y_e_fun.h', - f'{gen}/lat_cost/lat_cost_y_0_fun.h', + f'{gen}/lat_constraints/lat_constraints.h', + f'{gen}/lat_cost/lat_cost.h', ] + build_files acados_dir = '#third_party/acados' acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['lat_mpc.py', - '#/selfdrive/modeld/constants.py', + '#selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', - f'{acados_dir}/x86_64/lib/libacados.so', - f'{acados_dir}/larch64/lib/libacados.so', f'{acados_templates_dir}/acados_solver.in.c', ] @@ -60,7 +60,6 @@ lenv.Clean(generated_files, Dir(gen)) generated_lat = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 lat_mpc.py") -lenv.Depends(generated_lat, "#common") lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index ca7b991e69..5e6f884df4 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -1,16 +1,16 @@ #!/usr/bin/env python3 import os +import time import numpy as np from casadi import SX, vertcat, sin, cos -from common.realtime import sec_since_boot # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.modeld.constants import T_IDXS if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") @@ -129,11 +129,15 @@ def gen_lat_ocp(): class LateralMpc(): - def __init__(self, x0=np.zeros(X_DIM)): + def __init__(self, x0=None): + if x0 is None: + x0 = np.zeros(X_DIM) self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset(x0) - def reset(self, x0=np.zeros(X_DIM)): + def reset(self, x0=None): + if x0 is None: + x0 = np.zeros(X_DIM) self.x_sol = np.zeros((N+1, X_DIM)) self.u_sol = np.zeros((N, 1)) self.yref = np.zeros((N+1, COST_DIM)) @@ -178,9 +182,9 @@ class LateralMpc(): self.solver.set(N, "p", p_cp[N]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) - t = sec_since_boot() + t = time.monotonic() self.solution_status = self.solver.solve() - self.solve_time = sec_since_boot() - t + self.solve_time = time.monotonic() - t for i in range(N+1): self.x_sol[i] = self.solver.get(i, 'x') diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 5d850d180d..7a0f232aa7 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,14 +1,15 @@ +import time import numpy as np -from common.conversions import Conversions as CV -from common.realtime import sec_since_boot, DT_MDL -from common.numpy_fast import interp -from common.params import Params -from system.swaglog import cloudlog -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error -from selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_MDL +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log @@ -76,7 +77,9 @@ class LateralPlanner: self.vision_curve_laneless = self.param_s.get_bool("VisionCurveLaneless") self.param_read_counter += 1 - def reset_mpc(self, x0=np.zeros(4)): + def reset_mpc(self, x0=None): + if x0 is None: + x0 = np.zeros(4) self.x0 = x0 self.lat_mpc.reset(x0=self.x0) @@ -146,7 +149,7 @@ class LateralPlanner: # Check for infeasible MPC solution mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any() - t = sec_since_boot() + t = time.monotonic() if mpc_nans or self.lat_mpc.solution_status != 0: self.reset_mpc() self.x0[3] = measured_curvature * self.v_ego @@ -197,7 +200,7 @@ class LateralPlanner: lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() - lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] + lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] lateralPlan.lProb = float(self.LP.lll_prob) lateralPlan.rProb = float(self.LP.rll_prob) lateralPlan.dProb = float(self.LP.d_prob) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e8095813f2..61c150aadc 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,9 +1,9 @@ from cereal import car -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL -from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone -from selfdrive.controls.lib.pid import PIDController -from selfdrive.modeld.constants import T_IDXS +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.modeld.constants import T_IDXS LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 64d5aa963a..79afa1d918 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'common') +Import('env', 'envCython', 'arch', 'messaging_python', 'common_python') gen = "c_generated_code" @@ -38,26 +38,25 @@ generated_files = [ f'{gen}/Makefile', f'{gen}/main_long.c', + f'{gen}/main_sim_long.c', f'{gen}/acados_solver_long.h', + f'{gen}/acados_sim_solver_long.h', + f'{gen}/acados_sim_solver_long.c', f'{gen}/acados_solver.pxd', f'{gen}/long_model/long_expl_vde_adj.c', f'{gen}/long_model/long_model.h', - f'{gen}/long_constraints/long_h_constraint.h', - f'{gen}/long_cost/long_cost_y_fun.h', - f'{gen}/long_cost/long_cost_y_e_fun.h', - f'{gen}/long_cost/long_cost_y_0_fun.h', + f'{gen}/long_constraints/long_constraints.h', + f'{gen}/long_cost/long_cost.h', ] + build_files acados_dir = '#third_party/acados' acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera' source_list = ['long_mpc.py', - '#/selfdrive/modeld/constants.py', + '#selfdrive/modeld/constants.py', f'{acados_dir}/include/acados_c/ocp_nlp_interface.h', - f'{acados_dir}/x86_64/lib/libacados.so', - f'{acados_dir}/larch64/lib/libacados.so', f'{acados_templates_dir}/acados_solver.in.c', ] @@ -67,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, "#cereal") +lenv.Depends(generated_long, [messaging_python, common_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py old mode 100644 new mode 100755 index 8c2f4a7ca6..c7a1dc85ba --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -1,18 +1,19 @@ #!/usr/bin/env python3 import os +import time import numpy as np from cereal import log -from common.realtime import sec_since_boot -from common.numpy_fast import clip -from system.swaglog import cloudlog +from openpilot.common.numpy_fast import clip +from openpilot.system.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import index_function -from selfdrive.controls.radard import _LEAD_ACCEL_TAU +from openpilot.selfdrive.modeld.constants import index_function +from openpilot.selfdrive.car.interfaces import ACCEL_MIN +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error + from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython from casadi import SX, vertcat @@ -52,8 +53,6 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1 T_IDXS = np.array(T_IDXS_LST) FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) -MIN_ACCEL = -3.5 -MAX_ACCEL = 2.0 COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 @@ -112,7 +111,9 @@ def get_stopped_equivalence_factor(v_lead): def get_safe_obstacle_distance(v_ego, t_follow): return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE -def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()): +def desired_follow_distance(v_ego, v_lead, t_follow=None): + if t_follow is None: + t_follow = get_T_FOLLOW() return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) @@ -320,7 +321,7 @@ class LongitudinalMpc: self.x0[1] = v self.x0[2] = a if abs(v_prev - v) > 2.: # probably only helps if v < v_prev - for i in range(0, N+1): + for i in range(N+1): self.solver.set(i, 'x', self.x0) @staticmethod @@ -347,7 +348,7 @@ class LongitudinalMpc: # MPC will not converge if immediate crash is expected # Clip lead distance to what is still possible to brake for - min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2) + min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2) x_lead = clip(x_lead, min_x_lead, 1e8) v_lead = clip(v_lead, 0.0, 1e8) a_lead = clip(a_lead, -10., 5.) @@ -381,7 +382,7 @@ class LongitudinalMpc: x_and_cruise_e2ex = np.column_stack([e2e_x, cruise_target_e2ex]) e2e_x = np.min(x_and_cruise_e2ex, axis=1) - self.params[:,0] = MIN_ACCEL + self.params[:,0] = ACCEL_MIN self.params[:,1] = self.max_a # Update in ACC mode or ACC/e2e blend @@ -450,7 +451,7 @@ class LongitudinalMpc: self.source = 'lead1' def run(self): - # t0 = sec_since_boot() + # t0 = time.monotonic() # reset = 0 for i in range(N+1): self.solver.set(i, 'p', self.params[i]) @@ -464,7 +465,8 @@ class LongitudinalMpc: self.time_integrator = float(self.solver.get_stats('time_sim')[0]) # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific - # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") + # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \ + # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}") # res = self.solver.get_residuals() # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}") # self.solver.print_statistics() @@ -480,14 +482,15 @@ class LongitudinalMpc: self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution) - t = sec_since_boot() + t = time.monotonic() if self.solution_status != 0: if t > self.last_cloudlog_t + 5.0: self.last_cloudlog_t = t cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}") self.reset() # reset = 1 - # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") + # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \ + # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}") if __name__ == "__main__": diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index da927287ad..13c51389e8 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -1,24 +1,25 @@ #!/usr/bin/env python3 import math import numpy as np -from common.numpy_fast import clip, interp -from common.params import Params +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params from cereal import car, log import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.filter_simple import FirstOrderFilter -from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error -from selfdrive.controls.lib.vision_turn_controller import VisionTurnController -from selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver -from selfdrive.controls.lib.turn_speed_controller import TurnSpeedController -from selfdrive.controls.lib.events import Events -from system.swaglog import cloudlog +from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error +from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnController +from openpilot.selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver +from openpilot.selfdrive.controls.lib.turn_speed_controller import TurnSpeedController +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 @@ -115,8 +116,7 @@ class LongitudinalPlanner: self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' v_ego = sm['carState'].vEgo - v_cruise_kph = sm['controlsState'].vCruise - v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) + v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS long_control_off = sm['controlsState'].longControlState == LongCtrlState.off @@ -132,8 +132,8 @@ class LongitudinalPlanner: accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) else: - accel_limits = [MIN_ACCEL, MAX_ACCEL] - accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] + accel_limits = [ACCEL_MIN, ACCEL_MAX] + accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] if reset_state: self.v_desired_filter.x = v_ego diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index 965158131b..f4ec7e5996 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -1,7 +1,7 @@ import numpy as np from numbers import Number -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp class PIDController(): diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py index dc696602cc..58b54e8142 100644 --- a/selfdrive/controls/lib/speed_limit_controller.py +++ b/selfdrive/controls/lib/speed_limit_controller.py @@ -5,7 +5,6 @@ from enum import IntEnum from cereal import log, car from common.conversions import Conversions as CV from common.params import Params -from common.realtime import sec_since_boot from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \ LIMIT_MAX_MAP_DATA_AGE, CONTROL_N from selfdrive.controls.lib.events import Events, ET @@ -308,14 +307,14 @@ class SpeedLimitController(): return self._source def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + _PARAMS_UPDATE_PERIOD: + t = time.monotonic() + if t > self._last_params_update + _PARAMS_UPDATE_PERIOD: self._is_enabled = self._params.get_bool("SpeedLimitControl") self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset") self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8')) self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8')) _debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_enabled}') - self._last_params_update = time + self._last_params_update = t def _update_calculations(self): # Update current velocity offset (error) @@ -326,7 +325,7 @@ class SpeedLimitController(): # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise # speed. if not self._op_enabled_prev and self._op_enabled: - self._last_op_enabled_time = sec_since_boot() + self._last_op_enabled_time = time.monotonic() # Update change tracking variables self._speed_limit_changed = self._speed_limit != self._speed_limit_prev @@ -349,7 +348,7 @@ class SpeedLimitController(): # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations # due to controlsd logic changing cruise setpoint when going active. if self._v_cruise_setpoint_changed and \ - sec_since_boot() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD): + time.monotonic() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD): self.state = SpeedLimitControlState.tempInactive return @@ -413,7 +412,7 @@ class SpeedLimitController(): _car_state = sm['carState'] self._op_enabled = enabled and sm['controlsState'].enabled and _car_state.cruiseState.enabled and \ not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \ - not events.any(ET.OVERRIDE_LONGITUDINAL) + not events.contains(ET.OVERRIDE_LONGITUDINAL) self._v_ego = v_ego self._a_ego = a_ego self._v_cruise_setpoint = v_cruise_setpoint diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py index 6c1b6fc4a2..dbd42858a0 100755 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -2,8 +2,8 @@ import random import unittest -from selfdrive.controls.lib.events import Alert, EVENTS -from selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.controls.lib.events import Alert, EVENTS +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager class TestAlertManager(unittest.TestCase): diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index b504b3d125..9580e604ff 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -4,14 +4,15 @@ import unittest from parameterized import parameterized from cereal import car, log -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.nissan.values import CAR as NISSAN -from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk class TestLatControl(unittest.TestCase): @@ -27,13 +28,15 @@ class TestLatControl(unittest.TestCase): CS = car.CarState.new_message() CS.vEgo = 30 + CS.steeringPressed = False last_actuators = car.CarControl.Actuators.new_message() params = log.LiveParametersData.new_message() + llk = gen_llk() for _ in range(1000): - _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0) + _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk) self.assertTrue(lac_log.saturated) diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index 03d97a7e3f..d016e87527 100755 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -5,9 +5,9 @@ import unittest import numpy as np from control import StateSpace -from selfdrive.car.honda.interface import CarInterface -from selfdrive.car.honda.values import CAR -from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.car.honda.values import CAR +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices class TestVehicleModel(unittest.TestCase): @@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase): # Compute yaw rate using direct computations yr2 = self.VM.yaw_rate(sa, u, roll) - self.assertAlmostEqual(float(yr1), yr2) + self.assertAlmostEqual(float(yr1[0]), yr2) def test_syn_ss_sol_simulate(self): """Verifies that dyn_ss_sol matches a simulation""" diff --git a/selfdrive/controls/lib/turn_speed_controller.py b/selfdrive/controls/lib/turn_speed_controller.py index fd42c476ce..4c0684bf4a 100644 --- a/selfdrive/controls/lib/turn_speed_controller.py +++ b/selfdrive/controls/lib/turn_speed_controller.py @@ -2,7 +2,6 @@ import numpy as np import time from common.params import Params from cereal import log -from common.realtime import sec_since_boot from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \ LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC from selfdrive.modeld.constants import T_IDXS @@ -163,10 +162,10 @@ class TurnSpeedController(): return speed_limit, 0., turn_sign def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + 5.0: + t = time.monotonic() + if t > self._last_params_update + 5.0: self._is_enabled = self._params.get_bool("TurnSpeedControl") - self._last_params_update = time + self._last_params_update = t def _update_calculations(self): # Update current velocity offset (error) diff --git a/selfdrive/controls/lib/vision_turn_controller.py b/selfdrive/controls/lib/vision_turn_controller.py index bc5ada7528..0e5d5176a5 100644 --- a/selfdrive/controls/lib/vision_turn_controller.py +++ b/selfdrive/controls/lib/vision_turn_controller.py @@ -1,9 +1,9 @@ import numpy as np import math +import time from cereal import log from common.numpy_fast import interp from common.params import Params -from common.realtime import sec_since_boot from common.conversions import Conversions as CV from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX @@ -152,10 +152,10 @@ class VisionTurnController(): self._lat_acc_overshoot_ahead = False def _update_params(self): - time = sec_since_boot() - if time > self._last_params_update + 5.0: + t = time.monotonic() + if t > self._last_params_update + 5.0: self._is_enabled = self._params.get_bool("TurnVisionControl") - self._last_params_update = time + self._last_params_update = t def _update_calculations(self, sm): # Get path polynomial approximation for curvature estimation from model data. diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 93c1eff197..e1ac208692 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -2,12 +2,12 @@ import os import numpy as np from cereal import car -from common.params import Params -from common.realtime import Priority, config_realtime_process -from system.swaglog import cloudlog -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.lib.lateral_planner import LateralPlanner +from openpilot.common.params import Params +from openpilot.common.realtime import Priority, config_realtime_process +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging def cumtrapz(x, t): diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index bba3ad7cff..8a21fdd8ab 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -6,12 +6,12 @@ from typing import Optional, Dict, Any import capnp from cereal import messaging, log, car -from common.numpy_fast import interp -from common.params import Params -from common.realtime import Ratekeeper, Priority, config_realtime_process -from system.swaglog import cloudlog +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process +from openpilot.system.swaglog import cloudlog -from common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s @@ -163,7 +163,8 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa } -def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader, model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]: +def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader, + model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]: # Determine leads, this is where the essential logic happens if len(tracks) > 0 and ready and lead_msg.prob > .5: track = match_vision_to_track(v_ego, lead_msg, tracks) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index c0d70b3b6f..7b4fba0dce 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -8,11 +8,11 @@ from PIL import Image, ImageDraw, ImageFont from cereal import log, car from cereal.messaging import SubMaster -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.events import Alert, EVENTS, ET -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.test.process_replay.process_replay import CONFIGS +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS AlertSize = log.ControlsState.AlertSize diff --git a/selfdrive/controls/tests/test_clustering.py b/selfdrive/controls/tests/test_clustering.py deleted file mode 100644 index 99c24d5938..0000000000 --- a/selfdrive/controls/tests/test_clustering.py +++ /dev/null @@ -1,140 +0,0 @@ -# pylint: skip-file - -import time -import unittest -import numpy as np -from fastcluster import linkage_vector -from scipy.cluster import _hierarchy -from scipy.spatial.distance import pdist - -from third_party.cluster.fastcluster_py import hclust, ffi -from third_party.cluster.fastcluster_py import cluster_points_centroid - - -def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None): - # supersimplified function to get fast clustering. Got it from scipy - Z = np.asarray(Z, order='c') - n = Z.shape[0] + 1 - T = np.zeros((n,), dtype='i') - _hierarchy.cluster_dist(Z, T, float(t), int(n)) - return T - - -TRACK_PTS = np.array([[59.26000137, -9.35999966, -5.42500019], - [91.61999817, -0.31999999, -2.75], - [31.38000031, 0.40000001, -0.2], - [89.57999725, -8.07999992, -18.04999924], - [53.42000122, 0.63999999, -0.175], - [31.38000031, 0.47999999, -0.2], - [36.33999939, 0.16, -0.2], - [53.33999939, 0.95999998, -0.175], - [59.26000137, -9.76000023, -5.44999981], - [33.93999977, 0.40000001, -0.22499999], - [106.74000092, -5.76000023, -18.04999924]]) - -CORRECT_LINK = np.array([[2., 5., 0.07999998, 2.], - [4., 7., 0.32984889, 2.], - [0., 8., 0.40078104, 2.], - [6., 9., 2.41209933, 2.], - [11., 14., 3.76342275, 4.], - [12., 13., 13.02297651, 4.], - [1., 3., 17.27626057, 2.], - [10., 17., 17.92918845, 3.], - [15., 16., 23.68525366, 8.], - [18., 19., 52.52351319, 11.]]) - -CORRECT_LABELS = np.array([7, 1, 4, 2, 6, 4, 5, 6, 7, 5, 3], dtype=np.int32) - - -def plot_cluster(pts, idx_old, idx_new): - import matplotlib.pyplot as plt - m = 'Set1' - - plt.figure() - plt.subplot(1, 2, 1) - plt.scatter(pts[:, 0], pts[:, 1], c=idx_old, cmap=m) - plt.title("Old") - plt.colorbar() - plt.subplot(1, 2, 2) - plt.scatter(pts[:, 0], pts[:, 1], c=idx_new, cmap=m) - plt.title("New") - plt.colorbar() - - plt.show() - - -def same_clusters(correct, other): - correct = np.asarray(correct) - other = np.asarray(other) - if len(correct) != len(other): - return False - - for i in range(len(correct)): - c = np.where(correct == correct[i]) - o = np.where(other == other[i]) - if not np.array_equal(c, o): - return False - return True - - -class TestClustering(unittest.TestCase): - def test_scipy_clustering(self): - old_link = linkage_vector(TRACK_PTS, method='centroid') - old_cluster_idxs = fcluster(old_link, 2.5, criterion='distance') - - np.testing.assert_allclose(old_link, CORRECT_LINK) - np.testing.assert_allclose(old_cluster_idxs, CORRECT_LABELS) - - def test_pdist(self): - pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64) - pts_ptr = ffi.cast("double *", pts.ctypes.data) - - n, m = pts.shape - out = np.zeros((n * (n - 1) // 2, ), dtype=np.float64) - out_ptr = ffi.cast("double *", out.ctypes.data) - hclust.hclust_pdist(n, m, pts_ptr, out_ptr) - - np.testing.assert_allclose(out, np.power(pdist(TRACK_PTS), 2)) - - def test_cpp_clustering(self): - pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64) - pts_ptr = ffi.cast("double *", pts.ctypes.data) - n, m = pts.shape - - labels = np.zeros((n, ), dtype=np.int32) - labels_ptr = ffi.cast("int *", labels.ctypes.data) - hclust.cluster_points_centroid(n, m, pts_ptr, 2.5**2, labels_ptr) - self.assertTrue(same_clusters(CORRECT_LABELS, labels)) - - def test_cpp_wrapper_clustering(self): - labels = cluster_points_centroid(TRACK_PTS, 2.5) - self.assertTrue(same_clusters(CORRECT_LABELS, labels)) - - def test_random_cluster(self): - np.random.seed(1337) - N = 1000 - - t_old = 0. - t_new = 0. - - for _ in range(N): - n = int(np.random.uniform(2, 32)) - x = np.random.uniform(-10, 50, (n, 1)) - y = np.random.uniform(-5, 5, (n, 1)) - vrel = np.random.uniform(-5, 5, (n, 1)) - pts = np.hstack([x, y, vrel]) - - t = time.time() - old_link = linkage_vector(pts, method='centroid') - old_cluster_idx = fcluster(old_link, 2.5, criterion='distance') - t_old += time.time() - t - - t = time.time() - cluster_idx = cluster_points_centroid(pts, 2.5) - t_new += time.time() - t - - self.assertTrue(same_clusters(old_cluster_idx, cluster_idx)) - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 6d11c30ab2..1d43b49ccf 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -4,11 +4,11 @@ import unittest from parameterized import parameterized_class from cereal import log -from common.params import Params -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT from cereal import car -from common.conversions import Conversions as CV -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type @@ -52,7 +52,7 @@ class TestCruiseSpeed(unittest.TestCase): @parameterized_class(('pcm_cruise',), [(False,)]) class TestVCruiseHelper(unittest.TestCase): def setUp(self): - self.CP = car.CarParams(pcmCruise=self.pcm_cruise) # pylint: disable=E1101 + self.CP = car.CarParams(pcmCruise=self.pcm_cruise) self.v_cruise_helper = VCruiseHelper(self.CP) self.reset_cruise_speed_state() diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py old mode 100644 new mode 100755 index 9ee7bdfb3b..3b31632721 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,10 +1,13 @@ #!/usr/bin/env python3 import unittest -from common.params import Params +import itertools +from parameterized import parameterized_class + +from openpilot.common.params import Params from cereal import log -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): @@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): return output[-1,2] - output[-1,1] +@parameterized_class(("e2e", "personality", "speed"), itertools.product( + [True, False], # e2e + [log.LongitudinalPersonality.relaxed, # personality + log.LongitudinalPersonality.standard, + log.LongitudinalPersonality.aggressive], + [0,10,35])) # speed class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): params = Params() - personalities = [log.LongitudinalPersonality.relaxed, - log.LongitudinalPersonality.standard, - log.LongitudinalPersonality.aggressive] - for personality in personalities: - params.put("LongitudinalPersonality", str(personality)) - for e2e in [False, True]: - for speed in [0,10,35]: - print(f'Testing {speed} m/s') - v_lead = float(speed) - simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e) - correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality)) - err_ratio = 0.2 if e2e else 0.1 - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) + params.put("LongitudinalPersonality", str(self.personality)) + v_lead = float(self.speed) + simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e) + correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) + err_ratio = 0.2 if self.e2e else 0.1 + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) if __name__ == "__main__": diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index b569da09b4..8c09f46b60 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -1,8 +1,8 @@ import unittest import numpy as np -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0., diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py new file mode 100755 index 0000000000..bd8baf096e --- /dev/null +++ b/selfdrive/controls/tests/test_leads.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +import unittest + +import cereal.messaging as messaging + +from selfdrive.test.process_replay import replay_process_with_name +from selfdrive.car.toyota.values import CAR as TOYOTA + + +class TestLeads(unittest.TestCase): + def test_radar_fault(self): + # if there's no radar-related can traffic, radard should either not respond or respond with an error + # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check + def single_iter_pkg(): + # single iter package, with meaningless cans and empty carState/modelV2 + msgs = [] + for _ in range(5): + can = messaging.new_message("can", 1) + cs = messaging.new_message("carState") + msgs.append(can.as_reader()) + msgs.append(cs.as_reader()) + model = messaging.new_message("modelV2") + msgs.append(model.as_reader()) + + return msgs + + msgs = [m for _ in range(3) for m in single_iter_pkg()] + out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.COROLLA_TSS2) + states = [m for m in out if m.which() == "radarState"] + failures = [not state.valid and len(state.radarState.radarErrors) for state in states] + + self.assertTrue(len(states) == 0 or all(failures)) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 18c8e79026..6eb803e8aa 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -5,13 +5,13 @@ from parameterized import parameterized from cereal import log, car import cereal.messaging as messaging -from common.params import Params -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error -from selfdrive.car.fingerprints import _FINGERPRINTS -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.mazda.values import CAR as MAZDA -from selfdrive.controls.lib.events import EVENT_NAME -from selfdrive.test.helpers import with_processes +from openpilot.common.params import Params +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.controls.lib.events import EVENT_NAME +from openpilot.selfdrive.test.helpers import with_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index d5f468f214..bdeed9fb7a 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -2,10 +2,10 @@ import unittest from cereal import car, log -from common.realtime import DT_CTRL -from selfdrive.car.car_helpers import interfaces -from selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME -from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME +from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ AudibleAlert, EVENTS State = log.ControlsState.OpenpilotState diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ff98c20e60..ea1160d60b 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -5,8 +5,8 @@ import time from collections import defaultdict import cereal.messaging as messaging -from selfdrive.debug.can_table import can_table -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.selfdrive.debug.can_table import can_table +from openpilot.tools.lib.logreader import logreader_from_route_or_segment RED = '\033[91m' CLEAR = '\033[0m' diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py index 3f991d4e6c..220008979d 100755 --- a/selfdrive/debug/can_printer.py +++ b/selfdrive/debug/can_printer.py @@ -1,17 +1,17 @@ #!/usr/bin/env python3 import argparse import binascii +import time from collections import defaultdict import cereal.messaging as messaging -from common.realtime import sec_since_boot def can_printer(bus, max_msg, addr, ascii_decode): logcan = messaging.sub_sock('can', addr=addr) - start = sec_since_boot() - lp = sec_since_boot() + start = time.monotonic() + lp = time.monotonic() msgs = defaultdict(list) while 1: can_recv = messaging.drain_sock(logcan, wait_for_one=True) @@ -20,17 +20,17 @@ def can_printer(bus, max_msg, addr, ascii_decode): if y.src == bus: msgs[y.address].append(y.dat) - if sec_since_boot() - lp > 0.1: + if time.monotonic() - lp > 0.1: dd = chr(27) + "[2J" - dd += f"{sec_since_boot() - start:5.2f}\n" + dd += f"{time.monotonic() - start:5.2f}\n" for addr in sorted(msgs.keys()): a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else "" x = binascii.hexlify(msgs[addr][-1]).decode('ascii') - freq = len(msgs[addr]) / (sec_since_boot() - start) + freq = len(msgs[addr]) / (time.monotonic() - start) if max_msg is None or addr < max_msg: dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a) print(dd) - lp = sec_since_boot() + lp = time.monotonic() if __name__ == "__main__": parser = argparse.ArgumentParser(description="simple CAN data viewer", diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py new file mode 100755 index 0000000000..c4b688ce29 --- /dev/null +++ b/selfdrive/debug/check_can_parser_performance.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +import numpy as np +import time +from tqdm import tqdm + +from cereal import car +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModelBase +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE + +N_RUNS = 10 + + +class CarModelTestCase(TestCarModelBase): + test_route = CarTestRoute(DEMO_ROUTE, None) + ci = False + + +if __name__ == '__main__': + # Get CAN messages and parsers + tm = CarModelTestCase() + tm.setUpClass() + tm.setUp() + + CC = car.CarControl.new_message() + ets = [] + for _ in tqdm(range(N_RUNS)): + start_t = time.process_time_ns() + for msg in tm.can_msgs: + for cp in tm.CI.can_parsers: + if cp is not None: + cp.update_strings((msg.as_builder().to_bytes(),)) + ets.append((time.process_time_ns() - start_t) * 1e-6) + + print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') + print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms') + print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet') diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index 6436abb4f1..7e7b05e950 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import argparse import numpy as np +import time from collections import defaultdict, deque from typing import DefaultDict, Deque, MutableSequence -from common.realtime import sec_since_boot import cereal.messaging as messaging @@ -22,7 +22,7 @@ if __name__ == "__main__": rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) - t = sec_since_boot() + t = time.monotonic() for name in socket_names: sock = messaging.sub_sock(name, poller=poller) sockets[sock] = name @@ -36,7 +36,7 @@ if __name__ == "__main__": name = msg.which() - t = sec_since_boot() + t = time.monotonic() rcv_times[name].append(msg.logMonoTime / 1e9) valids[name].append(msg.valid) diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index d84828079d..dea21331b7 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -35,6 +35,6 @@ try: except MessageTimeoutError: # functional address isn't properly handled so a timeout occurs if args.addr != 0x7DF: - pass + pass print("") print("you may need to power cycle your vehicle now") diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a81d797b89..a8af5e6fe9 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -8,8 +8,8 @@ from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import service_list -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": r = Route(sys.argv[1]) diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index b3294c8728..9050fbb064 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -24,7 +24,7 @@ import argparse import re from collections import defaultdict -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes # Do statistics every 5 seconds PRINT_INTERVAL = 5 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 71c7b34be5..5037208643 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -4,11 +4,11 @@ import random from cereal import car, log import cereal.messaging as messaging -from common.realtime import DT_CTRL -from selfdrive.car.honda.interface import CarInterface -from selfdrive.controls.lib.events import ET, Events -from selfdrive.controls.lib.alertmanager import AlertManager -from selfdrive.manager.process_config import managed_processes +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.controls.lib.events import ET, Events +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.manager.process_config import managed_processes EventName = car.CarEvent.EventName diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py index 722cdc6406..8436fbd0b0 100755 --- a/selfdrive/debug/dump.py +++ b/selfdrive/debug/dump.py @@ -3,14 +3,15 @@ import os import sys import argparse import json -from hexdump import hexdump import codecs -codecs.register_error("strict", codecs.backslashreplace_errors) - -from cereal import log import cereal.messaging as messaging + +from hexdump import hexdump +from cereal import log from cereal.services import service_list +codecs.register_error("strict", codecs.backslashreplace_errors) + if __name__ == "__main__": parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.') diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py index c9a21c2848..6af328926b 100755 --- a/selfdrive/debug/dump_car_info.py +++ b/selfdrive/debug/dump_car_info.py @@ -2,7 +2,7 @@ import argparse import pickle -from selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs import get_all_car_info def dump_car_info(path): diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index af52953936..20cef0fcc0 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -4,8 +4,8 @@ import argparse import json import cereal.messaging as messaging -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, @@ -59,7 +59,7 @@ if __name__ == "__main__": logs = [args.route[0]] else: r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths())] + logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] if len(args.route) == 2 and logs: n = int(args.route[1]) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index b3598b105c..c2bff7c638 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import sys -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator def get_fingerprint(lr): diff --git a/selfdrive/debug/internal/check_alive_valid.py b/selfdrive/debug/internal/check_alive_valid.py deleted file mode 100755 index da488c2140..0000000000 --- a/selfdrive/debug/internal/check_alive_valid.py +++ /dev/null @@ -1,19 +0,0 @@ -#!/usr/bin/env python3 -import time -import cereal.messaging as messaging - - -if __name__ == "__main__": - sm = messaging.SubMaster(['deviceState', 'pandaStates', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan']) - - i = 0 - while True: - sm.update(0) - - i += 1 - if i % 100 == 0: - print() - print("alive", sm.alive) - print("valid", sm.valid) - - time.sleep(0.01) diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py deleted file mode 100755 index 9ac8bfc80e..0000000000 --- a/selfdrive/debug/internal/check_frame_frequencies.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python3 - -import time -import statistics -import cereal.messaging as messaging - -from typing import Dict - -camera_states = [ - 'roadCameraState', - 'wideRoadCameraState', - 'driverCameraState' -] - -def fmt(val): - ref = 0.05 - return f"{val:.6f} ({100 * val / ref:.2f}%)" - -if __name__ == "__main__": - sm = messaging.SubMaster(camera_states) - - prev_sof = {state: None for state in camera_states} - diffs: Dict[str, list] = {state: [] for state in camera_states} - - st = time.monotonic() - while True: - sm.update() - - for state in camera_states: - if sm.updated[state]: - if prev_sof[state] is not None: - diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9) - prev_sof[state] = sm[state].timestampSof - - if time.monotonic() - st > 10: - for state in camera_states: - values = diffs[state] - ref = 0.05 - print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}") - diffs[state] = [] - - print() - st = time.monotonic() diff --git a/selfdrive/debug/internal/design_lqr.py b/selfdrive/debug/internal/design_lqr.py deleted file mode 100755 index e86926f607..0000000000 --- a/selfdrive/debug/internal/design_lqr.py +++ /dev/null @@ -1,32 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import control # pylint: disable=import-error - -dt = 0.01 -A = np.array([[ 0. , 1. ], [-0.78823806, 1.78060701]]) -B = np.array([[-2.23399437e-05], [ 7.58330763e-08]]) -C = np.array([[1., 0.]]) - - -# Kalman tuning -Q = np.diag([1, 1]) -R = np.atleast_2d(1e5) - -(_, _, L) = control.dare(A.T, C.T, Q, R) -L = L.T - -# LQR tuning -Q = np.diag([2e5, 1e-5]) -R = np.atleast_2d(1) -(_, _, K) = control.dare(A, B, Q, R) - -A_cl = (A - B.dot(K)) -sys = control.ss(A_cl, B, C, 0, dt) -dc_gain = control.dcgain(sys) - -print(("self.A = np." + A.__repr__()).replace('\n', '')) -print(("self.B = np." + B.__repr__()).replace('\n', '')) -print(("self.C = np." + C.__repr__()).replace('\n', '')) -print(("self.K = np." + K.__repr__()).replace('\n', '')) -print(("self.L = np." + L.__repr__()).replace('\n', '')) -print("self.dc_gain = " + str(dc_gain)) diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py index a18390fef3..aedb3ada1d 100755 --- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py @@ -5,11 +5,11 @@ from collections import defaultdict from tqdm import tqdm -from selfdrive.car.fw_versions import match_fw_to_car_fuzzy -from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS -from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS -from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS -from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import match_fw_to_car_fuzzy +from openpilot.selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS +from openpilot.selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS +from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS +from openpilot.selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS FWS = {} @@ -27,7 +27,7 @@ if __name__ == "__main__": for _ in tqdm(range(1000)): for candidate, fws in FWS.items(): fw_dict = {} - for (tp, addr, subaddr), fw_list in fws.items(): + for (_, addr, subaddr), fw_list in fws.items(): fw_dict[(addr, subaddr)] = [random.choice(fw_list)] matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate) diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py deleted file mode 100755 index 34d2a12adc..0000000000 --- a/selfdrive/debug/internal/power_monitor.py +++ /dev/null @@ -1,64 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import sys -from datetime import datetime - -def average(avg, sample): - # Weighted avg between existing value and new sample - return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1) - - -if __name__ == '__main__': - start_time = datetime.now() - try: - if len(sys.argv) > 1 and sys.argv[1] == "--charge": - print("not disabling charging") - else: - print("disabling charging") - os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled') - - voltage_average = (0., 0) # average, count - current_average = (0., 0) - power_average = (0., 0) - capacity_average = (0., 0) - bat_temp_average = (0., 0) - while 1: - with open("/sys/class/power_supply/bms/voltage_now") as f: - voltage = int(f.read()) / 1e6 # volts - - with open("/sys/class/power_supply/bms/current_now") as f: - current = int(f.read()) / 1e3 # ma - - power = voltage * current - - with open("/sys/class/power_supply/bms/capacity_raw") as f: - capacity = int(f.read()) / 1e2 # percent - - with open("/sys/class/power_supply/bms/temp") as f: - bat_temp = int(f.read()) / 1e1 # celsius - - # compute averages - voltage_average = average(voltage_average, voltage) - current_average = average(current_average, current) - power_average = average(power_average, power) - capacity_average = average(capacity_average, capacity) - bat_temp_average = average(bat_temp_average, bat_temp) - - print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC") - time.sleep(0.1) - finally: - stop_time = datetime.now() - print("\n----------------------Average-----------------------------------") - voltage = voltage_average[0] - current = current_average[0] - power = power_average[0] - capacity = capacity_average[0] - bat_temp = bat_temp_average[0] - print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC") - print(f" {(stop_time - start_time).total_seconds():.2f} Seconds {voltage_average[1]} samples") - print("----------------------------------------------------------------") - - # re-enable charging - os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') - print("charging enabled\n") diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index a98a71181d..9b7f369525 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -6,8 +6,8 @@ from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import service_list -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route MIN_SIZE = 0.5 # Percent size of total to show as separate entry @@ -27,7 +27,7 @@ def make_pie(msgs, typ): sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100] sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))] - labels, sizes = zip(*sizes_large) + labels, sizes = zip(*sizes_large, strict=True) plt.figure() plt.title(f"{typ}") diff --git a/selfdrive/debug/internal/run_paramsd_on_route.py b/selfdrive/debug/internal/run_paramsd_on_route.py deleted file mode 100755 index 54519e3777..0000000000 --- a/selfdrive/debug/internal/run_paramsd_on_route.py +++ /dev/null @@ -1,150 +0,0 @@ -#!/usr/bin/env python3 -# pylint: skip-file -# flake8: noqa -# type: ignore - -import math -import multiprocessing - -import numpy as np -from tqdm import tqdm - -from selfdrive.locationd.paramsd import ParamsLearner, States -from tools.lib.logreader import LogReader -from tools.lib.route import Route - -ROUTE = "b2f1615665781088|2021-03-14--17-27-47" -PLOT = True - - -def load_segment(segment_name): - print(f"Loading {segment_name}") - if segment_name is None: - return [] - - try: - return list(LogReader(segment_name)) - except ValueError as e: - print(f"Error parsing {segment_name}: {e}") - return [] - - -if __name__ == "__main__": - route = Route(ROUTE) - - msgs = [] - with multiprocessing.Pool(24) as pool: - for d in pool.map(load_segment, route.log_paths()): - msgs += d - - for m in msgs: - if m.which() == 'carParams': - CP = m.carParams - break - - params = { - 'carFingerprint': CP.carFingerprint, - 'steerRatio': CP.steerRatio, - 'stiffnessFactor': 1.0, - 'angleOffsetAverageDeg': 0.0, - } - - for m in msgs: - if m.which() == 'liveParameters': - params['steerRatio'] = m.liveParameters.steerRatio - params['angleOffsetAverageDeg'] = m.liveParameters.angleOffsetAverageDeg - break - - for m in msgs: - if m.which() == 'carState': - last_carstate = m - break - - print(params) - learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg'])) - msgs = [m for m in tqdm(msgs) if m.which() in ('liveLocationKalman', 'carState', 'liveParameters')] - msgs = sorted(msgs, key=lambda m: m.logMonoTime) - - ts = [] - ts_log = [] - results = [] - results_log = [] - for m in tqdm(msgs): - if m.which() == 'carState': - last_carstate = m - - elif m.which() == 'liveLocationKalman': - t = last_carstate.logMonoTime / 1e9 - learner.handle_log(t, 'carState', last_carstate.carState) - - t = m.logMonoTime / 1e9 - learner.handle_log(t, 'liveLocationKalman', m.liveLocationKalman) - - x = learner.kf.x - sr = float(x[States.STEER_RATIO]) - st = float(x[States.STIFFNESS]) - ao_avg = math.degrees(x[States.ANGLE_OFFSET]) - ao = ao_avg + math.degrees(x[States.ANGLE_OFFSET_FAST]) - r = [sr, st, ao_avg, ao] - if any(math.isnan(v) for v in r): - print("NaN", t) - - ts.append(t) - results.append(r) - - elif m.which() == 'liveParameters': - t = m.logMonoTime / 1e9 - mm = m.liveParameters - - r = [mm.steerRatio, mm.stiffnessFactor, mm.angleOffsetAverageDeg, mm.angleOffsetDeg] - if any(math.isnan(v) for v in r): - print("NaN in log", t) - ts_log.append(t) - results_log.append(r) - - results = np.asarray(results) - results_log = np.asarray(results_log) - - if PLOT: - import matplotlib.pyplot as plt - plt.figure() - - plt.subplot(3, 2, 1) - plt.plot(ts, results[:, 0], label='Steer Ratio') - plt.grid() - plt.ylim([0, 20]) - plt.legend() - - plt.subplot(3, 2, 3) - plt.plot(ts, results[:, 1], label='Stiffness') - plt.ylim([0, 2]) - plt.grid() - plt.legend() - - plt.subplot(3, 2, 5) - plt.plot(ts, results[:, 2], label='Angle offset (average)') - plt.plot(ts, results[:, 3], label='Angle offset (instant)') - plt.ylim([-5, 5]) - plt.grid() - plt.legend() - - plt.subplot(3, 2, 2) - plt.plot(ts_log, results_log[:, 0], label='Steer Ratio') - plt.grid() - plt.ylim([0, 20]) - plt.legend() - - plt.subplot(3, 2, 4) - plt.plot(ts_log, results_log[:, 1], label='Stiffness') - plt.ylim([0, 2]) - plt.grid() - plt.legend() - - plt.subplot(3, 2, 6) - plt.plot(ts_log, results_log[:, 2], label='Angle offset (average)') - plt.plot(ts_log, results_log[:, 3], label='Angle offset (instant)') - plt.ylim([-5, 5]) - plt.grid() - plt.legend() - plt.show() - diff --git a/selfdrive/debug/internal/test_paramsd.py b/selfdrive/debug/internal/test_paramsd.py deleted file mode 100755 index 81524496f7..0000000000 --- a/selfdrive/debug/internal/test_paramsd.py +++ /dev/null @@ -1,133 +0,0 @@ -#!/usr/bin/env python3 -# pylint: skip-file -# type: ignore - -import numpy as np -import math -from tqdm import tqdm -from typing import cast - -import seaborn as sns -import matplotlib.pyplot as plt - - -from selfdrive.car.honda.interface import CarInterface -from selfdrive.car.honda.values import CAR -from selfdrive.controls.lib.vehicle_model import VehicleModel, create_dyn_state_matrices -from selfdrive.locationd.kalman.models.car_kf import CarKalman, ObservationKind, States - -T_SIM = 5 * 60 # s -DT = 0.01 - - -CP = CarInterface.get_non_essential_params(CAR.CIVIC) -VM = VehicleModel(CP) - -x, y = 0, 0 # m, m -psi = math.radians(0) # rad - -# The state is x = [v, r]^T -# with v lateral speed [m/s], and r rotational speed [rad/s] -state = np.array([[0.0], [0.0]]) - - -ts = np.arange(0, T_SIM, DT) -speeds = 10 * np.sin(2 * np.pi * ts / 200.) + 25 - -angle_offsets = math.radians(1.0) * np.ones_like(ts) -angle_offsets[ts > 60] = 0 -steering_angles = cast(np.ndarray, np.radians(5 * np.cos(2 * np.pi * ts / 100.))) - -xs = [] -ys = [] -psis = [] -yaw_rates = [] -speed_ys = [] - - -kf_states = [] -kf_ps = [] - -kf = CarKalman() - -for i, t in tqdm(list(enumerate(ts))): - u = speeds[i] - sa = steering_angles[i] - ao = angle_offsets[i] - - A, B = create_dyn_state_matrices(u, VM) - - state += DT * (A.dot(state) + B.dot(sa + ao)) - - x += u * math.cos(psi) * DT - y += (float(state[0]) * math.sin(psi) + u * math.sin(psi)) * DT - psi += float(state[1]) * DT - - kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_YAW_RATE, [float(state[1])]) - kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_XY_SPEED, [[u, float(state[0])]]) - kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, [sa]) - kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, [0]) - kf.predict(t) - - speed_ys.append(float(state[0])) - yaw_rates.append(float(state[1])) - kf_states.append(kf.x.copy()) - kf_ps.append(kf.P.copy()) - - xs.append(x) - ys.append(y) - psis.append(psi) - - -xs = np.asarray(xs) -ys = np.asarray(ys) -psis = np.asarray(psis) -speed_ys = np.asarray(speed_ys) -kf_states = np.asarray(kf_states) -kf_ps = np.asarray(kf_ps) - - -palette = sns.color_palette() - -def plot_with_bands(ts, state, label, ax, idx=1, converter=None): - mean = kf_states[:, state].flatten() - stds = np.sqrt(kf_ps[:, state, state].flatten()) - - if converter is not None: - mean = converter(mean) - stds = converter(stds) - - sns.lineplot(ts, mean, label=label, ax=ax) - ax.fill_between(ts, mean - stds, mean + stds, alpha=.2, color=palette[idx]) - - -print(kf.x) - -sns.set_context("paper") -f, axes = plt.subplots(6, 1) - -sns.lineplot(ts, np.degrees(steering_angles), label='Steering Angle [deg]', ax=axes[0]) -plot_with_bands(ts, States.STEER_ANGLE, 'Steering Angle kf [deg]', axes[0], converter=np.degrees) - -sns.lineplot(ts, np.degrees(yaw_rates), label='Yaw Rate [deg]', ax=axes[1]) -plot_with_bands(ts, States.YAW_RATE, 'Yaw Rate kf [deg]', axes[1], converter=np.degrees) - -sns.lineplot(ts, np.ones_like(ts) * VM.sR, label='Steer ratio [-]', ax=axes[2]) -plot_with_bands(ts, States.STEER_RATIO, 'Steer ratio kf [-]', axes[2]) -axes[2].set_ylim([10, 20]) - - -sns.lineplot(ts, np.ones_like(ts), label='Tire stiffness[-]', ax=axes[3]) -plot_with_bands(ts, States.STIFFNESS, 'Tire stiffness kf [-]', axes[3]) -axes[3].set_ylim([0.8, 1.2]) - - -sns.lineplot(ts, np.degrees(angle_offsets), label='Angle offset [deg]', ax=axes[4]) -plot_with_bands(ts, States.ANGLE_OFFSET, 'Angle offset kf deg', axes[4], converter=np.degrees) -plot_with_bands(ts, States.ANGLE_OFFSET_FAST, 'Fast Angle offset kf deg', axes[4], converter=np.degrees, idx=2) - -axes[4].set_ylim([-2, 2]) - -sns.lineplot(ts, speeds, ax=axes[5]) - -plt.show() diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py index c35afc474b..06f1be0b00 100755 --- a/selfdrive/debug/live_cpu_and_temp.py +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -4,7 +4,7 @@ import capnp from collections import defaultdict from cereal.messaging import SubMaster -from common.numpy_fast import mean +from openpilot.common.numpy_fast import mean from typing import Optional, Dict def cputime_total(ct): diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 103dd52dd8..8fb6277d3b 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -4,12 +4,13 @@ from collections import defaultdict import difflib import pickle -from selfdrive.car.docs import get_all_car_info -from selfdrive.car.docs_definitions import Column +from openpilot.selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" STAR_ICON = '' -VIDEO_ICON = '' +VIDEO_ICON = '\ + ' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) ARROW_SYMBOL = "➡️" @@ -99,7 +100,8 @@ def print_car_info_diff(path): if any(len(c) for c in changes.values()): markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] - for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): + for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), + ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): if len(changes[category]): markdown_builder.append(title) if category not in ("detail",): diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index c7a1434975..c7b6250d3f 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -2,10 +2,10 @@ import argparse -from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from tools.lib.logreader import MultiLogIterator -from tools.lib.route import Route -from tools.lib.helpers import save_log +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process +from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py index ceed4b0ec3..73f98b285c 100755 --- a/selfdrive/debug/sensor_data_to_hist.py +++ b/selfdrive/debug/sensor_data_to_hist.py @@ -10,8 +10,8 @@ import sys import numpy as np from collections import defaultdict -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route import matplotlib.pyplot as plt diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index 24258db9f2..6060dfbc36 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -2,9 +2,9 @@ import sys from cereal import car -from common.params import Params -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.common.params import Params +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": CP = None diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py index d5199b2a9e..19144ead7e 100755 --- a/selfdrive/debug/show_matching_cars.py +++ b/selfdrive/debug/show_matching_cars.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 -from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars import cereal.messaging as messaging # rav4 2019 and corolla tss2 -fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} +fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501 candidate_cars = all_legacy_fingerprint_cars() diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index c2f51c9355..66fe2ea65f 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -1,19 +1,19 @@ #!/usr/bin/env python3 import argparse import sys -from typing import List, Tuple +from typing import List import unittest -from selfdrive.car.tests.routes import CarTestRoute -from selfdrive.car.tests.test_models import TestCarModel -from tools.lib.route import SegmentName +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModel +from openpilot.tools.lib.route import SegmentName -def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite: +def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite: test_suite = unittest.TestSuite() - for car_model, test_route in routes: + for test_route in routes: # create new test case and discover tests - test_case_args = {"car_model": car_model, "test_route": test_route, "ci": ci} + test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci} CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args) test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase)) return test_suite @@ -33,6 +33,6 @@ if __name__ == "__main__": route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True) segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num) - test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci) + test_suite = create_test_models_suite([test_route], ci=args.ci) unittest.TextTestRunner().run(test_suite) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 0bb9aa5e54..83e173244e 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -6,10 +6,10 @@ import argparse import os import traceback from tqdm import tqdm -from tools.lib.logreader import LogReader -from tools.lib.route import Route -from selfdrive.car.car_helpers import interface_names -from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car NO_API = "NO_API" in os.environ @@ -18,9 +18,9 @@ SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_nam UNKNOWN_BRAND = "unknown" try: - from xx.pipeline.c.CarState import migration + from xx.pipeline.lib.fingerprint import MIGRATION except ImportError: - migration = {} + MIGRATION = {} if __name__ == "__main__": parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes') @@ -78,7 +78,7 @@ if __name__ == "__main__": break live_fingerprint = CP.carFingerprint - live_fingerprint = migration.get(live_fingerprint, live_fingerprint) + live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint) if args.car is not None: live_fingerprint = args.car @@ -112,7 +112,8 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) 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} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \ + (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index 0a459bb719..d60d2d372b 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -2,11 +2,11 @@ import sys import numpy as np import matplotlib.pyplot as plt -from sklearn import linear_model # pylint: disable=import-error -from selfdrive.car.toyota.values import STEER_THRESHOLD +from sklearn import linear_model +from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator MIN_SAMPLES = 30 * 100 diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py index 8b59470d72..132886baff 100755 --- a/selfdrive/debug/uiview.py +++ b/selfdrive/debug/uiview.py @@ -2,8 +2,8 @@ import time from cereal import car, log, messaging -from common.params import Params -from selfdrive.manager.process_config import managed_processes +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes if __name__ == "__main__": CP = car.CarParams(notCar=True) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index e990a46f12..6469ece402 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -14,11 +14,11 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.params import Params, put_nonblocking -from common.realtime import set_realtime_priority -from common.transformations.orientation import rot_from_euler, euler_from_rot -from system.swaglog import cloudlog +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params, put_nonblocking +from openpilot.common.realtime import set_realtime_priority +from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot +from openpilot.system.swaglog import cloudlog MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) @@ -211,7 +211,8 @@ class Calibrator: new_height = HEIGHT_INIT self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE)) - self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE)) + self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], + new_wide_from_device_euler, self.idx, float(BLOCK_SIZE)) self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE)) self.idx = (self.idx + 1) % BLOCK_SIZE diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 5d8641a91b..3d190fb00a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -11,19 +11,20 @@ from typing import List, Optional, Dict, Any import numpy as np from cereal import log, messaging -from common.params import Params, put_nonblocking +from openpilot.common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId, get_sv_id -from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom +from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox +from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func -from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind -from selfdrive.locationd.models.gnss_kf import GNSSKalman -from selfdrive.locationd.models.gnss_kf import States as GStates -from system.swaglog import cloudlog +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind +from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman +from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates +from openpilot.system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemerisV3' @@ -81,7 +82,8 @@ class Laikad: valid_ephem_types: Valid ephemeris types to be used by AstroDog save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ - self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) + self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, + clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) self.auto_fetch_navs = auto_fetch_navs @@ -101,9 +103,10 @@ class Laikad: self.use_qcom = use_qcom self.first_log_time = None self.ttff = -1 + self.measurement_lag = 0.630 if self.use_qcom else 0.095 # qcom specific stuff - self.qcom_reports_received = 1 + self.qcom_reports_received = 4 self.qcom_reports = [] def load_cache(self): @@ -136,8 +139,8 @@ class Laikad: #TODO this only saves currently valid ephems, when we download future ephems we should save them too valid_navs = [e for e in nav_list if e.valid(self.last_report_time)] if len(valid_navs) > 0: - ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in valid_navs if e.prn[0]=='R'], - 'gpsEphemerides': [e.data for e in valid_navs if e.prn[0]=='G']}) + ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'], + gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G']) put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time @@ -160,47 +163,31 @@ class Laikad: def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 + position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements) if len(position_solution) < 3: return None position_estimate = position_solution[:3] - - position_std_residual = np.median(np.abs(pr_residuals)) - position_std = np.median(np.abs(pos_std))/10 - position_std = max(position_std_residual, position_std) * np.ones(3) + position_std = pos_std[:3] velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements) if len(velocity_solution) < 3: return None velocity_estimate = velocity_solution[:3] - - velocity_std_residual = np.median(np.abs(prr_residuals)) - velocity_std = np.median(np.abs(vel_std))/10 - velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3) + velocity_std = vel_std[:3] return position_estimate, position_std, velocity_estimate, velocity_std - def gps_time_from_qcom_report(self, gnss_msg): - report = gnss_msg.drMeasurementReport - if report.source == log.QcomGnss.MeasurementSource.gps: - report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) - elif report.source == log.QcomGnss.MeasurementSource.sbas: - report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0) - elif report.source == log.QcomGnss.MeasurementSource.glonass: - report_time = GPSTime.from_glonass(report.glonassYear, - report.glonassDay, - report.glonassMilliseconds / 1000.0) - else: - raise NotImplementedError(f'Unknownconstellation {report.source}') - return report_time - def is_good_report(self, gnss_msg): - if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: + if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom: # TODO: Understand and use remaining unknown constellations try: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + if gnss_msg.which() == 'drMeasurementReport': + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + else: + constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] - report_time = self.gps_time_from_qcom_report(gnss_msg) + report_time = gps_time_from_qcom_report(gnss_msg) except NotImplementedError: return False # Garbage timestamps with week > 32767 are sometimes sent by module. @@ -215,21 +202,24 @@ class Laikad: def read_report(self, gnss_msg): if self.use_qcom: # QCOM reports are per constellation, so we need to aggregate them - report = gnss_msg.drMeasurementReport - report_time = self.gps_time_from_qcom_report(gnss_msg) - - if report_time - self.last_report_time > 0: + # Additionally, the pseudoranges are broken in the measurementReports + # and the doppler filteredSpeed is broken in the drMeasurementReports + report_time = gps_time_from_qcom_report(gnss_msg) + if report_time - self.last_report_time == 0: + self.qcom_reports.append(gnss_msg) + self.last_report_time = report_time + elif report_time - self.last_report_time > 0: self.qcom_reports_received = max(1, len(self.qcom_reports)) - self.qcom_reports = [report] + self.qcom_reports = [gnss_msg] + self.last_report_time = report_time else: - self.qcom_reports.append(report) - self.last_report_time = report_time + # Sometimes DR reports get sent one iteration late (1second), they need to be ignored + cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}") - new_meas = [] if len(self.qcom_reports) == self.qcom_reports_received: - for report in self.qcom_reports: - new_meas.extend(read_raw_qcom(report)) - + new_meas = get_measurements_from_qcom_reports(self.qcom_reports) + else: + new_meas = [] else: report = gnss_msg.measurementReport self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow) @@ -283,6 +273,11 @@ class Laikad: est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() correct_delay = False corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay) + # If many measurements weren't corrected, position may be garbage, so reset + if len(processed_measurements) >= 8 and len(corrected_measurements) < 5: + cloudlog.error("Didn't correct enough measurements, resetting estimate position") + self.last_fix_pos = None + self.last_fix_t = None return corrected_measurements def calc_fix(self, t, measurements): @@ -299,7 +294,7 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") t = gnss_mono_time * 1e-9 - msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)} if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc old mode 100755 new mode 100644 index 6f298deab6..e2b85d93a1 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -1,4 +1,4 @@ -#include "locationd.h" +#include "selfdrive/locationd/locationd.h" extern "C" { typedef Localizer* Localizer_t; diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc old mode 100755 new mode 100644 index 9b3e3b3b85..401de0cfdd --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -1,9 +1,11 @@ +#include "selfdrive/locationd/locationd.h" + #include #include +#include #include - -#include "locationd.h" +#include using namespace EKFS; using namespace Eigen; @@ -240,8 +242,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time"); this->observation_timings_invalid = true; return; - } - else if (!this->is_timestamp_valid(sensor_time)) { + } else if (!this->is_timestamp_valid(sensor_time)) { this->observation_timings_invalid = true; return; } @@ -258,8 +259,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData if (meas.norm() < ROTATION_SANITY_CHECK) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); this->observation_values_invalid["gyroscope"] *= DECAY; - } - else{ + } else { this->observation_values_invalid["gyroscope"] += 1.0; } } @@ -277,8 +277,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData if (meas.norm() < ACCEL_SANITY_CHECK) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas }); this->observation_values_invalid["accelerometer"] *= DECAY; - } - else{ + } else { this->observation_values_invalid["accelerometer"] += 1.0; } } @@ -293,8 +292,8 @@ void Localizer::input_fake_gps_observations(double current_time) { VectorXd current_x = this->kf->get_x(); VectorXd ecef_pos = current_x.segment(STATE_ECEF_POS_START); VectorXd ecef_vel = current_x.segment(STATE_ECEF_VELOCITY_START); - MatrixXdr ecef_pos_R = this->kf->get_fake_gps_pos_cov(); - MatrixXdr ecef_vel_R = this->kf->get_fake_gps_vel_cov(); + const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov(); + const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov(); this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); @@ -360,7 +359,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { - if(!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { + if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { this->determine_gps_mode(current_time); return; } @@ -414,8 +413,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: orientation_reset &= !this->standstill; if (orientation_reset) { this->orientation_reset_count++; - } - else { + } else { this->orientation_reset_count = 0; } @@ -509,8 +507,8 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra } void Localizer::reset_kalman(double current_time) { - VectorXd init_x = this->kf->get_initial_x(); - MatrixXdr init_P = this->kf->get_initial_P(); + const VectorXd &init_x = this->kf->get_initial_x(); + const MatrixXdr &init_P = this->kf->get_initial_P(); this->reset_kalman(current_time, init_x, init_P); } @@ -546,12 +544,12 @@ void Localizer::update_reset_tracker() { } } -void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd init_pos, VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R) { +void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) { // too nonlinear to init on completely wrong VectorXd current_x = this->kf->get_x(); MatrixXdr current_P = this->kf->get_P(); MatrixXdr init_P = this->kf->get_initial_P(); - MatrixXdr reset_orientation_P = this->kf->get_reset_orientation_P(); + const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P(); int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN); current_x.segment(STATE_ECEF_ORIENTATION_START) = init_orient; @@ -561,12 +559,13 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd init_P.block(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal(); init_P.block(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal(); init_P.block(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal(); - init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal(); + init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, + STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal(); this->reset_kalman(current_time, current_x, init_P); } -void Localizer::reset_kalman(double current_time, VectorXd init_x, MatrixXdr init_P) { +void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) { this->kf->init_state(init_x, init_P, current_time); this->last_reset_time = current_time; this->reset_tracker += 1.0; @@ -621,7 +620,7 @@ bool Localizer::is_gps_ok() { return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0; } -bool Localizer::critical_services_valid(std::map critical_services) { +bool Localizer::critical_services_valid(const std::map &critical_services) { for (auto &kv : critical_services){ if (kv.second >= INPUT_INVALID_THRESHOLD){ return false; @@ -648,14 +647,13 @@ void Localizer::determine_gps_mode(double current_time) { if (this->gps_mode){ this->gps_mode = false; this->reset_kalman(current_time); - } - else{ + } else { this->input_fake_gps_observations(current_time); } } } -void Localizer::configure_gnss_source(LocalizerGnssSource source) { +void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { this->gnss_source = source; if (source == LocalizerGnssSource::UBLOX) { this->gps_std_factor = 10.0; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h old mode 100755 new mode 100644 index e8f2f04a2c..f3069048cd --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include #include @@ -32,13 +33,13 @@ public: int locationd_thread(); void reset_kalman(double current_time = NAN); - void reset_kalman(double current_time, Eigen::VectorXd init_orient, Eigen::VectorXd init_pos, Eigen::VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R); - void reset_kalman(double current_time, Eigen::VectorXd init_x, MatrixXdr init_P); + void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R); + void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P); void finite_check(double current_time = NAN); void time_check(double current_time = NAN); void update_reset_tracker(); bool is_gps_ok(); - bool critical_services_valid(std::map critical_services); + bool critical_services_valid(const std::map &critical_services); bool is_timestamp_valid(double current_time); void determine_gps_mode(double current_time); bool are_inputs_ok(); @@ -94,5 +95,5 @@ private: float gps_vertical_variance_factor; double gps_time_offset; - void configure_gnss_source(LocalizerGnssSource source); + void configure_gnss_source(const LocalizerGnssSource &source); }; diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 3faf4f8d4e..b87c83cac2 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -5,9 +5,9 @@ from typing import Any, Dict import numpy as np -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from selfdrive.locationd.models.constants import ObservationKind -from system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.system.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter @@ -15,7 +15,7 @@ if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module, import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx i = 0 @@ -160,7 +160,7 @@ class CarKalman(KalmanFilter): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars) - def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): # pylint: disable=super-init-not-called + def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None): dim_state = self.initial_x.shape[0] dim_state_err = self.P_initial.shape[0] x_init = self.initial_x @@ -171,7 +171,8 @@ class CarKalman(KalmanFilter): if P_initial is not None: self.P_initial = P_initial # init filter - self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, + dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) if __name__ == "__main__": diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index 0d661dc321..c4f3b2e210 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -4,15 +4,15 @@ from typing import List import numpy as np -from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module,import-error - from rednose.helpers.ekf_sym import EKF_sym # pylint: disable=no-name-in-module,import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx + from rednose.helpers.ekf_sym import EKF_sym class States(): diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py index 4d38fa8e09..e8fa999956 100755 --- a/selfdrive/locationd/models/lane_kf.py +++ b/selfdrive/locationd/models/lane_kf.py @@ -3,7 +3,7 @@ import sys import numpy as np import sympy as sp -from selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.constants import ObservationKind from rednose.helpers.ekf_sym import gen_code, EKF_sym diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc old mode 100755 new mode 100644 index f8c03365e1..fc3bfb7246 --- a/selfdrive/locationd/models/live_kf.cc +++ b/selfdrive/locationd/models/live_kf.cc @@ -1,27 +1,27 @@ -#include "live_kf.h" +#include "selfdrive/locationd/models/live_kf.h" using namespace EKFS; using namespace Eigen; -Eigen::Map get_mapvec(Eigen::VectorXd& vec) { - return Eigen::Map(vec.data(), vec.rows(), vec.cols()); +Eigen::Map get_mapvec(const Eigen::VectorXd &vec) { + return Eigen::Map((double*)vec.data(), vec.rows(), vec.cols()); } -Eigen::Map get_mapmat(MatrixXdr& mat) { - return Eigen::Map(mat.data(), mat.rows(), mat.cols()); +Eigen::Map get_mapmat(const MatrixXdr &mat) { + return Eigen::Map((double*)mat.data(), mat.rows(), mat.cols()); } -std::vector> get_vec_mapvec(std::vector& vec_vec) { +std::vector> get_vec_mapvec(const std::vector &vec_vec) { std::vector> res; - for (Eigen::VectorXd& vec : vec_vec) { + for (const Eigen::VectorXd &vec : vec_vec) { res.push_back(get_mapvec(vec)); } return res; } -std::vector> get_vec_mapmat(std::vector& mat_vec) { +std::vector> get_vec_mapmat(const std::vector &mat_vec) { std::vector> res; - for (MatrixXdr& mat : mat_vec) { + for (const MatrixXdr &mat : mat_vec) { res.push_back(get_mapmat(mat)); } return res; @@ -43,20 +43,20 @@ LiveKalman::LiveKalman() { // init filter this->filter = std::make_shared(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x), - get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector(), + get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector(), std::vector{3}, std::vector(), 0.8); } -void LiveKalman::init_state(VectorXd& state, VectorXd& covs_diag, double filter_time) { +void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) { MatrixXdr covs = covs_diag.asDiagonal(); this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); } -void LiveKalman::init_state(VectorXd& state, MatrixXdr& covs, double filter_time) { +void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) { this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); } -void LiveKalman::init_state(VectorXd& state, double filter_time) { +void LiveKalman::init_state(const VectorXd &state, double filter_time) { MatrixXdr covs = this->filter->covs(); this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); } @@ -81,7 +81,7 @@ std::vector LiveKalman::get_R(int kind, int n) { return R; } -std::optional LiveKalman::predict_and_observe(double t, int kind, std::vector meas, std::vector R) { +std::optional LiveKalman::predict_and_observe(double t, int kind, const std::vector &meas, std::vector R) { std::optional r; if (R.size() == 0) { R = this->get_R(kind, meas.size()); @@ -94,29 +94,29 @@ void LiveKalman::predict(double t) { this->filter->predict(t); } -Eigen::VectorXd LiveKalman::get_initial_x() { +const Eigen::VectorXd &LiveKalman::get_initial_x() { return this->initial_x; } -MatrixXdr LiveKalman::get_initial_P() { +const MatrixXdr &LiveKalman::get_initial_P() { return this->initial_P; } -MatrixXdr LiveKalman::get_fake_gps_pos_cov() { +const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() { return this->fake_gps_pos_cov; } -MatrixXdr LiveKalman::get_fake_gps_vel_cov() { +const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() { return this->fake_gps_vel_cov; } -MatrixXdr LiveKalman::get_reset_orientation_P() { +const MatrixXdr &LiveKalman::get_reset_orientation_P() { return this->reset_orientation_P; } -MatrixXdr LiveKalman::H(VectorXd in) { +MatrixXdr LiveKalman::H(const VectorXd &in) { assert(in.size() == 6); Matrix res; - this->filter->get_extra_routine("H")(in.data(), res.data()); + this->filter->get_extra_routine("H")((double*)in.data(), res.data()); return res; } diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h old mode 100755 new mode 100644 index 06ec3854cb..e4b3e326b3 --- a/selfdrive/locationd/models/live_kf.h +++ b/selfdrive/locationd/models/live_kf.h @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include #include @@ -14,37 +16,37 @@ using namespace EKFS; -Eigen::Map get_mapvec(Eigen::VectorXd& vec); -Eigen::Map get_mapmat(MatrixXdr& mat); -std::vector> get_vec_mapvec(std::vector& vec_vec); -std::vector> get_vec_mapmat(std::vector& mat_vec); +Eigen::Map get_mapvec(const Eigen::VectorXd &vec); +Eigen::Map get_mapmat(const MatrixXdr &mat); +std::vector> get_vec_mapvec(const std::vector &vec_vec); +std::vector> get_vec_mapmat(const std::vector &mat_vec); class LiveKalman { public: LiveKalman(); - void init_state(Eigen::VectorXd& state, Eigen::VectorXd& covs_diag, double filter_time); - void init_state(Eigen::VectorXd& state, MatrixXdr& covs, double filter_time); - void init_state(Eigen::VectorXd& state, double filter_time); + void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time); + void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time); + void init_state(const Eigen::VectorXd &state, double filter_time); Eigen::VectorXd get_x(); MatrixXdr get_P(); double get_filter_time(); std::vector get_R(int kind, int n); - std::optional predict_and_observe(double t, int kind, std::vector meas, std::vector R = {}); + std::optional predict_and_observe(double t, int kind, const std::vector &meas, std::vector R = {}); std::optional predict_and_update_odo_speed(std::vector speed, double t, int kind); std::optional predict_and_update_odo_trans(std::vector trans, double t, int kind); std::optional predict_and_update_odo_rot(std::vector rot, double t, int kind); void predict(double t); - Eigen::VectorXd get_initial_x(); - MatrixXdr get_initial_P(); - MatrixXdr get_fake_gps_pos_cov(); - MatrixXdr get_fake_gps_vel_cov(); - MatrixXdr get_reset_orientation_P(); + const Eigen::VectorXd &get_initial_x(); + const MatrixXdr &get_initial_P(); + const MatrixXdr &get_fake_gps_pos_cov(); + const MatrixXdr &get_fake_gps_vel_cov(); + const MatrixXdr &get_reset_orientation_P(); - MatrixXdr H(Eigen::VectorXd in); + MatrixXdr H(const Eigen::VectorXd &in); private: std::string name = "live"; diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index 023479d10e..c4933a6129 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -4,7 +4,7 @@ import sys import os import numpy as np -from selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.constants import ObservationKind import sympy as sp import inspect @@ -212,14 +212,14 @@ class LiveKalman(): live_kf_header = "#pragma once\n\n" live_kf_header += "#include \n" live_kf_header += "#include \n\n" - for state, slc in inspect.getmembers(States, lambda x: type(x) == slice): + for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)): assert(slc.step is None) # unsupported live_kf_header += f'#define STATE_{state}_START {slc.start}\n' live_kf_header += f'#define STATE_{state}_END {slc.stop}\n' live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n' live_kf_header += "\n" - for kind, val in inspect.getmembers(ObservationKind, lambda x: type(x) == int): + for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)): live_kf_header += f'#define OBSERVATION_{kind} {val}\n' live_kf_header += "\n" diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index 1486023a0b..8bd317bd58 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -9,8 +9,8 @@ from rednose.helpers.ekf_sym import EKF_sym, gen_code from rednose.helpers.lst_sq_computer import LstSqComputer from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate -from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) @@ -33,7 +33,8 @@ class States(): ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer # TODO the offset is likely a translation of the sensor, not a rotation of the camera WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) - # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). + # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables + # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE # Error-state has different slices because it is an ESKF @@ -190,9 +191,9 @@ class LocKalman(): # Observation matrix modifier H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): + for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): + for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:] # these error functions are defined so that say there @@ -204,17 +205,17 @@ class LocKalman(): delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): + for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): delta_quat = sp.Matrix(np.ones(4)) delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :]) err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): + for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :]) inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs): + for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs): + for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0] inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:]) @@ -324,7 +325,8 @@ class LocKalman(): obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym]) obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym]) obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym]) - msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] + msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, + [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] else: msckf_params = None gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds) @@ -370,7 +372,7 @@ class LocKalman(): self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N if self.N > 0: - x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking + x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] self.computer = LstSqComputer(generated_dir, N) self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)] diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 8617b60b13..a183c09109 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,13 +7,13 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from common.params import Params, put_nonblocking -from common.realtime import config_realtime_process, DT_MDL -from common.numpy_fast import clip -from selfdrive.car.chrysler.values import ChryslerFlagsSP -from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from selfdrive.locationd.models.constants import GENERATED_DIR -from system.swaglog import cloudlog +from openpilot.common.params import Params, put_nonblocking +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.car.chrysler.values import ChryslerFlagsSP +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s @@ -86,8 +86,8 @@ class ParamsLearner: # We observe the current stiffness and steer ratio (with a high observation noise) to bound # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the # states in longer routes (especially straight stretches). - stiffness = float(self.kf.x[States.STIFFNESS]) - steer_ratio = float(self.kf.x[States.STEER_RATIO]) + stiffness = float(self.kf.x[States.STIFFNESS].item()) + steer_ratio = float(self.kf.x[States.STEER_RATIO].item()) self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) @@ -199,12 +199,14 @@ def main(sm=None, pm=None): learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0) x = learner.kf.x - angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) - angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) - roll = clip(float(x[States.ROAD_ROLL]), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) - roll_std = float(P[States.ROAD_ROLL]) + angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()), + angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) + angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()), + angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) + roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA) + roll_std = float(P[States.ROAD_ROLL].item()) # Account for the opposite signs of the yaw rates - sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) + sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX) total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX) roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX) @@ -214,8 +216,8 @@ def main(sm=None, pm=None): liveParameters = msg.liveParameters liveParameters.posenetValid = True liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO]) - liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) + liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) liveParameters.roll = roll liveParameters.angleOffsetAverageDeg = angle_offset_average liveParameters.angleOffsetDeg = angle_offset @@ -229,10 +231,10 @@ def main(sm=None, pm=None): )) if CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE: liveParameters.valid = True - liveParameters.steerRatioStd = float(P[States.STEER_RATIO]) - liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS]) - liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET]) - liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST]) + liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) + liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) + liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) + liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item()) if DEBUG: liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message() liveParameters.filterState.value = x.tolist() diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py index 97207908e7..bf4fcbdbe9 100755 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -10,7 +10,7 @@ from cffi import FFI import cereal.messaging as messaging from cereal import log -from common.ffi_wrapper import suffix +from openpilot.common.ffi_wrapper import suffix SENSOR_DECIMATION = 1 VISION_DECIMATION = 1 diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index 96f996413d..a5eedaf99a 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -6,8 +6,9 @@ import numpy as np import cereal.messaging as messaging from cereal import log -from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT +from openpilot.common.params import Params +from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ + MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT class TestCalibrationd(unittest.TestCase): diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index ce00bde94c..2c4a8a406d 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 +import os import time import unittest from cereal import log -from common.params import Params +from openpilot.common.params import Params from datetime import datetime from unittest import mock @@ -13,11 +14,12 @@ from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader +from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader -from selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" @@ -92,6 +94,7 @@ def get_measurement_mock(gpstime, sat_ephemeris): return meas +@unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Laika test skipped since it's long and not currently used. Unset {SKIP_ENV_VAR} to run") class TestLaikad(unittest.TestCase): @classmethod @@ -111,7 +114,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) - + # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) ephem = laikad.astro_dog.navs['G01'][0] @@ -173,12 +176,12 @@ class TestLaikad(unittest.TestCase): self.assertTrue(kf_valid) def test_laika_online_nav_only(self): - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 56 if use_qcom else 560 - valid_fix_expected = 56 if use_qcom else 560 + correct_msgs_expected = 55 if use_qcom else 560 + valid_fix_expected = 55 if use_qcom else 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -215,7 +218,7 @@ class TestLaikad(unittest.TestCase): def test_get_navs_in_process(self): for auto_fetch_navs in [True, False]: - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) has_navs = False has_fix = False @@ -236,9 +239,9 @@ class TestLaikad(unittest.TestCase): has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid if len(out_msg.gnssMeasurements.ephemerisStatuses): - seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) - seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) - + seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses) + seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses) + self.assertTrue(has_navs or has_polys) self.assertTrue(has_fix) self.assertTrue(seen_chip_eph or auto_fetch_navs) @@ -248,7 +251,7 @@ class TestLaikad(unittest.TestCase): def test_cache(self): use_qcom = True - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True): Params().remove(EPHEMERIS_CACHE) laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom) def wait_for_cache(): @@ -278,10 +281,10 @@ class TestLaikad(unittest.TestCase): # Verify cache is working for only nav by running a segment msg = verify_messages(logs, laikad, return_one_success=True) self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) - self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) + self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses)) self.assertIsNotNone(msg) - #TODO test cache with only orbits + #TODO test cache with only orbits #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: # # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently # laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 9f643e2b8f..99047c37f3 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -7,14 +7,13 @@ import capnp import cereal.messaging as messaging from cereal.services import service_list -from common.params import Params -from common.transformations.coordinates import ecef2geodetic +from openpilot.common.params import Params +from openpilot.common.transformations.coordinates import ecef2geodetic -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): - MAX_WAITS = 1000 LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', 'accelerometer', 'gyroscope', 'magnetometer'] @@ -23,30 +22,20 @@ class TestLocationdProc(unittest.TestCase): self.pm = messaging.PubMaster(self.LLD_MSGS) - Params().put_bool("UbloxAvailable", True) + self.params = Params() + self.params.put_bool("UbloxAvailable", True) managed_processes['locationd'].prepare() managed_processes['locationd'].start() - time.sleep(1) - def tearDown(self): managed_processes['locationd'].stop() - def send_msg(self, msg): - self.pm.send(msg.which(), msg) - waits_left = self.MAX_WAITS - while waits_left and not self.pm.all_readers_updated(msg.which()): - time.sleep(0) - waits_left -= 1 - time.sleep(0.0001) - - def get_fake_msg(self, name, t): + def get_msg(self, name, t): try: msg = messaging.new_message(name) except capnp.lib.capnp.KjException: msg = messaging.new_message(name, 0) - if name == "gpsLocationExternal": msg.gpsLocationExternal.flags = 1 msg.gpsLocationExternal.verticalAccuracy = 1.0 @@ -74,27 +63,27 @@ class TestLocationdProc(unittest.TestCase): return msg def test_params_gps(self): - # first reset params - Params().remove('LastGPSPosition') + self.params.remove('LastGPSPosition') self.x = -2710700 + (random.random() * 1e5) self.y = -4280600 + (random.random() * 1e5) self.z = 3850300 + (random.random() * 1e5) self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z]) - self.fake_duration = 90 # secs # get fake messages at the correct frequency, listed in services.py - fake_msgs = [] - for sec in range(self.fake_duration): + msgs = [] + for sec in range(65): for name in self.LLD_MSGS: for j in range(int(service_list[name].frequency)): - fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9))) + msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9))) - for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime): - self.send_msg(fake_msg) + for msg in sorted(msgs, key=lambda x: x.logMonoTime): + self.pm.send(msg.which(), msg) + if msg.which() == "cameraOdometry": + self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005) time.sleep(1) # wait for async params write - lastGPS = json.loads(Params().get('LastGPSPosition')) + lastGPS = json.loads(self.params.get('LastGPSPosition')) self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3) self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3) self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index aeccc889d2..ddb95e944c 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -7,11 +7,11 @@ from collections import deque, defaultdict import cereal.messaging as messaging from cereal import car, log -from common.params import Params -from common.realtime import config_realtime_process, DT_MDL -from common.filter_simple import FirstOrderFilter -from system.swaglog import cloudlog -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 @@ -63,7 +63,7 @@ class PointBuckets: def __init__(self, x_bounds, min_points, min_points_total): self.x_bounds = x_bounds self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} - self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} + self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True)) self.min_points_total = min_points_total def bucket_lengths(self): @@ -73,7 +73,8 @@ class PointBuckets: return sum(self.bucket_lengths()) def is_valid(self): - return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total) + return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) \ + and (self.__len__() >= self.min_points_total) def add_point(self, x, y): for bound_min, bound_max in self.x_bounds: @@ -230,7 +231,7 @@ class TorqueEstimator: liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff) - if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]]): + if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]): cloudlog.exception("Live torque parameters are invalid.") liveTorqueParameters.liveValid = False self.reset() diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 5b69e3dca7..be37b3e7e4 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -1,75 +1,77 @@ #!/usr/bin/env python3 import os import subprocess -import textwrap from pathlib import Path +from typing import List # NOTE: Do NOT import anything here that needs be built (e.g. params) -from common.basedir import BASEDIR -from common.spinner import Spinner -from common.text_window import TextWindow -from system.hardware import AGNOS -from system.swaglog import cloudlog, add_file_handler -from system.version import is_dirty +from openpilot.common.basedir import BASEDIR +from openpilot.common.spinner import Spinner +from openpilot.common.text_window import TextWindow +from openpilot.system.hardware import AGNOS +from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2460 +TOTAL_SCONS_NODES = 2560 MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) - def build(spinner: Spinner, dirty: bool = False) -> None: env = os.environ.copy() env['SCONS_PROGRESS'] = "1" nproc = os.cpu_count() - j_flag = "" if nproc is None else f"-j{nproc - 1}" + if nproc is None: + nproc = 2 - scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) - assert scons.stderr is not None + # building with all cores can result in using too + # much memory, so retry with less parallelism + compile_output: List[bytes] = [] + for n in (nproc, nproc/2, 1): + compile_output.clear() + scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", "--minimal"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None - compile_output = [] + # Read progress from stderr and update spinner + while scons.poll() is None: + try: + line = scons.stderr.readline() + if line is None: + continue + line = line.rstrip() - # Read progress from stderr and update spinner - while scons.poll() is None: - try: - line = scons.stderr.readline() - if line is None: - continue - line = line.rstrip() + prefix = b'progress: ' + if line.startswith(prefix): + i = int(line[len(prefix):]) + spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) + elif len(line): + compile_output.append(line) + print(line.decode('utf8', 'replace')) + except Exception: + pass - prefix = b'progress: ' - if line.startswith(prefix): - i = int(line[len(prefix):]) - spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) - elif len(line): - compile_output.append(line) - print(line.decode('utf8', 'replace')) - except Exception: - pass + if scons.returncode == 0: + break if scons.returncode != 0: # Read remaining output - r = scons.stderr.read().split(b'\n') - compile_output += r + if scons.stderr is not None: + compile_output += scons.stderr.read().split(b'\n') # Build failed log errors - errors = [line.decode('utf8', 'replace') for line in compile_output - if any(err in line for err in [b'error: ', b'not found, needed by target'])] - error_s = "\n".join(errors) + error_s = b"\n".join(compile_output).decode('utf8', 'replace') add_file_handler(cloudlog) cloudlog.error("scons build failed\n" + error_s) # Show TextWindow spinner.close() if not os.getenv("CI"): - error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) with TextWindow("openpilot failed to build\n \n" + error_s) as t: t.wait_for_exit() exit(1) - # enforce max cache size cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()] cache_files.sort(key=lambda f: f.stat().st_mtime) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 6ef67b490a..a921f73abc 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -9,18 +9,18 @@ from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging -import selfdrive.sentry as sentry -from common.basedir import BASEDIR -from common.params import Params, ParamKeyType -from common.text_window import TextWindow -from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE, PC -from selfdrive.manager.helpers import unblock_stdout, write_onroad_params -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from system.swaglog import cloudlog, add_file_handler -from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ +import openpilot.selfdrive.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params, ParamKeyType +from openpilot.common.text_window import TextWindow +from openpilot.selfdrive.boardd.set_time import set_time +from openpilot.system.hardware import HARDWARE, PC +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.process import ensure_running +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID, is_registered_device +from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ get_normalized_origin, terms_version, training_version, \ is_tested_branch, is_release_branch @@ -204,6 +204,8 @@ def manager_thread() -> None: if os.getenv("NOBOARD") is not None: ignore.append("pandad") ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] + if params.get("DriverCameraHardwareMissing") and not is_registered_device(): + ignore += ["dmonitoringd", "dmonitoringmodeld"] sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState']) pm = messaging.PubMaster(['managerState']) @@ -259,8 +261,8 @@ def main() -> None: manager_init() # Start UI early so prepare can happen in the background - if not prepare_only: - managed_processes['ui'].start() + #if not prepare_only: + # managed_processes['ui'].start() manager_prepare() diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index d1e1703905..0dda81c2d1 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -8,17 +8,14 @@ from typing import Optional, Callable, List, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process -from setproctitle import setproctitle # pylint: disable=no-name-in-module +from setproctitle import setproctitle +from cereal import car, log import cereal.messaging as messaging -import selfdrive.sentry as sentry -from cereal import car -from common.basedir import BASEDIR -from common.params import Params -from common.realtime import sec_since_boot -from system.swaglog import cloudlog -from system.hardware import HARDWARE -from cereal import log +import openpilot.selfdrive.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None @@ -40,7 +37,7 @@ def launcher(proc: str, name: str) -> None: sentry.set_tag("daemon", name) # exec the process - getattr(mod, 'main')() + mod.main() except KeyboardInterrupt: cloudlog.warning(f"child {proc} got SIGINT") except Exception: @@ -67,12 +64,9 @@ def join_process(process: Process, timeout: float) -> None: class ManagerProcess(ABC): - unkillable = False daemon = False sigkill = False - onroad = True - offroad = False - callback: Optional[Callable[[bool, Params, car.CarParams], bool]] = None + should_run: Callable[[bool, Params, car.CarParams], bool] proc: Optional[Process] = None enabled = True name = "" @@ -103,11 +97,11 @@ class ManagerProcess(ABC): fn = WATCHDOG_FN + str(self.proc.pid) with open(fn, "rb") as f: # TODO: why can't pylint find struct.unpack? - self.last_watchdog_time = struct.unpack('Q', f.read())[0] # pylint: disable=no-member + self.last_watchdog_time = struct.unpack('Q', f.read())[0] except Exception: pass - dt = sec_since_boot() - self.last_watchdog_time / 1e9 + dt = time.monotonic() - self.last_watchdog_time / 1e9 always_watchdog = self.always_watchdog and params.get_bool("IsOffroad") and self.proc.exitcode is not None @@ -135,22 +129,11 @@ class ManagerProcess(ABC): join_process(self.proc, 5) - # If process failed to die send SIGKILL or reboot + # If process failed to die send SIGKILL if self.proc.exitcode is None and retry: - if self.unkillable: - cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die") - join_process(self.proc, 15) - - if self.proc.exitcode is None: - cloudlog.critical(f"unkillable process {self.name} failed to die!") - os.system("date >> /data/unkillable_reboot") - os.sync() - HARDWARE.reboot() - raise RuntimeError - else: - cloudlog.info(f"killing {self.name} with SIGKILL") - self.signal(signal.SIGKILL) - self.proc.join() + cloudlog.info(f"killing {self.name} with SIGKILL") + self.signal(signal.SIGKILL) + self.proc.join() ret = self.proc.exitcode cloudlog.info(f"{self.name} is dead with {ret}") @@ -188,17 +171,15 @@ class ManagerProcess(ABC): class NativeProcess(ManagerProcess): - def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None, always_watchdog=False): + def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False): self.name = name self.cwd = cwd self.cmdline = cmdline + self.should_run = should_run self.enabled = enabled - self.onroad = onroad - self.offroad = offroad - self.callback = callback - self.unkillable = unkillable self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt + self.launcher = nativelauncher self.always_watchdog = always_watchdog def prepare(self) -> None: @@ -214,23 +195,21 @@ class NativeProcess(ManagerProcess): cwd = os.path.join(BASEDIR, self.cwd) cloudlog.info(f"starting process {self.name}") - self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd, self.name)) + self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name)) self.proc.start() self.watchdog_seen = False self.shutting_down = False class PythonProcess(ManagerProcess): - def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None, always_watchdog=False): + def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None, always_watchdog=False): self.name = name self.module = module + self.should_run = should_run self.enabled = enabled - self.onroad = onroad - self.offroad = offroad - self.callback = callback - self.unkillable = unkillable self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt + self.launcher = launcher self.always_watchdog = always_watchdog def prepare(self) -> None: @@ -247,7 +226,7 @@ class PythonProcess(ManagerProcess): return cloudlog.info(f"starting python {self.module}") - self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name)) + self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name)) self.proc.start() self.watchdog_seen = False self.shutting_down = False @@ -261,10 +240,12 @@ class DaemonProcess(ManagerProcess): self.module = module self.param_name = param_name self.enabled = enabled - self.onroad = True - self.offroad = True self.params = None + @staticmethod + def should_run(started, params, CP): + return True + def prepare(self) -> None: pass @@ -285,7 +266,7 @@ class DaemonProcess(ManagerProcess): pass cloudlog.info(f"starting daemon {self.name}") - proc = subprocess.Popen(['python', '-m', self.module], # pylint: disable=subprocess-popen-preexec-fn + proc = subprocess.Popen(['python', '-m', self.module], stdin=open('/dev/null'), stdout=open('/dev/null', 'w'), stderr=open('/dev/null', 'w'), @@ -304,21 +285,7 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None running = [] for p in procs: - # Conditions that make a process run - run = any(( - p.offroad and not started, - p.onroad and started, - )) - if p.callback is not None and None not in (params, CP): - run = run or p.callback(started, params, CP) - - # Conditions that block a process from starting - run = run and not any(( - not p.enabled, - p.name in not_run, - )) - - if run: + if p.enabled and p.name not in not_run and p.should_run(started, params, CP): p.start() running.append(p) else: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 85f964c37f..a96bd37d41 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -1,17 +1,20 @@ import os from cereal import car -from common.params import Params -from system.hardware import PC, TICI -from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.common.params import Params +from openpilot.system.hardware import PC, TICI +from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: - return params.get_bool("IsDriverViewEnabled") # type: ignore + return started or params.get_bool("IsDriverViewEnabled") def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: - return CP.notCar # type: ignore + return started and CP.notCar + +def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: + return started and not CP.notCar def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") @@ -29,57 +32,67 @@ def ublox(started, params, CP: car.CarParams) -> bool: def qcomgps(started, params, CP: car.CarParams) -> bool: return started and not ublox_available() +def always_run(started, params, CP: car.CarParams) -> bool: + return True + +def only_onroad(started: bool, params, CP: car.CarParams) -> bool: + return started + +def only_offroad(started, params, CP: car.CarParams) -> bool: + return not started + procs = [ - # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption - NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), - NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), - PythonProcess("logmessaged", "system.logmessaged", offroad=True), - PythonProcess("micd", "system.micd"), - PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), - DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), - NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), - NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), - NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]), - NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]), - NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), - NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None), always_watchdog=True), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), - NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), - NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), - PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), - PythonProcess("torqued", "selfdrive.locationd.torqued"), - PythonProcess("controlsd", "selfdrive.controls.controlsd"), - PythonProcess("deleter", "system.loggerd.deleter", offroad=True), - PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), - PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps), - PythonProcess("navd", "selfdrive.navd.navd"), - PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), - PythonProcess("paramsd", "selfdrive.locationd.paramsd"), - NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), - PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), - PythonProcess("plannerd", "selfdrive.controls.plannerd"), - PythonProcess("radard", "selfdrive.controls.radard"), - PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), - PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), - PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), - PythonProcess("uploader", "system.loggerd.uploader", offroad=True), - PythonProcess("statsd", "selfdrive.statsd", offroad=True), - PythonProcess("gpxd", "selfdrive.gpxd.gpxd"), - PythonProcess("gpxd_uploader", "selfdrive.gpxd.gpx_uploader", offroad=True), - PythonProcess("mapd", "selfdrive.mapd.mapd"), - PythonProcess("otisserv", "selfdrive.navd.otisserv", offroad=True), - PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", onroad=False, offroad=True), + NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), + NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), + PythonProcess("logmessaged", "system.logmessaged", always_run), + PythonProcess("micd", "system.micd", iscar), + PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC), + + NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), + NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), + NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), + NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad), + NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad), + NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad), + NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), + NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False), + PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad), + PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), + PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), + PythonProcess("deleter", "system.loggerd.deleter", always_run), + PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), + PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), + PythonProcess("navd", "selfdrive.navd.navd", only_onroad), + PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), + PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), + PythonProcess("pigeond", "system.sensord.pigeond", ublox, enabled=TICI), + PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), + PythonProcess("radard", "selfdrive.controls.radard", only_onroad), + PythonProcess("thermald", "selfdrive.thermald.thermald", always_run), + PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC), + PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC), + PythonProcess("uploader", "system.loggerd.uploader", always_run), + PythonProcess("statsd", "selfdrive.statsd", always_run), + NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=True), + + PythonProcess("gpxd", "selfdrive.gpxd.gpxd", only_onroad), + PythonProcess("gpxd_uploader", "selfdrive.gpxd.gpx_uploader", always_run), + PythonProcess("mapd", "selfdrive.mapd.mapd", only_onroad), + PythonProcess("otisserv", "selfdrive.navd.otisserv", always_run), + PythonProcess("fleet_manager", "system.fleetmanager.fleet_manager", only_offroad), # debug procs - NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar), - PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar), + NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), + PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), ] managed_processes = {p.name: p for p in procs} diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 39bda1e156..89ad483744 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,17 +5,18 @@ import time import unittest from cereal import car -from common.params import Params -import selfdrive.manager.manager as manager -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from system.hardware import HARDWARE +from openpilot.common.params import Params +import openpilot.selfdrive.manager.manager as manager +from openpilot.selfdrive.manager.process import ensure_running +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" MAX_STARTUP_TIME = 3 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] + class TestManager(unittest.TestCase): def setUp(self): os.environ['PASSIVE'] = '0' @@ -32,6 +33,10 @@ class TestManager(unittest.TestCase): os.environ['PREPAREONLY'] = '1' manager.main() + def test_blacklisted_procs(self): + # TODO: ensure there are blacklisted procs until we have a dedicated test + self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run") + def test_startup_time(self): for _ in range(10): start = time.monotonic() @@ -59,6 +64,8 @@ class TestManager(unittest.TestCase): self.assertTrue(state.running, f"{p.name} not running") exit_code = p.stop(retry=False) + self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started") + # TODO: mapsd should exit cleanly if p.name == "mapsd": continue diff --git a/selfdrive/modeld/.gitignore b/selfdrive/modeld/.gitignore new file mode 100644 index 0000000000..742d3d1205 --- /dev/null +++ b/selfdrive/modeld/.gitignore @@ -0,0 +1 @@ +*_pyx.cpp diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index c7e0dc5d86..03836b6593 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,73 +1,81 @@ -import os - -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') lenv = env.Clone() +lenvCython = envCython.Clone() -libs = [cereal, messaging, common, visionipc, gpucommon, - 'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv'] - -def get_dlsym_offset(): - """Returns the offset between dlopen and dlsym in libdl.so""" - import ctypes - libdl = ctypes.PyDLL('libdl.so') - dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value - dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value - return dlsym - dlopen - +libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread'] +frameworks = [] common_src = [ "models/commonmodel.cc", - "runners/snpemodel.cc", "transforms/loadyuv.cc", - "transforms/transform.cc" + "transforms/transform.cc", ] -thneed_src = [ +thneed_src_common = [ "thneed/thneed_common.cc", - "thneed/thneed_qcom2.cc", "thneed/serialize.cc", - "runners/thneedmodel.cc", ] -use_thneed = not GetOption('no_thneed') +thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] +thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"] +thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc -if arch == "larch64": - libs += ['gsl', 'CB', 'pthread', 'dl'] +# SNPE except on Mac and ARM Linux +snpe_lib = [] +if arch != "Darwin" and arch != "aarch64": + common_src += ['runners/snpemodel.cc'] + snpe_lib += ['SNPE'] - if use_thneed: - common_src += thneed_src - dlsym_offset = get_dlsym_offset() - lenv['CXXFLAGS'].append("-DUSE_THNEED") - lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}") +# OpenCL is a framework on Mac +if arch == "Darwin": + frameworks += ['OpenCL'] else: - libs += ['pthread'] + libs += ['OpenCL'] - if not GetOption('snpe'): - # for onnx support - common_src += ['runners/onnxmodel.cc'] +# Use onnx on PC +if arch != "larch64" and not GetOption('snpe'): + common_src += ['runners/onnxmodel.cc'] + lenv['CFLAGS'].append("-DUSE_ONNX_MODEL") + lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL") - # tell runners to use onnx - lenv['CFLAGS'].append("-DUSE_ONNX_MODEL") - lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL") +# Set path definitions +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items(): + for xenv in (lenv, lenvCython): + xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') - if arch == "Darwin": - # fix OpenCL - del libs[libs.index('OpenCL')] - lenv['FRAMEWORKS'] = ['OpenCL'] +# Compile cython +snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64" +snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang" +snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc] - # no SNPE on Mac - del libs[libs.index('SNPE')] - del common_src[common_src.index('runners/snpemodel.cc')] +cython_libs = envCython["LIBS"] + libs +onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc']) +snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) +commonmodel_lib = lenv.Library('commonmodel', common_src) +driving_lib = lenv.Library('driving', ['models/driving.cc']) +lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) +lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) + +# Compile binaries +lenv['FRAMEWORKS'] = frameworks common_model = lenv.Object(common_src) lenv.Program('_dmonitoringmodeld', [ "dmonitoringmodeld.cc", "models/dmonitoring.cc", - ]+common_model, LIBS=libs) + ]+common_model, LIBS=libs + snpe_lib) -# build thneed model -if use_thneed and arch == "larch64" or GetOption('pc_thneed'): +lenv.Program('_navmodeld', [ + "navmodeld.cc", + "models/nav.cc", + ]+common_model, LIBS=libs + snpe_lib) + +# Build thneed model +if arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"] @@ -79,25 +87,6 @@ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], []) lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) -llenv = lenv.Clone() -if GetOption('pc_thneed'): - pc_thneed_src = [ - "thneed/thneed_common.cc", - "thneed/thneed_pc.cc", - "thneed/serialize.cc", - "runners/thneedmodel.cc", - ] - llenv['CFLAGS'].append("-DUSE_THNEED") - llenv['CXXFLAGS'].append("-DUSE_THNEED") - common_model += llenv.Object(pc_thneed_src) - libs += ['dl'] - -llenv.Program('_modeld', [ - "modeld.cc", - "models/driving.cc", - ]+common_model, LIBS=libs + transformations) - -lenv.Program('_navmodeld', [ - "navmodeld.cc", - "models/nav.cc", - ]+common_model, LIBS=libs + transformations) + thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl']) + thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) + lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'zmq', 'OpenCL']) diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld index f292fe4c0b..fc007470b2 100755 --- a/selfdrive/modeld/dmonitoringmodeld +++ b/selfdrive/modeld/dmonitoringmodeld @@ -1,4 +1,4 @@ -#!/bin/sh +#!/usr/bin/env bash DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc index bd3564714a..2890b44fe0 100644 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ b/selfdrive/modeld/dmonitoringmodeld.cc @@ -60,7 +60,7 @@ int main(int argc, char **argv) { // run the models if (vipc_client.connected) { - LOGW("connected with buffer size: %d", vipc_client.buffers[0].len); + LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len); run_model(model, vipc_client); } diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld index c067cf3d62..14048ec9fd 100755 --- a/selfdrive/modeld/modeld +++ b/selfdrive/modeld/modeld @@ -1,11 +1,10 @@ -#!/bin/sh +#!/usr/bin/env bash DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR +cd "$DIR/../../" -if [ -f /TICI ]; then - export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH" -else - export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH" +if [ -f "$DIR/libthneed.so" ]; then + export LD_PRELOAD="$DIR/libthneed.so" fi -exec ./_modeld + +exec "$DIR/modeld.py" diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc deleted file mode 100644 index 1203704013..0000000000 --- a/selfdrive/modeld/modeld.cc +++ /dev/null @@ -1,253 +0,0 @@ -#include -#include -#include -#include - -#include - -#include "cereal/messaging/messaging.h" -#include "common/transformations/orientation.hpp" - -#include "cereal/visionipc/visionipc_client.h" -#include "common/clutil.h" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/modeld/models/driving.h" -#include "selfdrive/modeld/models/nav.h" - - -ExitHandler do_exit; - -mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { - /* - import numpy as np - from common.transformations.model import medmodel_frame_from_calib_frame - medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] - calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) - */ - static const auto calib_from_medmodel = (Eigen::Matrix() << - 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, - 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, - -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished(); - - static const auto calib_from_sbigmodel = (Eigen::Matrix() << - 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, - 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, - -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); - - static const auto view_from_device = (Eigen::Matrix() << - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0, - 1.0, 0.0, 0.0).finished(); - - - const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v); - Eigen::Matrix device_from_calib = euler2rot(device_from_calib_euler).cast (); - auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel; - auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib; - auto warp_matrix = camera_from_calib * calib_from_model; - - mat3 transform = {}; - for (int i=0; i<3*3; i++) { - transform.v[i] = warp_matrix(i / 3, i % 3); - } - return transform; -} - - -void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) { - // messaging - PubMaster pm({"modelV2", "cameraOdometry"}); - SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel"}); - - Params params; - - // setup filter to track dropped frames - FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ); - - uint32_t frame_id = 0, last_vipc_frame_id = 0; - // double last = 0; - uint32_t run_count = 0; - - mat3 model_transform_main = {}; - mat3 model_transform_extra = {}; - bool nav_enabled = false; - bool live_calib_seen = false; - float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0}; - float nav_features[NAV_FEATURE_LEN] = {0}; - - VisionBuf *buf_main = nullptr; - VisionBuf *buf_extra = nullptr; - - VisionIpcBufExtra meta_main = {0}; - VisionIpcBufExtra meta_extra = {0}; - - while (!do_exit) { - // Keep receiving frames until we are at least 1 frame ahead of previous extra frame - while (meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000ULL) { - buf_main = vipc_client_main.recv(&meta_main); - if (buf_main == nullptr) break; - } - - if (buf_main == nullptr) { - LOGE("vipc_client_main no frame"); - continue; - } - - if (use_extra_client) { - // Keep receiving extra frames until frame id matches main camera - do { - buf_extra = vipc_client_extra.recv(&meta_extra); - } while (buf_extra != nullptr && meta_main.timestamp_sof > meta_extra.timestamp_sof + 25000000ULL); - - if (buf_extra == nullptr) { - LOGE("vipc_client_extra no frame"); - continue; - } - - if (std::abs((int64_t)meta_main.timestamp_sof - (int64_t)meta_extra.timestamp_sof) > 10000000ULL) { - LOGE("frames out of sync! main: %d (%.5f), extra: %d (%.5f)", - meta_main.frame_id, double(meta_main.timestamp_sof) / 1e9, - meta_extra.frame_id, double(meta_extra.timestamp_sof) / 1e9); - } - } else { - // Use single camera - buf_extra = buf_main; - meta_extra = meta_main; - } - - // TODO: path planner timeout? - sm.update(0); - int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); - bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); - frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); - if (sm.updated("liveCalibration")) { - auto rpy_calib = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); - Eigen::Vector3d device_from_calib_euler; - for (int i=0; i<3; i++) { - device_from_calib_euler(i) = rpy_calib[i]; - } - model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, false); - model_transform_extra = update_calibration(device_from_calib_euler, true, true); - live_calib_seen = true; - } - - float vec_desire[DESIRE_LEN] = {0}; - if (desire >= 0 && desire < DESIRE_LEN) { - vec_desire[desire] = 1.0; - } - - // Enable/disable nav features - uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime(); - bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9); - bool use_nav = nav_valid && params.getBool("ExperimentalMode"); - if (!nav_enabled && use_nav) { - nav_enabled = true; - } else if (nav_enabled && !use_nav) { - memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN); - nav_enabled = false; - } - - if (nav_enabled && sm.updated("navModel")) { - auto nav_model_features = sm["navModel"].getNavModel().getFeatures(); - for (int i=0; i 0; - - if (prepare_only) { - LOGE("skipping model eval. Dropped %d frames", vipc_dropped_frames); - } - - double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only); - double mt2 = millis_since_boot(); - float model_execution_time = (mt2 - mt1) / 1000.0; - - if (model_output != nullptr) { - model_publish(&model, pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, timestamp_llk, model_execution_time, - nav_enabled, live_calib_seen); - posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen); - } - - // printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio); - // last = mt1; - last_vipc_frame_id = meta_main.frame_id; - } -} - -int main(int argc, char **argv) { - if (!Hardware::PC()) { - int ret; - ret = util::set_realtime_priority(54); - assert(ret == 0); - util::set_core_affinity({7}); - assert(ret == 0); - } - - // cl init - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); - - // init the models - ModelState model; - model_init(&model, device_id, context); - LOGW("models loaded, modeld starting"); - - bool main_wide_camera = false; - bool use_extra_client = true; // set to false to use single camera - while (!do_exit) { - auto streams = VisionIpcClient::getAvailableStreams("camerad", false); - if (!streams.empty()) { - use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0; - main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0; - break; - } - - util::sleep_for(100); - } - - VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context); - VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context); - LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client); - - while (!do_exit && !vipc_client_main.connect(false)) { - util::sleep_for(100); - } - - while (!do_exit && use_extra_client && !vipc_client_extra.connect(false)) { - util::sleep_for(100); - } - - // run the models - // vipc_client.connected is false only when do_exit is true - if (!do_exit) { - const VisionBuf *b = &vipc_client_main.buffers[0]; - LOGW("connected main cam with buffer size: %d (%d x %d)", b->len, b->width, b->height); - - if (use_extra_client) { - const VisionBuf *wb = &vipc_client_extra.buffers[0]; - LOGW("connected extra cam with buffer size: %d (%d x %d)", wb->len, wb->width, wb->height); - } - - run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra_client); - } - - model_free(&model); - CL_CHECK(clReleaseContext(context)); - return 0; -} diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py new file mode 100755 index 0000000000..ece706cfd9 --- /dev/null +++ b/selfdrive/modeld/modeld.py @@ -0,0 +1,261 @@ +#!/usr/bin/env python3 +import sys +import time +import numpy as np +from pathlib import Path +from typing import Dict, Optional +from setproctitle import setproctitle +from cereal.messaging import PubMaster, SubMaster +from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import config_realtime_process +from openpilot.common.transformations.model import get_warp_matrix +from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext +from openpilot.selfdrive.modeld.models.driving_pyx import ( + PublishState, create_model_msg, create_pose_msg, + FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN, + OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ) + +MODEL_PATHS = { + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', + ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} + +class FrameMeta: + frame_id: int = 0 + timestamp_sof: int = 0 + timestamp_eof: int = 0 + + def __init__(self, vipc=None): + if vipc is not None: + self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof + +class ModelState: + frame: ModelFrame + wide_frame: ModelFrame + inputs: Dict[str, np.ndarray] + output: np.ndarray + prev_desire: np.ndarray # for tracking the rising edge of the pulse + model: ModelRunner + + def __init__(self, context: CLContext): + self.frame = ModelFrame(context) + self.wide_frame = ModelFrame(context) + self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32) + self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32) + self.inputs = { + 'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32), + 'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32), + 'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32), + 'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32), + } + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) + self.model.addInput("input_imgs", None) + self.model.addInput("big_input_imgs", None) + for k,v in self.inputs.items(): + self.model.addInput(k, v) + + def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]: + # Model decides when action is completed, so desire input is just a pulse triggered on rising edge + inputs['desire_pulse'][0] = 0 + self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:] + self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) + self.prev_desire[:] = inputs['desire_pulse'] + + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['nav_features'][:] = inputs['nav_features'] + self.inputs['nav_instructions'][:] = inputs['nav_instructions'] + # self.inputs['driving_style'][:] = inputs['driving_style'] + + # if getCLBuffer is not None, frame will be None + self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) + if wbuf is not None: + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + + if prepare_only: + return None + + self.model.execute() + self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:] + self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN] + return self.output + + +def main(): + cloudlog.bind(daemon="selfdrive.modeld.modeld") + setproctitle("selfdrive.modeld.modeld") + config_realtime_process(7, 54) + + cl_context = CLContext() + model = ModelState(cl_context) + cloudlog.warning("models loaded, modeld starting") + + # visionipc clients + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") + + while not vipc_client_main.connect(False): + time.sleep(0.1) + while not vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") + if use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") + + # messaging + pm = PubMaster(["modelV2", "cameraOdometry"]) + sm = SubMaster(["lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"]) + + state = PublishState() + params = Params() + + # setup filter to track dropped frames + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / MODEL_FREQ) + frame_id = 0 + last_vipc_frame_id = 0 + run_count = 0 + # last = 0.0 + + model_transform_main = np.zeros((3, 3), dtype=np.float32) + model_transform_extra = np.zeros((3, 3), dtype=np.float32) + live_calib_seen = False + driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32) + nav_features = np.zeros(NAV_FEATURE_LEN, dtype=np.float32) + nav_instructions = np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32) + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() + + while True: + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = vipc_client_main.recv() + meta_main = FrameMeta(vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.error("vipc_client_main no frame") + continue + + if use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = vipc_client_extra.recv() + meta_extra = FrameMeta(vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.error("vipc_client_extra no frame") + continue + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format( + meta_main.frame_id, meta_main.timestamp_sof / 1e9, + meta_extra.frame_id, meta_extra.timestamp_sof / 1e9)) + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + + # TODO: path planner timeout? + sm.update(0) + desire = sm["lateralPlan"].desire.raw + is_rhd = sm["driverMonitoringState"].isRHD + frame_id = sm["roadCameraState"].frameId + if sm.updated["liveCalibration"]: + device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) + model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32) + model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32) + live_calib_seen = True + + traffic_convention = np.zeros(2) + traffic_convention[int(is_rhd)] = 1 + + vec_desire = np.zeros(DESIRE_LEN, dtype=np.float32) + if desire >= 0 and desire < DESIRE_LEN: + vec_desire[desire] = 1 + + # Enable/disable nav features + timestamp_llk = sm["navModel"].locationMonoTime + nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) + nav_enabled = nav_valid and params.get_bool("ExperimentalMode") + + if not nav_enabled: + nav_features[:] = 0 + nav_instructions[:] = 0 + + if nav_enabled and sm.updated["navModel"]: + nav_features = np.array(sm["navModel"].features) + + if nav_enabled and sm.updated["navInstruction"]: + nav_instructions[:] = 0 + for maneuver in sm["navInstruction"].allManeuvers: + distance_idx = 25 + int(maneuver.distance / 20) + direction_idx = 0 + if maneuver.modifier in ("left", "slight left", "sharp left"): + direction_idx = 1 + if maneuver.modifier in ("right", "slight right", "sharp right"): + direction_idx = 2 + if 0 <= distance_idx < 50: + nav_instructions[distance_idx*3 + direction_idx] = 1 + + # tracked dropped frames + vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) + frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) + if run_count < 10: # let frame drops warm up + frame_dropped_filter.x = 0. + frames_dropped = 0. + run_count = run_count + 1 + + frame_drop_ratio = frames_dropped / (1 + frames_dropped) + prepare_only = vipc_dropped_frames > 0 + if prepare_only: + cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + + inputs:Dict[str, np.ndarray] = { + 'desire_pulse': vec_desire, + 'traffic_convention': traffic_convention, + 'driving_style': driving_style, + 'nav_features': nav_features, + 'nav_instructions': nav_instructions} + + mt1 = time.perf_counter() + model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + mt2 = time.perf_counter() + model_execution_time = mt2 - mt1 + + if model_output is not None: + pm.send("modelV2", create_model_msg(model_output, state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)) + pm.send("cameraOdometry", create_pose_msg(model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)) + + # print("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f" % + # ((mt2 - mt1)*1000, (mt1 - last)*1000, meta_extra.frame_id, frame_id, frame_drop_ratio)) + # last = mt1 + last_vipc_frame_id = meta_main.frame_id + + +if __name__ == "__main__": + try: + main() + except KeyboardInterrupt: + sys.exit() diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 04964f3eab..11808ef552 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -32,7 +32,7 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs ### input format -* single image W = 1440 H = 960 represented in planar YUV420 format: +* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format: * full input size is 1440 * 960 = 1382400 * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner) * camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs diff --git a/selfdrive/modeld/models/__init__.py b/selfdrive/modeld/models/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index b7c9051c6e..5e28e9b95d 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -55,14 +55,14 @@ ModelFrame::~ModelFrame() { void softmax(const float* input, float* output, size_t len) { const float max_val = *std::max_element(input, input + len); float denominator = 0; - for(int i = 0; i < len; i++) { + for (int i = 0; i < len; i++) { float const v_exp = expf(input[i] - max_val); denominator += v_exp; output[i] = v_exp; } const float inv_denominator = 1. / denominator; - for(int i = 0; i < len; i++) { + for (int i = 0; i < len; i++) { output[i] *= inv_denominator; } } diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd new file mode 100644 index 0000000000..57b79aeafb --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -0,0 +1,20 @@ +# distutils: language = c++ + +from cereal.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + +cdef extern from "selfdrive/modeld/models/commonmodel.h": + float sigmoid(float) + + cppclass ModelFrame: + int buf_size + ModelFrame(cl_device_id, cl_context) + float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd new file mode 100644 index 0000000000..21c0716de4 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from cereal.visionipc.visionipc cimport cl_mem +from cereal.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem; + + @staticmethod + cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx new file mode 100644 index 0000000000..e33d301aff --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,43 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy + +from cereal.visionipc.visionipc cimport cl_mem +from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context +from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame + +def sigmoid(x): + return cppSigmoid(x) + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + +cdef class ModelFrame: + cdef cppModelFrame * frame + + def __cinit__(self, CLContext context): + self.frame = new cppModelFrame(context.device_id, context.context) + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection, CLMem output): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef float * data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + if not data: + return None + return np.asarray( data) diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc index f7c25fc690..eb5239bef0 100644 --- a/selfdrive/modeld/models/dmonitoring.cc +++ b/selfdrive/modeld/models/dmonitoring.cc @@ -1,7 +1,5 @@ #include -#include "libyuv.h" - #include "common/mat.h" #include "common/modeldata.h" #include "common/params.h" diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index dedbc8edac..0a7f0c949d 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -1,128 +1,7 @@ #include "selfdrive/modeld/models/driving.h" -#include -#include - -#include #include -#include - -#include "common/clutil.h" -#include "common/params.h" -#include "common/timing.h" -#include "common/swaglog.h" - -constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15; -constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05; -constexpr float FCW_THRESHOLD_3MS2 = 0.7; - -std::array prev_brake_5ms2_probs = {0,0,0,0,0}; -std::array prev_brake_3ms2_probs = {0,0,0}; - -// #define DUMP_YUV - -void model_init(ModelState* s, cl_device_id device_id, cl_context context) { - s->frame = new ModelFrame(device_id, context); - s->wide_frame = new ModelFrame(device_id, context); - -#ifdef USE_THNEED - s->m = std::make_unique("models/supercombo.thneed", -#elif USE_ONNX_MODEL - s->m = std::make_unique("models/supercombo.onnx", -#else - s->m = std::make_unique("models/supercombo.dlc", -#endif - &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, false, context); - - s->m->addInput("input_imgs", NULL, 0); - s->m->addInput("big_input_imgs", NULL, 0); - - // TODO: the input is important here, still need to fix this -#ifdef DESIRE - s->m->addInput("desire_pulse", s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1)); -#endif - -#ifdef TRAFFIC_CONVENTION - s->m->addInput("traffic_convention", s->traffic_convention, TRAFFIC_CONVENTION_LEN); -#endif - -#ifdef DRIVING_STYLE - s->m->addInput("driving_style", s->driving_style, DRIVING_STYLE_LEN); -#endif - -#ifdef NAV - s->m->addInput("nav_features", s->nav_features, NAV_FEATURE_LEN); -#endif - -#ifdef TEMPORAL - s->m->addInput("feature_buffer", &s->feature_buffer[0], TEMPORAL_SIZE); -#endif - -} - -ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) { -#ifdef DESIRE - std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN); - if (desire_in != NULL) { - for (int i = 1; i < DESIRE_LEN; i++) { - // Model decides when action is completed - // so desire input is just a pulse triggered on rising edge - if (desire_in[i] - s->prev_desire[i] > .99) { - s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i]; - } else { - s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0; - } - s->prev_desire[i] = desire_in[i]; - } - } -LOGT("Desire enqueued"); -#endif - -#ifdef NAV - std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN); -#endif - -#ifdef DRIVING_STYLE - std::memcpy(s->driving_style, driving_style, sizeof(float)*DRIVING_STYLE_LEN); -#endif - - int rhd_idx = is_rhd; - s->traffic_convention[rhd_idx] = 1.0; - s->traffic_convention[1-rhd_idx] = 0.0; - - // if getInputBuf is not NULL, net_input_buf will be - auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast(s->m->getCLBuffer("input_imgs"))); - s->m->setInputBuffer("input_imgs", net_input_buf, s->frame->buf_size); - LOGT("Image added"); - - if (wbuf != nullptr) { - auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast(s->m->getCLBuffer("big_input_imgs"))); - s->m->setInputBuffer("big_input_imgs", net_extra_buf, s->wide_frame->buf_size); - LOGT("Extra image added"); - } - - if (prepare_only) { - return nullptr; - } - - s->m->execute(); - LOGT("Execution finished"); - - #ifdef TEMPORAL - std::memmove(&s->feature_buffer[0], &s->feature_buffer[FEATURE_LEN], sizeof(float) * FEATURE_LEN*(HISTORY_BUFFER_LEN-1)); - std::memcpy(&s->feature_buffer[FEATURE_LEN*(HISTORY_BUFFER_LEN-1)], &s->output[OUTPUT_SIZE], sizeof(float) * FEATURE_LEN); - LOGT("Features enqueued"); - #endif - - return (ModelOutput*)&s->output; -} - -void model_free(ModelState* s) { - delete s->frame; - delete s->wide_frame; -} void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputLeads &leads, int t_idx, float prob_t) { std::array lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0}; @@ -152,7 +31,7 @@ void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputL lead.setAStd(to_kj_array_ptr(lead_a_std)); } -void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data) { +void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data, PublishState &ps) { std::array desire_state_softmax; softmax(meta_data.desire_state_prob.array.data(), desire_state_softmax.data(), DESIRE_LEN); @@ -161,7 +40,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet softmax(meta_data.desire_pred_prob[i].array.data(), desire_pred_softmax.data() + (i * DESIRE_LEN), DESIRE_LEN); } - std::array lat_long_t = {2,4,6,8,10}; + std::array lat_long_t = {2, 4, 6, 8, 10}; std::array gas_disengage_sigmoid, brake_disengage_sigmoid, steer_override_sigmoid, brake_3ms2_sigmoid, brake_4ms2_sigmoid, brake_5ms2_sigmoid; for (int i=0; i threshold; + above_fcw_threshold = above_fcw_threshold && ps.prev_brake_5ms2_probs[i] > threshold; } - for (int i=0; i FCW_THRESHOLD_3MS2; + for (int i=0; i FCW_THRESHOLD_3MS2; } auto disengage = meta.initDisengagePredictions(); @@ -203,7 +82,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet meta.setHardBrakePredicted(above_fcw_threshold); } -void fill_confidence(ModelState* s, cereal::ModelDataV2::Builder &framed) { +void fill_confidence(cereal::ModelDataV2::Builder &framed, PublishState &ps) { if (framed.getFrameId() % (2*MODEL_FREQ) == 0) { // update every 2s to match predictions interval auto dbps = framed.getMeta().getDisengagePredictions().getBrakeDisengageProbs(); @@ -223,13 +102,13 @@ void fill_confidence(ModelState* s, cereal::ModelDataV2::Builder &framed) { } // rolling buf for 2, 4, 6, 8, 10s - std::memmove(&s->disengage_buffer[0], &s->disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1)); - std::memcpy(&s->disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN); + std::memmove(&ps.disengage_buffer[0], &ps.disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1)); + std::memcpy(&ps.disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN); } float score = 0; for (int i = 0; i < DISENGAGE_LEN; i++) { - score += s->disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN; + score += ps.disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN; } if (score < RYG_GREEN) { @@ -268,7 +147,7 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPredic std::array acc_x, acc_y, acc_z; std::array rot_rate_x, rot_rate_y, rot_rate_z; - for(int i=0; i plan_t; std::fill_n(plan_t.data(), plan_t.size(), NAN); @@ -383,10 +262,10 @@ void fill_model(ModelState* s, cereal::ModelDataV2::Builder &framed, const Model fill_road_edges(framed, plan_t, net_outputs.road_edges); // meta - fill_meta(framed.initMeta(), net_outputs.meta); + fill_meta(framed.initMeta(), net_outputs.meta, ps); // confidence - fill_confidence(s, framed); + fill_confidence(framed, ps); // leads auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION); @@ -407,11 +286,9 @@ void fill_model(ModelState* s, cereal::ModelDataV2::Builder &framed, const Model temporal_pose.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); } -void model_publish(ModelState* s, PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, - const ModelOutput &net_outputs, uint64_t timestamp_eof, uint64_t timestamp_llk, - float model_execution_time, const bool nav_enabled, const bool valid) { +void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, + uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid) { const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0; - MessageBuilder msg; auto framed = msg.initEvent(valid).initModelV2(); framed.setFrameId(vipc_frame_id); framed.setFrameIdExtra(vipc_frame_id_extra); @@ -422,36 +299,32 @@ void model_publish(ModelState* s, PubMaster &pm, uint32_t vipc_frame_id, uint32_ framed.setModelExecutionTime(model_execution_time); framed.setNavEnabled(nav_enabled); if (send_raw_pred) { - framed.setRawPredictions((kj::ArrayPtr(s->output.data(), s->output.size())).asBytes()); + framed.setRawPredictions(kj::ArrayPtr(net_output_data, NET_OUTPUT_SIZE).asBytes()); } - fill_model(s, framed, net_outputs); - pm.send("modelV2", msg); + fill_model(framed, *((ModelOutput*) net_output_data), ps); } -void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid) { - MessageBuilder msg; - const auto &v_mean = net_outputs.pose.velocity_mean; - const auto &r_mean = net_outputs.pose.rotation_mean; - const auto &t_mean = net_outputs.wide_from_device_euler.mean; - const auto &v_std = net_outputs.pose.velocity_std; - const auto &r_std = net_outputs.pose.rotation_std; - const auto &t_std = net_outputs.wide_from_device_euler.std; - const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; - const auto &road_transform_trans_std = net_outputs.road_transform.position_std; +void fill_pose_msg(MessageBuilder &msg, float *net_output_data, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid) { + const ModelOutput &net_outputs = *((ModelOutput*) net_output_data); + const auto &v_mean = net_outputs.pose.velocity_mean; + const auto &r_mean = net_outputs.pose.rotation_mean; + const auto &t_mean = net_outputs.wide_from_device_euler.mean; + const auto &v_std = net_outputs.pose.velocity_std; + const auto &r_std = net_outputs.pose.rotation_std; + const auto &t_std = net_outputs.wide_from_device_euler.std; + const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; + const auto &road_transform_trans_std = net_outputs.road_transform.position_std; - auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); - posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); - posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); - posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); - posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); - posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); - posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); - posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); - posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); + auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); + posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); + posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); + posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); + posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); + posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); + posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); + posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); + posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); - posenetd.setTimestampEof(timestamp_eof); - posenetd.setFrameId(vipc_frame_id); - - pm.send("cameraOdometry", msg); + posenetd.setTimestampEof(timestamp_eof); + posenetd.setFrameId(vipc_frame_id); } diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index f664a4f397..f13cd155f1 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -4,19 +4,9 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc_client.h" -#include "common/mat.h" #include "common/modeldata.h" #include "common/util.h" -#include "selfdrive/modeld/models/commonmodel.h" #include "selfdrive/modeld/models/nav.h" -#include "selfdrive/modeld/runners/run.h" - -// gate this here -#define TEMPORAL -#define DESIRE -#define TRAFFIC_CONVENTION -#define NAV constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; @@ -31,14 +21,16 @@ constexpr int BLINKER_LEN = 6; constexpr int META_STRIDE = 7; constexpr int PLAN_MHP_N = 5; - constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; -constexpr int LEAD_PRED_DIM = 4; constexpr int LEAD_MHP_SELECTION = 3; // Padding to get output shape as multiple of 4 constexpr int PAD_SIZE = 2; +constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15; +constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05; +constexpr float FCW_THRESHOLD_3MS2 = 0.7; + struct ModelOutputXYZ { float x; float y; @@ -249,43 +241,14 @@ struct ModelOutput { }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); - -#ifdef TEMPORAL - constexpr int TEMPORAL_SIZE = HISTORY_BUFFER_LEN * FEATURE_LEN; -#else - constexpr int TEMPORAL_SIZE = 0; -#endif constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE; -// TODO: convert remaining arrays to std::array and update model runners -struct ModelState { - ModelFrame *frame = nullptr; - ModelFrame *wide_frame = nullptr; - std::array feature_buffer = {}; +struct PublishState { std::array disengage_buffer = {}; - std::array output = {}; - std::unique_ptr m; -#ifdef DESIRE - float prev_desire[DESIRE_LEN] = {}; - float pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN+1)] = {}; -#endif -#ifdef TRAFFIC_CONVENTION - float traffic_convention[TRAFFIC_CONVENTION_LEN] = {}; -#endif -#ifdef DRIVING_STYLE - float driving_style[DRIVING_STYLE_LEN] = {}; -#endif -#ifdef NAV - float nav_features[NAV_FEATURE_LEN] = {}; -#endif + std::array prev_brake_5ms2_probs = {}; + std::array prev_brake_3ms2_probs = {}; }; -void model_init(ModelState* s, cl_device_id device_id, cl_context context); -ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only); -void model_free(ModelState* s); -void model_publish(ModelState* s, PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, - const ModelOutput &net_outputs, uint64_t timestamp_eof, uint64_t timestamp_llk, - float model_execution_time, const bool nav_enabled, const bool valid); -void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, - const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid); +void fill_model_msg(MessageBuilder &msg, float *net_output_data, PublishState &ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, + uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, const bool nav_enabled, const bool valid); +void fill_pose_msg(MessageBuilder &msg, float *net_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, const bool valid); diff --git a/selfdrive/modeld/models/driving.pxd b/selfdrive/modeld/models/driving.pxd new file mode 100644 index 0000000000..8d6b8d755e --- /dev/null +++ b/selfdrive/modeld/models/driving.pxd @@ -0,0 +1,25 @@ +# distutils: language = c++ + +from libcpp cimport bool +from libc.stdint cimport uint32_t, uint64_t + +cdef extern from "cereal/messaging/messaging.h": + cdef cppclass MessageBuilder: + size_t getSerializedSize() + int serializeToBuffer(unsigned char *, size_t) + +cdef extern from "selfdrive/modeld/models/driving.h": + cdef int FEATURE_LEN + cdef int HISTORY_BUFFER_LEN + cdef int DESIRE_LEN + cdef int TRAFFIC_CONVENTION_LEN + cdef int DRIVING_STYLE_LEN + cdef int NAV_FEATURE_LEN + cdef int NAV_INSTRUCTION_LEN + cdef int OUTPUT_SIZE + cdef int NET_OUTPUT_SIZE + cdef int MODEL_FREQ + cdef struct PublishState: pass + + void fill_model_msg(MessageBuilder, float *, PublishState, uint32_t, uint32_t, uint32_t, float, uint64_t, uint64_t, float, bool, bool) + void fill_pose_msg(MessageBuilder, float *, uint32_t, uint32_t, uint64_t, bool) diff --git a/selfdrive/modeld/models/driving_pyx.pyx b/selfdrive/modeld/models/driving_pyx.pyx new file mode 100644 index 0000000000..b98a8f3ff1 --- /dev/null +++ b/selfdrive/modeld/models/driving_pyx.pyx @@ -0,0 +1,52 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import numpy as np +cimport numpy as cnp +from libcpp cimport bool +from libc.string cimport memcpy +from libc.stdint cimport uint32_t, uint64_t + +from .commonmodel cimport mat3 +from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \ + TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \ + NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \ + OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ +from .driving cimport MessageBuilder, PublishState as cppPublishState +from .driving cimport fill_model_msg, fill_pose_msg + +FEATURE_LEN = CPP_FEATURE_LEN +HISTORY_BUFFER_LEN = CPP_HISTORY_BUFFER_LEN +DESIRE_LEN = CPP_DESIRE_LEN +TRAFFIC_CONVENTION_LEN = CPP_TRAFFIC_CONVENTION_LEN +DRIVING_STYLE_LEN = CPP_DRIVING_STYLE_LEN +NAV_FEATURE_LEN = CPP_NAV_FEATURE_LEN +NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN +OUTPUT_SIZE = CPP_OUTPUT_SIZE +NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE +MODEL_FREQ = CPP_MODEL_FREQ + +cdef class PublishState: + cdef cppPublishState state + +def create_model_msg(float[:] model_outputs, PublishState ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, + uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, bool nav_enabled, bool valid): + cdef MessageBuilder msg + fill_model_msg(msg, &model_outputs[0], ps.state, vipc_frame_id, vipc_frame_id_extra, frame_id, frame_drop, + timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, valid) + + output_size = msg.getSerializedSize() + output_data = bytearray(output_size) + cdef unsigned char * output_ptr = output_data + assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize" + return bytes(output_data) + +def create_pose_msg(float[:] model_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, bool valid): + cdef MessageBuilder msg + fill_pose_msg(msg, &model_outputs[0], vipc_frame_id, vipc_dropped_frames, timestamp_eof, valid) + + output_size = msg.getSerializedSize() + output_data = bytearray(output_size) + cdef unsigned char * output_ptr = output_data + assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize" + return bytes(output_data) diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h index c6a517f558..800abec252 100644 --- a/selfdrive/modeld/models/nav.h +++ b/selfdrive/modeld/models/nav.h @@ -9,6 +9,7 @@ constexpr int NAV_INPUT_SIZE = 256*256; constexpr int NAV_FEATURE_LEN = 256; +constexpr int NAV_INSTRUCTION_LEN = 150; constexpr int NAV_DESIRE_LEN = 32; struct NavModelOutputXY { diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 45aa30c65e..88f19a7d28 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d7f95f6bfa1c76567e186c806e75fc0ab900e3bd99f9514bdece99364ffaf8a8 -size 47501059 +oid sha256:c63ea3eb6c9b5a20c7420c2dc6d6d0f80a6949a39f6d8b74e574f52734154820 +size 47654714 diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld index 079afd9677..58215c2e9d 100755 --- a/selfdrive/modeld/navmodeld +++ b/selfdrive/modeld/navmodeld @@ -1,4 +1,4 @@ -#!/bin/sh +#!/usr/bin/env bash DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc index bd78e7a48b..4610f503d1 100644 --- a/selfdrive/modeld/navmodeld.cc +++ b/selfdrive/modeld/navmodeld.cc @@ -16,8 +16,8 @@ void run_model(NavModelState &model, VisionIpcClient &vipc_client) { SubMaster sm({"navInstruction"}); PubMaster pm({"navModel"}); - double last_ts = 0; - uint32_t last_frame_id = 0; + //double last_ts = 0; + //uint32_t last_frame_id = 0; VisionIpcBufExtra extra = {}; while (!do_exit) { @@ -34,8 +34,8 @@ void run_model(NavModelState &model, VisionIpcClient &vipc_client) { navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid()); //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts); - last_ts = t1; - last_frame_id = extra.frame_id; + //last_ts = t1; + //last_frame_id = extra.frame_id; } } @@ -61,7 +61,7 @@ int main(int argc, char **argv) { // run the models if (vipc_client.connected) { - LOGW("connected with buffer size: %d", vipc_client.buffers[0].len); + LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len); run_model(model, vipc_client); } diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py new file mode 100644 index 0000000000..9193d63e2b --- /dev/null +++ b/selfdrive/modeld/runners/__init__.py @@ -0,0 +1,27 @@ +import os +from openpilot.system.hardware import TICI +from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel, Runtime +assert Runtime + +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) +USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI)))) + +class ModelRunner(RunModel): + THNEED = 'THNEED' + SNPE = 'SNPE' + ONNX = 'ONNX' + + def __new__(cls, paths, *args, **kwargs): + if ModelRunner.THNEED in paths and USE_THNEED: + from openpilot.selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as Runner + runner_type = ModelRunner.THNEED + elif ModelRunner.SNPE in paths and USE_SNPE: + from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner + runner_type = ModelRunner.SNPE + elif ModelRunner.ONNX in paths: + from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner + runner_type = ModelRunner.ONNX + else: + raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") + + return Runner(str(paths[runner_type]), *args, **kwargs) diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index ee51e489ed..9e53874578 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -8,7 +8,7 @@ from typing import Tuple, Dict, Union, Any os.environ["OMP_NUM_THREADS"] = "4" os.environ["OMP_WAIT_POLICY"] = "PASSIVE" -import onnxruntime as ort # pylint: disable=import-error +import onnxruntime as ort ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} @@ -36,16 +36,16 @@ def run_loop(m, tf8_input=False): # run once to initialize CUDA provider if "CUDAExecutionProvider" in m.get_providers(): - m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes)]))) + m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True))) print("ready to run onnx model", keys, ishapes, file=sys.stderr) while 1: inputs = [] - for k, shp, itp in zip(keys, ishapes, itypes): + for k, shp, itp in zip(keys, ishapes, itypes, strict=True): ts = np.product(shp) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp)) - ret = m.run(None, dict(zip(keys, inputs))) + ret = m.run(None, dict(zip(keys, inputs, strict=True))) #print(ret, file=sys.stderr) for r in ret: write(r.astype(np.float32)) diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index e9a5d09406..ebe6ad847c 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -20,8 +20,7 @@ ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size err = pipe(pipeout); assert(err == 0); - std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); - std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; + std::string onnx_runner = ONNXRUNNER_PATH; std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; proc_pid = fork(); @@ -35,6 +34,7 @@ ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size close(pipeout[0]); close(pipeout[1]); execvp(onnx_runner.c_str(), argv); + exit(1); // exit if the exec fails } // parent @@ -71,7 +71,7 @@ void ONNXModel::pread(float *buf, int size) { int err; err = poll(fds, 1, 10000); // 10 second timeout assert(err == 1 || (err == -1 && errno == EINTR)); - LOGD("host read remaining %d/%d poll %d", tr, size*sizeof(float), err); + LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err); err = read(pipeout[0], cbuf, tr); assert(err > 0 || (err == 0 && errno == EINTR)); cbuf += err; diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 6c325f644e..f9bae1a0a9 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -1,11 +1,13 @@ #pragma once +#include + #include "selfdrive/modeld/runners/runmodel.h" class ONNXModel : public RunModel { public: ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL); - ~ONNXModel(); + ~ONNXModel(); void execute(); private: int proc_pid; diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd new file mode 100644 index 0000000000..165f043da8 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from cereal.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/onnxmodel.h": + cdef cppclass ONNXModel: + ONNXModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx new file mode 100644 index 0000000000..27aa22d1c6 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .onnxmodel cimport ONNXModel as cppONNXModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ONNXModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h index c64f300fe2..cae2f5b27a 100644 --- a/selfdrive/modeld/runners/run.h +++ b/selfdrive/modeld/runners/run.h @@ -1,10 +1,8 @@ #pragma once -#include "runmodel.h" -#include "snpemodel.h" +#include "selfdrive/modeld/runners/runmodel.h" +#include "selfdrive/modeld/runners/snpemodel.h" -#if defined(USE_THNEED) -#include "thneedmodel.h" -#elif defined(USE_ONNX_MODEL) -#include "onnxmodel.h" +#if defined(USE_ONNX_MODEL) +#include "selfdrive/modeld/runners/onnxmodel.h" #endif diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h index 00c88131bf..18cc180cb7 100644 --- a/selfdrive/modeld/runners/runmodel.h +++ b/selfdrive/modeld/runners/runmodel.h @@ -8,6 +8,10 @@ #include "common/clutil.h" #include "common/swaglog.h" +#define USE_CPU_RUNTIME 0 +#define USE_GPU_RUNTIME 1 +#define USE_DSP_RUNTIME 2 + struct ModelInput { const std::string name; float *buffer; diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd new file mode 100644 index 0000000000..01b2a9cf2c --- /dev/null +++ b/selfdrive/modeld/runners/runmodel.pxd @@ -0,0 +1,14 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +cdef extern from "selfdrive/modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME + + cdef cppclass RunModel: + void addInput(string, float*, int) + void setInputBuffer(string, float*, int) + void * getCLBuffer(string) + void execute() diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd new file mode 100644 index 0000000000..b6ede7cf37 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.pxd @@ -0,0 +1,6 @@ +# distutils: language = c++ + +from .runmodel cimport RunModel as cppRunModel + +cdef class RunModel: + cdef cppRunModel * model diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx new file mode 100644 index 0000000000..cdc62a79be --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -0,0 +1,38 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp.string cimport string +from libc.string cimport memcpy + +from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME +from selfdrive.modeld.models.commonmodel_pyx cimport CLMem + +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + +cdef class RunModel: + def __dealloc__(self): + del self.model + + def addInput(self, string name, float[:] buffer): + if buffer is not None: + self.model.addInput(name, &buffer[0], len(buffer)) + else: + self.model.addInput(name, NULL, 0) + + def setInputBuffer(self, string name, float[:] buffer): + if buffer is not None: + self.model.setInputBuffer(name, &buffer[0], len(buffer)) + else: + self.model.setInputBuffer(name, NULL, 0) + + def getCLBuffer(self, string name): + cdef void * cl_buf = self.model.getCLBuffer(name) + if not cl_buf: + return None + return CLMem.create(cl_buf) + + def execute(self): + self.model.execute() diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 441122c522..15c1db0086 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -3,6 +3,10 @@ #include "selfdrive/modeld/runners/snpemodel.h" #include +#include +#include +#include +#include #include "common/util.h" #include "common/timing.h" @@ -71,12 +75,6 @@ SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size std::vector output_strides = {output_size * sizeof(float), sizeof(float)}; output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float); output_map.add(output_tensor_name, output_buffer.get()); - -#ifdef USE_THNEED - if (snpe_runtime == zdl::DlSystem::Runtime_t::GPU) { - thneed.reset(new Thneed()); - } -#endif } void SNPEModel::addInput(const std::string name, float *buffer, int size) { diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index e646e5225b..86b2c86084 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -1,6 +1,10 @@ #pragma once #pragma clang diagnostic ignored "-Wdeprecated-declarations" +#include +#include +#include + #include #include #include @@ -13,14 +17,6 @@ #include "selfdrive/modeld/runners/runmodel.h" -#define USE_CPU_RUNTIME 0 -#define USE_GPU_RUNTIME 1 -#define USE_DSP_RUNTIME 2 - -#ifdef USE_THNEED -#include "selfdrive/modeld/thneed/thneed.h" -#endif - struct SNPEModelInput : public ModelInput { std::unique_ptr snpe_buffer; @@ -37,11 +33,6 @@ public: void addInput(const std::string name, float *buffer, int size); void execute(); -#ifdef USE_THNEED - std::unique_ptr thneed; - bool thneed_recorded = false; -#endif - private: std::string model_data; diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd new file mode 100644 index 0000000000..1f928da332 --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from cereal.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/snpemodel.h": + cdef cppclass SNPEModel: + SNPEModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx new file mode 100644 index 0000000000..c3b2b7e9bd --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -0,0 +1,17 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import os +from libcpp cimport bool +from libcpp.string cimport string + +from .snpemodel cimport SNPEModel as cppSNPEModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + +cdef class SNPEModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index 0f35c94800..a16d8b42aa 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -1,5 +1,7 @@ #include "selfdrive/modeld/runners/thneedmodel.h" +#include + #include "common/swaglog.h" ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) { diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h index 90c40239bf..6ed479c081 100644 --- a/selfdrive/modeld/runners/thneedmodel.h +++ b/selfdrive/modeld/runners/thneedmodel.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "selfdrive/modeld/runners/runmodel.h" #include "selfdrive/modeld/thneed/thneed.h" diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd new file mode 100644 index 0000000000..90af972865 --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from cereal.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/modeld/runners/thneedmodel.h": + cdef cppclass ThneedModel: + ThneedModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx new file mode 100644 index 0000000000..53487afa1b --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .thneedmodel cimport ThneedModel as cppThneedModel +from selfdrive.modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ThneedModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc index 021e065d81..f72f7fb1a7 100644 --- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc +++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc @@ -96,7 +96,7 @@ void test(char *filename) { void get_testframe(int index, std::unique_ptr &input) { FILE * pFile; string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index); - pFile = fopen(filepath.c_str(),"rb"); + pFile = fopen(filepath.c_str(), "rb"); int length = 1*6*160*320*4; float * frame_buffer = new float[length/4]; // 32/8 fread(frame_buffer, length, 1, pFile); @@ -156,18 +156,18 @@ void testrun(char* modelfile) { static zdl::DlSystem::TensorMap inputTensorMap; static zdl::DlSystem::TensorMap outputTensorMap; - assert (strList.size() == 1); + assert(strList.size() == 1); const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0)); const auto &inputShape = *inputDims_opt; std::cout << "winkwink" << std::endl; - for (int i=0;i<10000;i++) { + for (int i=0; i<10000; i++) { std::unique_ptr input; input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape); - get_testframe(i,input); + get_testframe(i, input); snpe->execute(input.get(), outputTensorMap); zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames(); - std::for_each( tensorNames.begin(), tensorNames.end(), [&](const char* name) { + std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) { std::ostringstream path; path << "/data/opt/Result_" << std::to_string(i) << ".raw"; auto tensorPtr = outputTensorMap.getTensor(name); diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 758948811e..c3d3b3daa1 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -6,10 +6,10 @@ import random import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import tici_f_frame_size -from common.realtime import DT_MDL -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.vision_meta import meta_from_camera_state +from openpilot.common.transformations.camera import tici_f_frame_size +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() diff --git a/selfdrive/modeld/tests/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc index db1ef3d67e..b00f7f95e8 100644 --- a/selfdrive/modeld/tests/tf_test/main.cc +++ b/selfdrive/modeld/tests/tf_test/main.cc @@ -36,9 +36,9 @@ static void DeallocateBuffer(void* data, size_t) { int main(int argc, char* argv[]) { TF_Buffer* buf; - TF_Graph* graph; - TF_Status* status; - char *path = argv[1]; + TF_Graph* graph; + TF_Status* status; + char *path = argv[1]; // load model { diff --git a/selfdrive/modeld/tests/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py index 78fd33aef2..3e476628eb 100755 --- a/selfdrive/modeld/tests/tf_test/pb_loader.py +++ b/selfdrive/modeld/tests/tf_test/pb_loader.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import sys -import tensorflow as tf # pylint: disable=import-error +import tensorflow as tf with open(sys.argv[1], "rb") as f: graph_def = tf.compat.v1.GraphDef() diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index 3c7ce5b70a..4ab0afacbc 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -1,13 +1,12 @@ #!/usr/bin/env python3 # type: ignore -# pylint: skip-file import os import time import numpy as np import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes N = int(os.getenv("N", "5")) @@ -35,6 +34,6 @@ if __name__ == "__main__": print("\n\n") print(f"ran modeld {N} times for {TIME}s each") - for n, t in enumerate(execution_times): + 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") diff --git a/selfdrive/modeld/thneed/lib.py b/selfdrive/modeld/thneed/lib.py index 38ef3f4262..c058638fad 100644 --- a/selfdrive/modeld/thneed/lib.py +++ b/selfdrive/modeld/thneed/lib.py @@ -1,4 +1,5 @@ -import struct, json +import struct +import json def load_thneed(fn): with open(fn, "rb") as f: diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index f789e5bf57..6ed5c08e81 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -1,7 +1,7 @@ #include #include -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "common/util.h" #include "common/clutil.h" #include "selfdrive/modeld/thneed/thneed.h" @@ -75,8 +75,7 @@ void Thneed::load(const char *filename) { #endif if (clbuf == NULL) { printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), - desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer - ); + desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer); } assert(clbuf != NULL); } diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h index 6475577734..47e18e0be3 100644 --- a/selfdrive/modeld/thneed/thneed.h +++ b/selfdrive/modeld/thneed/thneed.h @@ -12,7 +12,7 @@ #include -#include "msm_kgsl.h" +#include "third_party/linux/include/msm_kgsl.h" using namespace std; diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc index a3bfb8a8c2..21de15d17c 100644 --- a/selfdrive/modeld/thneed/thneed_qcom2.cc +++ b/selfdrive/modeld/thneed/thneed_qcom2.cc @@ -107,7 +107,8 @@ int ioctl(int filedes, unsigned long request, void *argp) { } int ret = my_ioctl(filedes, request, argp); - if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); + // NOTE: This error message goes into stdout and messes up pyenv + // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); return ret; } diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc index 39f404a897..c7ce7b0830 100644 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -15,7 +15,7 @@ void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int w "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d", width, height); - cl_program prg = cl_program_from_file(ctx, device_id, "transforms/loadyuv.cl", args); + cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args); s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc index f341314144..305643cf42 100644 --- a/selfdrive/modeld/transforms/transform.cc +++ b/selfdrive/modeld/transforms/transform.cc @@ -8,7 +8,7 @@ void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { memset(s, 0, sizeof(*s)); - cl_program prg = cl_program_from_file(ctx, device_id, "transforms/transform.cl", ""); + cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err)); // done with this CL_CHECK(clReleaseProgram(prg)); diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index e4ef6e308d..f1c4bc0079 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -4,11 +4,11 @@ import gc import cereal.messaging as messaging from cereal import car from cereal import log -from common.params import Params, put_bool_nonblocking -from common.realtime import set_realtime_priority -from selfdrive.controls.lib.events import Events -from selfdrive.monitoring.driver_monitor import DriverStatus -from selfdrive.monitoring.hands_on_wheel_monitor import HandsOnWheelStatus +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus +from openpilot.selfdrive.monitoring.hands_on_wheel_monitor import HandsOnWheelStatus def dmonitoringd_thread(sm=None, pm=None): diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index a2cddc2462..ab82da301f 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -1,11 +1,11 @@ from math import atan2 from cereal import car -from common.numpy_fast import interp -from common.realtime import DT_DMON -from common.filter_simple import FirstOrderFilter -from common.stat_live import RunningStatFilter -from common.transformations.camera import tici_d_frame_size +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_DMON +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.stat_live import RunningStatFilter +from openpilot.common.transformations.camera import tici_d_frame_size EventName = car.CarEvent.EventName @@ -119,7 +119,9 @@ class DriverBlink(): self.right_blink = 0. class DriverStatus(): - def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()): + def __init__(self, rhd_saved=False, settings=None): + if settings is None: + settings = DRIVER_MONITOR_SETTINGS() # init policy settings self.settings = settings @@ -212,7 +214,8 @@ class DriverStatus(): distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: - ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12 + ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \ + * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 # if self.ee2_calibrated: @@ -263,14 +266,17 @@ class DriverStatus(): self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD - self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \ + * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) + self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ + * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() - self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ - driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std + self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types + or DistractedType.DISTRACTED_BLINK in self.distracted_types) \ + and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) # update offseter @@ -306,7 +312,8 @@ class DriverStatus(): self._reset_awareness() return # only restore awareness when paying attention and alert is not red - self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.) + self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)* + (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.) if self.awareness == 1.: self.awareness_passive = min(self.awareness_passive + self.step_change, 1.) # don't display alert banner when awareness is recovering and has cleared orange diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index f72b4a3aaa..c02d44849f 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -3,9 +3,9 @@ import unittest import numpy as np from cereal import car, log -from common.realtime import DT_DMON -from selfdrive.controls.lib.events import Events -from selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS +from openpilot.common.realtime import DT_DMON +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS EventName = car.CarEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() @@ -54,7 +54,6 @@ always_false = [False] * int(TEST_TIMESPAN / DT_DMON) # TODO: this only tests DriverStatus class TestMonitoring(unittest.TestCase): - # pylint: disable=no-member def _run_seq(self, msgs, interaction, engaged, standstill): DS = DriverStatus() events = [] @@ -82,7 +81,8 @@ class TestMonitoring(unittest.TestCase): events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false) self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0) self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted) + ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], + EventName.preDriverDistracted) self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted) self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME + @@ -94,7 +94,8 @@ class TestMonitoring(unittest.TestCase): events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false) self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0) self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + - ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive) + ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], + EventName.preDriverUnresponsive) self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive) self.assertEqual(events[int((d_status.settings._AWARENESS_TIME + @@ -125,10 +126,14 @@ class TestMonitoring(unittest.TestCase): ds_vector = always_distracted[:] interaction_vector = always_false[:] op_vector = always_true[:] - ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) - ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) - interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON) - op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON) + ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \ + = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) + ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \ + = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) + interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \ + = [True] * int(1/DT_DMON) + op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ + = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted) self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted) @@ -141,7 +146,8 @@ class TestMonitoring(unittest.TestCase): _visible_time = np.random.choice([0.5, 10]) ds_vector = always_no_face[:]*2 interaction_vector = always_false[:]*2 - ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON) + ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \ + [msg_ATTENTIVE] * int(_visible_time/DT_DMON) interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0) @@ -185,7 +191,8 @@ class TestMonitoring(unittest.TestCase): standstill_vector = always_true[:] standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON) events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) - self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted) + self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], + EventName.preDriverDistracted) self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted) self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted) @@ -195,9 +202,12 @@ class TestMonitoring(unittest.TestCase): ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - self.assertTrue(EventName.preDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names) - self.assertTrue(EventName.promptDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) - self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) + self.assertTrue(EventName.preDriverUnresponsive in + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names) + self.assertTrue(EventName.promptDriverUnresponsive in + events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) + self.assertTrue(EventName.driverUnresponsive in + events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names) if __name__ == "__main__": diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 6c0026fe03..d1db79506a 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visioni if arch == 'larch64': libs.append('EGL') -if arch in ['larch64', 'x86_64']: +if arch in ['larch64', 'aarch64', 'x86_64']: if arch == 'x86_64': rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath map_env["RPATH"] += [rpath, ] diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index 011a6c5fb8..55c3f88a9a 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -4,9 +4,12 @@ import json import math from typing import Any, Dict, List, Optional, Tuple, Union, cast -from common.conversions import Conversions -from common.numpy_fast import clip -from common.params import Params +from openpilot.common.conversions import Conversions +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params + +DIRECTIONS = ('left', 'right', 'straight') +MODIFIABLE_DIRECTIONS = ('left', 'right') EARTH_MEAN_RADIUS = 6371007.2 SPEED_CONVERSIONS = { @@ -119,8 +122,10 @@ def coordinate_from_param(param: str, params: Optional[Params] = None) -> Option def string_to_direction(direction: str) -> str: - for d in ['left', 'right', 'straight']: + for d in DIRECTIONS: if d in direction: + if 'slight' in direction and d in MODIFIABLE_DIRECTIONS: + return 'slight' + d.capitalize() return d return 'none' @@ -135,32 +140,33 @@ def field_valid(dat: dict, field: str) -> bool: return field in dat and dat[field] is not None -def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None: +def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> Optional[Dict[str, Any]]: if not len(banners): - return + return None - current_banner = banners[0] + instruction = {} # A segment can contain multiple banners, find one that we need to show now + current_banner = banners[0] for banner in banners: if distance_to_maneuver < banner['distanceAlongGeometry']: current_banner = banner # Only show banner when close enough to maneuver - instruction.showFull = distance_to_maneuver < current_banner['distanceAlongGeometry'] + instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry'] # Primary p = current_banner['primary'] if field_valid(p, 'text'): - instruction.maneuverPrimaryText = p['text'] + instruction['maneuverPrimaryText'] = p['text'] if field_valid(p, 'type'): - instruction.maneuverType = p['type'] + instruction['maneuverType'] = p['type'] if field_valid(p, 'modifier'): - instruction.maneuverModifier = p['modifier'] + instruction['maneuverModifier'] = p['modifier'] # Secondary if field_valid(current_banner, 'secondary'): - instruction.maneuverSecondaryText = current_banner['secondary']['text'] + instruction['maneuverSecondaryText'] = current_banner['secondary']['text'] # Lane lines if field_valid(current_banner, 'sub'): @@ -178,4 +184,6 @@ def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuv lane['activeDirection'] = string_to_direction(component['active_direction']) lanes.append(lane) - instruction.lanes = lanes + instruction['lanes'] = lanes + + return instruction diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 44acc67b94..543515c631 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -64,6 +64,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), DEFAULT_ZOOM); m_map->setStyleJson(style.c_str()); m_map->createRenderer(); + ever_loaded = false; m_map->resize(fbo->size()); m_map->setFramebufferObject(fbo->handle(), fbo->size()); @@ -72,11 +73,13 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { // Ignore expected signals // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116 - if (change != QMapboxGL::MapChange::MapChangeRegionWillChange && - change != QMapboxGL::MapChange::MapChangeRegionDidChange && - change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame && - change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { - LOGD("New map state: %d", change); + if (ever_loaded) { + if (change != QMapboxGL::MapChange::MapChangeRegionWillChange && + change != QMapboxGL::MapChange::MapChangeRegionDidChange && + change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame && + change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) { + LOGD("New map state: %d", change); + } } }); @@ -188,6 +191,7 @@ void MapRenderer::publish(const double render_time, const bool loaded) { auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman(); bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid(); + ever_loaded = ever_loaded || loaded; uint64_t ts = nanos_since_boot(); VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP); VisionIpcBufExtra extra = { diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 5739ba88f2..dc92c70b0f 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -49,6 +49,7 @@ private: } QTimer* timer; + bool ever_loaded = false; public slots: void updatePosition(QMapbox::Coordinate position, float bearing); diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index aa5682169f..8d525ac73e 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -7,8 +7,8 @@ import numpy as np import polyline from cffi import FFI -from common.ffi_wrapper import suffix -from common.basedir import BASEDIR +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR HEIGHT = WIDTH = SIZE = 256 METERS_PER_PIXEL = 2 @@ -74,7 +74,7 @@ if __name__ == "__main__": renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL) wait_ready(lib, renderer) - geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" + geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501 lib.map_renderer_update_route(renderer, geometry.encode()) POSITIONS = [ diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 0f445cb660..fb9f0a3ee0 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -5,23 +5,20 @@ import os import threading import requests -import numpy as np import cereal.messaging as messaging from cereal import log -from common.api import Api -from common.params import Params -from common.realtime import Ratekeeper -from common.transformations.coordinates import ecef2geodetic -from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper +from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from system.swaglog import cloudlog +from openpilot.system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 -VALID_POS_STD = 50.0 REROUTE_COUNTER_MIN = 3 @@ -79,21 +76,13 @@ class RouteEngine: def update_location(self): location = self.sm['liveLocationKalman'] - laikad = self.sm['gnssMeasurements'] + self.gps_ok = location.gpsOK - locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD + self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid - self.localizer_valid = locationd_valid or laikad_valid - self.gps_ok = location.gpsOK or laikad_valid - - if locationd_valid: + if self.localizer_valid: self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2]) self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1]) - elif laikad_valid: - geodetic = ecef2geodetic(laikad.positionECEF.value) - self.last_position = Coordinate(geodetic[0], geodetic[1]) - self.last_bearing = None def recompute_route(self): if self.last_position is None: @@ -226,7 +215,32 @@ class RouteEngine: # Current instruction msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry - parse_banner_instructions(msg.navInstruction, banner_step['bannerInstructions'], distance_to_maneuver_along_geometry) + instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry) + if instruction is not None: + for k,v in instruction.items(): + setattr(msg.navInstruction, k, v) + + # All instructions + maneuvers = [] + for i, step_i in enumerate(self.route): + if i < self.step_idx: + distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry + elif i == self.step_idx: + distance_to_maneuver = distance_to_maneuver_along_geometry + else: + distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1)) + + instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver) + if instruction is None: + continue + maneuver = {'distance': distance_to_maneuver} + if 'maneuverType' in instruction: + maneuver['type'] = instruction['maneuverType'] + if 'maneuverModifier' in instruction: + maneuver['modifier'] = instruction['maneuverModifier'] + maneuvers.append(maneuver) + + msg.navInstruction.allManeuvers = maneuvers # Compute total remaining time and distance remaining = 1.0 - along_geometry / max(step['distance'], 1) @@ -332,7 +346,7 @@ class RouteEngine: def main(sm=None, pm=None): if sm is None: - sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState']) + sm = messaging.SubMaster(['liveLocationKalman', 'managerState']) if pm is None: pm = messaging.PubMaster(['navInstruction', 'navRoute']) diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py index e6158dbdee..811aa576d1 100755 --- a/selfdrive/navd/set_destination.py +++ b/selfdrive/navd/set_destination.py @@ -2,7 +2,7 @@ import json import sys -from common.params import Params +from openpilot.common.params import Params if __name__ == "__main__": params = Params() diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index 934377fed4..1c3d8acd7f 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -1,28 +1,95 @@ #!/usr/bin/env python3 import os import unittest - +import requests +import threading +import http.server import cereal.messaging as messaging + +from typing import Any from cereal.visionipc import VisionIpcClient, VisionStreamType -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes LLK_DECIMATION = 10 CACHE_PATH = "/data/mbgl-cache-navd.db" -def gen_llk(): +LOCATION1 = (32.7174, -117.16277) +LOCATION2 = (32.7558, -117.2037) + +def gen_llk(location=LOCATION1): msg = messaging.new_message('liveLocationKalman') - msg.liveLocationKalman.positionGeodetic = {'value': [32.7174, -117.16277, 0], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True} msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} msg.liveLocationKalman.status = 'valid' return msg +class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): + INTERNET_ACTIVE = True + + def setup(self): + if self.INTERNET_ACTIVE: + super().setup() + + def handle(self): + if self.INTERNET_ACTIVE: + super().handle() + + def finish(self): + if self.INTERNET_ACTIVE: + super().finish() + + def do_GET(self): + url = f'https://api.mapbox.com{self.path}' + + headers = dict(self.headers) + headers["Host"] = "api.mapbox.com" + + r = requests.get(url, headers=headers, timeout=5) + + self.send_response(r.status_code) + self.end_headers() + self.wfile.write(r.content) + + def log_message(self, *args: Any) -> None: + return + + def log_error(self, *args: Any) -> None: + return + + +class MapBoxInternetDisabledServer(threading.Thread): + def run(self): + self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler) + self.server.serve_forever() + + def stop(self): + self.server.shutdown() + + def disable_internet(self): + MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False + + def enable_internet(self): + MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True + + class TestMapRenderer(unittest.TestCase): + server = MapBoxInternetDisabledServer() + @classmethod def setUpClass(cls): assert "MAPBOX_TOKEN" in os.environ + cls.original_token = os.environ["MAPBOX_TOKEN"] + cls.server.start() + + @classmethod + def tearDownClass(cls) -> None: + cls.server.stop() def setUp(self): + self.server.enable_internet() + os.environ['MAPS_HOST'] = 'http://localhost:5000' + self.sm = messaging.SubMaster(['mapRenderState']) self.pm = messaging.PubMaster(['liveLocationKalman']) self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) @@ -33,15 +100,22 @@ class TestMapRenderer(unittest.TestCase): def tearDown(self): managed_processes['mapsd'].stop() - def _run_test(self, expect_valid): + def _setup_test(self): # start + sync up managed_processes['mapsd'].start() + assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10) assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, } assert self.vipc.connect(False) self.vipc.recv() + + def _run_test(self, expect_valid, location=LOCATION1): + starting_frame_id = None + + self.location = location + # run test prev_frame_id = -1 for i in range(30*LLK_DECIMATION): @@ -51,21 +125,28 @@ class TestMapRenderer(unittest.TestCase): prev_valid = False prev_frame_id = -1 else: - prev_frame_id = self.sm['mapRenderState'].frameId prev_valid = self.sm.valid['mapRenderState'] + prev_frame_id = self.sm['mapRenderState'].frameId - llk = gen_llk() + if starting_frame_id is None: + starting_frame_id = prev_frame_id + + llk = gen_llk(self.location) self.pm.send("liveLocationKalman", llk) self.pm.wait_for_readers_to_update("liveLocationKalman", 10) self.sm.update(1000 if frame_expected else 0) assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency" if not frame_expected: - continue - # give a few frames to go valid - if expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid and self.sm['mapRenderState'].frameId < 5: + frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id + + # give a few frames to switch from valid to invalid, or vice versa + invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid) + valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid) + + if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5: continue # check output @@ -84,15 +165,28 @@ class TestMapRenderer(unittest.TestCase): assert self.vipc.frame_id == self.sm['mapRenderState'].frameId def test_with_internet(self): + self._setup_test() self._run_test(True) def test_with_no_internet(self): - token = os.environ['MAPBOX_TOKEN'] - try: - os.environ['MAPBOX_TOKEN'] = 'invalid_token' - self._run_test(False) - finally: - os.environ['MAPBOX_TOKEN'] = token + self.server.disable_internet() + self._setup_test() + self._run_test(False) + + def test_recover_from_no_internet(self): + self._setup_test() + self._run_test(True) + + self.server.disable_internet() + + # change locations to force mapsd to refetch + self._run_test(False, LOCATION2) + + self.server.enable_internet() + self._run_test(True, LOCATION2) + + self.location = LOCATION1 + self._run_test(True, LOCATION2) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py index 45571fe2db..68dc4989cd 100755 --- a/selfdrive/rtshield.py +++ b/selfdrive/rtshield.py @@ -3,7 +3,7 @@ import os import time from typing import NoReturn -from common.realtime import set_core_affinity, set_realtime_priority +from openpilot.common.realtime import set_core_affinity, set_realtime_priority # RT shield - ensure CPU 3 always remains available for RT processes # runs as SCHED_FIFO with minimum priority to ensure kthreads don't diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 4c5e67e7a2..12275983eb 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -3,11 +3,11 @@ import sentry_sdk from enum import Enum from sentry_sdk.integrations.threading import ThreadingIntegration -from common.params import Params -#from selfdrive.athena.registration import is_registered_device -from system.hardware import HARDWARE, PC -from system.swaglog import cloudlog -from system.version import get_branch, get_commit, get_origin, get_version, \ +from openpilot.common.params import Params +#from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch, get_branch_type import os diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index e64907149c..8acf406515 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -7,13 +7,13 @@ from collections import defaultdict from datetime import datetime, timezone from typing import NoReturn, Union, List, Dict -from common.params import Params +from openpilot.common.params import Params from cereal.messaging import SubMaster -from system.swaglog import cloudlog -from system.hardware import HARDWARE -from common.file_helpers import atomic_write_in_dir -from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware import HARDWARE +from openpilot.common.file_helpers import atomic_write_in_dir +from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty +from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: @@ -23,6 +23,8 @@ class METRIC_TYPE: class StatLog: def __init__(self): self.pid = None + self.zctx = None + self.sock = None def connect(self) -> None: self.zctx = zmq.Context() @@ -31,6 +33,12 @@ class StatLog: self.sock.connect(STATS_SOCKET) self.pid = os.getpid() + def __del__(self): + if self.sock is not None: + self.sock.close() + if self.zctx is not None: + self.zctx.term() + def _send(self, metric: str) -> None: if os.getpid() != self.pid: self.connect() @@ -68,7 +76,7 @@ def main() -> NoReturn: return res # open statistics socket - ctx = zmq.Context().instance() + ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) sock.bind(STATS_SOCKET) @@ -92,70 +100,74 @@ def main() -> NoReturn: last_flush_time = time.monotonic() gauges = {} samples: Dict[str, List[float]] = defaultdict(list) - while True: - started_prev = sm['deviceState'].started - sm.update() - - # Update metrics + try: while True: - try: - metric = sock.recv_string(zmq.NOBLOCK) + started_prev = sm['deviceState'].started + sm.update() + + # Update metrics + while True: try: - metric_type = metric.split('|')[1] - metric_name = metric.split(':')[0] - metric_value = float(metric.split('|')[0].split(':')[1]) + metric = sock.recv_string(zmq.NOBLOCK) + try: + metric_type = metric.split('|')[1] + metric_name = metric.split(':')[0] + metric_value = float(metric.split('|')[0].split(':')[1]) - if metric_type == METRIC_TYPE.GAUGE: - gauges[metric_name] = metric_value - elif metric_type == METRIC_TYPE.SAMPLE: - samples[metric_name].append(metric_value) - else: - cloudlog.event("unknown metric type", metric_type=metric_type) - except Exception: - cloudlog.event("malformed metric", metric=metric) - except zmq.error.Again: - break + if metric_type == METRIC_TYPE.GAUGE: + gauges[metric_name] = metric_value + elif metric_type == METRIC_TYPE.SAMPLE: + samples[metric_name].append(metric_value) + else: + cloudlog.event("unknown metric type", metric_type=metric_type) + except Exception: + cloudlog.event("malformed metric", metric=metric) + except zmq.error.Again: + break - # flush when started state changes or after FLUSH_TIME_S - if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): - result = "" - current_time = datetime.utcnow().replace(tzinfo=timezone.utc) - tags['started'] = sm['deviceState'].started + # flush when started state changes or after FLUSH_TIME_S + if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev): + result = "" + current_time = datetime.utcnow().replace(tzinfo=timezone.utc) + tags['started'] = sm['deviceState'].started - for key, value in gauges.items(): - result += get_influxdb_line(f"gauge.{key}", value, current_time, tags) + for key, value in gauges.items(): + result += get_influxdb_line(f"gauge.{key}", value, current_time, tags) - for key, values in samples.items(): - values.sort() - sample_count = len(values) - sample_sum = sum(values) + for key, values in samples.items(): + values.sort() + sample_count = len(values) + sample_sum = sum(values) - stats = { - 'count': sample_count, - 'min': values[0], - 'max': values[-1], - 'mean': sample_sum / sample_count, - } - for percentile in [0.05, 0.5, 0.95]: - value = values[int(round(percentile * (sample_count - 1)))] - stats[f"p{int(percentile * 100)}"] = value + stats = { + 'count': sample_count, + 'min': values[0], + 'max': values[-1], + 'mean': sample_sum / sample_count, + } + for percentile in [0.05, 0.5, 0.95]: + value = values[int(round(percentile * (sample_count - 1)))] + stats[f"p{int(percentile * 100)}"] = value - result += get_influxdb_line(f"sample.{key}", stats, current_time, tags) + result += get_influxdb_line(f"sample.{key}", stats, current_time, tags) - # clear intermediate data - gauges.clear() - samples.clear() - last_flush_time = time.monotonic() + # clear intermediate data + gauges.clear() + samples.clear() + last_flush_time = time.monotonic() - # check that we aren't filling up the drive - if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: - if len(result) > 0: - stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}") - with atomic_write_in_dir(stats_path) as f: - f.write(result) - idx += 1 - else: - cloudlog.error("stats dir full") + # check that we aren't filling up the drive + if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT: + if len(result) > 0: + stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}") + with atomic_write_in_dir(stats_path) as f: + f.write(result) + idx += 1 + else: + cloudlog.error("stats dir full") + finally: + sock.close() + ctx.term() if __name__ == "__main__": diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py new file mode 100755 index 0000000000..3f33847b29 --- /dev/null +++ b/selfdrive/test/ciui.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 +import signal +import subprocess + +signal.signal(signal.SIGINT, signal.SIG_DFL) +signal.signal(signal.SIGTERM, signal.SIG_DFL) + +from PyQt5.QtCore import QTimer +from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window + +class Window(QWidget): + def __init__(self, parent=None): + super(Window, self).__init__(parent) + + layout = QVBoxLayout() + self.setLayout(layout) + + self.l = QLabel("jenkins runner") + layout.addWidget(self.l) + layout.addStretch(1) + layout.setContentsMargins(20, 20, 20, 20) + + cmds = [ + "cat /etc/hostname", + "echo AGNOS v$(cat /VERSION)", + "uptime -p", + ] + self.labels = {} + for c in cmds: + self.labels[c] = QLabel(c) + layout.addWidget(self.labels[c]) + + self.setStyleSheet(""" + * { + color: white; + font-size: 55px; + background-color: black; + font-family: "JetBrains Mono"; + } + """) + + self.timer = QTimer() + self.timer.timeout.connect(self.update) + self.timer.start(10 * 1000) + self.update() + + def update(self): + for cmd, label in self.labels.items(): + out = subprocess.run(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + shell=True, check=False, encoding='utf8').stdout + label.setText(out.strip()) + +if __name__ == "__main__": + app = QApplication([]) + w = Window() + set_main_window(w) + app.exec_() diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh new file mode 100755 index 0000000000..3851e2b1e3 --- /dev/null +++ b/selfdrive/test/docker_build.sh @@ -0,0 +1,45 @@ +#!/bin/bash +set -e + +# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: +# mkdir -p .ci_cache/scons_cache +# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache + +if [ $1 = "base" ]; then + export DOCKER_IMAGE=openpilot-base + export DOCKER_FILE=Dockerfile.openpilot_base +elif [ $1 = "docs" ]; then + export DOCKER_IMAGE=openpilot-docs + export DOCKER_FILE=docs/docker/Dockerfile +elif [ $1 = "sim" ]; then + export DOCKER_IMAGE=openpilot-sim + export DOCKER_FILE=tools/sim/Dockerfile.sim +elif [ $1 = "prebuilt" ]; then + export DOCKER_IMAGE=openpilot-prebuilt + export DOCKER_FILE=Dockerfile.openpilot +elif [ $1 = "cl" ]; then + export DOCKER_IMAGE=openpilot-base-cl + export DOCKER_FILE=Dockerfile.openpilot_base_cl +else + echo "Invalid docker build image $1" + exit 1 +fi + +export DOCKER_REGISTRY=ghcr.io/commaai +export COMMIT_SHA=$(git rev-parse HEAD) + +LOCAL_TAG=$DOCKER_IMAGE +REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG +REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA + +SCRIPT_DIR=$(dirname "$0") +OPENPILOT_DIR=$SCRIPT_DIR/../../ + +DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR + +if [[ ! -z "$PUSH_IMAGE" ]]; +then + docker push $REMOTE_TAG + docker tag $REMOTE_TAG $REMOTE_SHA_TAG + docker push $REMOTE_SHA_TAG +fi \ No newline at end of file diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 0b8bd0206d..28c70a0ff4 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -70,7 +70,7 @@ class FuzzyGenerator: def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: Optional[str] = None) -> st.SearchStrategy[Dict[str, Any]]: full_fill: List[str] = list(schema.non_union_fields) single_fill: List[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else [] - return st.fixed_dictionaries(dict((field, self.generate_field(schema.fields[field])) for field in full_fill + single_fill)) + return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill}) @classmethod def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> Dict[str, Any]: diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index f7dab576f3..1fbf2c4d20 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,13 +1,18 @@ import os import time +import tempfile +from typing import List, Union + +from unittest import mock from functools import wraps import cereal.messaging as messaging -from common.params import Params -from selfdrive.manager.process_config import managed_processes -from system.hardware import PC -from system.version import training_version, terms_version +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import PC +from openpilot.system.version import training_version, terms_version +SKIP_ENV_VAR = "SKIP_LONG_TESTS" def set_params_enabled(): os.environ['PASSIVE'] = "0" @@ -67,3 +72,46 @@ def with_processes(processes, init_time=0, ignore_stopped=None): return wrap return wrapper + + +def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory): + """ + mock_paths_in: string or string list representing the full path of the variable you want to mock. + kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory. + generator: a context to use to generate the temporary directory + """ + def wrapper(func): + @wraps(func) + def wrap(*args, **kwargs): + mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in] + with generator() as temp_dir: + mocks = [] + for mock_path in mock_paths: + mocks.append(mock.patch(mock_path, str(temp_dir))) + [mock.start() for mock in mocks] + try: + if kwarg is not None: + kwargs[kwarg] = temp_dir + func(*args, **kwargs) + finally: + [mock.stop() for mock in mocks] + + return wrap + return wrapper + +def string_context(context): + class StringContext: + def __enter__(self): + return context + + def __exit__(self, *args): + pass + + return StringContext + +temporary_dir = temporary_mock_dir([], "temp_dir") +temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR") +temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir") +temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER") +temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"], + generator=string_context("/tmp/test_swaglog_ipc")) \ No newline at end of file diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 00ddfe627e..000225ab77 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -1,5 +1,5 @@ import numpy as np -from selfdrive.test.longitudinal_maneuvers.plant import Plant +from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant class Maneuver: diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 541f7d8747..0dce1a0f9b 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -4,11 +4,11 @@ import numpy as np from cereal import log import cereal.messaging as messaging -from common.realtime import Ratekeeper, DT_MDL -from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.radard import _LEAD_ACCEL_TAU +from openpilot.common.realtime import Ratekeeper, DT_MDL +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU class Plant: @@ -43,11 +43,11 @@ class Plant: self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0) self.ts = 1. / self.rate - time.sleep(1) + time.sleep(0.1) self.sm = messaging.SubMaster(['longitudinalPlan']) - from selfdrive.car.honda.values import CAR - from selfdrive.car.honda.interface import CarInterface + from openpilot.selfdrive.car.honda.values import CAR + from openpilot.selfdrive.car.honda.interface import CarInterface self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed) @@ -144,9 +144,9 @@ class Plant: v_rel = 0. # print at 5hz - if (self.rk.frame % (self.rate // 5)) == 0: - print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" - % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) + # if (self.rk.frame % (self.rate // 5)) == 0: + # print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" + # % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) # ******** update prevs ******** diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index bc477ca9fe..a3b307ccba 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -4,9 +4,9 @@ import os from parameterized import parameterized_class import unittest -from common.params import Params -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver # TODO: make new FCW tests diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 5f4b9f1f35..f590b66e54 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -1,42 +1,64 @@ #!/usr/bin/env python3 import os -import sys -import subprocess +from datetime import datetime, timedelta +from functools import lru_cache +from pathlib import Path +from typing import IO, Union -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -TOKEN_PATH = "/data/azure_token" +DATA_CI_ACCOUNT = "commadataci" +DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net" +DATA_CI_CONTAINER = "openpilotci" +BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{DATA_CI_CONTAINER}/" + +TOKEN_PATH = Path("/data/azure_token") -def get_url(route_name, segment_num, log_type="rlog"): +def get_url(route_name: str, segment_num, log_type="rlog") -> str: ext = "hevc" if log_type.endswith('camera') else "bz2" return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" -def get_sas_token(): - sas_token = os.environ.get("AZURE_TOKEN", None) - if os.path.isfile(TOKEN_PATH): - sas_token = open(TOKEN_PATH).read().strip() - if sas_token is None: - sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \ - --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n") - - return sas_token - -def upload_bytes(data, name): - from azure.storage.blob import BlockBlobService # pylint: disable=import-error - service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) - service.create_blob_from_bytes("openpilotci", name, data) - return BASE_URL + name - -def upload_file(path, name): - from azure.storage.blob import BlockBlobService # pylint: disable=import-error - service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) - service.create_blob_from_path("openpilotci", name, path) - return BASE_URL + name +@lru_cache +def get_azure_credential(): + if "AZURE_TOKEN" in os.environ: + return os.environ["AZURE_TOKEN"] + elif TOKEN_PATH.is_file(): + return TOKEN_PATH.read_text().strip() + else: + from azure.identity import AzureCliCredential + return AzureCliCredential() -if __name__ == "__main__": - for f in sys.argv[1:]: - name = os.path.basename(f) - url = upload_file(f, name) - print(url) +@lru_cache +def get_container_sas(account_name: str, container_name: str): + from azure.storage.blob import BlobServiceClient, ContainerSasPermissions, generate_container_sas + start_time = datetime.utcnow() + expiry_time = start_time + timedelta(hours=1) + blob_service = BlobServiceClient( + account_url=f"https://{account_name}.blob.core.windows.net", + credential=get_azure_credential(), + ) + return generate_container_sas( + account_name, + container_name, + user_delegation_key=blob_service.get_user_delegation_key(start_time, expiry_time), + permission=ContainerSasPermissions(read=True, write=True, list=True), + expiry=expiry_time, + ) + + +def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: + from azure.storage.blob import BlobClient + blob = BlobClient( + account_url=DATA_CI_ACCOUNT_URL, + container_name=DATA_CI_CONTAINER, + blob_name=blob_name, + credential=get_azure_credential(), + ) + blob.upload_blob(data) + return BASE_URL + blob_name + + +def upload_file(path: Union[str, os.PathLike], blob_name: str) -> str: + with open(path, "rb") as f: + return upload_bytes(f, blob_name) diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 571157dfc9..1174dbab83 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -62,8 +62,8 @@ def replay_process( Example usage: ```py -from selfdrive.test.process_replay import replay_process_with_name -from tools.lib.logreader import LogReader +from openpilot.selfdrive.test.process_replay import replay_process_with_name +from openpilot.tools.lib.logreader import LogReader lr = LogReader(...) @@ -91,7 +91,7 @@ Supported processes: Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files. ```py -from selfdrive.test.process_replay import get_custom_params_from_lr +from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr previous_segment_lr = LogReader(...) current_segment_lr = LogReader(...) @@ -104,7 +104,7 @@ output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_ Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values. ```py -from tools.lib.framereader import FrameReader +from openpilot.tools.lib.framereader import FrameReader frs = { 'roadCameraState': FrameReader(...), @@ -113,4 +113,16 @@ frs = { } output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs) -``` \ No newline at end of file +``` + +To capture stdout/stderr of the replayed process, `captured_output_store` can be provided. + +```py +output_store = dict() +# pass dictionary by reference, it will be filled with standard outputs - even if process replay fails +output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_output_store=output_store) + +# entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process +print(output_store['radard']['out']) # radard stdout +print(output_store['radard']['err']) # radard stderr +``` diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py index a9dbc71830..b994277186 100644 --- a/selfdrive/test/process_replay/__init__.py +++ b/selfdrive/test/process_replay/__init__.py @@ -1 +1,2 @@ -from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, replay_process, replay_process_with_name # noqa: F401 +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ + replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/capture.py b/selfdrive/test/process_replay/capture.py new file mode 100644 index 0000000000..28206c6b91 --- /dev/null +++ b/selfdrive/test/process_replay/capture.py @@ -0,0 +1,59 @@ +import os +import sys + +from typing import Tuple, no_type_check + +class FdRedirect: + def __init__(self, file_prefix: str, fd: int): + fname = os.path.join("/tmp", f"{file_prefix}.{fd}") + if os.path.exists(fname): + os.unlink(fname) + self.dest_fd = os.open(fname, os.O_WRONLY | os.O_CREAT) + self.dest_fname = fname + self.source_fd = fd + os.set_inheritable(self.dest_fd, True) + + def __del__(self): + os.close(self.dest_fd) + + def purge(self) -> None: + os.unlink(self.dest_fname) + + def read(self) -> bytes: + with open(self.dest_fname, "rb") as f: + return f.read() or b"" + + def link(self) -> None: + os.dup2(self.dest_fd, self.source_fd) + + +class ProcessOutputCapture: + def __init__(self, proc_name: str, prefix: str): + prefix = f"{proc_name}_{prefix}" + self.stdout_redirect = FdRedirect(prefix, 1) + self.stderr_redirect = FdRedirect(prefix, 2) + + def __del__(self): + self.stdout_redirect.purge() + self.stderr_redirect.purge() + + @no_type_check # ipython classes have incompatible signatures + def link_with_current_proc(self) -> None: + try: + # prevent ipykernel from redirecting stdout/stderr of python subprocesses + from ipykernel.iostream import OutStream + if isinstance(sys.stdout, OutStream): + sys.stdout = sys.__stdout__ + if isinstance(sys.stderr, OutStream): + sys.stderr = sys.__stderr__ + except ImportError: + pass + + # link stdout/stderr to the fifo + self.stdout_redirect.link() + self.stderr_redirect.link() + + def read_outerr(self) -> Tuple[str, str]: + out_str = self.stdout_redirect.read().decode() + err_str = self.stderr_redirect.read().decode() + return out_str, err_str diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index aadfe2064a..7de0a25761 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -6,7 +6,7 @@ import numbers import dictdiffer from collections import Counter -from tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon @@ -39,25 +39,12 @@ def remove_ignored_fields(msg, ignore): return msg -def get_field_tolerance(diff_field, field_tolerances): - diff_field_str = diff_field[0] - for s in diff_field[1:]: - # loop until number in field - if not isinstance(s, str): - break - diff_field_str += '.'+s - if diff_field_str in field_tolerances: - return field_tolerances[diff_field_str] - - -def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None): +def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: ignore_msgs = [] - if field_tolerances is None: - field_tolerances = {} - default_tolerance = EPSILON if tolerance is None else tolerance + tolerance = EPSILON if tolerance is None else tolerance log1, log2 = ( [m for m in log if m.which() not in ignore_msgs] @@ -70,7 +57,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}") diff = [] - for msg1, msg2 in zip(log1, log2): + for msg1, msg2 in zip(log1, log2, strict=True): if msg1.which() != msg2.which(): raise Exception("msgs not aligned between logs") @@ -88,13 +75,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non def outside_tolerance(diff): try: if diff[0] == "change": - field_tolerance = default_tolerance - if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None: - field_tolerance = tol a, b = diff[2] finite = math.isfinite(a) and math.isfinite(b) if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number): - return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b))) + return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b))) except TypeError: pass return True diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 6c8055e3e4..4560a66b97 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,7 +1,7 @@ from collections import defaultdict from cereal import messaging -from selfdrive.test.process_replay.vision_meta import meta_from_encode_index +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index def migrate_all(lr, old_logtime=False, camera_states=False): @@ -20,13 +20,13 @@ def migrate_cameraStates(lr): for msg in lr: if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]: continue - + encode_index = getattr(msg, msg.which()) meta = meta_from_encode_index(msg.which()) assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}" frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId - + for msg in lr: if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]: all_msgs.append(msg) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 56bb3e1b3e..f576e07a40 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -6,18 +6,18 @@ from collections import defaultdict from typing import Any import cereal.messaging as messaging -from common.params import Params -from common.spinner import Spinner -from system.hardware import PC -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.test.process_replay.compare_logs import compare_logs -from selfdrive.test.process_replay.test_processes import format_diff -from selfdrive.test.process_replay.process_replay import get_process_config, replay_process -from system.version import get_commit -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.common.params import Params +from openpilot.common.spinner import Spinner +from openpilot.system.hardware import PC +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs +from openpilot.selfdrive.test.process_replay.test_processes import format_diff +from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 @@ -161,7 +161,7 @@ if __name__ == "__main__": import requests import threading import http.server - from selfdrive.test.openpilotci import upload_bytes + from openpilot.selfdrive.test.openpilotci import upload_bytes os.environ['MAPS_HOST'] = 'http://localhost:5000' class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): @@ -244,7 +244,7 @@ if __name__ == "__main__": # upload new refs if (update or failed) and not PC: - from selfdrive.test.openpilotci import upload_file + from openpilot.selfdrive.test.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 667b0f179d..e80315133f 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -c464c63c1e36710a2eee53f11e982d60989bbb1d +4f59f5945633f7a6e54e6f0fcd8ecf0baafa28cd diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 72e519d057..eb49d0dedb 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -16,22 +16,45 @@ import cereal.messaging as messaging from cereal import car from cereal.services import service_list from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name -from common.params import Params -from common.timeout import Timeout -from common.realtime import DT_CTRL +from openpilot.common.params import Params +from openpilot.common.prefix import OpenpilotPrefix +from openpilot.common.timeout import Timeout +from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE -from selfdrive.car.car_helpers import get_car, interfaces -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket -from selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams -from selfdrive.test.process_replay.migration import migrate_all -from tools.lib.logreader import LogReader +from openpilot.selfdrive.car.car_helpers import get_car, interfaces +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams +from openpilot.selfdrive.test.process_replay.migration import migrate_all +from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture +from openpilot.tools.lib.logreader import LogReader # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") +class DummySocket: + def __init__(self): + self.data: List[bytes] = [] + + def receive(self, non_blocking: bool = False) -> Optional[bytes]: + if non_blocking: + return None + + return self.data.pop() + + def send(self, data: bytes): + self.data.append(data) + +class LauncherWithCapture: + def __init__(self, capture: ProcessOutputCapture, launcher: Callable): + self.capture = capture + self.launcher = launcher + + def __call__(self, *args, **kwargs): + self.capture.link_with_current_proc() + self.launcher(*args, **kwargs) + class ReplayContext: def __init__(self, cfg): @@ -41,16 +64,16 @@ class ReplayContext: self.main_pub_drained = cfg.main_pub_drained self.unlocked_pubs = cfg.unlocked_pubs assert(len(self.pubs) != 0 or self.main_pub is not None) - + def __enter__(self): - self.open() + self.open_context() return self def __exit__(self, exc_type, exc_obj, exc_tb): - self.close() + self.close_context() - def open(self): + def open_context(self): messaging.toggle_fake_events(True) messaging.set_fake_prefix(self.proc_name) @@ -62,7 +85,7 @@ class ReplayContext: else: self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)} - def close(self): + def close_context(self): del self.events messaging.toggle_fake_events(False) @@ -71,7 +94,7 @@ class ReplayContext: @property def all_recv_called_events(self): return [man.recv_called_event for man in self.events.values()] - + @property def all_recv_ready_events(self): return [man.recv_ready_event for man in self.events.values()] @@ -112,7 +135,6 @@ class ProcessConfig: should_recv_callback: Optional[Callable] = None tolerance: Optional[float] = None processing_time: float = 0.001 - field_tolerances: Dict[str, float] = field(default_factory=dict) timeout: int = 30 simulation: bool = True main_pub: Optional[str] = None @@ -126,13 +148,15 @@ class ProcessContainer: def __init__(self, cfg: ProcessConfig): self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False) self.cfg = copy.deepcopy(cfg) - self.process = managed_processes[cfg.proc_name] + self.process = copy.deepcopy(managed_processes[cfg.proc_name]) self.msg_queue: List[capnp._DynamicStructReader] = [] self.cnt = 0 self.pm: Optional[messaging.PubMaster] = None self.sockets: Optional[List[messaging.SubSocket]] = None - self.rc: Optional[ReplayContext] = None + self.rc: Optional[ReplayContext] = None self.vipc_server: Optional[VisionIpcServer] = None + self.environ_config: Optional[Dict[str, Any]] = None + self.capture: Optional[ProcessOutputCapture] = None @property def has_empty_queue(self) -> bool: @@ -146,6 +170,15 @@ class ProcessContainer: def subs(self) -> List[str]: return self.cfg.subs + def _clean_env(self): + for k in self.environ_config.keys(): + if k in os.environ: + del os.environ[k] + + for k in ["PROC_NAME", "SIMULATION"]: + if k in os.environ: + del os.environ[k] + def _setup_env(self, params_config: Dict[str, Any], environ_config: Dict[str, Any]): for k, v in environ_config.items(): if len(v) != 0: @@ -166,6 +199,8 @@ class ProcessContainer: else: params.put(k, v) + self.environ_config = environ_config + def _setup_vision_ipc(self, all_msgs): assert len(self.cfg.vision_pubs) != 0 @@ -180,11 +215,18 @@ class ProcessContainer: self.vipc_server = vipc_server + def _start_process(self): + if self.capture is not None: + self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher) + self.process.prepare() + self.process.start() + def start( self, params_config: Dict[str, Any], environ_config: Dict[str, Any], - all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], fingerprint: Optional[str] + all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], + fingerprint: Optional[str], capture_output: bool ): - with self.prefix: + with self.prefix as p: self._setup_env(params_config, environ_config) if self.cfg.config_callback is not None: @@ -192,7 +234,7 @@ class ProcessContainer: self.cfg.config_callback(params, self.cfg, all_msgs) self.rc = ReplayContext(self.cfg) - self.rc.open() + self.rc.open_context() self.pm = messaging.PubMaster(self.cfg.pubs) self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs] @@ -201,8 +243,10 @@ class ProcessContainer: self._setup_vision_ipc(all_msgs) assert self.vipc_server is not None - self.process.prepare() - self.process.start() + if capture_output: + self.capture = ProcessOutputCapture(self.cfg.proc_name, p.prefix) + + self._start_process() if self.cfg.init_callback is not None: self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint) @@ -216,8 +260,9 @@ class ProcessContainer: with self.prefix: self.process.signal(signal.SIGKILL) self.process.stop() - self.rc.close() + self.rc.close_context() self.prefix.clean_dirs() + self._clean_env() def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]: assert self.rc and self.pm and self.sockets and self.process.proc @@ -302,7 +347,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): canmsgs = [msg for msg in msgs if msg.which() == "can"] has_cached_cp = params.get("CarParamsCache") is not None assert len(canmsgs) != 0, "CAN messages are required for fingerprinting" - assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." + assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \ + "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) @@ -314,7 +360,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): def controlsd_rcv_callback(msg, cfg, frame): # no sendcan until controlsd is initialized if msg.which() != "can": - return False + return False socks = [ s for s in cfg.subs if @@ -385,7 +431,7 @@ class FrequencyBasedRcvCallback: if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0 ] return bool(len(resp_sockets)) - + def controlsd_config_callback(params, cfg, lr): controlsState = None @@ -415,7 +461,7 @@ def laikad_config_pubsub_callback(params, cfg, lr): def locationd_config_pubsub_callback(params, cfg, lr): ublox = params.get_bool("UbloxAvailable") sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) - + cfg.pubs = set(cfg.pubs) - sub_keys @@ -473,7 +519,7 @@ CONFIGS = [ ProcessConfig( proc_name="locationd", pubs=[ - "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", + "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", "liveCalibration", "carState", "carParams", "gpsLocation" ], subs=["liveLocationKalman"], @@ -555,7 +601,7 @@ def get_process_config(name: str) -> ProcessConfig: def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]: """ - Use this to get custom params dict based on provided logs. + Use this to get custom params dict based on provided logs. Useful when replaying following processes: calibrationd, paramsd, torqued The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs. """ @@ -585,7 +631,8 @@ def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructRead return custom_params -def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]: +def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, + List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]: if isinstance(name, str): cfgs = [get_process_config(name)] elif isinstance(name, Iterable): @@ -597,8 +644,9 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReade def replay_process( - cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, - fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False + cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, + fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, + captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False ) -> List[capnp._DynamicStructReader]: if isinstance(cfg, Iterable): cfgs = list(cfg) @@ -606,7 +654,7 @@ def replay_process( cfgs = [cfg] all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs)) - process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, disable_progress) + process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress) if return_all_logs: keys = {m.which() for m in process_logs} @@ -621,8 +669,8 @@ def replay_process( def _replay_multi_process( - cfgs: List[ProcessConfig], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]], - fingerprint: Optional[str], custom_params: Optional[Dict[str, Any]], disable_progress: bool + cfgs: List[ProcessConfig], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]], fingerprint: Optional[str], + custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool ) -> List[capnp._DynamicStructReader]: if fingerprint is not None: params_config = generate_params_config(lr=lr, fingerprint=fingerprint, custom_params=custom_params) @@ -636,9 +684,10 @@ def _replay_multi_process( for cfg in cfgs: if len(cfg.vision_pubs) == 0: continue - + assert frs is not None, "frs must be provided when replaying process using vision streams" - assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}" + assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\ + f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}" assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}" all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) @@ -647,11 +696,11 @@ def _replay_multi_process( containers = [] for cfg in cfgs: container = ProcessContainer(cfg) - container.start(params_config, env_config, all_msgs, fingerprint) containers.append(container) + container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None) - all_pubs = set([pub for container in containers for pub in container.pubs]) - all_subs = set([sub for container in containers for sub in container.subs]) + all_pubs = {pub for container in containers for pub in container.pubs} + all_subs = {sub for container in containers for sub in container.subs} lr_pubs = all_pubs - all_subs pubs_to_containers = {pub: [container for container in containers if pub in container.pubs] for pub in all_pubs} @@ -682,6 +731,10 @@ def _replay_multi_process( finally: for container in containers: container.stop() + if captured_output_store is not None: + assert container.capture is not None + out, err = container.capture.read_outerr() + captured_output_store[container.cfg.proc_name] = {"out": out, "err": err} return log_msgs @@ -693,7 +746,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non "DisengageOnAccelerator": True, "DisableLogging": False, } - + if custom_params is not None: params_dict.update(custom_params) if lr is not None: @@ -740,7 +793,7 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str else: environ_dict["SKIP_FW_QUERY"] = "" environ_dict["FINGERPRINT"] = "" - + return environ_dict diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 92331fa317..f5e098910f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -af03f2ddbc5244f9a885445c0452987a4bb81302 +649c512f95d9ad80e7c8c4d852cfa5f468a28fd5 \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 5afc55c406..81f27b7d0e 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -6,16 +6,17 @@ import capnp from typing import Union, Iterable, Optional, List, Any, Dict, Tuple -from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, check_openpilot_enabled, get_custom_params_from_lr -from selfdrive.test.update_ci_routes import upload_route -from tools.lib.route import Route -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ + check_openpilot_enabled, get_custom_params_from_lr +from openpilot.selfdrive.test.update_ci_routes import upload_route +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log def regen_segment( - lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, + lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False ) -> List[capnp._DynamicStructReader]: if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f69d07eb69..df7c76a14d 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -6,10 +6,10 @@ import random import traceback from tqdm import tqdm -from selfdrive.test.process_replay.helpers import OpenpilotPrefix -from selfdrive.test.process_replay.regen import regen_and_save -from selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments -from tools.lib.route import SegmentName +from openpilot.common.prefix import OpenpilotPrefix +from openpilot.selfdrive.test.process_replay.regen import regen_and_save +from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments +from openpilot.tools.lib.route import SegmentName def regen_job(segment, upload, disable_tqdm): diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index 1b3e0f112e..a6e6955dbf 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -6,13 +6,13 @@ import numpy as np import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` -from system.hardware import PC, TICI -from common.basedir import BASEDIR -from selfdrive.test.openpilotci import BASE_URL, get_url -from system.version import get_commit -from system.camerad.snapshot.snapshot import yuv_to_rgb -from tools.lib.logreader import LogReader -from tools.lib.filereader import FileReader +from openpilot.system.hardware import PC, TICI +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.system.version import get_commit +from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.filereader import FileReader TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" SEGMENT = 0 @@ -137,7 +137,7 @@ if __name__ == "__main__": failed = True diff += 'amount of frames not equal\n' - for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames)): + for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)): for j in range(3): fr = frame[j] cmp_f = cmp_frame[j] @@ -159,7 +159,7 @@ if __name__ == "__main__": diff += f'different at a large amount of pixels ({diff_len})\n' else: diff += 'different at (frame, yuv, pixel, ref, HEAD):\n' - for k in zip(*np.nonzero(frame_diff)): + for k in zip(*np.nonzero(frame_diff), strict=True): diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n' if failed: @@ -172,7 +172,7 @@ if __name__ == "__main__": # upload new refs if update or (failed and TICI): - from selfdrive.test.openpilotci import upload_file + from openpilot.selfdrive.test.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index c58599caee..f3f48d0159 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -6,9 +6,9 @@ from parameterized import parameterized import unittest from cereal import log -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.test.fuzzy_generation import FuzzyGenerator -import selfdrive.test.process_replay.process_replay as pr +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator +import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 1a717311bb..ab51948dd0 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -7,14 +7,14 @@ from collections import defaultdict from tqdm import tqdm from typing import Any, DefaultDict, Dict -from selfdrive.car.car_helpers import interface_names -from selfdrive.test.openpilotci import get_url, upload_file -from selfdrive.test.process_replay.compare_logs import compare_logs -from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process -from system.version import get_commit -from tools.lib.filereader import FileReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY @@ -41,23 +41,23 @@ source_segments = [ ] segments = [ - ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), - ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), - ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), - ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), - ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), - ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), - ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), - ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), - ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), - ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), - ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), - ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), - ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), - ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), - ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), - ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), - ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), + ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), + ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), + ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), + ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), + ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), + ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), + ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), + ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), + ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), + ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), + ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), + ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), + ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), + ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), + ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), + ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), + ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -110,7 +110,7 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: - return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs + return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs except Exception as e: return str(e), log_msgs @@ -158,6 +158,8 @@ if __name__ == "__main__": all_cars = {car for car, _ in segments} all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS} + cpu_count = os.cpu_count() or 1 + parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output") parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs, help="Whitelist given processes from the test (e.g. controlsd)") @@ -175,7 +177,8 @@ if __name__ == "__main__": help="Updates reference logs using current commit") parser.add_argument("--upload-only", action="store_true", help="Skips testing processes and uploads logs from previous test run") - parser.add_argument("-j", "--jobs", type=int, default=1) + parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1), + help="Max amount of parallel jobs") args = parser.parse_args() tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs) diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py index 77c6b0345d..2994b77452 100644 --- a/selfdrive/test/process_replay/vision_meta.py +++ b/selfdrive/test/process_replay/vision_meta.py @@ -1,7 +1,7 @@ from collections import namedtuple from cereal.visionipc import VisionStreamType -from common.realtime import DT_MDL, DT_DMON -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size +from openpilot.common.realtime import DT_MDL, DT_DMON +from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"]) ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size} diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py index f28346f3f0..843bf52211 100644 --- a/selfdrive/test/profiling/lib.py +++ b/selfdrive/test/profiling/lib.py @@ -34,7 +34,7 @@ class PubSocket(): class SubMaster(messaging.SubMaster): - def __init__(self, msgs, trigger, services, check_averag_freq=False): # pylint: disable=super-init-not-called + def __init__(self, msgs, trigger, services, check_averag_freq=False): self.frame = 0 self.data = {} self.ignore_alive = [] @@ -87,5 +87,5 @@ class SubMaster(messaging.SubMaster): class PubMaster(messaging.PubMaster): - def __init__(self): # pylint: disable=super-init-not-called + def __init__(self): self.sock = defaultdict(PubSocket) diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index a0940b327b..1d380ba5eb 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -1,17 +1,17 @@ #!/usr/bin/env python3 import os import sys -import cProfile # pylint: disable=import-error -import pprofile # pylint: disable=import-error -import pyprof2calltree # pylint: disable=import-error +import cProfile +import pprofile +import pyprof2calltree -from common.params import Params -from tools.lib.logreader import LogReader -from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone -from selfdrive.test.process_replay.process_replay import CONFIGS -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.volkswagen.values import CAR as VW +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.volkswagen.values import CAR as VW BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" @@ -79,11 +79,11 @@ def profile(proc, func, car='toyota'): if __name__ == '__main__': - from selfdrive.controls.controlsd import main as controlsd_thread - from selfdrive.controls.radard import radard_thread - from selfdrive.locationd.paramsd import main as paramsd_thread - from selfdrive.controls.plannerd import main as plannerd_thread - from selfdrive.locationd.laikad import main as laikad_thread + from openpilot.selfdrive.controls.controlsd import main as controlsd_thread + from openpilot.selfdrive.controls.radard import radard_thread + from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread + from openpilot.selfdrive.controls.plannerd import main as plannerd_thread + from openpilot.selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 7137bfad2b..1b99c31038 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -42,6 +42,13 @@ while true; do if ! sudo systemctl is-active -q ssh; then sudo systemctl start ssh fi + + if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then + echo 'starting UI' + cp $SOURCE_DIR/selfdrive/test/ciui.py /data/ + /data/ciui.py & + fi + sleep 5s done @@ -55,7 +62,9 @@ if [ ! -d "$SOURCE_DIR" ]; then fi cd $SOURCE_DIR -rm -f .git/index.lock +# cleanup orphaned locks +find .git -type f -name "*.lock" -exec rm {} + + git reset --hard git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index e6c3658a18..22055d8f20 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -14,14 +14,14 @@ from pathlib import Path from cereal import car import cereal.messaging as messaging from cereal.services import service_list -from common.basedir import BASEDIR -from common.timeout import Timeout -from common.params import Params -from selfdrive.controls.lib.events import EVENTS, ET -from system.hardware import HARDWARE -from system.loggerd.config import ROOT -from selfdrive.test.helpers import set_params_enabled, release_only -from tools.lib.logreader import LogReader +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import EVENTS, ET +from openpilot.system.hardware import HARDWARE +from openpilot.system.loggerd.config import ROOT +from openpilot.selfdrive.test.helpers import set_params_enabled, release_only +from openpilot.tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { @@ -34,15 +34,15 @@ PROCS = { "selfdrive.controls.plannerd": 16.5, "./_ui": 18.0, "selfdrive.locationd.paramsd": 9.0, - "./_sensord": 12.0, + "./_sensord": 7.0, "selfdrive.controls.radard": 4.5, - "./_modeld": 4.48, + "selfdrive.modeld.modeld": 8.0, "./_dmonitoringmodeld": 5.0, "./_navmodeld": 1.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, - "./_soundd": (15.0, 65.0), + "./_soundd": (1.0, 65.0), "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, @@ -69,7 +69,7 @@ PROCS.update({ "./boardd": 19.0, "system.sensord.rawgps.rawgpsd": 1.0, } -}[HARDWARE.get_device_type()]) +}.get(HARDWARE.get_device_type(), {})) TIMINGS = { # rtols: max/min, rsd @@ -258,7 +258,7 @@ class TestOnroad(unittest.TestCase): cpu_ok = False # Ensure there's no missing procs - all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning]) + all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning} for p in all_procs: with self.subTest(proc=p): assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" @@ -282,7 +282,7 @@ class TestOnroad(unittest.TestCase): result += "-------------- Debayer Timing ------------------\n" result += "------------------------------------------------\n" - ts = [getattr(getattr(m, m.which()), "processingTime") for m in self.lr if 'CameraState' in m.which()] + ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()] self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}") result += f"execution time: min {min(ts):.5f}s\n" result += f"execution time: max {max(ts):.5f}s\n" @@ -297,7 +297,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- SoF Timing ------------------\n" result += "------------------------------------------------\n" for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: - ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()] + ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] d_ms = np.diff(ts) / 1e6 d50 = np.abs(d_ms-50) self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") @@ -315,7 +315,7 @@ class TestOnroad(unittest.TestCase): cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]] + ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -335,7 +335,7 @@ class TestOnroad(unittest.TestCase): ("driverStateV2", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]] + ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index 5991250945..429feca344 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -4,9 +4,9 @@ import time import subprocess import cereal.messaging as messaging -from common.basedir import BASEDIR -from common.timeout import Timeout -from selfdrive.test.helpers import set_params_enabled +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.test.helpers import set_params_enabled def test_time_to_onroad(): diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index aab8b256ac..e679cd2c3b 100755 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -9,8 +9,8 @@ import signal import subprocess import random -from common.basedir import BASEDIR -from common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params class TestUpdated(unittest.TestCase): diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 46dd4901e5..a8a3463104 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -14,9 +14,9 @@ else: import cereal.messaging as messaging from collections import namedtuple -from tools.lib.logreader import LogReader -from selfdrive.test.openpilotci import get_url -from common.basedir import BASEDIR +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.common.basedir import BASEDIR ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) @@ -53,7 +53,7 @@ class TestValgrind(unittest.TestCase): os.chdir(os.path.join(BASEDIR, cwd)) # Run valgrind on a process command = "valgrind --leak-check=full " + arg - p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid) # pylint: disable=W1509 + p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid) while not self.replay_done: time.sleep(0.1) @@ -73,7 +73,7 @@ class TestValgrind(unittest.TestCase): self.leak = False def replay_process(self, config, logreader): - pub_sockets = [s for s in config.pub_sub.keys()] # We dump data from logs here + pub_sockets = list(config.pub_sub.keys()) # We dump data from logs here sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub] # We get responses here pm = messaging.PubMaster(pub_sockets) sm = messaging.SubMaster(sub_sockets) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 78b2fb6f5a..8157066334 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,32 +1,38 @@ #!/usr/bin/env python3 -from functools import lru_cache -import sys import subprocess -from tqdm import tqdm -from azure.storage.blob import BlockBlobService # pylint: disable=import-error +import sys +from functools import lru_cache +from typing import Iterable, Optional -from selfdrive.car.tests.routes import routes as test_car_models_routes -from selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE -from selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from xx.chffr.lib import azureutil # pylint: disable=import-error -from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error +from azure.storage.blob import ContainerClient +from tqdm import tqdm + +from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes +from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE +from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments +from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, + get_azure_credential, get_container_sas) + +DATA_PROD_ACCOUNT = "commadata2" +DATA_PROD_CONTAINER = "commadata2" SOURCES = [ - (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION), - (_DATA_ACCOUNT_CI, "commadataci"), + (DATA_PROD_ACCOUNT, DATA_PROD_CONTAINER), + (DATA_CI_ACCOUNT, DATA_CI_CONTAINER), ] @lru_cache def get_azure_keys(): - dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") - source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] - service = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=dest_key) - return dest_key, source_keys, service + dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, credential=get_azure_credential()) + dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) + source_keys = [get_container_sas(*s) for s in SOURCES] + return dest_container, dest_key, source_keys -def upload_route(path, exclude_patterns=None): - dest_key, _, _ = get_azure_keys() +def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: + # TODO: use azure-storage-blob instead of azcopy, simplifies auth + dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) if exclude_patterns is None: exclude_patterns = ['*/dcamera.hevc'] @@ -37,28 +43,30 @@ def upload_route(path, exclude_patterns=None): "azcopy", "copy", f"{path}/*", - f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{dest_key}", + f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{destpath}?{dest_key}", "--recursive=false", "--overwrite=false", ] + [f"--exclude-pattern={p}" for p in exclude_patterns] subprocess.check_call(cmd) -def sync_to_ci_public(route): - dest_key, source_keys, service = get_azure_keys() + +def sync_to_ci_public(route: str) -> bool: + dest_container, dest_key, source_keys = get_azure_keys() key_prefix = route.replace('|', '/') dongle_id = key_prefix.split('/')[0] - if next(azureutil.list_all_blobs(service, "openpilotci", prefix=key_prefix), None) is not None: + if next(dest_container.list_blob_names(name_starts_with=key_prefix), None) is not None: return True print(f"Uploading {route}") - for (source_account, source_bucket), source_key in zip(SOURCES, source_keys): + for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True): + # assumes az login has been run print(f"Trying {source_account}/{source_bucket}") cmd = [ "azcopy", "copy", f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{dest_key}", + f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py old mode 100644 new mode 100755 index f3e822da51..64cd4c78ee --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 from abc import ABC, abstractmethod -from common.realtime import DT_TRML -from common.numpy_fast import interp -from system.swaglog import cloudlog -from selfdrive.controls.lib.pid import PIDController +from openpilot.common.realtime import DT_TRML +from openpilot.common.numpy_fast import interp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): @abstractmethod diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 6df3ddb955..e8c8d24891 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -1,12 +1,12 @@ +import time import threading from typing import Optional -from common.numpy_fast import interp -from common.params import Params, put_nonblocking -from common.realtime import sec_since_boot -from system.hardware import HARDWARE -from system.swaglog import cloudlog -from selfdrive.statsd import statlog +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params, put_nonblocking +from openpilot.system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) @@ -41,7 +41,7 @@ class PowerMonitoring: # Calculation tick def calculate(self, voltage: Optional[int], ignition: bool): try: - now = sec_since_boot() + now = time.monotonic() # If peripheralState is None, we're probably not in a car, so we don't care if voltage is None: @@ -116,8 +116,7 @@ class PowerMonitoring: max_time_offroad_s = interp(int(self.params.get("MaxTimeOffroad", encoding="utf8")), [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [0, 5, 30, 60, 180, 300, 600, 1800, 3600, 10800, 18000, 36000, 108000]) - - now = sec_since_boot() + now = time.monotonic() should_shutdown = False offroad_time = (now - offroad_timestamp) low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py index 22d618485c..7081e1353e 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/selfdrive/thermald/tests/test_fan_controller.py @@ -3,7 +3,7 @@ import unittest from unittest.mock import Mock, patch from parameterized import parameterized -from selfdrive.thermald.fan_controller import TiciFanController +from openpilot.selfdrive.thermald.fan_controller import TiciFanController ALL_CONTROLLERS = [(TiciFanController,)] diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 6b1be2d7ef..c3a890f068 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -2,35 +2,32 @@ import unittest from unittest.mock import patch -from common.params import Params -params = Params() +from openpilot.common.params import Params +from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ + CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S + # Create fake time -ssb = 0 -def mock_sec_since_boot(): +ssb = 0. +def mock_time_monotonic(): global ssb - ssb += 1 + ssb += 1. return ssb -with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot): - with patch("common.params.put_nonblocking", new=params.put): - from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S - TEST_DURATION_S = 50 GOOD_VOLTAGE = 12 * 1e3 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 def pm_patch(name, value, constant=False): if constant: - return patch(f"selfdrive.thermald.power_monitoring.{name}", value) - return patch(f"selfdrive.thermald.power_monitoring.{name}", return_value=value) + return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) + return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) + +@patch("time.monotonic", new=mock_time_monotonic) class TestPowerMonitoring(unittest.TestCase): def setUp(self): - # Clear stored capacity before each test - params.remove("CarBatteryCapacity") - params.remove("DisablePowerDown") + self.params = Params() # Test to see that it doesn't do anything when pandaState is None def test_pandaState_present(self): @@ -120,7 +117,8 @@ class TestPowerMonitoring(unittest.TestCase): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 350 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 - with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): + with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \ + pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = False @@ -138,7 +136,7 @@ class TestPowerMonitoring(unittest.TestCase): def test_disable_power_down(self): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 - params.put_bool("DisablePowerDown", True) + self.params.put_bool("DisablePowerDown", True) with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh @@ -177,23 +175,23 @@ class TestPowerMonitoring(unittest.TestCase): if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) - + def test_delay_shutdown_time(self): pm = PowerMonitoring() pm.car_battery_capacity_uWh = 0 ignition = False - in_car = True + in_car = True offroad_timestamp = ssb started_seen = True pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: - self.assertFalse(pm.should_shutdown(ignition, in_car, - offroad_timestamp, - started_seen), + self.assertFalse(pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time") - self.assertTrue(pm.should_shutdown(ignition, in_car, - offroad_timestamp, + self.assertTrue(pm.should_shutdown(ignition, in_car, + offroad_timestamp, started_seen), f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time") diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index e76b202dba..32cfe11c39 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -13,19 +13,19 @@ import psutil import cereal.messaging as messaging from cereal import log -from common.dict_helpers import strip_deprecated_keys -from common.time import MIN_DATE -from common.filter_simple import FirstOrderFilter -from common.params import Params -from common.realtime import DT_TRML, sec_since_boot -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.hardware import HARDWARE, TICI, AGNOS -from system.loggerd.config import get_available_percent -from selfdrive.statsd import statlog -from system.swaglog import cloudlog -from selfdrive.thermald.power_monitoring import PowerMonitoring -from selfdrive.thermald.fan_controller import TiciFanController -from system.version import terms_version, training_version +from openpilot.common.dict_helpers import strip_deprecated_keys +from openpilot.common.time import MIN_DATE +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.params import Params +from openpilot.common.realtime import DT_TRML +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, TICI, AGNOS +from openpilot.system.loggerd.config import get_available_percent +from openpilot.selfdrive.statsd import statlog +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring +from openpilot.selfdrive.thermald.fan_controller import TiciFanController +from openpilot.system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType @@ -36,7 +36,8 @@ DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML) # 1.5x the expected pandaState frequency ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) -HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps']) +HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', + 'network_metered', 'nvme_temps', 'modem_temps']) # List of thermal bands. We will stay within this region as long as we are within the bounds. # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict. @@ -60,7 +61,7 @@ def populate_tz_by_type(): if not n.startswith("thermal_zone"): continue with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f: - tz_by_type[f.read().strip()] = int(n.lstrip("thermal_zone")) + tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone")) def read_tz(x): if x is None: @@ -117,8 +118,8 @@ def hw_state_thread(end_event, hw_queue): # Log modem version once if AGNOS and ((modem_version is None) or (modem_nv is None)): - modem_version = HARDWARE.get_modem_version() # pylint: disable=assignment-from-none - modem_nv = HARDWARE.get_modem_nv() # pylint: disable=assignment-from-none + modem_version = HARDWARE.get_modem_version() + modem_nv = HARDWARE.get_modem_nv() if (modem_version is not None) and (modem_nv is not None): cloudlog.event("modem version", version=modem_version, nv=modem_nv) @@ -164,7 +165,7 @@ def hw_state_thread(end_event, hw_queue): time.sleep(DT_TRML) -def thermald_thread(end_event, hw_queue): +def thermald_thread(end_event, hw_queue) -> None: pm = messaging.PubMaster(['deviceState']) sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"]) @@ -176,10 +177,10 @@ def thermald_thread(end_event, hw_queue): startup_conditions: Dict[str, bool] = {} startup_conditions_prev: Dict[str, bool] = {} - off_ts = None - started_ts = None + off_ts: Optional[float] = None + started_ts: Optional[float] = None started_seen = False - startup_blocked_ts = None + startup_blocked_ts: Optional[float] = None thermal_status = ThermalStatus.yellow last_hw_state = HardwareState( @@ -229,7 +230,7 @@ def thermald_thread(end_event, hw_queue): if TICI: fan_controller = TiciFanController() - elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT: + elif (time.monotonic() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT: if onroad_conditions["ignition"]: onroad_conditions["ignition"] = False cloudlog.error("panda timed out onroad") @@ -272,7 +273,7 @@ def thermald_thread(end_event, hw_queue): if fan_controller is not None: msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) - is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5)) + is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: # if device is offroad and already hot without the extra onroad load, # we want to cool down first before increasing load @@ -353,10 +354,10 @@ def thermald_thread(end_event, hw_queue): if should_start: off_ts = None if started_ts is None: - started_ts = sec_since_boot() + started_ts = time.monotonic() started_seen = True if startup_blocked_ts is not None: - cloudlog.event("Startup after block", block_duration=(sec_since_boot() - startup_blocked_ts), + cloudlog.event("Startup after block", block_duration=(time.monotonic() - startup_blocked_ts), startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, startup_conditions_prev=startup_conditions_prev, error=True) startup_blocked_ts = None @@ -364,11 +365,11 @@ def thermald_thread(end_event, hw_queue): if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev): cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True) startup_conditions_prev = startup_conditions.copy() - startup_blocked_ts = sec_since_boot() + startup_blocked_ts = time.monotonic() started_ts = None if off_ts is None: - off_ts = sec_since_boot() + off_ts = time.monotonic() # Offroad power monitoring voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 65fb45b678..3f99e16831 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -9,11 +9,11 @@ import time import glob from typing import NoReturn -from common.file_helpers import mkdirs_exists_ok -from system.loggerd.config import ROOT -import selfdrive.sentry as sentry -from system.swaglog import cloudlog -from system.version import get_commit +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.system.loggerd.config import ROOT +import openpilot.selfdrive.sentry as sentry +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_commit MAX_SIZE = 1_000_000 * 100 # allow up to 100M MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") @@ -38,7 +38,7 @@ def clear_apport_folder(): def get_apport_stacktrace(fn): try: cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")' - return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash') # pylint: disable=unexpected-keyword-arg + return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash') except subprocess.CalledProcessError: return "Error getting stacktrace" except subprocess.TimeoutExpired: @@ -54,7 +54,7 @@ def get_tombstones(): with os.scandir(folder) as d: # Loop over first 1000 directory entries - for _, f in zip(range(1000), d): + for _, f in zip(range(1000), d, strict=False): if f.name.startswith("tombstone"): files.append((f.path, int(f.stat().st_ctime))) elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640: @@ -95,7 +95,7 @@ def report_tombstone_apport(fn): try: sig_num = int(line.strip().split(': ')[-1]) - message += " (" + signal.Signals(sig_num).name + ")" # pylint: disable=no-member + message += " (" + signal.Signals(sig_num).name + ")" except ValueError: pass diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index a4b337c024..e5565d5f46 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -9,10 +9,10 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', if arch == 'larch64': base_libs.append('EGL') -maps = arch in ['larch64', 'x86_64'] +maps = arch in ['larch64', 'aarch64', 'x86_64'] screenrecorder = arch in ['larch64'] -if maps and arch == 'x86_64': +if maps and arch != 'larch64': rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] qt_env["RPATH"] += rpath @@ -25,7 +25,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/ "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", - "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc", + "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc", "qt/offroad/sunnypilot_settings.cc"] qt_env['CPPDEFINES'] = [] @@ -39,16 +39,42 @@ widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) Export('widgets') qt_libs = [widgets, qt_util] + base_libs +qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", + "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", + "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", + "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] + +# build translation files +with open(File("translations/languages.json").abspath) as f: + languages = json.loads(f.read()) +translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()] +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, 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" +with open(File(translations_assets_src).abspath, 'w') as f: + f.write('\n\n') + f.write('\n'.join([f'../ui/translations/{l}.qm' for l in languages.values()])) + f.write('\n\n') + # build assets assets = "#selfdrive/assets/assets.cc" assets_src = "#selfdrive/assets/assets.qrc" -qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") -qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"])) +qt_env.Command(assets, [assets_src, translations_assets_src], f"rcc $SOURCES -o $TARGET") +qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, translations_assets_src, "#selfdrive/assets/assets.o"]) + [lrelease]) asset_obj = qt_env.Object("assets", assets) # build soundd qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs) -if GetOption('test'): +if GetOption('extras'): qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs) qt_env.Program('tests/test_sound', ['tests/test_runner.cc', 'soundd/sound.cc', 'tests/test_sound.cc'], LIBS=qt_libs) @@ -59,11 +85,6 @@ qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs) qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) # build main UI -qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", - "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", - "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", - "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] - # include dashcam / screenrecorder if screenrecorder: qt_src += ["qt/screenrecorder/screenrecorder.cc", "qt/screenrecorder/omx_encoder.cc"] @@ -72,34 +93,18 @@ if screenrecorder: qt_env['CPPDEFINES'] += ["ENABLE_DASHCAM"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) -if GetOption('test'): +if GetOption('extras'): qt_src.remove("main.cc") # replaced by test_runner #qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) -# build translation files -with open(File("translations/languages.json").abspath) as f: - languages = json.loads(f.read()) -translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()] -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, qt_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) - -# setup and factory resetter -if GetOption('extras'): +if GetOption('extras') and arch != "Darwin": + # setup and factory resetter qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], LIBS=qt_libs + ['curl', 'common', 'json11']) - -if GetOption('extras'): # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) @@ -141,5 +146,5 @@ if GetOption('extras'): assert f[0].get_size() < 300*1e3 # build watch3 -if arch in ['x86_64', 'Darwin'] or GetOption('extras'): +if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 1af72c04df..179ce60c63 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -4,6 +4,7 @@ #include #include #include +#include #include #include diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc index ed54d5aa19..4903a3db3d 100644 --- a/selfdrive/ui/main.cc +++ b/selfdrive/ui/main.cc @@ -16,7 +16,7 @@ int main(int argc, char *argv[]) { QTranslator translator; QString translation_file = QString::fromStdString(Params().get("LanguageSetting")); - if (!translator.load(translation_file, "translations") && translation_file.length()) { + if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) { qCritical() << "Failed to load translation file:" << translation_file; } diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc index 84e1a4032e..0e321d4e10 100644 --- a/selfdrive/ui/qt/api.cc +++ b/selfdrive/ui/qt/api.cc @@ -12,6 +12,8 @@ #include #include +#include + #include "common/params.h" #include "common/util.h" #include "system/hardware/hw.h" @@ -83,7 +85,7 @@ void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Meth return; } QString token; - if(create_jwt) { + if (create_jwt) { token = CommaApi::create_jwt(); } else { QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json")); diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 4ca169936d..7d16a02227 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -177,9 +177,9 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { } left_widget->setStyleSheet("border-radius: 10px;"); - left_widget->setCurrentIndex(!custom_mapbox ? uiState()->primeType() ? 0 : 1 : 0); - connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { - left_widget->setCurrentIndex(!custom_mapbox ? prime_type ? 0 : 1 : 0); + left_widget->setCurrentIndex(!custom_mapbox ? uiState()->hasPrime() ? 0 : 1 : 0); + connect(uiState(), &UIState::primeChanged, [=](int prime) { + left_widget->setCurrentIndex(!custom_mapbox ? prime ? 0 : 1 : 0); }); home_layout->addWidget(left_widget, 1); diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index bcc028d803..db56fcdcfc 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -1,16 +1,16 @@ #include "selfdrive/ui/qt/maps/map.h" +#include #include #include -#include "common/transformations/coordinates.hpp" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/ui.h" -const int PAN_TIMEOUT = 100; +const int INTERACTION_TIMEOUT = 100; const float MAX_ZOOM = 17; const float MIN_ZOOM = 14; @@ -18,7 +18,7 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { +MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) { QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState); map_overlay = new QWidget (this); @@ -35,7 +35,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), map_eta->setFixedHeight(120); error = new QLabel(this); - error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgb(0, 0, 0, 150);)"); + error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)"); error->setAlignment(Qt::AlignCenter); overlay_layout->addWidget(error); @@ -43,11 +43,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), overlay_layout->addStretch(1); overlay_layout->addWidget(map_eta); - auto last_gps_position = coordinate_from_param("LastGPSPosition"); - if (last_gps_position.has_value()) { - last_position = *last_gps_position; - } - + last_position = coordinate_from_param("LastGPSPosition"); grabGesture(Qt::GestureType::PinchGesture); qDebug() << "MapWindow initialized"; } @@ -155,18 +151,20 @@ void MapWindow::updateState(const UIState &s) { if (locationd_valid) { last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); last_bearing = RAD2DEG(locationd_orientation.getValue()[2]); - velocity_filter.update(locationd_velocity.getValue()[0]); + velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0])); } } if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) { + auto nav_dest = coordinate_from_param("NavDestination"); + bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest && + nav_dest && !isVisible(); qWarning() << "Got new navRoute from navd. Opening map:" << allow_open; - // Only open the map on setting destination the first time + // Show map on destination set/change if (allow_open) { emit requestSettings(false); - emit requestVisible(true); // Show map on destination set/change - allow_open = false; + emit requestVisible(true); } } @@ -193,19 +191,19 @@ void MapWindow::updateState(const UIState &s) { carPosSource["type"] = "geojson"; carPosSource["data"] = QVariant::fromValue(feature1); m_map->updateSource("carPosSource", carPosSource); + + // Map bearing isn't updated when interacting, keep location marker up to date + if (last_bearing) { + m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing()); + } } - if (pan_counter == 0) { + if (interaction_counter == 0) { if (last_position) m_map->setCoordinate(*last_position); if (last_bearing) m_map->setBearing(*last_bearing); - } else { - pan_counter--; - } - - if (zoom_counter == 0) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); } else { - zoom_counter--; + interaction_counter--; } if (sm.updated("navInstruction")) { @@ -213,8 +211,7 @@ void MapWindow::updateState(const UIState &s) { // - API exception/no internet // - route response is empty // - any time navd is waiting for recompute_countdown - auto dest = coordinate_from_param("NavDestination"); - routing_problem = !sm.valid("navInstruction") && dest.has_value(); + routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value(); if (sm.valid("navInstruction")) { auto i = sm["navInstruction"].getNavInstruction(); @@ -269,7 +266,7 @@ void MapWindow::initializeGL() { m_map->setMargins({0, 350, 0, 50}); m_map->setPitch(MIN_PITCH); - m_map->setStyleUrl("mapbox://styles/commaai/clj7g5vrp007b01qzb5ro0i4j"); + m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"); QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { // set global animation duration to 0 ms so visibility changes are instant @@ -296,7 +293,7 @@ void MapWindow::clearRoute() { map_instructions->setVisible(false); map_eta->setVisible(false); - allow_open = true; + last_valid_nav_dest = std::nullopt; } void MapWindow::mousePressEvent(QMouseEvent *ev) { @@ -310,15 +307,14 @@ void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); update(); - pan_counter = 0; - zoom_counter = 0; + interaction_counter = 0; } void MapWindow::mouseMoveEvent(QMouseEvent *ev) { QPointF delta = ev->localPos() - m_lastPos; if (!delta.isNull()) { - pan_counter = PAN_TIMEOUT; + interaction_counter = INTERACTION_TIMEOUT; m_map->moveBy(delta / MAP_SCALE); update(); } @@ -340,7 +336,7 @@ void MapWindow::wheelEvent(QWheelEvent *ev) { m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE); update(); - zoom_counter = PAN_TIMEOUT; + interaction_counter = INTERACTION_TIMEOUT; ev->accept(); } @@ -365,7 +361,7 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) { // TODO: figure out why gesture centerPoint doesn't work m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE}); update(); - zoom_counter = PAN_TIMEOUT; + interaction_counter = INTERACTION_TIMEOUT; } } @@ -382,8 +378,6 @@ void MapWindow::offroadTransition(bool offroad) { } void MapWindow::updateDestinationMarker() { - m_map->setPaintProperty("pinLayer", "visibility", "none"); - auto nav_dest = coordinate_from_param("NavDestination"); if (nav_dest.has_value()) { auto point = coordinate_to_collection(*nav_dest); @@ -393,5 +387,7 @@ void MapWindow::updateDestinationMarker() { pinSource["data"] = QVariant::fromValue(feature); m_map->updateSource("pinSource", pinSource); m_map->setPaintProperty("pinLayer", "visibility", "visible"); + } else { + m_map->setPaintProperty("pinLayer", "visibility", "none"); } } diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index d57f6517b5..5fe79f8b15 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -50,14 +50,13 @@ private: void setError(const QString &err_str); bool loaded_once = false; - bool allow_open = true; // Panning QPointF m_lastPos; - int pan_counter = 0; - int zoom_counter = 0; + int interaction_counter = 0; // Position + std::optional last_valid_nav_dest; std::optional last_position; std::optional last_bearing; FirstOrderFilter velocity_filter; diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc index 4262258cfb..322861ed15 100644 --- a/selfdrive/ui/qt/maps/map_eta.cc +++ b/selfdrive/ui/qt/maps/map_eta.cc @@ -3,6 +3,7 @@ #include #include +#include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/ui.h" const float MANEUVER_TRANSITION_THRESHOLD = 10; @@ -30,12 +31,12 @@ void MapETA::paintEvent(QPaintEvent *event) { void MapETA::updateETA(float s, float s_typical, float d) { // ETA auto eta_t = QDateTime::currentDateTime().addSecs(s).time(); - auto eta = format_24h ? std::array{eta_t.toString("HH:mm"), tr("eta")} - : std::array{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")}; + auto eta = format_24h ? std::pair{eta_t.toString("HH:mm"), tr("eta")} + : std::pair{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")}; // Remaining time - auto remaining = s < 3600 ? std::array{QString::number(int(s / 60)), tr("min")} - : std::array{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")}; + auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")} + : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")}; QString color = "#25DA6E"; if (s / s_typical > 1.5) color = "#DA3025"; @@ -43,14 +44,12 @@ void MapETA::updateETA(float s, float s_typical, float d) { color = "#DAA725"; // Distance - float num = uiState()->scene.is_metric ? (d / 1000.0) : (d * METER_TO_MILE); - auto distance = std::array{QString::number(num, 'f', num < 100 ? 1 : 0), - uiState()->scene.is_metric ? tr("km") : tr("mi")}; + auto distance = map_format_distance(d, uiState()->scene.is_metric); - eta_doc.setHtml(QString(R"( + eta_doc.setHtml(QString(R"(
%1%2
)") - .arg(eta[0], eta[1], color, remaining[0], remaining[1], distance[0], distance[1])); + .arg(eta.first, eta.second, color, remaining.first, remaining.second, distance.first, distance.second)); setVisible(d >= MANEUVER_TRANSITION_THRESHOLD); update(); diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 95db4f2bbd..ed843610a8 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -1,5 +1,9 @@ #include "selfdrive/ui/qt/maps/map_helpers.h" +#include +#include +#include + #include #include @@ -57,7 +61,7 @@ QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordina QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { QMapbox::Coordinates coordinates; - for (auto const &c: coordinate_list) { + for (auto const &c : coordinate_list) { coordinates.push_back({c.getLatitude(), c.getLongitude()}); } return {QMapbox::CoordinatesCollection{coordinates}}; @@ -129,7 +133,19 @@ std::optional coordinate_from_param(const std::string ¶ } } -double angle_difference(double angle1, double angle2) { - double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0; - return diff < -180.0 ? diff + 360.0 : diff; +// return {distance, unit} +std::pair map_format_distance(float d, bool is_metric) { + auto round_distance = [](float d) -> float { + return (d > 10) ? std::nearbyint(d) : std::nearbyint(d * 10) / 10.0; + }; + + d = std::max(d, 0.0f); + if (is_metric) { + return (d > 500) ? std::pair{QString::number(round_distance(d / 1000)), QObject::tr("km")} + : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")}; + } else { + float feet = d * METER_TO_FOOT; + return (feet > 500) ? std::pair{QString::number(round_distance(d * METER_TO_MILE)), QObject::tr("mi")} + : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")}; + } } diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 9444ad64b0..d0dd65e7a6 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -1,6 +1,8 @@ #pragma once #include +#include +#include #include #include #include @@ -26,6 +28,5 @@ QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordina QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); QList polyline_to_coordinate_list(const QString &polylineString); - std::optional coordinate_from_param(const std::string ¶m); -double angle_difference(double angle1, double angle2); +std::pair map_format_distance(float d, bool is_metric); diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc index 9009ab1390..ba8cb356bd 100644 --- a/selfdrive/ui/qt/maps/map_instructions.cc +++ b/selfdrive/ui/qt/maps/map_instructions.cc @@ -3,33 +3,38 @@ #include #include +#include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/ui.h" const QString ICON_SUFFIX = ".png"; MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) { is_rhd = Params().getBool("IsRhdDetected"); - QHBoxLayout *main_layout = new QHBoxLayout(this); - main_layout->setContentsMargins(11, 50, 11, 11); - main_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20); - QWidget *right_container = new QWidget(this); - right_container->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - QVBoxLayout *layout = new QVBoxLayout(right_container); + QHBoxLayout *top_layout = new QHBoxLayout; + top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); - layout->addWidget(distance = new QLabel); + QVBoxLayout *right_layout = new QVBoxLayout; + right_layout->setContentsMargins(9, 9, 9, 0); + right_layout->addWidget(distance = new QLabel); distance->setStyleSheet(R"(font-size: 90px;)"); - layout->addWidget(primary = new QLabel); + right_layout->addWidget(primary = new QLabel); primary->setStyleSheet(R"(font-size: 60px;)"); primary->setWordWrap(true); - layout->addWidget(secondary = new QLabel); + right_layout->addWidget(secondary = new QLabel); secondary->setStyleSheet(R"(font-size: 50px;)"); secondary->setWordWrap(true); - layout->addLayout(lane_layout = new QHBoxLayout); - main_layout->addWidget(right_container); + top_layout->addLayout(right_layout); + + main_layout->addLayout(top_layout); + main_layout->addLayout(lane_layout = new QHBoxLayout); + lane_layout->setAlignment(Qt::AlignHCenter); + lane_layout->setSpacing(10); setStyleSheet("color:white"); QPalette pal = palette(); @@ -63,18 +68,6 @@ void MapInstructions::buildPixmapCache() { } } -QString MapInstructions::getDistance(float d) { - d = std::max(d, 0.0f); - if (uiState()->scene.is_metric) { - return (d > 500) ? QString::number(d / 1000, 'f', 1) + tr(" km") - : QString::number(50 * int(d / 50)) + tr(" m"); - } else { - float feet = d * METER_TO_FOOT; - return (feet > 500) ? QString::number(d * METER_TO_MILE, 'f', 1) + tr(" mi") - : QString::number(50 * int(feet / 50)) + tr(" ft"); - } -} - void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) { setUpdatesEnabled(false); @@ -85,7 +78,9 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct primary->setText(primary_str); secondary->setVisible(secondary_str.length() > 0); secondary->setText(secondary_str); - distance->setText(getDistance(instruction.getManeuverDistance())); + + auto distance_str_pair = map_format_distance(instruction.getManeuverDistance(), uiState()->scene.is_metric); + distance->setText(QString("%1 %2").arg(distance_str_pair.first, distance_str_pair.second)); // Show arrow with direction QString type = QString::fromStdString(instruction.getManeuverType()); @@ -100,6 +95,8 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]); icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); icon_01->setVisible(true); + } else { + icon_01->setVisible(false); } // Hide distance after arrival @@ -109,23 +106,21 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct auto lanes = instruction.getLanes(); for (int i = 0; i < lanes.size(); ++i) { bool active = lanes[i].getActive(); - - // TODO: only use active direction if active - bool left = false, straight = false, right = false; - for (auto const &direction : lanes[i].getDirections()) { - left |= direction == cereal::NavInstruction::Direction::LEFT; - right |= direction == cereal::NavInstruction::Direction::RIGHT; - straight |= direction == cereal::NavInstruction::Direction::STRAIGHT; - } + const auto active_direction = lanes[i].getActiveDirection(); // TODO: Make more images based on active direction and combined directions QString fn = "lane_direction_"; - if (left) { - fn += "turn_left"; - } else if (right) { - fn += "turn_right"; - } else if (straight) { - fn += "turn_straight"; + + // active direction has precedence + if (active && active_direction != cereal::NavInstruction::Direction::NONE) { + fn += "turn_" + DIRECTIONS[active_direction]; + } else { + for (auto const &direction : lanes[i].getDirections()) { + if (direction != cereal::NavInstruction::Direction::NONE) { + fn += "turn_" + DIRECTIONS[direction]; + break; + } + } } if (!active) { diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h index 83ad3b87a4..06a943d27f 100644 --- a/selfdrive/ui/qt/maps/map_instructions.h +++ b/selfdrive/ui/qt/maps/map_instructions.h @@ -1,11 +1,23 @@ #pragma once +#include +#include + #include #include #include #include "cereal/gen/cpp/log.capnp.h" +static std::map DIRECTIONS = { + {cereal::NavInstruction::Direction::NONE, "none"}, + {cereal::NavInstruction::Direction::LEFT, "left"}, + {cereal::NavInstruction::Direction::RIGHT, "right"}, + {cereal::NavInstruction::Direction::STRAIGHT, "straight"}, + {cereal::NavInstruction::Direction::SLIGHT_LEFT, "slight_left"}, + {cereal::NavInstruction::Direction::SLIGHT_RIGHT, "slight_right"}, +}; + class MapInstructions : public QWidget { Q_OBJECT @@ -22,6 +34,5 @@ private: public: MapInstructions(QWidget * parent=nullptr); void buildPixmapCache(); - QString getDistance(float d); void updateInstructions(cereal::NavInstruction::Reader instruction); }; diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc index f1b8f812fa..0a2286ff6f 100644 --- a/selfdrive/ui/qt/maps/map_panel.cc +++ b/selfdrive/ui/qt/maps/map_panel.cc @@ -14,21 +14,21 @@ MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : Q auto map = new MapWindow(mapboxSettings); QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition); - QObject::connect(device(), &Device::interactiveTimeout, [=]() { + QObject::connect(device(), &Device::interactiveTimeout, this, [=]() { content_stack->setCurrentIndex(0); }); - QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) { + QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) { // when we show the map for a new route, signal HomeWindow to hide the sidebar if (visible) { emit mapPanelRequested(); } setVisible(visible); }); - QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) { + QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) { content_stack->setCurrentIndex(settings ? 1 : 0); }); content_stack->addWidget(map); auto settings = new MapSettings(true, parent); - QObject::connect(settings, &MapSettings::closeSettings, [=]() { + QObject::connect(settings, &MapSettings::closeSettings, this, [=]() { content_stack->setCurrentIndex(0); }); content_stack->addWidget(settings); diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index ef331d7b92..4d655be36c 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -1,4 +1,6 @@ -#include "map_settings.h" +#include "selfdrive/ui/qt/maps/map_settings.h" + +#include #include #include @@ -7,8 +9,20 @@ #include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/widgets/scrollview.h" +static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); } + +static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) { + return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"]; +} + +static qint64 convertTimestampToEpoch(const QString ×tamp) { + QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate); + return dt.isValid() ? dt.toSecsSinceEpoch() : 0; +} + MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { setContentsMargins(0, 0, 0, 0); + setAttribute(Qt::WA_NoMousePropagation); auto *frame = new QVBoxLayout(this); frame->setContentsMargins(40, 40, 40, 0); @@ -58,11 +72,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { frame->addSpacing(32); current_widget = new DestinationWidget(this); - QObject::connect(current_widget, &DestinationWidget::actionClicked, [=]() { - if (current_destination.empty()) return; - params.remove("NavDestination"); - updateCurrentRoute(); - }); + QObject::connect(current_widget, &DestinationWidget::actionClicked, + []() { NavManager::instance()->setCurrentDestination({}); }); frame->addWidget(current_widget); frame->addSpacing(32); @@ -81,51 +92,16 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { frame->addWidget(destinations_scroller); setStyleSheet("MapSettings { background-color: #333333; }"); - - QObject::connect(NavigationRequest::instance(), &NavigationRequest::locationsUpdated, this, &MapSettings::updateLocations); - QObject::connect(NavigationRequest::instance(), &NavigationRequest::nextDestinationUpdated, this, &MapSettings::updateCurrentRoute); - - current_locations = NavigationRequest::instance()->currentLocations(); - - navigation_request = new NavigationRequest(this); -} - -void MapSettings::mousePressEvent(QMouseEvent *ev) { - // Prevent mouse event from propagating up - ev->accept(); + QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh); } void MapSettings::showEvent(QShowEvent *event) { - if (custom_mapbox) { - QString list = QString::fromStdString((params.get("ApiCache_NavDestinations")).c_str()); - navigation_request->parseLocationsResponse(list.toUtf8(), true); - } - updateCurrentRoute(); -} - -void MapSettings::updateCurrentRoute() { - auto dest = QString::fromStdString(params.get("NavDestination")); - if (dest.size()) { - QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8()); - if (doc.isNull()) { - qWarning() << "JSON Parse failed on NavDestination" << dest; - return; - } - current_destination = doc.object(); - current_widget->set(current_destination, true); - } else { - current_destination = {}; - current_widget->unset("", true); - } - if (isVisible()) refresh(); -} - -void MapSettings::updateLocations(const QJsonArray &locations) { - current_locations = locations; refresh(); } void MapSettings::refresh() { + if (!isVisible()) return; + setUpdatesEnabled(false); auto get_w = [this](int i) { @@ -137,11 +113,17 @@ void MapSettings::refresh() { return w; }; + const auto current_dest = NavManager::instance()->currentDestination(); + if (!current_dest.isEmpty()) { + current_widget->set(current_dest, true); + } else { + current_widget->unset("", true); + } home_widget->unset(NAV_FAVORITE_LABEL_HOME); work_widget->unset(NAV_FAVORITE_LABEL_WORK); int n = 0; - for (auto location : current_locations) { + for (auto location : NavManager::instance()->currentLocations()) { DestinationWidget *w = nullptr; auto dest = location.toObject(); if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) { @@ -151,7 +133,7 @@ void MapSettings::refresh() { } w = w ? w : get_w(n++); w->set(dest, false); - w->setVisible(dest != current_destination); + w->setVisible(!locationEqual(dest, current_dest)); } for (; n < widgets.size(); ++n) widgets[n]->setVisible(false); @@ -159,9 +141,7 @@ void MapSettings::refresh() { } void MapSettings::navigateTo(const QJsonObject &place) { - QJsonDocument doc(place); - params.put("NavDestination", doc.toJson().toStdString()); - updateCurrentRoute(); + NavManager::instance()->setCurrentDestination(place); emit closeSettings(); } @@ -287,24 +267,26 @@ void DestinationWidget::unset(const QString &label, bool current) { setVisible(true); } -// singleton NavigationRequest +// singleton NavManager -NavigationRequest *NavigationRequest::instance() { - static NavigationRequest *request = new NavigationRequest(qApp); +NavManager *NavManager::instance() { + static NavManager *request = new NavManager(qApp); return request; } -NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) { +NavManager::NavManager(QObject *parent) : QObject(parent) { + locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array(); + current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object(); if (auto dongle_id = getDongleId()) { { // Fetch favorite and recent locations QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations"; RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavigationRequest::parseLocationsResponse); + QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse); } { auto param_watcher = new ParamWatcher(this); - QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavigationRequest::nextDestinationUpdated); + QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated); // Destination set while offline QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next"; @@ -324,14 +306,14 @@ NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) { // athena can set destination at any time param_watcher->addParam("NavDestination"); + current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object(); + emit updated(); }); } } } -static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); } - -void NavigationRequest::parseLocationsResponse(const QString &response, bool success) { +void NavManager::parseLocationsResponse(const QString &response, bool success) { if (!success || response == prev_response) return; prev_response = response; @@ -341,13 +323,63 @@ void NavigationRequest::parseLocationsResponse(const QString &response, bool suc return; } - // Sort: alphabetical FAVORITES, and then most recent (as returned by API). - // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top. - locations = doc.array(); - std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) { - bool has_favorite = a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE; - return has_favorite && (std::tuple(a["save_type"].toString(), a["place_name"].toString()) < - std::tuple(b["save_type"].toString(), b["place_name"].toString())); - }); - emit locationsUpdated(locations); + // set last activity time. + auto remote_locations = doc.array(); + for (QJsonValueRef loc : remote_locations) { + auto obj = loc.toObject(); + auto serverTime = convertTimestampToEpoch(obj["modified"].toString()); + obj.insert("time", qMax(serverTime, getLastActivity(obj))); + loc = obj; + } + + locations = remote_locations; + sortLocations(); + emit updated(); +} + +void NavManager::sortLocations() { + // Sort: alphabetical FAVORITES, and then most recent. + // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top. + std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) { + if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) { + return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) < + std::tuple(b["save_type"].toString(), b["place_name"].toString())); + } else { + return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong(); + } + }); + + write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() { + Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString()); + }); +} + +qint64 NavManager::getLastActivity(const QJsonObject &loc) const { + qint64 last_activity = 0; + auto it = std::find_if(locations.begin(), locations.end(), + [&loc](const QJsonValue &l) { return locationEqual(loc, l); }); + if (it != locations.end()) { + auto tm = it->toObject().value("time"); + if (!tm.isUndefined() && !tm.isNull()) { + last_activity = tm.toVariant().toLongLong(); + } + } + return last_activity; +} + +void NavManager::setCurrentDestination(const QJsonObject &loc) { + current_dest = loc; + if (!current_dest.isEmpty()) { + current_dest["time"] = QDateTime::currentSecsSinceEpoch(); + auto it = std::find_if(locations.begin(), locations.end(), + [&loc](const QJsonValue &l) { return locationEqual(loc, l); }); + if (it != locations.end()) { + *it = current_dest; + sortLocations(); + } + params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString()); + } else { + params.remove("NavDestination"); + } + emit updated(); } diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index c8bfdf9e61..0e151df4ad 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include @@ -20,50 +23,46 @@ const QString NAV_FAVORITE_LABEL_WORK = "work"; class DestinationWidget; -class NavigationRequest : public QObject { +class NavManager : public QObject { Q_OBJECT public: - static NavigationRequest *instance(); - QJsonArray currentLocations() const { return locations; }; - - NavigationRequest(QObject *parent); - void parseLocationsResponse(const QString &response, bool success); + static NavManager *instance(); + QJsonArray currentLocations() const { return locations; } + QJsonObject currentDestination() const { return current_dest; } + void setCurrentDestination(const QJsonObject &loc); + qint64 getLastActivity(const QJsonObject &loc) const; signals: - void locationsUpdated(const QJsonArray &locations); - void nextDestinationUpdated(); + void updated(); private: + NavManager(QObject *parent); + void parseLocationsResponse(const QString &response, bool success); + void sortLocations(); + Params params; QString prev_response; QJsonArray locations; + QJsonObject current_dest; + std::future write_param_future; }; class MapSettings : public QFrame { Q_OBJECT public: explicit MapSettings(bool closeable = false, QWidget *parent = nullptr); - void navigateTo(const QJsonObject &place); - void updateLocations(const QJsonArray &locations); - void updateCurrentRoute(); private: - void mousePressEvent(QMouseEvent *ev) override; void showEvent(QShowEvent *event) override; void refresh(); - Params params; - QJsonArray current_locations; - QJsonObject current_destination; QVBoxLayout *destinations_layout; DestinationWidget *current_widget; DestinationWidget *home_widget; DestinationWidget *work_widget; std::vector widgets; - NavigationRequest *navigation_request; - bool custom_mapbox; signals: void closeSettings(); diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/network/networking.cc similarity index 73% rename from selfdrive/ui/qt/offroad/networking.cc rename to selfdrive/ui/qt/network/networking.cc index 76cacac9b2..e7865b11a7 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -1,20 +1,18 @@ -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" #include -#include #include -#include -#include #include +#include #include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" +static const int ICON_WIDTH = 49; // Networking functions @@ -79,10 +77,9 @@ void Networking::refresh() { an->refresh(); } -void Networking::connectToNetwork(const Network &n) { +void Networking::connectToNetwork(const Network n) { if (wifi->isKnownConnection(n.ssid)) { wifi->activateWifiConnection(n.ssid); - wifiWidget->refresh(); } else if (n.security_type == SecurityType::OPEN) { wifi->connect(n); } else if (n.security_type == SecurityType::WPA) { @@ -186,7 +183,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); - connect(uiState(), &UIState::primeTypeChanged, this, [=](int prime_type) { + connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) { bool gsmVisible = prime_type == PrimeType::NONE || prime_type == PrimeType::LITE; roamingToggle->setVisible(gsmVisible); editApnButton->setVisible(gsmVisible); @@ -212,7 +209,7 @@ void AdvancedNetworking::toggleTethering(bool enabled) { // WifiUI functions WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) { - main_layout = new QVBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); @@ -221,16 +218,17 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg"); strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation)); } - lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(49, Qt::SmoothTransformation); - checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation); - circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation); + lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); + circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); scanningLabel = new QLabel(tr("Scanning for networks...")); scanningLabel->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter); - list_layout = new QVBoxLayout; - main_layout->addLayout(list_layout); + wifi_list_widget = new ListWidget(this); + wifi_list_widget->setVisible(false); + main_layout->addWidget(wifi_list_widget); setStyleSheet(R"( QScrollBar::handle:vertical { @@ -263,16 +261,11 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) background-color: black; } #ssidLabel { - font-size: 55px; - font-weight: 300; text-align: left; border: none; padding-top: 50px; padding-bottom: 50px; } - #ssidLabel[disconnected=false] { - font-weight: 500; - } #ssidLabel:disabled { color: #696969; } @@ -280,76 +273,86 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) } void WifiUI::refresh() { - // TODO: don't rebuild this every time - clearLayout(list_layout); - bool is_empty = wifi->seenNetworks.isEmpty(); scanningLabel->setVisible(is_empty); + wifi_list_widget->setVisible(!is_empty); if (is_empty) return; + setUpdatesEnabled(false); + const bool is_tethering_enabled = wifi->isTetheringEnabled(); QList sortedNetworks = wifi->seenNetworks.values(); std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength); - // add networks - ListWidget *list = new ListWidget(this); + int n = 0; for (Network &network : sortedNetworks) { - QHBoxLayout *hlayout = new QHBoxLayout; - hlayout->setContentsMargins(44, 0, 73, 0); - hlayout->setSpacing(50); - - // Clickable SSID label - ElidedLabel *ssidLabel = new ElidedLabel(network.ssid); - ssidLabel->setObjectName("ssidLabel"); - ssidLabel->setEnabled(network.security_type != SecurityType::UNSUPPORTED); - ssidLabel->setProperty("disconnected", network.connected == ConnectedType::DISCONNECTED); - if (network.connected == ConnectedType::DISCONNECTED) { - QObject::connect(ssidLabel, &ElidedLabel::clicked, this, [=]() { emit connectToNetwork(network); }); - } - hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1); - - if (network.connected == ConnectedType::CONNECTING) { - QPushButton *connecting = new QPushButton(tr("CONNECTING...")); - connecting->setObjectName("connecting"); - hlayout->addWidget(connecting, 2, Qt::AlignLeft); - } - - // Forget button - if (wifi->isKnownConnection(network.ssid) && !is_tethering_enabled) { - QPushButton *forgetBtn = new QPushButton(tr("FORGET")); - forgetBtn->setObjectName("forgetBtn"); - QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), tr("Forget"), this)) { - wifi->forgetConnection(network.ssid); - } - }); - hlayout->addWidget(forgetBtn, 0, Qt::AlignRight); - } - - // Status icon + QPixmap status_icon; if (network.connected == ConnectedType::CONNECTED) { - QLabel *connectIcon = new QLabel(); - connectIcon->setPixmap(checkmark); - hlayout->addWidget(connectIcon, 0, Qt::AlignRight); + status_icon = checkmark; } else if (network.security_type == SecurityType::UNSUPPORTED) { - QLabel *unsupportedIcon = new QLabel(); - unsupportedIcon->setPixmap(circled_slash); - hlayout->addWidget(unsupportedIcon, 0, Qt::AlignRight); + status_icon = circled_slash; } else if (network.security_type == SecurityType::WPA) { - QLabel *lockIcon = new QLabel(); - lockIcon->setPixmap(lock); - hlayout->addWidget(lockIcon, 0, Qt::AlignRight); - } else { - hlayout->addSpacing(lock.width() + hlayout->spacing()); + status_icon = lock; } + bool show_forget_btn = wifi->isKnownConnection(network.ssid) && !is_tethering_enabled; + QPixmap strength = strengths[strengthLevel(network.strength)]; - // Strength indicator - QLabel *strength = new QLabel(); - strength->setPixmap(strengths[std::clamp((int)round(network.strength / 33.), 0, 3)]); - hlayout->addWidget(strength, 0, Qt::AlignRight); - - list->addItem(hlayout); + auto item = getItem(n++); + item->setItem(network, status_icon, show_forget_btn, strength); + item->setVisible(true); } - list_layout->addWidget(list); - list_layout->addStretch(1); + for (; n < wifi_items.size(); ++n) wifi_items[n]->setVisible(false); + + setUpdatesEnabled(true); +} + +WifiItem *WifiUI::getItem(int n) { + auto item = n < wifi_items.size() ? wifi_items[n] : wifi_items.emplace_back(new WifiItem(tr("CONNECTING..."), tr("FORGET"))); + if (!item->parentWidget()) { + QObject::connect(item, &WifiItem::connectToNetwork, this, &WifiUI::connectToNetwork); + QObject::connect(item, &WifiItem::forgotNetwork, [this](const Network n) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(n.ssid)), tr("Forget"), this)) + wifi->forgetConnection(n.ssid); + }); + wifi_list_widget->addItem(item); + } + return item; +} + +// WifiItem + +WifiItem::WifiItem(const QString &connecting_text, const QString &forget_text, QWidget *parent) : QWidget(parent) { + QHBoxLayout *hlayout = new QHBoxLayout(this); + hlayout->setContentsMargins(44, 0, 73, 0); + hlayout->setSpacing(50); + + hlayout->addWidget(ssidLabel = new ElidedLabel()); + ssidLabel->setObjectName("ssidLabel"); + ssidLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + hlayout->addWidget(connecting = new QPushButton(connecting_text), 0, Qt::AlignRight); + connecting->setObjectName("connecting"); + hlayout->addWidget(forgetBtn = new QPushButton(forget_text), 0, Qt::AlignRight); + forgetBtn->setObjectName("forgetBtn"); + hlayout->addWidget(iconLabel = new QLabel(), 0, Qt::AlignRight); + hlayout->addWidget(strengthLabel = new QLabel(), 0, Qt::AlignRight); + + iconLabel->setFixedWidth(ICON_WIDTH); + QObject::connect(forgetBtn, &QPushButton::clicked, [this]() { emit forgotNetwork(network); }); + QObject::connect(ssidLabel, &ElidedLabel::clicked, [this]() { + if (network.connected == ConnectedType::DISCONNECTED) emit connectToNetwork(network); + }); +} + +void WifiItem::setItem(const Network &n, const QPixmap &status_icon, bool show_forget_btn, const QPixmap &strength_icon) { + network = n; + + ssidLabel->setText(n.ssid); + ssidLabel->setEnabled(n.security_type != SecurityType::UNSUPPORTED); + ssidLabel->setFont(InterFont(55, network.connected == ConnectedType::DISCONNECTED ? QFont::Normal : QFont::Bold)); + + connecting->setVisible(n.connected == ConnectedType::CONNECTING); + forgetBtn->setVisible(show_forget_btn); + + iconLabel->setPixmap(status_icon); + strengthLabel->setPixmap(strength_icon); } diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/network/networking.h similarity index 63% rename from selfdrive/ui/qt/offroad/networking.h rename to selfdrive/ui/qt/network/networking.h index 79cbcc3493..4ff7380f42 100644 --- a/selfdrive/ui/qt/offroad/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -1,14 +1,32 @@ #pragma once -#include -#include -#include +#include -#include "selfdrive/ui/qt/offroad/wifiManager.h" +#include "selfdrive/ui/qt/network/wifi_manager.h" #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/toggle.h" +class WifiItem : public QWidget { + Q_OBJECT +public: + explicit WifiItem(const QString &connecting_text, const QString &forget_text, QWidget* parent = nullptr); + void setItem(const Network& n, const QPixmap &icon, bool show_forget_btn, const QPixmap &strength); + +signals: + // Cannot pass Network by reference. it may change after the signal is sent. + void connectToNetwork(const Network n); + void forgotNetwork(const Network n); + +protected: + ElidedLabel* ssidLabel; + QPushButton* connecting; + QPushButton* forgetBtn; + QLabel* iconLabel; + QLabel* strengthLabel; + Network network; +}; + class WifiUI : public QWidget { Q_OBJECT @@ -16,17 +34,19 @@ public: explicit WifiUI(QWidget *parent = 0, WifiManager* wifi = 0); private: + WifiItem *getItem(int n); + WifiManager *wifi = nullptr; - QVBoxLayout *list_layout = nullptr; QLabel *scanningLabel = nullptr; - QVBoxLayout* main_layout; QPixmap lock; QPixmap checkmark; QPixmap circled_slash; QVector strengths; + ListWidget *wifi_list_widget = nullptr; + std::vector wifi_items; signals: - void connectToNetwork(const Network &n); + void connectToNetwork(const Network n); public slots: void refresh(); @@ -65,10 +85,8 @@ private: QStackedLayout* main_layout = nullptr; QWidget* wifiScreen = nullptr; AdvancedNetworking* an = nullptr; - WifiUI* wifiWidget; -protected: void showEvent(QShowEvent* event) override; void hideEvent(QHideEvent* event) override; @@ -76,6 +94,6 @@ public slots: void refresh(); private slots: - void connectToNetwork(const Network &n); + void connectToNetwork(const Network n); void wrongPassword(const QString &ssid); }; diff --git a/selfdrive/ui/qt/offroad/networkmanager.h b/selfdrive/ui/qt/network/networkmanager.h similarity index 99% rename from selfdrive/ui/qt/offroad/networkmanager.h rename to selfdrive/ui/qt/network/networkmanager.h index 31b33fc9f5..2896b0fff7 100644 --- a/selfdrive/ui/qt/offroad/networkmanager.h +++ b/selfdrive/ui/qt/network/networkmanager.h @@ -1,3 +1,5 @@ +#pragma once + /** * We are using a NetworkManager DBUS API : https://developer.gnome.org/NetworkManager/1.26/spec.html * */ diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/network/wifi_manager.cc similarity index 93% rename from selfdrive/ui/qt/offroad/wifiManager.cc rename to selfdrive/ui/qt/network/wifi_manager.cc index be9da34d45..03c6896f7a 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/network/wifi_manager.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/qt/offroad/wifiManager.h" +#include "selfdrive/ui/qt/network/wifi_manager.h" #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/widgets/prime.h" @@ -8,11 +8,8 @@ #include "selfdrive/ui/qt/util.h" bool compare_by_strength(const Network &a, const Network &b) { - if (a.connected == ConnectedType::CONNECTED) return true; - if (b.connected == ConnectedType::CONNECTED) return false; - if (a.connected == ConnectedType::CONNECTING) return true; - if (b.connected == ConnectedType::CONNECTING) return false; - return a.strength > b.strength; + return std::tuple(a.connected, strengthLevel(a.strength), b.ssid) > + std::tuple(b.connected, strengthLevel(b.strength), a.ssid); } template @@ -40,6 +37,10 @@ QDBusPendingCall asyncCall(const QString &path, const QString &interface, const return nm.asyncCall(method, args...); } +bool emptyPath(const QString &path) { + return path == "" || path == "/"; +} + WifiManager::WifiManager(QObject *parent) : QObject(parent) { qDBusRegisterMetaType(); qDBusRegisterMetaType(); @@ -102,15 +103,22 @@ void WifiManager::refreshFinished(QDBusPendingCallWatcher *watcher) { auto properties = replay.value(); const QByteArray ssid = properties["Ssid"].toByteArray(); - uint32_t strength = properties["Strength"].toUInt(); - if (ssid.isEmpty() || (seenNetworks.contains(ssid) && strength <= seenNetworks[ssid].strength)) continue; + if (ssid.isEmpty()) continue; - SecurityType security = getSecurityType(properties); - ConnectedType ctype = ConnectedType::DISCONNECTED; - if (path.path() == activeAp) { - ctype = (ssid == connecting_to_network) ? ConnectedType::CONNECTING : ConnectedType::CONNECTED; + // May be multiple access points for each SSID. + // Use first for ssid and security type, then update connected status and strength using all + if (!seenNetworks.contains(ssid)) { + seenNetworks[ssid] = {ssid, 0U, ConnectedType::DISCONNECTED, getSecurityType(properties)}; + } + + if (path.path() == activeAp) { + seenNetworks[ssid].connected = (ssid == connecting_to_network) ? ConnectedType::CONNECTING : ConnectedType::CONNECTED; + } + + uint32_t strength = properties["Strength"].toUInt(); + if (seenNetworks[ssid].strength < strength) { + seenNetworks[ssid].strength = strength; } - seenNetworks[ssid] = {ssid, strength, ctype, security}; } emit refreshSignal(); @@ -158,8 +166,7 @@ SecurityType WifiManager::getSecurityType(const QVariantMap &properties) { } void WifiManager::connect(const Network &n, const QString &password, const QString &username) { - connecting_to_network = n.ssid; - seenNetworks[n.ssid].connected = ConnectedType::CONNECTING; + setCurrentConnecting(n.ssid); forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting Connection connection; connection["connection"]["type"] = "802-11-wireless"; @@ -186,7 +193,7 @@ void WifiManager::connect(const Network &n, const QString &password, const QStri void WifiManager::deactivateConnectionBySsid(const QString &ssid) { for (QDBusObjectPath active_connection : getActiveConnections()) { auto pth = call(active_connection.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "SpecificObject"); - if (pth.path() != "" && pth.path() != "/") { + if (!emptyPath(pth.path())) { QString Ssid = get_property(pth.path(), "Ssid"); if (Ssid == ssid) { deactivateConnection(active_connection); @@ -224,6 +231,14 @@ void WifiManager::forgetConnection(const QString &ssid) { } } +void WifiManager::setCurrentConnecting(const QString &ssid) { + connecting_to_network = ssid; + for (auto &network : seenNetworks) { + network.connected = (network.ssid == ssid) ? ConnectedType::CONNECTING : ConnectedType::DISCONNECTED; + } + emit refreshSignal(); +} + uint WifiManager::getAdapterType(const QDBusObjectPath &path) { return call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "DeviceType"); } @@ -269,7 +284,7 @@ void WifiManager::propertyChange(const QString &interface, const QVariantMap &pr } void WifiManager::deviceAdded(const QDBusObjectPath &path) { - if (getAdapterType(path) == NM_DEVICE_TYPE_WIFI && (adapter.isEmpty() || adapter == "/")) { + if (getAdapterType(path) == NM_DEVICE_TYPE_WIFI && emptyPath(adapter)) { adapter = path.path(); setup(); } @@ -312,7 +327,7 @@ void WifiManager::initConnections() { std::optional WifiManager::activateWifiConnection(const QString &ssid) { const QDBusObjectPath &path = getConnectionPath(ssid); if (!path.path().isEmpty()) { - connecting_to_network = ssid; + setCurrentConnecting(ssid); return asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/"))); } return std::nullopt; @@ -446,7 +461,7 @@ void WifiManager::setTetheringEnabled(bool enabled) { } bool WifiManager::isTetheringEnabled() { - if (activeAp != "" && activeAp != "/") { + if (!emptyPath(activeAp)) { return get_property(activeAp, "Ssid") == tethering_ssid; } return false; diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/network/wifi_manager.h similarity index 93% rename from selfdrive/ui/qt/offroad/wifiManager.h rename to selfdrive/ui/qt/network/wifi_manager.h index 8be4c6c31b..7debffa452 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/network/wifi_manager.h @@ -4,7 +4,7 @@ #include #include -#include "selfdrive/ui/qt/offroad/networkmanager.h" +#include "selfdrive/ui/qt/network/networkmanager.h" enum class SecurityType { OPEN, @@ -33,6 +33,7 @@ struct Network { SecurityType security_type; }; bool compare_by_strength(const Network &a, const Network &b); +inline int strengthLevel(unsigned int strength) { return std::clamp((int)round(strength / 33.), 0, 3); } class WifiManager : public QObject { Q_OBJECT @@ -84,6 +85,7 @@ private: void refreshNetworks(); void activateModemConnection(const QDBusObjectPath &path); void addTetheringConnection(); + void setCurrentConnecting(const QString &ssid); signals: void wrongPassword(const QString &ssid); diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 0a216766a2..693a0253b4 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/offroad/driverview.h" +#include #include #include "selfdrive/ui/qt/qt_window.h" @@ -19,20 +20,29 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); layout->addWidget(scene); layout->setCurrentWidget(scene); + + QObject::connect(device(), &Device::interactiveTimeout, this, &DriverViewWindow::closeView); +} + +void DriverViewWindow::closeView() { + if (isVisible()) { + cameraView->stopVipcThread(); + emit done(); + } } void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { - cameraView->stopVipcThread(); - emit done(); + closeView(); } -DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { +DriverViewScene::DriverViewScene(QWidget* parent) : QWidget(parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); } void DriverViewScene::showEvent(QShowEvent* event) { frame_updated = false; params.putBool("IsDriverViewEnabled", true); + device()->resetInteractiveTimeout(60); } void DriverViewScene::hideEvent(QHideEvent* event) { @@ -41,7 +51,6 @@ void DriverViewScene::hideEvent(QHideEvent* event) { void DriverViewScene::frameUpdated() { frame_updated = true; - sm.update(0); update(); } @@ -57,6 +66,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { return; } + const auto &sm = *(uiState()->sm); cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::DriverData::Reader driver_data; diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 255857970d..8bfc7a4b7b 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -1,10 +1,7 @@ #pragma once -#include - #include -#include "common/util.h" #include "selfdrive/ui/qt/widgets/cameraview.h" class DriverViewScene : public QWidget { @@ -23,7 +20,6 @@ protected: private: Params params; - SubMaster sm; QPixmap face_img; bool is_rhd = false; bool frame_updated = false; @@ -40,8 +36,8 @@ signals: protected: void mouseReleaseEvent(QMouseEvent* e) override; + void closeView(); -private: CameraWidget *cameraView; DriverViewScene *scene; QStackedLayout *layout; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index 5bf1b6fc43..c7c22f0ea3 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -1,5 +1,7 @@ #include "selfdrive/ui/qt/offroad/onboarding.h" +#include + #include #include #include diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h index 2fdae35de0..a1b6895ba0 100644 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ b/selfdrive/ui/qt/offroad/onboarding.h @@ -63,7 +63,7 @@ class TermsPage : public QFrame { Q_OBJECT public: - explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}; + explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {} public slots: void enableAccept(); @@ -82,7 +82,7 @@ class DeclinePage : public QFrame { Q_OBJECT public: - explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {}; + explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {} private: void showEvent(QShowEvent *event) override; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index f28f0c244f..d033654b8e 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -3,13 +3,15 @@ #include #include #include +#include +#include #include #include #include #include -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" #include "common/params.h" #include "common/watchdog.h" @@ -40,7 +42,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("openpilot Longitudinal Control (Alpha)"), QString("%1

%2") .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).")) - .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), + .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " + "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), "../assets/offroad/icon_speed_limit.png", }, { @@ -98,7 +101,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector longi_button_texts{tr("Maniac"), tr("Aggro"), tr("Stock"), tr("Relaxed")}; long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), - tr("Stock is recommended. In aggressive/maniac mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."), + tr("Stock is recommended. In aggressive/maniac mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " + "In relaxed mode openpilot will stay further away from lead cars."), "../assets/offroad/icon_speed_limit.png", longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { @@ -149,16 +153,17 @@ void TogglesPanel::updateToggles() { "

%6


" "%7") .arg(tr("openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:")) - .arg(tr("End-to-End Longitudinal Control" )) + .arg(tr("End-to-End Longitudinal Control")) .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " - "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.")) + "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " + "mistakes should be expected.")) .arg(tr("Navigate on openpilot")) - .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. " - "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks." - "These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.")) + .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right " + "appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around " + "exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.")) .arg(tr("New Driving Visualization")) - .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner." - "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.")); + .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. " + "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.")); const bool is_release = params.getBool("IsReleaseBranch"); auto cp_bytes = params.get("CarParamsPersistent"); @@ -451,10 +456,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); sidebar_layout->setMargin(0); panel_widget = new QStackedWidget(); - panel_widget->setStyleSheet(R"( - border-radius: 30px; - background-color: #292929; - )"); // close button QPushButton *close_btn = new QPushButton(tr("×")); @@ -549,5 +550,9 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { SettingsWindow { background-color: black; } + QStackedWidget, ScrollView { + background-color: #292929; + border-radius: 30px; + } )"); } diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 635fac0f20..473a77456e 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc index 0f12427573..eebba2231c 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc +++ b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc @@ -79,8 +79,21 @@ SPGeneralPanel::SPGeneralPanel(QWidget *parent) : ListWidget(parent) { // General: Onroad Screen Off (Auto Onroad Screen Timer) onroad_screen_off = new OnroadScreenOff(); + onroad_screen_off->setUpdateOtherToggles(true); + connect(onroad_screen_off, &SPOptionControl::updateLabels, onroad_screen_off, &OnroadScreenOff::refresh); + connect(onroad_screen_off, &SPOptionControl::updateOtherToggles, this, &SPGeneralPanel::updateToggles); + // General: Onroad Screen Off Brightness onroad_screen_off_brightness = new OnroadScreenOffBrightness(); + connect(onroad_screen_off_brightness, &SPOptionControl::updateLabels, onroad_screen_off_brightness, &OnroadScreenOffBrightness::refresh); + + // General: Brightness Control (Global) + auto brightness_control = new BrightnessControl(); + connect(brightness_control, &SPOptionControl::updateLabels, brightness_control, &BrightnessControl::refresh); + + // General: Max Time Offroad (Shutdown timer) + auto max_time_offroad = new MaxTimeOffroad(); + connect(max_time_offroad, &SPOptionControl::updateLabels, max_time_offroad, &MaxTimeOffroad::refresh); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -90,7 +103,7 @@ SPGeneralPanel::SPGeneralPanel(QWidget *parent) : ListWidget(parent) { if (param == "HotspotOnBoot") { // General: Max Time Offroad (Shutdown timer) - addItem(new MaxTimeOffroad()); + addItem(max_time_offroad); addItem(onroad_screen_off); @@ -99,12 +112,10 @@ SPGeneralPanel::SPGeneralPanel(QWidget *parent) : ListWidget(parent) { if (param == "OnroadScreenOffEvent") { // General: Brightness Control (Global) - addItem(new BrightnessControl()); + addItem(brightness_control); } } - connect(onroad_screen_off, &OnroadScreenOff::toggleUpdated, this, &SPGeneralPanel::updateToggles); - toggles["EndToEndLongAlertLight"]->setConfirmation(true, false); } @@ -282,20 +293,38 @@ SPControlsPanel::SPControlsPanel(QWidget *parent) : ListWidget(parent) { // Controls: Camera Offset (cm) camera_offset = new CameraOffset(); + connect(camera_offset, &SPOptionControl::updateLabels, camera_offset, &CameraOffset::refresh); + // Controls: Path Offset (cm) path_offset = new PathOffset(); + connect(path_offset, &SPOptionControl::updateLabels, path_offset, &PathOffset::refresh); + // Controls: Auto Lane Change Timer auto_lane_change_timer = new AutoLaneChangeTimer(); + auto_lane_change_timer->setUpdateOtherToggles(true); + connect(auto_lane_change_timer, &SPOptionControl::updateLabels, auto_lane_change_timer, &AutoLaneChangeTimer::refresh); + connect(auto_lane_change_timer, &AutoLaneChangeTimer::updateOtherToggles, this, &SPControlsPanel::updateToggles); + // Controls: Speed Limit Offset Type slo_type = new SpeedLimitOffsetType(); + slo_type->setUpdateOtherToggles(true); + connect(slo_type, &SPOptionControl::updateLabels, slo_type, &SpeedLimitOffsetType::refresh); + connect(slo_type, &SPOptionControl::updateOtherToggles, this, &SPControlsPanel::updateToggles); + // Controls: Speed Limit Offset Values (% or actual value) slvo = new SpeedLimitValueOffset(); + connect(slvo, &SPOptionControl::updateLabels, slvo, &SpeedLimitValueOffset::refresh); // Controls: GAC Mode gac_mode = new GapAdjustCruiseMode(); + connect(gac_mode, &SPOptionControl::updateLabels, gac_mode, &GapAdjustCruiseMode::refresh); + // Controls: Torque - FRICTION friction = new TorqueFriction(); + connect(friction, &SPOptionControl::updateLabels, friction, &TorqueFriction::refresh); + // Controls: Torque - LAT_ACCEL_FACTOR lat_accel_factor = new TorqueMaxLatAccel(); + connect(lat_accel_factor, &SPOptionControl::updateLabels, lat_accel_factor, &TorqueMaxLatAccel::refresh); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -363,8 +392,6 @@ SPControlsPanel::SPControlsPanel(QWidget *parent) : ListWidget(parent) { } } - connect(auto_lane_change_timer, &AutoLaneChangeTimer::toggleUpdated, this, &SPControlsPanel::updateToggles); - connect(slo_type, &SpeedLimitOffsetType::offsetTypeUpdated, this, &SPControlsPanel::updateToggles); connect(toggles["GapAdjustCruise"], &ToggleControl::toggleFlipped, [=]() { emit updateStockToggles(); }); toggles["EnableMads"]->setConfirmation(true, false); @@ -664,10 +691,13 @@ SPVisualsPanel::SPVisualsPanel(QWidget *parent) : ListWidget(parent) { }, }; - // Developer UI Info (Dev UI) + // Visuals: Developer UI Info (Dev UI) dev_ui_info = new DevUiInfo(); + connect(dev_ui_info, &SPOptionControl::updateLabels, dev_ui_info, &DevUiInfo::refresh); + // Visuals: Display Metrics above Chevron chevron_info = new ChevronInfo(); + connect(chevron_info, &SPOptionControl::updateLabels, chevron_info, &ChevronInfo::refresh); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -714,60 +744,13 @@ void SPVisualsPanel::updateToggles() { } // Max Time Offroad (Shutdown timer) -MaxTimeOffroad::MaxTimeOffroad() : AbstractControl( +MaxTimeOffroad::MaxTimeOffroad() : SPOptionControl ( + "MaxTimeOffroad", tr("Max Time Offroad"), tr("Device is automatically turned off after a set time when the engine is turned off (off-road) after driving (on-road)."), - "../assets/offroad/icon_metric.png") + "../assets/offroad/icon_metric.png", + {0, 12}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("MaxTimeOffroad")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("MaxTimeOffroad", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("MaxTimeOffroad")); - int value = str.toInt(); - value = value + 1; - if (value >= 12 ) { - value = 12; - } - QString values = QString::number(value); - params.put("MaxTimeOffroad", values.toStdString()); - refresh(); - }); refresh(); } @@ -777,448 +760,141 @@ void MaxTimeOffroad::refresh() { QString minute = tr("m"); QString hour = tr("h"); if (option == "0") { - label.setText(tr("Always On")); + setLabel(tr("Always On")); } else if (option == "1") { - label.setText(tr("Immediate")); + setLabel(tr("Immediate")); } else if (option == "2") { - label.setText("30" + second); + setLabel("30" + second); } else if (option == "3") { - label.setText("1" + minute); + setLabel("1" + minute); } else if (option == "4") { - label.setText("3" + minute); + setLabel("3" + minute); } else if (option == "5") { - label.setText("5" + minute); + setLabel("5" + minute); } else if (option == "6") { - label.setText("10" + minute); + setLabel("10" + minute); } else if (option == "7") { - label.setText("30" + minute); + setLabel("30" + minute); } else if (option == "8") { - label.setText("1" + hour); + setLabel("1" + hour); } else if (option == "9") { - label.setText("3" + hour); + setLabel("3" + hour); } else if (option == "10") { - label.setText("5" + hour); + setLabel("5" + hour); } else if (option == "11") { - label.setText("10" + hour); + setLabel("10" + hour); } else if (option == "12") { - label.setText("30" + hour); + setLabel("30" + hour); } - btnminus.setText("-"); - btnplus.setText("+"); } // Onroad Screen Off (Auto Onroad Screen Timer) -OnroadScreenOff::OnroadScreenOff() : AbstractControl( +OnroadScreenOff::OnroadScreenOff() : SPOptionControl ( + "OnroadScreenOff", tr("Driving Screen Off Timer"), tr("Turn off the device screen or reduce brightness to protect the screen after driving starts. It automatically brightens or turns on when a touch or event occurs."), - "../assets/offroad/icon_metric.png") + "../assets/offroad/icon_metric.png", + {-2, 10}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("OnroadScreenOff")); - int value = str.toInt(); - value = value - 1; - if (value <= -2 ) { - value = -2; - } - uiState()->scene.onroadScreenOff = value; - QString values = QString::number(value); - params.put("OnroadScreenOff", values.toStdString()); - refresh(); - emit toggleUpdated(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("OnroadScreenOff")); - int value = str.toInt(); - value = value + 1; - if (value >= 10 ) { - value = 10; - } - uiState()->scene.onroadScreenOff = value; - QString values = QString::number(value); - params.put("OnroadScreenOff", values.toStdString()); - refresh(); - emit toggleUpdated(); - }); refresh(); } -void OnroadScreenOff::refresh() -{ +void OnroadScreenOff::refresh() { QString option = QString::fromStdString(params.get("OnroadScreenOff")); QString second = tr("s"); if (option == "-2") { - label.setText(tr("Always On")); + setLabel(tr("Always On")); } else if (option == "-1") { - label.setText("15" + second); + setLabel("15" + second); } else if (option == "0") { - label.setText("30" + second); + setLabel("30" + second); } else { - label.setText(QString::fromStdString(params.get("OnroadScreenOff")) + "min(s)"); + setLabel(option + "min(s)"); } - btnminus.setText("-"); - btnplus.setText("+"); } // Onroad Screen Off Brightness -OnroadScreenOffBrightness::OnroadScreenOffBrightness() : AbstractControl( +OnroadScreenOffBrightness::OnroadScreenOffBrightness() : SPOptionControl ( + "OnroadScreenOffBrightness", tr("Driving Screen Off Brightness (%)"), tr("When using the Driving Screen Off feature, the brightness is reduced according to the automatic brightness ratio."), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {0, 100}, + 10) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("OnroadScreenOffBrightness")); - int value = str.toInt(); - value = value - 10; - if (value <= 0 ) { - value = 0; - } - uiState()->scene.onroadScreenOffBrightness = value; - QString values = QString::number(value); - params.put("OnroadScreenOffBrightness", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("OnroadScreenOffBrightness")); - int value = str.toInt(); - value = value + 10; - if (value >= 100 ) { - value = 100; - } - uiState()->scene.onroadScreenOffBrightness = value; - QString values = QString::number(value); - params.put("OnroadScreenOffBrightness", values.toStdString()); - refresh(); - }); refresh(); } void OnroadScreenOffBrightness::refresh() { QString option = QString::fromStdString(params.get("OnroadScreenOffBrightness")); if (option == "0") { - label.setText(tr("Dark")); + setLabel(tr("Dark")); } else { - label.setText(QString::fromStdString(params.get("OnroadScreenOffBrightness"))); + setLabel(option); } - btnminus.setText("-"); - btnplus.setText("+"); } // Brightness Control (Global) -BrightnessControl::BrightnessControl() : AbstractControl( +BrightnessControl::BrightnessControl() : SPOptionControl ( + "BrightnessControl", tr("Brightness Control (Global, %)"), tr("Manually adjusts the global brightness of the screen."), - "../assets/offroad/icon_metric.png") + "../assets/offroad/icon_metric.png", + {0, 100}, + 5) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("BrightnessControl")); - int value = str.toInt(); - value = value - 5; - if (value <= 0 ) { - value = 0; - } - uiState()->scene.brightness = value; - QString values = QString::number(value); - params.put("BrightnessControl", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("BrightnessControl")); - int value = str.toInt(); - value = value + 5; - if (value >= 100 ) { - value = 100; - } - uiState()->scene.brightness = value; - QString values = QString::number(value); - params.put("BrightnessControl", values.toStdString()); - refresh(); - }); refresh(); } void BrightnessControl::refresh() { QString option = QString::fromStdString(params.get("BrightnessControl")); if (option == "0") { - label.setText(tr("Auto")); + setLabel(tr("Auto")); } else { - label.setText(QString::fromStdString(params.get("BrightnessControl"))); + setLabel(option); } - btnminus.setText("-"); - btnplus.setText("+"); } // Camera Offset Value -CameraOffset::CameraOffset() : AbstractControl( +CameraOffset::CameraOffset() : SPOptionControl ( + "CameraOffset", tr("Camera Offset (cm)"), tr("Hack to trick vehicle to be left or right biased in its lane. Decreasing the value will make the car keep more left, increasing will make it keep more right. Changes take effect immediately."), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {-10, 10}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - -QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("CameraOffset")); - int value = str.toInt(); - value = value - 1; - if (value <= -10 ) { - value = -10; - } - - QString values = QString::number(value); - params.put("CameraOffset", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("CameraOffset")); - int value = str.toInt(); - value = value + 1; - if (value >= 10 ) { - value = 10; - } - - QString values = QString::number(value); - params.put("CameraOffset", values.toStdString()); - refresh(); - }); refresh(); } void CameraOffset::refresh() { QString option = QString::fromStdString(params.get("CameraOffset")); - label.setText(QString::fromStdString(params.get("CameraOffset"))); - btnminus.setText("-"); - btnplus.setText("+"); + setLabel(option); } // Path Offset Value -PathOffset::PathOffset() : AbstractControl( +PathOffset::PathOffset() : SPOptionControl ( + "PathOffset", tr("Path Offset (cm)"), tr("Hack to trick the model path to be left or right biased of the lane. Decreasing the value will shift the model more left, increasing will shift the model more right. Changes take effect immediately."), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {-10, 10}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - -QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("PathOffset")); - int value = str.toInt(); - value = value - 1; - if (value <= -10 ) { - value = -10; - } - - QString values = QString::number(value); - params.put("PathOffset", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("PathOffset")); - int value = str.toInt(); - value = value + 1; - if (value >= 10 ) { - value = 10; - } - - QString values = QString::number(value); - params.put("PathOffset", values.toStdString()); - refresh(); - }); refresh(); } void PathOffset::refresh() { QString option = QString::fromStdString(params.get("PathOffset")); - label.setText(QString::fromStdString(params.get("PathOffset"))); - btnminus.setText("-"); - btnplus.setText("+"); + setLabel(option); } // Auto Lane Change Timer (ALCT) -AutoLaneChangeTimer::AutoLaneChangeTimer() : AbstractControl( +AutoLaneChangeTimer::AutoLaneChangeTimer() : SPOptionControl ( + "AutoLaneChangeTimer", tr("Auto Lane Change Timer"), tr("Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set.\nPlease use caution when using this feature. Only use the blinker when traffic and road conditions permit."), - "../assets/offroad/icon_road.png") + "../assets/offroad/icon_road.png", + {0, 5}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("AutoLaneChangeTimer")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("AutoLaneChangeTimer", values.toStdString()); - refresh(); - emit toggleUpdated(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("AutoLaneChangeTimer")); - int value = str.toInt(); - value = value + 1; - if (value >= 5 ) { - value = 5; - } - QString values = QString::number(value); - params.put("AutoLaneChangeTimer", values.toStdString()); - refresh(); - emit toggleUpdated(); - }); refresh(); } @@ -1226,24 +902,23 @@ void AutoLaneChangeTimer::refresh() { QString option = QString::fromStdString(params.get("AutoLaneChangeTimer")); QString second = tr("s"); if (option == "0") { - label.setText(tr("Nudge")); + setLabel(tr("Nudge")); } else if (option == "1") { - label.setText(tr("Nudgeless")); + setLabel(tr("Nudgeless")); } else if (option == "2") { - label.setText("0.5" + second); + setLabel("0.5" + second); } else if (option == "3") { - label.setText("1" + second); + setLabel("1" + second); } else if (option == "4") { - label.setText("1.5" + second); + setLabel("1.5" + second); } else { - label.setText("2" + second); + setLabel("2" + second); } - btnminus.setText("-"); - btnplus.setText("+"); } // G.A.C. Mode -GapAdjustCruiseMode::GapAdjustCruiseMode() : AbstractControl( +GapAdjustCruiseMode::GapAdjustCruiseMode() : SPOptionControl ( + "GapAdjustCruiseMode", tr("Mode"), QString("%1
" "%2
" @@ -1251,485 +926,136 @@ GapAdjustCruiseMode::GapAdjustCruiseMode() : AbstractControl( .arg(tr("SW: Steering Wheel Button only")) .arg(tr("UI: User Interface Button on screen only")) .arg(tr("SW + UI: Steering Wheel Button + User Interface Button on screen")), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {0, 2}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("GapAdjustCruiseMode")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("GapAdjustCruiseMode", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("GapAdjustCruiseMode")); - int value = str.toInt(); - value = value + 1; - if (value >= 2 ) { - value = 2; - } - QString values = QString::number(value); - params.put("GapAdjustCruiseMode", values.toStdString()); - refresh(); - }); refresh(); } void GapAdjustCruiseMode::refresh() { QString option = QString::fromStdString(params.get("GapAdjustCruiseMode")); if (option == "0") { - label.setText(tr("S.W.")); + setLabel(tr("S.W.")); } else if (option == "1") { - label.setText(tr("UI")); + setLabel(tr("UI")); } else if (option == "2") { - label.setText(tr("S.W. + UI")); + setLabel(tr("S.W. + UI")); } - btnminus.setText("-"); - btnplus.setText("+"); } -TorqueFriction::TorqueFriction() : AbstractControl( +TorqueFriction::TorqueFriction() : SPOptionControl ( + "TorqueFriction", tr("FRICTION"), tr("Adjust Friction for the Torque Lateral Controller"), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {0, 50}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("TorqueFriction")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("TorqueFriction", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("TorqueFriction")); - int value = str.toInt(); - value = value + 1; - if (value >= 50 ) { - value = 50; - } - QString values = QString::number(value); - params.put("TorqueFriction", values.toStdString()); - refresh(); - }); refresh(); } void TorqueFriction::refresh() { - auto strs = QString::fromStdString(params.get("TorqueFriction")); - int valuei = strs.toInt(); - float valuef = valuei * 0.01; - QString valuefs = QString::number(valuef); - label.setText(QString::fromStdString(valuefs.toStdString())); - btnminus.setText("-"); - btnplus.setText("+"); + QString torqueFrictionStr = QString::fromStdString(params.get("TorqueFriction")); + float valuef = torqueFrictionStr.toInt() * 0.01; + setLabel(QString::number(valuef)); } -TorqueMaxLatAccel::TorqueMaxLatAccel() : AbstractControl( +TorqueMaxLatAccel::TorqueMaxLatAccel() : SPOptionControl ( + "TorqueMaxLatAccel", tr("LAT_ACCEL_FACTOR"), tr("Adjust Max Lateral Acceleration for the Torque Lateral Controller"), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {1, 500}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("TorqueMaxLatAccel")); - int value = str.toInt(); - value = value - 1; - if (value <= 1 ) { - value = 1; - } - QString values = QString::number(value); - params.put("TorqueMaxLatAccel", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("TorqueMaxLatAccel")); - int value = str.toInt(); - value = value + 1; - if (value >= 500 ) { - value = 500; - } - QString values = QString::number(value); - params.put("TorqueMaxLatAccel", values.toStdString()); - refresh(); - }); refresh(); } void TorqueMaxLatAccel::refresh() { - auto strs = QString::fromStdString(params.get("TorqueMaxLatAccel")); - int valuei = strs.toInt(); - float valuef = valuei * 0.01; - QString valuefs = QString::number(valuef); - label.setText(QString::fromStdString(valuefs.toStdString())); - btnminus.setText("-"); - btnplus.setText("+"); + QString torqueMaxLatAccelStr = QString::fromStdString(params.get("TorqueMaxLatAccel")); + float valuef = torqueMaxLatAccelStr.toInt() * 0.01; + setLabel(QString::number(valuef)); } // Speed Limit Control Custom Offset Type -SpeedLimitOffsetType::SpeedLimitOffsetType() : AbstractControl( +SpeedLimitOffsetType::SpeedLimitOffsetType() : SPOptionControl ( + "SpeedLimitOffsetType", tr("Speed Limit Offset Type"), QString("%1
" "%2") .arg(tr("Set speed limit higher or lower than actual speed limit for a more personalized drive.")) .arg(tr("To use this feature, turn off \"Enable Speed Limit % Offset\".")), - "../assets/offroad/icon_speed_limit.png") + "../assets/offroad/icon_speed_limit.png", + {0, 2}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("SpeedLimitOffsetType")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("SpeedLimitOffsetType", values.toStdString()); - refresh(); - emit offsetTypeUpdated(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("SpeedLimitOffsetType")); - int value = str.toInt(); - value = value + 1; - if (value >= 2 ) { - value = 2; - } - QString values = QString::number(value); - params.put("SpeedLimitOffsetType", values.toStdString()); - refresh(); - emit offsetTypeUpdated(); - }); refresh(); } void SpeedLimitOffsetType::refresh() { QString option = QString::fromStdString(params.get("SpeedLimitOffsetType")); if (option == "0") { - label.setText(tr("Default")); + setLabel(tr("Default")); } else if (option == "1") { - label.setText(tr("%")); + setLabel(tr("%")); } else if (option == "2") { - label.setText(tr("Value")); + setLabel(tr("Value")); } - btnminus.setText("-"); - btnplus.setText("+"); } // Speed Limit Control Custom Offset -SpeedLimitValueOffset::SpeedLimitValueOffset() : AbstractControl( +SpeedLimitValueOffset::SpeedLimitValueOffset() : SPOptionControl ( + "SpeedLimitValueOffset", "", "", - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {-30, 30}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("SpeedLimitValueOffset")); - int value = str.toInt(); - value = value - 1; - if (value <= -30 ) { - value = -30; - } - QString values = QString::number(value); - params.put("SpeedLimitValueOffset", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("SpeedLimitValueOffset")); - int value = str.toInt(); - value = value + 1; - if (value >= 30 ) { - value = 30; - } - QString values = QString::number(value); - params.put("SpeedLimitValueOffset", values.toStdString()); - refresh(); - }); refresh(); } void SpeedLimitValueOffset::refresh() { - label.setText(QString::fromStdString(params.get("SpeedLimitValueOffset"))); - btnminus.setText("-"); - btnplus.setText("+"); + QString option = QString::fromStdString(params.get("SpeedLimitValueOffset")); + setLabel(option); } // Developer UI Info (Dev UI) -DevUiInfo::DevUiInfo() : AbstractControl( +DevUiInfo::DevUiInfo() : SPOptionControl ( + "DevUIInfo", tr("Developer UI List"), tr("Select the number of lists of real-time parameters you would like to display on the sunnypilot screen while driving."), - "../assets/offroad/icon_blank.png") + "../assets/offroad/icon_blank.png", + {0, 1}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("DevUIInfo")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("DevUIInfo", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("DevUIInfo")); - int value = str.toInt(); - value = value + 1; - if (value >= 1 ) { - value = 1; - } - QString values = QString::number(value); - params.put("DevUIInfo", values.toStdString()); - refresh(); - }); refresh(); } void DevUiInfo::refresh() { QString option = QString::fromStdString(params.get("DevUIInfo")); if (option == "0") { - label.setText(tr("5 Metrics")); + setLabel(tr("5 Metrics")); } else { - label.setText(tr("10 Metrics")); + setLabel(tr("10 Metrics")); } - btnminus.setText("-"); - btnplus.setText("+"); } // Display Metrics above Chevron -ChevronInfo::ChevronInfo() : AbstractControl( +ChevronInfo::ChevronInfo() : SPOptionControl ( + "ChevronInfo", tr("Display Metrics above Chevron"), tr("Display useful metrics above the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."), - "../assets/offroad/icon_calibration.png") + "../assets/offroad/icon_calibration.png", + {0, 2}) { -{ - label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); - label.setStyleSheet("color: #e0e879"); - hlayout->addWidget(&label); - - btnminus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnplus.setStyleSheet(R"( - padding: 0; - border-radius: 50px; - font-size: 50px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - )"); - btnminus.setFixedSize(150, 100); - btnplus.setFixedSize(150, 100); - hlayout->addWidget(&btnminus); - hlayout->addWidget(&btnplus); - - QObject::connect(&btnminus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("ChevronInfo")); - int value = str.toInt(); - value = value - 1; - if (value <= 0 ) { - value = 0; - } - QString values = QString::number(value); - params.put("ChevronInfo", values.toStdString()); - refresh(); - }); - - QObject::connect(&btnplus, &QPushButton::clicked, [=]() { - auto str = QString::fromStdString(params.get("ChevronInfo")); - int value = str.toInt(); - value = value + 1; - if (value >= 2 ) { - value = 2; - } - QString values = QString::number(value); - params.put("ChevronInfo", values.toStdString()); - refresh(); - }); refresh(); } void ChevronInfo::refresh() { QString option = QString::fromStdString(params.get("ChevronInfo")); if (option == "0") { - label.setText(tr("OFF")); + setLabel(tr("OFF")); } else if (option == "1") { - label.setText(tr("Distance")); + setLabel(tr("Distance")); } else if (option == "2") { - label.setText(tr("Speed")); + setLabel(tr("Speed")); } - btnminus.setText("-"); - btnplus.setText("+"); } SidebarTemp::SidebarTemp(QWidget *parent) : QWidget(parent), outer_layout(this) { diff --git a/selfdrive/ui/qt/offroad/sunnypilot_settings.h b/selfdrive/ui/qt/offroad/sunnypilot_settings.h index 0623e596ae..29f08ed5d7 100644 --- a/selfdrive/ui/qt/offroad/sunnypilot_settings.h +++ b/selfdrive/ui/qt/offroad/sunnypilot_settings.h @@ -8,223 +8,259 @@ #include "selfdrive/ui/qt/widgets/controls.h" -class SpeedLimitOffsetType : public AbstractControl { +class SPOptionControl : public AbstractControl { + Q_OBJECT + +private: + struct MinMaxValue { + int min_value; + int max_value; + }; + +public: + SPOptionControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const MinMaxValue &range, const int per_value_change = 1) : AbstractControl(title, desc, icon) { + const QString style = R"( + QPushButton { + padding: 0; + border-radius: 50px; + font-size: 35px; + font-weight: 500; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:disabled { + color: #33E4E4E4; + } + )"; + + label.setAlignment(Qt::AlignVCenter|Qt::AlignRight); + label.setStyleSheet("color: #e0e879"); + hlayout->addWidget(&label); + + const std::vector button_texts{"-", "+"}; + + key = param.toStdString(); + value = atoi(params.get(key).c_str()); + + button_group = new QButtonGroup(this); + button_group->setExclusive(true); + for (int i = 0; i < button_texts.size(); i++) { + QPushButton *button = new QPushButton(button_texts[i], this); + button->setStyleSheet(style); + button->setFixedSize(150, 100); + hlayout->addWidget(button); + button_group->addButton(button, i); + + int change_value = (i == 0) ? -per_value_change : per_value_change; + + QObject::connect(button, &QPushButton::clicked, [=]() { + key = param.toStdString(); + value = atoi(params.get(key).c_str()); + value += change_value; + value = std::clamp(value, range.min_value, range.max_value); + params.put(key, QString::number(value).toStdString()); + updateLabels(); + + if (update) { + emit updateOtherToggles(); + } + }); + } + } + + void setUpdateOtherToggles(bool _update) { + update = _update; + } + + inline void setLabel(const QString &text) { label.setText(text); } + +signals: + void updateLabels(); + void updateOtherToggles(); + +private: + std::string key; + int value; + QButtonGroup *button_group; + QLabel label; + Params params; + std::map option_label = {}; + bool update = false; +}; + +class SpeedLimitOffsetType : public SPOptionControl { Q_OBJECT public: SpeedLimitOffsetType(); -signals: - void offsetTypeUpdated(); + void refresh(); private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; Params params; - - void refresh(); }; -class SpeedLimitValueOffset : public AbstractControl { +class SpeedLimitValueOffset : public SPOptionControl { Q_OBJECT public: SpeedLimitValueOffset(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class MaxTimeOffroad : public AbstractControl { +class MaxTimeOffroad : public SPOptionControl { Q_OBJECT public: MaxTimeOffroad(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class OnroadScreenOff : public AbstractControl { +class OnroadScreenOff : public SPOptionControl { Q_OBJECT public: OnroadScreenOff(); -signals: - void toggleUpdated(); + void refresh(); private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; Params params; - - void refresh(); }; -class OnroadScreenOffBrightness : public AbstractControl { +class OnroadScreenOffBrightness : public SPOptionControl { Q_OBJECT public: OnroadScreenOffBrightness(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class BrightnessControl : public AbstractControl { +class BrightnessControl : public SPOptionControl { Q_OBJECT public: BrightnessControl(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class CameraOffset : public AbstractControl { +class CameraOffset : public SPOptionControl { Q_OBJECT public: CameraOffset(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class PathOffset : public AbstractControl { +class PathOffset : public SPOptionControl { Q_OBJECT public: PathOffset(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class AutoLaneChangeTimer : public AbstractControl { +class AutoLaneChangeTimer : public SPOptionControl { Q_OBJECT public: AutoLaneChangeTimer(); + void refresh(); + signals: void toggleUpdated(); private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; Params params; - - void refresh(); }; -class GapAdjustCruiseMode : public AbstractControl { +class GapAdjustCruiseMode : public SPOptionControl { Q_OBJECT public: GapAdjustCruiseMode(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class TorqueFriction : public AbstractControl { +class TorqueFriction : public SPOptionControl { Q_OBJECT public: TorqueFriction(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class TorqueMaxLatAccel : public AbstractControl { +class TorqueMaxLatAccel : public SPOptionControl { Q_OBJECT public: TorqueMaxLatAccel(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class DevUiInfo : public AbstractControl { +class DevUiInfo : public SPOptionControl { Q_OBJECT public: DevUiInfo(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; -class ChevronInfo : public AbstractControl { +class ChevronInfo : public SPOptionControl { Q_OBJECT public: ChevronInfo(); -private: - QPushButton btnplus; - QPushButton btnminus; - QLabel label; - Params params; - void refresh(); + +private: + Params params; }; class SidebarTemp : public QWidget { diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index f2f5a21df9..f31f0c74a6 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -1,7 +1,10 @@ #include "selfdrive/ui/qt/onroad.h" +#include #include #include +#include +#include #include #include @@ -15,6 +18,17 @@ #include "selfdrive/ui/qt/maps/map_panel.h" #endif +static void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity) { + p.setRenderHint(QPainter::Antialiasing); + p.setOpacity(1.0); // bg dictates opacity of ellipse + p.setPen(Qt::NoPen); + p.setBrush(bg); + p.drawEllipse(center, btn_size / 2, btn_size / 2); + p.setOpacity(opacity); + p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img); + p.setOpacity(1.0); +} + OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setMargin(UI_BORDER_SIZE); @@ -52,9 +66,14 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState); QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition); + QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged); } void OnroadWindow::updateState(const UIState &s) { + if (!s.scene.started) { + return; + } + QColor bgColor = bg_colors[s.status]; Alert alert = Alert::get(*(s.sm), s.scene.started_frame, s.scene.display_debug_alert_frame); alerts->updateAlert(alert); @@ -189,7 +208,7 @@ void OnroadWindow::offroadTransition(bool offroad) { #ifdef ENABLE_MAPS if (!offroad) { bool custom_mapbox = params.getBool("CustomMapbox") && QString::fromStdString(params.get("CustomMapboxTokenSk")) != ""; - if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty() || custom_mapbox)) { + if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty() || custom_mapbox)) { auto m = new MapPanel(get_mapbox_settings()); map = m; @@ -209,6 +228,17 @@ void OnroadWindow::offroadTransition(bool offroad) { alerts->updateAlert({}); } +void OnroadWindow::primeChanged(bool prime) { +#ifdef ENABLE_MAPS + if (map && (!prime && MAPBOX_TOKEN.isEmpty())) { + nvg->map_settings_btn->setEnabled(false); + nvg->map_settings_btn->setVisible(false); + map->deleteLater(); + map = nullptr; + } +#endif +} + void OnroadWindow::paintEvent(QPaintEvent *event) { QPainter p(this); p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255)); @@ -312,17 +342,8 @@ void ExperimentalButton::updateState(const UIState &s) { void ExperimentalButton::paintEvent(QPaintEvent *event) { QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - - QPoint center(btn_size / 2, btn_size / 2); QPixmap img = experimental_mode ? experimental_img : engage_img; - - p.setOpacity(1.0); - p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 166)); - p.drawEllipse(center, btn_size / 2, btn_size / 2); - p.setOpacity((isDown() || !engageable) ? 0.6 : 1.0); - p.drawPixmap((btn_size - img_size) / 2, (btn_size - img_size) / 2, img); + drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0); } @@ -338,16 +359,7 @@ MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) { void MapSettingsButton::paintEvent(QPaintEvent *event) { QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - - QPoint center(btn_size / 2, btn_size / 2); - - p.setOpacity(1.0); - p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 166)); - p.drawEllipse(center, btn_size / 2, btn_size / 2); - p.setOpacity(isDown() ? 0.6 : 1.0); - p.drawPixmap((btn_size - img_size) / 2, (btn_size - img_size) / 2, settings_img); + drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0); } @@ -409,9 +421,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const bool cs_alive = sm.alive("controlsState"); const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); - const auto cs = sm["controlsState"].getControlsState(); const auto car_state = sm["carState"].getCarState(); + const auto nav_instruction = sm["navInstruction"].getNavInstruction(); const auto car_control = sm["carControl"].getCarControl(); const auto radar_state = sm["radarState"].getRadarState(); const auto gpsLocationExternal = sm["gpsLocationExternal"].getGpsLocationExternal(); @@ -420,100 +432,91 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { // Handle older routes where vCruiseCluster is not set float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); - float set_speed = cs_alive ? v_cruise : SET_SPEED_NA; - bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; - if (cruise_set && !s.scene.is_metric) { - set_speed *= KM_TO_MILE; + setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; + is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; + if (is_cruise_set && !s.scene.is_metric) { + setSpeed *= KM_TO_MILE; } // Handle older routes where vEgoCluster is not set - float v_ego; - if ((sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) || s.scene.true_vego_ui) { - v_ego = sm["carState"].getCarState().getVEgo(); - } else { - v_ego = sm["carState"].getCarState().getVEgoCluster(); - v_ego_cluster_seen = true; - } - float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; + v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; + float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); + v_ego = s.scene.true_vego_ui ? car_state.getVEgo() : v_ego; + speed = cs_alive ? std::max(0.0, v_ego) : 0.0; + speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; - auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); - float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0; - speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); + auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); + speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; + speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); - setProperty("speedLimit", speed_limit); - setProperty("has_us_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); - setProperty("has_eu_speed_limit", nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); + has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + is_metric = s.scene.is_metric; + speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); + hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); + status = s.status; // TODO: Add minimum speed? - setProperty("left_blindspot", cs_alive && car_state.getLeftBlindspot()); - setProperty("right_blindspot", cs_alive && car_state.getRightBlindspot()); + left_blindspot = cs_alive && car_state.getLeftBlindspot(); + right_blindspot = cs_alive && car_state.getRightBlindspot(); - setProperty("is_cruise_set", cruise_set); - setProperty("is_metric", s.scene.is_metric); - setProperty("speed", cur_speed); - setProperty("setSpeed", set_speed); - setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); - setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE)); - setProperty("status", s.status); + steerOverride = car_state.getSteeringPressed(); + gasOverride = car_state.getGasPressed(); + latActive = car_control.getLatActive(); + madsEnabled = car_state.getMadsEnabled(); - setProperty("steerOverride", car_state.getSteeringPressed()); - setProperty("gasOverride", car_state.getGasPressed()); - setProperty("latActive", car_control.getLatActive()); - setProperty("madsEnabled", car_state.getMadsEnabled()); + brakeLights = car_state.getBrakeLights() && s.scene.visual_brake_lights; - setProperty("brakeLights", car_state.getBrakeLights() && s.scene.visual_brake_lights); + standStillTimer = s.scene.stand_still_timer; + standStill = car_state.getStandstill(); + standstillElapsedTime = lateral_plan.getStandstillElapsed(); - setProperty("standStillTimer", s.scene.stand_still_timer); - setProperty("standStill", car_state.getStandstill()); - setProperty("standstillElapsedTime", lateral_plan.getStandstillElapsed()); + hideVEgoUi = s.scene.hide_vego_ui; - setProperty("hideVEgoUi", s.scene.hide_vego_ui); + gac = s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control && + car_state.getCruiseState().getAvailable(); + gacTr = s.scene.gac_tr; - setProperty("gac", s.scene.gac && s.scene.gac_mode != 0 && s.scene.longitudinal_control && - car_state.getCruiseState().getAvailable()); - setProperty("gacTr", s.scene.gac_tr); - - setProperty("mapVisible", s.scene.map_visible); + mapVisible = s.scene.map_visible; // ############################## DEV UI START ############################## - setProperty("lead_d_rel", radar_state.getLeadOne().getDRel()); - setProperty("lead_v_rel", radar_state.getLeadOne().getVRel()); - setProperty("lead_status", radar_state.getLeadOne().getStatus()); - setProperty("lateralState", QString::fromStdString(cs.getLateralState())); - setProperty("angleSteers", car_state.getSteeringAngleDeg()); - setProperty("steerAngleDesired", cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg()); - setProperty("curvature", cs.getCurvature()); - setProperty("roll", sm["liveParameters"].getLiveParameters().getRoll()); - setProperty("memoryUsagePercent", sm["deviceState"].getDeviceState().getMemoryUsagePercent()); - setProperty("devUiEnabled", s.scene.dev_ui_enabled); - setProperty("devUiInfo", s.scene.dev_ui_info); - setProperty("gpsAccuracy", gpsLocationExternal.getAccuracy()); - setProperty("altitude", gpsLocationExternal.getAltitude()); - setProperty("vEgo", car_state.getVEgo()); - setProperty("aEgo", car_state.getAEgo()); - setProperty("steeringTorqueEps", car_state.getSteeringTorqueEps()); - setProperty("bearingAccuracyDeg", gpsLocationExternal.getBearingAccuracyDeg()); - setProperty("bearingDeg", gpsLocationExternal.getBearingDeg()); - setProperty("torquedUseParams", s.scene.live_torque_toggle && !s.scene.custom_torque_toggle); - setProperty("latAccelFactorFiltered", ltp.getLatAccelFactorFiltered()); - setProperty("frictionCoefficientFiltered", ltp.getFrictionCoefficientFiltered()); - setProperty("liveValid", ltp.getLiveValid()); + lead_d_rel = radar_state.getLeadOne().getDRel(); + lead_v_rel = radar_state.getLeadOne().getVRel(); + lead_status = radar_state.getLeadOne().getStatus(); + lateralState = QString::fromStdString(cs.getLateralState()); + angleSteers = car_state.getSteeringAngleDeg(); + steerAngleDesired = cs.getLateralControlState().getPidState().getSteeringAngleDesiredDeg(); + curvature = cs.getCurvature(); + roll = sm["liveParameters"].getLiveParameters().getRoll(); + memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent(); + devUiEnabled = s.scene.dev_ui_enabled; + devUiInfo = s.scene.dev_ui_info; + gpsAccuracy = gpsLocationExternal.getAccuracy(); + altitude = gpsLocationExternal.getAltitude(); + vEgo = car_state.getVEgo(); + aEgo = car_state.getAEgo(); + steeringTorqueEps = car_state.getSteeringTorqueEps(); + bearingAccuracyDeg = gpsLocationExternal.getBearingAccuracyDeg(); + bearingDeg = gpsLocationExternal.getBearingDeg(); + torquedUseParams = s.scene.live_torque_toggle && !s.scene.custom_torque_toggle; + latAccelFactorFiltered = ltp.getLatAccelFactorFiltered(); + frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered(); + liveValid = ltp.getLiveValid(); // ############################## DEV UI END ############################## - setProperty("btnPerc", s.scene.sleep_btn_opacity * 0.05); + btnPerc = s.scene.sleep_btn_opacity * 0.05; - setProperty("left_blinker", car_state.getLeftBlinker()); - setProperty("right_blinker", car_state.getRightBlinker()); - setProperty("lane_change_edge_block", lateral_plan.getLaneChangeEdgeBlock()); + left_blinker = car_state.getLeftBlinker(); + right_blinker = car_state.getRightBlinker(); + lane_change_edge_block = lateral_plan.getLaneChangeEdgeBlock(); // update engageability/experimental mode button experimental_btn->updateState(s); // update DM icon auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); - setProperty("dmActive", dm_state.getIsActiveMode()); - setProperty("rightHandDM", dm_state.getIsRHD()); + dmActive = dm_state.getIsActiveMode(); + rightHandDM = dm_state.getIsRHD(); // DM icon transition dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); @@ -532,17 +535,17 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { QColor vtc_color = tcs_colors[int(vtcState)]; vtc_color.setAlpha(lpSoruce == cereal::LongitudinalPlan::LongitudinalPlanSource::TURN ? 255 : 100); - setProperty("showVTC", vtcState > cereal::LongitudinalPlan::VisionTurnControllerState::DISABLED); - setProperty("vtcSpeed", QString::number(std::nearbyint(vtc_speed))); - setProperty("vtcColor", vtc_color); - setProperty("showDebugUI", s.scene.show_debug_ui); + showVTC = vtcState > cereal::LongitudinalPlan::VisionTurnControllerState::DISABLED; + vtcSpeed = QString::number(std::nearbyint(vtc_speed)); + vtcColor = vtc_color; + showDebugUI = s.scene.show_debug_ui; const auto lmd = sm["liveMapData"].getLiveMapData(); QString road_name = QString::fromStdString(lmd.getCurrentRoadName()); const auto data_type = int(lmd.getDataType()); const QString data_type_draw(data_type == 2 ? "🌐 " : ""); - setProperty("roadName", !road_name.isEmpty() ? data_type_draw + road_name : ""); + roadName = !road_name.isEmpty() ? data_type_draw + road_name : ""; float speed_limit_slc = lp.getSpeedLimit() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); const float speed_limit_offset = lp.getSpeedLimitOffset() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); @@ -562,25 +565,25 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const QString sl_substring(sl_inactive || sl_temp_inactive ? sl_inactive_str : sl_distance > 0 ? sl_distance_str : sl_offset_str); - setProperty("showSpeedLimit", speed_limit_slc > 0.0); - setProperty("speedLimitSLC", speed_limit_slc); - setProperty("slcSubText", sl_substring); - setProperty("slcSubTextSize", sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0); - setProperty("mapSourcedSpeedLimit", lp.getIsMapSpeedLimit()); - setProperty("slcActive", !sl_inactive && !sl_temp_inactive); - setProperty("overSpeedLimit", (((speed_limit_slc + speed_limit_offset) < cur_speed) && !sl_inactive && !sl_temp_inactive) || - ((speed_limit_slc < cur_speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive))); + showSpeedLimit = speed_limit_slc > 0.0; + speedLimitSLC = speed_limit_slc; + slcSubText = sl_substring; + slcSubTextSize = sl_inactive || sl_temp_inactive || sl_distance > 0 ? 25.0 : 27.0; + mapSourcedSpeedLimit = lp.getIsMapSpeedLimit(); + slcActive = !sl_inactive && !sl_temp_inactive; + overSpeedLimit = (((speed_limit_slc + speed_limit_offset) < speed) && !sl_inactive && !sl_temp_inactive) || + ((speed_limit_slc < speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive)); const float tsc_speed = lp.getTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); const auto tscState = lp.getTurnSpeedControlState(); const int t_distance = int(lp.getDistToTurn() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH) / 10.0) * 10; const QString t_distance_str(QString::number(t_distance) + (s.scene.is_metric ? "m" : "f")); - setProperty("showTurnSpeedLimit", tsc_speed > 0.0 && (tsc_speed < cur_speed || s.scene.show_debug_ui)); - setProperty("turnSpeedLimit", QString::number(std::nearbyint(tsc_speed))); - setProperty("tscSubText", t_distance > 0 ? t_distance_str : QString("")); - setProperty("tscActive", tscState > cereal::LongitudinalPlan::SpeedLimitControlState::TEMP_INACTIVE); - setProperty("curveSign", lp.getTurnSign()); + showTurnSpeedLimit = tsc_speed > 0.0 && (tsc_speed < speed || s.scene.show_debug_ui); + turnSpeedLimit = QString::number(std::nearbyint(tsc_speed)); + tscSubText = t_distance > 0 ? t_distance_str : QString(""); + tscActive = tscState > cereal::LongitudinalPlan::SpeedLimitControlState::TEMP_INACTIVE; + curveSign = lp.getTurnSign(); } static int reverse_delay = 0; @@ -595,7 +598,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { } } - setProperty("reversing", reverse_allowed); + reversing = reverse_allowed; int e2eLStatus = 0; static bool chime_sent = false; @@ -651,8 +654,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { } else { } - setProperty("e2eStatus", chime_prompt); - setProperty("e2eState", e2eLStatus); + e2eStatus = chime_prompt; + e2eState = e2eLStatus; #ifdef ENABLE_DASHCAM recorder->updateState(s); @@ -872,16 +875,6 @@ void AnnotatedCameraWidget::drawCenteredText(QPainter &p, int x, int y, const QS p.drawText(real_rect, Qt::AlignCenter, text); } -void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { - p.setOpacity(1.0); // bg dictates opacity of ellipse - p.setPen(Qt::NoPen); - p.setBrush(bg); - p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size); - p.setOpacity(opacity); - p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img); - p.setOpacity(1.0); -} - void AnnotatedCameraWidget::drawVisionTurnControllerUI(QPainter &p, int x, int y, int size, const QColor &color, const QString &vision_speed, int alpha) { QRect rvtc(x, y, size, size); @@ -1626,7 +1619,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) int x = rightHandDM ? width() - offset : offset; int y = height() - offset - scene.rn_offset; float opacity = dmActive ? 0.65 : 0.2; - drawIcon(painter, x, y, dm_img, blackColor(70), opacity); + drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity); // face QPointF face_kpts_draw[std::size(default_face_kpts_3d)]; @@ -1785,9 +1778,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) { bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); if (has_wide_cam) { float v_ego = sm["carState"].getCarState().getVEgo(); - if ((v_ego < 10) || available_streams.size() == 1) { + float steer_angle = sm["carState"].getCarState().getSteeringAngleDeg(); + if ((v_ego < 10) || available_streams.size() == 1 || (std::fabs(steer_angle) > 45)) { wide_cam_requested = true; - } else if (v_ego > 15) { + } else if ((v_ego > 15) && (std::fabs(steer_angle) < 30)) { wide_cam_requested = false; } wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 2edeca94f8..8bfca2c062 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include @@ -24,7 +26,7 @@ class OnroadAlerts : public QWidget { Q_OBJECT public: - OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}; + OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {} void updateAlert(const Alert &a); protected: @@ -69,96 +71,6 @@ private: // container window for the NVG UI class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT - Q_PROPERTY(float speed MEMBER speed); - Q_PROPERTY(QString speedUnit MEMBER speedUnit); - Q_PROPERTY(float setSpeed MEMBER setSpeed); - Q_PROPERTY(float speedLimit MEMBER speedLimit); - Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set); - Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit); - Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit); - Q_PROPERTY(bool is_metric MEMBER is_metric); - Q_PROPERTY(bool left_blindspot MEMBER left_blindspot); - Q_PROPERTY(bool right_blindspot MEMBER right_blindspot); - - Q_PROPERTY(bool dmActive MEMBER dmActive); - Q_PROPERTY(bool hideBottomIcons MEMBER hideBottomIcons); - Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); - Q_PROPERTY(int status MEMBER status); - - Q_PROPERTY(bool steerOverride MEMBER steerOverride); - Q_PROPERTY(bool gasOverride MEMBER gasOverride); - Q_PROPERTY(bool latActive MEMBER latActive); - Q_PROPERTY(bool madsEnabled MEMBER madsEnabled); - - Q_PROPERTY(bool brakeLights MEMBER brakeLights); - - Q_PROPERTY(bool standStillTimer MEMBER standStillTimer); - Q_PROPERTY(bool standStill MEMBER standStill); - Q_PROPERTY(float standstillElapsedTime MEMBER standstillElapsedTime); - - Q_PROPERTY(bool showVTC MEMBER showVTC); - Q_PROPERTY(QString vtcSpeed MEMBER vtcSpeed); - Q_PROPERTY(QColor vtcColor MEMBER vtcColor); - Q_PROPERTY(bool showDebugUI MEMBER showDebugUI); - - Q_PROPERTY(QString roadName MEMBER roadName); - - Q_PROPERTY(bool showSpeedLimit MEMBER showSpeedLimit); - Q_PROPERTY(float speedLimitSLC MEMBER speedLimitSLC); - Q_PROPERTY(QString slcSubText MEMBER slcSubText); - Q_PROPERTY(float slcSubTextSize MEMBER slcSubTextSize); - Q_PROPERTY(bool overSpeedLimit MEMBER overSpeedLimit); - Q_PROPERTY(bool mapSourcedSpeedLimit MEMBER mapSourcedSpeedLimit); - Q_PROPERTY(bool slcActive MEMBER slcActive); - - Q_PROPERTY(bool showTurnSpeedLimit MEMBER showTurnSpeedLimit); - Q_PROPERTY(QString turnSpeedLimit MEMBER turnSpeedLimit); - Q_PROPERTY(QString tscSubText MEMBER tscSubText); - Q_PROPERTY(bool tscActive MEMBER tscActive); - Q_PROPERTY(int curveSign MEMBER curveSign); - - Q_PROPERTY(bool hideVEgoUi MEMBER hideVEgoUi); - - Q_PROPERTY(bool gac MEMBER gac); - Q_PROPERTY(int gacTr MEMBER gacTr); - - Q_PROPERTY(bool mapVisible MEMBER mapVisible); - - // ############################## DEV UI START ############################## - Q_PROPERTY(bool lead_status MEMBER lead_status); - Q_PROPERTY(float lead_d_rel MEMBER lead_d_rel); - Q_PROPERTY(float lead_v_rel MEMBER lead_v_rel); - Q_PROPERTY(QString lateralState MEMBER lateralState); - Q_PROPERTY(float angleSteers MEMBER angleSteers); - Q_PROPERTY(float steerAngleDesired MEMBER steerAngleDesired); - Q_PROPERTY(float curvature MEMBER curvature); - Q_PROPERTY(float roll MEMBER roll); - Q_PROPERTY(int memoryUsagePercent MEMBER memoryUsagePercent); - Q_PROPERTY(bool devUiEnabled MEMBER devUiEnabled); - Q_PROPERTY(int devUiInfo MEMBER devUiInfo); - Q_PROPERTY(float gpsAccuracy MEMBER gpsAccuracy); - Q_PROPERTY(float altitude MEMBER altitude); - Q_PROPERTY(float vEgo MEMBER vEgo); - Q_PROPERTY(float aEgo MEMBER aEgo); - Q_PROPERTY(float steeringTorqueEps MEMBER steeringTorqueEps); - Q_PROPERTY(float bearingAccuracyDeg MEMBER bearingAccuracyDeg); - Q_PROPERTY(float bearingDeg MEMBER bearingDeg); - Q_PROPERTY(bool torquedUseParams MEMBER torquedUseParams); - Q_PROPERTY(float latAccelFactorFiltered MEMBER latAccelFactorFiltered); - Q_PROPERTY(float frictionCoefficientFiltered MEMBER frictionCoefficientFiltered); - Q_PROPERTY(bool liveValid MEMBER liveValid); - // ############################## DEV UI END ############################## - - Q_PROPERTY(float btnPerc MEMBER btnPerc); - - Q_PROPERTY(bool reversing MEMBER reversing); - - Q_PROPERTY(int e2eState MEMBER e2eState); - Q_PROPERTY(int e2eStatus MEMBER e2eStatus); - - Q_PROPERTY(bool left_blinker MEMBER left_blinker); - Q_PROPERTY(bool right_blinker MEMBER right_blinker); - Q_PROPERTY(bool lane_change_edge_block MEMBER lane_change_edge_block); public: explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); @@ -167,7 +79,6 @@ public: MapSettingsButton *map_settings_btn; private: - void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity); void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); void drawCenteredText(QPainter &p, int x, int y, const QString &text, QColor color); void drawVisionTurnControllerUI(QPainter &p, int x, int y, int size, const QColor &color, const QString &speed, @@ -356,5 +267,6 @@ private: private slots: void offroadTransition(bool offroad); + void primeChanged(bool prime); void updateState(const UIState &s); }; diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py index 905d41a634..88c36290d9 100644 --- a/selfdrive/ui/qt/python_helpers.py +++ b/selfdrive/ui/qt/python_helpers.py @@ -1,10 +1,10 @@ import os from cffi import FFI -import sip # pylint: disable=import-error +import sip -from common.ffi_wrapper import suffix -from common.basedir import BASEDIR +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR def get_ffi(): diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index de5021c8bc..3b3666b19a 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -14,7 +15,8 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/input.h" const std::string USER_AGENT = "AGNOSSetup-"; @@ -306,6 +308,10 @@ void Setup::nextPage() { } Setup::Setup(QWidget *parent) : QStackedWidget(parent) { + if (std::getenv("MULTILANG")) { + selectLanguage(); + } + std::stringstream buffer; buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf(); float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.; @@ -368,6 +374,18 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) { )"); } +void Setup::selectLanguage() { + QMap langs = getSupportedLanguages(); + QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this); + if (!selection.isEmpty()) { + QString selectedLang = langs[selection]; + Params().put("LanguageSetting", selectedLang.toStdString()); + if (translator.load(":/" + selectedLang)) { + qApp->installTranslator(&translator); + } + } +} + int main(int argc, char *argv[]) { QApplication a(argc, argv); Setup setup; diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h index bf5d97070d..8c33acc380 100644 --- a/selfdrive/ui/qt/setup/setup.h +++ b/selfdrive/ui/qt/setup/setup.h @@ -3,6 +3,7 @@ #include #include #include +#include #include class Setup : public QStackedWidget { @@ -12,6 +13,7 @@ public: explicit Setup(QWidget *parent = 0); private: + void selectLanguage(); QWidget *low_voltage(); QWidget *getting_started(); QWidget *network_setup(); @@ -20,6 +22,7 @@ private: QWidget *failed_widget; QWidget *downloading_widget; + QTranslator translator; signals: void finished(const QString &url, const QString &error = ""); diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index ae5f26c77e..ed47590aa3 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -6,7 +6,7 @@ #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/setup/updater.h" -#include "selfdrive/ui/qt/offroad/networking.h" +#include "selfdrive/ui/qt/network/networking.h" Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent) : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) { diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index b52106cc20..f17822c5c4 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -86,7 +86,9 @@ void Sidebar::updateState(const UIState &s) { if (last_ping == 0) { connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; + connectStatus = nanos_since_boot() - last_ping < 80e9 + ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} + : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index ee7cd82209..01ad00915c 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc index 8f13576fb2..2404efa668 100644 --- a/selfdrive/ui/qt/spinner.cc +++ b/selfdrive/ui/qt/spinner.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/spinner.h" +#include #include #include #include @@ -93,7 +94,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) { notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read); QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update); -}; +} void Spinner::update(int n) { std::string line; diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index cfaaa5f4ae..4dd4acf56d 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -1,5 +1,9 @@ #include "selfdrive/ui/qt/util.h" +#include +#include +#include + #include #include #include @@ -39,7 +43,7 @@ std::optional getDongleId() { } QMap getSupportedLanguages() { - QFile f("translations/languages.json"); + QFile f(":/languages.json"); f.open(QIODevice::ReadOnly | QIODevice::Text); QString val = f.readAll(); @@ -64,19 +68,6 @@ QMap getCarNames() { return map; } -void clearLayout(QLayout* layout) { - while (layout->count() > 0) { - QLayoutItem* item = layout->takeAt(0); - if (QWidget* widget = item->widget()) { - widget->deleteLater(); - } - if (QLayout* childLayout = item->layout()) { - clearLayout(childLayout); - } - delete item; - } -} - QString timeAgo(const QDateTime &date) { int diff = date.secsTo(QDateTime::currentDateTimeUtc()); @@ -156,7 +147,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co } -QWidget* topWidget (QWidget* widget) { +QWidget* topWidget(QWidget* widget) { while (widget->parentWidget() != nullptr) widget=widget->parentWidget(); return widget; } @@ -219,8 +210,7 @@ QColor interpColor(float xv, std::vector xp, std::vector fp) { (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(), (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(), (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(), - (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha() - ); + (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()); } } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index f9fcbc73f6..65fa952c2b 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -1,10 +1,10 @@ #pragma once #include +#include #include #include -#include #include #include #include @@ -19,13 +19,12 @@ QString getUserAgent(); std::optional getDongleId(); QMap getSupportedLanguages(); QMap getCarNames(); -void clearLayout(QLayout* layout); void setQtSurfaceFormat(); void sigTermHandler(int s); QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); void initApp(int argc, char *argv[], bool disable_hidpi = true); -QWidget* topWidget (QWidget* widget); +QWidget* topWidget(QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); QPixmap bootstrapPixmap(const QString &id); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index f476737bfa..67eeb81f54 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -7,6 +7,9 @@ #endif #include +#include +#include +#include #include #include @@ -38,6 +41,8 @@ const char frame_fragment_shader[] = "out vec4 colorOut;\n" "void main() {\n" " colorOut = texture(uTexture, vTexCoord);\n" + // gamma to improve worst case visibility when dark + " colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n" "}\n"; #else const char frame_fragment_shader[] = @@ -205,7 +210,9 @@ void CameraWidget::updateFrameMat() { if (zoomed_view) { if (active_stream_type == VISION_STREAM_DRIVER) { - frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); + if (stream_width > 0 && stream_height > 0) { + frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); + } } else { // Project point at "infinity" to compute x and y offsets // to ensure this ends up in the middle of the screen diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 67568ea55c..fcd5b1b18f 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -1,7 +1,12 @@ #pragma once +#include +#include #include #include +#include +#include +#include #include #include @@ -60,7 +65,7 @@ protected: bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; GLuint textures[2]; - mat4 frame_mat; + mat4 frame_mat = {}; std::unique_ptr program; QColor bg = QColor("#000000"); diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index e440bc6441..87304a4585 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -23,7 +23,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons // title title_label = new QPushButton(title); title_label->setFixedHeight(120); - title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); + title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; border: none;"); hlayout->addWidget(title_label, 1); // value next to control button diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index fac66de9ed..811595726d 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 49fbdff222..52d0c5cd6e 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -9,7 +9,7 @@ #include "selfdrive/ui/qt/widgets/scrollview.h" -QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) { +DialogBase::DialogBase(QWidget *parent) : QDialog(parent) { Q_ASSERT(parent != nullptr); parent->installEventFilter(this); @@ -19,7 +19,7 @@ QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) { color: white; font-family: Inter; } - QDialogBase { + DialogBase { background-color: black; } QPushButton { @@ -36,19 +36,19 @@ QDialogBase::QDialogBase(QWidget *parent) : QDialog(parent) { )"); } -bool QDialogBase::eventFilter(QObject *o, QEvent *e) { +bool DialogBase::eventFilter(QObject *o, QEvent *e) { if (o == parent() && e->type() == QEvent::Hide) { reject(); } return QDialog::eventFilter(o, e); } -int QDialogBase::exec() { +int DialogBase::exec() { setMainWindow(this); return QDialog::exec(); } -InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : QDialogBase(parent) { +InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : DialogBase(parent) { main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(50, 55, 50, 50); main_layout->setSpacing(0); @@ -188,7 +188,7 @@ void InputDialog::setMinLength(int length) { // ConfirmationDialog ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, - const bool rich, QWidget *parent) : QDialogBase(parent) { + const bool rich, QWidget *parent) : DialogBase(parent) { QFrame *container = new QFrame(this); container->setStyleSheet(R"( QFrame { background-color: #1B1B1B; color: #C9C9C9; } @@ -245,7 +245,7 @@ bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) { // MultiOptionDialog -MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) : QDialogBase(parent) { +MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) : DialogBase(parent) { QFrame *container = new QFrame(this); container->setStyleSheet(R"( QFrame { background-color: #1B1B1B; } diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index e6c0fba86d..917ea21b57 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -10,18 +10,18 @@ #include "selfdrive/ui/qt/widgets/keyboard.h" -class QDialogBase : public QDialog { +class DialogBase : public QDialog { Q_OBJECT protected: - QDialogBase(QWidget *parent); + DialogBase(QWidget *parent); bool eventFilter(QObject *o, QEvent *e) override; public slots: int exec() override; }; -class InputDialog : public QDialogBase { +class InputDialog : public DialogBase { Q_OBJECT public: @@ -50,7 +50,7 @@ signals: void emitText(const QString &text); }; -class ConfirmationDialog : public QDialogBase { +class ConfirmationDialog : public DialogBase { Q_OBJECT public: @@ -61,7 +61,7 @@ public: static bool rich(const QString &prompt_text, QWidget *parent); }; -class MultiOptionDialog : public QDialogBase { +class MultiOptionDialog : public DialogBase { Q_OBJECT public: diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 162d27db02..370e9a53cc 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -104,37 +104,37 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) { // lowercase std::vector> lowercase = { - {"q","w","e","r","t","y","u","i","o","p"}, - {"a","s","d","f","g","h","j","k","l"}, - {"↑","z","x","c","v","b","n","m",BACKSPACE_KEY}, - {"123"," ",".",ENTER_KEY}, + {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"}, + {"a", "s", "d", "f", "g", "h", "j", "k", "l"}, + {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY}, + {"123", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, lowercase)); // uppercase std::vector> uppercase = { - {"Q","W","E","R","T","Y","U","I","O","P"}, - {"A","S","D","F","G","H","J","K","L"}, - {"↓","Z","X","C","V","B","N","M",BACKSPACE_KEY}, - {"123"," ",".",ENTER_KEY}, + {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"}, + {"A", "S", "D", "F", "G", "H", "J", "K", "L"}, + {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY}, + {"123", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, uppercase)); // numbers + specials std::vector> numbers = { - {"1","2","3","4","5","6","7","8","9","0"}, - {"-","/",":",";","(",")","$","&&","@","\""}, - {"#+=",".",",","?","!","`",BACKSPACE_KEY}, - {"ABC"," ",".",ENTER_KEY}, + {"1", "2", "3", "4", "5", "6", "7", "8", "9", "0"}, + {"-", "/", ":", ";", "(", ")", "$", "&&", "@", "\""}, + {"#+=", ".", ",", "?", "!", "`", BACKSPACE_KEY}, + {"ABC", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, numbers)); // extra specials std::vector> specials = { - {"[","]","{","}","#","%","^","*","+","="}, - {"_","\\","|","~","<",">","€","£","¥","•"}, - {"123",".",",","?","!","'",BACKSPACE_KEY}, - {"ABC"," ",".",ENTER_KEY}, + {"[", "]", "{", "}", "#", "%", "^", "*", "+", "="}, + {"_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"}, + {"123", ".", ",", "?", "!", "'", BACKSPACE_KEY}, + {"ABC", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, specials)); diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h index 516105719b..efc02d075d 100644 --- a/selfdrive/ui/qt/widgets/keyboard.h +++ b/selfdrive/ui/qt/widgets/keyboard.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index cdfa86c8eb..74ece36d15 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -1,5 +1,10 @@ #include "selfdrive/ui/qt/widgets/offroad_alerts.h" +#include +#include +#include +#include + #include #include #include diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h index 69c12b0602..ace2e75456 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.h +++ b/selfdrive/ui/qt/widgets/offroad_alerts.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 782b7cb5ce..324d6cf6ae 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -68,7 +68,7 @@ void PairingQRWidget::paintEvent(QPaintEvent *e) { } -PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { +PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) { QHBoxLayout *hlayout = new QHBoxLayout(this); hlayout->setContentsMargins(0, 0, 0, 0); hlayout->setSpacing(0); @@ -117,28 +117,19 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { } -PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) { +PrimeUserWidget::PrimeUserWidget(QWidget *parent) : QFrame(parent) { + setObjectName("primeWidget"); QVBoxLayout *mainLayout = new QVBoxLayout(this); - mainLayout->setContentsMargins(0, 0, 0, 0); - mainLayout->setSpacing(30); - - // subscribed prime layout - QWidget *primeWidget = new QWidget; - primeWidget->setObjectName("primeWidget"); - QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget); - primeLayout->setContentsMargins(56, 40, 56, 40); - primeLayout->setSpacing(20); + mainLayout->setContentsMargins(56, 40, 56, 40); + mainLayout->setSpacing(20); QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); - primeLayout->addWidget(subscribed); + mainLayout->addWidget(subscribed); QLabel *commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); - primeLayout->addWidget(commaPrime); - - mainLayout->addWidget(primeWidget); - mainLayout->addStretch(); + mainLayout->addWidget(commaPrime); } @@ -165,7 +156,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(30); QVector bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")}; - for (auto &b: bullets) { + for (auto &b : bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); l->setAlignment(Qt::AlignLeft); @@ -278,7 +269,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) { } QJsonObject json = doc.object(); - int prime_type = json["prime_type"].toInt(); + PrimeType prime_type = static_cast(json["prime_type"].toInt()); uiState()->setPrimeType(prime_type); if (!json["is_paired"].toBool()) { diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index b41bab1695..63341c4cea 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -7,15 +7,6 @@ #include "selfdrive/ui/qt/widgets/input.h" -enum PrimeType { - NONE = 0, - MAGENTA = 1, - LITE = 2, - BLUE = 3, - MAGENTA_NEW = 4, -}; - - // pairing QR code class PairingQRWidget : public QWidget { Q_OBJECT @@ -37,7 +28,7 @@ private slots: // pairing popup widget -class PairingPopup : public QDialogBase { +class PairingPopup : public DialogBase { Q_OBJECT public: diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index 5536593016..978bf83a63 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -10,7 +10,7 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { setWidgetResizable(true); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setStyleSheet("background-color: transparent;"); + setStyleSheet("background-color: transparent; border:none"); QString style = R"( QScrollBar:vertical { diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 1097a89268..26743952de 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -4,7 +4,10 @@ #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/widgets/input.h" -SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { +SshControl::SshControl() : + ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " + "other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { + QObject::connect(this, &ButtonControl::clicked, [=]() { if (text() == tr("ADD")) { QString username = InputDialog::getText(tr("Enter your GitHub username"), this); diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 122e67b113..5e3f3b637e 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -12,48 +12,38 @@ // TODO: detect when we can't play sounds // TODO: detect when we can't display the UI -Sound::Sound(QObject *parent) : sm({"controlsState", "deviceState", "microphone"}) { +Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) { qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName(); - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { QSoundEffect *s = new QSoundEffect(this); QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); }); s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); + s->setVolume(volume); sounds[alert] = {s, loops}; } QTimer *timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, this, &Sound::update); timer->start(1000 / UI_FREQ); -}; +} void Sound::update() { - const bool started_prev = sm["deviceState"].getDeviceState().getStarted(); sm.update(0); - const bool started = sm["deviceState"].getDeviceState().getStarted(); - if (started && !started_prev) { - started_frame = sm.frame; - } - - // no sounds while offroad - // also no sounds if nothing is alive in case thermald crashes while offroad - const bool crashed = (sm.frame - std::max(sm.rcv_frame("deviceState"), sm.rcv_frame("controlsState"))) > 10*UI_FREQ; - if (!started || crashed) { - setAlert({}); - return; - } - // scale volume using ambient noise level if (sm.updated("microphone")) { float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 60.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); - Hardware::set_volume(volume); + // set volume on changes + if (std::exchange(current_volume, std::nearbyint(volume * 10)) != current_volume) { + Hardware::set_volume(volume); + } } - setAlert(Alert::get(sm, started_frame)); + setAlert(Alert::get(sm, 0)); } void Sound::setAlert(const Alert &alert) { diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h index 53b26d8555..0d4bc4b91e 100644 --- a/selfdrive/ui/soundd/sound.h +++ b/selfdrive/ui/soundd/sound.h @@ -1,3 +1,7 @@ +#pragma once + +#include + #include #include #include @@ -5,19 +9,22 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/ui.h" -const std::tuple sound_list[] = { + +const float MAX_VOLUME = 1.0; + +const std::tuple sound_list[] = { // AudibleAlert, file name, loop count - {AudibleAlert::ENGAGE, "engage.wav", 0}, - {AudibleAlert::DISENGAGE, "disengage.wav", 0}, - {AudibleAlert::REFUSE, "refuse.wav", 0}, + {AudibleAlert::ENGAGE, "engage.wav", 0, MAX_VOLUME}, + {AudibleAlert::DISENGAGE, "disengage.wav", 0, MAX_VOLUME}, + {AudibleAlert::REFUSE, "refuse.wav", 0, MAX_VOLUME}, - {AudibleAlert::PROMPT, "prompt.wav", 0}, - {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite}, - {AudibleAlert::PROMPT_STARTING, "prompt.wav", 0}, - {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite}, + {AudibleAlert::PROMPT, "prompt.wav", 0, MAX_VOLUME}, + {AudibleAlert::PROMPT_REPEAT, "prompt.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::PROMPT_STARTING, "prompt.wav", 0, MAX_VOLUME}, + {AudibleAlert::PROMPT_DISTRACTED, "prompt_distracted.wav", QSoundEffect::Infinite, MAX_VOLUME}, - {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite}, - {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite}, + {AudibleAlert::WARNING_SOFT, "warning_soft.wav", QSoundEffect::Infinite, MAX_VOLUME}, + {AudibleAlert::WARNING_IMMEDIATE, "warning_immediate.wav", QSoundEffect::Infinite, MAX_VOLUME}, }; class Sound : public QObject { @@ -29,10 +36,10 @@ protected: void setAlert(const Alert &alert); bool shouldPlaySound(const Alert &alert); + SubMaster sm; Alert current_alert = {}; QMap> sounds; - SubMaster sm; - uint64_t started_frame; + int current_volume = -1; private: Params params; diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index f2f3546b98..0780732bf2 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -4,9 +4,9 @@ import sys import time import json -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert if __name__ == "__main__": params = Params() diff --git a/selfdrive/ui/tests/test_sound.cc b/selfdrive/ui/tests/test_sound.cc index 43599f3828..d9cb5c0a7f 100644 --- a/selfdrive/ui/tests/test_sound.cc +++ b/selfdrive/ui/tests/test_sound.cc @@ -31,7 +31,7 @@ void controls_thread(int loop_cnt) { const int DT_CTRL = 10; // ms for (int i = 0; i < loop_cnt; ++i) { - for (auto &[alert, fn, loops] : sound_list) { + for (auto &[alert, fn, loops, volume] : sound_list) { printf("testing %s\n", qPrintable(fn)); for (int j = 0; j < 1000 / DT_CTRL; ++j) { MessageBuilder msg; diff --git a/selfdrive/ui/tests/test_sound_stability.py b/selfdrive/ui/tests/test_sound_stability.py deleted file mode 100755 index f0d51ec960..0000000000 --- a/selfdrive/ui/tests/test_sound_stability.py +++ /dev/null @@ -1,49 +0,0 @@ -#!/usr/bin/env python3 -import os -import random -import subprocess -import time -from pathlib import Path -from common.basedir import BASEDIR - -os.environ["LD_LIBRARY_PATH"] = "" - -# pull this from the provisioning tests -play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound") -waste = os.path.join(BASEDIR, "scripts/waste") -sound_path = Path(os.path.join(BASEDIR, "selfdrive/assets/sounds")) - -def sound_test(): - - # max volume - vol = 15 - sound_files = [p.absolute() for p in sound_path.iterdir() if str(p).endswith(".wav")] - - # start waste - p = subprocess.Popen([waste], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL) - - start_time = time.monotonic() - frame = 0 - while True: - # start a few processes - procs = [] - for _ in range(random.randint(5, 20)): - sound = random.choice(sound_files) - p = subprocess.Popen([play_sound, str(sound), str(vol)], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL) - procs.append(p) - time.sleep(random.uniform(0, 0.75)) - - # and kill them - time.sleep(random.uniform(0, 5)) - for p in procs: - p.terminate() - - # write stats - stats = f"running time {time.monotonic() - start_time}s, cycle {frame}" - with open("/tmp/sound_stats.txt", "a") as f: - f.write(stats) - print(stats) - frame +=1 - -if __name__ == "__main__": - sound_test() diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index 8cc9215b74..80a261e6d9 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -5,10 +5,10 @@ import unittest from cereal import log, car import cereal.messaging as messaging -from selfdrive.test.helpers import phone_only, with_processes +from openpilot.selfdrive.test.helpers import phone_only, with_processes # TODO: rewrite for unittest -from common.realtime import DT_CTRL -from system.hardware import HARDWARE +from openpilot.common.realtime import DT_CTRL +from openpilot.system.hardware import HARDWARE AudibleAlert = car.CarControl.HUDControl.AudibleAlert diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 26d6c39349..1ff203b97d 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -6,11 +6,12 @@ import shutil import unittest import xml.etree.ElementTree as ET -from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations +from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") - def test_plural_translations(self): + def test_finished_translations(self): """ - Tests: - - that any numerus (plural) translations marked "finished" have all plural forms non-empty + Tests ran on each translation marked "finished" + Plural: + - that any numerus (plural) translations have all plural forms non-empty - that the correct format specifier is used (%n) + Non-plural: + - that translation is not empty + - that translation format arguments are consistent """ for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): @@ -79,17 +84,28 @@ class TestTranslations(unittest.TestCase): for context in tr_xml.getroot(): for message in context.iterfind("message"): + translation = message.find("translation") + source_text = message.find("source").text + + # Do not test unfinished translations + if translation.get("type") == "unfinished": + continue + if message.get("numerus") == "yes": - translation = message.find("translation") numerusform = [t.text for t in translation.findall("numerusform")] - # Do not assert finished translations - if translation.get("type") == "unfinished": - continue + for nf in numerusform: + self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}") + self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.") + self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) - self.assertNotIn(None, numerusform, "Ensure all plural translation forms are completed.") - self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]), - "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) + else: + self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}") + + source_args = FORMAT_ARG.findall(source_text) + translation_args = FORMAT_ARG.findall(translation.text) + self.assertEqual(sorted(source_args), sorted(translation_args), + f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`") def test_no_locations(self): for name, file in self.translation_files.items(): diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index 575584dd50..a1b2ecb289 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -4,9 +4,9 @@ import os import requests import xml.etree.ElementTree as ET -from common.basedir import BASEDIR -from selfdrive.ui.tests.test_translations import UNFINISHED_TRANSLATION_TAG -from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.ui.tests.test_translations import UNFINISHED_TRANSLATION_TAG +from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR TRANSLATION_TAG = "', content_svg, ""]) - badge_svg.insert(0, f'') + badge_svg.insert(0, f'') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 86d3e62d87..fa659e18ba 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,7 +1,10 @@ { "English": "main_en", "Deutsch": "main_de", + "Français": "main_fr", "Português": "main_pt-BR", + "Türkçe": "main_tr", + "ไทย": "main_th", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", "한국어": "main_ko", diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index f62810576e..d1820fd423 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -354,33 +354,6 @@ hr std - - km - km - - - mi - mi - - - - MapInstructions - - km - km - - - m - m - - - mi - mi - - - ft - fuß - MapSettings @@ -620,6 +593,22 @@ vor %n Tagen + + km + km + + + m + m + + + mi + mi + + + ft + fuß + Reset @@ -762,6 +751,10 @@ This may take up to a minute. Something went wrong. Reboot the device. + + Select a language + Sprache wählen + SetupWidget @@ -1083,10 +1076,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt. - - openpilot longitudinal control may come in a future update. - - openpilot Longitudinal Control (Alpha) @@ -1095,10 +1084,6 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - Aggressive @@ -1115,32 +1100,40 @@ This may take up to a minute. Driving Personality + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Navigate on openpilot - - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - - End-to-End Longitudinal Control - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + Navigate on openpilot - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + + + + openpilot longitudinal control may come in a future update. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts new file mode 100644 index 0000000000..79c4ae5596 --- /dev/null +++ b/selfdrive/ui/translations/main_fr.ts @@ -0,0 +1,1219 @@ + + + + + AbstractAlert + + Close + Fermer + + + Snooze Update + Reporter la mise à jour + + + Reboot and Update + Redémarrer et mettre à jour + + + + AdvancedNetworking + + Back + Retour + + + Enable Tethering + Activer le partage de connexion + + + Tethering Password + Mot de passe du partage de connexion + + + EDIT + MODIFIER + + + Enter new tethering password + Entrez le nouveau mot de passe du partage de connexion + + + IP Address + Adresse IP + + + Enable Roaming + Activer l'itinérance + + + APN Setting + Paramètre APN + + + Enter APN + Entrer le nom du point d'accès + + + leave blank for automatic configuration + laisser vide pour une configuration automatique + + + Cellular Metered + Connexion cellulaire limitée + + + Prevent large data uploads when on a metered connection + Éviter les transferts de données importants sur une connexion limitée + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mi/h + + + MAX + MAX + + + SPEED + VITESSE + + + LIMIT + LIMITE + + + + ConfirmationDialog + + Ok + Ok + + + Cancel + Annuler + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + Vous devez accepter les conditions générales pour utiliser openpilot. + + + Back + Retour + + + Decline, uninstall %1 + Refuser, désinstaller %1 + + + + DestinationWidget + + Home + Domicile + + + Work + Travail + + + No destination set + Aucune destination définie + + + home + domicile + + + work + travail + + + No %1 location set + Aucun lieu %1 défini + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + N/A + + + Serial + N° de série + + + Driver Camera + Caméra conducteur + + + PREVIEW + APERÇU + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Aperçu de la caméra orientée vers le conducteur pour assurer une bonne visibilité de la surveillance du conducteur. (véhicule doit être éteint) + + + Reset Calibration + Réinitialiser la calibration + + + RESET + RÉINITIALISER + + + Are you sure you want to reset calibration? + Êtes-vous sûr de vouloir réinitialiser la calibration ? + + + Reset + Réinitialiser + + + Review Training Guide + Revoir le guide de formation + + + REVIEW + REVOIR + + + Review the rules, features, and limitations of openpilot + Revoir les règles, fonctionnalités et limitations d'openpilot + + + Are you sure you want to review the training guide? + Êtes-vous sûr de vouloir revoir le guide de formation ? + + + Review + Revoir + + + Regulatory + Réglementaire + + + VIEW + VOIR + + + Change Language + Changer de langue + + + CHANGE + CHANGER + + + Select a language + Choisir une langue + + + Reboot + Redémarrer + + + Power Off + Éteindre + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 8° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + + + Your device is pointed %1° %2 and %3° %4. + Votre appareil est orienté %1° %2 et %3° %4. + + + down + bas + + + up + haut + + + left + gauche + + + right + droite + + + Are you sure you want to reboot? + Êtes-vous sûr de vouloir redémarrer ? + + + Disengage to Reboot + Désengager pour redémarrer + + + Are you sure you want to power off? + Êtes-vous sûr de vouloir éteindre ? + + + Disengage to Power Off + Désengager pour éteindre + + + + DriveStats + + Drives + Trajets + + + Hours + Heures + + + ALL TIME + DEPUIS TOUJOURS + + + PAST WEEK + CETTE SEMAINE + + + KM + KM + + + Miles + Miles + + + + DriverViewScene + + camera starting + démarrage de la caméra + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + MODE EXPÉRIMENTAL ACTIVÉ + + + CHILL MODE ON + MODE DÉTENTE ACTIVÉ + + + + InputDialog + + Cancel + Annuler + + + Need at least %n character(s)! + + Besoin d'au moins %n caractère ! + Besoin d'au moins %n caractères ! + + + + + Installer + + Installing... + Installation... + + + + MapETA + + eta + eta + + + min + min + + + hr + h + + + + MapSettings + + NAVIGATION + NAVIGATION + + + Manage at connect.comma.ai + Gérer sur connect.comma.ai + + + + MapWindow + + Map Loading + Chargement de la carte + + + Waiting for GPS + En attente du GPS + + + Waiting for route + En attente d'un trajet + + + + MultiOptionDialog + + Select + Sélectionner + + + Cancel + Annuler + + + + Networking + + Advanced + Avancé + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + + + Wrong password + Mot de passe incorrect + + + + OffroadAlert + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + Température de l'appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l'appareil : %1 + + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, openpilot ne s'engagera pas dans %1 + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + Connectez l'appareil à internet pour vérifier les mises à jour. openpilot ne démarrera pas automatiquement tant qu'il ne se connecte pas à internet pour vérifier les mises à jour. + + + Unable to download updates +%1 + Impossible de télécharger les mises à jour +%1 + + + Invalid date and time settings, system won't start. Connect to internet to set time. + Paramètres de date et d'heure invalides, le système ne démarrera pas. Connectez l'appareil à Internet pour régler l'heure. + + + Taking camera snapshots. System won't start until finished. + Capture de clichés photo. Le système ne démarrera pas tant qu'il n'est pas terminé. + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + Une mise à jour du système d'exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu'elle sera prête à être installée. + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + L'appareil n'a pas réussi à s'enregistrer. Il ne se connectera pas aux serveurs de comma.ai, n'enverra rien et ne recevra aucune assistance de comma.ai. S'il s'agit d'un appareil officiel, visitez https://comma.ai/support. + + + NVMe drive not mounted. + Le disque NVMe n'est pas monté. + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + Disque NVMe non supporté détecté. L'appareil peut consommer beaucoup plus d'énergie et surchauffer en raison du NVMe non supporté. + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + openpilot n'a pas pu identifier votre voiture. Votre voiture n'est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d'aide ? Rejoignez discord.comma.ai. + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + openpilot n'a pas pu identifier votre voiture. Vérifiez l'intégrité des câbles et assurez-vous que toutes les connexions sont correctes, en particulier l'alimentation du comma est totalement insérée dans le port OBD-II du véhicule. Besoin d'aide ? Rejoignez discord.comma.ai. + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + openpilot a détecté un changement dans la position de montage de l'appareil. Assurez-vous que l'appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise. + + + + OffroadHome + + UPDATE + MISE À JOUR + + + ALERTS + ALERTES + + + ALERT + ALERTE + + + + PairingPopup + + Pair your device to your comma account + Associez votre appareil à votre compte comma + + + Go to https://connect.comma.ai on your phone + Allez sur https://connect.comma.ai sur votre téléphone + + + Click "add new device" and scan the QR code on the right + Cliquez sur "ajouter un nouvel appareil" et scannez le code QR à droite + + + Bookmark connect.comma.ai to your home screen to use it like an app + Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une application + + + + ParamControl + + Enable + Activer + + + Cancel + Annuler + + + + PrimeAdWidget + + Upgrade Now + Mettre à niveau + + + Become a comma prime member at connect.comma.ai + Devenez membre comma prime sur connect.comma.ai + + + PRIME FEATURES: + FONCTIONNALITÉS PRIME : + + + Remote access + Accès à distance + + + 24/7 LTE connectivity + Connexion LTE 24/7 + + + 1 year of drive storage + 1 an de stockage de trajets + + + Turn-by-turn navigation + Navigation étape par étape + + + + PrimeUserWidget + + ✓ SUBSCRIBED + ✓ ABONNÉ + + + comma prime + comma prime + + + + QObject + + Reboot + Redémarrer + + + Exit + Quitter + + + dashcam + dashcam + + + openpilot + openpilot + + + %n minute(s) ago + + il y a %n minute + il y a %n minutes + + + + %n hour(s) ago + + il y a %n heure + il y a %n heures + + + + %n day(s) ago + + il y a %n jour + il y a %n jours + + + + km + km + + + m + m + + + mi + mi + + + ft + ft + + + + Reset + + Reset failed. Reboot to try again. + Réinitialisation échouée. Redémarrez pour réessayer. + + + Resetting device... +This may take up to a minute. + Réinitialisation de l'appareil... +Cela peut prendre jusqu'à une minute. + + + Are you sure you want to reset your device? + Êtes-vous sûr de vouloir réinitialiser votre appareil ? + + + System Reset + Réinitialisation du système + + + Press confirm to erase all content and settings. Press cancel to resume boot. + Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage. + + + Cancel + Annuler + + + Reboot + Redémarrer + + + Confirm + Confirmer + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil. + + + + SettingsWindow + + × + × + + + Device + Appareil + + + Network + Réseau + + + Toggles + Options + + + Software + Logiciel + + + + Setup + + Something went wrong. Reboot the device. + Un problème est survenu. Redémarrez l'appareil. + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Assurez-vous que l'URL saisie est valide et que la connexion internet de l'appareil est bonne. + + + No custom software found at this URL. + Aucun logiciel personnalisé trouvé à cette URL. + + + WARNING: Low Voltage + ATTENTION : Tension faible + + + Power your device in a car with a harness or proceed at your own risk. + Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls. + + + Power off + Éteindre + + + Continue + Continuer + + + Getting Started + Commencer + + + Before we get on the road, let’s finish installation and cover some details. + Avant de prendre la route, terminons l'installation et passons en revue quelques détails. + + + Connect to Wi-Fi + Se connecter au Wi-Fi + + + Back + Retour + + + Enter URL + Entrer l'URL + + + for Custom Software + pour logiciel personnalisé + + + Continue without Wi-Fi + Continuer sans Wi-Fi + + + Waiting for internet + En attente d'internet + + + Downloading... + Téléchargement... + + + Download Failed + Échec du téléchargement + + + Reboot device + Redémarrer l'appareil + + + Start over + Recommencer + + + Select a language + Choisir une langue + + + + SetupWidget + + Finish Setup + Terminer l'installation + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l'offre comma prime. + + + Pair device + Associer l'appareil + + + + Sidebar + + CONNECT + CONNECTER + + + OFFLINE + HORS LIGNE + + + ONLINE + EN LIGNE + + + ERROR + ERREUR + + + TEMP + TEMP + + + HIGH + HAUT + + + GOOD + BON + + + OK + OK + + + VEHICLE + VÉHICULE + + + NO + NON + + + PANDA + PANDA + + + GPS + GPS + + + SEARCH + RECHERCHE + + + -- + -- + + + Wi-Fi + Wi-Fi + + + ETH + ETH + + + 2G + 2G + + + 3G + 3G + + + LTE + LTE + + + 5G + 5G + + + + SoftwarePanel + + Updates are only downloaded while the car is off. + Les MàJ sont téléchargées uniquement si la voiture est éteinte. + + + Current Version + Version actuelle + + + Download + Télécharger + + + CHECK + VÉRIFIER + + + Install Update + Installer la mise à jour + + + INSTALL + INSTALLER + + + Target Branch + Branche cible + + + SELECT + SÉLECTIONNER + + + Select a branch + Sélectionner une branche + + + Uninstall %1 + Désinstaller %1 + + + UNINSTALL + DÉSINSTALLER + + + Are you sure you want to uninstall? + Êtes-vous sûr de vouloir désinstaller ? + + + Uninstall + Désinstaller + + + failed to check for update + échec de la vérification de la mise à jour + + + DOWNLOAD + TÉLÉCHARGER + + + update available + mise à jour disponible + + + never + jamais + + + up to date, last checked %1 + à jour, dernière vérification %1 + + + + SshControl + + SSH Keys + Clés SSH + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + Attention : Ceci accorde l'accès SSH à toutes les clés publiques de vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que le vôtre. Un employé de comma ne vous demandera JAMAIS d'ajouter son nom d'utilisateur GitHub. + + + ADD + AJOUTER + + + Enter your GitHub username + Entrez votre nom d'utilisateur GitHub + + + LOADING + CHARGEMENT + + + REMOVE + SUPPRIMER + + + Username '%1' has no keys on GitHub + L'utilisateur '%1' n'a pas de clés sur GitHub + + + Request timed out + Délai de la demande dépassé + + + Username '%1' doesn't exist on GitHub + L'utilisateur '%1' n'existe pas sur GitHub + + + + SshToggle + + Enable SSH + Activer SSH + + + + TermsPage + + Terms & Conditions + Termes & Conditions + + + Decline + Refuser + + + Scroll to accept + Faire défiler pour accepter + + + Agree + Accepter + + + + TogglesPanel + + Enable openpilot + Activer openpilot + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Utilisez le système openpilot pour le régulateur de vitesse adaptatif et l'assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte. + + + openpilot Longitudinal Control (Alpha) + Contrôle longitudinal openpilot (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d'urgence automatique (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d'openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d'activer le mode expérimental lors de l'activation du contrôle longitudinal openpilot alpha. + + + Experimental Mode + Mode expérimental + + + Disengage on Accelerator Pedal + Désengager avec la pédale d'accélérateur + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Lorsqu'il est activé, appuyer sur la pédale d'accélérateur désengagera openpilot. + + + Enable Lane Departure Warnings + Activer les avertissements de sortie de voie + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + Recevez des alertes pour revenir dans la voie lorsque votre véhicule dérive au-delà d'une ligne de voie détectée sans clignotant activé en roulant à plus de 31 mph (50 km/h). + + + Record and Upload Driver Camera + Enregistrer et télécharger la caméra conducteur + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Publiez les données de la caméra orientée vers le conducteur et aidez à améliorer l'algorithme de surveillance du conducteur. + + + Use Metric System + Utiliser le système métrique + + + Display speed in km/h instead of mph. + Afficher la vitesse en km/h au lieu de mph. + + + Show ETA in 24h Format + Afficher l'heure d'arrivée en format 24h + + + Use 24h format instead of am/pm + Utiliser le format 24h plutôt que am/pm + + + Show Map on Left Side of UI + Afficher la carte à gauche de l'interface + + + Show map on left side when in split screen view. + Afficher la carte à gauche en mode écran scindé. + + + Aggressive + Aggressif + + + Standard + Standard + + + Relaxed + Détendu + + + Driving Personality + Personnalité de conduite + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + Le mode standard est recommandé. En mode agressif, openpilot suivra de plus près les voitures de tête et sera plus agressif avec l'accélérateur et le frein. En mode détendu, openpilot restera plus éloigné des voitures de tête. + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + Par défaut, openpilot conduit en <b>mode détente</b>. Le mode expérimental permet d'activer des <b>fonctionnalités alpha</b> qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous : + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + Laissez le modèle de conduite contrôler l'accélérateur et les freins. openpilot conduira comme il pense qu'un humain le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir. + + + New Driving Visualization + Nouvelle visualisation de la conduite + + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d'origine est utilisé pour le contrôle longitudinal. + + + openpilot longitudinal control may come in a future update. + Le contrôle longitudinal openpilot pourrait être disponible dans une future mise à jour. + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées. + + + End-to-End Longitudinal Control + Contrôle longitudinal de bout en bout + + + Navigate on openpilot + Navigation avec openpilot + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + Lorsque la navigation dispose d'une destination, openpilot entrera les informations de la carte dans le modèle. Cela fournit un contexte utile pour le modèle et permet à openpilot de se diriger à gauche ou à droite de manière appropriée aux bifurcations/sorties. Le comportement relatif au changement de voie reste inchangé et doit toujours être activé par le conducteur. Il s'agit d'une fonctionnalité alpha ; il faut s'attendre à des erreurs, en particulier aux abords des sorties et des bifurcations. Ces erreurs peuvent inclure des franchissements involontaires de passages piétons, des prises de sortie tardives, la conduite vers des zones de séparation de type zebras, etc. + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s'affichera également dans le coin supérieur droit. Lorsqu'une destination de navigation est définie et que le modèle de conduite l'utilise comme entrée, la trajectoire de conduite sur la carte deviendra verte. + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + Activer le contrôle longitudinal d'openpilot (en alpha) pour autoriser le mode expérimental. + + + + Updater + + Update Required + Mise à jour requise + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + Une mise à jour du système d'exploitation est requise. Connectez votre appareil au Wi-Fi pour une mise à jour plus rapide. La taille du téléchargement est d'environ 1 Go. + + + Connect to Wi-Fi + Se connecter au Wi-Fi + + + Install + Installer + + + Back + Retour + + + Loading... + Chargement... + + + Reboot + Redémarrer + + + Update failed + Échec de la mise à jour + + + + WiFiPromptWidget + + Setup Wi-Fi + Configurer Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Connectez-vous au Wi-Fi pour publier les données de conduite et aider à améliorer openpilot + + + Open Settings + Ouvrir les paramètres + + + Ready to upload + Prêt à uploader + + + Training data will be pulled periodically while your device is on Wi-Fi + Les données d'entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi + + + + WifiUI + + Scanning for networks... + Recherche de réseaux... + + + CONNECTING... + CONNEXION... + + + FORGET + OUBLIER + + + Forget Wi-Fi Network "%1"? + Oublier le réseau Wi-Fi "%1" ? + + + Forget + Oublier + + + diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 88c584e361..16595f8ebf 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -353,33 +353,6 @@ hr 時間 - - km - ｷﾛﾒｰﾄﾙ - - - mi - ﾏｲﾙ - - - - MapInstructions - - km - ｷﾛﾒｰﾄﾙ - - - m - ﾒｰﾄﾙ - - - mi - ﾏｲﾙ - - - ft - ﾌｨｰﾄ - MapSettings @@ -616,6 +589,22 @@ %n 日前 + + km + ｷﾛﾒｰﾄﾙ + + + m + ﾒｰﾄﾙ + + + mi + ﾏｲﾙ + + + ft + ﾌｨｰﾄ + Reset @@ -758,6 +747,10 @@ This may take up to a minute. Something went wrong. Reboot the device. + + Select a language + 言語を選択 + SetupWidget @@ -1075,10 +1068,6 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. この車のACCがアクセル制御を行うため実験モードを利用することができません。 - - openpilot longitudinal control may come in a future update. - - openpilot Longitudinal Control (Alpha) @@ -1087,10 +1076,6 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - - Aggressive @@ -1107,32 +1092,40 @@ This may take up to a minute. Driving Personality + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - - - Navigate on openpilot - - - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - - End-to-End Longitudinal Control - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + Navigate on openpilot - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + + + + openpilot longitudinal control may come in a future update. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 725870d3e2..cbd8e668ac 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -353,33 +353,6 @@ hr 시간 - - km - km - - - mi - mi - - - - MapInstructions - - km - km - - - m - m - - - mi - mi - - - ft - ft - MapSettings @@ -617,6 +590,22 @@ %n 일전 + + km + km + + + m + m + + + mi + mi + + + ft + ft + Reset @@ -760,6 +749,10 @@ This may take up to a minute. No custom software found at this URL. 이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다. + + Select a language + 언어를 선택하세요 + SetupWidget @@ -1130,11 +1123,11 @@ This may take up to a minute. E2E 롱컨트롤 - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - 내비게이션에 목적지가 있으면 openpilot이 지도 정보를 모델에 입력합니다. 이는 모델에 유용한 컨텍스트를 제공하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 합니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이것은 알파 상태의 기능입니다. 실수는 특히 출구 분기점 주변에서 발생될수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 출구 이용, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 등이 포함될 수 있습니다. + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + 내비게이션에 목적지가 있으면 openpilot이 지도 정보를 모델에 입력합니다. 이는 모델에 유용한 컨텍스트를 제공하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 합니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이것은 알파 상태의 기능입니다. 특히 출구 분기점 주변에서 실수가 발생될수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 출구 이용, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 등이 포함될 수 있습니다. - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. 주행 시각화는 저속으로 주행시 도로를 향한 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다. diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index dd04488b73..a55d31034e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -354,33 +354,6 @@ hr hr - - km - km - - - mi - mi - - - - MapInstructions - - km - km - - - m - m - - - mi - milha - - - ft - pés - MapSettings @@ -621,6 +594,22 @@ há %n dias + + km + km + + + m + m + + + mi + milha + + + ft + pés + Reset @@ -764,6 +753,10 @@ Isso pode levar até um minuto. Something went wrong. Reboot the device. Algo deu errado. Reinicie o dispositivo. + + Select a language + Selecione o Idioma + SetupWidget @@ -1134,12 +1127,12 @@ Isso pode levar até um minuto. Controle Longitudinal de Ponta a Ponta - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso fornece contexto útil para o modelo e permite que o openpilot mantenha a esquerda ou a direita apropriadamente em bifurcações/saídas. O comportamento de mudança de faixa permanece inalterado e ainda ativado pelo motorista. Este é um recurso de qualidade embrionária; erros devem ser esperados, particularmente em torno de saídas/bifurcações. Esses erros podem incluir travessias não intencionais na faixa de rodagem, saída tardia, condução em direção a barreiras divisórias nas áreas delimitadas por faixas pintadas, etc. + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso fornece contexto útil para o modelo e permite que o openpilot mantenha a esquerda ou a direita apropriadamente em bifurcações/saídas. O comportamento de mudança de faixa permanece inalterado e ainda é ativado somente pelo motorista. Este é um recurso de qualidade embrionária; erros devem ser esperados, principalmente em torno de saídas e bifurcações. Esses erros podem incluir travessias não intencionais na faixa de rodagem, saída tardia, condução em direção a barreiras divisórias nas áreas de marcas de canalização, etc. - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada, o caminho de condução no mapa fica verde. + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada o caminho de condução no mapa fica verde. diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 75665eb84e..abc6210956 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -353,33 +353,6 @@ hr ชม. - - km - กม. - - - mi - ไมล์ - - - - MapInstructions - - km - กม. - - - m - ม. - - - mi - ไมล์ - - - ft - ฟุต - MapSettings @@ -402,6 +375,10 @@ Waiting for GPS กำลังรอสัญญาณ GPS + + Waiting for route + กำลังรอเส้นทาง + MultiOptionDialog @@ -554,12 +531,16 @@ การเข้าถึงระยะไกล - 1 year of storage - จัดเก็บข้อมูลนาน 1 ปี + 24/7 LTE connectivity + การเชื่อมต่อ LTE แบบ 24/7 - Developer perks - สิทธิพิเศษสำหรับนักพัฒนา + 1 year of drive storage + จัดเก็บข้อมูลการขับขี่นาน 1 ปี + + + Turn-by-turn navigation + การนำทางแบบเลี้ยวต่อเลี้ยว @@ -609,6 +590,22 @@ %n วันที่แล้ว + + km + กม. + + + m + ม. + + + mi + ไมล์ + + + ft + ฟุต + Reset @@ -752,6 +749,10 @@ This may take up to a minute. No custom software found at this URL. ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้ + + Select a language + เลือกภาษา + SetupWidget @@ -1057,10 +1058,6 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: โดยปกติ openpilot จะขับใน<b>โหมดชิล</b> เปิดโหมดทดลองเพื่อใช้<b>ความสามารถในขั้นพัฒนา</b> ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้: - - 🌮 End-to-End Longitudinal Control 🌮 - 🌮 ควบคุมเร่ง/เบรคแบบ End-to-End 🌮 - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. ให้ openpilot ควบคุมการเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึงการหยุดที่ไฟแดง และป้ายหยุดรถ เนื่องจาก openpilot จะกำหนดความเร็วในการขับด้วยตัวเอง การตั้งความเร็วจะเป็นเพียงการกำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเกิดข้อผิดพลาดขึ้นได้ @@ -1069,10 +1066,6 @@ This may take up to a minute. New Driving Visualization การแสดงภาพการขับขี่แบบใหม่ - - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย - Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่ @@ -1081,10 +1074,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต - - Enable experimental longitudinal control to allow Experimental mode. - เปิดระบบควบคุมการเร่ง/เบรคขั้นพัฒนาโดย openpilot เพื่อเปิดใช้งานโหมดทดลอง - openpilot Longitudinal Control (Alpha) ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha) @@ -1121,6 +1110,26 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา + + End-to-End Longitudinal Control + ควบคุมเร่ง/เบรคแบบ End-to-End + + + Navigate on openpilot + การนำทางบน openpilot + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + เมื่อการนำทางมีจุดหมายปลายทาง openpilot จะป้อนข้อมูลแผนที่เข้าไปยังโมเดล ซึ่งจะเป็นบริบทที่มีประโยชน์สำหรับโมเดลและจะทำให้ openpilot สามารถรักษาเลนซ้ายหรือขวาได้อย่างเหมาะสมบริเวณทางแยกหรือทางออก พฤติกรรมการเปลี่ยนเลนยังคงเหมือนเดิมและยังคงต้องถูกเริ่มโดยคนขับ ความสามารถนี้ยังอยู่ในระดับ alpha ซึ่งอาจะเกิดความผิดพลาดได้โดยเฉพาะบริเวณทางแยกหรือทางออก ความผิดพลาดที่อาจเกิดขึ้นได้อาจรวมถึงการข้ามเส้นแบ่งเลนโดยไม่ตั้งใจ, การเข้าช่องทางออกช้ากว่าปกติ, การขับเข้าหาแบริเออร์ในเขตปลอดภัย, ฯลฯ + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย เมื่อเป้าหมายการนำทางถูกเลือกและโมเดลการขับขี่กำลังใช้เป็นอินพุต เส้นทางการขับขี่บนแผนที่จะเปลี่ยนเป็นสีเขียว + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง + Updater @@ -1172,12 +1181,12 @@ This may take up to a minute. เปิดการตั้งค่า - Uploading training data - กำลังอัปโหลดข้อมูลสำหรับการฝึก + Ready to upload + พร้อมจะอัปโหลด - Your data is used to train driving models and help improve openpilot - ข้อมูลของคุณถูกใช้เพื่อฝึกโมเดลการขับขี่และช่วยปรับปรุง openpilot + Training data will be pulled periodically while your device is on Wi-Fi + ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts new file mode 100644 index 0000000000..febded8f59 --- /dev/null +++ b/selfdrive/ui/translations/main_tr.ts @@ -0,0 +1,1213 @@ + + + + + AbstractAlert + + Close + Kapat + + + Snooze Update + Güncellemeyi sessize al + + + Reboot and Update + Güncelle ve Yeniden başlat + + + + AdvancedNetworking + + Back + Geri dön + + + Enable Tethering + Kişisel erişim noktasını aç + + + Tethering Password + Kişisel erişim noktasının parolası + + + EDIT + DÜZENLE + + + Enter new tethering password + Erişim noktasına yeni bir sonraki başlatılışında çekilir. parola belirleyin. + + + IP Address + IP Adresi + + + Enable Roaming + Hücresel veri aç + + + APN Setting + APN Ayarları + + + Enter APN + APN Gir + + + leave blank for automatic configuration + otomatik yapılandırma için boş bırakın + + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + HIZ + + + LIMIT + LİMİT + + + + ConfirmationDialog + + Ok + Tamam + + + Cancel + Vazgeç + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + Openpilotu kullanmak için Kullanıcı Koşullarını kabul etmelisiniz. + + + Back + Geri + + + Decline, uninstall %1 + Reddet, Kurulumu kaldır. %1 + + + + DestinationWidget + + Home + + + + Work + + + + No destination set + + + + home + + + + work + + + + No %1 location set + + + + + DevicePanel + + Dongle ID + Adaptör ID + + + N/A + N/A + + + Serial + Seri Numara + + + Driver Camera + Sürücü Kamerası + + + PREVIEW + ÖN İZLEME + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Sürücü kamerasının görüş açısını test etmek için kamerayı önizleyin (Araç kapalı olmalıdır.) + + + Reset Calibration + Kalibrasyonu sıfırla + + + RESET + SIFIRLA + + + Are you sure you want to reset calibration? + Kalibrasyon ayarını sıfırlamak istediğinizden emin misiniz? + + + Review Training Guide + Eğitim kılavuzunu inceleyin + + + REVIEW + GÖZDEN GEÇİR + + + Review the rules, features, and limitations of openpilot + openpilot sisteminin kurallarını ve sınırlamalarını gözden geçirin. + + + Are you sure you want to review the training guide? + Eğitim kılavuzunu incelemek istediğinizden emin misiniz? + + + Regulatory + Mevzuat + + + VIEW + BAK + + + Change Language + Dili değiştir + + + CHANGE + DEĞİŞTİR + + + Select a language + Dil seçin + + + Reboot + Yeniden başlat + + + Power Off + Sistemi kapat + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot, cihazın 4° sola veya 5° yukarı yada 8° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. + + + Your device is pointed %1° %2 and %3° %4. + Cihazınız %1° %2 ve %3° %4 yönünde ayarlı + + + down + aşağı + + + up + yukarı + + + left + sol + + + right + sağ + + + Are you sure you want to reboot? + Cihazı Tekrar başlatmak istediğinizden eminmisiniz? + + + Disengage to Reboot + Bağlantıyı kes ve Cihazı Yeniden başlat + + + Are you sure you want to power off? + Cihazı kapatmak istediğizden eminmisiniz? + + + Disengage to Power Off + Bağlantıyı kes ve Cihazı kapat + + + Reset + + + + Review + + + + + DriveStats + + Drives + Sürücüler + + + Hours + Saat + + + ALL TIME + TÜM ZAMANLAR + + + PAST WEEK + GEÇEN HAFTA + + + KM + KM + + + Miles + Mil + + + + DriverViewScene + + camera starting + kamera başlatılıyor + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + + + InputDialog + + Cancel + Kapat + + + Need at least %n character(s)! + + En az %n karakter gerekli! + + + + + Installer + + Installing... + Yükleniyor... + + + + MapETA + + eta + tahmini varış süresi + + + min + dk + + + hr + saat + + + + MapSettings + + NAVIGATION + + + + Manage at connect.comma.ai + + + + + MapWindow + + Map Loading + Harita yükleniyor + + + Waiting for GPS + GPS verisi bekleniyor... + + + Waiting for route + + + + + MultiOptionDialog + + Select + Seç + + + Cancel + İptal et + + + + Networking + + Advanced + Gelişmiş Seçenekler + + + Enter password + Parolayı girin + + + for "%1" + için "%1" + + + Wrong password + Yalnış parola + + + + OffroadAlert + + Device temperature too high. System cooling down before starting. Current internal component temperature: %1 + + + + Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 + + + + Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. + + + + Unable to download updates +%1 + + + + Invalid date and time settings, system won't start. Connect to internet to set time. + + + + Taking camera snapshots. System won't start until finished. + + + + An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. + + + + Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. + + + + NVMe drive not mounted. + + + + Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. + + + + openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. + + + + openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. + + + + openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + + + + + OffroadHome + + UPDATE + GÜNCELLE + + + ALERTS + UYARILAR + + + ALERT + UYARI + + + + PairingPopup + + Pair your device to your comma account + comma.ai hesabınız ile cihazı eşleştirin + + + Go to https://connect.comma.ai on your phone + Telefonuzdan https://connect.comma.ai sitesine gidin + + + Click "add new device" and scan the QR code on the right + Yeni cihaz eklemek için sağdaki QR kodunu okutun + + + Bookmark connect.comma.ai to your home screen to use it like an app + Uygulama gibi kullanmak için connect.comma.ai sitesini yer işaretlerine ekleyin. + + + + ParamControl + + Enable + + + + Cancel + + + + + PrimeAdWidget + + Upgrade Now + Hemen yükselt + + + Become a comma prime member at connect.comma.ai + connect.comma.ai üzerinden comma prime üyesi olun + + + PRIME FEATURES: + PRIME ABONELİĞİNİN ÖZELLİKLERİ: + + + Remote access + Uzaktan erişim + + + 24/7 LTE connectivity + + + + 1 year of drive storage + + + + Turn-by-turn navigation + + + + + PrimeUserWidget + + ✓ SUBSCRIBED + ✓ ABONE + + + comma prime + comma prime + + + + QObject + + Reboot + Yeniden başlat + + + Exit + Çık + + + dashcam + araç yol kamerası + + + openpilot + openpilot + + + %n minute(s) ago + + %n dakika önce + + + + %n hour(s) ago + + %n saat önce + + + + %n day(s) ago + + %n gün önce + + + + km + km + + + m + m + + + mi + mil + + + ft + ft + + + + Reset + + Reset failed. Reboot to try again. + Sıfırlama başarız oldu. Cihazı yeniden başlatın ve tekrar deneyin. + + + Are you sure you want to reset your device? + Cihazı sıfırlamak istediğinizden eminmisiniz ? + + + System Reset + Sistemi sıfırla + + + Cancel + İptal + + + Reboot + Yeniden başlat + + + Confirm + Onayla + + + Resetting device... +This may take up to a minute. + + + + Press confirm to erase all content and settings. Press cancel to resume boot. + + + + Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. + + + + + SettingsWindow + + × + x + + + Device + Cihaz + + + Network + Ağ + + + Toggles + Değiştirme + + + Software + Yazılım + + + + Setup + + WARNING: Low Voltage + UYARI: Düşük voltaj + + + Power your device in a car with a harness or proceed at your own risk. + Cihazınızı emniyet kemeri olan bir arabada çalıştırın veya riski kabul ederek devam edin. + + + Power off + Sistemi kapat + + + Continue + Devam et + + + Getting Started + Başlarken + + + Before we get on the road, let’s finish installation and cover some details. + Yola çıkmadan önce kurulumu bitirin ve bazı detayları gözden geçirin.. + + + Connect to Wi-Fi + Wi-Fi ile bağlan + + + Back + Geri + + + Continue without Wi-Fi + Wi-Fi bağlantısı olmadan devam edin + + + Waiting for internet + İnternet bağlantısı bekleniyor. + + + Enter URL + URL girin + + + for Custom Software + özel yazılım için + + + Downloading... + İndiriliyor... + + + Download Failed + İndirme başarısız. + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Girilen URL nin geçerli olduğundan ve cihazın internet bağlantısının olduğunu kontrol edin + + + Reboot device + Cihazı yeniden başlat + + + Start over + Zacznij od początku + + + Something went wrong. Reboot the device. + + + + No custom software found at this URL. + + + + Select a language + Dil seçin + + + + SetupWidget + + Finish Setup + Kurulumu bitir + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın. + + + Pair device + Cihazı eşleştirme + + + + Sidebar + + CONNECT + BAĞLANTI + + + OFFLINE + ÇEVRİMDIŞI + + + ONLINE + ÇEVRİMİÇİ + + + ERROR + HATA + + + TEMP + SICAKLIK + + + HIGH + YÜKSEK + + + GOOD + İYİ + + + OK + TAMAM + + + VEHICLE + ARAÇ + + + NO + HAYIR + + + PANDA + PANDA + + + GPS + GPS + + + SEARCH + ARA + + + -- + -- + + + Wi-Fi + Wi-FI + + + ETH + ETH + + + 2G + 2G + + + 3G + 3G + + + LTE + LTE + + + 5G + 5G + + + + SoftwarePanel + + Uninstall %1 + Kaldır %1 + + + UNINSTALL + KALDIR + + + Are you sure you want to uninstall? + Kaldırmak istediğinden eminmisin? + + + CHECK + KONTROL ET + + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + + + Uninstall + + + + failed to check for update + + + + DOWNLOAD + + + + update available + + + + never + + + + up to date, last checked %1 + + + + + SshControl + + SSH Keys + SSH Anahtarları + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + UYARI: Bu, GitHub ayarlarınızdaki tüm ortak anahtarlara SSH erişimi sağlar. Asla kendi kullanıcı adınız dışında bir sonraki başlatılışında çekilir. GitHub kullanıcı adı girmeyin. + + + ADD + EKLE + + + Enter your GitHub username + Github kullanıcı adınızı giriniz + + + LOADING + YÜKLENİYOR + + + REMOVE + KALDIR + + + Username '%1' has no keys on GitHub + Kullanısının '%1' Github erişim anahtarı yok + + + Request timed out + İstek zaman aşımına uğradı + + + Username '%1' doesn't exist on GitHub + Github kullanıcısı %1 bulunamadı + + + + SshToggle + + Enable SSH + SSH aç + + + + TermsPage + + Terms & Conditions + Şartlar ve Koşullar + + + Decline + Reddet + + + Scroll to accept + Kabul etmek için kaydırın + + + Agree + Kabul et + + + + TogglesPanel + + Enable openpilot + openpilot'u aktifleştir + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için openpilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor. + + + Enable Lane Departure Warnings + Şerit ihlali uyarı alın + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + 50 km/s (31 mph) hızın üzerinde sürüş sırasında aracınız dönüş sinyali vermeden algılanan bir sonraki başlatılışında çekilir. şerit çizgisi ihlalinde şeride geri dönmek için uyarılar alın. + + + Use Metric System + Metrik sistemi kullan + + + Display speed in km/h instead of mph. + Hızı mph yerine km/h şeklinde görüntüleyin. + + + Record and Upload Driver Camera + Sürücü kamerasını kayıt et. + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Sürücüye bakan kamera verisini yükleyin ve Cihazın algoritmasını geliştirmemize yardımcı olun. + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır. + + + Show ETA in 24h Format + Tahmini varış süresini 24 saat formatı şeklinde göster + + + Use 24h format instead of am/pm + 24 saat formatını kullan + + + Show Map on Left Side of UI + Haritayı arayüzün sol tarafında göster + + + Show map on left side when in split screen view. + Bölünmüş ekran görünümündeyken haritayı sol tarafta göster. + + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + Experimental Mode + + + + Disengage on Accelerator Pedal + + + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + + + + End-to-End Longitudinal Control + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + + + + Navigate on openpilot + + + + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + + + + New Driving Visualization + + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + + + + Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. + + + + openpilot longitudinal control may come in a future update. + + + + An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. + + + + Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. + + + + + Updater + + Update Required + Güncelleme yapılması gerekli + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + İşletim sistemi güncellemesi gerekmektedir. Lütfen Cihazı daha hızlı günceleyebilmesi için bir sonraki başlatılışında çekilir. Wi-Fi ağına bağlayın. Dosyanın boyutu yaklaşık 1GB dır. + + + Connect to Wi-Fi + Wi-Fi ağına bağlan + + + Install + Yükle + + + Back + Geri + + + Loading... + Yükleniyor... + + + Reboot + Yeniden başlat + + + Update failed + Güncelleme başarız oldu + + + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Ready to upload + + + + Training data will be pulled periodically while your device is on Wi-Fi + + + + + WifiUI + + Scanning for networks... + Ağ aranıyor... + + + CONNECTING... + BAĞLANILIYOR... + + + FORGET + UNUT + + + Forget Wi-Fi Network "%1"? + Wi-Fi ağını unut "%1"? + + + Forget + + + + diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 313c57a903..040dae0b30 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -120,27 +120,27 @@ DestinationWidget Home - + 住家 Work - + 工作 No destination set - + 尚未设置目的地 No %1 location set - + 尚未设置 %1 的位置 home - + 住家 work - + 工作 @@ -191,7 +191,7 @@ Review the rules, features, and limitations of openpilot - 查看openpilot的使用规则，以及其功能和限制。 + 查看 openpilot 的使用规则，以及其功能和限制 Are you sure you want to review the training guide? @@ -343,7 +343,7 @@ MapETA eta - 埃塔 + 抵达 min @@ -353,43 +353,16 @@ hr 小时 - - km - km - - - mi - mi - - - - MapInstructions - - km - km - - - m - m - - - mi - mi - - - ft - ft - MapSettings NAVIGATION - + 导航 Manage at connect.comma.ai - + 请在 connect.comma.ai 上管理 @@ -404,7 +377,7 @@ Waiting for route - + 等待路线 @@ -441,56 +414,57 @@ OffroadAlert Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 - + 请立即连接网络检查更新。如果不连接网络，openpilot 将在 %1 后便无法使用 Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. - + 请连接至互联网以检查更新。在连接至互联网并完成更新检查之前，openpilot 将不会自动启动。 Unable to download updates %1 - + 无法下载更新 +%1 Invalid date and time settings, system won't start. Connect to internet to set time. - + 日期和时间设置无效，系统无法启动。请连接至互联网以设置时间。 Taking camera snapshots. System won't start until finished. - + 正在使用相机拍摄中。在完成之前，系统将无法启动。 An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - + 一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。 Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - + 设备注册失败。它将无法连接或上传至 comma.ai 服务器，并且无法获得 comma.ai 的支持。如果这是一个官方设备，请访问 https://comma.ai/support。 NVMe drive not mounted. - + NVMe固态硬盘未被挂载。 Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - + 检测到不支持的 NVMe 固态硬盘。您的设备因为使用了不支持的 NVMe 固态硬盘可能会消耗更多电力并更易过热。 openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - + openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。 openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - + openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 discord.comma.ai。 openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - + openpilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。 Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - + 设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1 @@ -558,15 +532,15 @@ 24/7 LTE connectivity - + 全天候 LTE 連線 Turn-by-turn navigation - + 领航功能 1 year of drive storage - + 一年的行驶记录储存空间 @@ -616,6 +590,22 @@ %n 天前 + + km + km + + + m + m + + + mi + mi + + + ft + ft + Reset @@ -645,16 +635,17 @@ Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - + 无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。 Press confirm to erase all content and settings. Press cancel to resume boot. - + 按下确认以删除所有内容及设置。按下取消来继续开机。 Resetting device... This may take up to a minute. - + 设备重置中… +这可能需要一分钟的时间。 @@ -752,11 +743,15 @@ This may take up to a minute. No custom software found at this URL. - + 在此网址找不到自定义软件。 Something went wrong. Reboot the device. - + 发生了一些错误。请重新启动您的设备。 + + + Select a language + 选择语言 @@ -913,23 +908,23 @@ This may take up to a minute. failed to check for update - + 检查更新失败 up to date, last checked %1 - + 已经是最新版本，上次检查时间为 %1 DOWNLOAD - + 下载 update available - + 有可用的更新 never - + 从未更新 @@ -1077,63 +1072,63 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - + openpilot纵向控制可能会在未来的更新中提供。 openpilot Longitudinal Control (Alpha) - + openpilot纵向控制（Alpha 版） WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - + 警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - + 在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。 Aggressive - + 积极 Standard - + 标准 Relaxed - + 舒适 Driving Personality - + 驾驶风格 Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. - + 推荐使用标准模式。在积极模式中，openpilot 会更靠近前车并在加速和刹车方面更积极。在舒适模式中，openpilot 会与前车保持较远的距离。 An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。 Navigate on openpilot - + Navigate on openpilot Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - + 启用 openpilot 纵向控制（alpha）开关以允许实验模式。 End-to-End Longitudinal Control - + 端到端纵向控制 - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + 当导航有目的地时，openpilot 将输入地图信息到模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向安全地带等。 - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + 行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。 @@ -1175,23 +1170,23 @@ This may take up to a minute. WiFiPromptWidget Setup Wi-Fi - + 设置 Wi-Fi 连接 Connect to Wi-Fi to upload driving data and help improve openpilot - + 请连接至 Wi-Fi 上传驾驶数据以协助改进openpilot Open Settings - + 打开设置 Ready to upload - + 准备好上传 Training data will be pulled periodically while your device is on Wi-Fi - + 训练数据将定期通过 Wi-Fi 上载 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index aa63ee7026..57d9f91fec 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -353,33 +353,6 @@ hr 小時 - - km - km - - - mi - mi - - - - MapInstructions - - km - km - - - m - m - - - mi - mi - - - ft - ft - MapSettings @@ -389,7 +362,7 @@ Manage at connect.comma.ai - 請在 connect.comma.ai 上進行管理 + 請在 connect.comma.ai 上管理 @@ -404,7 +377,7 @@ Waiting for route - + 等待路線 @@ -487,7 +460,7 @@ openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 + openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。 Device temperature too high. System cooling down before starting. Current internal component temperature: %1 @@ -617,6 +590,22 @@ %n 天前 + + km + km + + + m + m + + + mi + mi + + + ft + ft + Reset @@ -760,6 +749,10 @@ This may take up to a minute. Something went wrong. Reboot the device. 發生了一些錯誤。請重新啟動您的設備。 + + Select a language + 選擇語言 + SetupWidget @@ -836,27 +829,27 @@ This may take up to a minute. Wi-Fi - + ETH - + 2G - + 3G - + LTE - + 5G - + @@ -1087,11 +1080,11 @@ This may take up to a minute. WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 警告：此車輛的 Openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 + 警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 在這輛車上，Openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 Openpilot 的縱向控制。啟用此項功能可切換至 Openpilot 的縱向控制。當啟用 Openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + 在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 Aggressive @@ -1115,27 +1108,27 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本，以及實驗模式。 + 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。 Navigate on openpilot - + Navigate on openpilot Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - + 啟用 openpilot 縱向控制（alpha）切換以允許實驗模式。 End-to-End Longitudinal Control - + 端到端縱向控制 - When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. - + When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc. + 当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。 - The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. - + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green. + 行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。 @@ -1181,7 +1174,7 @@ This may take up to a minute. Connect to Wi-Fi to upload driving data and help improve openpilot - 請連接至 Wi-Fi 以上傳駕駛數據，並協助改進 openpilot + 請連接至 Wi-Fi 傳駕駛數據以協助改進 openpilot Open Settings @@ -1189,11 +1182,11 @@ This may take up to a minute. Ready to upload - + 準備好上傳 Training data will be pulled periodically while your device is on Wi-Fi - + 訓練數據將定期經過 Wi-Fi 上傳 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index fb230d0aaf..da68601cdf 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/ui.h" +#include #include #include @@ -175,15 +176,15 @@ static void update_state(UIState *s) { Eigen::Matrix3d device_from_calib = euler2rot(rpy); Eigen::Matrix3d wide_from_device = euler2rot(wfde); Eigen::Matrix3d view_from_device; - view_from_device << 0,1,0, - 0,0,1, - 1,0,0; + view_from_device << 0, 1, 0, + 0, 0, 1, + 1, 0, 0; Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; - Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib ; + Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); - scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); + scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j); + scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j); } } scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; @@ -377,8 +378,11 @@ UIState::UIState(QObject *parent) : QObject(parent) { }); Params params; - prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); + auto prime_value = params.get("PrimeType"); + if (!prime_value.empty()) { + prime_type = static_cast(std::atoi(prime_value.c_str())); + } // update timer timer = new QTimer(this); @@ -397,11 +401,18 @@ void UIState::update() { emit uiUpdate(*this); } -void UIState::setPrimeType(int type) { +void UIState::setPrimeType(PrimeType type) { if (type != prime_type) { + bool prev_prime = hasPrime(); + prime_type = type; Params().put("PrimeType", std::to_string(prime_type)); emit primeTypeChanged(prime_type); + + bool prime = hasPrime(); + if (prev_prime != prime) { + emit primeChanged(prime); + } } } @@ -426,8 +437,11 @@ void Device::setAwake(bool on) { } } -void Device::resetInteractiveTimeout() { - interactive_timeout = (ignition_on ? 10 : 30) * UI_FREQ; +void Device::resetInteractiveTimeout(int timeout) { + if (timeout == -1) { + timeout = (ignition_on ? 10 : 30); + } + interactive_timeout = timeout * UI_FREQ; } void Device::updateBrightness(const UIState &s) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index be364f8853..a17e0286a7 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -105,6 +106,15 @@ typedef enum UIStatus { STATUS_MADS, } UIStatus; +enum PrimeType { + UNKNOWN = -1, + NONE = 0, + MAGENTA = 1, + LITE = 2, + BLUE = 3, + MAGENTA_NEW = 4, +}; + const QColor bg_colors [] = { [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), @@ -228,8 +238,9 @@ public: return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); } - void setPrimeType(int type); - inline int primeType() const { return prime_type; } + void setPrimeType(PrimeType type); + inline PrimeType primeType() const { return prime_type; } + inline bool hasPrime() const { return prime_type != PrimeType::UNKNOWN && prime_type != PrimeType::NONE; } int fb_w = 0, fb_h = 0; @@ -245,7 +256,8 @@ public: signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); - void primeTypeChanged(int prime_type); + void primeChanged(bool prime); + void primeTypeChanged(PrimeType prime_type); private slots: void update(); @@ -253,7 +265,7 @@ private slots: private: QTimer *timer; bool started_prev = false; - int prime_type = -1; + PrimeType prime_type = PrimeType::UNKNOWN; uint64_t last_update_params_sidebar; bool last_mads_enabled = false; @@ -294,7 +306,7 @@ signals: void interactiveTimeout(); public slots: - void resetInteractiveTimeout(); + void resetInteractiveTimeout(int timeout = -1); void update(const UIState &s); }; diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 3de6e0f27c..004c6425dc 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -3,7 +3,7 @@ import argparse import json import os -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") @@ -13,7 +13,7 @@ TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") def generate_translations_include(): # offroad alerts - # TODO translate events from selfdrive/controls/lib/events.py + # TODO translate events from openpilot.selfdrive/controls/lib/events.py content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n" with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: for alert in json.load(f).values(): @@ -46,7 +46,8 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)") + parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], + help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() update_translations(args.vanish, args.plural_only) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index e2a858724c..86a4071c19 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -14,13 +14,13 @@ from pathlib import Path from typing import List, Union, Optional from markdown_it import MarkdownIt -from common.basedir import BASEDIR -from common.params import Params -from common.time import system_time_valid -from system.hardware import AGNOS, HARDWARE -from system.swaglog import cloudlog -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.version import is_tested_branch +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.time import system_time_valid +from openpilot.system.hardware import AGNOS, HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.version import is_tested_branch LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") @@ -192,7 +192,7 @@ def finalize_update() -> None: def handle_agnos_update() -> None: - from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number + from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number cur_version = HARDWARE.get_os_version() updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ @@ -444,7 +444,7 @@ def main() -> None: if not system_time_valid(): wait_helper.sleep(60) continue - + update_failed_count += 1 # check for update diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 3ecc3f6d72..ffd7278bbb 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -8,7 +8,7 @@ env.Program('camerad', [ camera_obj, ], LIBS=libs) -if GetOption("test") and arch == "x86_64": +if GetOption("extras") and arch == "x86_64": env.Program('test/ae_gray_test', ['test/ae_gray_test.cc', camera_obj], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1b2594bc80..23b28357da 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -5,9 +5,10 @@ #include #include #include +#include #include -#include "libyuv.h" +#include "third_party/libyuv/include/libyuv.h" #include #include "system/camerad/imgproc/utils.h" @@ -16,7 +17,7 @@ #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" -#include "msm_media_info.h" +#include "third_party/linux/include/msm_media_info.h" #include "system/camerad/cameras/camera_qcom2.h" #ifdef QCOM2 diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 74ac77482e..3a9ecb467b 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -6,12 +6,15 @@ #include #include +#include #include #include #include #include #include #include +#include +#include #include "media/cam_defs.h" #include "media/cam_isp.h" @@ -143,7 +146,7 @@ void CameraState::sensors_start() { void CameraState::sensors_poke(int request_id) { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet); - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 0; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -156,15 +159,13 @@ void CameraState::sensors_poke(int request_id) { enabled = false; return; } - - mm.free(pkt); } void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { // LOGD("sensors_i2c: %d", len); uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 1; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -174,7 +175,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); buf_desc[0].type = CAM_CMD_BUF_I2C; - struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto i2c_random_wr = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); i2c_random_wr->header.count = len; i2c_random_wr->header.op_code = 1; i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; @@ -188,9 +189,6 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op enabled = false; return; } - - mm.free(i2c_random_wr); - mm.free(pkt); } static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { @@ -199,12 +197,12 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { unconditional_wait->delay = delay_ms; unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND; return (struct cam_cmd_power *)(unconditional_wait + 1); -}; +} int CameraState::sensors_init() { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 2; pkt->kmd_cmd_buf_index = -1; pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; @@ -213,8 +211,8 @@ int CameraState::sensors_init() { buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); buf_desc[0].type = CAM_CMD_BUF_LEGACY; - struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - auto probe = (struct cam_cmd_probe *)(i2c_info + 1); + auto i2c_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); probe->camera_id = camera_num; switch (camera_num) { @@ -255,11 +253,11 @@ int CameraState::sensors_init() { //buf_desc[1].size = buf_desc[1].length = 148; buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].type = CAM_CMD_BUF_I2C; - struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memset(power_settings, 0, buf_desc[1].size); + auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memset(power_settings.get(), 0, buf_desc[1].size); // power on - struct cam_cmd_power *power = power_settings; + struct cam_cmd_power *power = power_settings.get(); power->count = 4; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->power_settings[0].power_seq_type = 3; // clock?? @@ -315,11 +313,6 @@ int CameraState::sensors_init() { int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); LOGD("probing the sensor: %d", ret); - - mm.free(i2c_info); - mm.free(power_settings); - mm.free(pkt); - return ret; } @@ -329,7 +322,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (io_mem_handle != 0) { size += sizeof(struct cam_buf_io_cfg); } - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 2; pkt->kmd_cmd_buf_index = 0; // YUV has kmd_cmd_buf_offset = 1780 @@ -424,25 +417,25 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; - uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memcpy(buf2, &tmp, sizeof(tmp)); + auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); + memcpy(buf2.get(), &tmp, sizeof(tmp)); if (io_mem_handle != 0) { io_cfg[0].mem_handle[0] = io_mem_handle; - io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = ci.frame_width, - .height = ci.frame_height + ci.extra_height, - .plane_stride = ci.frame_stride, - .slice_height = ci.frame_height + ci.extra_height, - .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) - .meta_size = 0x0, - .meta_offset = 0x0, - .packer_config = 0x0, // 0xb for YUV - .mode_config = 0x0, // 0x9ef for YUV - .tile_config = 0x0, - .h_init = 0x0, - .v_init = 0x0, - }; + io_cfg[0].planes[0] = (struct cam_plane_cfg){ + .width = ci.frame_width, + .height = ci.frame_height + ci.extra_height, + .plane_stride = ci.frame_stride, + .slice_height = ci.frame_height + ci.extra_height, + .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) + .meta_size = 0x0, + .meta_offset = 0x0, + .packer_config = 0x0, // 0xb for YUV + .mode_config = 0x0, // 0x9ef for YUV + .tile_config = 0x0, + .h_init = 0x0, + .v_init = 0x0, + }; io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12; // CAM_FORMAT_UBWC_TP10 for YUV io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV io_cfg[0].color_pattern = 0x5; // 0x0 for YUV @@ -459,9 +452,6 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b if (ret != 0) { LOGE("isp config failed"); } - - mm.free(buf2); - mm.free(pkt); } void CameraState::enqueue_buffer(int i, bool dp) { @@ -518,7 +508,7 @@ void CameraState::enqueue_buffer(int i, bool dp) { } void CameraState::enqueue_req_multi(int start, int n, bool dp) { - for (int i=start;ivideo0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); + alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | + CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); config_isp(0, 0, 1, buf0_handle, 0); // config csiphy @@ -746,7 +737,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num { uint32_t cam_packet_handle = 0; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle); + auto pkt = mm.alloc(size, &cam_packet_handle); pkt->num_cmd_buf = 1; pkt->kmd_cmd_buf_index = -1; pkt->header.size = size; @@ -755,7 +746,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); buf_desc[0].type = CAM_CMD_BUF_GENERIC; - struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); + auto csiphy_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); csiphy_info->lane_mask = 0x1f; csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane @@ -767,9 +758,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); assert(ret_ == 0); - - mm.free(csiphy_info); - mm.free(pkt); } // link devices @@ -1289,9 +1277,9 @@ void cameras_run(MultiCameraState *s) { if (ret == 0) { if (ev.type == V4L_EVENT_CAM_REQ_MGR_EVENT) { struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data; - // LOGD("v4l2 event: sess_hdl 0x%X, link_hdl 0x%X, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status); if (env_debug_frames) { - printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); + printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, + event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); } if (event_data->session_hdl == s->road_cam.session_handle) { diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc index 6d139590e4..74c81a878a 100644 --- a/system/camerad/cameras/camera_util.cc +++ b/system/camerad/cameras/camera_util.cc @@ -37,7 +37,7 @@ std::optional device_acquire(int fd, int32_t session_handle, void *data }; int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; -}; +} int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { struct cam_config_dev_cmd cmd = { @@ -98,7 +98,7 @@ void release_fd(int video0_fd, uint32_t handle) { release(video0_fd, handle); } -void *MemoryManager::alloc(int size, uint32_t *handle) { +void *MemoryManager::alloc_buf(int size, uint32_t *handle) { lock.lock(); void *ptr; if (!cached_allocations[size].empty()) { diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h index e408f6c0e2..b36f404c0f 100644 --- a/system/camerad/cameras/camera_util.h +++ b/system/camerad/cameras/camera_util.h @@ -1,6 +1,8 @@ #pragma once + #include #include +#include #include #include #include @@ -18,10 +20,17 @@ void release(int video0_fd, uint32_t handle); class MemoryManager { public: void init(int _video0_fd) { video0_fd = _video0_fd; } - void *alloc(int len, uint32_t *handle); - void free(void *ptr); ~MemoryManager(); + + template + auto alloc(int len, uint32_t *handle) { + return std::unique_ptr>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); }); + } + private: + void *alloc_buf(int len, uint32_t *handle); + void free(void *ptr); + std::mutex lock; std::map handle_lookup; std::map size_lookup; diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 447062fb2e..ede97d1a79 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -7,11 +7,11 @@ from PIL import Image import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType -from common.params import Params -from common.realtime import DT_MDL -from system.hardware import PC -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.manager.process_config import managed_processes +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.system.hardware import PC +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.manager.process_config import managed_processes LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc index aabd7534ee..8d18f7e93b 100644 --- a/system/camerad/test/ae_gray_test.cc +++ b/system/camerad/test/ae_gray_test.cc @@ -1,6 +1,6 @@ // unittest for set_exposure_target -#include "ae_gray_test.h" +#include "system/camerad/test/ae_gray_test.h" #include diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h index fb54cd9584..8953fb017f 100644 --- a/system/camerad/test/ae_gray_test.h +++ b/system/camerad/test/ae_gray_test.h @@ -5,14 +5,13 @@ #define TONE_SPLITS 3 -float gts[TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS] = { - 0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969, - 0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000, - 0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000 -}; +float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { + 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, + 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, + 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000}; diff --git a/system/camerad/test/frame_test.py b/system/camerad/test/frame_test.py deleted file mode 100755 index 39198e19da..0000000000 --- a/system/camerad/test/frame_test.py +++ /dev/null @@ -1,37 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import cereal.messaging as messaging -from PIL import ImageFont, ImageDraw, Image - -font = ImageFont.truetype("arial", size=72) -def get_frame(idx): - img = np.zeros((874, 1164, 3), np.uint8) - img[100:400, 100:100+(idx % 10) * 100] = 255 - - # big number - im2 = Image.new("RGB", (200, 200)) - draw = ImageDraw.Draw(im2) - draw.text((10, 100), "%02d" % idx, font=font) - img[400:600, 400:600] = np.array(im2.getdata()).reshape((200, 200, 3)) - return img.tostring() - -if __name__ == "__main__": - from common.realtime import Ratekeeper - rk = Ratekeeper(20) - - pm = messaging.PubMaster(['roadCameraState']) - frm = [get_frame(x) for x in range(30)] - idx = 0 - while 1: - print("send %d" % idx) - dat = messaging.new_message('roadCameraState') - dat.valid = True - dat.frame = { - "frameId": idx, - "image": frm[idx % len(frm)], - } - pm.send('roadCameraState', dat) - - idx += 1 - rk.keep_time() - #time.sleep(1.0) diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 898377b111..97667ede86 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -4,9 +4,9 @@ import os from tqdm import tqdm -from common.file_helpers import mkdirs_exists_ok -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route import argparse diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index f03c531b20..b2aca850d1 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -7,12 +7,12 @@ from collections import defaultdict import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from selfdrive.manager.process_config import managed_processes -from system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import TICI TEST_TIMESPAN = 30 -LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts - log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame +LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts + log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, log.FrameData.ImageSensor.ox03c10: 1.0} diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index 201b205c4f..50467f9db4 100755 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -3,8 +3,8 @@ import time import unittest import numpy as np -from selfdrive.test.helpers import with_processes -from system.camerad.snapshot.snapshot import get_snapshots +from openpilot.selfdrive.test.helpers import with_processes, phone_only +from openpilot.system.camerad.snapshot.snapshot import get_snapshots TEST_TIME = 45 REPEAT = 5 @@ -18,7 +18,9 @@ class TestCamerad(unittest.TestCase): ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8) return ret - def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])): + def _is_exposure_okay(self, i, med_mean=None): + if med_mean is None: + med_mean = np.array([[0.2,0.4],[0.2,0.6]]) h, w = i.shape[:2] i = i[h//10:9*h//10,w//10:9*w//10] med_ex, mean_ex = med_mean @@ -28,6 +30,7 @@ class TestCamerad(unittest.TestCase): print([i_median, i_mean]) return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1] + @phone_only @with_processes(['camerad']) def test_camera_operation(self): passed = 0 diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py index 77bb0e5e2a..99079b5ef3 100644 --- a/system/hardware/__init__.py +++ b/system/hardware/__init__.py @@ -1,9 +1,9 @@ import os from typing import cast -from system.hardware.base import HardwareBase -from system.hardware.tici.hardware import Tici -from system.hardware.pc.hardware import Pc +from openpilot.system.hardware.base import HardwareBase +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.pc.hardware import Pc TICI = os.path.isfile('/TICI') AGNOS = os.path.isfile('/AGNOS') diff --git a/system/hardware/base.h b/system/hardware/base.h index 5460099723..d86b316843 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -2,6 +2,9 @@ #include #include +#include +#include + #include "cereal/messaging/messaging.h" // no-op base hw class @@ -11,10 +14,10 @@ public: static constexpr float MIN_VOLUME = 0.2; static std::string get_os_version() { return ""; } - static std::string get_name() { return ""; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }; - static int get_voltage() { return 0; }; - static int get_current() { return 0; }; + static std::string get_name() { return ""; } + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; } + static int get_voltage() { return 0; } + static int get_current() { return 0; } static std::string get_serial() { return "cccccc"; } diff --git a/system/hardware/hw.h b/system/hardware/hw.h index 3b0583a10b..1274851787 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "system/hardware/base.h" #include "common/util.h" diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 529b4bfe9d..5cd825d61d 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -1,12 +1,14 @@ #pragma once +#include + #include "system/hardware/base.h" class HardwarePC : public HardwareNone { public: static std::string get_os_version() { return "openpilot for PC"; } - static std::string get_name() { return "pc"; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }; + static std::string get_name() { return "pc"; } + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; } static bool PC() { return true; } static bool TICI() { return util::getenv("TICI", 0) == 1; } static bool AGNOS() { return util::getenv("TICI", 0) == 1; } diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 564f9e483a..27c05f5904 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,7 +1,7 @@ import random from cereal import log -from system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.base import HardwareBase, ThermalConfig NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 90933e8fef..7e8cd480be 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -67,6 +67,10 @@ "size": 10737418240, "sparse": true, "full_check": false, - "has_ab": true + "has_ab": true, + "alt": { + "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz" + } } ] diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 5f446a8e90..ef7d9adb79 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -10,7 +10,7 @@ from typing import Dict, Generator, List, Tuple, Union import requests -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/" diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 5b656a40fa..e003f131cc 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import time from smbus2 import SMBus from collections import namedtuple diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 580dc83eec..c1a2dcb169 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -2,6 +2,8 @@ #include #include +#include +#include #include "common/params.h" #include "common/util.h" @@ -15,19 +17,19 @@ public: static bool AGNOS() { return true; } static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); - }; + } static std::string get_name() { std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model"); return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici"; - }; + } static cereal::InitData::DeviceType get_device_type() { return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI; - }; + } - static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; - static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); } + static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); } static std::string get_serial() { static std::string serial(""); @@ -47,8 +49,8 @@ public: return serial; } - static void reboot() { std::system("sudo reboot"); }; - static void poweroff() { std::system("sudo poweroff"); }; + static void reboot() { std::system("sudo reboot"); } + static void poweroff() { std::system("sudo poweroff"); } static void set_brightness(int percent) { std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"); @@ -57,14 +59,14 @@ public: brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n"; brightness_control.close(); } - }; + } static void set_display_power(bool on) { std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power"); if (bl_power_control.is_open()) { bl_power_control << (on ? "0" : "4") << "\n"; bl_power_control.close(); } - }; + } static void set_volume(float volume) { volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); @@ -99,6 +101,6 @@ public: return ret; } - static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }; - static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }; + static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } + static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } }; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 018bc30004..7f8ef37f1a 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -8,11 +8,11 @@ from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from common.gpio import gpio_set, gpio_init, get_irqs_for_action -from system.hardware.base import HardwareBase, ThermalConfig -from system.hardware.tici import iwlist -from system.hardware.tici.pins import GPIO -from system.hardware.tici.amplifier import Amplifier +from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action +from openpilot.system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.tici import iwlist +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.hardware.tici.amplifier import Amplifier NM = 'org.freedesktop.NetworkManager' NM_CON_ACT = NM + '.Connection.Active' @@ -83,10 +83,21 @@ def affine_irq(val, action): for i in irqs: sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list") +@lru_cache +def get_device_type(): + # lru_cache and cache can cause memory leaks when used in classes + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + # TODO: remove this with AGNOS 7+ + if model.startswith('Qualcomm'): + model = 'tici' + return model + class Tici(HardwareBase): @cached_property def bus(self): - import dbus # pylint: disable=import-error + import dbus return dbus.SystemBus() @cached_property @@ -105,15 +116,8 @@ class Tici(HardwareBase): with open("/VERSION") as f: return f.read().strip() - @lru_cache def get_device_type(self): - with open("/sys/firmware/devicetree/base/model") as f: - model = f.read().strip('\x00') - model = model.split('comma ')[-1] - # TODO: remove this with AGNOS 7+ - if model.startswith('Qualcomm'): - model = 'tici' - return model + return get_device_type() def get_sound_card_online(self): if os.path.isfile('/proc/asound/card0/state'): @@ -319,7 +323,8 @@ class Tici(HardwareBase): (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]), # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class - (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]), + (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \ + "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]), ] download = [ @@ -328,7 +333,8 @@ class Tici(HardwareBase): # Redirect ingress (incoming) to egress ifb0 (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]), - (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]), + (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \ + "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]), # Add class and rules for virtual interface (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]), @@ -580,7 +586,7 @@ class Tici(HardwareBase): gpio_init(GPIO.STM_RST_N, True) gpio_set(GPIO.STM_RST_N, 1) - time.sleep(2) + time.sleep(1) gpio_set(GPIO.STM_RST_N, 0) def recover_internal_panda(self): @@ -589,9 +595,9 @@ class Tici(HardwareBase): gpio_set(GPIO.STM_RST_N, 1) gpio_set(GPIO.STM_BOOT0, 1) - time.sleep(1) + time.sleep(0.5) gpio_set(GPIO.STM_RST_N, 0) - time.sleep(1) + time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 5ac0158082..4388351e1f 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -6,7 +6,7 @@ class GPIO: HUB_RST_N = 30 UBLOX_RST_N = 32 UBLOX_SAFEBOOT_N = 33 - UBLOX_PWR_EN = 34 + GNSS_PWR_EN = 34 # SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN STM_RST_N = 124 STM_BOOT0 = 134 diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py index 3c303ff61f..a0520638b7 100755 --- a/system/hardware/tici/power_draw_test.py +++ b/system/hardware/tici/power_draw_test.py @@ -2,9 +2,9 @@ import os import time import numpy as np -from system.hardware.tici.hardware import Tici -from system.hardware.tici.pins import GPIO -from common.gpio import gpio_init, gpio_set, gpio_export +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.common.gpio import gpio_init, gpio_set, gpio_export def read_power(): with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f: @@ -53,7 +53,7 @@ if __name__ == "__main__": t.set_screen_brightness(0) gpio_init(GPIO.STM_RST_N, True) gpio_init(GPIO.HUB_RST_N, True) - gpio_init(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.GNSS_PWR_EN, True) gpio_init(GPIO.LTE_RST_N, True) gpio_init(GPIO.LTE_PWRKEY, True) gpio_init(GPIO.CAM0_AVDD_EN, True) @@ -65,7 +65,7 @@ if __name__ == "__main__": os.system("sudo su -c 'echo 0 > /sys/kernel/debug/regulator/camera_rear_ldo/enable'") # cam 1v2 off gpio_set(GPIO.CAM0_AVDD_EN, False) # cam 2v8 off gpio_set(GPIO.LTE_RST_N, True) # quectel off - gpio_set(GPIO.UBLOX_PWR_EN, False) # gps off + gpio_set(GPIO.GNSS_PWR_EN, False) # gps off gpio_set(GPIO.STM_RST_N, True) # panda off gpio_set(GPIO.HUB_RST_N, False) # hub off # cameras in reset @@ -92,7 +92,7 @@ if __name__ == "__main__": gpio_set(GPIO.STM_RST_N, False) time.sleep(5) print("panda: ", read_power_avg()) - gpio_set(GPIO.UBLOX_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) time.sleep(5) print("gps: ", read_power_avg()) gpio_set(GPIO.LTE_RST_N, False) diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index f9d1e3cc41..ef3055ac47 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -4,9 +4,10 @@ import time import datetime import numpy as np from typing import List +from collections import deque -from common.realtime import Ratekeeper -from common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter def read_power(): @@ -27,6 +28,15 @@ def get_power(seconds=5): pwrs = sample_power(seconds) return np.mean(pwrs) +def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout): + start_time = time.monotonic() + pwrs = deque([min_pwr - 1.]*min_secs_in_range, maxlen=min_secs_in_range) + while (time.monotonic() - start_time < timeout): + pwrs.append(get_power(1)) + if all(min_pwr <= p <= max_pwr for p in pwrs): + break + return np.mean(pwrs) + if __name__ == "__main__": duration = None diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py index 5d68851367..e186ba4aea 100755 --- a/system/hardware/tici/precise_power_measure.py +++ b/system/hardware/tici/precise_power_measure.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import numpy as np -from system.hardware.tici.power_monitor import sample_power +from openpilot.system.hardware.tici.power_monitor import sample_power if __name__ == '__main__': print("measuring for 5 seconds") diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index b462e93ebc..835985b0b5 100755 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -8,7 +8,7 @@ from typing import Dict, List import requests from tqdm import tqdm -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync def get_chunk_download_size(chunk): @@ -40,7 +40,7 @@ if __name__ == "__main__": # Get content-length for each chunk with multiprocessing.Pool() as pool: szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to))) - chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs)} + chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)} sources: Dict[str, List[int]] = { 'seed': [], diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 781a39e496..cd3b0f90fe 100755 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -5,9 +5,9 @@ import unittest import subprocess from panda import Panda -from system.hardware import TICI, HARDWARE -from system.hardware.tici.hardware import Tici -from system.hardware.tici.amplifier import Amplifier +from openpilot.system.hardware import TICI, HARDWARE +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.tici.amplifier import Amplifier class TestAmplifier(unittest.TestCase): @@ -21,9 +21,9 @@ class TestAmplifier(unittest.TestCase): # clear dmesg subprocess.check_call("sudo dmesg -C", shell=True) + HARDWARE.reset_internal_panda() Panda.wait_for_panda(None, 30) self.panda = Panda() - self.panda.reset() def tearDown(self): HARDWARE.reset_internal_panda() diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py index 8724575ad6..94b32a9f76 100755 --- a/system/hardware/tici/tests/test_casync.py +++ b/system/hardware/tici/tests/test_casync.py @@ -4,7 +4,7 @@ import unittest import tempfile import subprocess -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 # sudo losetup -f /tmp/img.raw diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py index d910b13ec4..7d377ac3fb 100755 --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -3,8 +3,8 @@ import time import unittest import numpy as np -from system.hardware import TICI -from system.hardware.tici.hardware import Tici +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.hardware import Tici HARDWARE = Tici() @@ -15,6 +15,9 @@ class TestHardware(unittest.TestCase): if not TICI: raise unittest.SkipTest + HARDWARE.initialize_hardware() + HARDWARE.set_power_save(False) + def test_power_save_time(self): ts = [] for _ in range(5): @@ -23,7 +26,7 @@ class TestHardware(unittest.TestCase): HARDWARE.set_power_save(on) ts.append(time.monotonic() - st) - assert 0.1 < np.mean(ts) < 0.2 + assert 0.1 < np.mean(ts) < 0.25 assert max(ts) < 0.3 diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index a35f231c4e..fbca95f6f6 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -9,11 +9,11 @@ from typing import List import cereal.messaging as messaging from cereal.services import service_list -from system.hardware import HARDWARE, TICI -from system.hardware.tici.power_monitor import get_power -from selfdrive.manager.process_config import managed_processes -from selfdrive.manager.manager import manager_cleanup -from selfdrive.navd.tests.test_map_renderer import gen_llk +from openpilot.system.hardware import HARDWARE, TICI +from openpilot.system.hardware.tici.power_monitor import get_power +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.manager import manager_cleanup +from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk SAMPLE_TIME = 8 # seconds to sample power diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc index 70467a9c15..54b3782132 100644 --- a/system/logcatd/logcatd_systemd.cc +++ b/system/logcatd/logcatd_systemd.cc @@ -5,7 +5,7 @@ #include #include -#include "json11.hpp" +#include "third_party/json11/json11.hpp" #include "cereal/messaging/messaging.h" #include "common/timing.h" @@ -35,7 +35,7 @@ int main(int argc, char *argv[]) { // Wait for new message if we didn't receive anything if (err == 0) { err = sd_journal_wait(journal, 1000 * 1000); - assert (err >= 0); + assert(err >= 0); continue; // Try again } diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index 3b961bce6e..d4f52fb5f1 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -23,5 +23,5 @@ env.Program('loggerd', ['loggerd.cc'], LIBS=libs) env.Program('encoderd', ['encoderd.cc'], LIBS=libs) env.Program('bootlog.cc', LIBS=libs) -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto']) diff --git a/system/loggerd/config.py b/system/loggerd/config.py index df187a48c0..dfc117f2c1 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -1,6 +1,6 @@ import os from pathlib import Path -from system.hardware import PC +from openpilot.system.hardware import PC if os.environ.get('LOG_ROOT', False): ROOT = os.environ['LOG_ROOT'] diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py old mode 100644 new mode 100755 index 5e7b31f583..ab4a0b97c1 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -4,10 +4,10 @@ import shutil import threading from typing import List -from system.swaglog import cloudlog -from system.loggerd.config import ROOT, get_available_bytes, get_available_percent -from system.loggerd.uploader import listdir_by_creation -from system.loggerd.xattr_cache import getxattr +from openpilot.system.swaglog import cloudlog +from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from openpilot.system.loggerd.uploader import listdir_by_creation +from openpilot.system.loggerd.xattr_cache import getxattr MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 59ec4357ae..a8bfd5c054 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -2,6 +2,7 @@ #include #include +#include #include #include "cereal/messaging/messaging.h" @@ -15,7 +16,7 @@ class VideoEncoder { public: VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); - virtual ~VideoEncoder() {}; + virtual ~VideoEncoder() {} virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; virtual void encoder_open(const char* path) = 0; virtual void encoder_close() = 0; diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index b73f4e8f5d..f44f2fbed7 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -11,7 +11,7 @@ #define __STDC_CONSTANT_MACROS -#include "libyuv.h" +#include "third_party/libyuv/include/libyuv.h" extern "C" { #include @@ -135,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { } if (env_debug_encoder) { - printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id); + printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id); } publisher_publish(this, segment_num, counter, *extra, diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index a319d414ca..571f5979e2 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -1,4 +1,5 @@ #include +#include #include #include @@ -6,11 +7,11 @@ #include "common/util.h" #include "common/timing.h" -#include "libyuv.h" -#include "msm_media_info.h" +#include "third_party/libyuv/include/libyuv.h" +#include "third_party/linux/include/msm_media_info.h" // has to be in this order -#include "v4l2-controls.h" +#include "third_party/linux/include/v4l2-controls.h" #include #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000 @@ -18,7 +19,13 @@ // echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; -#define checked_ioctl(x,y,z) { int _ret = HANDLE_EINTR(ioctl(x,y,z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); } +static void checked_ioctl(int fd, unsigned long request, void *argp) { + int ret = util::safe_ioctl(fd, request, argp); + if (ret != 0) { + LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp); + assert(0); + } +} static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) { v4l2_plane plane = {0}; @@ -68,7 +75,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) } void V4LEncoder::dequeue_handler(V4LEncoder *e) { - std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename); + std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name); util::set_thread_name(dequeue_thread_name.c_str()); e->segment_num++; @@ -85,10 +92,20 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { while (!exit) { int rc = poll(&pfd, 1, 1000); - if (!rc) { LOGE("encoder dequeue poll timeout"); continue; } + if (rc < 0) { + if (errno != EINTR) { + // TODO: exit encoder? + // ignore the error and keep going + LOGE("poll failed (%d - %d)", rc, errno); + } + continue; + } else if (rc == 0) { + LOGE("encoder dequeue poll timeout"); + continue; + } if (env_debug_encoder >= 2) { - printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot()); + printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot()); } int frame_id = -1; @@ -116,7 +133,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) { if (env_debug_encoder) { printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n", - e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); + e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); } // requeue the buffer diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 2cb26dc8d5..1b45df6827 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -47,7 +47,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { util::set_thread_name(cam_info.thread_name); - std::vector encoders; + std::vector> encoders; VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); int cur_seg = 0; @@ -60,18 +60,15 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // init encoders if (encoders.empty()) { VisionBuf buf_info = vipc_client.buffers[0]; - LOGW("encoder %s init %dx%d", cam_info.thread_name, buf_info.width, buf_info.height); + LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height); assert(buf_info.width > 0 && buf_info.height > 0); for (const auto &encoder_info : cam_info.encoder_infos) { - encoders.push_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); + auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); + e->encoder_open(nullptr); } } - for (int i = 0; i < encoders.size(); ++i) { - encoders[i]->encoder_open(NULL); - } - bool lagging = false; while (!do_exit) { VisionIpcBufExtra extra; @@ -81,7 +78,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // detect loop around and drop the frames if (buf->get_frame_id() != extra.frame_id) { if (!lagging) { - LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id); + LOGE("encoder %s lag buffer id: %" PRIu64 " extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id); lagging = true; } continue; @@ -113,15 +110,10 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { } } } - - LOG("encoder destroy"); - for(auto &e : encoders) { - e->encoder_close(); - delete e; - } } -void encoderd_thread() { +template +void encoderd_thread(const LogCameraInfo (&cameras)[N]) { EncoderdState s; std::set streams; @@ -136,9 +128,9 @@ void encoderd_thread() { if (!streams.empty()) { std::vector encoder_threads; for (auto stream : streams) { - auto it = std::find_if(std::begin(cameras_logged), std::end(cameras_logged), + auto it = std::find_if(std::begin(cameras), std::end(cameras), [stream](auto &cam) { return cam.stream_type == stream; }); - assert(it != std::end(cameras_logged)); + assert(it != std::end(cameras)); ++s.max_waiting; encoder_threads.push_back(std::thread(encoder_thread, &s, *it)); } @@ -147,7 +139,7 @@ void encoderd_thread() { } } -int main() { +int main(int argc, char* argv[]) { if (!Hardware::PC()) { int ret; ret = util::set_realtime_priority(52); @@ -155,6 +147,15 @@ int main() { ret = util::set_core_affinity({3}); assert(ret == 0); } - encoderd_thread(); + if (argc > 1) { + std::string arg1(argv[1]); + if (arg1 == "--stream") { + encoderd_thread(stream_cameras_logged); + } else { + LOGE("Argument '%s' is not supported", arg1.c_str()); + } + } else { + encoderd_thread(cameras_logged); + } return 0; } diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 1e710759e6..31b302ffe6 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -13,7 +13,10 @@ #include #include #include +#include #include +#include +#include #include "common/params.h" #include "common/swaglog.h" diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index e7594cee88..36db1a5a74 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -1,11 +1,12 @@ #pragma once -#include #include +#include #include #include #include +#include #include #include diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 9cad9d7f2e..84d5632d5a 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,6 +1,10 @@ #include +#include +#include +#include #include +#include #include "system/loggerd/encoder/encoder.h" #include "system/loggerd/loggerd.h" @@ -94,7 +98,7 @@ 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) { + for (auto &qmsg : re.q) { bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); } re.q.clear(); @@ -112,6 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } // 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->segment_path, encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); @@ -203,10 +208,11 @@ void loggerd_thread() { std::unique_ptr poller(Poller::create()); // subscribe to all socks - for (const auto& it : services) { - const bool encoder = strcmp(it.name+strlen(it.name)-strlen("EncodeData"), "EncodeData") == 0; - if (!it.should_log && !encoder) continue; - LOGD("logging %s (on port %d)", it.name, it.port); + for (const auto& [_, it] : services) { + const bool encoder = util::ends_with(it.name, "EncodeData"); + const bool livestream_encoder = util::starts_with(it.name, "livestream"); + if (!it.should_log && (!encoder || livestream_encoder)) continue; + LOGD("logging %s (on port %d)", it.name.c_str(), it.port); SubSocket * sock = SubSocket::create(ctx.get(), it.name); assert(sock != NULL); @@ -216,7 +222,7 @@ void loggerd_thread() { .counter = 0, .freq = it.decimation, .encoder = encoder, - .user_flag = (strcmp(it.name, "userFlag") == 0), + .user_flag = it.name == "userFlag", }; } @@ -228,7 +234,7 @@ void loggerd_thread() { std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { - for (const auto &encoder_info: cam.encoder_infos) { + for (const auto &encoder_info : cam.encoder_infos) { encoder_infos_dict[encoder_info.publish_name] = encoder_info; s.max_waiting++; } @@ -264,7 +270,7 @@ void loggerd_thread() { if ((++msg_count % 1000) == 0) { double seconds = (millis_since_boot() - start_ts) / 1000.0; - LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds); + LOGD("%" PRIu64 " messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds); } count++; diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 4100f12f8d..cfc06c28d3 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "cereal/messaging/messaging.h" #include "cereal/services.h" #include "cereal/visionipc/visionipc_client.h" @@ -12,7 +14,9 @@ #include "system/loggerd/logger.h" constexpr int MAIN_FPS = 20; -const int MAIN_BITRATE = 10000000; +const int MAIN_BITRATE = 1e7; +const int LIVESTREAM_BITRATE = 1e6; +const int QCAM_BITRATE = 256000; #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead @@ -26,11 +30,10 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) constexpr char PRESERVE_ATTR_NAME[] = "user.preserve"; constexpr char PRESERVE_ATTR_VALUE = '1'; - class EncoderInfo { public: const char *publish_name; - const char *filename; + const char *filename = NULL; bool record = true; int frame_width = 1928; int frame_height = 1208; @@ -57,11 +60,13 @@ const EncoderInfo main_road_encoder_info = { .filename = "fcamera.hevc", INIT_ENCODE_FUNCTIONS(RoadEncode), }; + const EncoderInfo main_wide_road_encoder_info = { .publish_name = "wideRoadEncodeData", .filename = "ecamera.hevc", INIT_ENCODE_FUNCTIONS(WideRoadEncode), }; + const EncoderInfo main_driver_encoder_info = { .publish_name = "driverEncodeData", .filename = "dcamera.hevc", @@ -69,17 +74,40 @@ const EncoderInfo main_driver_encoder_info = { INIT_ENCODE_FUNCTIONS(DriverEncode), }; +const EncoderInfo stream_road_encoder_info = { + .publish_name = "livestreamRoadEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), +}; + +const EncoderInfo stream_wide_road_encoder_info = { + .publish_name = "livestreamWideRoadEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), +}; + +const EncoderInfo stream_driver_encoder_info = { + .publish_name = "livestreamDriverEncodeData", + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, + .record = false, + .bitrate = LIVESTREAM_BITRATE, + INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), +}; + const EncoderInfo qcam_encoder_info = { .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .bitrate = 256000, + .bitrate = QCAM_BITRATE, .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .frame_width = 526, .frame_height = 330, INIT_ENCODE_FUNCTIONS(QRoadEncode), }; - const LogCameraInfo road_camera_info{ .thread_name = "road_cam_encoder", .type = RoadCam, @@ -101,4 +129,26 @@ const LogCameraInfo driver_camera_info{ .encoder_infos = {main_driver_encoder_info} }; +const LogCameraInfo stream_road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {stream_road_encoder_info} +}; + +const LogCameraInfo stream_wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {stream_wide_road_encoder_info} +}; + +const LogCameraInfo stream_driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {stream_driver_encoder_info} +}; + const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; +const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info}; diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py index 4bf4f73604..c749f42b97 100755 --- a/system/loggerd/tests/fill.py +++ b/system/loggerd/tests/fill.py @@ -3,8 +3,8 @@ from pathlib import Path -from system.loggerd.config import ROOT, get_available_percent -from system.loggerd.tests.loggerd_tests_common import create_random_file +from openpilot.system.loggerd.config import ROOT, get_available_percent +from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 7d71516dfe..89ddbd658c 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -7,9 +7,9 @@ import unittest from pathlib import Path from typing import Optional -import system.loggerd.deleter as deleter -import system.loggerd.uploader as uploader -from system.loggerd.xattr_cache import setxattr +import openpilot.system.loggerd.deleter as deleter +import openpilot.system.loggerd.uploader as uploader +from openpilot.system.loggerd.xattr_cache import setxattr def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None: diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 9474b30f82..86152b05f8 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,9 +6,9 @@ from collections import namedtuple from pathlib import Path from typing import Sequence -import system.loggerd.deleter as deleter -from common.timeout import Timeout, TimeoutException -from system.loggerd.tests.loggerd_tests_common import UploaderTestCase +import openpilot.system.loggerd.deleter as deleter +from openpilot.common.timeout import Timeout, TimeoutException +from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index 81f4e9fb9d..41b83c0821 100755 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -11,12 +11,12 @@ from pathlib import Path from parameterized import parameterized from tqdm import trange -from common.params import Params -from common.timeout import Timeout -from system.hardware import TICI -from system.loggerd.config import ROOT -from selfdrive.manager.process_config import managed_processes -from tools.lib.logreader import LogReader +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.system.hardware import TICI +from openpilot.system.loggerd.config import ROOT +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.tools.lib.logreader import LogReader SEGMENT_LENGTH = 2 FULL_SIZE = 2507572 diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 7365b256d2..816a4d4198 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -13,17 +13,17 @@ from typing import Dict, List import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from common.basedir import BASEDIR -from common.params import Params -from common.timeout import Timeout -from system.loggerd.config import ROOT -from system.loggerd.xattr_cache import getxattr -from system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE -from selfdrive.manager.process_config import managed_processes -from system.version import get_version -from tools.lib.logreader import LogReader +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.system.loggerd.config import ROOT +from openpilot.system.loggerd.xattr_cache import getxattr +from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.version import get_version +from openpilot.tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size +from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size SentinelType = log.Sentinel.SentinelType @@ -130,7 +130,7 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'} + expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" for param_key, initData_key, v in fake_params: @@ -154,35 +154,35 @@ class TestLoggerd(unittest.TestCase): vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) vipc_server.start_listener() - for _ in range(5): - num_segs = random.randint(2, 5) - length = random.randint(1, 3) - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - time.sleep(1) + num_segs = random.randint(2, 5) + length = random.randint(1, 3) + os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) + managed_processes["loggerd"].start() + managed_processes["encoderd"].start() + time.sleep(1) - fps = 20.0 - for n in range(1, int(num_segs*length*fps)+1): - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[2], dtype=np.uint8) - vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) + fps = 20.0 + for n in range(1, int(num_segs*length*fps)+1): + time_start = time.monotonic() + for stream_type, frame_spec, state in streams: + dat = np.empty(frame_spec[2], dtype=np.uint8) + vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) - camera_state = messaging.new_message(state) - frame = getattr(camera_state, state) - frame.frameId = n - pm.send(state, camera_state) - time.sleep(1.0/fps) + camera_state = messaging.new_message(state) + frame = getattr(camera_state, state) + frame.frameId = n + pm.send(state, camera_state) + time.sleep(max((1.0/fps) - (time.monotonic() - time_start), 0)) - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() + managed_processes["loggerd"].stop() + managed_processes["encoderd"].stop() - route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] - for n in range(num_segs): - p = Path(f"{route_path}--{n}") - logged = {f.name for f in p.iterdir() if f.is_file()} - diff = logged ^ expected_files - self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") + route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] + for n in range(num_segs): + p = Path(f"{route_path}--{n}") + logged = {f.name for f in p.iterdir() if f.is_file()} + diff = logged ^ expected_files + self.assertEqual(len(diff), 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}") def test_bootlog(self): # generate bootlog with fake launch log @@ -210,7 +210,8 @@ class TestLoggerd(unittest.TestCase): for fn in ["console-ramoops", "pmsg-ramoops-0"]: path = Path(os.path.join("/sys/fs/pstore/", fn)) if path.is_file(): - expected_val = open(path, "rb").read() + with open(path, "rb") as f: + expected_val = f.read() bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0] self.assertEqual(expected_val, bootlog_val) diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 580d1efae2..6e2f86d6ca 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -8,13 +8,13 @@ import json from pathlib import Path from typing import List, Optional -from system.swaglog import cloudlog -from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.swaglog import cloudlog +from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from system.loggerd.tests.loggerd_tests_common import UploaderTestCase +from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase -class TestLogHandler(logging.Handler): +class FakeLogHandler(logging.Handler): def __init__(self): logging.Handler.__init__(self) self.reset() @@ -33,7 +33,7 @@ class TestLogHandler(logging.Handler): except Exception: pass -log_handler = TestLogHandler() +log_handler = FakeLogHandler() cloudlog.addHandler(log_handler) diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py index c963014748..84b9c20d78 100644 --- a/system/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from system.loggerd.config import ROOT +from openpilot.system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py index 3d1d4472b0..ef50280441 100755 --- a/system/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from system.loggerd.uploader import UPLOAD_ATTR_NAME +from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py old mode 100644 new mode 100755 index 34c60112f3..2d4505dc28 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -13,14 +13,13 @@ from typing import BinaryIO, Iterator, List, Optional, Tuple, Union from cereal import log import cereal.messaging as messaging -from common.api import Api -from common.params import Params -from common.realtime import sec_since_boot -from common.realtime import set_core_affinity -from system.hardware import TICI -from system.loggerd.xattr_cache import getxattr, setxattr -from system.loggerd.config import ROOT -from system.swaglog import cloudlog +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware import TICI +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.system.loggerd.config import ROOT +from openpilot.system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' @@ -47,7 +46,7 @@ class FakeResponse: UploadResponse = Union[requests.Response, FakeResponse] def get_directory_sort(d: str) -> List[str]: - return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1))) + return [s.rjust(10, '0') for s in d.rsplit('--', 1)] def listdir_by_creation(d: str) -> List[str]: try: @@ -212,7 +211,8 @@ class Uploader: else: content_length = int(stat.request.headers.get("Content-Length", 0)) self.last_speed = (content_length / 1e6) / self.last_time - cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, network_type=network_type, metered=metered, speed=self.last_speed) + cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, + network_type=network_type, metered=metered, speed=self.last_speed) success = True else: success = False @@ -269,9 +269,9 @@ def uploader_fn(exit_event: threading.Event) -> None: sm.update(0) offroad = params.get_bool("IsOffroad") - t = sec_since_boot() + t = time.monotonic() if offroad and not offroad_last and t > 300.: - transition_to_offroad_last = sec_since_boot() + transition_to_offroad_last = time.monotonic() offroad_last = offroad offroad = params.get_bool("IsOffroad") diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc index 91bf09355f..90b5f1af3d 100644 --- a/system/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -1,6 +1,5 @@ #pragma clang diagnostic ignored "-Wdeprecated-declarations" #include -#include #include "system/loggerd/video_writer.h" #include "common/swaglog.h" @@ -8,7 +7,6 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec) : remuxing(remuxing) { - raw = codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS; vid_path = util::string_format("%s/%s", path, filename); lock_path = util::string_format("%s/%s.lock", path, filename); @@ -18,6 +16,7 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, LOGD("encoder_open %s remuxing:%d", this->vid_path.c_str(), this->remuxing); if (this->remuxing) { + bool raw = (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS); avformat_alloc_output_context2(&this->ofmt_ctx, NULL, raw ? "matroska" : NULL, this->vid_path.c_str()); assert(this->ofmt_ctx); @@ -89,7 +88,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc // TODO: can use av_write_frame for non raw? int err = av_interleaved_write_frame(ofmt_ctx, &pkt); - if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lu", len, timestamp); } + if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); } av_packet_unref(&pkt); } @@ -98,7 +97,6 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc VideoWriter::~VideoWriter() { if (this->remuxing) { - if (this->raw) { avcodec_close(this->codec_ctx); } int err = av_write_trailer(this->ofmt_ctx); if (err != 0) LOGE("av_write_trailer failed %d", err); avcodec_free_context(&this->codec_ctx); diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h index 01a243904c..1aa758b42b 100644 --- a/system/loggerd/video_writer.h +++ b/system/loggerd/video_writer.h @@ -16,11 +16,10 @@ public: ~VideoWriter(); private: std::string vid_path, lock_path; - FILE *of = nullptr; AVCodecContext *codec_ctx; AVFormatContext *ofmt_ctx; AVStream *out_stream; - bool remuxing, raw; -}; \ No newline at end of file + bool remuxing; +}; diff --git a/system/logmessaged.py b/system/logmessaged.py index 04101d042b..4799348990 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -3,8 +3,9 @@ import zmq from typing import NoReturn import cereal.messaging as messaging -from common.logging_extra import SwagLogFileFormatter -from system.swaglog import get_file_handler +from openpilot.common.logging_extra import SwagLogFileFormatter +from openpilot.system.swaglog import get_file_handler +from system.swaglog import SWAGLOG_IPC def main() -> NoReturn: @@ -14,7 +15,7 @@ def main() -> NoReturn: ctx = zmq.Context.instance() sock = ctx.socket(zmq.PULL) - sock.bind("ipc:///tmp/logmessage") + sock.bind(f"ipc://{SWAGLOG_IPC}") # and we publish them log_message_sock = messaging.pub_sock('logMessage') diff --git a/system/micd.py b/system/micd.py index 97ba0c262e..c7af1b0ad2 100755 --- a/system/micd.py +++ b/system/micd.py @@ -2,9 +2,9 @@ import numpy as np from cereal import messaging -from common.filter_simple import FirstOrderFilter -from common.realtime import Ratekeeper -from system.swaglog import cloudlog +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.system.swaglog import cloudlog RATE = 10 FFT_SAMPLES = 4096 @@ -85,7 +85,7 @@ class Mic: def micd_thread(self): # sounddevice must be imported after forking processes - import sounddevice as sd # pylint: disable=import-outside-toplevel + import sounddevice as sd with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index 1b94a32f1b..1f4b767011 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -2,5 +2,5 @@ Import('env', 'cereal', 'messaging', 'common') libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) -if GetOption('test'): +if GetOption('extras'): env.Program('tests/test_proclog', ['tests/test_proclog.cc', 'proclog.cc'], LIBS=libs) diff --git a/system/proclogd/main.cc b/system/proclogd/main.cc index c4faa916d9..3f8a889eea 100644 --- a/system/proclogd/main.cc +++ b/system/proclogd/main.cc @@ -1,6 +1,7 @@ #include +#include "common/ratekeeper.h" #include "common/util.h" #include "system/proclogd/proclog.h" @@ -9,13 +10,15 @@ ExitHandler do_exit; int main(int argc, char **argv) { setpriority(PRIO_PROCESS, 0, -15); + RateKeeper rk("proclogd", 0.5); PubMaster publisher({"procLog"}); + while (!do_exit) { MessageBuilder msg; buildProcLogMessage(msg); publisher.send("procLog", msg); - util::sleep_for(2000); // 2 secs + rk.keepTime(); } return 0; diff --git a/system/sensord/SConscript b/system/sensord/SConscript index 8f26c00853..63d1d0d690 100644 --- a/system/sensord/SConscript +++ b/system/sensord/SConscript @@ -1,9 +1,7 @@ Import('env', 'arch', 'common', 'cereal', 'messaging') sensors = [ - 'sensors/file_sensor.cc', 'sensors/i2c_sensor.cc', - 'sensors/light_sensor.cc', 'sensors/bmx055_accel.cc', 'sensors/bmx055_gyro.cc', 'sensors/bmx055_magn.cc', diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index c9ad7ff22a..fc5c05e64f 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -10,11 +10,11 @@ from datetime import datetime from typing import List, Optional, Tuple from cereal import messaging -from common.params import Params -from system.swaglog import cloudlog -from system.hardware import TICI -from common.gpio import gpio_init, gpio_set -from system.hardware.tici.pins import GPIO +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware import TICI +from openpilot.common.gpio import gpio_init, gpio_set +from openpilot.system.hardware.tici.pins import GPIO UBLOX_TTY = "/dev/ttyHS0" @@ -27,11 +27,11 @@ UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00" def set_power(enabled: bool) -> None: gpio_init(GPIO.UBLOX_SAFEBOOT_N, True) - gpio_init(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.GNSS_PWR_EN, True) gpio_init(GPIO.UBLOX_RST_N, True) gpio_set(GPIO.UBLOX_SAFEBOOT_N, True) - gpio_set(GPIO.UBLOX_PWR_EN, enabled) + gpio_set(GPIO.GNSS_PWR_EN, enabled) gpio_set(GPIO.UBLOX_RST_N, enabled) def add_ubx_checksum(msg: bytes) -> bytes: @@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10") # UBX-CFG-NAV5 (0x06 0x24) - pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") + pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501 # UBX-CFG-ODO (0x06 0x1E) pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37") pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C") - pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") + pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501 # UBX-CFG-NAV5 (0x06 0x24) pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84") diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py index b2f4259e64..e1daa7f918 100755 --- a/system/sensord/rawgps/compare.py +++ b/system/sensord/rawgps/compare.py @@ -19,8 +19,8 @@ if __name__ == "__main__": recv_time = report.milliseconds / 1000 car = [] - print("qcom has ", list(sorted([x.svId for x in report.sv]))) - print("ublox has", list(sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)]))) + print("qcom has ", sorted([x.svId for x in report.sv])) + print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])) for i in report.sv: # match to ublox tm = None diff --git a/system/sensord/rawgps/nmeaport.py b/system/sensord/rawgps/nmeaport.py new file mode 100644 index 0000000000..01b9b179b9 --- /dev/null +++ b/system/sensord/rawgps/nmeaport.py @@ -0,0 +1,169 @@ +import os +import sys +from dataclasses import dataclass, fields +from subprocess import check_output, CalledProcessError +from time import sleep +from typing import NoReturn + +DEBUG = int(os.environ.get("DEBUG", "0")) + +@dataclass +class GnssClockNmeaPort: + # flags bit mask: + # 0x01 = leap_seconds valid + # 0x02 = time_uncertainty_ns valid + # 0x04 = full_bias_ns valid + # 0x08 = bias_ns valid + # 0x10 = bias_uncertainty_ns valid + # 0x20 = drift_nsps valid + # 0x40 = drift_uncertainty_nsps valid + flags: int + leap_seconds: int + time_ns: int + time_uncertainty_ns: int # 1-sigma + full_bias_ns: int + bias_ns: float + bias_uncertainty_ns: float # 1-sigma + drift_nsps: float + drift_uncertainty_nsps: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +@dataclass +class GnssMeasNmeaPort: + messageCount: int + messageNum: int + svCount: int + # constellation enum: + # 1 = GPS + # 2 = SBAS + # 3 = GLONASS + # 4 = QZSS + # 5 = BEIDOU + # 6 = GALILEO + constellation: int + svId: int + flags: int # always zero + time_offset_ns: int + # state bit mask: + # 0x0001 = CODE LOCK + # 0x0002 = BIT SYNC + # 0x0004 = SUBFRAME SYNC + # 0x0008 = TIME OF WEEK DECODED + # 0x0010 = MSEC AMBIGUOUS + # 0x0020 = SYMBOL SYNC + # 0x0040 = GLONASS STRING SYNC + # 0x0080 = GLONASS TIME OF DAY DECODED + # 0x0100 = BEIDOU D2 BIT SYNC + # 0x0200 = BEIDOU D2 SUBFRAME SYNC + # 0x0400 = GALILEO E1BC CODE LOCK + # 0x0800 = GALILEO E1C 2ND CODE LOCK + # 0x1000 = GALILEO E1B PAGE SYNC + # 0x2000 = GALILEO E1B PAGE SYNC + state: int + time_of_week_ns: int + time_of_week_uncertainty_ns: int # 1-sigma + carrier_to_noise_ratio: float + pseudorange_rate: float + pseudorange_rate_uncertainty: float # 1-sigma + + def __post_init__(self): + for field in fields(self): + val = getattr(self, field.name) + setattr(self, field.name, field.type(val) if val else None) + +def nmea_checksum_ok(s): + checksum = 0 + for i, c in enumerate(s[1:]): + if c == "*": + if i != len(s) - 4: # should be 3rd to last character + print("ERROR: NMEA string does not have checksum delimiter in correct location:", s) + return False + break + checksum ^= ord(c) + else: + print("ERROR: NMEA string does not have checksum delimiter:", s) + return False + + return True + +def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: + while True: + try: + with open(device, "r") as nmeaport: + for line in nmeaport: + line = line.strip() + if DEBUG: + print(line) + if not line.startswith("$"): # all NMEA messages start with $ + continue + if not nmea_checksum_ok(line): + continue + + fields = line.split(",") + match fields[0]: + case "$GNCLK": + # fields at end are reserved (not used) + gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type] + print(gnss_clock) + case "$GNMEAS": + # fields at end are reserved (not used) + gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type] + print(gnss_meas) + except Exception as e: + print(e) + sleep(1) + +def main() -> NoReturn: + from openpilot.common.gpio import gpio_init, gpio_set + from openpilot.system.hardware.tici.pins import GPIO + from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + + try: + check_output(["pidof", "rawgpsd"]) + print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + sys.exit(1) + except CalledProcessError as e: + if e.returncode != 1: # 1 == no process found (boardd not running) + raise e + + print("power up antenna ...") + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) + + if b"+QGPS: 0" not in (at_cmd("AT+QGPS?") or b""): + print("stop location tracking ...") + at_cmd("AT+QGPSEND") + + if b'+QGPSCFG: "outport",usbnmea' not in (at_cmd('AT+QGPSCFG="outport"') or b""): + print("configure outport ...") + at_cmd('AT+QGPSCFG="outport","usbnmea"') # usbnmea = /dev/ttyUSB1 + + if b'+QGPSCFG: "gnssrawdata",3,0' not in (at_cmd('AT+QGPSCFG="gnssrawdata"') or b""): + print("configure gnssrawdata ...") + # AT+QGPSCFG="gnssrawdata",,' + # values: + # 0x01 = GPS + # 0x02 = GLONASS + # 0x04 = BEIDOU + # 0x08 = GALILEO + # 0x10 = QZSS + # values: + # 0 = NMEA port + # 1 = AT port + at_cmd('AT+QGPSCFG="gnssrawdata",3,0') # enable all constellations, output data to NMEA port + print("rebooting ...") + at_cmd('AT+CFUN=1,1') + print("re-run this script when it is back up") + sys.exit(2) + + print("starting location tracking ...") + at_cmd("AT+QGPS=1") + + process_nmea_port_messages() + +if __name__ == "__main__": + main() diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index 5db6ad1cf5..e710a16920 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -6,6 +6,7 @@ import itertools import math import time import pycurl +import shutil import subprocess from datetime import datetime from multiprocessing import Process, Event @@ -14,14 +15,14 @@ from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging -from common.gpio import gpio_init, gpio_set +from openpilot.common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds from laika.helpers import get_prn_from_nmea_id from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK -from system.hardware.tici.pins import GPIO -from system.swaglog import cloudlog -from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.swaglog import cloudlog +from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, @@ -144,9 +145,17 @@ def download_assistance(): def downloader_loop(event): if os.path.exists(ASSIST_DATA_FILE): os.remove(ASSIST_DATA_FILE) - while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set(): - download_assistance() - time.sleep(10) + + alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None) + if alt_path is not None and os.path.exists(alt_path): + shutil.copyfile(alt_path, ASSIST_DATA_FILE) + + try: + while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set(): + download_assistance() + event.wait(timeout=10) + except KeyboardInterrupt: + pass def inject_assistance(): for _ in range(5): @@ -259,14 +268,20 @@ def main() -> NoReturn: stop_download_event = Event() assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,)) assist_fetch_proc.start() - def cleanup(proc): + def cleanup(sig, frame): cloudlog.warning("caught sig disabling quectel gps") - gpio_set(GPIO.UBLOX_PWR_EN, False) + + gpio_set(GPIO.GNSS_PWR_EN, False) teardown_quectel(diag) cloudlog.warning("quectel cleanup done") + + stop_download_event.set() + assist_fetch_proc.kill() + assist_fetch_proc.join() + sys.exit(0) - signal.signal(signal.SIGINT, lambda sig, frame: cleanup(assist_fetch_proc)) - signal.signal(signal.SIGTERM, lambda sig, frame: cleanup(assist_fetch_proc)) + signal.signal(signal.SIGINT, cleanup) + signal.signal(signal.SIGTERM, cleanup) # connect to modem diag = ModemDiag() @@ -274,8 +289,8 @@ def main() -> NoReturn: want_assistance = not r current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) cloudlog.warning("quectel setup done") - gpio_init(GPIO.UBLOX_PWR_EN, True) - gpio_set(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.GNSS_PWR_EN, True) + gpio_set(GPIO.GNSS_PWR_EN, True) pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) @@ -431,7 +446,7 @@ def main() -> NoReturn: report.source = 1 # glonass measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items()) else: - assert False + raise RuntimeError(f"invalid log_type: {log_type}") for k,v in dat.items(): if k == "version": diff --git a/system/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py index 97e3d3d605..bde4e0049c 100644 --- a/system/sensord/rawgps/structs.py +++ b/system/sensord/rawgps/structs.py @@ -255,7 +255,7 @@ position_report = """ uint32 q_FltRawAlt; /* Raw height-above-ellipsoid altitude in meters as computed by WLS */ uint32 q_FltRawAltSigma; /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */ uint32 align_Flt[14]; - uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted + uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted uint32 q_FltHdop; /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */ uint32 q_FltVdop; /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */ uint8 u_EllipseConfidence; /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */ @@ -276,7 +276,7 @@ position_report = """ uint8 u_TotalGloSvs; /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */ uint8 u_NumBdsSvsUsed; /* The number of BeiDou SVs used in the fix */ uint8 u_TotalBdsSvs; /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */ -""" +""" # noqa: E501 def name_to_camelcase(nam): ret = [] @@ -317,8 +317,7 @@ def parse_struct(ss): elif typ in ["uint64", "uint64_t"]: st += "Q" else: - print("unknown type", typ) - assert False + raise RuntimeError(f"unknown type {typ}") if '[' in nam: cnt = int(nam.split("[")[1].split("]")[0]) st += st[-1]*(cnt-1) @@ -333,7 +332,7 @@ def dict_unpacker(ss, camelcase = False): if camelcase: nams = [name_to_camelcase(x) for x in nams] sz = calcsize(st) - return lambda x: dict(zip(nams, unpack_from(st, x))), sz + return lambda x: dict(zip(nams, unpack_from(st, x), strict=True)), sz def relist(dat): list_keys = set() diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py index 8c2e246764..02777d5a1d 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/sensord/rawgps/test_rawgps.py @@ -8,10 +8,10 @@ import subprocess import numpy as np import cereal.messaging as messaging -from system.hardware import TICI -from system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem -from selfdrive.manager.process_config import managed_processes -from common.transformations.coordinates import ecef_from_geodetic +from openpilot.system.hardware import TICI +from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.common.transformations.coordinates import ecef_from_geodetic GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc index 0c48d1e3ba..bdb0113de3 100644 --- a/system/sensord/sensors/bmx055_accel.cc +++ b/system/sensord/sensors/bmx055_accel.cc @@ -1,4 +1,4 @@ -#include "bmx055_accel.h" +#include "system/sensord/sensors/bmx055_accel.h" #include diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc index ba41f3b47c..411b2f445e 100644 --- a/system/sensord/sensors/bmx055_gyro.cc +++ b/system/sensord/sensors/bmx055_gyro.cc @@ -1,4 +1,4 @@ -#include "bmx055_gyro.h" +#include "system/sensord/sensors/bmx055_gyro.h" #include #include diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc index 7716ce25c0..3d0d3d2fc6 100644 --- a/system/sensord/sensors/bmx055_magn.cc +++ b/system/sensord/sensors/bmx055_magn.cc @@ -1,4 +1,4 @@ -#include "bmx055_magn.h" +#include "system/sensord/sensors/bmx055_magn.h" #include @@ -77,7 +77,7 @@ int BMX055_Magn::init() { // suspend -> sleep int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); - if(ret < 0) { + if (ret < 0) { LOGE("Enabling power failed: %d", ret); goto fail; } @@ -90,21 +90,21 @@ int BMX055_Magn::init() { // Load magnetometer trim ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2); - if(ret < 0) goto fail; + if (ret < 0) goto fail; // Read trim data trim_data.dig_x1 = trim_x1y1[0]; @@ -171,17 +171,17 @@ bool BMX055_Magn::perform_self_test() { uint8_t forced = BMX055_MAGN_FORCED; // Negative current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6)); - util::sleep_for(100); + set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6)); + util::sleep_for(100); - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - parse_xyz(buffer, &x, &y, &neg_z); + read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); + parse_xyz(buffer, &x, &y, &neg_z); // Positive current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6)); - util::sleep_for(100); + set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6)); + util::sleep_for(100); - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); + read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); parse_xyz(buffer, &x, &y, &pos_z); // Put back in normal mode @@ -206,9 +206,9 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t * uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2; assert(data_r != 0); - *x = compensate_x(trim_data, mdata_x, data_r); - *y = compensate_y(trim_data, mdata_y, data_r); - *z = compensate_z(trim_data, mdata_z, data_r); + *x = compensate_x(trim_data, mdata_x, data_r); + *y = compensate_y(trim_data, mdata_y, data_r); + *z = compensate_z(trim_data, mdata_z, data_r); } return ready; } diff --git a/system/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc index 68ee0da1d6..da7b86476c 100644 --- a/system/sensord/sensors/bmx055_temp.cc +++ b/system/sensord/sensors/bmx055_temp.cc @@ -1,4 +1,4 @@ -#include "bmx055_temp.h" +#include "system/sensord/sensors/bmx055_temp.h" #include diff --git a/system/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc deleted file mode 100644 index a74ae1ae1e..0000000000 --- a/system/sensord/sensors/file_sensor.cc +++ /dev/null @@ -1,17 +0,0 @@ -#include "file_sensor.h" - -#include - -FileSensor::FileSensor(std::string filename) : file(filename) {} - -int FileSensor::init() { - return file.is_open() ? 0 : 1; -} - -FileSensor::~FileSensor() { - file.close(); -} - -bool FileSensor::has_interrupt_enabled() { - return false; -} \ No newline at end of file diff --git a/system/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h deleted file mode 100644 index 07d7e8f946..0000000000 --- a/system/sensord/sensors/file_sensor.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include - -#include "cereal/gen/cpp/log.capnp.h" -#include "system/sensord/sensors/sensor.h" - -class FileSensor : public Sensor { -protected: - std::ifstream file; - -public: - FileSensor(std::string filename); - ~FileSensor(); - int init(); - bool has_interrupt_enabled(); - virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; -}; diff --git a/system/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc index f563f93d2b..90220f551d 100644 --- a/system/sensord/sensors/i2c_sensor.cc +++ b/system/sensord/sensors/i2c_sensor.cc @@ -1,4 +1,4 @@ -#include "i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" int16_t read_12_bit(uint8_t lsb, uint8_t msb) { uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0); diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h index ccac526c12..ba100c3b01 100644 --- a/system/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -2,6 +2,7 @@ #include #include +#include #include "cereal/gen/cpp/log.capnp.h" #include "common/i2c.h" diff --git a/system/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc deleted file mode 100644 index 99e321b47d..0000000000 --- a/system/sensord/sensors/light_sensor.cc +++ /dev/null @@ -1,27 +0,0 @@ -#include "light_sensor.h" - -#include - -#include "common/timing.h" -#include "system/sensord/sensors/constants.h" - -LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} - -bool LightSensor::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - file.clear(); - file.seekg(0); - - int value; - file >> value; - - auto event = msg.initEvent().initLightSensor(); - event.setSource(cereal::SensorEventData::SensorSource::RPR0521); - event.setVersion(1); - event.setSensor(SENSOR_LIGHT); - event.setType(SENSOR_TYPE_LIGHT); - event.setTimestamp(start_time); - event.setLight(value); - - return true; -} diff --git a/system/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h deleted file mode 100644 index 7ed1c1f70c..0000000000 --- a/system/sensord/sensors/light_sensor.h +++ /dev/null @@ -1,9 +0,0 @@ -#pragma once -#include "file_sensor.h" - -class LightSensor : public FileSensor { -public: - LightSensor(std::string filename); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown() { return 0; } -}; diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc index 2a09702c96..03533e0657 100644 --- a/system/sensord/sensors/lsm6ds3_accel.cc +++ b/system/sensord/sensors/lsm6ds3_accel.cc @@ -1,4 +1,4 @@ -#include "lsm6ds3_accel.h" +#include "system/sensord/sensors/lsm6ds3_accel.h" #include #include @@ -121,7 +121,7 @@ int LSM6DS3_Accel::init() { uint8_t value = 0; bool do_self_test = false; - const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); + const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { do_self_test = true; } diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc index 9bc43485af..0459b6ad64 100644 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ b/system/sensord/sensors/lsm6ds3_gyro.cc @@ -1,4 +1,4 @@ -#include "lsm6ds3_gyro.h" +#include "system/sensord/sensors/lsm6ds3_gyro.h" #include #include @@ -128,7 +128,7 @@ int LSM6DS3_Gyro::init() { } ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST); - if (ret < 0 ) { + if (ret < 0) { LOGE("LSM6DS3 gyro positive self-test failed!"); if (do_self_test) goto fail; } diff --git a/system/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc index c2e2c83c1d..f481614154 100644 --- a/system/sensord/sensors/lsm6ds3_temp.cc +++ b/system/sensord/sensors/lsm6ds3_temp.cc @@ -1,4 +1,4 @@ -#include "lsm6ds3_temp.h" +#include "system/sensord/sensors/lsm6ds3_temp.h" #include diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc index 048095786e..0e8ba967e3 100644 --- a/system/sensord/sensors/mmc5603nj_magn.cc +++ b/system/sensord/sensors/mmc5603nj_magn.cc @@ -1,9 +1,12 @@ -#include "mmc5603nj_magn.h" +#include "system/sensord/sensors/mmc5603nj_magn.h" +#include #include +#include #include "common/swaglog.h" #include "common/timing.h" +#include "common/util.h" MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {} @@ -11,8 +14,8 @@ int MMC5603NJ_Magn::init() { int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID}); if (ret == -1) return -1; - // Set 100 Hz - ret = set_register(MMC5603NJ_I2C_REG_ODR, 100); + // Set ODR to 0 + ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); if (ret < 0) { goto fail; } @@ -23,18 +26,6 @@ int MMC5603NJ_Magn::init() { goto fail; } - // Set compute measurement rate - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN); - if (ret < 0) { - goto fail; - } - - // Enable continuous mode, set every 100 measurements - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_2, MMC5603NJ_CMM_EN | MMC5603NJ_EN_PRD_SET | 0b11); - if (ret < 0) { - goto fail; - } - fail: return ret; } @@ -67,16 +58,36 @@ fail: return ret; } +void MMC5603NJ_Magn::start_measurement() { + set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01); + util::sleep_for(5); +} + +std::vector MMC5603NJ_Magn::read_measurement() { + int len; + uint8_t buffer[9]; + len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); + assert(len == sizeof(buffer)); + float scale = 1.0 / 16384.0; + float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0; + float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0; + float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0; + std::vector xyz = {x, y, z}; + return xyz; +} + bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); - uint8_t buffer[9]; - int len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); + // SET - RESET cycle + set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET); + util::sleep_for(5); + MMC5603NJ_Magn::start_measurement(); + std::vector xyz = MMC5603NJ_Magn::read_measurement(); - float scale = 1.0 / 16384.0; - float x = read_20_bit(buffer[6], buffer[1], buffer[0]) * scale; - float y = read_20_bit(buffer[7], buffer[3], buffer[2]) * scale; - float z = read_20_bit(buffer[8], buffer[5], buffer[4]) * scale; + set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET); + util::sleep_for(5); + MMC5603NJ_Magn::start_measurement(); + std::vector reset_xyz = MMC5603NJ_Magn::read_measurement(); auto event = msg.initEvent().initMagnetometer(); event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ); @@ -85,10 +96,13 @@ bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED); event.setTimestamp(start_time); - float xyz[] = {x, y, z}; + float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]}; + bool valid = true; + if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) { + valid = false; + } auto svec = event.initMagneticUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - + svec.setV(vals); + svec.setStatus(valid); return true; } diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h index fce3f3fecb..9c0fbd2521 100644 --- a/system/sensord/sensors/mmc5603nj_magn.h +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -1,5 +1,7 @@ #pragma once +#include + #include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus @@ -19,9 +21,14 @@ #define MMC5603NJ_AUTO_SR_EN (1 << 5) #define MMC5603NJ_CMM_EN (1 << 4) #define MMC5603NJ_EN_PRD_SET (1 << 3) +#define MMC5603NJ_SET (1 << 3) +#define MMC5603NJ_RESET (1 << 4) class MMC5603NJ_Magn : public I2CSensor { +private: uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;} + void start_measurement(); + std::vector read_measurement(); public: MMC5603NJ_Magn(I2CBus *bus); int init(); diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h index 603aa3586e..1b0e3be0dc 100644 --- a/system/sensord/sensors/sensor.h +++ b/system/sensord/sensors/sensor.h @@ -5,14 +5,18 @@ class Sensor { public: int gpio_fd = -1; + uint64_t start_ts = 0; uint64_t init_delay = 500e6; // default dealy 500ms - virtual ~Sensor() {}; + virtual ~Sensor() {} virtual int init() = 0; virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; virtual bool has_interrupt_enabled() = 0; virtual int shutdown() = 0; - virtual bool is_data_valid(uint64_t st, uint64_t ct) { - return (ct - st) > init_delay; + virtual bool is_data_valid(uint64_t current_ts) { + if (start_ts == 0) { + start_ts = current_ts; + } + return (current_ts - start_ts) > init_delay; } }; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index 349c67f498..36d9b4a13e 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -7,8 +7,10 @@ #include #include +#include "cereal/services.h" #include "cereal/messaging/messaging.h" #include "common/i2c.h" +#include "common/ratekeeper.h" #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" @@ -17,24 +19,26 @@ #include "system/sensord/sensors/bmx055_magn.h" #include "system/sensord/sensors/bmx055_temp.h" #include "system/sensord/sensors/constants.h" -#include "system/sensord/sensors/light_sensor.h" #include "system/sensord/sensors/lsm6ds3_accel.h" #include "system/sensord/sensors/lsm6ds3_gyro.h" #include "system/sensord/sensors/lsm6ds3_temp.h" #include "system/sensord/sensors/mmc5603nj_magn.h" -#include "system/sensord/sensors/sensor.h" #define I2C_BUS_IMU 1 ExitHandler do_exit; -uint64_t init_ts = 0; -void interrupt_loop(std::vector& sensors, - std::map& sensor_service) -{ - PubMaster pm_int({"gyroscope", "accelerometer"}); +void interrupt_loop(std::vector> sensors) { + PubMaster pm({"gyroscope", "accelerometer"}); + + int fd = -1; + for (auto &[sensor, msg_name] : sensors) { + if (sensor->has_interrupt_enabled()) { + fd = sensor->gpio_fd; + break; + } + } - int fd = sensors[0]->gpio_fd; struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; fd_list[0].events = POLLIN | POLLPRI; @@ -68,95 +72,63 @@ void interrupt_loop(std::vector& sensors, uint64_t offset = nanos_since_epoch() - nanos_since_boot(); uint64_t ts = evdata[num_events - 1].timestamp - offset; - for (Sensor *sensor : sensors) { + for (auto &[sensor, msg_name] : sensors) { + if (!sensor->has_interrupt_enabled()) { + continue; + } + MessageBuilder msg; if (!sensor->get_event(msg, ts)) { continue; } - if (!sensor->is_data_valid(init_ts, ts)) { + if (!sensor->is_data_valid(ts)) { continue; } - pm_int.send(sensor_service[sensor].c_str(), msg); + pm.send(msg_name.c_str(), msg); } } +} - // poweroff sensors, disable interrupts - for (Sensor *sensor : sensors) { - sensor->shutdown(); +void polling_loop(Sensor *sensor, std::string msg_name) { + PubMaster pm({msg_name.c_str()}); + RateKeeper rk(msg_name, services.at(msg_name).frequency); + while (!do_exit) { + MessageBuilder msg; + if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) { + pm.send(msg_name.c_str(), msg); + } + rk.keepTime(); } } int sensor_loop(I2CBus *i2c_bus_imu) { - BMX055_Accel bmx055_accel(i2c_bus_imu); - BMX055_Gyro bmx055_gyro(i2c_bus_imu); - BMX055_Magn bmx055_magn(i2c_bus_imu); - BMX055_Temp bmx055_temp(i2c_bus_imu); + // Sensor init + std::vector> sensors_init = { + {new BMX055_Accel(i2c_bus_imu), "accelerometer2"}, + {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"}, + {new BMX055_Magn(i2c_bus_imu), "magnetometer"}, + {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"}, - LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu, GPIO_LSM_INT); - LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu, GPIO_LSM_INT, true); // GPIO shared with accel - LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu); + {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"}, + {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"}, + {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"}, - MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu); - - LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw"); - - std::map sensor_service = { - {&bmx055_accel, "accelerometer2"}, - {&bmx055_gyro, "gyroscope2"}, - {&bmx055_magn, "magnetometer"}, - {&bmx055_temp, "temperatureSensor"}, - - {&lsm6ds3_accel, "accelerometer"}, - {&lsm6ds3_gyro, "gyroscope"}, - {&lsm6ds3_temp, "temperatureSensor"}, - - {&mmc5603nj_magn, "magnetometer"}, - {&light, "lightSensor"} + {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"}, }; - // Sensor init - std::vector> sensors_init; // Sensor, required - sensors_init.push_back({&bmx055_accel, false}); - sensors_init.push_back({&bmx055_gyro, false}); - sensors_init.push_back({&bmx055_magn, false}); - sensors_init.push_back({&bmx055_temp, false}); - - sensors_init.push_back({&lsm6ds3_accel, true}); - sensors_init.push_back({&lsm6ds3_gyro, true}); - sensors_init.push_back({&lsm6ds3_temp, true}); - - sensors_init.push_back({&mmc5603nj_magn, false}); - - sensors_init.push_back({&light, true}); - - bool has_magnetometer = false; - // Initialize sensors - std::vector sensors; - for (auto &[sensor, required] : sensors_init) { + std::vector threads; + for (auto &[sensor, msg_name] : sensors_init) { int err = sensor->init(); if (err < 0) { - if (required) { - LOGE("Error initializing sensors"); - return -1; - } - } else { - - if (sensor == &bmx055_magn || sensor == &mmc5603nj_magn) { - has_magnetometer = true; - } - - if (!sensor->has_interrupt_enabled()) { - sensors.push_back(sensor); - } + continue; } - } - if (!has_magnetometer) { - LOGE("No magnetometer present"); - return -1; + if (!sensor->has_interrupt_enabled()) { + threads.emplace_back(polling_loop, sensor, msg_name); + } } // increase interrupt quality by pinning interrupt and process to core 1 @@ -164,41 +136,18 @@ int sensor_loop(I2CBus *i2c_bus_imu) { util::set_core_affinity({1}); std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'"); - PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", - "lightSensor", "magnetometer"}); - init_ts = nanos_since_boot(); - // thread for reading events via interrupts - std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; - std::thread lsm_interrupt_thread(&interrupt_loop, std::ref(lsm_interrupt_sensors), - std::ref(sensor_service)); + threads.emplace_back(&interrupt_loop, std::ref(sensors_init)); - // polling loop for non interrupt handled sensors - while (!do_exit) { - std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); - - for (Sensor *sensor : sensors) { - MessageBuilder msg; - if (!sensor->get_event(msg)) { - continue; - } - - if (!sensor->is_data_valid(init_ts, nanos_since_boot())) { - continue; - } - - pm_non_int.send(sensor_service[sensor].c_str(), msg); - } - - std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); - std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); + // wait for all threads to finish + for (auto &t : threads) { + t.join(); } - for (Sensor *sensor : sensors) { + for (auto &[sensor, msg_name] : sensors_init) { sensor->shutdown(); + delete sensor; } - - lsm_interrupt_thread.join(); return 0; } diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py index 9519183aac..90cbf06340 100755 --- a/system/sensord/tests/test_pigeond.py +++ b/system/sensord/tests/test_pigeond.py @@ -4,11 +4,11 @@ import unittest import cereal.messaging as messaging from cereal.services import service_list -from common.gpio import gpio_read -from selfdrive.test.helpers import with_processes -from selfdrive.manager.process_config import managed_processes -from system.hardware import TICI -from system.hardware.tici.pins import GPIO +from openpilot.common.gpio import gpio_read +from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.pins import GPIO # TODO: test TTFF when we have good A-GNSS @@ -56,7 +56,7 @@ class TestPigeond(unittest.TestCase): managed_processes['pigeond'].stop() assert gpio_read(GPIO.UBLOX_RST_N) == 0 - assert gpio_read(GPIO.UBLOX_PWR_EN) == 0 + assert gpio_read(GPIO.GNSS_PWR_EN) == 0 if __name__ == "__main__": diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index eea527ed63..ccdce3b4e5 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -7,9 +7,11 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log -from common.gpio import get_irqs_for_action -from system.hardware import TICI -from selfdrive.manager.process_config import managed_processes +from cereal.services import service_list +from openpilot.common.gpio import get_irqs_for_action +from openpilot.common.timeout import Timeout +from openpilot.system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes BMX = { ('bmx055', 'acceleration'), @@ -29,45 +31,37 @@ MMC = { ('mmc5603nj', 'magneticUncalibrated'), } -RPR = { - ('rpr0521', 'light'), -} - SENSOR_CONFIGURATIONS = ( - (BMX | LSM | RPR), - (MMC | LSM | RPR), - (BMX | LSM_C | RPR), - (MMC| LSM_C | RPR), + (BMX | LSM), + (MMC | LSM), + (BMX | LSM_C), + (MMC| LSM_C), ) Sensor = log.SensorEventData.SensorSource -SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'expected_freq']) +SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { - Sensor.rpr0521: { - SensorConfig("light", 0, 1023, 100), - }, - Sensor.lsm6ds3: { - SensorConfig("acceleration", 5, 15, 100), - SensorConfig("gyroUncalibrated", 0, .2, 100), - SensorConfig("temperature", 0, 60, 100), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.lsm6ds3trc: { - SensorConfig("acceleration", 5, 15, 104), - SensorConfig("gyroUncalibrated", 0, .2, 104), - SensorConfig("temperature", 0, 60, 100), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.bmx055: { - SensorConfig("acceleration", 5, 15, 100), - SensorConfig("gyroUncalibrated", 0, .2, 100), - SensorConfig("magneticUncalibrated", 0, 300, 100), - SensorConfig("temperature", 0, 60, 100), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("magneticUncalibrated", 0, 300), + SensorConfig("temperature", 0, 60), }, Sensor.mmc5603nj: { - SensorConfig("magneticUncalibrated", 0, 300, 100), + SensorConfig("magneticUncalibrated", 0, 300), } } @@ -79,21 +73,30 @@ def get_irq_count(irq: int): def read_sensor_events(duration_sec): sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', - 'gyroscope2', 'lightSensor', 'temperatureSensor'] - esocks = {} + 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] + socks = {} + poller = messaging.Poller() events = defaultdict(list) for stype in sensor_types: - esocks[stype] = messaging.sub_sock(stype, timeout=0.1) + socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100) - start_time_sec = time.monotonic() - while time.monotonic() - start_time_sec < duration_sec: - for esock in esocks: - events[esock] += messaging.drain_sock(esocks[esock]) + # wait for sensors to come up + with Timeout(60, "sensors didn't come up"): + while len(poller.poll(250)) == 0: + pass + time.sleep(1) + for s in socks.values(): + messaging.drain_sock_raw(s) + + st = time.monotonic() + while time.monotonic() - st < duration_sec: + for s in socks: + events[s] += messaging.drain_sock(socks[s]) time.sleep(0.1) assert sum(map(len, events.values())) != 0, "No sensor events collected!" - return events + return {k: v for k, v in events.items() if len(v) > 0} class TestSensord(unittest.TestCase): @classmethod @@ -108,8 +111,7 @@ class TestSensord(unittest.TestCase): os.system("pkill -f ./_sensord") try: managed_processes["sensord"].start() - time.sleep(3) - cls.sample_secs = 10 + cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) cls.events = read_sensor_events(cls.sample_secs) # determine sensord's irq @@ -127,7 +129,6 @@ class TestSensord(unittest.TestCase): def test_sensors_present(self): # verify correct sensors configuration - seen = set() for etype in self.events: for measurement in self.events[etype]: @@ -167,22 +168,12 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 2.0, f"Standard-dev to big {stddev}" - def test_events_check(self): - # verify if all sensors produce events - - sensor_events = dict() - for etype in self.events: - for measurement in self.events[etype]: - m = getattr(measurement, measurement.which()) - - if m.type in sensor_events: - sensor_events[m.type] += 1 - else: - sensor_events[m.type] = 1 - - for s in sensor_events: - err_msg = f"Sensor {s}: 200 < {sensor_events[s]}" - assert sensor_events[s] > 200, err_msg + def test_sensor_frequency(self): + for s, msgs in self.events.items(): + with self.subTest(sensor=s): + freq = len(msgs) / self.sample_secs + ef = service_list[s].frequency + assert ef*0.85 <= freq <= ef*1.15 def test_logmonottime_timestamp_diff(self): # ensure diff between the message logMonotime and sample timestamp is small @@ -201,16 +192,14 @@ class TestSensord(unittest.TestCase): # before the sensor is read tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6) - high_delay_diffs = set(filter(lambda d: d >= 15., tdiffs)) - assert len(high_delay_diffs) < 20, f"Too many measurements published : {high_delay_diffs}" + # some sensors have a read procedure that will introduce an expected diff on the order of 20ms + high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs)) + assert len(high_delay_diffs) < 20, f"Too many measurements published: {high_delay_diffs}" avg_diff = round(sum(tdiffs)/len(tdiffs), 4) assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms" - stddev = np.std(tdiffs) - assert stddev < 2, f"Timing diffs have too high stddev: {stddev}" - - def test_sensor_values_sanity_check(self): + def test_sensor_values(self): sensor_values = dict() for etype in self.events: for measurement in self.events[etype]: @@ -227,18 +216,13 @@ class TestSensord(unittest.TestCase): else: sensor_values[key] = [values] - # Sanity check sensor values and counts + # Sanity check sensor values for sensor, stype in sensor_values: for s in ALL_SENSORS[sensor]: if s.type != stype: continue key = (sensor, s.type) - val_cnt = len(sensor_values[key]) - min_samples = self.sample_secs * s.expected_freq - err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}" - assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg - mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py index e2cbc6d144..e023489ed5 100755 --- a/system/sensord/tests/ttff_test.py +++ b/system/sensord/tests/ttff_test.py @@ -4,7 +4,7 @@ import time import atexit from cereal import messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes TIMEOUT = 10*60 diff --git a/system/swaglog.py b/system/swaglog.py index 28beb5a4d1..6ccd0d9791 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -7,14 +7,16 @@ from logging.handlers import BaseRotatingHandler import zmq -from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter -from system.hardware import PC +from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter +from openpilot.system.hardware import PC if PC: SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log") else: SWAGLOG_DIR = "/data/log/" +SWAGLOG_IPC = "/tmp/logmessage" + def get_file_handler(): Path(SWAGLOG_DIR).mkdir(parents=True, exist_ok=True) base_filename = os.path.join(SWAGLOG_DIR, "swaglog") @@ -77,6 +79,9 @@ class UnixDomainSocketHandler(logging.Handler): self.sock = None def __del__(self): + self.close() + + def close(self): if self.sock is not None: self.sock.close() if self.zctx is not None: @@ -86,7 +91,7 @@ class UnixDomainSocketHandler(logging.Handler): self.zctx = zmq.Context() self.sock = self.zctx.socket(zmq.PUSH) self.sock.setsockopt(zmq.LINGER, 10) - self.sock.connect("ipc:///tmp/logmessage") + self.sock.connect(f"ipc://{SWAGLOG_IPC}") self.pid = os.getpid() def emit(self, record): @@ -129,6 +134,8 @@ elif print_level == 'info': elif print_level == 'warning': outhandler.setLevel(logging.WARNING) +ipchandler = UnixDomainSocketHandler(SwagFormatter(log)) + log.addHandler(outhandler) # logs are sent through IPC before writing to disk to prevent disk I/O blocking -log.addHandler(UnixDomainSocketHandler(SwagFormatter(log))) +log.addHandler(ipchandler) diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 08335517ae..0b70774bbb 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -1,21 +1,22 @@ #!/usr/bin/env python3 import glob import os -import shutil import time import unittest import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes -from system.swaglog import cloudlog, SWAGLOG_DIR +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.swaglog import cloudlog, ipchandler +from openpilot.selfdrive.test.helpers import temporary_swaglog_dir, temporary_swaglog_ipc class TestLogmessaged(unittest.TestCase): + def _setup(self, temp_dir): + # clear the IPC buffer in case some other tests used cloudlog and filled it + ipchandler.close() + ipchandler.connect() - def setUp(self): - if os.path.exists(SWAGLOG_DIR): - shutil.rmtree(SWAGLOG_DIR) - + self.temp_dir = temp_dir managed_processes['logmessaged'].start() self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) @@ -31,9 +32,12 @@ class TestLogmessaged(unittest.TestCase): managed_processes['logmessaged'].stop(block=True) def _get_log_files(self): - return list(glob.glob(os.path.join(SWAGLOG_DIR, "swaglog.*"))) + return list(glob.glob(os.path.join(self.temp_dir, "swaglog.*"))) - def test_simple_log(self): + @temporary_swaglog_dir + @temporary_swaglog_ipc + def test_simple_log(self, temp_dir): + self._setup(temp_dir) msgs = [f"abc {i}" for i in range(10)] for m in msgs: cloudlog.error(m) @@ -42,7 +46,10 @@ class TestLogmessaged(unittest.TestCase): assert len(m) == len(msgs) assert len(self._get_log_files()) >= 1 - def test_big_log(self): + @temporary_swaglog_dir + @temporary_swaglog_ipc + def test_big_log(self, temp_dir): + self._setup(temp_dir) n = 10 msg = "a"*3*1024*1024 for _ in range(n): diff --git a/system/timezoned.py b/system/timezoned.py index 884a5c3812..91424d33b5 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -8,9 +8,12 @@ from typing import NoReturn import requests from timezonefinder import TimezoneFinder -from common.params import Params -from system.hardware import AGNOS -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.system.hardware import AGNOS +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_version + +REQUEST_HEADERS = {'User-Agent': "openpilot-" + get_version()} def set_timezone(valid_timezones, timezone): @@ -18,7 +21,7 @@ def set_timezone(valid_timezones, timezone): cloudlog.error(f"Timezone not supported {timezone}") return - cloudlog.debug(f"Setting timezone to {timezone}") + cloudlog.info(f"Setting timezone to {timezone}") try: if AGNOS: tzpath = os.path.join("/usr/share/zoneinfo/", timezone) @@ -58,7 +61,7 @@ def main() -> NoReturn: if location is None: cloudlog.debug("Setting timezone based on IP lookup") try: - r = requests.get("https://ipapi.co/timezone", timeout=10) + r = requests.get("https://ipapi.co/timezone", headers=REQUEST_HEADERS, timeout=10) if r.status_code == 200: set_timezone(valid_timezones, r.text) else: diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript index fff0986efd..67d9856dad 100644 --- a/system/ubloxd/SConscript +++ b/system/ubloxd/SConscript @@ -16,5 +16,5 @@ if GetOption('kaitai'): glonass_obj = env.Object('generated/glonass.cpp') env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) -if GetOption('test'): +if GetOption('extras'): env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/system/ubloxd/tests/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc index 5ad274142a..96f43742b4 100644 --- a/system/ubloxd/tests/test_glonass_kaitai.cc +++ b/system/ubloxd/tests/test_glonass_kaitai.cc @@ -101,7 +101,7 @@ std::string generate_inp_data(string_data& data) { string_data.reserve(16); for (int i = 0; i < 128; i+=8) { std::string substr = inp_data.substr(i, 8); - string_data.push_back( (uint8_t)std::stoi(substr.c_str(), 0, 2)); + string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2)); } return string_data; diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index cd4ce0de04..01be79f0d4 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python3 import unittest import time import numpy as np @@ -6,9 +7,10 @@ from laika import AstroDog from laika.helpers import ConstellationId from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox from laika.opt import calc_pos_fix -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.helpers import temporary_dir import cereal.messaging as messaging def get_gnss_measurements(log_reader): @@ -54,8 +56,9 @@ class TestUbloxProcessing(unittest.TestCase): self.assertEqual(count_gps, 5036) self.assertEqual(count_glonass, 3651) - def test_get_fix(self): - dog = AstroDog() + @temporary_dir + def test_get_fix(self, temp_dir): + dog = AstroDog(cache_dir=temp_dir) position_fix_found = 0 count_processed_measurements = 0 count_corrected_measurements = 0 diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py old mode 100644 new mode 100755 index 0d271ad785..3243500e74 --- a/system/ubloxd/tests/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# pylint: skip-file ''' UBlox binary protocol handling @@ -185,8 +184,8 @@ class UBloxAttrDict(dict): def __getattr__(self, name): try: return self.__getitem__(name) - except KeyError: - raise AttributeError(name) + except KeyError as e: + raise RuntimeError(f"ublock invalid attr: {name}") from e def __setattr__(self, name, value): if name in self.__dict__: @@ -270,7 +269,7 @@ class UBloxDescriptor: return size2 = struct.calcsize(self.format2) - for c in range(count): + for _ in range(count): r = UBloxAttrDict() if size2 > len(buf): raise UBloxError("INVALID_SIZE=%u, " % len(buf)) @@ -324,7 +323,7 @@ class UBloxDescriptor: msg._buf += struct.pack(self.format2, *tuple(f2)) msg._buf += struct.pack(' 0: '''handle corrupted streams''' self._buf = self._buf[1:] @@ -768,7 +767,7 @@ class UBlox: if not self.read_only: if self.use_sendrecv: return self.dev.send(buf) - if type(buf) == str: + if isinstance(buf, str): return self.dev.write(str.encode(buf)) else: return self.dev.write(buf) @@ -933,7 +932,7 @@ class UBlox: 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0) self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload) - def module_reset(self, set, mode): + def module_reset(self, reset, mode): ''' Reset the module for hot/warm/cold start''' - payload = struct.pack(' +#include #include #include #include @@ -9,6 +10,7 @@ #include #include #include +#include #include "common/swaglog.h" @@ -21,26 +23,26 @@ inline static bool bit_to_bool(uint8_t val, int shifts) { inline int UbloxMsgParser::needed_bytes() { // Msg header incomplete? - if(bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE) + if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE) return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf; uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE; // too much data - if(needed < (uint16_t)bytes_in_parse_buf) + if (needed < (uint16_t)bytes_in_parse_buf) return -1; return needed - (uint16_t)bytes_in_parse_buf; } inline bool UbloxMsgParser::valid_cheksum() { uint8_t ck_a = 0, ck_b = 0; - for(int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) { + for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE; i++) { ck_a = (ck_a + msg_parse_buf[i]) & 0xFF; ck_b = (ck_b + ck_a) & 0xFF; } - if(ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) { + if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) { LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]); return false; } - if(ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) { + if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) { LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]); return false; } @@ -53,13 +55,13 @@ inline bool UbloxMsgParser::valid() { } inline bool UbloxMsgParser::valid_so_far() { - if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) { + if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) { return false; } - if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) { + if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) { return false; } - if(needed_bytes() == 0 && !valid()) { + if (needed_bytes() == 0 && !valid()) { return false; } return true; @@ -68,8 +70,8 @@ inline bool UbloxMsgParser::valid_so_far() { bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { last_log_time = log_time; int needed = needed_bytes(); - if(needed > 0) { - bytes_consumed = std::min((uint32_t)needed, incoming_data_len ); + if (needed > 0) { + bytes_consumed = std::min((uint32_t)needed, incoming_data_len); // Add data to buffer memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed); bytes_in_parse_buf += bytes_consumed; @@ -78,15 +80,15 @@ bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint } // Validate msg format, detect invalid header and invalid checksum. - while(!valid_so_far() && bytes_in_parse_buf != 0) { + while (!valid_so_far() && bytes_in_parse_buf != 0) { // Corrupted msg, drop a byte. bytes_in_parse_buf -= 1; - if(bytes_in_parse_buf > 0) + if (bytes_in_parse_buf > 0) memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf); } // There is redundant data at the end of buffer, reset the buffer. - if(needed_bytes() == -1) { + if (needed_bytes() == -1) { bytes_in_parse_buf = 0; } return valid(); @@ -295,8 +297,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ continue; if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { superframe_unknown = true; - } - else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { + } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { needs_clear = true; } // Check if string times add up to being from the same frame @@ -390,7 +391,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ eph.setP4(data->p4()); eph.setSvURA(glonass_URA_lookup.at(data->f_t())); if (msg->sv_id() != data->n()) { - LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n()); + LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n()); } eph.setSvType(data->m()); } @@ -434,7 +435,7 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { auto mb = mr.initMeasurements(msg->num_meas()); auto measurements = *msg->meas(); - for(int8_t i = 0; i < msg->num_meas(); i++) { + for (int8_t i = 0; i < msg->num_meas(); i++) { mb[i].setSvId(measurements[i]->sv_id()); mb[i].setPseudorange(measurements[i]->pr_mes()); mb[i].setCarrierCycles(measurements[i]->cp_mes()); @@ -469,7 +470,7 @@ kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { auto svs = sr.initSvs(msg->num_svs()); auto svs_data = *msg->svs(); - for(int8_t i = 0; i < msg->num_svs(); i++) { + for (int8_t i = 0; i < msg->num_svs(); i++) { svs[i].setSvId(svs_data[i]->sv_id()); svs[i].setGnssId(svs_data[i]->gnss_id()); svs[i].setFlagsBitfield(svs_data[i]->flags()); diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index a52a7db3e5..d21760edc2 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -2,10 +2,11 @@ #include #include +#include #include #include #include -#include +#include #include "cereal/messaging/messaging.h" #include "common/util.h" @@ -51,7 +52,7 @@ namespace ublox { assert(msg.size() > 2); uint8_t ck_a = 0, ck_b = 0; - for(int i = 2; i < msg.size(); i++) { + for (int i = 2; i < msg.size(); i++) { ck_a = (ck_a + msg[i]) & 0xFF; ck_b = (ck_b + ck_a) & 0xFF; } diff --git a/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc index 1dae6dc866..668c1a7ec0 100644 --- a/system/ubloxd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -41,9 +41,9 @@ int main() { size_t len = ubloxRaw.size(); size_t bytes_consumed = 0; - while(bytes_consumed < len && !do_exit) { + while (bytes_consumed < len && !do_exit) { size_t bytes_consumed_this_time = 0U; - if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { + if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { try { auto ublox_msg = parser.gen_msg(); diff --git a/system/version.py b/system/version.py old mode 100644 new mode 100755 index 11a5c11532..331895fd42 --- a/system/version.py +++ b/system/version.py @@ -4,8 +4,8 @@ import subprocess from typing import List, Optional from functools import lru_cache -from common.basedir import BASEDIR -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.system.swaglog import cloudlog RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'staging-c3', 'release-c3'] @@ -90,7 +90,7 @@ def is_comma_remote() -> bool: if origin is None: return False - return origin.startswith('git@github.com:sunnyhaibin') or origin.startswith('https://github.com/sunnyhaibin') + return origin.startswith(('git@github.com:sunnyhaibin', 'https://github.com/sunnyhaibin')) @cache @@ -142,7 +142,7 @@ def get_branch_type() -> str: if __name__ == "__main__": - from common.params import Params + from openpilot.common.params import Params params = Params() params.put("TermsVersion", terms_version) diff --git a/third_party/SConscript b/third_party/SConscript index e8d1789ee0..e5bbfaa07a 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -4,5 +4,3 @@ env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unq env.Append(CPPPATH=[Dir('json11')]) env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) - -SConscript(['cluster/SConscript']) diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib index ca6c280297..3270553b02 100755 Binary files a/third_party/acados/Darwin/lib/libacados.dylib and b/third_party/acados/Darwin/lib/libacados.dylib differ diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib index 0217db1048..a7b55b860a 100755 Binary files a/third_party/acados/Darwin/lib/libblasfeo.dylib and b/third_party/acados/Darwin/lib/libblasfeo.dylib differ diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib index 420ac45753..d638913f98 100755 Binary files a/third_party/acados/Darwin/lib/libhpipm.dylib and b/third_party/acados/Darwin/lib/libhpipm.dylib differ diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib index 07dc6ea9b0..ab9888ff82 100755 Binary files a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib and b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib differ diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer index f40327a59e..fa8e9933a8 100755 Binary files a/third_party/acados/Darwin/t_renderer and b/third_party/acados/Darwin/t_renderer differ diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/acados/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/acados/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py index f33b75bb7b..bfbe907990 100644 --- a/third_party/acados/acados_template/__init__.py +++ b/third_party/acados/acados_template/__init__.py @@ -1,8 +1,5 @@ # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -31,13 +28,13 @@ # POSSIBILITY OF SUCH DAMAGE.; # -from .acados_model import * -from .generate_c_code_explicit_ode import * -from .generate_c_code_implicit_ode import * -from .generate_c_code_constraint import * -from .generate_c_code_nls_cost import * -from .acados_ocp import * -from .acados_sim import * -from .acados_ocp_solver import * -from .acados_sim_solver import * -from .utils import * +from .acados_model import AcadosModel +from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions +from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts +from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder +from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder +from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \ + get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \ + casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts + +from .zoro_description import ZoroDescription, process_zoro_description diff --git a/third_party/acados/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json index c9f0b90c73..a1cc5bbdf3 100644 --- a/third_party/acados/acados_template/acados_layout.json +++ b/third_party/acados/acados_template/acados_layout.json @@ -6,6 +6,12 @@ "str" ], "cython_include_dirs": [ + "list" + ], + "json_file": [ + "str" + ], + "shared_lib_ext": [ "str" ], "model": { @@ -15,7 +21,16 @@ "dyn_ext_fun_type" : [ "str" ], - "dyn_source_discrete" : [ + "dyn_generic_source" : [ + "str" + ], + "dyn_impl_dae_fun" : [ + "str" + ], + "dyn_impl_dae_fun_jac" : [ + "str" + ], + "dyn_impl_dae_jac" : [ "str" ], "dyn_disc_fun_jac_hess" : [ @@ -734,6 +749,9 @@ "sim_method_newton_iter": [ "int" ], + "sim_method_newton_tol": [ + "float" + ], "sim_method_jac_reuse": [ "ndarray", [ @@ -761,6 +779,12 @@ "qp_solver_iter_max": [ "int" ], + "qp_solver_cond_ric_alg": [ + "int" + ], + "qp_solver_ric_alg": [ + "int" + ], "nlp_solver_tol_stat": [ "float" ], @@ -776,6 +800,9 @@ "nlp_solver_max_iter": [ "int" ], + "nlp_solver_ext_qp_res": [ + "int" + ], "print_level": [ "int" ], @@ -794,6 +821,9 @@ "ext_cost_num_hess": [ "int" ], + "ext_fun_compile_flags": [ + "str" + ], "model_external_shared_lib_dir": [ "str" ], diff --git a/third_party/acados/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py index e292cc7477..b7c6945442 100644 --- a/third_party/acados/acados_template/acados_model.py +++ b/third_party/acados/acados_template/acados_model.py @@ -1,8 +1,5 @@ # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -37,7 +34,7 @@ class AcadosModel(): Class containing all the information to code generate the external CasADi functions that are needed when creating an acados ocp solver or acados integrator. Thus, this class contains: - + a) the :py:attr:`name` of the model, b) all CasADi variables/expressions needed in the CasADi function generation process. """ @@ -73,7 +70,7 @@ class AcadosModel(): """ self.dyn_ext_fun_type = 'casadi' #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi' - self.dyn_source_discrete = None #: name of source file for discrete dyanamics; Default: :code:`None` + self.dyn_generic_source = None #: name of source file for discrete dyanamics; Default: :code:`None` self.dyn_disc_fun_jac_hess = None #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None` self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None` self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None` @@ -87,7 +84,9 @@ class AcadosModel(): ## for OCP # constraints + # BGH(default): lh <= h(x, u) <= uh self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None` + # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi self.con_phi_expr = None #: CasADi expression for the constraint phi; Default: :code:`None` self.con_r_expr = None #: CasADi expression for the constraint phi(r); Default: :code:`None` self.con_r_in_phi = None @@ -107,61 +106,49 @@ class AcadosModel(): self.cost_expr_ext_cost_custom_hess_e = None #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None` self.cost_expr_ext_cost_custom_hess_0 = None #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None` - -def acados_model_strip_casadi_symbolics(model): - out = model - if 'f_impl_expr' in out.keys(): - del out['f_impl_expr'] - if 'f_expl_expr' in out.keys(): - del out['f_expl_expr'] - if 'disc_dyn_expr' in out.keys(): - del out['disc_dyn_expr'] - if 'x' in out.keys(): - del out['x'] - if 'xdot' in out.keys(): - del out['xdot'] - if 'u' in out.keys(): - del out['u'] - if 'z' in out.keys(): - del out['z'] - if 'p' in out.keys(): - del out['p'] - # constraints - if 'con_phi_expr' in out.keys(): - del out['con_phi_expr'] - if 'con_h_expr' in out.keys(): - del out['con_h_expr'] - if 'con_r_expr' in out.keys(): - del out['con_r_expr'] - if 'con_r_in_phi' in out.keys(): - del out['con_r_in_phi'] - # terminal - if 'con_phi_expr_e' in out.keys(): - del out['con_phi_expr_e'] - if 'con_h_expr_e' in out.keys(): - del out['con_h_expr_e'] - if 'con_r_expr_e' in out.keys(): - del out['con_r_expr_e'] - if 'con_r_in_phi_e' in out.keys(): - del out['con_r_in_phi_e'] - # cost - if 'cost_y_expr' in out.keys(): - del out['cost_y_expr'] - if 'cost_y_expr_e' in out.keys(): - del out['cost_y_expr_e'] - if 'cost_y_expr_0' in out.keys(): - del out['cost_y_expr_0'] - if 'cost_expr_ext_cost' in out.keys(): - del out['cost_expr_ext_cost'] - if 'cost_expr_ext_cost_e' in out.keys(): - del out['cost_expr_ext_cost_e'] - if 'cost_expr_ext_cost_0' in out.keys(): - del out['cost_expr_ext_cost_0'] - if 'cost_expr_ext_cost_custom_hess' in out.keys(): - del out['cost_expr_ext_cost_custom_hess'] - if 'cost_expr_ext_cost_custom_hess_e' in out.keys(): - del out['cost_expr_ext_cost_custom_hess_e'] - if 'cost_expr_ext_cost_custom_hess_0' in out.keys(): - del out['cost_expr_ext_cost_custom_hess_0'] - - return out + ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p) + self.cost_psi_expr_0 = None + """ + CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_psi_expr = None + """ + CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_psi_expr_e = None + """ + CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_r_in_psi_expr_0 = None + """ + CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_r_in_psi_expr = None + """ + CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_r_in_psi_expr_e = None + """ + CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_conl_custom_outer_hess_0 = None + """ + CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_conl_custom_outer_hess = None + """ + CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'. + """ + self.cost_conl_custom_outer_hess_e = None + """ + CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None` + Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'. + """ diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py index 80970239eb..ec02822ceb 100644 --- a/third_party/acados/acados_template/acados_ocp.py +++ b/third_party/acados/acados_template/acados_ocp.py @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -35,7 +32,7 @@ import numpy as np import os from .acados_model import AcadosModel -from .utils import get_acados_path, J_to_idx, J_to_idx_slack +from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext class AcadosOcpDims: """ @@ -273,224 +270,224 @@ class AcadosOcpDims: if isinstance(nx, int) and nx > 0: self.__nx = nx else: - raise Exception('Invalid nx value, expected positive integer. Exiting.') + raise Exception('Invalid nx value, expected positive integer.') @nz.setter def nz(self, nz): if isinstance(nz, int) and nz > -1: self.__nz = nz else: - raise Exception('Invalid nz value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nz value, expected nonnegative integer.') @nu.setter def nu(self, nu): if isinstance(nu, int) and nu > -1: self.__nu = nu else: - raise Exception('Invalid nu value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nu value, expected nonnegative integer.') @np.setter def np(self, np): if isinstance(np, int) and np > -1: self.__np = np else: - raise Exception('Invalid np value, expected nonnegative integer. Exiting.') + raise Exception('Invalid np value, expected nonnegative integer.') @ny_0.setter def ny_0(self, ny_0): if isinstance(ny_0, int) and ny_0 > -1: self.__ny_0 = ny_0 else: - raise Exception('Invalid ny_0 value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ny_0 value, expected nonnegative integer.') @ny.setter def ny(self, ny): if isinstance(ny, int) and ny > -1: self.__ny = ny else: - raise Exception('Invalid ny value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ny value, expected nonnegative integer.') @ny_e.setter def ny_e(self, ny_e): if isinstance(ny_e, int) and ny_e > -1: self.__ny_e = ny_e else: - raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ny_e value, expected nonnegative integer.') @nr.setter def nr(self, nr): if isinstance(nr, int) and nr > -1: self.__nr = nr else: - raise Exception('Invalid nr value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nr value, expected nonnegative integer.') @nr_e.setter def nr_e(self, nr_e): if isinstance(nr_e, int) and nr_e > -1: self.__nr_e = nr_e else: - raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nr_e value, expected nonnegative integer.') @nh.setter def nh(self, nh): if isinstance(nh, int) and nh > -1: self.__nh = nh else: - raise Exception('Invalid nh value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nh value, expected nonnegative integer.') @nh_e.setter def nh_e(self, nh_e): if isinstance(nh_e, int) and nh_e > -1: self.__nh_e = nh_e else: - raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nh_e value, expected nonnegative integer.') @nphi.setter def nphi(self, nphi): if isinstance(nphi, int) and nphi > -1: self.__nphi = nphi else: - raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nphi value, expected nonnegative integer.') @nphi_e.setter def nphi_e(self, nphi_e): if isinstance(nphi_e, int) and nphi_e > -1: self.__nphi_e = nphi_e else: - raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nphi_e value, expected nonnegative integer.') @nbx.setter def nbx(self, nbx): if isinstance(nbx, int) and nbx > -1: self.__nbx = nbx else: - raise Exception('Invalid nbx value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nbx value, expected nonnegative integer.') @nbxe_0.setter def nbxe_0(self, nbxe_0): if isinstance(nbxe_0, int) and nbxe_0 > -1: self.__nbxe_0 = nbxe_0 else: - raise Exception('Invalid nbxe_0 value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nbxe_0 value, expected nonnegative integer.') @nbx_0.setter def nbx_0(self, nbx_0): if isinstance(nbx_0, int) and nbx_0 > -1: self.__nbx_0 = nbx_0 else: - raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nbx_0 value, expected nonnegative integer.') @nbx_e.setter def nbx_e(self, nbx_e): if isinstance(nbx_e, int) and nbx_e > -1: self.__nbx_e = nbx_e else: - raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nbx_e value, expected nonnegative integer.') @nbu.setter def nbu(self, nbu): if isinstance(nbu, int) and nbu > -1: self.__nbu = nbu else: - raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nbu value, expected nonnegative integer.') @nsbx.setter def nsbx(self, nsbx): if isinstance(nsbx, int) and nsbx > -1: self.__nsbx = nsbx else: - raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsbx value, expected nonnegative integer.') @nsbx_e.setter def nsbx_e(self, nsbx_e): if isinstance(nsbx_e, int) and nsbx_e > -1: self.__nsbx_e = nsbx_e else: - raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsbx_e value, expected nonnegative integer.') @nsbu.setter def nsbu(self, nsbu): if isinstance(nsbu, int) and nsbu > -1: self.__nsbu = nsbu else: - raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsbu value, expected nonnegative integer.') @nsg.setter def nsg(self, nsg): if isinstance(nsg, int) and nsg > -1: self.__nsg = nsg else: - raise Exception('Invalid nsg value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsg value, expected nonnegative integer.') @nsg_e.setter def nsg_e(self, nsg_e): if isinstance(nsg_e, int) and nsg_e > -1: self.__nsg_e = nsg_e else: - raise Exception('Invalid nsg_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsg_e value, expected nonnegative integer.') @nsh.setter def nsh(self, nsh): if isinstance(nsh, int) and nsh > -1: self.__nsh = nsh else: - raise Exception('Invalid nsh value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsh value, expected nonnegative integer.') @nsh_e.setter def nsh_e(self, nsh_e): if isinstance(nsh_e, int) and nsh_e > -1: self.__nsh_e = nsh_e else: - raise Exception('Invalid nsh_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsh_e value, expected nonnegative integer.') @nsphi.setter def nsphi(self, nsphi): if isinstance(nsphi, int) and nsphi > -1: self.__nsphi = nsphi else: - raise Exception('Invalid nsphi value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsphi value, expected nonnegative integer.') @nsphi_e.setter def nsphi_e(self, nsphi_e): if isinstance(nsphi_e, int) and nsphi_e > -1: self.__nsphi_e = nsphi_e else: - raise Exception('Invalid nsphi_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nsphi_e value, expected nonnegative integer.') @ns.setter def ns(self, ns): if isinstance(ns, int) and ns > -1: self.__ns = ns else: - raise Exception('Invalid ns value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ns value, expected nonnegative integer.') @ns_e.setter def ns_e(self, ns_e): if isinstance(ns_e, int) and ns_e > -1: self.__ns_e = ns_e else: - raise Exception('Invalid ns_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ns_e value, expected nonnegative integer.') @ng.setter def ng(self, ng): if isinstance(ng, int) and ng > -1: self.__ng = ng else: - raise Exception('Invalid ng value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ng value, expected nonnegative integer.') @ng_e.setter def ng_e(self, ng_e): if isinstance(ng_e, int) and ng_e > -1: self.__ng_e = ng_e else: - raise Exception('Invalid ng_e value, expected nonnegative integer. Exiting.') + raise Exception('Invalid ng_e value, expected nonnegative integer.') @N.setter def N(self, N): if isinstance(N, int) and N > 0: self.__N = N else: - raise Exception('Invalid N value, expected positive integer. Exiting.') + raise Exception('Invalid N value, expected positive integer.') def set(self, attr, value): setattr(self, attr, value) @@ -500,6 +497,12 @@ class AcadosOcpCost: """ Class containing the numerical data of the cost: + NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step. + This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by: + :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`. + + This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid. + In case of LINEAR_LS: stage cost is :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`, @@ -508,9 +511,15 @@ class AcadosOcpCost: In case of NONLINEAR_LS: stage cost is - :math:`l(x,u,z) = || y(x,u,z) - y_\\text{ref}||^2_W`, + :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`, terminal cost is - :math:`m(x) = || y^e(x) - y_\\text{ref}^e||^2_{W^e}` + :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}` + + In case of CONVEX_OVER_NONLINEAR: + stage cost is + :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`, + terminal cost is + :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)` """ def __init__(self): # initial stage @@ -548,7 +557,7 @@ class AcadosOcpCost: @property def cost_type_0(self): """Cost type at initial shooting node (0) - -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS} or :code:`None`. + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`. Default: :code:`None`. .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly. @@ -604,10 +613,10 @@ class AcadosOcpCost: @yref_0.setter def yref_0(self, yref_0): - if isinstance(yref_0, np.ndarray): + if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1: self.__yref_0 = yref_0 else: - raise Exception('Invalid yref_0 value, expected numpy array. Exiting.') + raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.') @W_0.setter def W_0(self, W_0): @@ -615,7 +624,7 @@ class AcadosOcpCost: self.__W_0 = W_0 else: raise Exception('Invalid cost W_0 value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vx_0.setter def Vx_0(self, Vx_0): @@ -623,7 +632,7 @@ class AcadosOcpCost: self.__Vx_0 = Vx_0 else: raise Exception('Invalid cost Vx_0 value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vu_0.setter def Vu_0(self, Vu_0): @@ -631,7 +640,7 @@ class AcadosOcpCost: self.__Vu_0 = Vu_0 else: raise Exception('Invalid cost Vu_0 value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vz_0.setter def Vz_0(self, Vz_0): @@ -639,21 +648,21 @@ class AcadosOcpCost: self.__Vz_0 = Vz_0 else: raise Exception('Invalid cost Vz_0 value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @cost_ext_fun_type_0.setter def cost_ext_fun_type_0(self, cost_ext_fun_type_0): if cost_ext_fun_type_0 in ['casadi', 'generic']: self.__cost_ext_fun_type_0 = cost_ext_fun_type_0 else: - raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array. Exiting.') + raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.') # Lagrange term @property def cost_type(self): """ Cost type at intermediate shooting nodes (1 to N-1) - -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}. + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}. Default: 'LINEAR_LS'. """ return self.__cost_type @@ -695,28 +704,28 @@ class AcadosOcpCost: @property def Zl(self): - """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (1 to N-1). + """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1). Default: :code:`np.array([])`. """ return self.__Zl @property def Zu(self): - """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (1 to N-1). + """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1). Default: :code:`np.array([])`. """ return self.__Zu @property def zl(self): - """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (1 to N-1). + """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1). Default: :code:`np.array([])`. """ return self.__zl @property def zu(self): - """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (1 to N-1). + """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1). Default: :code:`np.array([])`. """ return self.__zu @@ -731,19 +740,19 @@ class AcadosOcpCost: @cost_type.setter def cost_type(self, cost_type): - cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL') + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR') if cost_type in cost_types: self.__cost_type = cost_type else: - raise Exception('Invalid cost_type value. Exiting.') + raise Exception('Invalid cost_type value.') @cost_type_0.setter def cost_type_0(self, cost_type_0): - cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL') + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR') if cost_type_0 in cost_types: self.__cost_type_0 = cost_type_0 else: - raise Exception('Invalid cost_type_0 value. Exiting.') + raise Exception('Invalid cost_type_0 value.') @W.setter def W(self, W): @@ -751,7 +760,7 @@ class AcadosOcpCost: self.__W = W else: raise Exception('Invalid cost W value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vx.setter @@ -760,7 +769,7 @@ class AcadosOcpCost: self.__Vx = Vx else: raise Exception('Invalid cost Vx value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vu.setter def Vu(self, Vu): @@ -768,7 +777,7 @@ class AcadosOcpCost: self.__Vu = Vu else: raise Exception('Invalid cost Vu value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vz.setter def Vz(self, Vz): @@ -776,56 +785,56 @@ class AcadosOcpCost: self.__Vz = Vz else: raise Exception('Invalid cost Vz value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @yref.setter def yref(self, yref): - if isinstance(yref, np.ndarray): + if isinstance(yref, np.ndarray) and len(yref.shape) == 1: self.__yref = yref else: - raise Exception('Invalid yref value, expected numpy array. Exiting.') + raise Exception('Invalid yref value, expected 1-dimensional numpy array.') @Zl.setter def Zl(self, Zl): if isinstance(Zl, np.ndarray): self.__Zl = Zl else: - raise Exception('Invalid Zl value, expected numpy array. Exiting.') + raise Exception('Invalid Zl value, expected numpy array.') @Zu.setter def Zu(self, Zu): if isinstance(Zu, np.ndarray): self.__Zu = Zu else: - raise Exception('Invalid Zu value, expected numpy array. Exiting.') + raise Exception('Invalid Zu value, expected numpy array.') @zl.setter def zl(self, zl): if isinstance(zl, np.ndarray): self.__zl = zl else: - raise Exception('Invalid zl value, expected numpy array. Exiting.') + raise Exception('Invalid zl value, expected numpy array.') @zu.setter def zu(self, zu): if isinstance(zu, np.ndarray): self.__zu = zu else: - raise Exception('Invalid zu value, expected numpy array. Exiting.') + raise Exception('Invalid zu value, expected numpy array.') @cost_ext_fun_type.setter def cost_ext_fun_type(self, cost_ext_fun_type): if cost_ext_fun_type in ['casadi', 'generic']: self.__cost_ext_fun_type = cost_ext_fun_type else: - raise Exception('Invalid cost_ext_fun_type value, expected numpy array. Exiting.') + raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].") # Mayer term @property def cost_type_e(self): """ Cost type at terminal shooting node (N) - -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}. + -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}. Default: 'LINEAR_LS'. """ return self.__cost_type_e @@ -881,7 +890,7 @@ class AcadosOcpCost: @property def cost_ext_fun_type_e(self): - """Type of external function for cost at intermediate shooting nodes (1 to N-1). + """Type of external function for cost at terminal shooting node (N). -- string in {casadi, generic} Default: :code:'casadi'. """ @@ -889,12 +898,12 @@ class AcadosOcpCost: @cost_type_e.setter def cost_type_e(self, cost_type_e): - cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL') + cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR') if cost_type_e in cost_types: self.__cost_type_e = cost_type_e else: - raise Exception('Invalid cost_type_e value. Exiting.') + raise Exception('Invalid cost_type_e value.') @W_e.setter def W_e(self, W_e): @@ -902,7 +911,7 @@ class AcadosOcpCost: self.__W_e = W_e else: raise Exception('Invalid cost W_e value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @Vx_e.setter def Vx_e(self, Vx_e): @@ -910,49 +919,49 @@ class AcadosOcpCost: self.__Vx_e = Vx_e else: raise Exception('Invalid cost Vx_e value. ' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @yref_e.setter def yref_e(self, yref_e): - if isinstance(yref_e, np.ndarray): + if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1: self.__yref_e = yref_e else: - raise Exception('Invalid yref_e value, expected numpy array. Exiting.') + raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.') @Zl_e.setter def Zl_e(self, Zl_e): if isinstance(Zl_e, np.ndarray): self.__Zl_e = Zl_e else: - raise Exception('Invalid Zl_e value, expected numpy array. Exiting.') + raise Exception('Invalid Zl_e value, expected numpy array.') @Zu_e.setter def Zu_e(self, Zu_e): if isinstance(Zu_e, np.ndarray): self.__Zu_e = Zu_e else: - raise Exception('Invalid Zu_e value, expected numpy array. Exiting.') + raise Exception('Invalid Zu_e value, expected numpy array.') @zl_e.setter def zl_e(self, zl_e): if isinstance(zl_e, np.ndarray): self.__zl_e = zl_e else: - raise Exception('Invalid zl_e value, expected numpy array. Exiting.') + raise Exception('Invalid zl_e value, expected numpy array.') @zu_e.setter def zu_e(self, zu_e): if isinstance(zu_e, np.ndarray): self.__zu_e = zu_e else: - raise Exception('Invalid zu_e value, expected numpy array. Exiting.') + raise Exception('Invalid zu_e value, expected numpy array.') @cost_ext_fun_type_e.setter def cost_ext_fun_type_e(self, cost_ext_fun_type_e): if cost_ext_fun_type_e in ['casadi', 'generic']: self.__cost_ext_fun_type_e = cost_ext_fun_type_e else: - raise Exception('Invalid cost_ext_fun_type_e value, expected numpy array. Exiting.') + raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].") def set(self, attr, value): setattr(self, attr, value) @@ -1578,7 +1587,7 @@ class AcadosOcpConstraints: self.__constr_type = constr_type else: raise Exception('Invalid constr_type value. Possible values are:\n\n' \ - + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\nExiting.') + + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n') @constr_type_e.setter def constr_type_e(self, constr_type_e): @@ -1587,7 +1596,7 @@ class AcadosOcpConstraints: self.__constr_type_e = constr_type_e else: raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \ - + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\nExiting.') + + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n') # initial x @lbx_0.setter @@ -1595,35 +1604,35 @@ class AcadosOcpConstraints: if isinstance(lbx_0, np.ndarray): self.__lbx_0 = lbx_0 else: - raise Exception('Invalid lbx_0 value. Exiting.') + raise Exception('Invalid lbx_0 value.') @ubx_0.setter def ubx_0(self, ubx_0): if isinstance(ubx_0, np.ndarray): self.__ubx_0 = ubx_0 else: - raise Exception('Invalid ubx_0 value. Exiting.') + raise Exception('Invalid ubx_0 value.') @idxbx_0.setter def idxbx_0(self, idxbx_0): if isinstance(idxbx_0, np.ndarray): self.__idxbx_0 = idxbx_0 else: - raise Exception('Invalid idxbx_0 value. Exiting.') + raise Exception('Invalid idxbx_0 value.') @Jbx_0.setter def Jbx_0(self, Jbx_0): if isinstance(Jbx_0, np.ndarray): self.__idxbx_0 = J_to_idx(Jbx_0) else: - raise Exception('Invalid Jbx_0 value. Exiting.') + raise Exception('Invalid Jbx_0 value.') @idxbxe_0.setter def idxbxe_0(self, idxbxe_0): if isinstance(idxbxe_0, np.ndarray): self.__idxbxe_0 = idxbxe_0 else: - raise Exception('Invalid idxbxe_0 value. Exiting.') + raise Exception('Invalid idxbxe_0 value.') @x0.setter @@ -1634,7 +1643,7 @@ class AcadosOcpConstraints: self.__idxbx_0 = np.arange(x0.size) self.__idxbxe_0 = np.arange(x0.size) else: - raise Exception('Invalid x0 value. Exiting.') + raise Exception('Invalid x0 value.') # bounds on x @lbx.setter @@ -1642,28 +1651,28 @@ class AcadosOcpConstraints: if isinstance(lbx, np.ndarray): self.__lbx = lbx else: - raise Exception('Invalid lbx value. Exiting.') + raise Exception('Invalid lbx value.') @ubx.setter def ubx(self, ubx): if isinstance(ubx, np.ndarray): self.__ubx = ubx else: - raise Exception('Invalid ubx value. Exiting.') + raise Exception('Invalid ubx value.') @idxbx.setter def idxbx(self, idxbx): if isinstance(idxbx, np.ndarray): self.__idxbx = idxbx else: - raise Exception('Invalid idxbx value. Exiting.') + raise Exception('Invalid idxbx value.') @Jbx.setter def Jbx(self, Jbx): if isinstance(Jbx, np.ndarray): self.__idxbx = J_to_idx(Jbx) else: - raise Exception('Invalid Jbx value. Exiting.') + raise Exception('Invalid Jbx value.') # bounds on u @lbu.setter @@ -1671,28 +1680,28 @@ class AcadosOcpConstraints: if isinstance(lbu, np.ndarray): self.__lbu = lbu else: - raise Exception('Invalid lbu value. Exiting.') + raise Exception('Invalid lbu value.') @ubu.setter def ubu(self, ubu): if isinstance(ubu, np.ndarray): self.__ubu = ubu else: - raise Exception('Invalid ubu value. Exiting.') + raise Exception('Invalid ubu value.') @idxbu.setter def idxbu(self, idxbu): if isinstance(idxbu, np.ndarray): self.__idxbu = idxbu else: - raise Exception('Invalid idxbu value. Exiting.') + raise Exception('Invalid idxbu value.') @Jbu.setter def Jbu(self, Jbu): if isinstance(Jbu, np.ndarray): self.__idxbu = J_to_idx(Jbu) else: - raise Exception('Invalid Jbu value. Exiting.') + raise Exception('Invalid Jbu value.') # bounds on x at shooting node N @lbx_e.setter @@ -1700,28 +1709,28 @@ class AcadosOcpConstraints: if isinstance(lbx_e, np.ndarray): self.__lbx_e = lbx_e else: - raise Exception('Invalid lbx_e value. Exiting.') + raise Exception('Invalid lbx_e value.') @ubx_e.setter def ubx_e(self, ubx_e): if isinstance(ubx_e, np.ndarray): self.__ubx_e = ubx_e else: - raise Exception('Invalid ubx_e value. Exiting.') + raise Exception('Invalid ubx_e value.') @idxbx_e.setter def idxbx_e(self, idxbx_e): if isinstance(idxbx_e, np.ndarray): self.__idxbx_e = idxbx_e else: - raise Exception('Invalid idxbx_e value. Exiting.') + raise Exception('Invalid idxbx_e value.') @Jbx_e.setter def Jbx_e(self, Jbx_e): if isinstance(Jbx_e, np.ndarray): self.__idxbx_e = J_to_idx(Jbx_e) else: - raise Exception('Invalid Jbx_e value. Exiting.') + raise Exception('Invalid Jbx_e value.') # polytopic constraints @D.setter @@ -1730,7 +1739,7 @@ class AcadosOcpConstraints: self.__D = D else: raise Exception('Invalid constraint D value.' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @C.setter def C(self, C): @@ -1738,21 +1747,21 @@ class AcadosOcpConstraints: self.__C = C else: raise Exception('Invalid constraint C value.' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @lg.setter def lg(self, lg): if isinstance(lg, np.ndarray): self.__lg = lg else: - raise Exception('Invalid lg value. Exiting.') + raise Exception('Invalid lg value.') @ug.setter def ug(self, ug): if isinstance(ug, np.ndarray): self.__ug = ug else: - raise Exception('Invalid ug value. Exiting.') + raise Exception('Invalid ug value.') # polytopic constraints at shooting node N @C_e.setter @@ -1761,21 +1770,21 @@ class AcadosOcpConstraints: self.__C_e = C_e else: raise Exception('Invalid constraint C_e value.' \ - + 'Should be 2 dimensional numpy array. Exiting.') + + 'Should be 2 dimensional numpy array.') @lg_e.setter def lg_e(self, lg_e): if isinstance(lg_e, np.ndarray): self.__lg_e = lg_e else: - raise Exception('Invalid lg_e value. Exiting.') + raise Exception('Invalid lg_e value.') @ug_e.setter def ug_e(self, ug_e): if isinstance(ug_e, np.ndarray): self.__ug_e = ug_e else: - raise Exception('Invalid ug_e value. Exiting.') + raise Exception('Invalid ug_e value.') # nonlinear constraints @lh.setter @@ -1783,14 +1792,14 @@ class AcadosOcpConstraints: if isinstance(lh, np.ndarray): self.__lh = lh else: - raise Exception('Invalid lh value. Exiting.') + raise Exception('Invalid lh value.') @uh.setter def uh(self, uh): if isinstance(uh, np.ndarray): self.__uh = uh else: - raise Exception('Invalid uh value. Exiting.') + raise Exception('Invalid uh value.') # convex-over-nonlinear constraints @lphi.setter @@ -1798,14 +1807,14 @@ class AcadosOcpConstraints: if isinstance(lphi, np.ndarray): self.__lphi = lphi else: - raise Exception('Invalid lphi value. Exiting.') + raise Exception('Invalid lphi value.') @uphi.setter def uphi(self, uphi): if isinstance(uphi, np.ndarray): self.__uphi = uphi else: - raise Exception('Invalid uphi value. Exiting.') + raise Exception('Invalid uphi value.') # nonlinear constraints at shooting node N @lh_e.setter @@ -1813,14 +1822,14 @@ class AcadosOcpConstraints: if isinstance(lh_e, np.ndarray): self.__lh_e = lh_e else: - raise Exception('Invalid lh_e value. Exiting.') + raise Exception('Invalid lh_e value.') @uh_e.setter def uh_e(self, uh_e): if isinstance(uh_e, np.ndarray): self.__uh_e = uh_e else: - raise Exception('Invalid uh_e value. Exiting.') + raise Exception('Invalid uh_e value.') # convex-over-nonlinear constraints at shooting node N @lphi_e.setter @@ -1828,14 +1837,14 @@ class AcadosOcpConstraints: if isinstance(lphi_e, np.ndarray): self.__lphi_e = lphi_e else: - raise Exception('Invalid lphi_e value. Exiting.') + raise Exception('Invalid lphi_e value.') @uphi_e.setter def uphi_e(self, uphi_e): if isinstance(uphi_e, np.ndarray): self.__uphi_e = uphi_e else: - raise Exception('Invalid uphi_e value. Exiting.') + raise Exception('Invalid uphi_e value.') # SLACK bounds # soft bounds on x @@ -1844,28 +1853,28 @@ class AcadosOcpConstraints: if isinstance(lsbx, np.ndarray): self.__lsbx = lsbx else: - raise Exception('Invalid lsbx value. Exiting.') + raise Exception('Invalid lsbx value.') @usbx.setter def usbx(self, usbx): if isinstance(usbx, np.ndarray): self.__usbx = usbx else: - raise Exception('Invalid usbx value. Exiting.') + raise Exception('Invalid usbx value.') @idxsbx.setter def idxsbx(self, idxsbx): if isinstance(idxsbx, np.ndarray): self.__idxsbx = idxsbx else: - raise Exception('Invalid idxsbx value. Exiting.') + raise Exception('Invalid idxsbx value.') @Jsbx.setter def Jsbx(self, Jsbx): if isinstance(Jsbx, np.ndarray): self.__idxsbx = J_to_idx_slack(Jsbx) else: - raise Exception('Invalid Jsbx value, expected numpy array. Exiting.') + raise Exception('Invalid Jsbx value, expected numpy array.') # soft bounds on u @lsbu.setter @@ -1873,28 +1882,28 @@ class AcadosOcpConstraints: if isinstance(lsbu, np.ndarray): self.__lsbu = lsbu else: - raise Exception('Invalid lsbu value. Exiting.') + raise Exception('Invalid lsbu value.') @usbu.setter def usbu(self, usbu): if isinstance(usbu, np.ndarray): self.__usbu = usbu else: - raise Exception('Invalid usbu value. Exiting.') + raise Exception('Invalid usbu value.') @idxsbu.setter def idxsbu(self, idxsbu): if isinstance(idxsbu, np.ndarray): self.__idxsbu = idxsbu else: - raise Exception('Invalid idxsbu value. Exiting.') + raise Exception('Invalid idxsbu value.') @Jsbu.setter def Jsbu(self, Jsbu): if isinstance(Jsbu, np.ndarray): self.__idxsbu = J_to_idx_slack(Jsbu) else: - raise Exception('Invalid Jsbu value. Exiting.') + raise Exception('Invalid Jsbu value.') # soft bounds on x at shooting node N @lsbx_e.setter @@ -1902,28 +1911,28 @@ class AcadosOcpConstraints: if isinstance(lsbx_e, np.ndarray): self.__lsbx_e = lsbx_e else: - raise Exception('Invalid lsbx_e value. Exiting.') + raise Exception('Invalid lsbx_e value.') @usbx_e.setter def usbx_e(self, usbx_e): if isinstance(usbx_e, np.ndarray): self.__usbx_e = usbx_e else: - raise Exception('Invalid usbx_e value. Exiting.') + raise Exception('Invalid usbx_e value.') @idxsbx_e.setter def idxsbx_e(self, idxsbx_e): if isinstance(idxsbx_e, np.ndarray): self.__idxsbx_e = idxsbx_e else: - raise Exception('Invalid idxsbx_e value. Exiting.') + raise Exception('Invalid idxsbx_e value.') @Jsbx_e.setter def Jsbx_e(self, Jsbx_e): if isinstance(Jsbx_e, np.ndarray): self.__idxsbx_e = J_to_idx_slack(Jsbx_e) else: - raise Exception('Invalid Jsbx_e value. Exiting.') + raise Exception('Invalid Jsbx_e value.') # soft bounds on general linear constraints @@ -1932,28 +1941,28 @@ class AcadosOcpConstraints: if isinstance(lsg, np.ndarray): self.__lsg = lsg else: - raise Exception('Invalid lsg value. Exiting.') + raise Exception('Invalid lsg value.') @usg.setter def usg(self, usg): if isinstance(usg, np.ndarray): self.__usg = usg else: - raise Exception('Invalid usg value. Exiting.') + raise Exception('Invalid usg value.') @idxsg.setter def idxsg(self, idxsg): if isinstance(idxsg, np.ndarray): self.__idxsg = idxsg else: - raise Exception('Invalid idxsg value. Exiting.') + raise Exception('Invalid idxsg value.') @Jsg.setter def Jsg(self, Jsg): if isinstance(Jsg, np.ndarray): self.__idxsg = J_to_idx_slack(Jsg) else: - raise Exception('Invalid Jsg value, expected numpy array. Exiting.') + raise Exception('Invalid Jsg value, expected numpy array.') # soft bounds on nonlinear constraints @@ -1962,21 +1971,21 @@ class AcadosOcpConstraints: if isinstance(lsh, np.ndarray): self.__lsh = lsh else: - raise Exception('Invalid lsh value. Exiting.') + raise Exception('Invalid lsh value.') @ush.setter def ush(self, ush): if isinstance(ush, np.ndarray): self.__ush = ush else: - raise Exception('Invalid ush value. Exiting.') + raise Exception('Invalid ush value.') @idxsh.setter def idxsh(self, idxsh): if isinstance(idxsh, np.ndarray): self.__idxsh = idxsh else: - raise Exception('Invalid idxsh value. Exiting.') + raise Exception('Invalid idxsh value.') @Jsh.setter @@ -1984,7 +1993,7 @@ class AcadosOcpConstraints: if isinstance(Jsh, np.ndarray): self.__idxsh = J_to_idx_slack(Jsh) else: - raise Exception('Invalid Jsh value, expected numpy array. Exiting.') + raise Exception('Invalid Jsh value, expected numpy array.') # soft bounds on convex-over-nonlinear constraints @lsphi.setter @@ -1992,28 +2001,28 @@ class AcadosOcpConstraints: if isinstance(lsphi, np.ndarray): self.__lsphi = lsphi else: - raise Exception('Invalid lsphi value. Exiting.') + raise Exception('Invalid lsphi value.') @usphi.setter def usphi(self, usphi): if isinstance(usphi, np.ndarray): self.__usphi = usphi else: - raise Exception('Invalid usphi value. Exiting.') + raise Exception('Invalid usphi value.') @idxsphi.setter def idxsphi(self, idxsphi): if isinstance(idxsphi, np.ndarray): self.__idxsphi = idxsphi else: - raise Exception('Invalid idxsphi value. Exiting.') + raise Exception('Invalid idxsphi value.') @Jsphi.setter def Jsphi(self, Jsphi): if isinstance(Jsphi, np.ndarray): self.__idxsphi = J_to_idx_slack(Jsphi) else: - raise Exception('Invalid Jsphi value, expected numpy array. Exiting.') + raise Exception('Invalid Jsphi value, expected numpy array.') # soft bounds on general linear constraints at shooting node N @lsg_e.setter @@ -2021,28 +2030,28 @@ class AcadosOcpConstraints: if isinstance(lsg_e, np.ndarray): self.__lsg_e = lsg_e else: - raise Exception('Invalid lsg_e value. Exiting.') + raise Exception('Invalid lsg_e value.') @usg_e.setter def usg_e(self, usg_e): if isinstance(usg_e, np.ndarray): self.__usg_e = usg_e else: - raise Exception('Invalid usg_e value. Exiting.') + raise Exception('Invalid usg_e value.') @idxsg_e.setter def idxsg_e(self, idxsg_e): if isinstance(idxsg_e, np.ndarray): self.__idxsg_e = idxsg_e else: - raise Exception('Invalid idxsg_e value. Exiting.') + raise Exception('Invalid idxsg_e value.') @Jsg_e.setter def Jsg_e(self, Jsg_e): if isinstance(Jsg_e, np.ndarray): self.__idxsg_e = J_to_idx_slack(Jsg_e) else: - raise Exception('Invalid Jsg_e value, expected numpy array. Exiting.') + raise Exception('Invalid Jsg_e value, expected numpy array.') # soft bounds on nonlinear constraints at shooting node N @lsh_e.setter @@ -2050,28 +2059,28 @@ class AcadosOcpConstraints: if isinstance(lsh_e, np.ndarray): self.__lsh_e = lsh_e else: - raise Exception('Invalid lsh_e value. Exiting.') + raise Exception('Invalid lsh_e value.') @ush_e.setter def ush_e(self, ush_e): if isinstance(ush_e, np.ndarray): self.__ush_e = ush_e else: - raise Exception('Invalid ush_e value. Exiting.') + raise Exception('Invalid ush_e value.') @idxsh_e.setter def idxsh_e(self, idxsh_e): if isinstance(idxsh_e, np.ndarray): self.__idxsh_e = idxsh_e else: - raise Exception('Invalid idxsh_e value. Exiting.') + raise Exception('Invalid idxsh_e value.') @Jsh_e.setter def Jsh_e(self, Jsh_e): if isinstance(Jsh_e, np.ndarray): self.__idxsh_e = J_to_idx_slack(Jsh_e) else: - raise Exception('Invalid Jsh_e value, expected numpy array. Exiting.') + raise Exception('Invalid Jsh_e value, expected numpy array.') # soft bounds on convex-over-nonlinear constraints at shooting node N @@ -2080,28 +2089,28 @@ class AcadosOcpConstraints: if isinstance(lsphi_e, np.ndarray): self.__lsphi_e = lsphi_e else: - raise Exception('Invalid lsphi_e value. Exiting.') + raise Exception('Invalid lsphi_e value.') @usphi_e.setter def usphi_e(self, usphi_e): if isinstance(usphi_e, np.ndarray): self.__usphi_e = usphi_e else: - raise Exception('Invalid usphi_e value. Exiting.') + raise Exception('Invalid usphi_e value.') @idxsphi_e.setter def idxsphi_e(self, idxsphi_e): if isinstance(idxsphi_e, np.ndarray): self.__idxsphi_e = idxsphi_e else: - raise Exception('Invalid idxsphi_e value. Exiting.') + raise Exception('Invalid idxsphi_e value.') @Jsphi_e.setter def Jsphi_e(self, Jsphi_e): if isinstance(Jsphi_e, np.ndarray): self.__idxsphi_e = J_to_idx_slack(Jsphi_e) else: - raise Exception('Invalid Jsphi_e value. Exiting.') + raise Exception('Invalid Jsphi_e value.') def set(self, attr, value): setattr(self, attr, value) @@ -2124,6 +2133,7 @@ class AcadosOcpOptions: self.__sim_method_num_stages = 4 # number of stages in the integrator self.__sim_method_num_steps = 1 # number of steps in the integrator self.__sim_method_newton_iter = 3 # number of Newton iterations in simulation method + self.__sim_method_newton_tol = 0.0 self.__sim_method_jac_reuse = 0 self.__qp_solver_tol_stat = None # QP solver stationarity tolerance self.__qp_solver_tol_eq = None # QP solver equality tolerance @@ -2132,16 +2142,17 @@ class AcadosOcpOptions: self.__qp_solver_iter_max = 50 # QP solver max iter self.__qp_solver_cond_N = None # QP solver: new horizon after partial condensing self.__qp_solver_warm_start = 0 + self.__qp_solver_cond_ric_alg = 1 + self.__qp_solver_ric_alg = 1 self.__nlp_solver_tol_stat = 1e-6 # NLP solver stationarity tolerance self.__nlp_solver_tol_eq = 1e-6 # NLP solver equality tolerance self.__nlp_solver_tol_ineq = 1e-6 # NLP solver inequality self.__nlp_solver_tol_comp = 1e-6 # NLP solver complementarity self.__nlp_solver_max_iter = 100 # NLP solver maximum number of iterations + self.__nlp_solver_ext_qp_res = 0 self.__Tsim = None # automatically calculated as tf/N self.__print_level = 0 # print level self.__initialize_t_slacks = 0 # possible values: 0, 1 - self.__model_external_shared_lib_dir = None # path to the the .so lib - self.__model_external_shared_lib_name = None # name of the the .so lib self.__regularize_method = None self.__time_steps = None self.__shooting_nodes = None @@ -2156,16 +2167,93 @@ class AcadosOcpOptions: self.__full_step_dual = 0 self.__eps_sufficient_descent = 1e-4 self.__hpipm_mode = 'BALANCE' - + # TODO: move those out? they are more about generation than about the acados OCP solver. + self.__ext_fun_compile_flags = '-O2' + self.__model_external_shared_lib_dir = None # path to the the .so lib + self.__model_external_shared_lib_name = None # name of the the .so lib + self.__custom_update_filename = '' + self.__custom_update_header_filename = '' + self.__custom_templates = [] + self.__custom_update_copy = True @property def qp_solver(self): """QP solver to be used in the NLP solver. - String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP'). + String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP'). Default: 'PARTIAL_CONDENSING_HPIPM'. """ return self.__qp_solver + @property + def ext_fun_compile_flags(self): + """ + String with compiler flags for external function compilation. + Default: '-O2'. + """ + return self.__ext_fun_compile_flags + + + @property + def custom_update_filename(self): + """ + Filename of the custom C function to update solver data and parameters in between solver calls + + This file has to implement the functions + int custom_update_init_function([model.name]_solver_capsule* capsule); + int custom_update_function([model.name]_solver_capsule* capsule); + int custom_update_terminate_function([model.name]_solver_capsule* capsule); + + + Default: ''. + """ + return self.__custom_update_filename + + + @property + def custom_templates(self): + """ + List of tuples of the form: + (input_filename, output_filename) + + Custom templates are render in OCP solver generation. + + Default: []. + """ + return self.__custom_templates + + + @property + def custom_update_header_filename(self): + """ + Header filename of the custom C function to update solver data and parameters in between solver calls + + This file has to declare the custom_update functions and look as follows: + + ``` + // Called at the end of solver creation. + // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory. + int custom_update_init_function([model.name]_solver_capsule* capsule); + + // Custom update function that can be called between solver calls + int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len); + + // Called just before destroying the solver. + // Responsible to free allocated memory, stored at capsule->custom_update_memory. + int custom_update_terminate_function([model.name]_solver_capsule* capsule); + + Default: ''. + """ + return self.__custom_update_header_filename + + @property + def custom_update_copy(self): + """ + Boolean; + If True, the custom update function files are copied into the `code_export_directory`. + """ + return self.__custom_update_copy + + @property def hpipm_mode(self): """ @@ -2230,6 +2318,13 @@ class AcadosOcpOptions: """Regularization method for the Hessian. String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`. + - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii)) + - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii) + - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf + - PROJECT_REDUC_HESS: experimental + + Note: default eps = 1e-4 + Default: :code:`None`. """ return self.__regularize_method @@ -2279,6 +2374,15 @@ class AcadosOcpOptions: """ return self.__sim_method_newton_iter + @property + def sim_method_newton_tol(self): + """ + Tolerance of Newton system in simulation method. + Type: float: 0.0 means not used + Default: 0.0 + """ + return self.__sim_method_newton_tol + @property def sim_method_jac_reuse(self): """ @@ -2328,10 +2432,42 @@ class AcadosOcpOptions: @property def qp_solver_warm_start(self): - """QP solver: Warm starting. - 0: no warm start; 1: warm start; 2: hot start.""" + """ + QP solver: Warm starting. + 0: no warm start; 1: warm start; 2: hot start. + Default: 0 + """ return self.__qp_solver_warm_start + @property + def qp_solver_cond_ric_alg(self): + """ + QP solver: Determines which algorithm is used in HPIPM condensing. + 0: dont factorize hessian in the condensing; 1: factorize. + Default: 1 + """ + return self.__qp_solver_cond_ric_alg + + @property + def qp_solver_ric_alg(self): + """ + QP solver: Determines which algorithm is used in HPIPM OCP QP solver. + 0 classical Riccati, 1 square-root Riccati. + + Note: taken from [HPIPM paper]: + + (a) the classical implementation requires the reduced Hessian with respect to the dynamics + equality constraints to be positive definite, but allows the full-space Hessian to be indefinite) + (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky + factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite + + [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020 + https://cdn.syscop.de/publications/Frison2020a.pdf + + Default: 1 + """ + return self.__qp_solver_ric_alg + @property def qp_solver_iter_max(self): """ @@ -2429,6 +2565,15 @@ class AcadosOcpOptions: """NLP solver inequality tolerance""" return self.__nlp_solver_tol_ineq + @property + def nlp_solver_ext_qp_res(self): + """Determines if residuals of QP are computed externally within NLP solver (for debugging) + + Type: int; 0 or 1; + Default: 0. + """ + return self.__nlp_solver_ext_qp_res + @property def nlp_solver_tol_comp(self): """NLP solver complementarity tolerance""" @@ -2531,12 +2676,13 @@ class AcadosOcpOptions: def qp_solver(self, qp_solver): qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \ 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \ - 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP') + 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \ + 'FULL_CONDENSING_DAQP') if qp_solver in qp_solvers: self.__qp_solver = qp_solver else: raise Exception('Invalid qp_solver value. Possible values are:\n\n' \ - + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\nExiting.') + + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n') @regularize_method.setter def regularize_method(self, regularize_method): @@ -2546,7 +2692,7 @@ class AcadosOcpOptions: self.__regularize_method = regularize_method else: raise Exception('Invalid regularize_method value. Possible values are:\n\n' \ - + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\nExiting.') + + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n') @collocation_type.setter def collocation_type(self, collocation_type): @@ -2555,7 +2701,7 @@ class AcadosOcpOptions: self.__collocation_type = collocation_type else: raise Exception('Invalid collocation_type value. Possible values are:\n\n' \ - + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.') + + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n') @hpipm_mode.setter def hpipm_mode(self, hpipm_mode): @@ -2564,7 +2710,48 @@ class AcadosOcpOptions: self.__hpipm_mode = hpipm_mode else: raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \ - + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\nExiting.') + + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n') + + @ext_fun_compile_flags.setter + def ext_fun_compile_flags(self, ext_fun_compile_flags): + if isinstance(ext_fun_compile_flags, str): + self.__ext_fun_compile_flags = ext_fun_compile_flags + else: + raise Exception('Invalid ext_fun_compile_flags, expected a string.\n') + + + @custom_update_filename.setter + def custom_update_filename(self, custom_update_filename): + if isinstance(custom_update_filename, str): + self.__custom_update_filename = custom_update_filename + else: + raise Exception('Invalid custom_update_filename, expected a string.\n') + + @custom_templates.setter + def custom_templates(self, custom_templates): + if not isinstance(custom_templates, list): + raise Exception('Invalid custom_templates, expected a list.\n') + for tup in custom_templates: + if not isinstance(tup, tuple): + raise Exception('Invalid custom_templates, shoubld be list of tuples.\n') + for s in tup: + if not isinstance(s, str): + raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n') + self.__custom_templates = custom_templates + + @custom_update_header_filename.setter + def custom_update_header_filename(self, custom_update_header_filename): + if isinstance(custom_update_header_filename, str): + self.__custom_update_header_filename = custom_update_header_filename + else: + raise Exception('Invalid custom_update_header_filename, expected a string.\n') + + @custom_update_copy.setter + def custom_update_copy(self, custom_update_copy): + if isinstance(custom_update_copy, bool): + self.__custom_update_copy = custom_update_copy + else: + raise Exception('Invalid custom_update_copy, expected a bool.\n') @hessian_approx.setter def hessian_approx(self, hessian_approx): @@ -2573,7 +2760,7 @@ class AcadosOcpOptions: self.__hessian_approx = hessian_approx else: raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \ - + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\nExiting.') + + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n') @integrator_type.setter def integrator_type(self, integrator_type): @@ -2582,7 +2769,7 @@ class AcadosOcpOptions: self.__integrator_type = integrator_type else: raise Exception('Invalid integrator_type value. Possible values are:\n\n' \ - + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.') + + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n') @tf.setter def tf(self, tf): @@ -2619,7 +2806,7 @@ class AcadosOcpOptions: self.__globalization = globalization else: raise Exception('Invalid globalization value. Possible values are:\n\n' \ - + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\nExiting.') + + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n') @alpha_min.setter def alpha_min(self, alpha_min): @@ -2655,7 +2842,7 @@ class AcadosOcpOptions: if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0: self.__eps_sufficient_descent = eps_sufficient_descent else: - raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float. Exiting') + raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.') @sim_method_num_stages.setter def sim_method_num_stages(self, sim_method_num_stages): @@ -2663,7 +2850,7 @@ class AcadosOcpOptions: # if isinstance(sim_method_num_stages, int): # self.__sim_method_num_stages = sim_method_num_stages # else: - # raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.') + # raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.') self.__sim_method_num_stages = sim_method_num_stages @@ -2673,7 +2860,7 @@ class AcadosOcpOptions: # if isinstance(sim_method_num_steps, int): # self.__sim_method_num_steps = sim_method_num_steps # else: - # raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.') + # raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.') self.__sim_method_num_steps = sim_method_num_steps @@ -2683,7 +2870,7 @@ class AcadosOcpOptions: if isinstance(sim_method_newton_iter, int): self.__sim_method_newton_iter = sim_method_newton_iter else: - raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.') + raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.') @sim_method_jac_reuse.setter def sim_method_jac_reuse(self, sim_method_jac_reuse): @@ -2699,42 +2886,57 @@ class AcadosOcpOptions: self.__nlp_solver_type = nlp_solver_type else: raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \ - + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\nExiting.') + + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n') @nlp_solver_step_length.setter def nlp_solver_step_length(self, nlp_solver_step_length): if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0: self.__nlp_solver_step_length = nlp_solver_step_length else: - raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting') + raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.') @levenberg_marquardt.setter def levenberg_marquardt(self, levenberg_marquardt): if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0: self.__levenberg_marquardt = levenberg_marquardt else: - raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float. Exiting') + raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.') @qp_solver_iter_max.setter def qp_solver_iter_max(self, qp_solver_iter_max): if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0: self.__qp_solver_iter_max = qp_solver_iter_max else: - raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int. Exiting') + raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.') + + @qp_solver_ric_alg.setter + def qp_solver_ric_alg(self, qp_solver_ric_alg): + if qp_solver_ric_alg in [0, 1]: + self.__qp_solver_ric_alg = qp_solver_ric_alg + else: + raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.') + + @qp_solver_cond_ric_alg.setter + def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg): + if qp_solver_cond_ric_alg in [0, 1]: + self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg + else: + raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.') + @qp_solver_cond_N.setter def qp_solver_cond_N(self, qp_solver_cond_N): if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0: self.__qp_solver_cond_N = qp_solver_cond_N else: - raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting') + raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.') @qp_solver_warm_start.setter def qp_solver_warm_start(self, qp_solver_warm_start): if qp_solver_warm_start in [0, 1, 2]: self.__qp_solver_warm_start = qp_solver_warm_start else: - raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2. Exiting') + raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.') @qp_tol.setter def qp_tol(self, qp_tol): @@ -2744,35 +2946,35 @@ class AcadosOcpOptions: self.__qp_solver_tol_stat = qp_tol self.__qp_solver_tol_comp = qp_tol else: - raise Exception('Invalid qp_tol value. qp_tol must be a positive float. Exiting') + raise Exception('Invalid qp_tol value. qp_tol must be a positive float.') @qp_solver_tol_stat.setter def qp_solver_tol_stat(self, qp_solver_tol_stat): if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0: self.__qp_solver_tol_stat = qp_solver_tol_stat else: - raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float. Exiting') + raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.') @qp_solver_tol_eq.setter def qp_solver_tol_eq(self, qp_solver_tol_eq): if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0: self.__qp_solver_tol_eq = qp_solver_tol_eq else: - raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float. Exiting') + raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.') @qp_solver_tol_ineq.setter def qp_solver_tol_ineq(self, qp_solver_tol_ineq): if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0: self.__qp_solver_tol_ineq = qp_solver_tol_ineq else: - raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float. Exiting') + raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.') @qp_solver_tol_comp.setter def qp_solver_tol_comp(self, qp_solver_tol_comp): if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0: self.__qp_solver_tol_comp = qp_solver_tol_comp else: - raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float. Exiting') + raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.') @tol.setter def tol(self, tol): @@ -2782,35 +2984,42 @@ class AcadosOcpOptions: self.__nlp_solver_tol_stat = tol self.__nlp_solver_tol_comp = tol else: - raise Exception('Invalid tol value. tol must be a positive float. Exiting') + raise Exception('Invalid tol value. tol must be a positive float.') @nlp_solver_tol_stat.setter def nlp_solver_tol_stat(self, nlp_solver_tol_stat): if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0: self.__nlp_solver_tol_stat = nlp_solver_tol_stat else: - raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float. Exiting') + raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.') @nlp_solver_tol_eq.setter def nlp_solver_tol_eq(self, nlp_solver_tol_eq): if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0: self.__nlp_solver_tol_eq = nlp_solver_tol_eq else: - raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float. Exiting') + raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.') @nlp_solver_tol_ineq.setter def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq): if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0: self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq else: - raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float. Exiting') + raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.') + + @nlp_solver_ext_qp_res.setter + def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res): + if nlp_solver_ext_qp_res in [0, 1]: + self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res + else: + raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].') @nlp_solver_tol_comp.setter def nlp_solver_tol_comp(self, nlp_solver_tol_comp): if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0: self.__nlp_solver_tol_comp = nlp_solver_tol_comp else: - raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float. Exiting') + raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.') @nlp_solver_max_iter.setter def nlp_solver_max_iter(self, nlp_solver_max_iter): @@ -2818,14 +3027,14 @@ class AcadosOcpOptions: if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0: self.__nlp_solver_max_iter = nlp_solver_max_iter else: - raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting') + raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.') @print_level.setter def print_level(self, print_level): if isinstance(print_level, int) and print_level >= 0: self.__print_level = print_level else: - raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting') + raise Exception('Invalid print_level value. print_level takes one of the values >=0.') @model_external_shared_lib_dir.setter def model_external_shared_lib_dir(self, model_external_shared_lib_dir): @@ -2833,47 +3042,47 @@ class AcadosOcpOptions: self.__model_external_shared_lib_dir = model_external_shared_lib_dir else: raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \ - + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\nExiting.') + + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n') @model_external_shared_lib_name.setter def model_external_shared_lib_name(self, model_external_shared_lib_name): if isinstance(model_external_shared_lib_name, str) : if model_external_shared_lib_name[-3:] == '.so' : raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \ - + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.') + + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n') else : self.__model_external_shared_lib_name = model_external_shared_lib_name else: raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \ - + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.') + + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n') @exact_hess_constr.setter def exact_hess_constr(self, exact_hess_constr): if exact_hess_constr in [0, 1]: self.__exact_hess_constr = exact_hess_constr else: - raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1. Exiting') + raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.') @exact_hess_cost.setter def exact_hess_cost(self, exact_hess_cost): if exact_hess_cost in [0, 1]: self.__exact_hess_cost = exact_hess_cost else: - raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1. Exiting') + raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.') @exact_hess_dyn.setter def exact_hess_dyn(self, exact_hess_dyn): if exact_hess_dyn in [0, 1]: self.__exact_hess_dyn = exact_hess_dyn else: - raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1. Exiting') + raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.') @ext_cost_num_hess.setter def ext_cost_num_hess(self, ext_cost_num_hess): if ext_cost_num_hess in [0, 1]: self.__ext_cost_num_hess = ext_cost_num_hess else: - raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1. Exiting') + raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.') def set(self, attr, value): setattr(self, attr, value) @@ -2893,6 +3102,7 @@ class AcadosOcp: - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions` - :py:attr:`acados_include_path` (set automatically) + - :py:attr:`shared_lib_ext` (set automatically) - :py:attr:`acados_lib_path` (set automatically) - :py:attr:`parameter_values` - used to initialize the parameters (can be changed) """ @@ -2914,14 +3124,16 @@ class AcadosOcp: """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`""" self.solver_options = AcadosOcpOptions() """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`""" - + self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake """Path to acados include directory (set automatically), type: `string`""" self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake """Path to where acados library is located, type: `string`""" + self.shared_lib_ext = get_lib_ext() - import numpy - self.cython_include_dirs = numpy.get_include() + # get cython paths + from sysconfig import get_paths + self.cython_include_dirs = [np.get_include(), get_paths()['include']] self.__parameter_values = np.array([]) self.__problem_class = 'OCP' diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py index beeda2cb0c..ffc9cf4b0e 100644 --- a/third_party/acados/acados_template/acados_ocp_solver.py +++ b/third_party/acados/acados_template/acados_ocp_solver.py @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -38,26 +35,29 @@ import json import numpy as np from datetime import datetime import importlib +import shutil + +from subprocess import DEVNULL, call, STDOUT + from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref from copy import deepcopy +from pathlib import Path -from .generate_c_code_explicit_ode import generate_c_code_explicit_ode -from .generate_c_code_implicit_ode import generate_c_code_implicit_ode -from .generate_c_code_gnsf import generate_c_code_gnsf -from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics -from .generate_c_code_constraint import generate_c_code_constraint -from .generate_c_code_nls_cost import generate_c_code_nls_cost -from .generate_c_code_external_cost import generate_c_code_external_cost +from .casadi_function_generation import generate_c_code_explicit_ode, \ + generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \ + generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \ + generate_c_code_external_cost +from .gnsf.detect_gnsf_structure import detect_gnsf_structure from .acados_ocp import AcadosOcp -from .acados_model import acados_model_strip_casadi_symbolics +from .acados_model import AcadosModel from .utils import is_column, is_empty, casadi_length, render_template,\ - format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\ - set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path + format_class_dict, make_object_json_dumpable, make_model_consistent,\ + set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version from .builders import CMakeBuilder -def make_ocp_dims_consistent(acados_ocp): +def make_ocp_dims_consistent(acados_ocp: AcadosOcp): dims = acados_ocp.dims cost = acados_ocp.cost constraints = acados_ocp.constraints @@ -105,6 +105,9 @@ def make_ocp_dims_consistent(acados_ocp): model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess + model.cost_psi_expr_0 = model.cost_psi_expr + model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr + if cost.cost_type_0 == 'LINEAR_LS': ny_0 = cost.W_0.shape[0] if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0: @@ -133,6 +136,22 @@ def make_ocp_dims_consistent(acados_ocp): f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n') dims.ny_0 = ny_0 + elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR': + if is_empty(model.cost_y_expr_0): + raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.') + ny_0 = casadi_length(model.cost_y_expr_0) + if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0: + raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.') + if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1: + raise Exception('cost_psi_expr_0 not provided or not scalar-valued.') + if cost.yref_0.shape[0] != ny_0: + raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.') + dims.ny_0 = ny_0 + + if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON': + raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n" + "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n") + elif cost.cost_type_0 == 'EXTERNAL': if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None: print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" @@ -171,6 +190,23 @@ def make_ocp_dims_consistent(acados_ocp): f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n') dims.ny = ny + elif cost.cost_type == 'CONVEX_OVER_NONLINEAR': + if is_empty(model.cost_y_expr): + raise Exception('cost_y_expr and/or cost_y_expr not provided.') + ny = casadi_length(model.cost_y_expr) + if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny: + raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.') + if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1: + raise Exception('cost_psi_expr not provided or not scalar-valued.') + if cost.yref.shape[0] != ny: + raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.') + dims.ny = ny + + if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON': + raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n" + "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n") + + elif cost.cost_type == 'EXTERNAL': if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None: print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" @@ -202,6 +238,24 @@ def make_ocp_dims_consistent(acados_ocp): raise Exception('inconsistent dimension: regarding W_e, yref_e.') dims.ny_e = ny_e + elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR': + if is_empty(model.cost_y_expr_e): + raise Exception('cost_y_expr_e not provided.') + ny_e = casadi_length(model.cost_y_expr_e) + if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e: + raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.') + if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1: + raise Exception('cost_psi_expr_e not provided or not scalar-valued.') + if cost.yref_e.shape[0] != ny_e: + raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.') + dims.ny_e = ny_e + + if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON': + raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n" + "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n") + + + elif cost.cost_type_e == 'EXTERNAL': if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None: print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n" @@ -213,16 +267,13 @@ def make_ocp_dims_consistent(acados_ocp): ## constraints # initial - if (constraints.lbx_0 == [] and constraints.ubx_0 == []): - dims.nbx_0 = 0 - else: - this_shape = constraints.lbx_0.shape - other_shape = constraints.ubx_0.shape - if not this_shape == other_shape: - raise Exception('lbx_0, ubx_0 have different shapes!') - if not is_column(constraints.lbx_0): - raise Exception('lbx_0, ubx_0 must be column vectors!') - dims.nbx_0 = constraints.lbx_0.size + this_shape = constraints.lbx_0.shape + other_shape = constraints.ubx_0.shape + if not this_shape == other_shape: + raise Exception('lbx_0, ubx_0 have different shapes!') + if not is_column(constraints.lbx_0): + raise Exception('lbx_0, ubx_0 must be column vectors!') + dims.nbx_0 = constraints.lbx_0.size if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \ and dims.nbxe_0 is None \ @@ -230,8 +281,10 @@ def make_ocp_dims_consistent(acados_ocp): and all(constraints.idxbxe_0 == constraints.idxbx_0): # case: x0 was set: nbx0 are all equlities. dims.nbxe_0 = dims.nbx_0 + elif constraints.idxbxe_0 is not None: + dims.nbxe_0 = constraints.idxbxe_0.shape[0] elif dims.nbxe_0 is None: - # case: x0 was not set -> dont assume nbx0 to be equality constraints. + # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints. dims.nbxe_0 = 0 # path @@ -309,6 +362,8 @@ def make_ocp_dims_consistent(acados_ocp): # Slack dimensions nsbx = constraints.idxsbx.shape[0] + if nsbx > nbx: + raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.') if is_empty(constraints.lsbx): constraints.lsbx = np.zeros((nsbx,)) elif constraints.lsbx.shape[0] != nsbx: @@ -320,6 +375,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsbx = nsbx nsbu = constraints.idxsbu.shape[0] + if nsbu > nbu: + raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.') if is_empty(constraints.lsbu): constraints.lsbu = np.zeros((nsbu,)) elif constraints.lsbu.shape[0] != nsbu: @@ -331,6 +388,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsbu = nsbu nsh = constraints.idxsh.shape[0] + if nsh > nh: + raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.') if is_empty(constraints.lsh): constraints.lsh = np.zeros((nsh,)) elif constraints.lsh.shape[0] != nsh: @@ -342,6 +401,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsh = nsh nsphi = constraints.idxsphi.shape[0] + if nsphi > dims.nphi: + raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.') if is_empty(constraints.lsphi): constraints.lsphi = np.zeros((nsphi,)) elif constraints.lsphi.shape[0] != nsphi: @@ -353,6 +414,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsphi = nsphi nsg = constraints.idxsg.shape[0] + if nsg > ng: + raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.') if is_empty(constraints.lsg): constraints.lsg = np.zeros((nsg,)) elif constraints.lsg.shape[0] != nsg: @@ -386,6 +449,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.ns = ns nsbx_e = constraints.idxsbx_e.shape[0] + if nsbx_e > nbx_e: + raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.') if is_empty(constraints.lsbx_e): constraints.lsbx_e = np.zeros((nsbx_e,)) elif constraints.lsbx_e.shape[0] != nsbx_e: @@ -397,6 +462,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsbx_e = nsbx_e nsh_e = constraints.idxsh_e.shape[0] + if nsh_e > nh_e: + raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.') if is_empty(constraints.lsh_e): constraints.lsh_e = np.zeros((nsh_e,)) elif constraints.lsh_e.shape[0] != nsh_e: @@ -408,6 +475,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsh_e = nsh_e nsg_e = constraints.idxsg_e.shape[0] + if nsg_e > ng_e: + raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.') if is_empty(constraints.lsg_e): constraints.lsg_e = np.zeros((nsg_e,)) elif constraints.lsg_e.shape[0] != nsg_e: @@ -419,6 +488,8 @@ def make_ocp_dims_consistent(acados_ocp): dims.nsg_e = nsg_e nsphi_e = constraints.idxsphi_e.shape[0] + if nsphi_e > dims.nphi_e: + raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.') if is_empty(constraints.lsphi_e): constraints.lsphi_e = np.zeros((nsphi_e,)) elif constraints.lsphi_e.shape[0] != nsphi_e: @@ -525,7 +596,7 @@ def get_simulink_default_opts(): return simulink_default_opts -def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_nlp.json'): +def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'): # Load acados_ocp_nlp structure description ocp_layout = get_ocp_nlp_layout() @@ -543,20 +614,11 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n ocp_nlp_dict = format_class_dict(ocp_nlp_dict) - # strip symbolics - ocp_nlp_dict['model'] = acados_model_strip_casadi_symbolics(ocp_nlp_dict['model']) - - # strip shooting_nodes - ocp_nlp_dict['solver_options'].pop('shooting_nodes', None) - dims_dict = format_class_dict(acados_ocp.dims.__dict__) - - ocp_check_against_layout(ocp_nlp_dict, dims_dict) - - # add simulink options - ocp_nlp_dict['simulink_opts'] = simulink_opts + if simulink_opts is not None: + ocp_nlp_dict['simulink_opts'] = simulink_opts with open(json_file, 'w') as f: - json.dump(ocp_nlp_dict, f, default=np_array_to_list, indent=4, sort_keys=True) + json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True) @@ -587,7 +649,7 @@ def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'): return acados_ocp -def ocp_generate_external_functions(acados_ocp, model): +def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel): model = make_model_consistent(model) @@ -595,27 +657,32 @@ def ocp_generate_external_functions(acados_ocp, model): opts = dict(generate_hess=1) else: opts = dict(generate_hess=0) + + # create code_export_dir, model_dir code_export_dir = acados_ocp.code_export_directory opts['code_export_directory'] = code_export_dir + model_dir = os.path.join(code_export_dir, model.name + '_model') + if not os.path.exists(model_dir): + os.makedirs(model_dir) - if acados_ocp.model.dyn_ext_fun_type != 'casadi': - raise Exception("ocp_generate_external_functions: dyn_ext_fun_type only supports 'casadi' for now.\ - Extending the Python interface with generic function support is welcome.") - - if acados_ocp.solver_options.integrator_type == 'ERK': - # explicit model -- generate C code - generate_c_code_explicit_ode(model, opts) - elif acados_ocp.solver_options.integrator_type == 'IRK': - # implicit model -- generate C code - generate_c_code_implicit_ode(model, opts) - elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK': - generate_c_code_implicit_ode(model, opts) - elif acados_ocp.solver_options.integrator_type == 'GNSF': - generate_c_code_gnsf(model, opts) - elif acados_ocp.solver_options.integrator_type == 'DISCRETE': - generate_c_code_discrete_dynamics(model, opts) + check_casadi_version() + # TODO: remove dir gen from all the generate_c_* functions + if acados_ocp.model.dyn_ext_fun_type == 'casadi': + if acados_ocp.solver_options.integrator_type == 'ERK': + generate_c_code_explicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'IRK': + generate_c_code_implicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK': + generate_c_code_implicit_ode(model, opts) + elif acados_ocp.solver_options.integrator_type == 'GNSF': + generate_c_code_gnsf(model, opts) + elif acados_ocp.solver_options.integrator_type == 'DISCRETE': + generate_c_code_discrete_dynamics(model, opts) + else: + raise Exception("ocp_generate_external_functions: unknown integrator type.") else: - raise Exception("ocp_generate_external_functions: unknown integrator type.") + target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source) + shutil.copyfile(model.dyn_generic_source, target_location) if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0: generate_c_code_constraint(model, model.name, False, opts) @@ -623,28 +690,24 @@ def ocp_generate_external_functions(acados_ocp, model): if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0: generate_c_code_constraint(model, model.name, True, opts) - # dummy matrices - if not acados_ocp.cost.cost_type_0 == 'LINEAR_LS': - acados_ocp.cost.Vx_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nx)) - acados_ocp.cost.Vu_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nu)) - if not acados_ocp.cost.cost_type == 'LINEAR_LS': - acados_ocp.cost.Vx = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nx)) - acados_ocp.cost.Vu = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nu)) - if not acados_ocp.cost.cost_type_e == 'LINEAR_LS': - acados_ocp.cost.Vx_e = np.zeros((acados_ocp.dims.ny_e, acados_ocp.dims.nx)) - if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS': generate_c_code_nls_cost(model, model.name, 'initial', opts) + elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR': + generate_c_code_conl_cost(model, model.name, 'initial', opts) elif acados_ocp.cost.cost_type_0 == 'EXTERNAL': generate_c_code_external_cost(model, 'initial', opts) if acados_ocp.cost.cost_type == 'NONLINEAR_LS': generate_c_code_nls_cost(model, model.name, 'path', opts) + elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR': + generate_c_code_conl_cost(model, model.name, 'path', opts) elif acados_ocp.cost.cost_type == 'EXTERNAL': generate_c_code_external_cost(model, 'path', opts) if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS': generate_c_code_nls_cost(model, model.name, 'terminal', opts) + elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR': + generate_c_code_conl_cost(model, model.name, 'terminal', opts) elif acados_ocp.cost.cost_type_e == 'EXTERNAL': generate_c_code_external_cost(model, 'terminal', opts) @@ -659,9 +722,8 @@ def ocp_get_default_cmake_builder() -> CMakeBuilder: return cmake_builder -def ocp_render_templates(acados_ocp, json_file, cmake_builder=None): - name = acados_ocp.model.name +def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None): # setting up loader and environment json_path = os.path.abspath(json_file) @@ -669,132 +731,69 @@ def ocp_render_templates(acados_ocp, json_file, cmake_builder=None): if not os.path.exists(json_path): raise Exception(f'Path "{json_path}" not found!') - code_export_dir = acados_ocp.code_export_directory - template_dir = code_export_dir + # Render templates + template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts) + for tup in template_list: + if len(tup) > 2: + output_dir = tup[2] + else: + output_dir = acados_ocp.code_export_directory + render_template(tup[0], tup[1], output_dir, json_path) - ## Render templates - in_file = 'main.in.c' - out_file = f'main_{name}.c' - render_template(in_file, out_file, template_dir, json_path) + # Custom templates + acados_template_path = os.path.dirname(os.path.abspath(__file__)) + custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*') + for tup in acados_ocp.solver_options.custom_templates: + render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob) - in_file = 'acados_solver.in.c' - out_file = f'acados_solver_{name}.c' - render_template(in_file, out_file, template_dir, json_path) + return - in_file = 'acados_solver.in.h' - out_file = f'acados_solver_{name}.h' - render_template(in_file, out_file, template_dir, json_path) - in_file = 'acados_solver.in.pxd' - out_file = f'acados_solver.pxd' - render_template(in_file, out_file, template_dir, json_path) +def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list: + """ + returns a list of tuples in the form: + (input_filename, output_filname) + or + (input_filename, output_filname, output_directory) + """ + name = acados_ocp.model.name + code_export_directory = acados_ocp.code_export_directory + template_list = [] + + template_list.append(('main.in.c', f'main_{name}.c')) + template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c')) + template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h')) + template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd')) if cmake_builder is not None: - in_file = 'CMakeLists.in.txt' - out_file = 'CMakeLists.txt' - render_template(in_file, out_file, template_dir, json_path) + template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt')) else: - in_file = 'Makefile.in' - out_file = 'Makefile' - render_template(in_file, out_file, template_dir, json_path) + template_list.append(('Makefile.in', 'Makefile')) - in_file = 'acados_solver_sfun.in.c' - out_file = f'acados_solver_sfunction_{name}.c' - render_template(in_file, out_file, template_dir, json_path) - - in_file = 'make_sfun.in.m' - out_file = f'make_sfun_{name}.m' - render_template(in_file, out_file, template_dir, json_path) # sim - in_file = 'acados_sim_solver.in.c' - out_file = f'acados_sim_solver_{name}.c' - render_template(in_file, out_file, template_dir, json_path) + template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c')) + template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h')) + template_list.append(('main_sim.in.c', f'main_sim_{name}.c')) - in_file = 'acados_sim_solver.in.h' - out_file = f'acados_sim_solver_{name}.h' - render_template(in_file, out_file, template_dir, json_path) + # model + model_dir = os.path.join(code_export_directory, f'{name}_model') + template_list.append(('model.in.h', f'{name}_model.h', model_dir)) + # constraints + constraints_dir = os.path.join(code_export_directory, f'{name}_constraints') + template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir)) + # cost + cost_dir = os.path.join(code_export_directory, f'{name}_cost') + template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir)) - in_file = 'main_sim.in.c' - out_file = f'main_sim_{name}.c' - render_template(in_file, out_file, template_dir, json_path) + # Simulink + if simulink_opts is not None: + template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c') + template_list.append((template_file, f'acados_solver_sfunction_{name}.c')) + template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c') + template_list.append((template_file, f'make_sfun_{name}.m')) - ## folder model - template_dir = os.path.join(code_export_dir, name + '_model') - in_file = 'model.in.h' - out_file = f'{name}_model.h' - render_template(in_file, out_file, template_dir, json_path) - - # constraints on convex over nonlinear function - if acados_ocp.constraints.constr_type == 'BGP' and acados_ocp.dims.nphi > 0: - # constraints on outer function - template_dir = os.path.join(code_export_dir, name + '_constraints') - in_file = 'phi_constraint.in.h' - out_file = f'{name}_phi_constraint.h' - render_template(in_file, out_file, template_dir, json_path) - - # terminal constraints on convex over nonlinear function - if acados_ocp.constraints.constr_type_e == 'BGP' and acados_ocp.dims.nphi_e > 0: - # terminal constraints on outer function - template_dir = os.path.join(code_export_dir, name + '_constraints') - in_file = 'phi_e_constraint.in.h' - out_file = f'{name}_phi_e_constraint.h' - render_template(in_file, out_file, template_dir, json_path) - - # nonlinear constraints - if acados_ocp.constraints.constr_type == 'BGH' and acados_ocp.dims.nh > 0: - template_dir = os.path.join(code_export_dir, name + '_constraints') - in_file = 'h_constraint.in.h' - out_file = f'{name}_h_constraint.h' - render_template(in_file, out_file, template_dir, json_path) - - # terminal nonlinear constraints - if acados_ocp.constraints.constr_type_e == 'BGH' and acados_ocp.dims.nh_e > 0: - template_dir = os.path.join(code_export_dir, name + '_constraints') - in_file = 'h_e_constraint.in.h' - out_file = f'{name}_h_e_constraint.h' - render_template(in_file, out_file, template_dir, json_path) - - # initial stage Nonlinear LS cost function - if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS': - template_dir = os.path.join(code_export_dir, name + '_cost') - in_file = 'cost_y_0_fun.in.h' - out_file = f'{name}_cost_y_0_fun.h' - render_template(in_file, out_file, template_dir, json_path) - # external cost - terminal - elif acados_ocp.cost.cost_type_0 == 'EXTERNAL': - template_dir = os.path.join(code_export_dir, name + '_cost') - in_file = 'external_cost_0.in.h' - out_file = f'{name}_external_cost_0.h' - render_template(in_file, out_file, template_dir, json_path) - - # path Nonlinear LS cost function - if acados_ocp.cost.cost_type == 'NONLINEAR_LS': - template_dir = os.path.join(code_export_dir, name + '_cost') - in_file = 'cost_y_fun.in.h' - out_file = f'{name}_cost_y_fun.h' - render_template(in_file, out_file, template_dir, json_path) - - # terminal Nonlinear LS cost function - if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS': - template_dir = os.path.join(code_export_dir, name + '_cost') - in_file = 'cost_y_e_fun.in.h' - out_file = f'{name}_cost_y_e_fun.h' - render_template(in_file, out_file, template_dir, json_path) - - # external cost - if acados_ocp.cost.cost_type == 'EXTERNAL': - template_dir = os.path.join(code_export_dir, name + '_cost') - in_file = 'external_cost.in.h' - out_file = f'{name}_external_cost.h' - render_template(in_file, out_file, template_dir, json_path) - - # external cost - terminal - if acados_ocp.cost.cost_type_e == 'EXTERNAL': - template_dir = os.path.join(code_export_dir, name + '_cost') - in_file = 'external_cost_e.in.h' - out_file = f'{name}_external_cost_e.h' - render_template(in_file, out_file, template_dir, json_path) + return template_list def remove_x0_elimination(acados_ocp): @@ -820,7 +819,7 @@ class AcadosOcpSolver: dlclose.argtypes = [c_void_p] @classmethod - def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None): + def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None): """ Generates the code for an acados OCP solver, given the description in acados_ocp. :param acados_ocp: type AcadosOcp - description of the OCP for acados @@ -834,15 +833,15 @@ class AcadosOcpSolver: model = acados_ocp.model acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory) - if simulink_opts is None: - simulink_opts = get_simulink_default_opts() - # make dims consistent make_ocp_dims_consistent(acados_ocp) # module dependent post processing if acados_ocp.solver_options.integrator_type == 'GNSF': - set_up_imported_gnsf_model(acados_ocp) + if 'gnsf_model' in acados_ocp.__dict__: + set_up_imported_gnsf_model(acados_ocp) + else: + detect_gnsf_structure(acados_ocp) if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES': remove_x0_elimination(acados_ocp) @@ -854,15 +853,23 @@ class AcadosOcpSolver: ocp_generate_external_functions(acados_ocp, model) # dump to json - ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file) + acados_ocp.json_file = json_file + ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file) # render templates - ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder) - acados_ocp.json_file = json_file + ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts) + + # copy custom update function + if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy: + target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename) + shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location) + if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy: + target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename) + shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location) @classmethod - def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None): + def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True): """ Builds the code for an acados OCP solver, that has been generated in code_export_dir :param code_export_dir: directory in which acados OCP solver has been generated, see generate() @@ -870,19 +877,36 @@ class AcadosOcpSolver: :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with `MS Visual Studio`); default: `None` + :param verbose: indicating if build command is printed """ code_export_dir = os.path.abspath(code_export_dir) - cwd=os.getcwd() + cwd = os.getcwd() os.chdir(code_export_dir) if with_cython: - os.system('make clean_ocp_cython') - os.system('make ocp_cython') + call( + ['make', 'clean_all'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + call( + ['make', 'ocp_cython'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) else: if cmake_builder is not None: cmake_builder.exec(code_export_dir) else: - os.system('make clean_ocp_shared_lib') - os.system('make ocp_shared_lib') + call( + ['make', 'clean_ocp_shared_lib'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + call( + ['make', 'ocp_shared_lib'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) os.chdir(cwd) @@ -910,7 +934,7 @@ class AcadosOcpSolver: acados_ocp_json['dims']['N']) - def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None): + def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True): self.solver_created = False if generate: @@ -927,15 +951,13 @@ class AcadosOcpSolver: code_export_directory = acados_ocp_json['code_export_directory'] if build: - self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder) + self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose) # prepare library loading lib_prefix = 'lib' - lib_ext = '.so' + lib_ext = get_lib_ext() if os.name == 'nt': lib_prefix = '' - lib_ext = '' - # ToDo: check for mac # Load acados library to avoid unloading the library. # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed. @@ -970,16 +992,23 @@ class AcadosOcpSolver: assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0 self.solver_created = True + self.acados_ocp = acados_ocp + # get pointers solver self.__get_pointers_solver() self.status = 0 + # gettable fields + self.__qp_dynamics_fields = ['A', 'B', 'b'] + self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r'] + self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu'] + def __get_pointers_solver(self): - """ - Private function to get the pointers for solver - """ + # """ + # Private function to get the pointers for solver + # """ # get pointers solver getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p] getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p @@ -1010,6 +1039,25 @@ class AcadosOcpSolver: self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule) + + def solve_for_x0(self, x0_bar): + """ + Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0. + """ + self.set(0, "lbx", x0_bar) + self.set(0, "ubx", x0_bar) + + status = self.solve() + + if status == 2: + print("Warning: acados_ocp_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados acados_ocp_solver returned status {status}') + + u0 = self.get(0, "u") + return u0 + + def solve(self): """ Solve the ocp with current input. @@ -1021,13 +1069,31 @@ class AcadosOcpSolver: return self.status - def reset(self): + def custom_update(self, data_: np.ndarray): + """ + A custom function that can be implemented by a user to be called between solver calls. + By default this does nothing. + The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C, + in a function that is compiled into the solver library and can be conveniently used in the Python environment. + """ + data = np.ascontiguousarray(data_, dtype=np.float64) + c_data = cast(data.ctypes.data, POINTER(c_double)) + data_len = len(data) + + getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int] + getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int + status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len) + + return status + + + def reset(self, reset_qp_solver_mem=1): """ Sets current iterate to all zeros. """ - getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p] + getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int] getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int - getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule) + getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem) return @@ -1175,18 +1241,17 @@ class AcadosOcpSolver: field = field_ if (field_ not in all_fields): - raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\ - \n Possible values are {}. Exiting.'.format(field_, all_fields)) + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\ + \n Possible values are {all_fields}.') if not isinstance(stage_, int): - raise Exception('AcadosOcpSolver.get(): stage index must be Integer.') + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.') if stage_ < 0 or stage_ > self.N: - raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_)) + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.') if stage_ == self.N and field_ == 'pi': - raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\ - .format(field_, stage_)) + raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.') if field_ in sens_fields: field = field_.replace('sens_', '') @@ -1265,15 +1330,15 @@ class AcadosOcpSolver: return - def store_iterate(self, filename='', overwrite=False): + def store_iterate(self, filename: str = '', overwrite=False): """ Stores the current iterate of the ocp solver in a json file. - :param filename: if not set, use model_name + timestamp + '.json' + :param filename: if not set, use f'{self.model_name}_iterate.json' :param overwrite: if false and filename exists add timestamp to filename """ if filename == '': - filename += self.model_name + '_' + 'iterate' + '.json' + filename = f'{self.model_name}_iterate.json' if not overwrite: # append timestamp @@ -1284,23 +1349,70 @@ class AcadosOcpSolver: # get iterate: solution = dict() + lN = len(str(self.N+1)) for i in range(self.N+1): - solution['x_'+str(i)] = self.get(i,'x') - solution['u_'+str(i)] = self.get(i,'u') - solution['z_'+str(i)] = self.get(i,'z') - solution['lam_'+str(i)] = self.get(i,'lam') - solution['t_'+str(i)] = self.get(i, 't') - solution['sl_'+str(i)] = self.get(i, 'sl') - solution['su_'+str(i)] = self.get(i, 'su') - for i in range(self.N): - solution['pi_'+str(i)] = self.get(i,'pi') + i_string = f'{i:0{lN}d}' + solution['x_'+i_string] = self.get(i,'x') + solution['u_'+i_string] = self.get(i,'u') + solution['z_'+i_string] = self.get(i,'z') + solution['lam_'+i_string] = self.get(i,'lam') + solution['t_'+i_string] = self.get(i, 't') + solution['sl_'+i_string] = self.get(i, 'sl') + solution['su_'+i_string] = self.get(i, 'su') + if i < self.N: + solution['pi_'+i_string] = self.get(i,'pi') + + for k in list(solution.keys()): + if len(solution[k]) == 0: + del solution[k] # save with open(filename, 'w') as f: - json.dump(solution, f, default=np_array_to_list, indent=4, sort_keys=True) + json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True) print("stored current iterate in ", os.path.join(os.getcwd(), filename)) + + def dump_last_qp_to_json(self, filename: str = '', overwrite=False): + """ + Dumps the latest QP data into a json file + + :param filename: if not set, use model_name + timestamp + '.json' + :param overwrite: if false and filename exists add timestamp to filename + """ + if filename == '': + filename = f'{self.model_name}_QP.json' + + if not overwrite: + # append timestamp + if os.path.isfile(filename): + filename = filename[:-5] + filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json' + + # get QP data: + qp_data = dict() + + lN = len(str(self.N+1)) + for field in self.__qp_dynamics_fields: + for i in range(self.N): + qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field) + + for field in self.__qp_constraint_fields + self.__qp_cost_fields: + for i in range(self.N+1): + qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field) + + # remove empty fields + for k in list(qp_data.keys()): + if len(qp_data[k]) == 0: + del qp_data[k] + + # save + with open(filename, 'w') as f: + json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True) + print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename)) + + + def load_iterate(self, filename): """ Loads the iterate stored in json file with filename into the ocp solver. @@ -1412,7 +1524,7 @@ class AcadosOcpSolver: return self.get_residuals() else: - raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.' + raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.' + f'\n Possible values are {fields}.') @@ -1440,6 +1552,12 @@ class AcadosOcpSolver: def get_residuals(self, recompute=False): """ Returns an array of the form [res_stat, res_eq, res_ineq, res_comp]. + This residual has to be computed for SQP_RTI solver, since it is not available by default. + + - res_stat: stationarity residual + - res_eq: residual wrt equality constraints (dynamics) + - res_ineq: residual wrt inequality constraints (constraints) + - res_comp: residual wrt complementarity conditions """ # compute residuals if RTI if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute: @@ -1499,24 +1617,22 @@ class AcadosOcpSolver: value_ = np.array([value_]) value_ = value_.astype(float) - field = field_ - field = field.encode('utf-8') + field = field_.encode('utf-8') stage = c_int(stage_) # treat parameters separately if field_ == 'p': - getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)] + getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int] getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int value_data = cast(value_.ctypes.data, POINTER(c_double)) assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0 else: - if field_ not in constraints_fields + cost_fields + out_fields: - raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\ - \nPossible values are {}. Exiting.".format(field, \ - constraints_fields + cost_fields + out_fields + ['p'])) + if field_ not in constraints_fields + cost_fields + out_fields + mem_fields: + raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n" + f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.") self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \ [c_void_p, c_void_p, c_void_p, c_int, c_char_p] @@ -1526,8 +1642,8 @@ class AcadosOcpSolver: self.nlp_dims, self.nlp_out, stage_, field) if value_.shape[0] != dims: - msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_) - msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0]) + msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" ' + msg += f'with dimension {dims} (you have {value_.shape[0]})' raise Exception(msg) value_data = cast(value_.ctypes.data, POINTER(c_double)) @@ -1553,6 +1669,13 @@ class AcadosOcpSolver: [c_void_p, c_void_p, c_int, c_char_p, c_void_p] self.shared_lib.ocp_nlp_set(self.nlp_config, \ self.nlp_solver, stage, field, value_data_p) + # also set z_guess, when setting z. + if field_ == 'z': + field = 'z_guess'.encode('utf-8') + self.shared_lib.ocp_nlp_set.argtypes = \ + [c_void_p, c_void_p, c_int, c_char_p, c_void_p] + self.shared_lib.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value_data_p) return @@ -1561,7 +1684,7 @@ class AcadosOcpSolver: Set numerical data in the cost module of the solver. :param stage: integer corresponding to shooting node - :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess' + :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu' :param value: of appropriate size """ # cast value_ to avoid conversion issues @@ -1595,7 +1718,7 @@ class AcadosOcpSolver: raise Exception("Ambiguity in API detected.\n" "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n" "Are you seeing this error suddenly in previously running code? Read on.\n" - " You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) + + f" You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" + " acados_template now correctly passes on any matrices to acados in column major format.\n" + " Two options to fix this error: \n" + " * Add api='old' to cost_set to restore old incorrect behaviour\n" + @@ -1663,7 +1786,7 @@ class AcadosOcpSolver: raise Exception("Ambiguity in API detected.\n" "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n" "Are you seeing this error suddenly in previously running code? Read on.\n" - " You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) + + f" You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" + " acados_template now correctly passes on any matrices to acados in column major format.\n" + " Two options to fix this error: \n" + " * Add api='old' to constraints_set to restore old incorrect behaviour\n" + @@ -1676,7 +1799,7 @@ class AcadosOcpSolver: # Get elements in column major order value_ = np.ravel(value_, order='F') else: - raise Exception("Unknown api: '{}'".format(api)) + raise Exception(f"Unknown api: '{api}'") if value_shape != tuple(dims): raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' + @@ -1693,27 +1816,35 @@ class AcadosOcpSolver: return - def dynamics_get(self, stage_, field_): + def get_from_qp_in(self, stage_: int, field_: str): """ - Get numerical data from the dynamics module of the solver: + Get numerical data from the current QP. :param stage: integer corresponding to shooting node - :param field: string, e.g. 'A' + :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu'] """ + # idx* should be added too.. + if not isinstance(stage_, int): + raise TypeError("stage should be int") + if stage_ > self.N: + raise Exception("stage should be <= self.N") + if field_ in self.__qp_dynamics_fields and stage_ >= self.N: + raise ValueError(f"dynamics field {field_} not available at terminal stage") + if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields: + raise Exception(f"field {field_} not supported.") - field = field_ - field = field.encode('utf-8') + field = field_.encode('utf-8') stage = c_int(stage_) # get dims - self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.argtypes = \ + self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \ [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)] - self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.restype = c_int + self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) dims_data = cast(dims.ctypes.data, POINTER(c_int)) - self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, \ + self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \ self.nlp_dims, self.nlp_out, stage_, field, dims_data) # create output data @@ -1748,32 +1879,34 @@ class AcadosOcpSolver: - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness - warm_start_first_qp: indicates if first QP in SQP is warm_started """ - int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp'] - double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent', - 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'] + int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', + 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp'] + double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', + 'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'] string_fields = ['globalization'] # check field availability and type if field_ in int_fields: if not isinstance(value_, int): - raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_))) + raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.') else: value_ctypes = c_int(value_) elif field_ in double_fields: if not isinstance(value_, float): - raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_))) + raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.') else: value_ctypes = c_double(value_) elif field_ in string_fields: if not isinstance(value_, str): - raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_))) + raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.') else: value_ctypes = value_.encode('utf-8') else: - raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\ - '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields))) + fields = ', '.join(int_fields + double_fields + string_fields) + raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\ + f' Possible values are {fields}.') if field_ == 'rti_phase': @@ -1802,6 +1935,44 @@ class AcadosOcpSolver: return + def set_params_sparse(self, stage_, idx_values_, param_values_): + """ + set parameters of the solvers external function partially: + Pseudo: solver.param[idx_values_] = param_values_; + Parameters: + :param stage_: integer corresponding to shooting node + :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set + :param param_values_: new parameter values as numpy array + """ + + # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer): + # raise Exception('idx_values_ must be np.array of integers.') + + if not isinstance(param_values_, np.ndarray): + raise Exception('param_values_ must be np.array.') + elif np.float64 != param_values_.dtype: + raise TypeError('param_values_ must be np.array of float64.') + + if param_values_.shape[0] != len(idx_values_): + raise Exception(f'param_values_ and idx_values_ must be of the same size.' + + f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.') + + if any(idx_values_ >= self.acados_ocp.dims.np): + raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}') + + stage = c_int(stage_) + n_update = c_int(len(param_values_)) + + param_data = cast(param_values_.ctypes.data, POINTER(c_double)) + c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc) + idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int)) + + getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \ + [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int] + getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int + getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \ + (self.capsule, stage, idx_data, param_data, n_update) + def __del__(self): if self.solver_created: getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p] @@ -1815,4 +1986,6 @@ class AcadosOcpSolver: try: self.dlclose(self.shared_lib._handle) except: + print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n", + "Attempting to create a new one with the same name will likely result in the old one being used!") pass diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx index fe7fa8425a..acd7f02d0a 100644 --- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx +++ b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -63,7 +60,6 @@ cdef class AcadosOcpSolverCython: cdef acados_solver_common.ocp_nlp_in *nlp_in cdef acados_solver_common.ocp_nlp_solver *nlp_solver - cdef int status cdef bint solver_created cdef str model_name @@ -88,7 +84,6 @@ cdef class AcadosOcpSolverCython: # get pointers solver self.__get_pointers_solver() - self.status = 0 def __get_pointers_solver(self): @@ -105,6 +100,24 @@ cdef class AcadosOcpSolverCython: self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule) + def solve_for_x0(self, x0_bar): + """ + Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0. + """ + self.set(0, "lbx", x0_bar) + self.set(0, "ubx", x0_bar) + + status = self.solve() + + if status == 2: + print("Warning: acados_ocp_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados acados_ocp_solver returned status {status}') + + u0 = self.get(0, "u") + return u0 + + def solve(self): """ Solve the ocp with current input. @@ -112,11 +125,24 @@ cdef class AcadosOcpSolverCython: return acados_solver.acados_solve(self.capsule) - def reset(self): + def reset(self, reset_qp_solver_mem=1): """ Sets current iterate to all zeros. """ - return acados_solver.acados_reset(self.capsule) + return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem) + + + def custom_update(self, data_): + """ + A custom function that can be implemented by a user to be called between solver calls. + By default this does nothing. + The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C, + in a function that is compiled into the solver library and can be conveniently used in the Python environment. + """ + data_len = len(data_) + cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64) + + return acados_solver.acados_custom_update(self.capsule, data.data, data_len) def set_new_time_steps(self, new_time_steps): @@ -253,7 +279,7 @@ cdef class AcadosOcpSolverCython: if field_ not in out_fields: raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\ - \n Possible values are {}. Exiting.'.format(field_, out_fields)) + \n Possible values are {}.'.format(field_, out_fields)) if stage < 0 or stage > self.N: raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N)) @@ -310,16 +336,22 @@ cdef class AcadosOcpSolverCython: # get iterate: solution = dict() + lN = len(str(self.N+1)) for i in range(self.N+1): - solution['x_'+str(i)] = self.get(i,'x') - solution['u_'+str(i)] = self.get(i,'u') - solution['z_'+str(i)] = self.get(i,'z') - solution['lam_'+str(i)] = self.get(i,'lam') - solution['t_'+str(i)] = self.get(i, 't') - solution['sl_'+str(i)] = self.get(i, 'sl') - solution['su_'+str(i)] = self.get(i, 'su') - for i in range(self.N): - solution['pi_'+str(i)] = self.get(i,'pi') + i_string = f'{i:0{lN}d}' + solution['x_'+i_string] = self.get(i,'x') + solution['u_'+i_string] = self.get(i,'u') + solution['z_'+i_string] = self.get(i,'z') + solution['lam_'+i_string] = self.get(i,'lam') + solution['t_'+i_string] = self.get(i, 't') + solution['sl_'+i_string] = self.get(i, 'sl') + solution['su_'+i_string] = self.get(i, 'su') + if i < self.N: + solution['pi_'+i_string] = self.get(i,'pi') + + for k in list(solution.keys()): + if len(solution[k]) == 0: + del solution[k] # save with open(filename, 'w') as f: @@ -508,6 +540,8 @@ cdef class AcadosOcpSolverCython: sl: slack variables of soft lower inequality constraints \n su: slack variables of soft upper inequality constraints \n """ + if not isinstance(value_, np.ndarray): + raise Exception(f"set: value must be numpy array, got {type(value_)}.") cost_fields = ['y_ref', 'yref'] constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu'] out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su'] @@ -523,7 +557,7 @@ cdef class AcadosOcpSolverCython: else: if field_ not in constraints_fields + cost_fields + out_fields: raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\ - \nPossible values are {}. Exiting.".format(field, \ + \nPossible values are {}.".format(field, \ constraints_fields + cost_fields + out_fields + ['p'])) dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, @@ -547,6 +581,11 @@ cdef class AcadosOcpSolverCython: acados_solver_common.ocp_nlp_set(self.nlp_config, \ self.nlp_solver, stage, field, value.data) + if field_ == 'z': + field = 'z_guess'.encode('utf-8') + acados_solver_common.ocp_nlp_set(self.nlp_config, \ + self.nlp_solver, stage, field, value.data) + return def cost_set(self, int stage, str field_, value_): """ @@ -556,6 +595,8 @@ cdef class AcadosOcpSolverCython: :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess' :param value: of appropriate size """ + if not isinstance(value_, np.ndarray): + raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.") field = field_.encode('utf-8') cdef int dims[2] @@ -589,6 +630,9 @@ cdef class AcadosOcpSolverCython: :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D'] :param value: of appropriate size """ + if not isinstance(value_, np.ndarray): + raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.") + field = field_.encode('utf-8') cdef int dims[2] @@ -606,7 +650,7 @@ cdef class AcadosOcpSolverCython: # Get elements in column major order value = np.asfortranarray(value_) - if value_shape[0] != dims[0] or value_shape[1] != dims[1]: + if value_shape != tuple(dims): raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' + f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})') @@ -616,7 +660,7 @@ cdef class AcadosOcpSolverCython: return - def dynamics_get(self, int stage, str field_): + def get_from_qp_in(self, int stage, str field_): """ Get numerical data from the dynamics module of the solver: @@ -627,7 +671,7 @@ cdef class AcadosOcpSolverCython: # get dims cdef int[2] dims - acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0]) + acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0]) # create output data cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F') @@ -701,6 +745,50 @@ cdef class AcadosOcpSolverCython: '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields))) + def set_params_sparse(self, int stage, idx_values_, param_values_): + """ + set parameters of the solvers external function partially: + Pseudo: solver.param[idx_values_] = param_values_; + Parameters: + :param stage_: integer corresponding to shooting node + :param idx_values_: 0 based integer array corresponding to parameter indices to be set + :param param_values_: new parameter values as numpy array + """ + + if not isinstance(param_values_, np.ndarray): + raise Exception('param_values_ must be np.array.') + + if param_values_.shape[0] != len(idx_values_): + raise Exception(f'param_values_ and idx_values_ must be of the same size.' + + f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.') + + # n_update = c_int(len(param_values_)) + + # param_data = cast(param_values_.ctypes.data, POINTER(c_double)) + # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc) + # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int)) + + # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \ + # [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int] + # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int + # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \ + # (self.capsule, stage, idx_data, param_data, n_update) + + cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64) + # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc) + + # NOTE: this does throw an error somehow: + # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int' + # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc) + + cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32) + cdef int n_update = value.shape[0] + # print(f"in set_params_sparse Cython n_update {n_update}") + + assert acados_solver.acados_update_params_sparse(self.capsule, stage, idx.data, value.data, n_update) == 0 + return + + def __del__(self): if self.solver_created: acados_solver.acados_free(self.capsule) diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py index 93d5f298db..c0d6937a49 100644 --- a/third_party/acados/acados_template/acados_sim.py +++ b/third_party/acados/acados_template/acados_sim.py @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -33,10 +30,9 @@ # import numpy as np -import casadi as ca import os from .acados_model import AcadosModel -from .utils import get_acados_path +from .utils import get_acados_path, get_lib_ext class AcadosSimDims: """ @@ -73,28 +69,28 @@ class AcadosSimDims: if isinstance(nx, int) and nx > 0: self.__nx = nx else: - raise Exception('Invalid nx value, expected positive integer. Exiting.') + raise Exception('Invalid nx value, expected positive integer.') @nz.setter def nz(self, nz): if isinstance(nz, int) and nz > -1: self.__nz = nz else: - raise Exception('Invalid nz value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nz value, expected nonnegative integer.') @nu.setter def nu(self, nu): if isinstance(nu, int) and nu > -1: self.__nu = nu else: - raise Exception('Invalid nu value, expected nonnegative integer. Exiting.') + raise Exception('Invalid nu value, expected nonnegative integer.') @np.setter def np(self, np): if isinstance(np, int) and np > -1: self.__np = np else: - raise Exception('Invalid np value, expected nonnegative integer. Exiting.') + raise Exception('Invalid np value, expected nonnegative integer.') def set(self, attr, value): setattr(self, attr, value) @@ -112,13 +108,16 @@ class AcadosSimOpts: self.__sim_method_num_stages = 1 self.__sim_method_num_steps = 1 self.__sim_method_newton_iter = 3 + # doubles + self.__sim_method_newton_tol = 0.0 # bools self.__sens_forw = True self.__sens_adj = False self.__sens_algebraic = False self.__sens_hess = False - self.__output_z = False + self.__output_z = True self.__sim_method_jac_reuse = 0 + self.__ext_fun_compile_flags = '-O2' @property def integrator_type(self): @@ -140,6 +139,15 @@ class AcadosSimOpts: """Number of Newton iterations in simulation method. Default: 3""" return self.__sim_method_newton_iter + @property + def newton_tol(self): + """ + Tolerance for Newton system solved in implicit integrator (IRK, GNSF). + 0.0 means this is not used and exactly newton_iter iterations are carried out. + Default: 0.0 + """ + return self.__sim_method_newton_tol + @property def sens_forw(self): """Boolean determining if forward sensitivities are computed. Default: True""" @@ -162,7 +170,7 @@ class AcadosSimOpts: @property def output_z(self): - """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: False""" + """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True""" return self.__output_z @property @@ -184,6 +192,21 @@ class AcadosSimOpts: """ return self.__collocation_type + @property + def ext_fun_compile_flags(self): + """ + String with compiler flags for external function compilation. + Default: '-O2'. + """ + return self.__ext_fun_compile_flags + + @ext_fun_compile_flags.setter + def ext_fun_compile_flags(self, ext_fun_compile_flags): + if isinstance(ext_fun_compile_flags, str): + self.__ext_fun_compile_flags = ext_fun_compile_flags + else: + raise Exception('Invalid ext_fun_compile_flags, expected a string.\n') + @integrator_type.setter def integrator_type(self, integrator_type): integrator_types = ('ERK', 'IRK', 'GNSF') @@ -191,7 +214,7 @@ class AcadosSimOpts: self.__integrator_type = integrator_type else: raise Exception('Invalid integrator_type value. Possible values are:\n\n' \ - + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.') + + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n') @collocation_type.setter def collocation_type(self, collocation_type): @@ -200,7 +223,7 @@ class AcadosSimOpts: self.__collocation_type = collocation_type else: raise Exception('Invalid collocation_type value. Possible values are:\n\n' \ - + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.') + + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n') @T.setter def T(self, T): @@ -227,6 +250,13 @@ class AcadosSimOpts: else: raise Exception('Invalid newton_iter value. newton_iter must be an integer.') + @newton_tol.setter + def newton_tol(self, newton_tol): + if isinstance(newton_tol, float): + self.__sim_method_newton_tol = newton_tol + else: + raise Exception('Invalid newton_tol value. newton_tol must be an float.') + @sens_forw.setter def sens_forw(self, sens_forw): if sens_forw in (True, False): @@ -280,6 +310,7 @@ class AcadosSim: - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts` - :py:attr:`acados_include_path` (set automatically) + - :py:attr:`shared_lib_ext` (set automatically) - :py:attr:`acados_lib_path` (set automatically) - :py:attr:`parameter_values` - used to initialize the parameters (can be changed) @@ -301,9 +332,14 @@ class AcadosSim: self.code_export_directory = 'c_generated_code' """Path to where code will be exported. Default: `c_generated_code`.""" + self.shared_lib_ext = get_lib_ext() + + # get cython paths + from sysconfig import get_paths + self.cython_include_dirs = [np.get_include(), get_paths()['include']] - self.cython_include_dirs = '' self.__parameter_values = np.array([]) + self.__problem_class = 'SIM' @property def parameter_values(self): diff --git a/third_party/acados/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json index 25b149613b..e3ca4b575b 100644 --- a/third_party/acados/acados_template/acados_sim_layout.json +++ b/third_party/acados/acados_template/acados_sim_layout.json @@ -42,6 +42,12 @@ ], "sim_method_newton_iter": [ "int" + ], + "sim_method_newton_tol": [ + "float" + ], + "ext_fun_compile_flags": [ + "str" ] } } diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py index 3588dd38cd..612f439eaf 100644 --- a/third_party/acados/acados_template/acados_sim_solver.py +++ b/third_party/acados/acados_template/acados_sim_solver.py @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -32,56 +29,58 @@ # POSSIBILITY OF SUCH DAMAGE.; # -import sys, os, json +import sys +import os +import json +import importlib import numpy as np -from ctypes import * +from subprocess import DEVNULL, call, STDOUT + +from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref from copy import deepcopy -from .generate_c_code_explicit_ode import generate_c_code_explicit_ode -from .generate_c_code_implicit_ode import generate_c_code_implicit_ode -from .generate_c_code_gnsf import generate_c_code_gnsf +from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode from .acados_sim import AcadosSim from .acados_ocp import AcadosOcp -from .acados_model import acados_model_strip_casadi_symbolics -from .utils import is_column, render_template, format_class_dict, np_array_to_list,\ - make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path +from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\ + make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\ + casadi_length, is_empty, check_casadi_version from .builders import CMakeBuilder +from .gnsf.detect_gnsf_structure import detect_gnsf_structure -def make_sim_dims_consistent(acados_sim): + +def make_sim_dims_consistent(acados_sim: AcadosSim): dims = acados_sim.dims model = acados_sim.model # nx if is_column(model.x): - dims.nx = model.x.shape[0] + dims.nx = casadi_length(model.x) else: - raise Exception("model.x should be column vector!") + raise Exception('model.x should be column vector!') # nu - if is_column(model.u): - dims.nu = model.u.shape[0] - elif model.u == None or model.u == []: + if is_empty(model.u): dims.nu = 0 else: - raise Exception("model.u should be column vector or None!") + dims.nu = casadi_length(model.u) # nz - if is_column(model.z): - dims.nz = model.z.shape[0] - elif model.z == None or model.z == []: + if is_empty(model.z): dims.nz = 0 else: - raise Exception("model.z should be column vector or None!") + dims.nz = casadi_length(model.z) # np - if is_column(model.p): - dims.np = model.p.shape[0] - elif model.p == None or model.p == []: + if is_empty(model.p): dims.np = 0 else: - raise Exception("model.p should be column vector or None!") + dims.np = casadi_length(model.p) + if acados_sim.parameter_values.shape[0] != dims.np: + raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \ + f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n') def get_sim_layout(): @@ -92,7 +91,7 @@ def get_sim_layout(): return sim_layout -def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'): +def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'): # Load acados_sim structure description sim_layout = get_sim_layout() @@ -105,11 +104,10 @@ def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'): # Copy sim object attributes dictionaries sim_dict[key]=dict(getattr(acados_sim, key).__dict__) - sim_dict['model'] = acados_model_strip_casadi_symbolics(sim_dict['model']) sim_json = format_class_dict(sim_dict) with open(json_file, 'w') as f: - json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True) + json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True) def sim_get_default_cmake_builder() -> CMakeBuilder: @@ -122,47 +120,49 @@ def sim_get_default_cmake_builder() -> CMakeBuilder: return cmake_builder -def sim_render_templates(json_file, model_name, code_export_dir, cmake_options: CMakeBuilder = None): +def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None): # setting up loader and environment json_path = os.path.join(os.getcwd(), json_file) if not os.path.exists(json_path): raise Exception(f"{json_path} not found!") - template_dir = code_export_dir - - ## Render templates + # Render templates in_file = 'acados_sim_solver.in.c' out_file = f'acados_sim_solver_{model_name}.c' - render_template(in_file, out_file, template_dir, json_path) + render_template(in_file, out_file, code_export_dir, json_path) in_file = 'acados_sim_solver.in.h' out_file = f'acados_sim_solver_{model_name}.h' - render_template(in_file, out_file, template_dir, json_path) + render_template(in_file, out_file, code_export_dir, json_path) + + in_file = 'acados_sim_solver.in.pxd' + out_file = f'acados_sim_solver.pxd' + render_template(in_file, out_file, code_export_dir, json_path) # Builder if cmake_options is not None: in_file = 'CMakeLists.in.txt' out_file = 'CMakeLists.txt' - render_template(in_file, out_file, template_dir, json_path) + render_template(in_file, out_file, code_export_dir, json_path) else: in_file = 'Makefile.in' out_file = 'Makefile' - render_template(in_file, out_file, template_dir, json_path) + render_template(in_file, out_file, code_export_dir, json_path) in_file = 'main_sim.in.c' out_file = f'main_sim_{model_name}.c' - render_template(in_file, out_file, template_dir, json_path) + render_template(in_file, out_file, code_export_dir, json_path) - ## folder model - template_dir = os.path.join(code_export_dir, model_name + '_model') + # folder model + model_dir = os.path.join(code_export_dir, model_name + '_model') in_file = 'model.in.h' out_file = f'{model_name}_model.h' - render_template(in_file, out_file, template_dir, json_path) + render_template(in_file, out_file, model_dir, json_path) -def sim_generate_casadi_functions(acados_sim): +def sim_generate_external_functions(acados_sim: AcadosSim): model = acados_sim.model model = make_model_consistent(model) @@ -170,7 +170,16 @@ def sim_generate_casadi_functions(acados_sim): opts = dict(generate_hess = acados_sim.solver_options.sens_hess, code_export_directory = acados_sim.code_export_directory) + + # create code_export_dir, model_dir + code_export_dir = acados_sim.code_export_directory + opts['code_export_directory'] = code_export_dir + model_dir = os.path.join(code_export_dir, model.name + '_model') + if not os.path.exists(model_dir): + os.makedirs(model_dir) + # generate external functions + check_casadi_version() if integrator_type == 'ERK': generate_c_code_explicit_ode(model, opts) elif integrator_type == 'IRK': @@ -190,62 +199,117 @@ class AcadosSimSolver: the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with `MS Visual Studio`); default: `None` """ - def __init__(self, acados_sim_, json_file='acados_sim.json', build=True, cmake_builder: CMakeBuilder = None): + if sys.platform=="win32": + from ctypes import wintypes + from ctypes import WinDLL + dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary + dlclose.argtypes = [wintypes.HMODULE] + else: + dlclose = CDLL(None).dlclose + dlclose.argtypes = [c_void_p] - self.solver_created = False - if isinstance(acados_sim_, AcadosOcp): - # set up acados_sim_ - acados_sim = AcadosSim() - acados_sim.model = acados_sim_.model - acados_sim.dims.nx = acados_sim_.dims.nx - acados_sim.dims.nu = acados_sim_.dims.nu - acados_sim.dims.nz = acados_sim_.dims.nz - acados_sim.dims.np = acados_sim_.dims.np - acados_sim.solver_options.integrator_type = acados_sim_.solver_options.integrator_type - acados_sim.code_export_directory = acados_sim_.code_export_directory + @classmethod + def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None): + """ + Generates the code for an acados sim solver, given the description in acados_sim + """ - elif isinstance(acados_sim_, AcadosSim): - acados_sim = acados_sim_ + acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory) - acados_sim.__problem_class = 'SIM' - - model_name = acados_sim.model.name + # make dims consistent make_sim_dims_consistent(acados_sim) - # reuse existing json and casadi functions, when creating integrator from ocp - if isinstance(acados_sim_, AcadosSim): - if acados_sim.solver_options.integrator_type == 'GNSF': + # module dependent post processing + if acados_sim.solver_options.integrator_type == 'GNSF': + if acados_sim.solver_options.sens_hess == True: + raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.") + if 'gnsf_model' in acados_sim.__dict__: set_up_imported_gnsf_model(acados_sim) - - sim_generate_casadi_functions(acados_sim) - sim_formulation_json_dump(acados_sim, json_file) - - code_export_dir = acados_sim.code_export_directory - if build: - # render templates - sim_render_templates(json_file, model_name, code_export_dir, cmake_builder) - - # Compile solver - cwd = os.getcwd() - code_export_dir = os.path.abspath(code_export_dir) - os.chdir(code_export_dir) - if cmake_builder is not None: - cmake_builder.exec(code_export_dir) else: - os.system('make sim_shared_lib') - os.chdir(cwd) + detect_gnsf_structure(acados_sim) - self.sim_struct = acados_sim - model_name = self.sim_struct.model.name + # generate external functions + sim_generate_external_functions(acados_sim) + + # dump to json + sim_formulation_json_dump(acados_sim, json_file) + + # render templates + sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder) + + + @classmethod + def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True): + # Compile solver + cwd = os.getcwd() + os.chdir(code_export_dir) + if with_cython: + call( + ['make', 'clean_sim_cython'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + call( + ['make', 'sim_cython'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + else: + if cmake_builder is not None: + cmake_builder.exec(code_export_dir, verbose=verbose) + else: + call( + ['make', 'sim_shared_lib'], + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) + os.chdir(cwd) + + + @classmethod + def create_cython_solver(cls, json_file): + """ + """ + with open(json_file, 'r') as f: + acados_sim_json = json.load(f) + code_export_directory = acados_sim_json['code_export_directory'] + + importlib.invalidate_caches() + rel_code_export_directory = os.path.relpath(code_export_directory) + acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx') + + AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython') + return AcadosSimSolverCython(acados_sim_json['model']['name']) + + def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True): + + self.solver_created = False + self.acados_sim = acados_sim + model_name = acados_sim.model.name self.model_name = model_name + code_export_dir = os.path.abspath(acados_sim.code_export_directory) + + # reuse existing json and casadi functions, when creating integrator from ocp + if generate and not isinstance(acados_sim, AcadosOcp): + self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder) + + if build: + self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True) + + # prepare library loading + lib_prefix = 'lib' + lib_ext = get_lib_ext() + if os.name == 'nt': + lib_prefix = '' + # Load acados library to avoid unloading the library. # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed. # Unloading a library which uses OpenMP results in a segfault (on any platform?). # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp] # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html] - libacados_name = 'libacados.so' + libacados_name = f'{lib_prefix}acados{lib_ext}' libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name) self.__acados_lib = CDLL(libacados_filepath) # find out if acados was compiled with OpenMP @@ -257,19 +321,12 @@ class AcadosSimSolver: print('acados was compiled with OpenMP.') else: print('acados was compiled without OpenMP.') + libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}' + self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name) - # Ctypes - lib_prefix = 'lib' - lib_ext = '.so' - if os.name == 'nt': - lib_prefix = '' - lib_ext = '' - self.shared_lib_name = os.path.join(code_export_dir, f'{lib_prefix}acados_sim_solver_{model_name}{lib_ext}') - print(f'self.shared_lib_name = "{self.shared_lib_name}"') - + # get shared_lib self.shared_lib = CDLL(self.shared_lib_name) - # create capsule getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")() @@ -304,23 +361,34 @@ class AcadosSimSolver: getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule) - nu = self.sim_struct.dims.nu - nx = self.sim_struct.dims.nx - nz = self.sim_struct.dims.nz - self.gettable = { - 'x': nx, - 'xn': nx, - 'u': nu, - 'z': nz, - 'S_forw': nx*(nx+nu), - 'Sx': nx*nx, - 'Su': nx*nu, - 'S_adj': nx+nu, - 'S_hess': (nx+nu)*(nx+nu), - 'S_algebraic': (nz)*(nx+nu), - } + self.gettable_vectors = ['x', 'u', 'z', 'S_adj'] + self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic'] + self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] - self.settable = ['S_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw + + def simulate(self, x=None, u=None, z=None, p=None): + """ + Simulate the system forward for the given x, u, z, p and return x_next. + Wrapper around `solve()` taking care of setting/getting inputs/outputs. + """ + if x is not None: + self.set('x', x) + if u is not None: + self.set('u', u) + if z is not None: + self.set('z', z) + if p is not None: + self.set('p', p) + + status = self.solve() + + if status == 2: + print("Warning: acados_sim_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.') + + x_next = self.get('x') + return x_next def solve(self): @@ -338,55 +406,64 @@ class AcadosSimSolver: """ Get the last solution of the solver. - :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic'] + :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] """ - field = field_ - field = field.encode('utf-8') + field = field_.encode('utf-8') - if field_ in self.gettable.keys(): + if field_ in self.gettable_vectors: + # get dims + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)] + self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data) # allocate array - dims = self.gettable[field_] - out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64) + out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64) out_data = cast(out.ctypes.data, POINTER(c_double)) self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data) - if field_ == 'S_forw': - nu = self.sim_struct.dims.nu - nx = self.sim_struct.dims.nx - out = out.reshape(nx, nx+nu, order='F') - elif field_ == 'Sx': - nx = self.sim_struct.dims.nx - out = out.reshape(nx, nx, order='F') - elif field_ == 'Su': - nx = self.sim_struct.dims.nx - nu = self.sim_struct.dims.nu - out = out.reshape(nx, nu, order='F') - elif field_ == 'S_hess': - nx = self.sim_struct.dims.nx - nu = self.sim_struct.dims.nu - out = out.reshape(nx+nu, nx+nu, order='F') - elif field_ == 'S_algebraic': - nx = self.sim_struct.dims.nx - nu = self.sim_struct.dims.nu - nz = self.sim_struct.dims.nz - out = out.reshape(nz, nx+nu, order='F') + elif field_ in self.gettable_matrices: + # get dims + dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc) + dims_data = cast(dims.ctypes.data, POINTER(c_int)) + + self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)] + self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data) + + out = np.zeros((dims[0], dims[1]), order='F') + out_data = cast(out.ctypes.data, POINTER(c_double)) + + self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data) + + elif field_ in self.gettable_scalars: + scalar = c_double() + scalar_data = byref(scalar) + self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] + self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data) + + out = scalar.value else: raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \ - f' available fields are {", ".join(self.gettable.keys())}') + f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}') return out - def set(self, field_, value_): + + def set(self, field_: str, value_): """ Set numerical data inside the solver. - :param field: string in ['p', 'S_adj', 'T', 'x', 'u', 'xdot', 'z'] + :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] :param value: the value with appropriate size. """ + settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw + + # TODO: check and throw error here. then remove checks in Cython for speed # cast value_ to avoid conversion issues if isinstance(value_, (float, int)): value_ = np.array([value_]) @@ -395,12 +472,11 @@ class AcadosSimSolver: value_data = cast(value_.ctypes.data, POINTER(c_double)) value_data_p = cast((value_data), c_void_p) - field = field_ - field = field.encode('utf-8') + field = field_.encode('utf-8') # treat parameters separately if field_ == 'p': - model_name = self.sim_struct.model.name + model_name = self.acados_sim.model.name getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int] value_data = cast(value_.ctypes.data, POINTER(c_double)) getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0]) @@ -420,19 +496,46 @@ class AcadosSimSolver: value_shape = (value_shape[0], 0) if value_shape != tuple(dims): - raise Exception('AcadosSimSolver.set(): mismatching dimension' \ - ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape)) + raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \ + f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).') # set if field_ in ['xdot', 'z']: self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p] self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p) - elif field_ in self.settable: + elif field_ in settable: self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p] self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p) else: raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \ - f' available fields are {", ".join(self.settable)}') + f' available fields are {", ".join(settable)}') + + return + + + def options_set(self, field_: str, value_: bool): + """ + Set solver options + + :param field: string in ['sens_forw', 'sens_adj', 'sens_hess'] + :param value: Boolean + """ + fields = ['sens_forw', 'sens_adj', 'sens_hess'] + if field_ not in fields: + raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n") + + field = field_.encode('utf-8') + value_ctypes = c_bool(value_) + + if not isinstance(value_, bool): + raise TypeError("options_set: expected boolean for value") + + # only allow setting + if getattr(self.acados_sim.solver_options, field_) or value_ == False: + self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)] + self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes) + else: + raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n") return @@ -451,4 +554,6 @@ class AcadosSimSolver: try: self.dlclose(self.shared_lib._handle) except: + print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n", + "Attempting to create a new one with the same name will likely result in the old one being used!") pass diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd new file mode 100644 index 0000000000..cc6a58efd7 --- /dev/null +++ b/third_party/acados/acados_template/acados_sim_solver_common.pxd @@ -0,0 +1,64 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + +cdef extern from "acados/sim/sim_common.h": + ctypedef struct sim_config: + pass + + ctypedef struct sim_opts: + pass + + ctypedef struct sim_in: + pass + + ctypedef struct sim_out: + pass + + +cdef extern from "acados_c/sim_interface.h": + + ctypedef struct sim_plan: + pass + + ctypedef struct sim_solver: + pass + + # out + void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value) + int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data) + + # opts + void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value) + + # get/set + void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value) + void sim_solver_set(sim_solver *solver, const char *field, void *value) \ No newline at end of file diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx new file mode 100644 index 0000000000..be400addc7 --- /dev/null +++ b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx @@ -0,0 +1,256 @@ +# -*- coding: future_fstrings -*- +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# cython: language_level=3 +# cython: profile=False +# distutils: language=c + +cimport cython +from libc cimport string +# from libc cimport bool as bool_t + +cimport acados_sim_solver_common +cimport acados_sim_solver + +cimport numpy as cnp + +import os +from datetime import datetime +import numpy as np + + +cdef class AcadosSimSolverCython: + """ + Class to interact with the acados sim solver C object. + """ + + cdef acados_sim_solver.sim_solver_capsule *capsule + cdef void *sim_dims + cdef acados_sim_solver_common.sim_opts *sim_opts + cdef acados_sim_solver_common.sim_config *sim_config + cdef acados_sim_solver_common.sim_out *sim_out + cdef acados_sim_solver_common.sim_in *sim_in + cdef acados_sim_solver_common.sim_solver *sim_solver + + cdef bint solver_created + + cdef str model_name + + cdef str sim_solver_type + + cdef list gettable_vectors + cdef list gettable_matrices + cdef list gettable_scalars + + def __cinit__(self, model_name): + + self.solver_created = False + + self.model_name = model_name + + # create capsule + self.capsule = acados_sim_solver.acados_sim_solver_create_capsule() + + # create solver + assert acados_sim_solver.acados_sim_create(self.capsule) == 0 + self.solver_created = True + + # get pointers solver + self.__get_pointers_solver() + + self.gettable_vectors = ['x', 'u', 'z', 'S_adj'] + self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic'] + self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] + + def __get_pointers_solver(self): + """ + Private function to get the pointers for solver + """ + # get pointers solver + self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule) + self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule) + self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule) + self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule) + self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule) + self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule) + + + def simulate(self, x=None, u=None, z=None, p=None): + """ + Simulate the system forward for the given x, u, z, p and return x_next. + Wrapper around `solve()` taking care of setting/getting inputs/outputs. + """ + if x is not None: + self.set('x', x) + if u is not None: + self.set('u', u) + if z is not None: + self.set('z', z) + if p is not None: + self.set('p', p) + + status = self.solve() + + if status == 2: + print("Warning: acados_sim_solver reached maximum iterations.") + elif status != 0: + raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.') + + x_next = self.get('x') + return x_next + + + def solve(self): + """ + Solve the sim with current input. + """ + return acados_sim_solver.acados_sim_solve(self.capsule) + + + def get(self, field_): + """ + Get the last solution of the solver. + + :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la'] + """ + field = field_.encode('utf-8') + + if field_ in self.gettable_vectors: + return self.__get_vector(field) + elif field_ in self.gettable_matrices: + return self.__get_matrix(field) + elif field_ in self.gettable_scalars: + return self.__get_scalar(field) + else: + raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \ + f' available fields are {", ".join(self.gettable.keys())}') + + + def __get_scalar(self, field): + cdef double scalar + acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, &scalar) + return scalar + + + def __get_vector(self, field): + cdef int[2] dims + acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0]) + # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64)) + cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),) + acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out.data) + return out + + + def __get_matrix(self, field): + cdef int[2] dims + acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0]) + cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64) + acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out.data) + return out + + + def set(self, field_: str, value_): + """ + Set numerical data inside the solver. + + :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z'] + :param value: the value with appropriate size. + """ + settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw + + # cast value_ to avoid conversion issues + if isinstance(value_, (float, int)): + value_ = np.array([value_]) + # if len(value_.shape) > 1: + # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional') + + cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten() + + field = field_.encode('utf-8') + cdef int[2] dims + + # treat parameters separately + if field_ == 'p': + assert acados_sim_solver.acados_sim_update_params(self.capsule, value.data, value.shape[0]) == 0 + return + else: + acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0]) + + value_ = np.ravel(value_, order='F') + + value_shape = value_.shape + if len(value_shape) == 1: + value_shape = (value_shape[0], 0) + + if value_shape != tuple(dims): + raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \ + f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).') + + # set + if field_ in ['xdot', 'z']: + acados_sim_solver_common.sim_solver_set(self.sim_solver, field, value.data) + elif field_ in settable: + acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value.data) + else: + raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \ + f' available fields are {", ".join(settable)}') + + + def options_set(self, field_: str, value_: bool): + """ + Set solver options + + :param field: string in ['sens_forw', 'sens_adj', 'sens_hess'] + :param value: Boolean + """ + fields = ['sens_forw', 'sens_adj', 'sens_hess'] + if field_ not in fields: + raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n") + + field = field_.encode('utf-8') + + if not isinstance(value_, bool): + raise TypeError("options_set: expected boolean for value") + + cdef bint bool_value = value_ + acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, &bool_value) + # TODO: only allow setting + # if getattr(self.acados_sim.solver_options, field_) or value_ == False: + # acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, &bool_value) + # else: + # raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n") + + return + + + def __del__(self): + if self.solver_created: + acados_sim_solver.acados_sim_free(self.capsule) + acados_sim_solver.acados_sim_solver_free_capsule(self.capsule) diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd index fedd7190d9..c6d59d40a5 100644 --- a/third_party/acados/acados_template/acados_solver_common.pxd +++ b/third_party/acados/acados_template/acados_solver_common.pxd @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -87,7 +84,7 @@ cdef extern from "acados_c/ocp_nlp_interface.h": int stage, const char *field, int *dims_out) void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out) - void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, + void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out) # opts diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py index f595033ceb..6f21bfe8cd 100644 --- a/third_party/acados/acados_template/builders.py +++ b/third_party/acados/acados_template/builders.py @@ -34,7 +34,7 @@ import os import sys -from subprocess import call +from subprocess import DEVNULL, call, STDOUT class CMakeBuilder: @@ -78,7 +78,7 @@ class CMakeBuilder: def get_cmd3_install(self): return f'cmake --install "{self._build_dir}"' - def exec(self, code_export_directory): + def exec(self, code_export_directory, verbose=True): """ Execute the compilation using `CMake` with the given settings. :param code_export_directory: must be the absolute path to the directory where the code was exported to @@ -96,17 +96,32 @@ class CMakeBuilder: os.chdir(self._build_dir) cmd_str = self.get_cmd1_cmake() print(f'call("{cmd_str})"') - retcode = call(cmd_str, shell=True) + retcode = call( + cmd_str, + shell=True, + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) if retcode != 0: raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}') cmd_str = self.get_cmd2_build() print(f'call("{cmd_str}")') - retcode = call(cmd_str, shell=True) + retcode = call( + cmd_str, + shell=True, + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) if retcode != 0: raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}') cmd_str = self.get_cmd3_install() print(f'call("{cmd_str}")') - retcode = call(cmd_str, shell=True) + retcode = call( + cmd_str, + shell=True, + stdout=None if verbose else DEVNULL, + stderr=None if verbose else STDOUT + ) if retcode != 0: raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}') except OSError as e: diff --git a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt index 3d6483b5d2..99bc26f750 100644 --- a/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt +++ b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt @@ -1,8 +1,5 @@ # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -121,12 +118,14 @@ {%- set openmp_flag = " " %} {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} {%- set link_libs = "-lqpOASES_e" %} + {%- elif qp_solver == "FULL_CONDENSING_DAQP" %} + {%- set link_libs = "-ldaqp" %} {%- else %} {%- set link_libs = "" %} {%- endif %} {%- endif %} -cmake_minimum_required(VERSION 3.10) +cmake_minimum_required(VERSION 3.13) project({{ model.name }}) @@ -139,6 +138,14 @@ option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name } option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF) {%- endif %} + +if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows") + # MinGW, change to .lib such that mex recognizes it + set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib") + set(CMAKE_SHARED_LIBRARY_PREFIX "") +endif() + + # object target names set(MODEL_OBJ model_{{ model.name }}) set(OCP_OBJ ocp_{{ model.name }}) @@ -146,9 +153,11 @@ set(SIM_OBJ sim_{{ model.name }}) # model set(MODEL_SRC + {%- if model.dyn_ext_fun_type == "casadi" %} {%- if solver_options.integrator_type == "ERK" %} {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c + {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c {%- if hessian_approx == "EXACT" %} {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c {%- endif %} @@ -176,16 +185,15 @@ set(MODEL_SRC {%- endif %} {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c {%- elif solver_options.integrator_type == "DISCRETE" %} - {%- if model.dyn_ext_fun_type == "casadi" %} {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c {%- if hessian_approx == "EXACT" %} {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c {%- endif %} - {%- else %} - {{ model.name }}_model/{{ model.dyn_source_discrete }} - {%- endif %} {%- endif -%} + {%- else %} + {{ model.name }}_model/{{ model.dyn_generic_source }} + {%- endif %} ) add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} ) @@ -219,6 +227,9 @@ if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMP {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c +{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c + {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c {%- elif cost_type_0 == "EXTERNAL" %} {%- if cost.cost_ext_fun_type_0 == "casadi" %} {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c @@ -232,6 +243,9 @@ if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMP {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c +{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %} + {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c + {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c {%- elif cost_type == "EXTERNAL" %} {%- if cost.cost_ext_fun_type == "casadi" %} {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c @@ -245,6 +259,9 @@ if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMP {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c +{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %} + {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c + {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c {%- elif cost_type_e == "EXTERNAL" %} {%- if cost.cost_ext_fun_type_e == "casadi" %} {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c @@ -275,7 +292,7 @@ set(EX_SRC main_{{ model.name }}.c) set(EX_EXE main_{{ model.name }}) {%- if model_external_shared_lib_dir and model_external_shared_lib_name %} -set(EXTERNAL_DIR {{ model_external_shared_lib_dir }}) +set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/") }}) set(EXTERNAL_LIB {{ model_external_shared_lib_name }}) {%- else %} set(EXTERNAL_DIR) @@ -283,23 +300,26 @@ set(EXTERNAL_LIB) {%- endif %} # set some search paths for preprocessor and linker -set(ACADOS_INCLUDE_PATH {{ acados_include_path }} CACHE PATH "Define the path which contains the include directory for acados.") -set(ACADOS_LIB_PATH {{ acados_lib_path }} CACHE PATH "Define the path which contains the lib directory for acados.") +set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the include directory for acados.") +set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.") # c-compiler flags for debugging set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb") -set(CMAKE_C_FLAGS " +set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }} {%- if qp_solver == "FULL_CONDENSING_QPOASES" -%} - -DACADOS_WITH_QPOASES + -DACADOS_WITH_QPOASES +{%- endif -%} +{%- if qp_solver == "FULL_CONDENSING_DAQP" -%} + -DACADOS_WITH_DAQP {%- endif -%} {%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%} - -DACADOS_WITH_OSQP + -DACADOS_WITH_OSQP {%- endif -%} {%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%} - -DACADOS_WITH_QPDUNES + -DACADOS_WITH_QPDUNES {%- endif -%} - -fPIC -std=c99 {{ openmp_flag }}") +") #-fno-diagnostics-show-line-numbers -g include_directories( @@ -310,6 +330,9 @@ include_directories( {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} ${ACADOS_INCLUDE_PATH}/qpOASES_e/ {%- endif %} +{%- if qp_solver == "FULL_CONDENSING_DAQP" %} + ${ACADOS_INCLUDE_PATH}/daqp/include +{%- endif %} ) # linker flags diff --git a/third_party/acados/acados_template/c_templates_tera/CPPLINT.cfg b/third_party/acados/acados_template/c_templates_tera/CPPLINT.cfg deleted file mode 100644 index bbd1caf057..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/CPPLINT.cfg +++ /dev/null @@ -1 +0,0 @@ -exclude_files=[main, acados_solver, acados_solver_sfun, Makefile, model].*\.? diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in index d45be0a9c7..fbefc08e38 100644 --- a/third_party/acados/acados_template/c_templates_tera/Makefile.in +++ b/third_party/acados/acados_template/c_templates_tera/Makefile.in @@ -1,8 +1,5 @@ # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -120,6 +117,8 @@ {%- set openmp_flag = " " %} {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} {%- set link_libs = "-lqpOASES_e" %} + {%- elif qp_solver == "FULL_CONDENSING_DAQP" %} + {%- set link_libs = "-ldaqp" %} {%- else %} {%- set link_libs = "" %} {%- endif %} @@ -129,9 +128,11 @@ # model MODEL_SRC= -{%- if solver_options.integrator_type == "ERK" %} + {%- if model.dyn_ext_fun_type == "casadi" %} +{%- if solver_options.integrator_type == "ERK" %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c +MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c {%- if hessian_approx == "EXACT" %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c {%- endif %} @@ -139,9 +140,9 @@ MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c - {%- if hessian_approx == "EXACT" %} + {%- if hessian_approx == "EXACT" %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c - {%- endif %} + {%- endif %} {%- elif solver_options.integrator_type == "LIFTED_IRK" %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c @@ -159,16 +160,15 @@ MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c {%- endif %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c {%- elif solver_options.integrator_type == "DISCRETE" %} - {%- if model.dyn_ext_fun_type == "casadi" %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c {%- if hessian_approx == "EXACT" %} MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c {%- endif %} - {%- else %} -MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }} - {%- endif %} {%- endif %} + {%- else %} +MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }} + {%- endif %} MODEL_OBJ := $(MODEL_SRC:.c=.o) # optimal control problem - mostly CasADi exports @@ -200,6 +200,9 @@ OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_z OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c +{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c {%- elif cost_type_0 == "EXTERNAL" %} {%- if cost.cost_ext_fun_type_0 == "casadi" %} OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c @@ -213,6 +216,9 @@ OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c +{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c {%- elif cost_type == "EXTERNAL" %} {%- if cost.cost_ext_fun_type == "casadi" %} OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c @@ -226,6 +232,9 @@ OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }} OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c +{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %} +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c +OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c {%- elif cost_type_e == "EXTERNAL" %} {%- if cost.cost_ext_fun_type_e == "casadi" %} OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c @@ -235,6 +244,12 @@ OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} {%- endif %} {%- endif %} +{%- if solver_options.custom_update_filename %} + {%- if solver_options.custom_update_filename != "" %} +OCP_SRC+= {{ solver_options.custom_update_filename }} + {%- endif %} +{%- endif %} + OCP_SRC+= acados_solver_{{ model.name }}.c OCP_OBJ := $(OCP_SRC:.c=.o) @@ -275,6 +290,9 @@ LIB_PATH = {{ acados_lib_path }} {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} CPPFLAGS += -DACADOS_WITH_QPOASES {%- endif %} +{%- if qp_solver == "FULL_CONDENSING_DAQP" %} +CPPFLAGS += -DACADOS_WITH_DAQP +{%- endif %} {%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %} CPPFLAGS += -DACADOS_WITH_OSQP {%- endif %} @@ -288,10 +306,13 @@ CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/ {%- endif %} + {%- if qp_solver == "FULL_CONDENSING_DAQP" %} +CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include + {%- endif %} {# c-compiler flags #} # define the c-compiler flags for make's implicit rules -CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g +CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g # # Debugging # CFLAGS += -g3 @@ -306,9 +327,9 @@ LDLIBS+= -lm LDLIBS+= {{ link_libs }} # libraries -LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so -LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so -LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) +LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }} +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }}) # virtual targets .PHONY : all clean @@ -354,38 +375,73 @@ ocp_cython_o: ocp_cython_c $(CC) $(ACADOS_FLAGS) -c -O2 \ -fPIC \ -o acados_ocp_solver_pyx.o \ - -I /usr/include/python3.8 \ -I $(INCLUDE_PATH)/blasfeo/include/ \ -I $(INCLUDE_PATH)/hpipm/include/ \ -I $(INCLUDE_PATH) \ - -I {{ cython_include_dirs }} \ + {%- for path in cython_include_dirs %} + -I {{ path }} \ + {%- endfor %} acados_ocp_solver_pyx.c \ ocp_cython: ocp_cython_o $(CC) $(ACADOS_FLAGS) -shared \ - -o acados_ocp_solver_pyx.so \ + -o acados_ocp_solver_pyx{{ shared_lib_ext }} \ -Wl,-rpath=$(LIB_PATH) \ acados_ocp_solver_pyx.o \ - $(abspath .)/libacados_ocp_solver_{{ model.name }}.so \ + $(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \ + $(LDFLAGS) $(LDLIBS) + +# Sim Cython targets +sim_cython_c: sim_shared_lib + cython \ + -o acados_sim_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ + -I {{ code_export_directory }} \ + +sim_cython_o: sim_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_sim_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + {%- for path in cython_include_dirs %} + -I {{ path }} \ + {%- endfor %} + acados_sim_solver_pyx.c \ + +sim_cython: sim_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_sim_solver_pyx{{ shared_lib_ext }} \ + -Wl,-rpath=$(LIB_PATH) \ + acados_sim_solver_pyx.o \ + $(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \ $(LDFLAGS) $(LDLIBS) {%- if os and os == "pc" %} clean: del \Q *.o 2>nul - del \Q *.so 2>nul + del \Q *{{ shared_lib_ext }} 2>nul del \Q main_{{ model.name }} 2>nul clean_ocp_shared_lib: - del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul + del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul del \Q acados_solver_{{ model.name }}.o 2>nul clean_ocp_cython: - del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul + del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul del \Q acados_solver_{{ model.name }}.o 2>nul - del \Q acados_ocp_solver_pyx.so 2>nul + del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul del \Q acados_ocp_solver_pyx.o 2>nul +clean_sim_cython: + del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul + del \Q acados_sim_solver_{{ model.name }}.o 2>nul + del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul + del \Q acados_sim_solver_pyx.o 2>nul + {%- else %} clean: @@ -398,9 +454,15 @@ clean_ocp_shared_lib: $(RM) $(OCP_OBJ) clean_ocp_cython: - $(RM) libacados_ocp_solver_{{ model.name }}.so + $(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} $(RM) acados_solver_{{ model.name }}.o - $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx{{ shared_lib_ext }} $(RM) acados_ocp_solver_pyx.o +clean_sim_cython: + $(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} + $(RM) acados_sim_solver_{{ model.name }}.o + $(RM) acados_sim_solver_pyx{{ shared_lib_ext }} + $(RM) acados_sim_solver_pyx.o + {%- endif %} diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c index f2e75058c1..0cd098273c 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c +++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -88,18 +85,19 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) double Tsim = {{ solver_options.Tsim }}; {% if solver_options.integrator_type == "IRK" %} - capsule->sim_impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + {%- if model.dyn_ext_fun_type == "casadi" %} // external functions (implicit model) - capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun; + capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun; capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work; capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in; capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out; capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in; capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out; - external_function_param_casadi_create(capsule->sim_impl_dae_fun, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np); capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z; capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work; @@ -107,33 +105,39 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out; capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in; capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out; - external_function_param_casadi_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np); - // external_function_param_casadi impl_dae_jac_x_xdot_u_z; + // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z; capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work; capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in; capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out; capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in; capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out; - external_function_param_casadi_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np); + {%- else %} + capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }}; + capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }}; + capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }}; + {%- endif %} {%- if hessian_approx == "EXACT" %} - capsule->sim_impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - // external_function_param_casadi impl_dae_jac_x_xdot_u_z; + capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess; capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work; capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in; capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out; capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in; capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out; - external_function_param_casadi_create(capsule->sim_impl_dae_hess, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np); {%- endif %} {% elif solver_options.integrator_type == "ERK" %} // explicit ode - capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw; capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in; @@ -141,7 +145,15 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in; capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out; capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work; - external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj; + capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in; + capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out; + capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in; + capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out; + capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work; + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np); capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun; capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in; @@ -149,30 +161,30 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in; capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out; capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work; - external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np); {%- if hessian_approx == "EXACT" %} - capsule->sim_expl_ode_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - // external_function_param_casadi impl_dae_jac_x_xdot_u_z; + capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess; capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work; capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in; capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out; capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in; capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out; - external_function_param_casadi_create(capsule->sim_expl_ode_hess, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np); {%- endif %} {% elif solver_options.integrator_type == "GNSF" -%} {% if model.gnsf.purely_linear != 1 %} - capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); - capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); + capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); {%- endif %} {%- endif %} - capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); {% if model.gnsf.purely_linear != 1 %} capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun; @@ -181,7 +193,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in; capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out; capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work; - external_function_param_casadi_create(capsule->sim_gnsf_phi_fun, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np); capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y; capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in; @@ -189,7 +201,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in; capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out; capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work; - external_function_param_casadi_create(capsule->sim_gnsf_phi_fun_jac_y, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np); capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat; capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in; @@ -197,7 +209,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in; capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out; capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work; - external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np); {% if model.gnsf.nontrivial_f_LO == 1 %} capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz; @@ -206,7 +218,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in; capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out; capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work; - external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np); {%- endif %} {%- endif %} @@ -216,7 +228,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in; capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out; capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work; - external_function_param_casadi_create(capsule->sim_gnsf_get_matrices_fun, np); + external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np); {% endif %} // sim plan & config @@ -252,6 +264,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) capsule->acados_sim_opts = {{ model.name }}_sim_opts; int tmp_int = {{ solver_options.sim_method_newton_iter }}; sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int); + double tmp_double = {{ solver_options.sim_method_newton_tol }}; + sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double); sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type); @@ -307,7 +321,9 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) {%- elif solver_options.integrator_type == "ERK" %} {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "expl_vde_for", capsule->sim_forw_vde_casadi); + "expl_vde_forw", capsule->sim_forw_vde_casadi); + {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, + "expl_vde_adj", capsule->sim_vde_adj_casadi); {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); {%- if hessian_approx == "EXACT" %} @@ -408,28 +424,29 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule) // free external function {%- if solver_options.integrator_type == "IRK" %} - external_function_param_casadi_free(capsule->sim_impl_dae_fun); - external_function_param_casadi_free(capsule->sim_impl_dae_fun_jac_x_xdot_z); - external_function_param_casadi_free(capsule->sim_impl_dae_jac_x_xdot_u_z); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z); {%- if hessian_approx == "EXACT" %} - external_function_param_casadi_free(capsule->sim_impl_dae_hess); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess); {%- endif %} {%- elif solver_options.integrator_type == "ERK" %} - external_function_param_casadi_free(capsule->sim_forw_vde_casadi); - external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi); {%- if hessian_approx == "EXACT" %} - external_function_param_casadi_free(capsule->sim_expl_ode_hess); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess); {%- endif %} {%- elif solver_options.integrator_type == "GNSF" %} {% if model.gnsf.purely_linear != 1 %} - external_function_param_casadi_free(capsule->sim_gnsf_phi_fun); - external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y); - external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat); {% if model.gnsf.nontrivial_f_LO == 1 %} - external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); {%- endif %} {%- endif %} - external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun); + external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun); {% endif %} return 0; @@ -449,6 +466,7 @@ int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, doubl {%- if solver_options.integrator_type == "ERK" %} capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p); capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); {%- if hessian_approx == "EXACT" %} capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p); diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h index 7306491baf..59aee62f49 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h +++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -60,22 +57,23 @@ typedef struct sim_solver_capsule /* external functions */ // ERK - external_function_param_casadi * sim_forw_vde_casadi; - external_function_param_casadi * sim_expl_ode_fun_casadi; - external_function_param_casadi * sim_expl_ode_hess; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess; // IRK - external_function_param_casadi * sim_impl_dae_fun; - external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z; - external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z; - external_function_param_casadi * sim_impl_dae_hess; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess; // GNSF - external_function_param_casadi * sim_gnsf_phi_fun; - external_function_param_casadi * sim_gnsf_phi_fun_jac_y; - external_function_param_casadi * sim_gnsf_phi_jac_y_uhat; - external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z; - external_function_param_casadi * sim_gnsf_get_matrices_fun; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z; + external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun; } sim_solver_capsule; diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd new file mode 100644 index 0000000000..153f98d13a --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd @@ -0,0 +1,51 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_sim_solver_common + +cdef extern from "acados_sim_solver_{{ model.name }}.h": + ctypedef struct sim_solver_capsule "sim_solver_capsule": + pass + + sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"() + int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule) + + int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule) + int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule) + int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule) + int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_) + # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + + acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule) + acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule) + void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule) diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c index 0af8127709..5e36a53d10 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c +++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -42,33 +39,26 @@ // example specific #include "{{ model.name }}_model/{{ model.name }}_model.h" -{% if constraints.constr_type == "BGP" and dims.nphi %} -#include "{{ model.name }}_constraints/{{ model.name }}_phi_constraint.h" -{% endif %} -{% if constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} -#include "{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.h" -{% endif %} -{% if constraints.constr_type == "BGH" and dims.nh > 0 %} -#include "{{ model.name }}_constraints/{{ model.name }}_h_constraint.h" -{% endif %} -{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} -#include "{{ model.name }}_constraints/{{ model.name }}_h_e_constraint.h" -{% endif %} -{%- if cost.cost_type == "NONLINEAR_LS" %} -#include "{{ model.name }}_cost/{{ model.name }}_cost_y_fun.h" -{%- elif cost.cost_type == "EXTERNAL" %} -#include "{{ model.name }}_cost/{{ model.name }}_external_cost.h" +#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h" + +{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %} +#include "{{ model.name }}_cost/{{ model.name }}_cost.h" {%- endif %} -{%- if cost.cost_type_0 == "NONLINEAR_LS" %} -#include "{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.h" -{%- elif cost.cost_type_0 == "EXTERNAL" %} -#include "{{ model.name }}_cost/{{ model.name }}_external_cost_0.h" + +{%- if not solver_options.custom_update_filename %} + {%- set custom_update_filename = "" %} +{% else %} + {%- set custom_update_filename = solver_options.custom_update_filename %} {%- endif %} -{%- if cost.cost_type_e == "NONLINEAR_LS" %} -#include "{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.h" -{%- elif cost.cost_type_e == "EXTERNAL" %} -#include "{{ model.name }}_cost/{{ model.name }}_external_cost_e.h" +{%- if not solver_options.custom_update_header_filename %} + {%- set custom_update_header_filename = "" %} +{% else %} + {%- set custom_update_header_filename = solver_options.custom_update_header_filename %} {%- endif %} +{%- if custom_update_header_filename != "" %} +#include "{{ custom_update_header_filename }}" +{%- endif %} + #include "acados_solver_{{ model.name }}.h" @@ -205,7 +195,6 @@ void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, nlp_solver_plan->nlp_constraints[N] = BGH; {%- endif %} -{%- if solver_options.hessian_approx == "EXACT" %} {%- if solver_options.regularize_method == "NO_REGULARIZE" %} nlp_solver_plan->regularization = NO_REGULARIZE; {%- elif solver_options.regularize_method == "MIRROR" %} @@ -217,7 +206,6 @@ void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, {%- elif solver_options.regularize_method == "CONVEXIFY" %} nlp_solver_plan->regularization = CONVEXIFY; {%- endif %} -{%- endif %} } @@ -324,11 +312,11 @@ ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ mode ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); } -{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} +{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%} ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); {%- endif %} -{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} +{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%} for (int i = 1; i < N; i++) ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); {%- endif %} @@ -353,7 +341,7 @@ ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ mode ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]); ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]); {%- endif %} -{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %} +{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%} ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); {%- endif %} free(intNp1mem); @@ -388,7 +376,6 @@ return nlp_dims; void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule) { const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; /************************************************ * external functions @@ -468,35 +455,50 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_ {% elif solver_options.integrator_type == "IRK" %} // implicit dae - capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); for (int i = 0; i < N; i++) { + {%- if model.dyn_ext_fun_type == "casadi" %} MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); + {%- else %} + capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }}); + {%- endif %} } - capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); for (int i = 0; i < N; i++) { + {%- if model.dyn_ext_fun_type == "casadi" %} MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z); + {%- else %} + capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }}); + {%- endif %} } - capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); for (int i = 0; i < N; i++) { + {%- if model.dyn_ext_fun_type == "casadi" %} MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z); + {%- else %} + capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }}; + external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }}); + {%- endif %} } {%- if solver_options.hessian_approx == "EXACT" %} - capsule->impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); for (int i = 0; i < N; i++) { MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess); } {%- endif %} {% elif solver_options.integrator_type == "LIFTED_IRK" %} // external functions (implicit model) - capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); for (int i = 0; i < N; i++) { MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); } - capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); for (int i = 0; i < N; i++) { MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u); } @@ -574,6 +576,11 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_ MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt); MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess); +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + // convex-over-nonlinear cost + MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun); + MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess); + {%- elif cost.cost_type_0 == "EXTERNAL" %} // external cost {%- if cost.cost_ext_fun_type_0 == "casadi" %} @@ -619,6 +626,20 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_ { MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess); } + +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + // convex-over-nonlinear cost + capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun); + } + capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess); + } + {%- elif cost.cost_type == "EXTERNAL" %} // external cost capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); @@ -660,6 +681,12 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_ MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun); MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt); MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess); + +{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + // convex-over-nonlinear cost + MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun); + MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess); + {%- elif cost.cost_type_e == "EXTERNAL" %} // external cost - function {%- if cost.cost_ext_fun_type_e == "casadi" %} @@ -808,20 +835,9 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule } /**** Cost ****/ -{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} - {%- if dims.ny_0 > 0 %} - double* W_0 = calloc(NY0*NY0, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_0) %} - {%- for k in range(end=dims.ny_0) %} - {%- if cost.W_0[j][k] != 0 %} - W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); - free(W_0); +{%- if dims.ny_0 == 0 %} +{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} double* yref_0 = calloc(NY0, sizeof(double)); // change only the non-zero elements: {%- for j in range(end=dims.ny_0) %} @@ -831,21 +847,11 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule {%- endfor %} ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); free(yref_0); - {%- endif %} {%- endif %} -{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} - {%- if dims.ny > 0 %} - double* W = calloc(NY*NY, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny) %} - {%- for k in range(end=dims.ny) %} - {%- if cost.W[j][k] != 0 %} - W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} +{%- if dims.ny == 0 %} +{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %} double* yref = calloc(NY, sizeof(double)); // change only the non-zero elements: {%- for j in range(end=dims.ny) %} @@ -856,15 +862,76 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule for (int i = 1; i < N; i++) { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); } - free(W); free(yref); - {%- endif %} {%- endif %} -{%- if cost.cost_type_0 == "LINEAR_LS" %} + +{%- if dims.ny_e == 0 %} +{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_e) %} + {%- if cost.yref_e[j] != 0 %} + yref_e[{{ j }}] = {{ cost.yref_e[j] }}; + {%- endif %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); +{%- endif %} + +{%- if dims.ny_0 == 0 %} +{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_0) %} + {%- for k in range(end=dims.ny_0) %} + {%- if cost.W_0[j][k] != 0 %} + W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); +{%- endif %} + +{%- if dims.ny == 0 %} +{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny) %} + {%- for k in range(end=dims.ny) %} + {%- if cost.W[j][k] != 0 %} + W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + } + free(W); +{%- endif %} + +{%- if dims.ny_e == 0 %} +{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %} + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + {%- for j in range(end=dims.ny_e) %} + {%- for k in range(end=dims.ny_e) %} + {%- if cost.W_e[j][k] != 0 %} + W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); +{%- endif %} + +{%- if dims.ny_0 == 0 %} +{%- elif cost.cost_type_0 == "LINEAR_LS" %} double* Vx_0 = calloc(NY0*NX, sizeof(double)); // change only the non-zero elements: {%- for j in range(end=dims.ny_0) %} @@ -877,7 +944,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0); free(Vx_0); - {%- if dims.ny_0 > 0 and dims.nu > 0 %} + {%- if dims.nu > 0 %} double* Vu_0 = calloc(NY0*NU, sizeof(double)); // change only the non-zero elements: {%- for j in range(end=dims.ny_0) %} @@ -891,7 +958,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule free(Vu_0); {%- endif %} - {%- if dims.ny_0 > 0 and dims.nz > 0 %} + {%- if dims.nz > 0 %} double* Vz_0 = calloc(NY0*NZ, sizeof(double)); // change only the non-zero elements: {% for j in range(end=dims.ny_0) %} @@ -904,10 +971,10 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0); free(Vz_0); {%- endif %} -{%- endif %}{# LINEAR LS #} +{%- endif %} - -{%- if cost.cost_type == "LINEAR_LS" %} +{%- if dims.ny == 0 %} +{%- elif cost.cost_type == "LINEAR_LS" %} double* Vx = calloc(NY*NX, sizeof(double)); // change only the non-zero elements: {%- for j in range(end=dims.ny) %} @@ -923,7 +990,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule } free(Vx); - {% if dims.ny > 0 and dims.nu > 0 %} + {% if dims.nu > 0 %} double* Vu = calloc(NY*NU, sizeof(double)); // change only the non-zero elements: {% for j in range(end=dims.ny) %} @@ -941,7 +1008,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule free(Vu); {%- endif %} - {%- if dims.ny > 0 and dims.nz > 0 %} + {%- if dims.nz > 0 %} double* Vz = calloc(NY*NZ, sizeof(double)); // change only the non-zero elements: {% for j in range(end=dims.ny) %} @@ -960,11 +1027,28 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule {%- endif %} {%- endif %}{# LINEAR LS #} +{%- if dims.ny_e == 0 %} +{%- elif cost.cost_type_e == "LINEAR_LS" %} + double* Vx_e = calloc(NYN*NX, sizeof(double)); + // change only the non-zero elements: + {% for j in range(end=dims.ny_e) %} + {%- for k in range(end=dims.nx) %} + {%- if cost.Vx_e[j][k] != 0 %} + Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }}; + {%- endif %} + {%- endfor %} + {%- endfor %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e); + free(Vx_e); +{%- endif %} {%- if cost.cost_type_0 == "NONLINEAR_LS" %} ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess); {%- elif cost.cost_type_0 == "EXTERNAL" %} ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun); ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac); @@ -978,6 +1062,12 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); } +{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]); + } {%- elif cost.cost_type == "EXTERNAL" %} for (int i = 1; i < N; i++) { @@ -987,7 +1077,25 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule } {%- endif %} +{%- if cost.cost_type_e == "NONLINEAR_LS" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + +{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess); + +{%- elif cost.cost_type_e == "EXTERNAL" %} + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess); +{%- endif %} + + {%- if dims.ns > 0 %} + // slacks double* zlumem = calloc(4*NS, sizeof(double)); double* Zl = zlumem+NS*0; double* Zu = zlumem+NS*1; @@ -1028,59 +1136,8 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule free(zlumem); {%- endif %} - // terminal cost -{%- if cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "NONLINEAR_LS" %} - {%- if dims.ny_e > 0 %} - double* yref_e = calloc(NYN, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_e) %} - {%- if cost.yref_e[j] != 0 %} - yref_e[{{ j }}] = {{ cost.yref_e[j] }}; - {%- endif %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); - free(yref_e); - - double* W_e = calloc(NYN*NYN, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_e) %} - {%- for k in range(end=dims.ny_e) %} - {%- if cost.W_e[j][k] != 0 %} - W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); - free(W_e); - - {%- if cost.cost_type_e == "LINEAR_LS" %} - double* Vx_e = calloc(NYN*NX, sizeof(double)); - // change only the non-zero elements: - {% for j in range(end=dims.ny_e) %} - {%- for k in range(end=dims.nx) %} - {%- if cost.Vx_e[j][k] != 0 %} - Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e); - free(Vx_e); - {%- endif %} - - {%- if cost.cost_type_e == "NONLINEAR_LS" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); - {%- endif %} - {%- endif %}{# ny_e > 0 #} - -{%- elif cost.cost_type_e == "EXTERNAL" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess); -{%- endif %} - {% if dims.ns_e > 0 %} + // slacks terminal double* zluemem = calloc(4*NSN, sizeof(double)); double* Zl_e = zluemem+NSN*0; double* Zu_e = zluemem+NSN*1; @@ -1185,7 +1242,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule {%- endfor %} for (int i = 1; i < N; i++) - { + { ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx); ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx); ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx); @@ -1363,7 +1420,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule {%- endif %} {% if dims.ng > 0 %} - // set up general constraints for stage 0 to N-1 + // set up general constraints for stage 0 to N-1 double* D = calloc(NG*NU, sizeof(double)); double* C = calloc(NG*NX, sizeof(double)); double* lug = calloc(2*NG, sizeof(double)); @@ -1427,7 +1484,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule uh[{{ i }}] = {{ constraints.uh[i] }}; {%- endif %} {%- endfor %} - + for (int i = 0; i < N; i++) { // nonlinear constraints for stages 0 to N-1 @@ -1599,16 +1656,16 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule {% endif %} {% if dims.ng_e > 0 %} - // set up general constraints for last stage + // set up general constraints for last stage double* C_e = calloc(NGN*NX, sizeof(double)); double* lug_e = calloc(2*NGN, sizeof(double)); double* lg_e = lug_e; double* ug_e = lug_e + NGN; - {% for j in range(end=dims.ng) %} + {% for j in range(end=dims.ng_e) %} {%- for k in range(end=dims.nx) %} {%- if constraints.C_e[j][k] != 0 %} - C_e[{{ j }}+NG * {{ k }}] = {{ constraints.C_e[j][k] }}; + C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }}; {%- endif %} {%- endfor %} {%- endfor %} @@ -1658,7 +1715,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule {%- endif %} {% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %} - // set up convex-over-nonlinear constraints for last stage + // set up convex-over-nonlinear constraints for last stage double* luphi_e = calloc(2*NPHIN, sizeof(double)); double* lphi_e = luphi_e; double* uphi_e = luphi_e + NPHIN; @@ -1687,7 +1744,6 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* { const int N = capsule->nlp_solver_plan->N; ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; void *nlp_opts = capsule->nlp_opts; /************************************************ @@ -1695,12 +1751,9 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* ************************************************/ {% if solver_options.hessian_approx == "EXACT" %} - bool nlp_solver_exact_hessian = true; - // TODO: this if should not be needed! however, calling the setter with false leads to weird behavior. Investigate! - if (nlp_solver_exact_hessian) - { - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian); - } + int nlp_solver_exact_hessian = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian); + int exact_hess_dyn = {{ solver_options.exact_hess_dyn }}; ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn); @@ -1861,6 +1914,8 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); {%- endif %} + int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res); {%- if solver_options.qp_solver is containing("HPIPM") %} // set HPIPM mode: should be done before setting other QP solver options @@ -1920,6 +1975,15 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* int print_level = {{ solver_options.print_level }}; ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); +{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %} + int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg); +{% endif %} + +{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %} + int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }}; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg); +{% endif %} int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }}; {%- if cost.cost_type == "EXTERNAL" %} @@ -2042,6 +2106,12 @@ int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_c // 9) do precomputations int status = {{ model.name }}_acados_create_9_precompute(capsule); + + {%- if custom_update_filename != "" %} + // Initialize custom update function + custom_update_init_function(capsule); + {%- endif %} + return status; } @@ -2076,7 +2146,7 @@ int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_caps } -int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule) +int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem) { // set initialization to all zeros @@ -2088,8 +2158,6 @@ int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule) ocp_nlp_in* nlp_in = capsule->nlp_in; ocp_nlp_solver* nlp_solver = capsule->nlp_solver; - int nx, nu, nv, ns, nz, ni, dim; - double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); for(int i=0; i reset memory int qp_status; ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); - if (qp_status == 3) + if (reset_qp_solver_mem || (qp_status == 3)) { // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); @@ -2144,7 +2212,6 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu exit(1); } -{%- if dims.np > 0 %} const int N = capsule->nlp_solver_plan->N; if (stage < N && stage >= 0) { @@ -2201,6 +2268,9 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p); + capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p); {%- elif cost.cost_type_0 == "EXTERNAL" %} capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p); capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p); @@ -2213,6 +2283,9 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p); + capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p); {%- elif cost.cost_type == "EXTERNAL" %} capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p); capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p); @@ -2229,6 +2302,9 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p); + capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p); {%- elif cost.cost_type_e == "EXTERNAL" %} capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p); capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p); @@ -2245,16 +2321,149 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu {%- endif %} {% endif %} } -{% endif %}{# if dims.np #} return solver_status; } +int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) +{ + int solver_status = 0; + + int casadi_np = {{ dims.np }}; + if (casadi_np < n_update) { + printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions." + " External function has %d parameters. Exiting.\n", n_update, casadi_np); + exit(1); + } + // for (int i = 0; i < n_update; i++) + // { + // if (idx[i] > casadi_np) { + // printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while" + // " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np); + // exit(1); + // } + // printf("param %d value %e\n", idx[i], p[i]); + // } + +{%- if dims.np > 0 %} + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + {%- if solver_options.integrator_type == "IRK" %} + capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p); + capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p); + capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p); + {%- endif %} + {% elif solver_options.integrator_type == "LIFTED_IRK" %} + capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p); + capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p); + {% elif solver_options.integrator_type == "ERK" %} + capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p); + capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p); + + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p); + {%- endif %} + {% elif solver_options.integrator_type == "GNSF" %} + {% if model.gnsf.purely_linear != 1 %} + capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p); + capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p); + capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p); + {% if model.gnsf.nontrivial_f_LO == 1 %} + capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p); + {%- endif %} + {%- endif %} + {% elif solver_options.integrator_type == "DISCRETE" %} + capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p); + capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p); + {% endif %} + {%- endif %}{# integrator_type #} + + // constraints + {% if constraints.constr_type == "BGP" %} + capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p); + {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} + capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p); + capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p); + {%- endif %} + {%- endif %} + + // cost + if (stage == 0) + { + {%- if cost.cost_type_0 == "NONLINEAR_LS" %} + capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p); + {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p); + capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p); + {%- elif cost.cost_type_0 == "EXTERNAL" %} + capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p); + capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p); + capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p); + {% endif %} + } + else // 0 < stage < N + { + {%- if cost.cost_type == "NONLINEAR_LS" %} + capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p); + capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p); + {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p); + capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p); + {%- elif cost.cost_type == "EXTERNAL" %} + capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p); + capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p); + capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p); + {%- endif %} + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + {%- if cost.cost_type_e == "NONLINEAR_LS" %} + capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p); + {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p); + capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p); + {%- elif cost.cost_type_e == "EXTERNAL" %} + capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p); + capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p); + capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p); + {% endif %} + // constraints + {% if constraints.constr_type_e == "BGP" %} + capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p); + {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} + capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p); + capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p); + {%- if solver_options.hessian_approx == "EXACT" %} + capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p); + {%- endif %} + {% endif %} + } +{% endif %}{# if dims.np #} + + return solver_status; +} int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule) { - // solve NLP + // solve NLP int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); return solver_status; @@ -2265,6 +2474,9 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) { // before destroying, keep some info const int N = capsule->nlp_solver_plan->N; + {%- if custom_update_filename != "" %} + custom_update_terminate_function(capsule); + {%- endif %} // free memory ocp_nlp_solver_opts_destroy(capsule->nlp_opts); ocp_nlp_in_destroy(capsule->nlp_in); @@ -2280,11 +2492,11 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) {%- if solver_options.integrator_type == "IRK" %} for (int i = 0; i < N; i++) { - external_function_param_casadi_free(&capsule->impl_dae_fun[i]); - external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]); - external_function_param_casadi_free(&capsule->impl_dae_jac_x_xdot_u_z[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]); {%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi_free(&capsule->impl_dae_hess[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]); {%- endif %} } free(capsule->impl_dae_fun); @@ -2297,8 +2509,8 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) {%- elif solver_options.integrator_type == "LIFTED_IRK" %} for (int i = 0; i < N; i++) { - external_function_param_casadi_free(&capsule->impl_dae_fun[i]); - external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]); + external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]); } free(capsule->impl_dae_fun); free(capsule->impl_dae_fun_jac_x_xdot_u); @@ -2354,7 +2566,7 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) {%- if solver_options.hessian_approx == "EXACT" %} free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess); {%- endif %} - + {%- endif %} // cost @@ -2362,6 +2574,9 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) external_function_param_casadi_free(&capsule->cost_y_0_fun); external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); external_function_param_casadi_free(&capsule->cost_y_0_hess); +{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi_free(&capsule->conl_cost_0_fun); + external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess); {%- elif cost.cost_type_0 == "EXTERNAL" %} external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun); external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac); @@ -2377,6 +2592,14 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) free(capsule->cost_y_fun); free(capsule->cost_y_fun_jac_ut_xt); free(capsule->cost_y_hess); +{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->conl_cost_fun[i]); + external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]); + } + free(capsule->conl_cost_fun); + free(capsule->conl_cost_fun_jac_hess); {%- elif cost.cost_type == "EXTERNAL" %} for (int i = 0; i < N - 1; i++) { @@ -2392,6 +2615,9 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) external_function_param_casadi_free(&capsule->cost_y_e_fun); external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); external_function_param_casadi_free(&capsule->cost_y_e_hess); +{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi_free(&capsule->conl_cost_e_fun); + external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess); {%- elif cost.cost_type_e == "EXTERNAL" %} external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun); external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac); @@ -2438,15 +2664,6 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) return 0; } -ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; } -ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; } -ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; } -ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; } -ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; } -void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; } -ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; } -ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; } - void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule) { @@ -2461,8 +2678,13 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsul int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha"); + if (stat_n > 8) + printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp"); + printf("\n"); + {%- if solver_options.nlp_solver_type == "SQP" %} - printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha\n"); + for (int i = 0; i < nrow; i++) { for (int j = 0; j < stat_n + 1; j++) @@ -2493,3 +2715,27 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsul {%- endif %} } +int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len) +{ +{%- if custom_update_filename == "" %} + (void)capsule; + (void)data; + (void)data_len; + printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n"); + printf("nothing set yet..\n"); + return 1; +{% else %} + custom_update_function(capsule, data, data_len); +{%- endif %} +} + + + +ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; } +void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; } diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h index 1c82ef3ba0..5cf38aa8c8 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h +++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -74,6 +71,12 @@ extern "C" { #endif +{%- if not solver_options.custom_update_filename %} + {%- set custom_update_filename = "" %} +{% else %} + {%- set custom_update_filename = solver_options.custom_update_filename %} +{%- endif %} + // ** capsule for solver data ** typedef struct {{ model.name }}_solver_capsule { @@ -99,15 +102,15 @@ typedef struct {{ model.name }}_solver_capsule external_function_param_casadi *hess_vde_casadi; {%- endif %} {% elif solver_options.integrator_type == "IRK" %} - external_function_param_casadi *impl_dae_fun; - external_function_param_casadi *impl_dae_fun_jac_x_xdot_z; - external_function_param_casadi *impl_dae_jac_x_xdot_u_z; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z; {% if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi *impl_dae_hess; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess; {%- endif %} {% elif solver_options.integrator_type == "LIFTED_IRK" %} - external_function_param_casadi *impl_dae_fun; - external_function_param_casadi *impl_dae_fun_jac_x_xdot_u; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun; + external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u; {% elif solver_options.integrator_type == "GNSF" %} external_function_param_casadi *gnsf_phi_fun; external_function_param_casadi *gnsf_phi_fun_jac_y; @@ -128,6 +131,9 @@ typedef struct {{ model.name }}_solver_capsule external_function_param_casadi *cost_y_fun; external_function_param_casadi *cost_y_fun_jac_ut_xt; external_function_param_casadi *cost_y_hess; +{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi *conl_cost_fun; + external_function_param_casadi *conl_cost_fun_jac_hess; {%- elif cost.cost_type == "EXTERNAL" %} external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun; external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac; @@ -138,6 +144,9 @@ typedef struct {{ model.name }}_solver_capsule external_function_param_casadi cost_y_0_fun; external_function_param_casadi cost_y_0_fun_jac_ut_xt; external_function_param_casadi cost_y_0_hess; +{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi conl_cost_0_fun; + external_function_param_casadi conl_cost_0_fun_jac_hess; {% elif cost.cost_type_0 == "EXTERNAL" %} external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun; external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac; @@ -148,6 +157,9 @@ typedef struct {{ model.name }}_solver_capsule external_function_param_casadi cost_y_e_fun; external_function_param_casadi cost_y_e_fun_jac_ut_xt; external_function_param_casadi cost_y_e_hess; +{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} + external_function_param_casadi conl_cost_e_fun; + external_function_param_casadi conl_cost_e_fun_jac_hess; {% elif cost.cost_type_e == "EXTERNAL" %} external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun; external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac; @@ -160,8 +172,10 @@ typedef struct {{ model.name }}_solver_capsule {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} external_function_param_casadi *nl_constr_h_fun_jac; external_function_param_casadi *nl_constr_h_fun; +{%- if solver_options.hessian_approx == "EXACT" %} external_function_param_casadi *nl_constr_h_fun_jac_hess; {%- endif %} +{%- endif %} {% if constraints.constr_type_e == "BGP" %} @@ -169,8 +183,14 @@ typedef struct {{ model.name }}_solver_capsule {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} external_function_param_casadi nl_constr_h_e_fun_jac; external_function_param_casadi nl_constr_h_e_fun; +{%- if solver_options.hessian_approx == "EXACT" %} external_function_param_casadi nl_constr_h_e_fun_jac_hess; {%- endif %} +{%- endif %} + +{%- if custom_update_filename != "" %} + void * custom_update_memory; +{%- endif %} } {{ model.name }}_solver_capsule; @@ -179,7 +199,7 @@ ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_s ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem); /** * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than @@ -197,10 +217,14 @@ ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name */ ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N); ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np); +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update); + ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule); ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule); ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule); - +ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len); + + ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule); ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule); ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule); diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd index 09f8755cbe..233e3f79da 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd +++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd @@ -1,8 +1,5 @@ # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -47,11 +44,14 @@ cdef extern from "acados_solver_{{ model.name }}.h": int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule) - int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule) + int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem) int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule) void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule) + int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len) + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule) acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule) acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule) diff --git a/third_party/acados/acados_template/c_templates_tera/h_e_constraint.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h similarity index 54% rename from third_party/acados/acados_template/c_templates_tera/h_e_constraint.in.h rename to third_party/acados/acados_template/c_templates_tera/constraints.in.h index a5dd711641..d71ce5cc22 100644 --- a/third_party/acados/acados_template/c_templates_tera/h_e_constraint.in.h +++ b/third_party/acados/acados_template/c_templates_tera/constraints.in.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -31,14 +28,56 @@ * POSSIBILITY OF SUCH DAMAGE.; */ - -#ifndef {{ model.name }}_H_E_CONSTRAINT -#define {{ model.name }}_H_E_CONSTRAINT +#ifndef {{ model.name }}_CONSTRAINTS +#define {{ model.name }}_CONSTRAINTS #ifdef __cplusplus extern "C" { #endif +{% if dims.nphi > 0 %} +int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *); +const int *{{ model.name }}_phi_constraint_sparsity_in(int); +const int *{{ model.name }}_phi_constraint_sparsity_out(int); +int {{ model.name }}_phi_constraint_n_in(void); +int {{ model.name }}_phi_constraint_n_out(void); +{% endif %} + +{% if dims.nphi_e > 0 %} +int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *); +const int *{{ model.name }}_phi_e_constraint_sparsity_in(int); +const int *{{ model.name }}_phi_e_constraint_sparsity_out(int); +int {{ model.name }}_phi_e_constraint_n_in(void); +int {{ model.name }}_phi_e_constraint_n_out(void); +{% endif %} + +{% if dims.nh > 0 %} +int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void); + +int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_sparsity_out(int); +int {{ model.name }}_constr_h_fun_n_in(void); +int {{ model.name }}_constr_h_fun_n_out(void); + +{% if solver_options.hessian_approx == "EXACT" -%} +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int); +const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void); +int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void); +{% endif %} +{% endif %} + {% if dims.nh_e > 0 %} int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *); @@ -68,4 +107,4 @@ int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void); } /* extern "C" */ #endif -#endif // {{ model.name }}_H_E_CONSTRAINT +#endif // {{ model.name }}_CONSTRAINTS diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h new file mode 100644 index 0000000000..45eb09c12e --- /dev/null +++ b/third_party/acados/acados_template/c_templates_tera/cost.in.h @@ -0,0 +1,238 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef {{ model.name }}_COST +#define {{ model.name }}_COST + +#ifdef __cplusplus +extern "C" { +#endif + + +// Cost at initial shooting node +{% if cost.cost_type_0 == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int); +int {{ model.name }}_cost_y_0_fun_n_in(void); +int {{ model.name }}_cost_y_0_fun_n_out(void); + +int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int); +int {{ model.name }}_cost_y_0_hess_n_in(void); +int {{ model.name }}_cost_y_0_hess_n_out(void); +{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} + +int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int); +const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int); +int {{ model.name }}_conl_cost_0_fun_n_in(void); +int {{ model.name }}_conl_cost_0_fun_n_out(void); + +int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void); +int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void); + +{% elif cost.cost_type_0 == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_0 == "casadi" %} +int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void); + {%- else %} +int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *); + {%- endif %} +{% endif %} + + +// Cost at path shooting node +{% if cost.cost_type == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_fun_sparsity_out(int); +int {{ model.name }}_cost_y_fun_n_in(void); +int {{ model.name }}_cost_y_fun_n_out(void); + +int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_hess_sparsity_out(int); +int {{ model.name }}_cost_y_hess_n_in(void); +int {{ model.name }}_cost_y_hess_n_out(void); + +{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} +int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_fun_sparsity_in(int); +const int *{{ model.name }}_conl_cost_fun_sparsity_out(int); +int {{ model.name }}_conl_cost_fun_n_in(void); +int {{ model.name }}_conl_cost_fun_n_out(void); + +int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void); +int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void); +{% elif cost.cost_type == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type == "casadi" %} +int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void); + {%- else %} +int {{ cost.cost_function_ext_cost }}(void **, void **, void *); + {%- endif %} +{% endif %} + +// Cost at terminal shooting node +{% if cost.cost_type_e == "NONLINEAR_LS" %} +int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int); +int {{ model.name }}_cost_y_e_fun_n_in(void); +int {{ model.name }}_cost_y_e_fun_n_out(void); + +int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void); +int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void); + +int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int); +const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int); +int {{ model.name }}_cost_y_e_hess_n_in(void); +int {{ model.name }}_cost_y_e_hess_n_out(void); +{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} +int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int); +const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int); +int {{ model.name }}_conl_cost_e_fun_n_in(void); +int {{ model.name }}_conl_cost_e_fun_n_out(void); + +int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void); +int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void); +{% elif cost.cost_type_e == "EXTERNAL" %} + {%- if cost.cost_ext_fun_type_e == "casadi" %} +int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_n_out(void); + +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void); + +int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); +int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int); +const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int); +int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void); +int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void); + {%- else %} +int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *); + {%- endif %} +{% endif %} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // {{ model.name }}_COST diff --git a/third_party/acados/acados_template/c_templates_tera/cost_y_0_fun.in.h b/third_party/acados/acados_template/c_templates_tera/cost_y_0_fun.in.h deleted file mode 100644 index 347446e3f4..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/cost_y_0_fun.in.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_Y_0_COST -#define {{ model.name }}_Y_0_COST - -#ifdef __cplusplus -extern "C" { -#endif - -{% if cost.cost_type_0 == "NONLINEAR_LS" %} -int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int); -const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int); -int {{ model.name }}_cost_y_0_fun_n_in(void); -int {{ model.name }}_cost_y_0_fun_n_out(void); - -int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int); -const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int); -int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void); -int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void); - -int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int); -const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int); -int {{ model.name }}_cost_y_0_hess_n_in(void); -int {{ model.name }}_cost_y_0_hess_n_out(void); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_Y_0_COST diff --git a/third_party/acados/acados_template/c_templates_tera/cost_y_e_fun.in.h b/third_party/acados/acados_template/c_templates_tera/cost_y_e_fun.in.h deleted file mode 100644 index acc99009fe..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/cost_y_e_fun.in.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_Y_E_COST -#define {{ model.name }}_Y_E_COST - -#ifdef __cplusplus -extern "C" { -#endif - -{% if cost.cost_type_e == "NONLINEAR_LS" %} -int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int); -const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int); -int {{ model.name }}_cost_y_e_fun_n_in(void); -int {{ model.name }}_cost_y_e_fun_n_out(void); - -int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int); -const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int); -int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void); -int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void); - -int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int); -const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int); -int {{ model.name }}_cost_y_e_hess_n_in(void); -int {{ model.name }}_cost_y_e_hess_n_out(void); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_Y_E_COST diff --git a/third_party/acados/acados_template/c_templates_tera/cost_y_fun.in.h b/third_party/acados/acados_template/c_templates_tera/cost_y_fun.in.h deleted file mode 100644 index 1e03780cc1..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/cost_y_fun.in.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_Y_COST -#define {{ model.name }}_Y_COST - -#ifdef __cplusplus -extern "C" { -#endif - -{% if cost.cost_type == "NONLINEAR_LS" %} -int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_fun_sparsity_in(int); -const int *{{ model.name }}_cost_y_fun_sparsity_out(int); -int {{ model.name }}_cost_y_fun_n_in(void); -int {{ model.name }}_cost_y_fun_n_out(void); - -int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int); -const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int); -int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void); -int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void); - -int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_hess_sparsity_in(int); -const int *{{ model.name }}_cost_y_hess_sparsity_out(int); -int {{ model.name }}_cost_y_hess_n_in(void); -int {{ model.name }}_cost_y_hess_n_out(void); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_Y_COST diff --git a/third_party/acados/acados_template/c_templates_tera/external_cost.in.h b/third_party/acados/acados_template/c_templates_tera/external_cost.in.h deleted file mode 100644 index d200dba45e..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/external_cost.in.h +++ /dev/null @@ -1,74 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_EXT_COST -#define {{ model.name }}_EXT_COST - -#ifdef __cplusplus -extern "C" { -#endif - -{% if cost.cost_ext_fun_type == "casadi" %} -{% if cost.cost_type == "EXTERNAL" %} -int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_fun_n_in(void); -int {{ model.name }}_cost_ext_cost_fun_n_out(void); - -int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void); -int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void); - -int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void); -int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void); -{% endif %} - -{% else %} -int {{ cost.cost_function_ext_cost }}(void **, void **, void *); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_EXT_COST diff --git a/third_party/acados/acados_template/c_templates_tera/external_cost_0.in.h b/third_party/acados/acados_template/c_templates_tera/external_cost_0.in.h deleted file mode 100644 index 8152447e5f..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/external_cost_0.in.h +++ /dev/null @@ -1,75 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_EXT_COST_0 -#define {{ model.name }}_EXT_COST_0 - -#ifdef __cplusplus -extern "C" { -#endif - -{% if cost.cost_ext_fun_type_0 == "casadi" %} - -{% if cost.cost_type_0 == "EXTERNAL" %} -int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_0_fun_n_in(void); -int {{ model.name }}_cost_ext_cost_0_fun_n_out(void); - -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void); -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void); - -int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void); -int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void); -{% endif %} - -{% else %} -int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_EXT_COST_0 diff --git a/third_party/acados/acados_template/c_templates_tera/external_cost_e.in.h b/third_party/acados/acados_template/c_templates_tera/external_cost_e.in.h deleted file mode 100644 index 56485db4c7..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/external_cost_e.in.h +++ /dev/null @@ -1,74 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_EXT_COST_E -#define {{ model.name }}_EXT_COST_E - -#ifdef __cplusplus -extern "C" { -#endif - -{% if cost.cost_ext_fun_type_e == "casadi" %} -{% if cost.cost_type_e == "EXTERNAL" %} -int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_e_fun_n_in(void); -int {{ model.name }}_cost_ext_cost_e_fun_n_out(void); - -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void); -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void); - -int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void); -int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void); -{% endif %} - -{% else %} -int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_EXT_COST_E diff --git a/third_party/acados/acados_template/c_templates_tera/h_constraint.in.h b/third_party/acados/acados_template/c_templates_tera/h_constraint.in.h deleted file mode 100644 index e49176c6ef..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/h_constraint.in.h +++ /dev/null @@ -1,70 +0,0 @@ -/* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef {{ model.name }}_H_CONSTRAINT -#define {{ model.name }}_H_CONSTRAINT - -#ifdef __cplusplus -extern "C" { -#endif - -{% if dims.nh > 0 %} -int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void); - -int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_fun_sparsity_in(int); -const int *{{ model.name }}_constr_h_fun_sparsity_out(int); -int {{ model.name }}_constr_h_fun_n_in(void); -int {{ model.name }}_constr_h_fun_n_out(void); - -{% if solver_options.hessian_approx == "EXACT" -%} -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void); -{% endif %} -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_H_CONSTRAINT diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c index 99c4f13be1..92a8b33eac 100644 --- a/third_party/acados/acados_template/c_templates_tera/main.in.c +++ b/third_party/acados/acados_template/c_templates_tera/main.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -31,6 +28,11 @@ * POSSIBILITY OF SUCH DAMAGE.; */ +{%- if not solver_options.custom_update_filename %} + {%- set custom_update_filename = "" %} +{% else %} + {%- set custom_update_filename = solver_options.custom_update_filename %} +{%- endif %} // standard #include @@ -42,6 +44,9 @@ #include "acados_c/external_function_interface.h" #include "acados_solver_{{ model.name }}.h" +// blasfeo +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" + #define NX {{ model.name | upper }}_NX #define NZ {{ model.name | upper }}_NZ #define NU {{ model.name | upper }}_NU @@ -191,6 +196,11 @@ int main() printf("{{ model.name }}_acados_solve() failed with status %d.\n", status); } + +{%- if custom_update_filename != "" %} + {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1)); +{%- endif %} + // get solution ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c index 743e81d593..8960aa0035 100644 --- a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c +++ b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/acados_template/c_templates_tera/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c similarity index 98% rename from third_party/acados/acados_template/c_templates_tera/acados_mex_create.in.c rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c index e67a51567a..24ae94ac2c 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_mex_create.in.c +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/acados_template/c_templates_tera/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c similarity index 88% rename from third_party/acados/acados_template/c_templates_tera/acados_mex_free.in.c rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c index 560adb0b98..bd457969b2 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_mex_free.in.c +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/acados_template/c_templates_tera/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c similarity index 76% rename from third_party/acados/acados_template/c_templates_tera/acados_mex_set.in.c rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c index f8e1e5e445..78a308df49 100644 --- a/third_party/acados/acados_template/c_templates_tera/acados_mex_set.in.c +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -59,9 +56,6 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) /* RHS */ int min_nrhs = 6; - char *ext_fun_type = mxArrayToString( prhs[0] ); - char *ext_fun_type_e = mxArrayToString( prhs[1] ); - // C ocp const mxArray *C_ocp = prhs[2]; // capsule @@ -378,45 +372,63 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) // } // } // initializations - else if (!strcmp(field, "init_x")) + else if (!strcmp(field, "init_x") || !strcmp(field, "x")) { - if (nrhs!=min_nrhs) - MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) - - acados_size = (N+1) * nx; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; ii<=N; ii++) + if (nrhs == min_nrhs) { - ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx); + acados_size = (N+1) * nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + for (int ii=0; ii<=N; ii++) + { + ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx); + } + } + else // (nrhs == min_nrhs + 1) + { + acados_size = nx; + MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); + ocp_nlp_out_set(config, dims, out, s0, "x", value); } } - else if (!strcmp(field, "init_u")) + else if (!strcmp(field, "init_u") || !strcmp(field, "u")) { - if (nrhs!=min_nrhs) - MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) - - acados_size = N*nu; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; iisim_solver_plan[0]; sim_solver_t type = sim_plan.sim_solver; if (type == IRK) { int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z"); - if (nrhs!=min_nrhs) - MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) - - acados_size = N*nz; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; iisim_solver_plan[0]; sim_solver_t type = sim_plan.sim_solver; if (type == IRK) { int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x"); - if (nrhs!=min_nrhs) - MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) - - acados_size = N*nx; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; iisim_solver_plan[0]; sim_solver_t type = sim_plan.sim_solver; @@ -454,14 +472,20 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi"); - if (nrhs!=min_nrhs) - MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field) - - acados_size = N*nout; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; ii 0 and simulink_opts.inputs.uh -%} {#- uh #} {%- set n_inputs = n_inputs + 1 -%} {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} + {%- set n_inputs = n_inputs + 1 -%} + {%- endif -%} {%- for key, val in simulink_opts.inputs -%} {%- if val != 0 and val != 1 -%} @@ -177,7 +182,7 @@ static void mdlInitializeSizes (SimStruct *S) {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} {%- set i_input = i_input + 1 %} // parameters - ssSetInputPortVectorDimension(S, {{ i_input }}, ({{ dims.N }}+1) * {{ dims.np }}); + ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }}); {%- endif %} {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %} @@ -235,23 +240,34 @@ static void mdlInitializeSizes (SimStruct *S) {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} {%- set i_input = i_input + 1 %} // lg - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }}); + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }}); {%- endif -%} {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} {%- set i_input = i_input + 1 %} // ug - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }}); + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }}); {%- endif -%} {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} {%- set i_input = i_input + 1 %} // lh - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }}); + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }}); {%- endif -%} {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} {%- set i_input = i_input + 1 %} // uh - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }}); + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }}); + {%- endif -%} + + {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} + {%- set i_input = i_input + 1 %} + // lh_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }}); + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} + {%- set i_input = i_input + 1 %} + // uh_e + ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }}); {%- endif -%} {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} @@ -312,11 +328,21 @@ static void mdlInitializeSizes (SimStruct *S) ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); {%- endif %} + {%- if simulink_opts.outputs.cost_value == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); + {%- endif %} + {%- if simulink_opts.outputs.KKT_residual == 1 %} {%- set i_output = i_output + 1 %} ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); {%- endif %} + {%- if simulink_opts.outputs.KKT_residuals == 1 %} + {%- set i_output = i_output + 1 %} + ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 ); + {%- endif %} + {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} {%- set i_output = i_output + 1 %} ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1 @@ -404,7 +430,9 @@ static void mdlOutputs(SimStruct *S, int_T tid) InputRealPtrsType in_sign; - {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbu, dims.ng, dims.nh, dims.nx] -%} + int N = {{ model.name | upper }}_N; + + {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%} {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} {# y_ref_0 #} {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %} @@ -457,7 +485,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); // update value of parameters - for (int ii = 0; ii <= {{ dims.N }}; ii++) + for (int ii = 0; ii <= N; ii++) { for (int jj = 0; jj < {{ dims.np }}; jj++) buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]); @@ -481,7 +509,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 1; ii < {{ dims.N }}; ii++) + for (int ii = 1; ii < N; ii++) { for (int jj = 0; jj < {{ dims.ny }}; jj++) buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]); @@ -497,14 +525,14 @@ static void mdlOutputs(SimStruct *S, int_T tid) for (int i = 0; i < {{ dims.ny_e }}; i++) buffer[i] = (double)(*in_sign[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "yref", (void *) buffer); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer); {%- endif %} {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} // lbx {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 1; ii < {{ dims.N }}; ii++) + for (int ii = 1; ii < N; ii++) { for (int jj = 0; jj < {{ dims.nbx }}; jj++) buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); @@ -515,7 +543,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) // ubx {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 1; ii < {{ dims.N }}; ii++) + for (int ii = 1; ii < N; ii++) { for (int jj = 0; jj < {{ dims.nbx }}; jj++) buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); @@ -531,7 +559,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) for (int i = 0; i < {{ dims.nbx_e }}; i++) buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "lbx", buffer); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer); {%- endif %} {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} // ubx_e @@ -540,7 +568,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) for (int i = 0; i < {{ dims.nbx_e }}; i++) buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "ubx", buffer); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer); {%- endif %} @@ -548,7 +576,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) // lbu {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < {{ dims.N }}; ii++) + for (int ii = 0; ii < N; ii++) { for (int jj = 0; jj < {{ dims.nbu }}; jj++) buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); @@ -559,7 +587,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) // ubu {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < {{ dims.N }}; ii++) + for (int ii = 0; ii < N; ii++) { for (int jj = 0; jj < {{ dims.nbu }}; jj++) buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); @@ -572,44 +600,67 @@ static void mdlOutputs(SimStruct *S, int_T tid) {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.ng }}; i++) - buffer[i] = (double)(*in_sign[i]); - - for (int ii = 0; ii < {{ dims.N }}; ii++) - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", buffer); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.ng }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer); + } {%- endif -%} {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} // ug {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.ng }}; i++) - buffer[i] = (double)(*in_sign[i]); - - for (int ii = 0; ii < {{ dims.N }}; ii++) - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", buffer); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.ng }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer); + } {%- endif -%} + {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} // lh {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nh }}; i++) - buffer[i] = (double)(*in_sign[i]); - - for (int ii = 0; ii < {{ dims.N }}; ii++) - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nh }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer); + } {%- endif -%} {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} // uh {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nh }}; i++) - buffer[i] = (double)(*in_sign[i]); + for (int ii = 0; ii < N; ii++) + { + for (int jj = 0; jj < {{ dims.nh }}; jj++) + buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer); + } + {%- endif -%} - for (int ii = 0; ii < {{ dims.N }}; ii++) - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer); + + {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} + // lh_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nh_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer); + {%- endif -%} + {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} + // uh_e + {%- set i_input = i_input + 1 %} + in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); + for (int i = 0; i < {{ dims.nh_e }}; i++) + buffer[i] = (double)(*in_sign[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer); {%- endif -%} {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} @@ -629,7 +680,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) for (int i = 0; i < {{ dims.ny * dims.ny }}; i++) buffer[i] = (double)(*in_sign[i]); - for (int ii = 1; ii < {{ dims.N }}; ii++) + for (int ii = 1; ii < N; ii++) ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer); {%- endif %} @@ -640,7 +691,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++) buffer[i] = (double)(*in_sign[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "W", buffer); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer); {%- endif %} {%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} @@ -650,7 +701,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) double reset = (double)(*in_sign[0]); if (reset) { - {{ model.name }}_acados_reset(capsule); + {{ model.name }}_acados_reset(capsule, 1); } {%- endif %} @@ -670,7 +721,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) // u_init {%- set i_input = i_input + 1 %} in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < {{ dims.N }}; ii++) + for (int ii = 0; ii < N; ii++) { for (int jj = 0; jj < {{ dims.nu }}; jj++) buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]); @@ -686,7 +737,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) /* set outputs */ // assign pointers to output signals - real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin; + real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value; int tmp_int; {%- set i_output = -1 -%}{# note here i_output is 0-based #} @@ -699,7 +750,7 @@ static void mdlOutputs(SimStruct *S, int_T tid) {%- if simulink_opts.outputs.utraj == 1 %} {%- set i_output = i_output + 1 %} out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }}); - for (int ii = 0; ii < {{ dims.N }}; ii++) + for (int ii = 0; ii < N; ii++) ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) (out_utraj + ii * {{ dims.nu }})); {%- endif %} @@ -719,12 +770,32 @@ static void mdlOutputs(SimStruct *S, int_T tid) *out_status = (real_t) acados_status; {%- endif %} + {%- if simulink_opts.outputs.cost_value == 1 %} + {%- set i_output = i_output + 1 %} + out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }}); + ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value); + {%- endif %} + {%- if simulink_opts.outputs.KKT_residual == 1 %} {%- set i_output = i_output + 1 %} out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }}); *out_KKT_res = (real_t) nlp_out->inf_norm_res; {%- endif %} + {%- if simulink_opts.outputs.KKT_residuals == 1 %} + {%- set i_output = i_output + 1 %} + out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }}); + + {%- if solver_options.nlp_solver_type == "SQP_RTI" %} + ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out); + {%- endif %} + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]); + ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]); + {%- endif %} + {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} {%- set i_output = i_output + 1 %} out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }}); diff --git a/third_party/acados/acados_template/c_templates_tera/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c similarity index 95% rename from third_party/acados/acados_template/c_templates_tera/main_mex.in.c rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c index 8da5db29a0..851a3cc04f 100644 --- a/third_party/acados/acados_template/c_templates_tera/main_mex.in.c +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/acados_template/c_templates_tera/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m similarity index 93% rename from third_party/acados/acados_template/c_templates_tera/make_main_mex.in.m rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m index 9188686a0d..d217948456 100644 --- a/third_party/acados/acados_template/c_templates_tera/make_main_mex.in.m +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m @@ -1,8 +1,5 @@ % -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% Copyright (c) The acados authors. % % This file is part of acados. % @@ -29,6 +26,7 @@ % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE % POSSIBILITY OF SUCH DAMAGE.; + % function make_main_mex_{{ model.name }}() diff --git a/third_party/acados/acados_template/c_templates_tera/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m similarity index 81% rename from third_party/acados/acados_template/c_templates_tera/make_mex.in.m rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m index cde30f6f41..5e35827137 100644 --- a/third_party/acados/acados_template/c_templates_tera/make_mex.in.m +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m @@ -1,8 +1,5 @@ % -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% Copyright (c) The acados authors. % % This file is part of acados. % @@ -29,6 +26,7 @@ % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE % POSSIBILITY OF SUCH DAMAGE.; + % function make_mex_{{ model.name }}() @@ -48,6 +46,23 @@ function make_mex_{{ model.name }}() blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; + % load linking information of compiled acados + link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json'); + addpath(fullfile(acados_folder, 'external', 'jsonlab')); + link_libs = loadjson(link_libs_core_filename); + + % add necessary link instructs + acados_lib_extra = {}; + lib_names = fieldnames(link_libs); + for idx = 1 : numel(lib_names) + lib_name = lib_names{idx}; + link_arg = link_libs.(lib_name); + if ~isempty(link_arg) + acados_lib_extra = [acados_lib_extra, link_arg]; + end + end + + mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')]; mex_names = { ... @@ -94,7 +109,8 @@ function make_mex_{{ model.name }}() if is_octave() % mkoctfile -p CFLAGS mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... - acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',... + acados_lib_extra{:}, mex_files{ii}) else if ismac() FLAGS = 'CFLAGS=$CFLAGS -std=c99'; @@ -102,7 +118,8 @@ function make_mex_{{ model.name }}() FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; end mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... - acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) + template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',... + acados_lib_extra{:}, mex_files{ii}) end end diff --git a/third_party/acados/acados_template/c_templates_tera/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m similarity index 74% rename from third_party/acados/acados_template/c_templates_tera/make_sfun.in.m rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m index 77603a78fa..5d74c523f8 100644 --- a/third_party/acados/acados_template/c_templates_tera/make_sfun.in.m +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m @@ -1,8 +1,5 @@ % -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% Copyright (c) The acados authors. % % This file is part of acados. % @@ -29,6 +26,7 @@ % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE % POSSIBILITY OF SUCH DAMAGE.; + % SOURCES = { ... @@ -133,6 +131,9 @@ COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ]; {%- elif solver_options.qp_solver is containing("QPDUNES") %} CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ]; COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ]; +{%- elif solver_options.qp_solver is containing("DAQP") %} +CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ]; +COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ]; {%- elif solver_options.qp_solver is containing("HPMPC") %} CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ]; COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ]; @@ -153,129 +154,176 @@ LIBS{end+1} = '{{ acados_link_libs.osqp }}'; {% if solver_options.qp_solver is containing("QPOASES") %} LIBS{end+1} = '-lqpOASES_e'; {% endif %} + {% if solver_options.qp_solver is containing("DAQP") %} +LIBS{end+1} = '-ldaqp'; + {% endif %} {%- endif %} -mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... - LIB_PATH, LIBS{:}, SOURCES{:}, ... - '-output', 'acados_solver_sfunction_{{ model.name }}' ); + +try + % mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... + LIB_PATH, LIBS{:}, SOURCES{:}, ... + '-output', 'acados_solver_sfunction_{{ model.name }}' ); +catch exception + disp('make_sfun failed with the following exception:') + disp(exception); + disp('Try adding -v to the mex command above to get more information.') + keyboard +end fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ... eval('mexext')] ); -%% print note on usage of s-function +%% print note on usage of s-function, and create I/O port names vectors fprintf('\n\nNote: Usage of Sfunction is as follows:\n') input_note = 'Inputs are:\n'; i_in = 1; +global sfun_input_names +sfun_input_names = {}; {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... ' size [{{ dims.nbx_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... ' size [{{ dims.nbx_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} -input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',... +input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',... ' size [{{ (dims.N+1)*dims.np }}]\n '); +sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... ' size [{{ (dims.N-1) * dims.ny }}]\n '); +sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n '); +sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); +sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); +sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n '); +sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n '); +sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); +sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]']; i_in = i_in + 1; {%- endif -%} {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); +sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]']; i_in = i_in + 1; {%- endif -%} {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} -input_note = strcat(input_note, num2str(i_in), ') lg, size [{{ dims.ng }}]\n '); +input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n '); +sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} -input_note = strcat(input_note, num2str(i_in), ') ug, size [{{ dims.ng }}]\n '); +input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n '); +sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} -input_note = strcat(input_note, num2str(i_in), ') lh, size [{{ dims.nh }}]\n '); +input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n '); +sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} -input_note = strcat(input_note, num2str(i_in), ') uh, size [{{ dims.nh }}]\n '); +input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n '); +sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]']; +i_in = i_in + 1; +{%- endif %} + +{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} +input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n '); +sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]']; +i_in = i_in + 1; +{%- endif %} +{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} +input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n '); +sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n '); +sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n '); +sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]']; i_in = i_in + 1; {%- endif %} {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n '); +sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]']; i_in = i_in + 1; {%- endif %} {%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n '); +sfun_input_names = [sfun_input_names; 'reset_solver [1]']; i_in = i_in + 1; {%- endif %} {%- if simulink_opts.inputs.x_init %} {#- x_init #} input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n '); +sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]']; i_in = i_in + 1; {%- endif %} {%- if simulink_opts.inputs.u_init %} {#- u_init #} input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n '); +sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]']; i_in = i_in + 1; {%- endif %} @@ -286,59 +334,99 @@ disp(' ') output_note = 'Outputs are:\n'; i_out = 0; +global sfun_output_names +sfun_output_names = {}; + {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n '); +sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]']; {%- endif %} {%- if simulink_opts.outputs.utraj == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n '); +sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]']; {%- endif %} {%- if simulink_opts.outputs.xtraj == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n '); +sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]']; {%- endif %} {%- if simulink_opts.outputs.solver_status == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); +sfun_output_names = [sfun_output_names; 'solver_status']; {%- endif %} +{%- if simulink_opts.outputs.cost_value == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') cost function value\n '); +sfun_output_names = [sfun_output_names; 'cost_value']; +{%- endif %} + + {%- if simulink_opts.outputs.KKT_residual == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); +sfun_output_names = [sfun_output_names; 'KKT_residual']; +{%- endif %} + +{%- if simulink_opts.outputs.KKT_residuals == 1 %} +i_out = i_out + 1; +output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n '); +sfun_output_names = [sfun_output_names; 'KKT_residuals [4]']; {%- endif %} {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); +sfun_output_names = [sfun_output_names; 'x1']; {%- endif %} {%- if simulink_opts.outputs.CPU_time == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); +sfun_output_names = [sfun_output_names; 'CPU_time']; {%- endif %} {%- if simulink_opts.outputs.CPU_time_sim == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n '); +sfun_output_names = [sfun_output_names; 'CPU_time_sim']; {%- endif %} {%- if simulink_opts.outputs.CPU_time_qp == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n '); +sfun_output_names = [sfun_output_names; 'CPU_time_qp']; {%- endif %} {%- if simulink_opts.outputs.CPU_time_lin == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n '); +sfun_output_names = [sfun_output_names; 'CPU_time_lin']; {%- endif %} {%- if simulink_opts.outputs.sqp_iter == 1 %} i_out = i_out + 1; output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); +sfun_output_names = [sfun_output_names; 'sqp_iter']; {%- endif %} fprintf(output_note) + +% The mask drawing command is: +% --- +% global sfun_input_names sfun_output_names +% for i = 1:length(sfun_input_names) +% port_label('input', i, sfun_input_names{i}) +% end +% for i = 1:length(sfun_output_names) +% port_label('output', i, sfun_output_names{i}) +% end +% --- +% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands +% (you can access it wirth ctrl+M on the s-function) \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m similarity index 70% rename from third_party/acados/acados_template/c_templates_tera/make_sfun_sim.in.m rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m index a0c503e41a..e4c32a8c19 100644 --- a/third_party/acados/acados_template/c_templates_tera/make_sfun_sim.in.m +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m @@ -1,8 +1,5 @@ % -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% Copyright (c) The acados authors. % % This file is part of acados. % @@ -29,17 +26,19 @@ % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE % POSSIBILITY OF SUCH DAMAGE.; + % SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ... 'acados_sim_solver_{{ model.name }}.c ', ... {%- if solver_options.integrator_type == 'ERK' %} - '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ', ... + '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',... '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',... + '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',... {%- if solver_options.hessian_approx == 'EXACT' %} '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',... {%- endif %} - {%- elif solver_options.integrator_type == "IRK" %} + {%- elif solver_options.integrator_type == "IRK" %} '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ... '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ... '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ... @@ -47,15 +46,15 @@ SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ... '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',... {%- endif %} {%- elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ' - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ' - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ' - {% if model.gnsf.nontrivial_f_LO == 1 %} - '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ' + {%- if model.gnsf.purely_linear != 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',... + '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',... + {%- if model.gnsf.nontrivial_f_LO == 1 %} + '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',... {%- endif %} {%- endif %} - '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ' + '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',... {%- endif %} ]; @@ -71,25 +70,42 @@ LIB_PATH = '{{ acados_lib_path }}'; LIBS = '-lacados -lblasfeo -lhpipm'; -eval( [ 'mex -v -output acados_sim_solver_sfunction_{{ model.name }} ', ... - CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]); +try + % eval( [ 'mex -v -output acados_sim_solver_sfunction_{{ model.name }} ', ... + eval( [ 'mex -output acados_sim_solver_sfunction_{{ model.name }} ', ... + CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]); + +catch exception + disp('make_sfun failed with the following exception:') + disp(exception); + disp('Try adding -v to the mex command above to get more information.') + keyboard +end + fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ... eval('mexext')] ); +global sfun_sim_input_names +sfun_sim_input_names = {}; + %% print note on usage of s-function fprintf('\n\nNote: Usage of Sfunction is as follows:\n') input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n '; i_in = 2; +sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]']; + {%- if dims.nu > 0 %} input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n '); i_in = i_in + 1; +sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]']; {%- endif %} {%- if dims.np > 0 %} input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n '); i_in = i_in + 1; +sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]']; {%- endif %} @@ -97,7 +113,25 @@ fprintf(input_note) disp(' ') +global sfun_sim_output_names +sfun_sim_output_names = {}; + output_note = strcat('Outputs are:\n', ... '1) x1 - simulated state, size [{{ dims.nx }}]\n'); +sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]']; fprintf(output_note) + + +% The mask drawing command is: +% --- +% global sfun_sim_input_names sfun_sim_output_names +% for i = 1:length(sfun_sim_input_names) +% port_label('input', i, sfun_sim_input_names{i}) +% end +% for i = 1:length(sfun_sim_output_names) +% port_label('output', i, sfun_sim_output_names{i}) +% end +% --- +% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands +% (you can access it wirth ctrl+M on the s-function) \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m similarity index 61% rename from third_party/acados/acados_template/c_templates_tera/mex_solver.in.m rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m index 278e0a605c..3743212830 100644 --- a/third_party/acados/acados_template/c_templates_tera/mex_solver.in.m +++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m @@ -1,8 +1,5 @@ % -% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +% Copyright (c) The acados authors. % % This file is part of acados. % @@ -29,6 +26,7 @@ % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE % POSSIBILITY OF SUCH DAMAGE.; + % classdef {{ model.name }}_mex_solver < handle @@ -38,6 +36,9 @@ classdef {{ model.name }}_mex_solver < handle C_ocp_ext_fun cost_ext_fun_type cost_ext_fun_type_e + N + name + code_gen_dir end % properties @@ -52,13 +53,21 @@ classdef {{ model.name }}_mex_solver < handle addpath('.') obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}'; obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}'; + obj.N = {{ dims.N }}; + obj.name = '{{ model.name }}'; + obj.code_gen_dir = pwd(); end % destructor function delete(obj) + disp("delete template..."); + return_dir = pwd(); + cd(obj.code_gen_dir); if ~isempty(obj.C_ocp) acados_mex_free_{{ model.name }}(obj.C_ocp); end + cd(return_dir); + disp("done."); end % solve @@ -112,6 +121,101 @@ classdef {{ model.name }}_mex_solver < handle end + function [] = store_iterate(varargin) + %%% Stores the current iterate of the ocp solver in a json file. + %%% param1: filename: if not set, use model_name + timestamp + '.json' + %%% param2: overwrite: if false and filename exists add timestamp to filename + + obj = varargin{1}; + filename = ''; + overwrite = false; + + if nargin>=2 + filename = varargin{2}; + if ~isa(filename, 'char') + error('filename must be a char vector, use '' '''); + end + end + + if nargin==3 + overwrite = varargin{3}; + end + + if nargin > 3 + disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)'); + end + + if strcmp(filename,'') + filename = [obj.name '_iterate.json']; + end + if ~overwrite + % append timestamp + if exist(filename, 'file') + filename = filename(1:end-5); + filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json']; + end + end + filename = fullfile(pwd, filename); + + % get iterate: + solution = struct(); + for i=0:obj.N + solution.(['x_' num2str(i)]) = obj.get('x', i); + solution.(['lam_' num2str(i)]) = obj.get('lam', i); + solution.(['t_' num2str(i)]) = obj.get('t', i); + solution.(['sl_' num2str(i)]) = obj.get('sl', i); + solution.(['su_' num2str(i)]) = obj.get('su', i); + end + for i=0:obj.N-1 + solution.(['z_' num2str(i)]) = obj.get('z', i); + solution.(['u_' num2str(i)]) = obj.get('u', i); + solution.(['pi_' num2str(i)]) = obj.get('pi', i); + end + + acados_folder = getenv('ACADOS_INSTALL_DIR'); + addpath(fullfile(acados_folder, 'external', 'jsonlab')); + savejson('', solution, filename); + + json_string = savejson('', solution, 'ForceRootName', 0); + + fid = fopen(filename, 'w'); + if fid == -1, error('store_iterate: Cannot create JSON file'); end + fwrite(fid, json_string, 'char'); + fclose(fid); + + disp(['stored current iterate in ' filename]); + end + + + function [] = load_iterate(obj, filename) + %%% Loads the iterate stored in json file with filename into the ocp solver. + acados_folder = getenv('ACADOS_INSTALL_DIR'); + addpath(fullfile(acados_folder, 'external', 'jsonlab')); + filename = fullfile(pwd, filename); + + if ~exist(filename, 'file') + error(['load_iterate: failed, file does not exist: ' filename]) + end + + solution = loadjson(filename); + keys = fieldnames(solution); + + for k = 1:numel(keys) + key = keys{k}; + key_parts = strsplit(key, '_'); + field = key_parts{1}; + stage = key_parts{2}; + + val = solution.(key); + + % check if array is empty (can happen for z) + if numel(val) > 0 + obj.set(field, val, str2num(stage)) + end + end + end + + % print function print(varargin) if nargin < 2 diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h index 918e2bc29e..e5059df9ff 100644 --- a/third_party/acados/acados_template/c_templates_tera/model.in.h +++ b/third_party/acados/acados_template/c_templates_tera/model.in.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -47,7 +44,8 @@ extern "C" { {%- endif %} {% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %} -// implicit ODE + {% if model.dyn_ext_fun_type == "casadi" %} +// implicit ODE: function int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *); const int *{{ model.name }}_impl_dae_fun_sparsity_in(int); @@ -55,7 +53,7 @@ const int *{{ model.name }}_impl_dae_fun_sparsity_out(int); int {{ model.name }}_impl_dae_fun_n_in(void); int {{ model.name }}_impl_dae_fun_n_out(void); -// implicit ODE +// implicit ODE: function + jacobians int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *); const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int); @@ -63,7 +61,7 @@ const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int); int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void); int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void); -// implicit ODE +// implicit ODE: jacobians only int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *); const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int); @@ -79,14 +77,23 @@ const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int); int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void); int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void); -{%- if hessian_approx == "EXACT" %} + {%- if hessian_approx == "EXACT" %} +// implicit ODE - hessian int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *); const int *{{ model.name }}_impl_dae_hess_sparsity_in(int); const int *{{ model.name }}_impl_dae_hess_sparsity_out(int); int {{ model.name }}_impl_dae_hess_n_in(void); int {{ model.name }}_impl_dae_hess_n_out(void); -{%- endif %} + {% endif %} + {% else %}{# ext_fun_type #} + {%- if hessian_approx == "EXACT" %} +int {{ model.dyn_impl_dae_hess }}(void **, void **, void *); + {% endif %} +int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *); +int {{ model.dyn_impl_dae_jac }}(void **, void **, void *); +int {{ model.dyn_impl_dae_fun }}(void **, void **, void *); + {% endif %}{# ext_fun_type #} {% elif solver_options.integrator_type == "GNSF" %} /* GNSF Functions */ diff --git a/third_party/acados/acados_template/c_templates_tera/phi_e_constraint.in.h b/third_party/acados/acados_template/c_templates_tera/phi_e_constraint.in.h deleted file mode 100644 index dc8e293ad7..0000000000 --- a/third_party/acados/acados_template/c_templates_tera/phi_e_constraint.in.h +++ /dev/null @@ -1,21 +0,0 @@ -#ifndef {{ model.name }}_PHI_E_CONSTRAINT -#define {{ model.name }}_PHI_E_CONSTRAINT - -#ifdef __cplusplus -extern "C" { -#endif - -{% if dims.nphi_e > 0 %} -int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *); -const int *{{ model.name }}_phi_e_constraint_sparsity_in(int); -const int *{{ model.name }}_phi_e_constraint_sparsity_out(int); -int {{ model.name }}_phi_e_constraint_n_in(void); -int {{ model.name }}_phi_e_constraint_n_out(void); -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_PHI_E_CONSTRAINT diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py new file mode 100644 index 0000000000..6373a2809d --- /dev/null +++ b/third_party/acados/acados_template/casadi_function_generation.py @@ -0,0 +1,708 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +import os +import casadi as ca +from .utils import is_empty, casadi_length + + +def get_casadi_symbol(x): + if isinstance(x, ca.MX): + return ca.MX.sym + elif isinstance(x, ca.SX): + return ca.SX.sym + else: + raise TypeError("Expected casadi SX or MX.") + +################ +# Dynamics +################ + + +def generate_c_code_discrete_dynamics( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + # load model + x = model.x + u = model.u + p = model.p + phi = model.disc_dyn_expr + model_name = model.name + nx = casadi_length(x) + + symbol = get_casadi_symbol(x) + # assume nx1 = nx !!! + lam = symbol('lam', nx, 1) + + # generate jacobians + ux = ca.vertcat(u,x) + jac_ux = ca.jacobian(phi, ux) + # generate adjoint + adj_ux = ca.jtimes(phi, ux, lam, True) + # generate hessian + hess_ux = ca.jacobian(adj_ux, ux) + + # change directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # set up & generate ca.Functions + fun_name = model_name + '_dyn_disc_phi_fun' + phi_fun = ca.Function(fun_name, [x, u, p], [phi]) + phi_fun.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_dyn_disc_phi_fun_jac' + phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T]) + phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_dyn_disc_phi_fun_jac_hess' + phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux]) + phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts) + + os.chdir(cwd) + return + + + +def generate_c_code_explicit_ode( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + generate_hess = opts["generate_hess"] + + # load model + x = model.x + u = model.u + p = model.p + f_expl = model.f_expl_expr + model_name = model.name + + ## get model dimensions + nx = x.size()[0] + nu = u.size()[0] + + symbol = get_casadi_symbol(x) + + ## set up functions to be exported + Sx = symbol('Sx', nx, nx) + Sp = symbol('Sp', nx, nu) + lambdaX = symbol('lambdaX', nx, 1) + + fun_name = model_name + '_expl_ode_fun' + + ## Set up functions + expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl]) + + vdeX = ca.jtimes(f_expl,x,Sx) + vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp) + + fun_name = model_name + '_expl_vde_forw' + + expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP]) + + adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True) + + fun_name = model_name + '_expl_vde_adj' + expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj]) + + if generate_hess: + S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu))) + hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw)) + hess2 = [] + for j in range(nx+nu): + for i in range(j,nx+nu): + hess2 = ca.vertcat(hess2, hess[i,j]) + + fun_name = model_name + '_expl_ode_hess' + expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2]) + + # change directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # generate C code + fun_name = model_name + '_expl_ode_fun' + expl_ode_fun.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_expl_vde_forw' + expl_vde_forw.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_expl_vde_adj' + expl_vde_adj.generate(fun_name, casadi_codegen_opts) + + if generate_hess: + fun_name = model_name + '_expl_ode_hess' + expl_ode_hess.generate(fun_name, casadi_codegen_opts) + os.chdir(cwd) + + return + + +def generate_c_code_implicit_ode( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + # load model + x = model.x + xdot = model.xdot + u = model.u + z = model.z + p = model.p + f_impl = model.f_impl_expr + model_name = model.name + + # get model dimensions + nx = casadi_length(x) + nz = casadi_length(z) + + # generate jacobians + jac_x = ca.jacobian(f_impl, x) + jac_xdot = ca.jacobian(f_impl, xdot) + jac_u = ca.jacobian(f_impl, u) + jac_z = ca.jacobian(f_impl, z) + + # Set up functions + p = model.p + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' + impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z]) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' + impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u]) + + fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' + impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z]) + + if opts["generate_hess"]: + x_xdot_z_u = ca.vertcat(x, xdot, z, u) + symbol = get_casadi_symbol(x) + multiplier = symbol('multiplier', nx + nz) + ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True) + HESS = ca.jacobian(ADJ, x_xdot_z_u) + fun_name = model_name + '_impl_dae_hess' + impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS]) + + # change directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # generate C code + fun_name = model_name + '_impl_dae_fun' + impl_dae_fun.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' + impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' + impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' + impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' + impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts) + + if opts["generate_hess"]: + fun_name = model_name + '_impl_dae_hess' + impl_dae_hess.generate(fun_name, casadi_codegen_opts) + + os.chdir(cwd) + return + + +def generate_c_code_gnsf( model, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + model_name = model.name + + # set up directory + cwd = os.getcwd() + model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model')) + if not os.path.exists(model_dir): + os.makedirs(model_dir) + os.chdir(model_dir) + + # obtain gnsf dimensions + get_matrices_fun = model.get_matrices_fun + phi_fun = model.phi_fun + + size_gnsf_A = get_matrices_fun.size_out(0) + gnsf_nx1 = size_gnsf_A[1] + gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + gnsf_nuhat = max(phi_fun.size_in(1)) + gnsf_ny = max(phi_fun.size_in(0)) + gnsf_nout = max(phi_fun.size_out(0)) + + # set up expressions + # if the model uses ca.MX because of cost/constraints + # the DAE can be exported as ca.SX -> detect GNSF in Matlab + # -> evaluated ca.SX GNSF functions with ca.MX. + u = model.u + symbol = get_casadi_symbol(u) + + y = symbol("y", gnsf_ny, 1) + uhat = symbol("uhat", gnsf_nuhat, 1) + p = model.p + x1 = symbol("gnsf_x1", gnsf_nx1, 1) + x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1) + z1 = symbol("gnsf_z1", gnsf_nz1, 1) + dummy = symbol("gnsf_dummy", 1, 1) + empty_var = symbol("gnsf_empty_var", 0, 0) + + ## generate C code + fun_name = model_name + '_gnsf_phi_fun' + phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)]) + phi_fun_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_phi_fun_jac_y' + phi_fun_jac_y = model.phi_fun_jac_y + phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p)) + phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_phi_jac_y_uhat' + phi_jac_y_uhat = model.phi_jac_y_uhat + phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p)) + phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz' + f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz + f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p) + + # avoid codegeneration issue + if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval): + f_lo_fun_jac_x1k1uz_eval = [empty_var] + + f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p], + f_lo_fun_jac_x1k1uz_eval) + f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts) + + fun_name = model_name + '_gnsf_get_matrices_fun' + get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1)) + get_matrices_fun_.generate(fun_name, casadi_codegen_opts) + + # remove fields for json dump + del model.phi_fun + del model.phi_fun_jac_y + del model.phi_jac_y_uhat + del model.f_lo_fun_jac_x1k1uz + del model.get_matrices_fun + + os.chdir(cwd) + + return + + +################ +# Cost +################ + +def generate_c_code_external_cost(model, stage_type, opts): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + x = model.x + p = model.p + u = model.u + z = model.z + symbol = get_casadi_symbol(x) + + if stage_type == 'terminal': + suffix_name = "_cost_ext_cost_e_fun" + suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_e_fun_jac" + ext_cost = model.cost_expr_ext_cost_e + custom_hess = model.cost_expr_ext_cost_custom_hess_e + # Last stage cannot depend on u and z + u = symbol("u", 0, 0) + z = symbol("z", 0, 0) + + elif stage_type == 'path': + suffix_name = "_cost_ext_cost_fun" + suffix_name_hess = "_cost_ext_cost_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_fun_jac" + ext_cost = model.cost_expr_ext_cost + custom_hess = model.cost_expr_ext_cost_custom_hess + + elif stage_type == 'initial': + suffix_name = "_cost_ext_cost_0_fun" + suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess" + suffix_name_jac = "_cost_ext_cost_0_fun_jac" + ext_cost = model.cost_expr_ext_cost_0 + custom_hess = model.cost_expr_ext_cost_custom_hess_0 + + nunx = x.shape[0] + u.shape[0] + + # set up functions to be exported + fun_name = model.name + suffix_name + fun_name_hess = model.name + suffix_name_hess + fun_name_jac = model.name + suffix_name_jac + + # generate expression for full gradient and Hessian + hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z)) + + hess_ux = hess_uxz[:nunx, :nunx] + hess_z = hess_uxz[nunx:, nunx:] + hess_z_ux = hess_uxz[nunx:, :nunx] + + if custom_hess is not None: + hess_ux = custom_hess + + ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost]) + + ext_cost_fun_jac_hess = ca.Function( + fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux] + ) + ext_cost_fun_jac = ca.Function( + fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz] + ) + + # change directory + cwd = os.getcwd() + cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost')) + if not os.path.exists(cost_dir): + os.makedirs(cost_dir) + os.chdir(cost_dir) + + ext_cost_fun.generate(fun_name, casadi_codegen_opts) + ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts) + ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts) + + os.chdir(cwd) + return + + +def generate_c_code_nls_cost( model, cost_name, stage_type, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + x = model.x + z = model.z + p = model.p + u = model.u + + symbol = get_casadi_symbol(x) + + if stage_type == 'terminal': + middle_name = '_cost_y_e' + u = symbol('u', 0, 0) + y_expr = model.cost_y_expr_e + + elif stage_type == 'initial': + middle_name = '_cost_y_0' + y_expr = model.cost_y_expr_0 + + elif stage_type == 'path': + middle_name = '_cost_y' + y_expr = model.cost_y_expr + + # change directory + cwd = os.getcwd() + cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost')) + if not os.path.exists(cost_dir): + os.makedirs(cost_dir) + os.chdir(cost_dir) + + # set up expressions + cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x))) + dy_dz = ca.jacobian(y_expr, z) + ny = casadi_length(y_expr) + + y = symbol('y', ny, 1) + + y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True) + y_hess = ca.jacobian(y_adj, ca.vertcat(u, x)) + + ## generate C code + suffix_name = '_fun' + fun_name = cost_name + middle_name + suffix_name + y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ]) + y_fun.generate( fun_name, casadi_codegen_opts ) + + suffix_name = '_fun_jac_ut_xt' + fun_name = cost_name + middle_name + suffix_name + y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ]) + y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts ) + + suffix_name = '_hess' + fun_name = cost_name + middle_name + suffix_name + y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ]) + y_hess.generate( fun_name, casadi_codegen_opts ) + + os.chdir(cwd) + + return + + + +def generate_c_code_conl_cost(model, cost_name, stage_type, opts): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + x = model.x + z = model.z + p = model.p + + symbol = get_casadi_symbol(x) + + if stage_type == 'terminal': + u = symbol('u', 0, 0) + + yref = model.cost_r_in_psi_expr_e + inner_expr = model.cost_y_expr_e - yref + outer_expr = model.cost_psi_expr_e + res_expr = model.cost_r_in_psi_expr_e + + suffix_name_fun = '_conl_cost_e_fun' + suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess' + + custom_hess = model.cost_conl_custom_outer_hess_e + + elif stage_type == 'initial': + u = model.u + + yref = model.cost_r_in_psi_expr_0 + inner_expr = model.cost_y_expr_0 - yref + outer_expr = model.cost_psi_expr_0 + res_expr = model.cost_r_in_psi_expr_0 + + suffix_name_fun = '_conl_cost_0_fun' + suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess' + + custom_hess = model.cost_conl_custom_outer_hess_0 + + elif stage_type == 'path': + u = model.u + + yref = model.cost_r_in_psi_expr + inner_expr = model.cost_y_expr - yref + outer_expr = model.cost_psi_expr + res_expr = model.cost_r_in_psi_expr + + suffix_name_fun = '_conl_cost_fun' + suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess' + + custom_hess = model.cost_conl_custom_outer_hess + + # set up function names + fun_name_cost_fun = model.name + suffix_name_fun + fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess + + # set up functions to be exported + outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr]) + cost_expr = outer_loss_fun(inner_expr, p) + + outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T]) + + if custom_hess is None: + outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]]) + else: + outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess]) + + Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T + Jt_z_expr = ca.jacobian(inner_expr, z).T + + cost_fun = ca.Function( + fun_name_cost_fun, + [x, u, z, yref, p], + [cost_expr]) + + cost_fun_jac_hess = ca.Function( + fun_name_cost_fun_jac_hess, + [x, u, z, yref, p], + [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)] + ) + # change directory + cwd = os.getcwd() + cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost')) + if not os.path.exists(cost_dir): + os.makedirs(cost_dir) + os.chdir(cost_dir) + + # generate C code + cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts) + cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts) + + os.chdir(cwd) + + return + + +################ +# Constraints +################ +def generate_c_code_constraint( model, con_name, is_terminal, opts ): + + casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double') + + # load constraint variables and expression + x = model.x + p = model.p + + symbol = get_casadi_symbol(x) + + if is_terminal: + con_h_expr = model.con_h_expr_e + con_phi_expr = model.con_phi_expr_e + # create dummy u, z + u = symbol('u', 0, 0) + z = symbol('z', 0, 0) + else: + con_h_expr = model.con_h_expr + con_phi_expr = model.con_phi_expr + u = model.u + z = model.z + + if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)): + raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.") + + if (is_empty(con_h_expr) and is_empty(con_phi_expr)): + # both empty -> nothing to generate + return + + if is_empty(con_h_expr): + constr_type = 'BGP' + else: + constr_type = 'BGH' + + if is_empty(p): + p = symbol('p', 0, 0) + + if is_empty(z): + z = symbol('z', 0, 0) + + if not (is_empty(con_h_expr)) and opts['generate_hess']: + # multipliers for hessian + nh = casadi_length(con_h_expr) + lam_h = symbol('lam_h', nh, 1) + + # set up & change directory + cwd = os.getcwd() + constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints')) + if not os.path.exists(constraints_dir): + os.makedirs(constraints_dir) + os.chdir(constraints_dir) + + # export casadi functions + if constr_type == 'BGH': + if is_terminal: + fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt' + else: + fun_name = con_name + '_constr_h_fun_jac_uxt_zt' + + jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x))) + jac_z_t = ca.jacobian(con_h_expr, z) + constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \ + [con_h_expr, jac_ux_t, jac_z_t]) + + constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts) + if opts['generate_hess']: + + if is_terminal: + fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess' + else: + fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess' + + # adjoint + adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True) + # hessian + hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x)) + + adj_z = ca.jtimes(con_h_expr, z, lam_h, True) + hess_z = ca.jacobian(adj_z, z) + + # set up functions + constraint_fun_jac_tran_hess = \ + ca.Function(fun_name, [x, u, lam_h, z, p], \ + [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z]) + + # generate C code + constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts) + + if is_terminal: + fun_name = con_name + '_constr_h_e_fun' + else: + fun_name = con_name + '_constr_h_fun' + h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr]) + h_fun.generate(fun_name, casadi_codegen_opts) + + else: # BGP constraint + if is_terminal: + fun_name = con_name + '_phi_e_constraint' + r = model.con_r_in_phi_e + con_r_expr = model.con_r_expr_e + else: + fun_name = con_name + '_phi_constraint' + r = model.con_r_in_phi + con_r_expr = model.con_r_expr + + nphi = casadi_length(con_phi_expr) + con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr) + phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u) + phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x) + phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z) + + hess = ca.hessian(con_phi_expr[0], r)[0] + for i in range(1, nphi): + hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0]) + + r_jac_u = ca.jacobian(con_r_expr, u) + r_jac_x = ca.jacobian(con_r_expr, x) + + constraint_phi = \ + ca.Function(fun_name, [x, u, z, p], \ + [con_phi_expr_x_u_z, \ + ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \ + ca.transpose(phi_jac_z), \ + hess, + ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))]) + + constraint_phi.generate(fun_name, casadi_codegen_opts) + + # change directory back + os.chdir(cwd) + + return + diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c new file mode 100644 index 0000000000..b39ff2e23b --- /dev/null +++ b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c @@ -0,0 +1,819 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// This is a template based custom_update function +#include +#include +#include +#include + +#include "custom_update_function.h" +#include "acados_solver_{{ model.name }}.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados/utils/mem.h" + +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" +#include "blasfeo/include/blasfeo_d_blasfeo_api.h" + + +typedef struct custom_memory +{ + // covariance matrics + struct blasfeo_dmat *uncertainty_matrix_buffer; // shape = (N+1, nx, nx) + // covariance matrix of the additive disturbance + struct blasfeo_dmat W_mat; // shape = (nw, nw) + struct blasfeo_dmat unc_jac_G_mat; // shape = (nx, nw) + struct blasfeo_dmat temp_GW_mat; // shape = (nx, nw) + struct blasfeo_dmat GWG_mat; // shape = (nx, nx) + // sensitivity matrices + struct blasfeo_dmat A_mat; // shape = (nx, nx) + struct blasfeo_dmat B_mat; // shape = (nx, nu) + // matrix in linear constraints + struct blasfeo_dmat Cg_mat; // shape = (ng, nx) + struct blasfeo_dmat Dg_mat; // shape = (ng, nu) + struct blasfeo_dmat Cg_e_mat; // shape = (ng_e, nx) + struct blasfeo_dmat dummy_Dgh_e_mat; // shape = (ngh_e_max, nu) + // matrix in nonlinear constraints + struct blasfeo_dmat Ch_mat; // shape = (nh, nx) + struct blasfeo_dmat Dh_mat; // shape = (nh, nu) + struct blasfeo_dmat Ch_e_mat; // shape = (nh_e, nx) + // feedback gain matrix + struct blasfeo_dmat K_mat; // shape = (nu, nx) + // AK = A - B@K + struct blasfeo_dmat AK_mat; // shape = (nx, nx) + // A@P_k + struct blasfeo_dmat temp_AP_mat; // shape = (nx, nx) + // K@P_k, K@P_k@K^T + struct blasfeo_dmat temp_KP_mat; // shape = (nu, nx) + struct blasfeo_dmat temp_KPK_mat; // shape = (nu, nu) + // C + D @ K, (C + D @ K) @ P_k + struct blasfeo_dmat temp_CaDK_mat; // shape = (ngh_me_max, nx) + struct blasfeo_dmat temp_CaDKmP_mat; // shape = (ngh_me_max, nx) + struct blasfeo_dmat temp_beta_mat; // shape = (ngh_me_max, ngh_me_max) + + double *d_A_mat; // shape = (nx, nx) + double *d_B_mat; // shape = (nx, nu) + double *d_Cg_mat; // shape = (ng, nx) + double *d_Dg_mat; // shape = (ng, nu) + double *d_Cg_e_mat; // shape = (ng_e, nx) + double *d_Cgh_mat; // shape = (ng+nh, nx) + double *d_Dgh_mat; // shape = (ng+nh, nu) + double *d_Cgh_e_mat; // shape = (ng_e+nh_e, nx) + double *d_state_vec; + // upper and lower bounds on state variables + double *d_lbx; // shape = (nbx,) + double *d_ubx; // shape = (nbx,) + double *d_lbx_e; // shape = (nbx_e,) + double *d_ubx_e; // shape = (nbx_e,) + // tightened upper and lower bounds on state variables + double *d_lbx_tightened; // shape = (nbx,) + double *d_ubx_tightened; // shape = (nbx,) + double *d_lbx_e_tightened; // shape = (nbx_e,) + double *d_ubx_e_tightened; // shape = (nbx_e,) + // upper and lower bounds on control inputs + double *d_lbu; // shape = (nbu,) + double *d_ubu; // shape = (nbu,) + // tightened upper and lower bounds on control inputs + double *d_lbu_tightened; // shape = (nbu,) + double *d_ubu_tightened; // shape = (nbu,) + // upper and lower bounds on polytopic constraints + double *d_lg; // shape = (ng,) + double *d_ug; // shape = (ng,) + double *d_lg_e; // shape = (ng_e,) + double *d_ug_e; // shape = (ng_e,) + // tightened lower bounds on polytopic constraints + double *d_lg_tightened; // shape = (ng,) + double *d_ug_tightened; // shape = (ng,) + double *d_lg_e_tightened; // shape = (ng_e,) + double *d_ug_e_tightened; // shape = (ng_e,) + // upper and lower bounds on nonlinear constraints + double *d_lh; // shape = (nh,) + double *d_uh; // shape = (nh,) + double *d_lh_e; // shape = (nh_e,) + double *d_uh_e; // shape = (nh_e,) + // tightened upper and lower bounds on nonlinear constraints + double *d_lh_tightened; // shape = (nh,) + double *d_uh_tightened; // shape = (nh,) + double *d_lh_e_tightened; // shape = (nh_e,) + double *d_uh_e_tightened; // shape = (nh_e,) + + int *idxbx; // shape = (nbx,) + int *idxbu; // shape = (nbu,) + int *idxbx_e; // shape = (nbx_e,) + + void *raw_memory; // Pointer to allocated memory, to be used for freeing +} custom_memory; + +static int int_max(int num1, int num2) +{ + return (num1 > num2 ) ? num1 : num2; +} + + +static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims) +{ + int N = nlp_dims->N; + int nx = {{ dims.nx }}; + int nu = {{ dims.nu }}; + int nw = {{ zoro_description.nw }}; + + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int ngh_e_max = int_max(ng_e, nh_e); + int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh)); + int nbx_e = {{ dims.nbx_e }}; + + assert({{zoro_description.nlbx_t}} <= nbx); + assert({{zoro_description.nubx_t}} <= nbx); + assert({{zoro_description.nlbu_t}} <= nbu); + assert({{zoro_description.nubu_t}} <= nbu); + assert({{zoro_description.nlg_t}} <= ng); + assert({{zoro_description.nug_t}} <= ng); + assert({{zoro_description.nlh_t}} <= nh); + assert({{zoro_description.nuh_t}} <= nh); + assert({{zoro_description.nlbx_e_t}} <= nbx_e); + assert({{zoro_description.nubx_e_t}} <= nbx_e); + assert({{zoro_description.nlg_e_t}} <= ng_e); + assert({{zoro_description.nug_e_t}} <= ng_e); + assert({{zoro_description.nlh_e_t}} <= nh_e); + assert({{zoro_description.nuh_e_t}} <= nh_e); + + acados_size_t size = sizeof(custom_memory); + size += nbx * sizeof(int); + /* blasfeo structs */ + size += (N + 1) * sizeof(struct blasfeo_dmat); + /* blasfeo mem: mat */ + size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer + size += blasfeo_memsize_dmat(nw, nw); // W_mat + size += 2 * blasfeo_memsize_dmat(nx, nw); // unc_jac_G_mat, temp_GW_mat + size += 4 * blasfeo_memsize_dmat(nx, nx); // GWG_mat, A_mat, AK_mat, temp_AP_mat + size += blasfeo_memsize_dmat(nx, nu); // B_mat + size += 2 * blasfeo_memsize_dmat(nu, nx); // K_mat, temp_KP_mat + size += blasfeo_memsize_dmat(nu, nu); // temp_KPK_mat + size += blasfeo_memsize_dmat(ng, nx); // Cg_mat + size += blasfeo_memsize_dmat(ng, nu); // Dg_mat + size += blasfeo_memsize_dmat(ng_e, nx); // Cg_e_mat + size += blasfeo_memsize_dmat(ngh_e_max, nu); // dummy_Dgh_e_mat + size += blasfeo_memsize_dmat(nh, nx); // Ch_mat + size += blasfeo_memsize_dmat(nh, nu); // Dh_mat + size += blasfeo_memsize_dmat(nh_e, nx); // Ch_e_mat + size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx); // temp_CaDK_mat, temp_CaDKmP_mat + size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max); // temp_beta_mat + /* blasfeo mem: vec */ + /* Arrays */ + size += nx*nx *sizeof(double); // d_A_mat + size += nx*nu *sizeof(double); // d_B_mat + size += (ng + ng_e) * nx * sizeof(double); // d_Cg_mat, d_Cg_e_mat + size += (ng) * nu * sizeof(double); // d_Dg_mat + size += (nh + nh_e + ng + ng_e) * nx * sizeof(double); // d_Cgh_mat, d_Cgh_e_mat + size += (nh + ng) * nu * sizeof(double); // d_Dgh_mat + // d_state_vec + size += nx *sizeof(double); + // constraints and tightened constraints + size += 4 * (nbx + nbu + ng + nh)*sizeof(double); + size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double); + size += (nbx + nbu + nbx_e)*sizeof(int); // idxbx, idxbu, idxbx_e + + size += 1 * 8; // initial alignment + make_int_multiple_of(64, &size); + size += 1 * 64; + + return size; +} + + +static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory) +{ + int N = nlp_dims->N; + int nx = {{ dims.nx }}; + int nu = {{ dims.nu }}; + int nw = {{ zoro_description.nw }}; + + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int ngh_e_max = int_max(ng_e, nh_e); + int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh)); + int nbx_e = {{ dims.nbx_e }}; + + char *c_ptr = (char *) raw_memory; + custom_memory *mem = (custom_memory *) c_ptr; + c_ptr += sizeof(custom_memory); + + align_char_to(8, &c_ptr); + assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr); + + align_char_to(64, &c_ptr); + + for (int ii = 0; ii <= N; ii++) + { + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr); + } + // Disturbance Dynamics + assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr); + // System Dynamics + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr); + assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr); + + assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr); + assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr); + assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr); + assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr); + assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr); + assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr); + assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr); + assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr); + assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr); + assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr); + assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr); + assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr); + assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr); + assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr); + assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr); + assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr); + assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr); + assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr); + assign_and_advance_double(ng, &mem->d_lg, &c_ptr); + assign_and_advance_double(ng, &mem->d_ug, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr); + assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr); + assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr); + assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr); + assign_and_advance_double(nh, &mem->d_lh, &c_ptr); + assign_and_advance_double(nh, &mem->d_uh, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr); + assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr); + assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr); + assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr); + + assign_and_advance_int(nbx, &mem->idxbx, &c_ptr); + assign_and_advance_int(nbu, &mem->idxbu, &c_ptr); + assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr); + + assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr); + mem->raw_memory = raw_memory; + + return mem; +} + + + +static void *custom_memory_create({{ model.name }}_solver_capsule* capsule) +{ + printf("\nin custom_memory_create_function\n"); + + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); + acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims); + + void *ptr = acados_calloc(1, bytes); + + custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr); + custom_mem->raw_memory = ptr; + + return custom_mem; +} + + +static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem) +{ + int N = nlp_dims->N; + int nx = {{ dims.nx }}; + int nu = {{ dims.nu }}; + int nw = {{ zoro_description.nw }}; + + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int ngh_e_max = int_max(ng_e, nh_e); + int nbx_e = {{ dims.nbx_e }}; + + /* Get the state constraint bounds */ + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu); + // Get the Jacobians and the bounds of the linear constraints + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat); + blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0); + blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0); + blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0); + blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros + // NOTE: fixed lower and upper bounds of nonlinear constraints + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e); + + /* Initilize tightened constraints*/ + // NOTE: tightened constraints are only initialized once + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened); + ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened); + + /* Initialize the W matrix */ + // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0); +{%- for ir in range(end=zoro_description.nw) %} + {%- for ic in range(end=zoro_description.nw) %} + blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} + +{%- for ir in range(end=dims.nx) %} + {%- for ic in range(end=zoro_description.nw) %} + blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} + + // NOTE: if G is changing this is not in init! + // temp_GW_mat = unc_jac_G_mat * W_mat + blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0, + &custom_mem->W_mat, 0, 0, 0.0, + &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0); + // GWG_mat = temp_GW_mat * unc_jac_G_mat^T + blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0, + &custom_mem->unc_jac_G_mat, 0, 0, 0.0, + &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0); + + /* Initialize the uncertainty_matrix_buffer[0] */ +{%- for ir in range(end=dims.nx) %} + {%- for ic in range(end=dims.nx) %} + blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} + + /* Initialize the feedback gain matrix */ +{%- for ir in range(end=dims.nu) %} + {%- for ic in range(end=dims.nx) %} + blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}}); + {%- endfor %} +{%- endfor %} +} + + +int custom_update_init_function({{ model.name }}_solver_capsule* capsule) +{ + capsule->custom_update_memory = custom_memory_create(capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); + + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule); + custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory); + return 1; +} + +static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat, + struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat, + struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat, + struct blasfeo_dmat* P_mat, + int n_cstr, int nx, int nu) +{ + // (C+DK)@P@(C^T+K^TD^T) + // CaDK_mat = C_mat + D_mat @ K_mat + blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0, + K_mat, 0, 0, 1.0, + C_mat, 0, 0, CaDK_mat, 0, 0); + // CaDKmP_mat = CaDK_mat @ P_mat + blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0, + P_mat, 0, 0, 0.0, + CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0); + // beta_mat = CaDKmP_mat @ CaDK_mat^T + blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0, + CaDK_mat, 0, 0, 0.0, + beta_mat, 0, 0, beta_mat, 0, 0); +} + +static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat, + struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat, + int nx, int nu) +{ + // K @ P_k @ K^T + // temp_KP_mat = K_mat @ P_mat + blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0, + P_mat, 0, 0, 0.0, + temp_KP_mat, 0, 0, temp_KP_mat, 0, 0); + // temp_KPK_mat = temp_KP_mat @ K_mat^T + blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0, + K_mat, 0, 0, 0.0, + temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0); +} + +static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat, + struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat, + struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat, + struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu) +{ + // AK_mat = -B@K + A + blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0, + 1.0, A_mat, 0, 0, AK_mat, 0, 0); + // temp_AP_mat = AK_mat @ P_k + blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0, + P_mat, 0, 0, 0.0, + temp_AP_mat, 0, 0, temp_AP_mat, 0, 0); + // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat + blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0, + AK_mat, 0, 0, 1.0, + W_mat, 0, 0, P_next_mat, 0, 0); +} + +static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data) +{ + int nx = nlp_dims->nx[0]; + blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0); +} + +static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem) +{ + ocp_nlp_config *nlp_config = solver->config; + ocp_nlp_dims *nlp_dims = solver->dims; + + int N = nlp_dims->N; + int nx = nlp_dims->nx[0]; + int nu = nlp_dims->nu[0]; + int nx_sqr = nx*nx; + int nbx = {{ dims.nbx }}; + int nbu = {{ dims.nbu }}; + int ng = {{ dims.ng }}; + int nh = {{ dims.nh }}; + int ng_e = {{ dims.ng_e }}; + int nh_e = {{ dims.nh_e }}; + int nbx_e = {{ dims.nbx_e }}; + double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }}; + + // First Stage + // NOTE: lbx_0 and ubx_0 should not be tightened. + // NOTE: lg_0 and ug_0 are not tightened. + // NOTE: lh_0 and uh_0 are not tightened. +{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %} + compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat, + &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu); + +{%- if zoro_description.nlbu_t > 0 %} + // backoff lbu + {%- for it in zoro_description.idx_lbu_t %} + custom_mem->d_lbu_tightened[{{it}}] + = custom_mem->d_lbu[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened); +{%- endif %} +{%- if zoro_description.nubu_t > 0 %} + // backoff ubu + {%- for it in zoro_description.idx_ubu_t %} + custom_mem->d_ubu_tightened[{{it}}] + = custom_mem->d_ubu[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened); +{%- endif %} +{%- endif %} + // Middle Stages + // constraint tightening: for next stage based on dynamics of ii stage + // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T + for (int ii = 0; ii < N-1; ii++) + { + // get and pack: A, B + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat); + blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0); + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat); + blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0); + + compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]), + &(custom_mem->uncertainty_matrix_buffer[ii+1]), + &custom_mem->A_mat, &custom_mem->B_mat, + &custom_mem->K_mat, &custom_mem->GWG_mat, + &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu); + + // state constraints +{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %} + {%- if zoro_description.nlbx_t > 0 %} + // lbx + {%- for it in zoro_description.idx_lbx_t %} + custom_mem->d_lbx_tightened[{{it}}] + = custom_mem->d_lbx[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1], + custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened); + {%- endif %} + {% if zoro_description.nubx_t > 0 %} + // ubx + {%- for it in zoro_description.idx_ubx_t %} + custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1], + custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened); + {%- endif %} +{%- endif %} + +{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %} + // input constraints + compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat, + &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu); + + {%- if zoro_description.nlbu_t > 0 %} + {%- for it in zoro_description.idx_lbu_t %} + custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}])); + {%- endfor %} + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened); + {%- endif %} + {%- if zoro_description.nubu_t > 0 %} + {%- for it in zoro_description.idx_ubu_t %} + custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, + custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened); + {%- endif %} +{%- endif %} + +{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %} + // Linear constraints: g + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat, + &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu); + + {%- if zoro_description.nlg_t > 0 %} + {%- for it in zoro_description.idx_lg_t %} + custom_mem->d_lg_tightened[{{it}}] + = custom_mem->d_lg[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened); + {%- endif %} + {%- if zoro_description.nug_t > 0 %} + {%- for it in zoro_description.idx_ug_t %} + custom_mem->d_ug_tightened[{{it}}] + = custom_mem->d_ug[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened); + {%- endif %} +{%- endif %} + + +{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %} + // nonlinear constraints: h + // Get C_{k+1} and D_{k+1} + ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat); + ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat); + // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints + blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0); + blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0); + + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat, + &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu); + + {%- if zoro_description.nlh_t > 0 %} + {%- for it in zoro_description.idx_lh_t %} + custom_mem->d_lh_tightened[{{it}}] + = custom_mem->d_lh[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened); + {%- endif %} + {%- if zoro_description.nuh_t > 0 %} + {%- for it in zoro_description.idx_uh_t %} + custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened); + {%- endif %} +{%- endif %} + } + + // Last stage + // get and pack: A, B + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat); + blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0); + ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat); + blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0); + // AK_mat = -B*K + A + compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]), + &(custom_mem->uncertainty_matrix_buffer[N]), + &custom_mem->A_mat, &custom_mem->B_mat, + &custom_mem->K_mat, &custom_mem->GWG_mat, + &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu); + + // state constraints nlbx_e_t +{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %} +{%- if zoro_description.nlbx_e_t > 0 %} + // lbx_e + {%- for it in zoro_description.idx_lbx_e_t %} + custom_mem->d_lbx_e_tightened[{{it}}] + = custom_mem->d_lbx_e[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N], + custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened); +{%- endif %} +{% if zoro_description.nubx_e_t > 0 %} + // ubx_e + {%- for it in zoro_description.idx_ubx_e_t %} + custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N], + custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}])); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened); +{%- endif %} +{%- endif %} + +{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %} + // Linear constraints: g + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat, + &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu); + +{%- if zoro_description.nlg_e_t > 0 %} + {%- for it in zoro_description.idx_lg_e_t %} + custom_mem->d_lg_e_tightened[{{it}}] + = custom_mem->d_lg_e[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened); +{%- endif %} +{%- if zoro_description.nug_e_t > 0 %} + {%- for it in zoro_description.idx_ug_e_t %} + custom_mem->d_ug_e_tightened[{{it}}] + = custom_mem->d_ug_e[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened); +{%- endif %} +{%- endif %} + + +{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %} + // nonlinear constraints: h + // Get C_{k+1} and D_{k+1} + ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat); + // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints + blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0); + + compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat, + &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat, + &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, + &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu); + + {%- if zoro_description.nlh_e_t > 0 %} + {%- for it in zoro_description.idx_lh_e_t %} + custom_mem->d_lh_e_tightened[{{it}}] + = custom_mem->d_lh_e[{{it}}] + + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened); + {%- endif %} + {%- if zoro_description.nuh_e_t > 0 %} + {%- for it in zoro_description.idx_uh_e_t %} + custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}] + - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); + {%- endfor %} + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened); + {%- endif %} +{%- endif %} + +} + + +int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len) +{ + custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory; + ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); + ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); + ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); + ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule); + ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule); + void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule); + + if (data_len > 0) + { + reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data); + } + uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem); + + return 1; +} + + +int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule) +{ + custom_memory *mem = capsule->custom_update_memory; + + free(mem->raw_memory); + return 1; +} + +// useful prints for debugging + +/* +printf("A_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0); +printf("B_mat:\n"); +blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0); +printf("K_mat:\n"); +blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0); +printf("AK_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0); +printf("temp_AP_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0); +printf("W_mat:\n"); +blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0); +printf("P_k+1:\n"); +blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/ \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/phi_constraint.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h similarity index 59% rename from third_party/acados/acados_template/c_templates_tera/phi_constraint.in.h rename to third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h index 283ed7f889..9611ea210c 100644 --- a/third_party/acados/acados_template/c_templates_tera/phi_constraint.in.h +++ b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -31,25 +28,17 @@ * POSSIBILITY OF SUCH DAMAGE.; */ -#ifndef {{ model.name }}_PHI_CONSTRAINT -#define {{ model.name }}_PHI_CONSTRAINT +#include "acados_solver_{{ model.name }}.h" -#ifdef __cplusplus -extern "C" { -#endif +// Called at the end of solver creation. +// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory. +int custom_update_init_function({{ model.name }}_solver_capsule* capsule); -{% if dims.nphi > 0 %} -// implicit ODE -int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *); -const int *{{ model.name }}_phi_constraint_sparsity_in(int); -const int *{{ model.name }}_phi_constraint_sparsity_out(int); -int {{ model.name }}_phi_constraint_n_in(void); -int {{ model.name }}_phi_constraint_n_out(void); -{% endif %} -#ifdef __cplusplus -} /* extern "C" */ -#endif +// Custom update function that can be called between solver calls +int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len); -#endif // {{ model.name }}_PHI_CONSTRAINT + +// Called just before destroying the solver. +// Responsible to free allocated memory, stored at capsule->custom_update_memory. +int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule); diff --git a/third_party/acados/acados_template/generate_c_code_constraint.py b/third_party/acados/acados_template/generate_c_code_constraint.py deleted file mode 100644 index c79ddc129a..0000000000 --- a/third_party/acados/acados_template/generate_c_code_constraint.py +++ /dev/null @@ -1,180 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -import os -from casadi import * -from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning - -def generate_c_code_constraint( model, con_name, is_terminal, opts ): - - casadi_version = CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') - - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - # load constraint variables and expression - x = model.x - p = model.p - - if isinstance(x, casadi.MX): - symbol = MX.sym - else: - symbol = SX.sym - - if is_terminal: - con_h_expr = model.con_h_expr_e - con_phi_expr = model.con_phi_expr_e - # create dummy u, z - u = symbol('u', 0, 0) - z = symbol('z', 0, 0) - else: - con_h_expr = model.con_h_expr - con_phi_expr = model.con_phi_expr - u = model.u - z = model.z - - if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)): - raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.") - - if not (is_empty(con_h_expr) and is_empty(con_phi_expr)): - if is_empty(con_h_expr): - constr_type = 'BGP' - else: - constr_type = 'BGH' - - if is_empty(p): - p = symbol('p', 0, 0) - - if is_empty(z): - z = symbol('z', 0, 0) - - if not (is_empty(con_h_expr)) and opts['generate_hess']: - # multipliers for hessian - nh = casadi_length(con_h_expr) - lam_h = symbol('lam_h', nh, 1) - - # set up & change directory - code_export_dir = opts["code_export_directory"] - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - gen_dir = con_name + '_constraints' - if not os.path.exists(gen_dir): - os.mkdir(gen_dir) - gen_dir_location = os.path.join('.', gen_dir) - os.chdir(gen_dir_location) - - # export casadi functions - if constr_type == 'BGH': - if is_terminal: - fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt' - else: - fun_name = con_name + '_constr_h_fun_jac_uxt_zt' - - jac_ux_t = transpose(jacobian(con_h_expr, vertcat(u,x))) - jac_z_t = jacobian(con_h_expr, z) - constraint_fun_jac_tran = Function(fun_name, [x, u, z, p], \ - [con_h_expr, jac_ux_t, jac_z_t]) - - constraint_fun_jac_tran.generate(fun_name, casadi_opts) - if opts['generate_hess']: - - if is_terminal: - fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess' - else: - fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess' - - # adjoint - adj_ux = jtimes(con_h_expr, vertcat(u, x), lam_h, True) - # hessian - hess_ux = jacobian(adj_ux, vertcat(u, x)) - - adj_z = jtimes(con_h_expr, z, lam_h, True) - hess_z = jacobian(adj_z, z) - - # set up functions - constraint_fun_jac_tran_hess = \ - Function(fun_name, [x, u, lam_h, z, p], \ - [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z]) - - # generate C code - constraint_fun_jac_tran_hess.generate(fun_name, casadi_opts) - - if is_terminal: - fun_name = con_name + '_constr_h_e_fun' - else: - fun_name = con_name + '_constr_h_fun' - h_fun = Function(fun_name, [x, u, z, p], [con_h_expr]) - h_fun.generate(fun_name, casadi_opts) - - else: # BGP constraint - if is_terminal: - fun_name = con_name + '_phi_e_constraint' - r = model.con_r_in_phi_e - con_r_expr = model.con_r_expr_e - else: - fun_name = con_name + '_phi_constraint' - r = model.con_r_in_phi - con_r_expr = model.con_r_expr - - nphi = casadi_length(con_phi_expr) - con_phi_expr_x_u_z = substitute(con_phi_expr, r, con_r_expr) - phi_jac_u = jacobian(con_phi_expr_x_u_z, u) - phi_jac_x = jacobian(con_phi_expr_x_u_z, x) - phi_jac_z = jacobian(con_phi_expr_x_u_z, z) - - hess = hessian(con_phi_expr[0], r)[0] - for i in range(1, nphi): - hess = vertcat(hess, hessian(con_phi_expr[i], r)[0]) - - r_jac_u = jacobian(con_r_expr, u) - r_jac_x = jacobian(con_r_expr, x) - - constraint_phi = \ - Function(fun_name, [x, u, z, p], \ - [con_phi_expr_x_u_z, \ - vertcat(transpose(phi_jac_u), \ - transpose(phi_jac_x)), \ - transpose(phi_jac_z), \ - hess, vertcat(transpose(r_jac_u), \ - transpose(r_jac_x))]) - - constraint_phi.generate(fun_name, casadi_opts) - - # change directory back - os.chdir(cwd) - - return diff --git a/third_party/acados/acados_template/generate_c_code_discrete_dynamics.py b/third_party/acados/acados_template/generate_c_code_discrete_dynamics.py deleted file mode 100644 index c6a245ff81..0000000000 --- a/third_party/acados/acados_template/generate_c_code_discrete_dynamics.py +++ /dev/null @@ -1,98 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# - -import os -import casadi as ca -from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning - -def generate_c_code_discrete_dynamics( model, opts ): - - casadi_version = ca.CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') - - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - # load model - x = model.x - u = model.u - p = model.p - phi = model.disc_dyn_expr - model_name = model.name - nx = casadi_length(x) - - if isinstance(phi, ca.MX): - symbol = ca.MX.sym - elif isinstance(phi, ca.SX): - symbol = ca.SX.sym - else: - Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi))) - - # assume nx1 = nx !!! - lam = symbol('lam', nx, 1) - - # generate jacobians - ux = ca.vertcat(u,x) - jac_ux = ca.jacobian(phi, ux) - # generate adjoint - adj_ux = ca.jtimes(phi, ux, lam, True) - # generate hessian - hess_ux = ca.jacobian(adj_ux, ux) - - ## change directory - code_export_dir = opts["code_export_directory"] - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - model_dir = model_name + '_model' - if not os.path.exists(model_dir): - os.mkdir(model_dir) - model_dir_location = os.path.join('.', model_dir) - os.chdir(model_dir_location) - - # set up & generate Functions - fun_name = model_name + '_dyn_disc_phi_fun' - phi_fun = ca.Function(fun_name, [x, u, p], [phi]) - phi_fun.generate(fun_name, casadi_opts) - - fun_name = model_name + '_dyn_disc_phi_fun_jac' - phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T]) - phi_fun_jac_ut_xt.generate(fun_name, casadi_opts) - - fun_name = model_name + '_dyn_disc_phi_fun_jac_hess' - phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux]) - phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_opts) - - os.chdir(cwd) diff --git a/third_party/acados/acados_template/generate_c_code_explicit_ode.py b/third_party/acados/acados_template/generate_c_code_explicit_ode.py deleted file mode 100644 index 76e6400535..0000000000 --- a/third_party/acados/acados_template/generate_c_code_explicit_ode.py +++ /dev/null @@ -1,124 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -import os -from casadi import * -from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning - -def generate_c_code_explicit_ode( model, opts ): - - casadi_version = CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - - generate_hess = opts["generate_hess"] - code_export_dir = opts["code_export_directory"] - - # load model - x = model.x - u = model.u - p = model.p - f_expl = model.f_expl_expr - model_name = model.name - - ## get model dimensions - nx = x.size()[0] - nu = u.size()[0] - - if isinstance(f_expl, casadi.MX): - symbol = MX.sym - elif isinstance(f_expl, casadi.SX): - symbol = SX.sym - else: - raise Exception("Invalid type for f_expl! Possible types are 'SX' and 'MX'. Exiting.") - ## set up functions to be exported - Sx = symbol('Sx', nx, nx) - Sp = symbol('Sp', nx, nu) - lambdaX = symbol('lambdaX', nx, 1) - - fun_name = model_name + '_expl_ode_fun' - - ## Set up functions - expl_ode_fun = Function(fun_name, [x, u, p], [f_expl]) - - vdeX = jtimes(f_expl,x,Sx) - vdeP = jacobian(f_expl,u) + jtimes(f_expl,x,Sp) - - fun_name = model_name + '_expl_vde_forw' - - expl_vde_forw = Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP]) - - adj = jtimes(f_expl, vertcat(x, u), lambdaX, True) - - fun_name = model_name + '_expl_vde_adj' - expl_vde_adj = Function(fun_name, [x, lambdaX, u, p], [adj]) - - if generate_hess: - S_forw = vertcat(horzcat(Sx, Sp), horzcat(DM.zeros(nu,nx), DM.eye(nu))) - hess = mtimes(transpose(S_forw),jtimes(adj, vertcat(x,u), S_forw)) - hess2 = [] - for j in range(nx+nu): - for i in range(j,nx+nu): - hess2 = vertcat(hess2, hess[i,j]) - - fun_name = model_name + '_expl_ode_hess' - expl_ode_hess = Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2]) - - ## generate C code - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - model_dir = model_name + '_model' - if not os.path.exists(model_dir): - os.mkdir(model_dir) - model_dir_location = os.path.join('.', model_dir) - os.chdir(model_dir_location) - fun_name = model_name + '_expl_ode_fun' - expl_ode_fun.generate(fun_name, casadi_opts) - - fun_name = model_name + '_expl_vde_forw' - expl_vde_forw.generate(fun_name, casadi_opts) - - fun_name = model_name + '_expl_vde_adj' - expl_vde_adj.generate(fun_name, casadi_opts) - - if generate_hess: - fun_name = model_name + '_expl_ode_hess' - expl_ode_hess.generate(fun_name, casadi_opts) - os.chdir(cwd) - - return diff --git a/third_party/acados/acados_template/generate_c_code_external_cost.py b/third_party/acados/acados_template/generate_c_code_external_cost.py deleted file mode 100644 index 8396522619..0000000000 --- a/third_party/acados/acados_template/generate_c_code_external_cost.py +++ /dev/null @@ -1,116 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -import os -from casadi import SX, MX, Function, transpose, vertcat, horzcat, hessian, CasadiMeta -from .utils import ALLOWED_CASADI_VERSIONS, casadi_version_warning - - -def generate_c_code_external_cost(model, stage_type, opts): - - casadi_version = CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int="int", casadi_real="double") - - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - x = model.x - p = model.p - - if isinstance(x, MX): - symbol = MX.sym - else: - symbol = SX.sym - - if stage_type == 'terminal': - suffix_name = "_cost_ext_cost_e_fun" - suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess" - suffix_name_jac = "_cost_ext_cost_e_fun_jac" - u = symbol("u", 0, 0) - ext_cost = model.cost_expr_ext_cost_e - custom_hess = model.cost_expr_ext_cost_custom_hess_e - - elif stage_type == 'path': - suffix_name = "_cost_ext_cost_fun" - suffix_name_hess = "_cost_ext_cost_fun_jac_hess" - suffix_name_jac = "_cost_ext_cost_fun_jac" - u = model.u - ext_cost = model.cost_expr_ext_cost - custom_hess = model.cost_expr_ext_cost_custom_hess - - elif stage_type == 'initial': - suffix_name = "_cost_ext_cost_0_fun" - suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess" - suffix_name_jac = "_cost_ext_cost_0_fun_jac" - u = model.u - ext_cost = model.cost_expr_ext_cost_0 - custom_hess = model.cost_expr_ext_cost_custom_hess_0 - - # set up functions to be exported - fun_name = model.name + suffix_name - fun_name_hess = model.name + suffix_name_hess - fun_name_jac = model.name + suffix_name_jac - - # generate expression for full gradient and Hessian - full_hess, grad = hessian(ext_cost, vertcat(u, x)) - - if custom_hess is not None: - full_hess = custom_hess - - ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost]) - ext_cost_fun_jac_hess = Function( - fun_name_hess, [x, u, p], [ext_cost, grad, full_hess] - ) - ext_cost_fun_jac = Function( - fun_name_jac, [x, u, p], [ext_cost, grad] - ) - - # generate C code - code_export_dir = opts["code_export_directory"] - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - gen_dir = model.name + '_cost' - if not os.path.exists(gen_dir): - os.mkdir(gen_dir) - gen_dir_location = "./" + gen_dir - os.chdir(gen_dir_location) - - ext_cost_fun.generate(fun_name, casadi_opts) - ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts) - ext_cost_fun_jac.generate(fun_name_jac, casadi_opts) - - os.chdir(cwd) - return diff --git a/third_party/acados/acados_template/generate_c_code_gnsf.py b/third_party/acados/acados_template/generate_c_code_gnsf.py deleted file mode 100644 index 97acb8e330..0000000000 --- a/third_party/acados/acados_template/generate_c_code_gnsf.py +++ /dev/null @@ -1,131 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -import os -from casadi import * -from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning - -def generate_c_code_gnsf( model, opts ): - - casadi_version = CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - model_name = model.name - code_export_dir = opts["code_export_directory"] - - # set up directory - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - model_dir = model_name + '_model' - if not os.path.exists(model_dir): - os.mkdir(model_dir) - model_dir_location = os.path.join('.', model_dir) - os.chdir(model_dir_location) - - # obtain gnsf dimensions - get_matrices_fun = model.get_matrices_fun - phi_fun = model.phi_fun - - size_gnsf_A = get_matrices_fun.size_out(0) - gnsf_nx1 = size_gnsf_A[1] - gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] - gnsf_nuhat = max(phi_fun.size_in(1)) - gnsf_ny = max(phi_fun.size_in(0)) - gnsf_nout = max(phi_fun.size_out(0)) - - # set up expressions - # if the model uses MX because of cost/constraints - # the DAE can be exported as SX -> detect GNSF in Matlab - # -> evaluated SX GNSF functions with MX. - u = model.u - - if isinstance(u, casadi.MX): - symbol = MX.sym - else: - symbol = SX.sym - - y = symbol("y", gnsf_ny, 1) - uhat = symbol("uhat", gnsf_nuhat, 1) - p = model.p - x1 = symbol("gnsf_x1", gnsf_nx1, 1) - x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1) - z1 = symbol("gnsf_z1", gnsf_nz1, 1) - dummy = symbol("gnsf_dummy", 1, 1) - empty_var = symbol("gnsf_empty_var", 0, 0) - - ## generate C code - fun_name = model_name + '_gnsf_phi_fun' - phi_fun_ = Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)]) - phi_fun_.generate(fun_name, casadi_opts) - - fun_name = model_name + '_gnsf_phi_fun_jac_y' - phi_fun_jac_y = model.phi_fun_jac_y - phi_fun_jac_y_ = Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p)) - phi_fun_jac_y_.generate(fun_name, casadi_opts) - - fun_name = model_name + '_gnsf_phi_jac_y_uhat' - phi_jac_y_uhat = model.phi_jac_y_uhat - phi_jac_y_uhat_ = Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p)) - phi_jac_y_uhat_.generate(fun_name, casadi_opts) - - fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz' - f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz - f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p) - - # avoid codegeneration issue - if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval): - f_lo_fun_jac_x1k1uz_eval = [empty_var] - - f_lo_fun_jac_x1k1uz_ = Function(fun_name, [x1, x1dot, z1, u, p], - f_lo_fun_jac_x1k1uz_eval) - f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_opts) - - fun_name = model_name + '_gnsf_get_matrices_fun' - get_matrices_fun_ = Function(fun_name, [dummy], get_matrices_fun(1)) - get_matrices_fun_.generate(fun_name, casadi_opts) - - # remove fields for json dump - del model.phi_fun - del model.phi_fun_jac_y - del model.phi_jac_y_uhat - del model.f_lo_fun_jac_x1k1uz - del model.get_matrices_fun - - os.chdir(cwd) - - return diff --git a/third_party/acados/acados_template/generate_c_code_implicit_ode.py b/third_party/acados/acados_template/generate_c_code_implicit_ode.py deleted file mode 100644 index f2d50b43ab..0000000000 --- a/third_party/acados/acados_template/generate_c_code_implicit_ode.py +++ /dev/null @@ -1,139 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -import os -from casadi import * -from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning - -def generate_c_code_implicit_ode( model, opts ): - - casadi_version = CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - generate_hess = opts["generate_hess"] - code_export_dir = opts["code_export_directory"] - - ## load model - x = model.x - xdot = model.xdot - u = model.u - z = model.z - p = model.p - f_impl = model.f_impl_expr - model_name = model.name - - ## get model dimensions - nx = casadi_length(x) - nu = casadi_length(u) - nz = casadi_length(z) - - ## generate jacobians - jac_x = jacobian(f_impl, x) - jac_xdot = jacobian(f_impl, xdot) - jac_u = jacobian(f_impl, u) - jac_z = jacobian(f_impl, z) - - ## generate hessian - x_xdot_z_u = vertcat(x, xdot, z, u) - - if isinstance(x, casadi.MX): - symbol = MX.sym - else: - symbol = SX.sym - - multiplier = symbol('multiplier', nx + nz) - - ADJ = jtimes(f_impl, x_xdot_z_u, multiplier, True) - HESS = jacobian(ADJ, x_xdot_z_u) - - ## Set up functions - p = model.p - fun_name = model_name + '_impl_dae_fun' - impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl]) - - fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' - impl_dae_fun_jac_x_xdot_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z]) - - # fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' - # impl_dae_fun_jac_x_xdot = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z]) - - # fun_name = model_name + '_impl_dae_jac_x_xdot_u' - # impl_dae_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z]) - - fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' - impl_dae_fun_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z]) - - fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' - impl_dae_fun_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u]) - - fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' - impl_dae_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z]) - - - fun_name = model_name + '_impl_dae_hess' - impl_dae_hess = Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS]) - - # generate C code - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - model_dir = model_name + '_model' - if not os.path.exists(model_dir): - os.mkdir(model_dir) - model_dir_location = os.path.join('.', model_dir) - os.chdir(model_dir_location) - - fun_name = model_name + '_impl_dae_fun' - impl_dae_fun.generate(fun_name, casadi_opts) - - fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z' - impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_opts) - - fun_name = model_name + '_impl_dae_jac_x_xdot_u_z' - impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_opts) - - fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z' - impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_opts) - - fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u' - impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_opts) - - if generate_hess: - fun_name = model_name + '_impl_dae_hess' - impl_dae_hess.generate(fun_name, casadi_opts) - - os.chdir(cwd) diff --git a/third_party/acados/acados_template/generate_c_code_nls_cost.py b/third_party/acados/acados_template/generate_c_code_nls_cost.py deleted file mode 100644 index ffcd78ca7b..0000000000 --- a/third_party/acados/acados_template/generate_c_code_nls_cost.py +++ /dev/null @@ -1,113 +0,0 @@ -# -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -import os -from casadi import * -from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning - -def generate_c_code_nls_cost( model, cost_name, stage_type, opts ): - - casadi_version = CasadiMeta.version() - casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double') - - if casadi_version not in (ALLOWED_CASADI_VERSIONS): - casadi_version_warning(casadi_version) - - x = model.x - p = model.p - - if isinstance(x, casadi.MX): - symbol = MX.sym - else: - symbol = SX.sym - - if stage_type == 'terminal': - middle_name = '_cost_y_e' - u = symbol('u', 0, 0) - cost_expr = model.cost_y_expr_e - - elif stage_type == 'initial': - middle_name = '_cost_y_0' - u = model.u - cost_expr = model.cost_y_expr_0 - - elif stage_type == 'path': - middle_name = '_cost_y' - u = model.u - cost_expr = model.cost_y_expr - - # set up directory - code_export_dir = opts["code_export_directory"] - if not os.path.exists(code_export_dir): - os.makedirs(code_export_dir) - - cwd = os.getcwd() - os.chdir(code_export_dir) - gen_dir = cost_name + '_cost' - if not os.path.exists(gen_dir): - os.mkdir(gen_dir) - gen_dir_location = os.path.join('.', gen_dir) - os.chdir(gen_dir_location) - - # set up expressions - cost_jac_expr = transpose(jacobian(cost_expr, vertcat(u, x))) - - ny = casadi_length(cost_expr) - - y = symbol('y', ny, 1) - - y_adj = jtimes(cost_expr, vertcat(u, x), y, True) - y_hess = jacobian(y_adj, vertcat(u, x)) - - ## generate C code - suffix_name = '_fun' - fun_name = cost_name + middle_name + suffix_name - y_fun = Function( fun_name, [x, u, p], \ - [ cost_expr ]) - y_fun.generate( fun_name, casadi_opts ) - - suffix_name = '_fun_jac_ut_xt' - fun_name = cost_name + middle_name + suffix_name - y_fun_jac_ut_xt = Function(fun_name, [x, u, p], \ - [ cost_expr, cost_jac_expr ]) - y_fun_jac_ut_xt.generate( fun_name, casadi_opts ) - - suffix_name = '_hess' - fun_name = cost_name + middle_name + suffix_name - y_hess = Function(fun_name, [x, u, y, p], [ y_hess ]) - y_hess.generate( fun_name, casadi_opts ) - - os.chdir(cwd) - - return - diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py new file mode 100644 index 0000000000..8b13789179 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/__init__.py @@ -0,0 +1 @@ + diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py new file mode 100644 index 0000000000..2bdfbbc336 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/check_reformulation.py @@ -0,0 +1,216 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from acados_template.utils import casadi_length +from casadi import * +import numpy as np + + +def check_reformulation(model, gnsf, print_info): + + ## Description: + # this function takes the implicit ODE/ index-1 DAE and a gnsf structure + # to evaluate both models at num_eval random points x0, x0dot, z0, u0 + # if for all points the relative error is <= TOL, the function will return:: + # 1, otherwise it will give an error. + + TOL = 1e-14 + num_eval = 10 + + # get dimensions + nx = gnsf["nx"] + nu = gnsf["nu"] + nz = gnsf["nz"] + nx1 = gnsf["nx1"] + nx2 = gnsf["nx2"] + nz1 = gnsf["nz1"] + nz2 = gnsf["nz2"] + n_out = gnsf["n_out"] + + # get model matrices + A = gnsf["A"] + B = gnsf["B"] + C = gnsf["C"] + E = gnsf["E"] + c = gnsf["c"] + + L_x = gnsf["L_x"] + L_xdot = gnsf["L_xdot"] + L_z = gnsf["L_z"] + L_u = gnsf["L_u"] + + A_LO = gnsf["A_LO"] + E_LO = gnsf["E_LO"] + B_LO = gnsf["B_LO"] + c_LO = gnsf["c_LO"] + + I_x1 = range(nx1) + I_x2 = range(nx1, nx) + + I_z1 = range(nz1) + I_z2 = range(nz1, nz) + + idx_perm_f = gnsf["idx_perm_f"] + + # get casadi variables + x = gnsf["x"] + xdot = gnsf["xdot"] + z = gnsf["z"] + u = gnsf["u"] + y = gnsf["y"] + uhat = gnsf["uhat"] + p = gnsf["p"] + + # create functions + impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr]) + phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]]) + f_lo_fun = Function( + "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]] + ) + + # print(gnsf) + # print(gnsf["n_out"]) + + for i_check in range(num_eval): + # generate random values + x0 = np.random.rand(nx, 1) + x0dot = np.random.rand(nx, 1) + z0 = np.random.rand(nz, 1) + u0 = np.random.rand(nu, 1) + + if gnsf["ny"] > 0: + y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1] + else: + y0 = [] + if gnsf["nuhat"] > 0: + uhat0 = L_u @ u0 + else: + uhat0 = [] + + # eval functions + p0 = np.random.rand(gnsf["np"], 1) + f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full() + phi_val = phi_fun(y0, uhat0, p0) + f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0) + + f_impl_val = f_impl_val[idx_perm_f] + # eval gnsf + if n_out > 0: + C_phi = C @ phi_val + else: + C_phi = np.zeros((nx1 + nz1, 1)) + try: + gnsf_val1 = ( + A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1]) + ) + # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1])) + except: + import pdb + + pdb.set_trace() + + if nx2 > 0: # eval LOS: + gnsf_val2 = ( + A_LO @ x0[I_x2] + + B_LO @ u0 + + c_LO + + f_lo_val + - E_LO @ vertcat(x0dot[I_x2], z0[I_z2]) + ) + gnsf_val = vertcat(gnsf_val1, gnsf_val2).full() + else: + gnsf_val = gnsf_val1.full() + # compute error and check + rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val) + + if rel_error > TOL: + print("transcription failed rel_error > TOL") + print("you are in debug mode now: import pdb; pdb.set_trace()") + abs_error = gnsf_val - f_impl_val + # T = table(f_impl_val, gnsf_val, abs_error) + # print(T) + print("abs_error:", abs_error) + # error('transcription failed rel_error > TOL') + # check = 0 + import pdb + + pdb.set_trace() + if print_info: + print(" ") + print("model reformulation checked: relative error <= TOL = ", str(TOL)) + print(" ") + check = 1 + ## helpful for debugging: + # # use in calling function and compare + # # compare f_impl(i) with gnsf_val1(i) + # + + # nx = gnsf['nx'] + # nu = gnsf['nu'] + # nz = gnsf['nz'] + # nx1 = gnsf['nx1'] + # nx2 = gnsf['nx2'] + # + # A = gnsf['A'] + # B = gnsf['B'] + # C = gnsf['C'] + # E = gnsf['E'] + # c = gnsf['c'] + # + # L_x = gnsf['L_x'] + # L_z = gnsf['L_z'] + # L_xdot = gnsf['L_xdot'] + # L_u = gnsf['L_u'] + # + # A_LO = gnsf['A_LO'] + # + # x0 = rand(nx, 1) + # x0dot = rand(nx, 1) + # z0 = rand(nz, 1) + # u0 = rand(nu, 1) + # I_x1 = range(nx1) + # I_x2 = nx1+range(nx) + # + # y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0 + # uhat0 = L_u @ u0 + # + # gnsf_val1 = (A @ x[I_x1] + B @ u + # C @ phi_current + c) - E @ [xdot[I_x1] z] + # gnsf_val1 = gnsf_val1.simplify() + # + # # gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2] + # gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2] + # + # + # gnsf_val = [gnsf_val1 gnsf_val2] + # gnsf_val = gnsf_val.simplify() + # dyn_expr_f = dyn_expr_f.simplify() + # import pdb; pdb.set_trace() + + return check diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py new file mode 100644 index 0000000000..ebf1f373a4 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py @@ -0,0 +1,278 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from casadi import * +from .check_reformulation import check_reformulation +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from ..utils import casadi_length, print_casadi_expression + + +def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info): + + ## Description + # this function takes a gnsf structure with trivial model matrices (A, B, + # E, c are zeros, and C is eye). + # It detects all affine linear terms and sets up an equivalent model in the + # GNSF structure, where all affine linear terms are modeled through the + # matrices A, B, E, c and the linear output system (LOS) is empty. + # NOTE: model is just taken as an argument to check equivalence of the + # models within the function. + + model = acados_ocp.model + if print_info: + print(" ") + print("====================================================================") + print(" ") + print("============ Detect affine-linear dependencies ==================") + print(" ") + print("====================================================================") + print(" ") + # symbolics + x = gnsf["x"] + xdot = gnsf["xdot"] + u = gnsf["u"] + z = gnsf["z"] + + # dimensions + nx = gnsf["nx"] + nu = gnsf["nu"] + nz = gnsf["nz"] + + ny_old = gnsf["ny"] + nuhat_old = gnsf["nuhat"] + + ## Represent all affine dependencies through the model matrices A, B, E, c + ## determine A + n_nodes_current = n_nodes(gnsf["phi_expr"]) + + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + for ix in range(nx): + var = x[ix] + varname = var.name + # symbolic jacobian of fii w.r.t. xi + jac_fii_xi = jacobian(fii, var) + if jac_fii_xi.is_constant(): + # jacobian value + jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi]) + # x[1] as input just to have a scalar input and call the function as follows: + gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full() + else: + gnsf["A"][ii, ix] = 0 + if print_info: + print( + "phi(", + str(ii), + ") is nonlinear in x(", + str(ix), + ") = ", + varname, + ) + print(fii) + print("-----------------------------------------------------") + f_next = gnsf["phi_expr"] - gnsf["A"] @ x + f_next = simplify(f_next) + n_nodes_next = n_nodes(f_next) + + if print_info: + print("\n") + print(f"determined matrix A:") + print(gnsf["A"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED') + gnsf["phi_expr"] = f_next + + check_reformulation(model, gnsf, print_info) + + ## determine B + n_nodes_current = n_nodes(gnsf["phi_expr"]) + + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + for iu in range(nu): + var = u[iu] + varname = var.name + # symbolic jacobian of fii w.r.t. ui + jac_fii_ui = jacobian(fii, var) + if jac_fii_ui.is_constant(): # i.e. hessian is structural zero: + # jacobian value + jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui]) + gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full() + else: + gnsf["B"][ii, iu] = 0 + if print_info: + print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname) + print(fii) + print("-----------------------------------------------------") + f_next = gnsf["phi_expr"] - gnsf["B"] @ u + f_next = simplify(f_next) + n_nodes_next = n_nodes(f_next) + + if print_info: + print("\n") + print(f"determined matrix B:") + print(gnsf["B"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + + gnsf["phi_expr"] = f_next + + check_reformulation(model, gnsf, print_info) + + ## determine E + n_nodes_current = n_nodes(gnsf["phi_expr"]) + k = vertcat(xdot, z) + + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + for ik in range(casadi_length(k)): + # symbolic jacobian of fii w.r.t. ui + var = k[ik] + varname = var.name + jac_fii_ki = jacobian(fii, var) + if jac_fii_ki.is_constant(): + # jacobian value + jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki]) + gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full() + else: + gnsf["E"][ii, ik] = 0 + if print_info: + print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname) + print(fii) + print("-----------------------------------------------------") + f_next = gnsf["phi_expr"] + gnsf["E"] @ k + f_next = simplify(f_next) + n_nodes_next = n_nodes(f_next) + + if print_info: + print("\n") + print(f"determined matrix E:") + print(gnsf["E"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + + gnsf["phi_expr"] = f_next + check_reformulation(model, gnsf, print_info) + + ## determine constant term c + + n_nodes_current = n_nodes(gnsf["phi_expr"]) + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + if fii.is_constant(): + # function value goes into c + fii_fun = Function("fii_fun", [x[1]], [fii]) + gnsf["c"][ii] = fii_fun(0).full() + else: + gnsf["c"][ii] = 0 + if print_info: + print(f"phi(", str(ii), ") is NOT constant") + print(fii) + print("-----------------------------------------------------") + gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"] + gnsf["phi_expr"] = simplify(gnsf["phi_expr"]) + n_nodes_next = n_nodes(gnsf["phi_expr"]) + + if print_info: + print("\n") + print(f"determined vector c:") + print(gnsf["c"]) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + + check_reformulation(model, gnsf, print_info) + + ## determine nonlinearity & corresponding matrix C + ## Reduce dimension of phi + n_nodes_current = n_nodes(gnsf["phi_expr"]) + ind_non_zero = [] + for ii in range(casadi_length(gnsf["phi_expr"])): + fii = gnsf["phi_expr"][ii] + fii = simplify(fii) + if not fii.is_zero(): + ind_non_zero = list(set.union(set(ind_non_zero), set([ii]))) + gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero] + + # C + gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero))) + for ii in range(len(ind_non_zero)): + gnsf["C"][ind_non_zero[ii], ii] = 1 + gnsf = determine_input_nonlinearity_function(gnsf) + n_nodes_next = n_nodes(gnsf["phi_expr"]) + + if print_info: + print(" ") + print("determined matrix C:") + print(gnsf["C"]) + print( + "---------------------------------------------------------------------------------" + ) + print( + "------------- Success: Affine linear terms detected -----------------------------" + ) + print( + "---------------------------------------------------------------------------------" + ) + print( + f'reduced nonlinearity dimension n_out from {nx+nz} to {gnsf["n_out"]}' + ) + print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes") + print(" ") + print("phi now reads as:") + print_casadi_expression(gnsf["phi_expr"]) + + ## determine input of nonlinearity function + check_reformulation(model, gnsf, print_info) + + gnsf["ny"] = casadi_length(gnsf["y"]) + gnsf["nuhat"] = casadi_length(gnsf["uhat"]) + + if print_info: + print( + "-----------------------------------------------------------------------------------" + ) + print(" ") + print( + f"reduced input ny of phi from ", + str(ny_old), + " to ", + str(gnsf["ny"]), + ) + print( + f"reduced input nuhat of phi from ", + str(nuhat_old), + " to ", + str(gnsf["nuhat"]), + ) + print( + "-----------------------------------------------------------------------------------" + ) + + # if print_info: + # print(f"gnsf: {gnsf}") + + return gnsf diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py new file mode 100644 index 0000000000..24ffe643b8 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py @@ -0,0 +1,240 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import Function, jacobian, SX, vertcat, horzcat + +from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription +from .detect_affine_terms_reduce_nonlinearity import ( + detect_affine_terms_reduce_nonlinearity, +) +from .reformulate_with_LOS import reformulate_with_LOS +from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat +from .structure_detection_print_summary import structure_detection_print_summary +from .check_reformulation import check_reformulation + + +def detect_gnsf_structure(acados_ocp, transcribe_opts=None): + + ## Description + # This function takes a CasADi implicit ODE or index-1 DAE model "model" + # consisting of a CasADi expression f_impl in the symbolic CasADi + # variables x, xdot, u, z, (and possibly parameters p), which are also part + # of the model, as well as a model name. + # It will create a struct "gnsf" containing all information needed to use + # it with the gnsf integrator in acados. + # Additionally it will create the struct "reordered_model" which contains + # the permuted state vector and permuted f_impl, in which additionally some + # functions, which were made part of the linear output system of the gnsf, + # have changed signs. + + # Options: transcribe_opts is a Matlab struct consisting of booleans: + # print_info: if extensive information on how the model is processed + # is printed to the console. + # generate_gnsf_model: if the neccessary C functions to simulate the gnsf + # model with the acados implementation of the GNSF exploiting + # integrator should be generated. + # generate_gnsf_model: if the neccessary C functions to simulate the + # reordered model with the acados implementation of the IRK + # integrator should be generated. + # check_E_invertibility: if the transcription method should check if the + # assumption that the main blocks of the matrix gnsf.E are invertible + # holds. If not, the method will try to reformulate the gnsf model + # with a different model, such that the assumption holds. + + # acados_root_dir = getenv('ACADOS_INSTALL_DIR') + + ## load transcribe_opts + if transcribe_opts is None: + print("WARNING: GNSF structure detection called without transcribe_opts") + print(" using default settings") + print("") + transcribe_opts = dict() + + if "print_info" in transcribe_opts: + print_info = transcribe_opts["print_info"] + else: + print_info = 1 + print("print_info option was not set - default is true") + + if "detect_LOS" in transcribe_opts: + detect_LOS = transcribe_opts["detect_LOS"] + else: + detect_LOS = 1 + if print_info: + print("detect_LOS option was not set - default is true") + + if "check_E_invertibility" in transcribe_opts: + check_E_invertibility = transcribe_opts["check_E_invertibility"] + else: + check_E_invertibility = 1 + if print_info: + print("check_E_invertibility option was not set - default is true") + + ## Reformulate implicit index-1 DAE into GNSF form + # (Generalized nonlinear static feedback) + gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info) + gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info) + + if detect_LOS: + gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info) + + if check_E_invertibility: + gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info) + + # detect purely linear model + if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0: + gnsf["purely_linear"] = 1 + else: + gnsf["purely_linear"] = 0 + + structure_detection_print_summary(gnsf, acados_ocp) + check_reformulation(acados_ocp.model, gnsf, print_info) + + ## copy relevant fields from gnsf to model + acados_ocp.model.get_matrices_fun = Function() + dummy = acados_ocp.model.x[0] + model_name = acados_ocp.model.name + + get_matrices_fun = Function( + f"{model_name}_gnsf_get_matrices_fun", + [dummy], + [ + gnsf["A"], + gnsf["B"], + gnsf["C"], + gnsf["E"], + gnsf["L_x"], + gnsf["L_xdot"], + gnsf["L_z"], + gnsf["L_u"], + gnsf["A_LO"], + gnsf["c"], + gnsf["E_LO"], + gnsf["B_LO"], + gnsf["nontrivial_f_LO"], + gnsf["purely_linear"], + gnsf["ipiv_x"] + 1, + gnsf["ipiv_z"] + 1, + gnsf["c_LO"], + ], + ) + + phi = gnsf["phi_expr"] + y = gnsf["y"] + uhat = gnsf["uhat"] + p = gnsf["p"] + + jac_phi_y = jacobian(phi, y) + jac_phi_uhat = jacobian(phi, uhat) + + phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi]) + acados_ocp.model.phi_fun = phi_fun + acados_ocp.model.phi_fun_jac_y = Function( + f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y] + ) + acados_ocp.model.phi_jac_y_uhat = Function( + f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat] + ) + + x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]] + x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]] + if gnsf["nz1"] > 0: + z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]] + else: + z1 = SX.sym("z1", 0, 0) + f_lo = gnsf["f_lo_expr"] + u = acados_ocp.model.u + acados_ocp.model.f_lo_fun_jac_x1k1uz = Function( + f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz", + [x1, x1dot, z1, u, p], + [ + f_lo, + horzcat( + jacobian(f_lo, x1), + jacobian(f_lo, x1dot), + jacobian(f_lo, u), + jacobian(f_lo, z1), + ), + ], + ) + + acados_ocp.model.get_matrices_fun = get_matrices_fun + + size_gnsf_A = gnsf["A"].shape + acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1] + acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1)) + acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0)) + acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0)) + + # # dim + # model['dim_gnsf_nx1'] = gnsf['nx1'] + # model['dim_gnsf_nx2'] = gnsf['nx2'] + # model['dim_gnsf_nz1'] = gnsf['nz1'] + # model['dim_gnsf_nz2'] = gnsf['nz2'] + # model['dim_gnsf_nuhat'] = gnsf['nuhat'] + # model['dim_gnsf_ny'] = gnsf['ny'] + # model['dim_gnsf_nout'] = gnsf['n_out'] + + # # sym + # model['sym_gnsf_y'] = gnsf['y'] + # model['sym_gnsf_uhat'] = gnsf['uhat'] + + # # data + # model['dyn_gnsf_A'] = gnsf['A'] + # model['dyn_gnsf_A_LO'] = gnsf['A_LO'] + # model['dyn_gnsf_B'] = gnsf['B'] + # model['dyn_gnsf_B_LO'] = gnsf['B_LO'] + # model['dyn_gnsf_E'] = gnsf['E'] + # model['dyn_gnsf_E_LO'] = gnsf['E_LO'] + # model['dyn_gnsf_C'] = gnsf['C'] + # model['dyn_gnsf_c'] = gnsf['c'] + # model['dyn_gnsf_c_LO'] = gnsf['c_LO'] + # model['dyn_gnsf_L_x'] = gnsf['L_x'] + # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot'] + # model['dyn_gnsf_L_z'] = gnsf['L_z'] + # model['dyn_gnsf_L_u'] = gnsf['L_u'] + # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x'] + # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x'] + # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z'] + # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z'] + # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f'] + # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f'] + + # # flags + # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO'] + # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear'] + + # # casadi expr + # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr'] + # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr'] + + return acados_ocp diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py new file mode 100644 index 0000000000..94aa001c79 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py @@ -0,0 +1,110 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import * +from ..utils import casadi_length, is_empty + + +def determine_input_nonlinearity_function(gnsf): + + ## Description + # this function takes a structure gnsf and updates the matrices L_x, + # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows: + + # given a CasADi expression phi_expr, which may depend on the variables + # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting + # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr. + # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that + # y = L_x * x + L_xdot * xdot + L_z * z + # uhat = L_u * u + # Furthermore the dimensions ny, nuhat, n_out are updated + + ## y + y = SX.sym('y', 0, 0) + # components of x1 + for ii in range(gnsf["nx1"]): + if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]: + y = vertcat(y, gnsf["x"][ii]) + # else: + # x[ii] is not part of y + # components of x1dot + for ii in range(gnsf["nx1"]): + if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]: + print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii]) + y = vertcat(y, gnsf["xdot"][ii]) + # else: + # xdot[ii] is not part of y + # components of z + for ii in range(gnsf["nz1"]): + if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]: + y = vertcat(y, gnsf["z"][ii]) + # else: + # z[ii] is not part of y + ## uhat + uhat = SX.sym('uhat', 0, 0) + # components of u + for ii in range(gnsf["nu"]): + if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]: + uhat = vertcat(uhat, gnsf["u"][ii]) + # else: + # u[ii] is not part of uhat + ## generate gnsf['phi_expr_fun'] + # linear input matrices + if is_empty(y): + gnsf["L_x"] = [] + gnsf["L_xdot"] = [] + gnsf["L_u"] = [] + gnsf["L_z"] = [] + else: + dummy = SX.sym("dummy_input", 0) + L_x_fun = Function( + "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])] + ) + L_xdot_fun = Function( + "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])] + ) + L_z_fun = Function( + "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])] + ) + L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])]) + + gnsf["L_x"] = L_x_fun(0).full() + gnsf["L_xdot"] = L_xdot_fun(0).full() + gnsf["L_u"] = L_u_fun(0).full() + gnsf["L_z"] = L_z_fun(0).full() + gnsf["y"] = y + gnsf["uhat"] = uhat + + gnsf["ny"] = casadi_length(y) + gnsf["nuhat"] = casadi_length(uhat) + gnsf["n_out"] = casadi_length(gnsf["phi_expr"]) + + return gnsf diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py new file mode 100644 index 0000000000..23c2440537 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py @@ -0,0 +1,155 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +from casadi import * +import numpy as np +from ..utils import casadi_length, idx_perm_to_ipiv +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from .check_reformulation import check_reformulation + + +def determine_trivial_gnsf_transcription(acados_ocp, print_info): + ## Description + # this function takes a model of an implicit ODE/ index-1 DAE and sets up + # an equivalent model in the GNSF structure, with empty linear output + # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is + # eye. - no structure is exploited + + model = acados_ocp.model + # initial print + print("*****************************************************************") + print(" ") + print(f"****** Restructuring {model.name} model ***********") + print(" ") + print("*****************************************************************") + + # load model + f_impl_expr = model.f_impl_expr + + model_name_prefix = model.name + + # x + x = model.x + nx = acados_ocp.dims.nx + # check type + if isinstance(x[0], SX): + isSX = True + else: + print("GNSF detection only works for SX CasADi type!!!") + import pdb + + pdb.set_trace() + # xdot + xdot = model.xdot + # u + nu = acados_ocp.dims.nu + if nu == 0: + u = SX.sym("u", 0, 0) + else: + u = model.u + + nz = acados_ocp.dims.nz + if nz == 0: + z = SX.sym("z", 0, 0) + else: + z = model.z + + p = model.p + nparam = acados_ocp.dims.np + + # avoid SX of size 0x1 + if casadi_length(u) == 0: + u = SX.sym("u", 0, 0) + nu = 0 + ## initialize gnsf struct + # dimensions + gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam} + gnsf["nx1"] = nx + gnsf["nx2"] = 0 + gnsf["nz1"] = nz + gnsf["nz2"] = 0 + gnsf["nuhat"] = nu + gnsf["ny"] = 2 * nx + nz + + gnsf["phi_expr"] = f_impl_expr + gnsf["A"] = np.zeros((nx + nz, nx)) + gnsf["B"] = np.zeros((nx + nz, nu)) + gnsf["E"] = np.zeros((nx + nz, nx + nz)) + gnsf["c"] = np.zeros((nx + nz, 1)) + gnsf["C"] = np.eye(nx + nz) + gnsf["name"] = model_name_prefix + + gnsf["x"] = x + gnsf["xdot"] = xdot + gnsf["z"] = z + gnsf["u"] = u + gnsf["p"] = p + + gnsf = determine_input_nonlinearity_function(gnsf) + + gnsf["A_LO"] = [] + gnsf["E_LO"] = [] + gnsf["B_LO"] = [] + gnsf["c_LO"] = [] + gnsf["f_lo_expr"] = [] + + # permutation + gnsf["idx_perm_x"] = range(nx) # matlab-style) + gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"]) # blasfeo-style + gnsf["idx_perm_z"] = range(nz) + gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"]) + gnsf["idx_perm_f"] = range((nx + nz)) + gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"]) + + gnsf["nontrivial_f_LO"] = 0 + + check_reformulation(model, gnsf, print_info) + if print_info: + print(f"Success: Set up equivalent GNSF model with trivial matrices") + print(" ") + if print_info: + print( + "-----------------------------------------------------------------------------------" + ) + print(" ") + print( + "reduced input ny of phi from ", + str(2 * nx + nz), + " to ", + str(gnsf["ny"]), + ) + print( + "reduced input nuhat of phi from ", str(nu), " to ", str(gnsf["nuhat"]) + ) + print(" ") + print( + "-----------------------------------------------------------------------------------" + ) + return gnsf diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md new file mode 100644 index 0000000000..53a0ed971e --- /dev/null +++ b/third_party/acados/acados_template/gnsf/matlab to python.md @@ -0,0 +1,43 @@ +# matlab to python + +% -> # + +; -> + +from casadi import * +-> +from casadi import * + + +print\('(.*)'\) +print('$1') + +print\(\['(.*)'\]\) +print(f'$1') + +keyboard +import pdb; pdb.set_trace() + + +range((([^))]*)) +range($1) + +\s*end +-> +nothing + + +if (.*) +if $1: + +else +else: + +num2str +str + +for ([a-z_]*) = +for $1 in + +length\( +len( \ No newline at end of file diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py new file mode 100644 index 0000000000..297a56556c --- /dev/null +++ b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py @@ -0,0 +1,394 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from .check_reformulation import check_reformulation +from casadi import * +from ..utils import casadi_length, idx_perm_to_ipiv, is_empty + + +def reformulate_with_LOS(acados_ocp, gnsf, print_info): + + ## Description: + # This function takes an intitial transcription of the implicit ODE model + # "model" into "gnsf" and reformulates "gnsf" with a linear output system + # (LOS), containing as many states of the model as possible. + # Therefore it might be that the state vector and the implicit function + # vector have to be reordered. This reordered model is part of the output, + # namely reordered_model. + + ## import CasADi and load models + model = acados_ocp.model + + # symbolics + x = gnsf["x"] + xdot = gnsf["xdot"] + u = gnsf["u"] + z = gnsf["z"] + + # dimensions + nx = gnsf["nx"] + nz = gnsf["nz"] + + # get model matrices + A = gnsf["A"] + B = gnsf["B"] + C = gnsf["C"] + E = gnsf["E"] + c = gnsf["c"] + + A_LO = gnsf["A_LO"] + + y = gnsf["y"] + + phi_old = gnsf["phi_expr"] + + if print_info: + print(" ") + print("=================================================================") + print(" ") + print("================ Detect Linear Output System ===============") + print(" ") + print("=================================================================") + print(" ") + ## build initial I_x1 and I_x2_candidates + # I_xrange( all components of x for which either xii or xdot_ii enters y): + # I_LOS_candidates: the remaining components + + I_nsf_components = set() + I_LOS_candidates = set() + + if gnsf["ny"] > 0: + for ii in range(nx): + if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]: + # i.e. xii or xiidot are part of y, and enter phi_expr + if print_info: + print(f"x_{ii} is part of x1") + I_nsf_components = set.union(I_nsf_components, set([ii])) + else: + # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr + I_LOS_candidates = set.union(I_LOS_candidates, set([ii])) + if print_info: + print(" ") + for ii in range(nz): + if which_depends(y, z[ii])[0]: + # i.e. xii or xiidot are part of y, and enter phi_expr + if print_info: + print(f"z_{ii} is part of x1") + I_nsf_components = set.union(I_nsf_components, set([ii + nx])) + else: + # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr + I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx])) + else: + I_LOS_candidates = set(range((nx + nz))) + if print_info: + print(" ") + print(f"I_LOS_candidates {I_LOS_candidates}") + new_nsf_components = I_nsf_components + I_nsf_eq = set([]) + unsorted_dyn = set(range(nx + nz)) + xdot_z = vertcat(xdot, z) + + ## determine components of Linear Output System + # determine maximal index set I_x2 + # such that the components x(I_x2) can be written as a LOS + Eq_map = [] + while True: + ## find equations corresponding to new_nsf_components + for ii in new_nsf_components: + current_var = xdot_z[ii] + var_name = current_var.name + + # print( unsorted_dyn) + # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0]) + I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn) + if len(I_eq) == 1: + i_eq = I_eq.pop() + if print_info: + print(f"component {i_eq} is associated with state {ii}") + elif len(I_eq) > 1: # x_ii_dot occurs in more than 1 eq linearly + # find the equation with least linear dependencies on + # I_LOS_cancidates + number_of_eq = 0 + candidate_dependencies = np.zeros(len(I_eq), 1) + I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx))) + for eq in I_eq: + depending_candidates = set.union( + np.nonzero(E[eq, I_LOS_candidates])[0], + np.nonzero(A[eq, I_x2_candidates])[0], + ) + candidate_dependencies[number_of_eq] = +len(depending_candidates) + number_of_eq += 1 + number_of_eq = np.argmin(candidate_dependencies) + i_eq = I_eq[number_of_eq] + else: ## x_ii_dot does not occur linearly in any of the unsorted dynamics + for j in unsorted_dyn: + phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]] + if which_depends(phi_eq_j, xdot_z(ii))[0]: + I_eq = set.union(I_eq, j) + if is_empty(I_eq): + I_eq = unsorted_dyn + # find the equation with least linear dependencies on I_LOS_cancidates + number_of_eq = 0 + candidate_dependencies = np.zeros(len(I_eq), 1) + I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx))) + for eq in I_eq: + depending_candidates = set.union( + np.nonzero(E[eq, I_LOS_candidates])[0], + np.nonzero(A[eq, I_x2_candidates])[0], + ) + candidate_dependencies[number_of_eq] = +len(depending_candidates) + number_of_eq += 1 + number_of_eq = np.argmin(candidate_dependencies) + i_eq = I_eq[number_of_eq] + ## add 1 * [xdot,z](ii) to both sides of i_eq + if print_info: + print( + "adding 1 * ", + var_name, + " to both sides of equation ", + i_eq, + ".", + ) + gnsf["E"][i_eq, ii] = 1 + i_phi = np.nonzero(gnsf["C"][i_eq, :]) + if is_empty(i_phi): + i_phi = len(gnsf["phi_expr"]) + 1 + gnsf["C"][i_eq, i_phi] = 1 # add column to C with 1 entry + gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0) + gnsf["phi_expr"][i_phi] = ( + gnsf["phi_expr"](i_phi) + + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii] + ) + if print_info: + print( + "detected equation ", + i_eq, + " to correspond to variable ", + var_name, + ) + I_nsf_eq = set.union(I_nsf_eq, {i_eq}) + # remove i_eq from unsorted_dyn + unsorted_dyn.remove(i_eq) + Eq_map.append([ii, i_eq]) + + ## add components to I_x1 + for eq in I_nsf_eq: + I_linear_dependence = set.union( + set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0]) + ) + I_nsf_components = set.union(I_linear_dependence, I_nsf_components) + # I_nsf_components = I_nsf_components[:] + + new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components) + if is_empty(new_nsf_components): + if print_info: + print("new_nsf_components is empty") + break + # remove new_nsf_components from candidates + I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components) + if not is_empty(Eq_map): + # [~, new_eq_order] = sort(Eq_map(1,:)) + # I_nsf_eq = Eq_map(2, new_eq_order ) + for count, m in enumerate(Eq_map): + m.append(count) + sorted(Eq_map, key=lambda x: x[1]) + new_eq_order = [m[2] for m in Eq_map] + Eq_map = [Eq_map[i] for i in new_eq_order] + I_nsf_eq = [m[1] for m in Eq_map] + + else: + I_nsf_eq = [] + + I_LOS_components = I_LOS_candidates + I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq)) + I_nsf_eq = sorted(I_nsf_eq) + + I_x1 = set.intersection(I_nsf_components, set(range(nx))) + I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz))) + I_z1 = set([i - nx for i in I_z1]) + + I_x2 = set.intersection(I_LOS_components, set(range(nx))) + I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz))) + I_z2 = set([i - nx for i in I_z2]) + + if print_info: + print(f"I_x1 {I_x1}, I_x2 {I_x2}") + + ## permute x, xdot + if is_empty(I_x1): + x1 = [] + x1dot = [] + else: + x1 = x[list(I_x1)] + x1dot = xdot[list(I_x1)] + if is_empty(I_x2): + x2 = [] + x2dot = [] + else: + x2 = x[list(I_x2)] + x2dot = xdot[list(I_x2)] + if is_empty(I_z1): + z1 = [] + else: + z1 = z(I_z1) + if is_empty(I_z2): + z2 = [] + else: + z2 = z[list(I_z2)] + + I_x1 = sorted(I_x1) + I_x2 = sorted(I_x2) + I_z1 = sorted(I_z1) + I_z2 = sorted(I_z2) + gnsf["xdot"] = vertcat(x1dot, x2dot) + gnsf["x"] = vertcat(x1, x2) + gnsf["z"] = vertcat(z1, z2) + gnsf["nx1"] = len(I_x1) + gnsf["nx2"] = len(I_x2) + gnsf["nz1"] = len(I_z1) + gnsf["nz2"] = len(I_z2) + + # store permutations + gnsf["idx_perm_x"] = I_x1 + I_x2 + gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"]) + gnsf["idx_perm_z"] = I_z1 + I_z2 + gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"]) + gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq + gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"]) + + f_LO = SX.sym("f_LO", 0, 0) + + ## rewrite I_LOS_eq as LOS + if gnsf["n_out"] == 0: + C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1) + else: + C_phi = C @ phi_old + if gnsf["nx1"] == 0: + Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1) + else: + Ax1 = A[:, sorted(I_x1)] @ x1 + if gnsf["nx1"] + gnsf["nz1"] == 0: + lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1) + else: + lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1) + n_LO = len(I_LOS_eq) + B_LO = np.zeros((n_LO, gnsf["nu"])) + A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"])) + E_LO = np.zeros((n_LO, n_LO)) + c_LO = np.zeros((n_LO, 1)) + + I_LOS_eq = list(I_LOS_eq) + for eq in I_LOS_eq: + i_LO = I_LOS_eq.index(eq) + f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq]) + print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}") + E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)] + A_LO[i_LO, :] = A[eq, I_x2] + c_LO[i_LO, :] = c[eq] + B_LO[i_LO, :] = B[eq, :] + if casadi_length(f_LO) == 0: + f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1)) + f_LO = simplify(f_LO) + gnsf["A_LO"] = A_LO + gnsf["E_LO"] = E_LO + gnsf["B_LO"] = B_LO + gnsf["c_LO"] = c_LO + gnsf["f_lo_expr"] = f_LO + + ## remove I_LOS_eq from NSF type system + gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))] + gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :] + gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :] + gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))] + gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :] + + ## reduce phi, C + I_nonzero = [] + for ii in range(gnsf["C"].shape[1]): # n_colums of C: + print(f"ii {ii}") + if not all(gnsf["C"][:, ii] == 0): # if column ~= 0 + I_nonzero.append(ii) + gnsf["C"] = gnsf["C"][:, I_nonzero] + gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero] + + gnsf = determine_input_nonlinearity_function(gnsf) + + check_reformulation(model, gnsf, print_info) + + gnsf["nontrivial_f_LO"] = 0 + if not is_empty(gnsf["f_lo_expr"]): + for ii in range(casadi_length(gnsf["f_lo_expr"])): + fii = gnsf["f_lo_expr"][ii] + if not fii.is_zero(): + gnsf["nontrivial_f_LO"] = 1 + if not gnsf["nontrivial_f_LO"] and print_info: + print("f_LO is fully trivial (== 0)") + check_reformulation(model, gnsf, print_info) + + if print_info: + print("") + print( + "---------------------------------------------------------------------------------" + ) + print( + "------------- Success: Linear Output System (LOS) detected ----------------------" + ) + print( + "---------------------------------------------------------------------------------" + ) + print("") + print( + "==>> moved ", + gnsf["nx2"], + "differential states and ", + gnsf["nz2"], + " algebraic variables to the Linear Output System", + ) + print( + "==>> recuced output dimension of phi from ", + casadi_length(phi_old), + " to ", + casadi_length(gnsf["phi_expr"]), + ) + print(" ") + print("Matrices defining the LOS read as") + print(" ") + print("E_LO =") + print(gnsf["E_LO"]) + print("A_LO =") + print(gnsf["A_LO"]) + print("B_LO =") + print(gnsf["B_LO"]) + print("c_LO =") + print(gnsf["c_LO"]) + + return gnsf diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py new file mode 100644 index 0000000000..21ab8ebfd5 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py @@ -0,0 +1,167 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import * +from .determine_input_nonlinearity_function import determine_input_nonlinearity_function +from .check_reformulation import check_reformulation + + +def reformulate_with_invertible_E_mat(gnsf, model, print_info): + ## Description + # this function checks that the necessary condition to apply the gnsf + # structure exploiting integrator to a model, namely that the matrices E11, + # E22 are invertible holds. + # if this is not the case, it will make these matrices invertible and add: + # corresponding terms, to the term C * phi, such that the obtained model is + # still equivalent + + # check invertibility of E11, E22 and reformulate if needed: + ind_11 = range(gnsf["nx1"]) + ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"]) + + if print_info: + print(" ") + print("----------------------------------------------------") + print("checking rank of E11 and E22") + print("----------------------------------------------------") + ## check if E11, E22 are invertible: + z_check = False + if gnsf["nz1"] > 0: + z_check = ( + np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"] + ) + + if ( + np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"] + or z_check + ): + # print warning (always) + print(f"the rank of E11 or E22 is not full after the reformulation") + print("") + print( + f"the script will try to reformulate the model with an invertible matrix instead" + ) + print( + f"NOTE: this feature is based on a heuristic, it should be used with care!!!" + ) + + ## load models + xdot = gnsf["xdot"] + z = gnsf["z"] + + # # GNSF + # get dimensions + nx1 = gnsf["nx1"] + x1dot = xdot[range(nx1)] + + k = vertcat(x1dot, z) + for i in [1, 2]: + if i == 1: + ind = range(gnsf["nx1"]) + else: + ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"]) + mat = gnsf["E"][np.ix_(ind, ind)] + import pdb + + pdb.set_trace() + while np.linalg.matrix_rank(mat) < len(ind): + # import pdb; pdb.set_trace() + if print_info: + print(" ") + print(f"the rank of E", str(i), str(i), " is not full") + print( + f"the algorithm will try to reformulate the model with an invertible matrix instead" + ) + print( + f"NOTE: this feature is not super stable and might need more testing!!!!!!" + ) + for sub_max in ind: + sub_ind = range(min(ind), sub_max) + # regard the submatrix mat(sub_ind, sub_ind) + sub_mat = gnsf["E"][sub_ind, sub_ind] + if np.linalg.matrix_rank(sub_mat) < len(sub_ind): + # reformulate the model by adding a 1 to last diagonal + # element and changing rhs respectively. + gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1 + # this means adding the term 1 * k(sub_max) to the sub_max + # row of the l.h.s + if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0: + # if isempty(find(gnsf['C'](sub_max,:), 1)): + # add new nonlinearity entry + gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1 + gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max]) + else: + ind_f = np.nonzero(gnsf["C"][sub_max, :])[0] + if len(ind_f) != 1: + raise Exception("C is assumed to be a selection matrix") + else: + ind_f = ind_f[0] + # add term to corresponding nonlinearity entry + # note: herbey we assume that C is a selection matrix, + # i.e. gnsf['phi_expr'](ind_f) is only entering one equation + + gnsf["phi_expr"][ind_f] = ( + gnsf["phi_expr"][ind_f] + + k[sub_max] / gnsf["C"][sub_max, ind_f] + ) + gnsf = determine_input_nonlinearity_function(gnsf) + check_reformulation(model, gnsf, print_info) + print("successfully reformulated the model with invertible matrices E11, E22") + else: + if print_info: + print(" ") + print( + "the rank of both E11 and E22 is naturally full after the reformulation " + ) + print("==> model reformulation finished") + print(" ") + if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0: + print( + "_______________________________________________________________________________________________________" + ) + print(" ") + print("TAKE CARE ") + print("E_LO matrix is NOT regular after automatic transcription!") + print("->> this means the model CANNOT be used with the gnsf integrator") + print( + "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system" + ) + print(" does not appear in the model at all (zero column in E_LO)") + print(" OR: the columns of E_LO are linearly dependent ") + print(" ") + print( + " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS" + ) + print(" b) deactivate the detect_LOS option") + print( + "_______________________________________________________________________________________________________" + ) + return gnsf diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py new file mode 100644 index 0000000000..db2d18758e --- /dev/null +++ b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py @@ -0,0 +1,174 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# +# Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com + +from casadi import n_nodes +import numpy as np + + +def structure_detection_print_summary(gnsf, acados_ocp): + + ## Description + # this function prints the most important info after determining a GNSF + # reformulation of the implicit model "initial_model" into "gnsf", which is + # equivalent to the "reordered_model". + model = acados_ocp.model + # # GNSF + # get dimensions + nx = gnsf["nx"] + nu = gnsf["nu"] + nz = gnsf["nz"] + + nx1 = gnsf["nx1"] + nx2 = gnsf["nx2"] + + nz1 = gnsf["nz1"] + nz2 = gnsf["nz2"] + + # np = gnsf['np'] + n_out = gnsf["n_out"] + ny = gnsf["ny"] + nuhat = gnsf["nuhat"] + + # + f_impl_expr = model.f_impl_expr + n_nodes_initial = n_nodes(model.f_impl_expr) + # x_old = model.x + # f_impl_old = model.f_impl_expr + + x = gnsf["x"] + z = gnsf["z"] + + phi_current = gnsf["phi_expr"] + + ## PRINT SUMMARY -- STRUCHTRE DETECTION + print(" ") + print( + "*********************************************************************************************" + ) + print(" ") + print( + "****************** SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!! ***************" + ) + print(" ") + print( + "*********************************************************************************************" + ) + print(" ") + print( + f"========================= STRUCTURE DETECTION SUMMARY ====================================" + ) + print(" ") + print("-------- Nonlinear Static Feedback type system --------") + print(" ") + print(" successfully transcribed dynamic system model into GNSF structure ") + print(" ") + print( + "reduced dimension of nonlinearity phi from ", + str(nx + nz), + " to ", + str(gnsf["n_out"]), + ) + print(" ") + print( + "reduced input dimension of nonlinearity phi from ", + 2 * nx + nz + nu, + " to ", + gnsf["ny"] + gnsf["nuhat"], + ) + print(" ") + print(f"reduced number of nodes in CasADi expression of nonlinearity phi from {n_nodes_initial} to {n_nodes(phi_current)}\n") + print("----------- Linear Output System (LOS) ---------------") + if nx2 + nz2 > 0: + print(" ") + print(f"introduced Linear Output System of size ", str(nx2 + nz2)) + print(" ") + if nx2 > 0: + print("consisting of the states:") + print(" ") + print(x[range(nx1, nx)]) + print(" ") + if nz2 > 0: + print("and algebraic variables:") + print(" ") + print(z[range(nz1, nz)]) + print(" ") + if gnsf["purely_linear"] == 1: + print(" ") + print("Model is fully linear!") + print(" ") + if not all(gnsf["idx_perm_x"] == np.array(range(nx))): + print(" ") + print( + "--------------------------------------------------------------------------------------------------" + ) + print( + "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x =" + ) + print(" ") + print(gnsf["idx_perm_x"]) + if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))): + print(" ") + print( + "--------------------------------------------------------------------------------------------------" + ) + print( + "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z =" + ) + print(" ") + print(gnsf["idx_perm_z"]) + if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))): + print(" ") + print( + "--------------------------------------------------------------------------------------------------" + ) + print( + "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f =" + ) + print(" ") + print(gnsf["idx_perm_f"]) + ## print GNSF dimensions + print( + "--------------------------------------------------------------------------------------------------------" + ) + print(" ") + print("The dimensions of the GNSF reformulated model read as:") + print(" ") + # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat) + # print( T_dim ) + print(f"nx ", {nx}) + print(f"nu ", {nu}) + print(f"nz ", {nz}) + # print(f"np ", {np}) + print(f"nx1 ", {nx1}) + print(f"nz1 ", {nz1}) + print(f"n_out ", {n_out}) + print(f"ny ", {ny}) + print(f"nuhat ", {nuhat}) diff --git a/third_party/acados/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json index 70c939cb88..5d178fef85 100644 --- a/third_party/acados/acados_template/simulink_default_opts.json +++ b/third_party/acados/acados_template/simulink_default_opts.json @@ -4,7 +4,9 @@ "utraj": 0, "xtraj": 0, "solver_status": 1, + "cost_value": 0, "KKT_residual": 1, + "KKT_residuals": 0, "x1": 1, "CPU_time": 1, "CPU_time_sim": 0, @@ -29,6 +31,8 @@ "ug": 1, "lh": 1, "uh": 1, + "lh_e": 1, + "uh_e": 1, "cost_W_0": 0, "cost_W": 0, "cost_W_e": 0, diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py index 8f44f61e7e..d6f6c02f84 100644 --- a/third_party/acados/acados_template/utils.py +++ b/third_party/acados/acados_template/utils.py @@ -1,9 +1,6 @@ # -*- coding: future_fstrings -*- # -# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, -# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, -# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, -# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl +# Copyright (c) The acados authors. # # This file is part of acados. # @@ -38,10 +35,17 @@ import shutil import numpy as np from casadi import SX, MX, DM, Function, CasadiMeta -ALLOWED_CASADI_VERSIONS = ('3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0') +ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0') TERA_VERSION = "0.0.34" +PLATFORM2TERA = { + "linux": "linux", + "darwin": "osx", + "win32": "windows" +} + + def get_acados_path(): ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR') if not ACADOS_PATH: @@ -72,20 +76,17 @@ def get_tera_exec_path(): return TERA_PATH -platform2tera = { - "linux": "linux", - "darwin": "osx", - "win32": "windows" -} - - -def casadi_version_warning(casadi_version): - msg = 'Warning: Please note that the following versions of CasADi are ' - msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS)) - msg += 'If there is an incompatibility with the CasADi generated code, ' - msg += 'please consider changing your CasADi version.\n' - msg += 'Version {} currently in use.'.format(casadi_version) - print(msg) +def check_casadi_version(): + casadi_version = CasadiMeta.version() + if casadi_version in ALLOWED_CASADI_VERSIONS: + return + else: + msg = 'Warning: Please note that the following versions of CasADi are ' + msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS)) + msg += 'If there is an incompatibility with the CasADi generated code, ' + msg += 'please consider changing your CasADi version.\n' + msg += 'Version {} currently in use.'.format(casadi_version) + print(msg) def is_column(x): @@ -118,11 +119,16 @@ def is_empty(x): return True else: return False - elif x == None or x == []: + elif x == None: return True + elif isinstance(x, (set, list)): + if len(x)==0: + return True + else: + return False else: raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, " - + "None, numpy array empty list. Got: " + str(type(x))) + + "None, numpy array empty list, set. Got: " + str(type(x))) def casadi_length(x): @@ -155,6 +161,14 @@ def make_model_consistent(model): return model +def get_lib_ext(): + lib_ext = '.so' + if sys.platform == 'darwin': + lib_ext = '.dylib' + elif os.name == 'nt': + lib_ext = '' + + return lib_ext def get_tera(): tera_path = get_tera_exec_path() @@ -165,7 +179,7 @@ def get_tera(): repo_url = "https://github.com/acados/tera_renderer/releases" url = "{}/download/v{}/t_renderer-v{}-{}".format( - repo_url, TERA_VERSION, TERA_VERSION, platform2tera[sys.platform]) + repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform]) manual_install = 'For manual installation follow these instructions:\n' manual_install += '1 Download binaries from {}\n'.format(url) @@ -200,18 +214,19 @@ def get_tera(): sys.exit(1) -def render_template(in_file, out_file, template_dir, json_path): +def render_template(in_file, out_file, output_dir, json_path, template_glob=None): + + acados_path = os.path.dirname(os.path.abspath(__file__)) + if template_glob is None: + template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*') cwd = os.getcwd() - if not os.path.exists(template_dir): - os.mkdir(template_dir) - os.chdir(template_dir) + + if not os.path.exists(output_dir): + os.makedirs(output_dir) + os.chdir(output_dir) tera_path = get_tera() - # setting up loader and environment - acados_path = os.path.dirname(os.path.abspath(__file__)) - template_glob = os.path.join(acados_path, 'c_templates_tera', '*') - # call tera as system cmd os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'" # Windows cmd.exe can not cope with '...', so use "..." instead: @@ -220,21 +235,24 @@ def render_template(in_file, out_file, template_dir, json_path): status = os.system(os_cmd) if (status != 0): - raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\nExiting.\n') + raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n') os.chdir(cwd) ## Conversion functions -def np_array_to_list(np_array): - if isinstance(np_array, (np.ndarray)): - return np_array.tolist() - elif isinstance(np_array, (SX)): - return DM(np_array).full() - elif isinstance(np_array, (DM)): - return np_array.full() +def make_object_json_dumpable(input): + if isinstance(input, (np.ndarray)): + return input.tolist() + elif isinstance(input, (SX)): + return input.serialize() + elif isinstance(input, (MX)): + # NOTE: MX expressions can not be serialized, only Functions. + return input.__str__() + elif isinstance(input, (DM)): + return input.full() else: - raise(Exception(f"Cannot convert to list type {type(np_array)}")) + raise TypeError(f"Cannot make input of type {type(input)} dumpable.") def format_class_dict(d): @@ -251,7 +269,7 @@ def format_class_dict(d): return out -def get_ocp_nlp_layout(): +def get_ocp_nlp_layout() -> dict: python_interface_path = get_python_interface_path() abs_path = os.path.join(python_interface_path, 'acados_layout.json') with open(abs_path, 'r') as f: @@ -259,62 +277,12 @@ def get_ocp_nlp_layout(): return ocp_nlp_layout -def ocp_check_against_layout(ocp_nlp, ocp_dims): - """ - Check dimensions against layout - Parameters - --------- - ocp_nlp : dict - dictionary loaded from JSON to be post-processed. - - ocp_dims : instance of AcadosOcpDims - """ - - ocp_nlp_layout = get_ocp_nlp_layout() - - ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, ocp_nlp_layout) - return - - -def ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, layout): - - for key, item in ocp_nlp.items(): - - try: - layout_of_key = layout[key] - except KeyError: - raise Exception("ocp_check_against_layout_recursion: field" \ - " '{0}' is not in layout but in OCP description.".format(key)) - - if isinstance(item, dict): - ocp_check_against_layout_recursion(item, ocp_dims, layout_of_key) - - if 'ndarray' in layout_of_key: - if isinstance(item, int) or isinstance(item, float): - item = np.array([item]) - if isinstance(item, (list, np.ndarray)) and (layout_of_key[0] != 'str'): - dim_layout = [] - dim_names = layout_of_key[1] - - for dim_name in dim_names: - dim_layout.append(ocp_dims[dim_name]) - - dims = tuple(dim_layout) - - item = np.array(item) - item_dims = item.shape - if len(item_dims) != len(dims): - raise Exception('Mismatching dimensions for field {0}. ' \ - 'Expected {1} dimensional array, got {2} dimensional array.' \ - .format(key, len(dims), len(item_dims))) - - if np.prod(item_dims) != 0 or np.prod(dims) != 0: - if dims != item_dims: - raise Exception('acados -- mismatching dimensions for field {0}. ' \ - 'Provided data has dimensions {1}, ' \ - 'while associated dimensions {2} are {3}' \ - .format(key, item_dims, dim_names, dims)) - return +def get_default_simulink_opts() -> dict: + python_interface_path = get_python_interface_path() + abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json') + with open(abs_path, 'r') as f: + simulink_opts = json.load(f) + return simulink_opts def J_to_idx(J): @@ -324,9 +292,9 @@ def J_to_idx(J): this_idx = np.nonzero(J[i,:])[0] if len(this_idx) != 1: raise Exception('Invalid J matrix structure detected, ' \ - 'must contain one nonzero element per row. Exiting.') + 'must contain one nonzero element per row.') if this_idx.size > 0 and J[i,this_idx[0]] != 1: - raise Exception('J matrices can only contain 1s. Exiting.') + raise Exception('J matrices can only contain 1s.') idx[i] = this_idx[0] return idx @@ -342,7 +310,7 @@ def J_to_idx_slack(J): idx[i_idx] = i i_idx = i_idx + 1 elif len(this_idx) > 1: - raise Exception('J_to_idx_slack: Invalid J matrix. Exiting. ' \ + raise Exception('J_to_idx_slack: Invalid J matrix. ' \ 'Found more than one nonzero in row ' + str(i)) if this_idx.size > 0 and J[i,this_idx[0]] != 1: raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \ @@ -376,13 +344,13 @@ def acados_dae_model_json_dump(model): # dump json_file = model_name + '_acados_dae.json' with open(json_file, 'w') as f: - json.dump(dae_dict, f, default=np_array_to_list, indent=4, sort_keys=True) + json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True) print("dumped ", model_name, " dae to file:", json_file, "\n") -def set_up_imported_gnsf_model(acados_formulation): +def set_up_imported_gnsf_model(acados_ocp): - gnsf = acados_formulation.gnsf_model + gnsf = acados_ocp.gnsf_model # check CasADi version # dump_casadi_version = gnsf['casadi_version'] @@ -402,39 +370,66 @@ def set_up_imported_gnsf_model(acados_formulation): # obtain gnsf dimensions size_gnsf_A = get_matrices_fun.size_out(0) - acados_formulation.dims.gnsf_nx1 = size_gnsf_A[1] - acados_formulation.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] - acados_formulation.dims.gnsf_nuhat = max(phi_fun.size_in(1)) - acados_formulation.dims.gnsf_ny = max(phi_fun.size_in(0)) - acados_formulation.dims.gnsf_nout = max(phi_fun.size_out(0)) + acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1] + acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1] + acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1)) + acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0)) + acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0)) # save gnsf functions in model - acados_formulation.model.phi_fun = phi_fun - acados_formulation.model.phi_fun_jac_y = phi_fun_jac_y - acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat - acados_formulation.model.get_matrices_fun = get_matrices_fun + acados_ocp.model.phi_fun = phi_fun + acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y + acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat + acados_ocp.model.get_matrices_fun = get_matrices_fun # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},... # {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,... # nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO}); get_matrices_out = get_matrices_fun(0) - acados_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12]) - acados_formulation.model.gnsf['purely_linear'] = int(get_matrices_out[13]) + acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12]) + acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13]) if "f_lo_fun_jac_x1k1uz" in gnsf: f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz']) - acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz + acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz else: - dummy_var_x1 = SX.sym('dummy_var_x1', acados_formulation.dims.gnsf_nx1) - dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_formulation.dims.gnsf_nx1) - dummy_var_z1 = SX.sym('dummy_var_z1', acados_formulation.dims.gnsf_nz1) - dummy_var_u = SX.sym('dummy_var_z1', acados_formulation.dims.nu) - dummy_var_p = SX.sym('dummy_var_z1', acados_formulation.dims.np) + dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1) + dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1) + dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1) + dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu) + dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np) empty_var = SX.sym('empty_var', 0, 0) empty_fun = Function('empty_fun', \ [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p], [empty_var]) - acados_formulation.model.f_lo_fun_jac_x1k1uz = empty_fun + acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun - del acados_formulation.gnsf_model + del acados_ocp.gnsf_model + + +def idx_perm_to_ipiv(idx_perm): + n = len(idx_perm) + vec = list(range(n)) + ipiv = np.zeros(n) + + print(n, idx_perm) + # import pdb; pdb.set_trace() + for ii in range(n): + idx0 = idx_perm[ii] + for jj in range(ii,n): + if vec[jj]==idx0: + idx1 = jj + break + tmp = vec[ii] + vec[ii] = vec[idx1] + vec[idx1] = tmp + ipiv[ii] = idx1 + + ipiv = ipiv-1 # C 0-based indexing + return ipiv + + +def print_casadi_expression(f): + for ii in range(casadi_length(f)): + print(f[ii,:]) diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py new file mode 100644 index 0000000000..4d795c1502 --- /dev/null +++ b/third_party/acados/acados_template/zoro_description.py @@ -0,0 +1,78 @@ +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; + +from dataclasses import dataclass, field +import numpy as np + + +@dataclass +class ZoroDescription: + """ + Zero-Order Robust Optimization scheme. + + For advanced users. + """ + backoff_scaling_gamma: float = 1.0 + fdbk_K_mat: np.ndarray = None + unc_jac_G_mat: np.ndarray = None # default: an identity matrix + P0_mat: np.ndarray = None + W_mat: np.ndarray = None + idx_lbx_t: list = field(default_factory=list) + idx_ubx_t: list = field(default_factory=list) + idx_lbx_e_t: list = field(default_factory=list) + idx_ubx_e_t: list = field(default_factory=list) + idx_lbu_t: list = field(default_factory=list) + idx_ubu_t: list = field(default_factory=list) + idx_lg_t: list = field(default_factory=list) + idx_ug_t: list = field(default_factory=list) + idx_lg_e_t: list = field(default_factory=list) + idx_ug_e_t: list = field(default_factory=list) + idx_lh_t: list = field(default_factory=list) + idx_uh_t: list = field(default_factory=list) + idx_lh_e_t: list = field(default_factory=list) + idx_uh_e_t: list = field(default_factory=list) + +def process_zoro_description(zoro_description: ZoroDescription): + zoro_description.nw, _ = zoro_description.W_mat.shape + if zoro_description.unc_jac_G_mat is None: + zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw) + zoro_description.nlbx_t = len(zoro_description.idx_lbx_t) + zoro_description.nubx_t = len(zoro_description.idx_ubx_t) + zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t) + zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t) + zoro_description.nlbu_t = len(zoro_description.idx_lbu_t) + zoro_description.nubu_t = len(zoro_description.idx_ubu_t) + zoro_description.nlg_t = len(zoro_description.idx_lg_t) + zoro_description.nug_t = len(zoro_description.idx_ug_t) + zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t) + zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t) + zoro_description.nlh_t = len(zoro_description.idx_lh_t) + zoro_description.nuh_t = len(zoro_description.idx_uh_t) + zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t) + zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t) + return zoro_description.__dict__ diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index 574a577b4d..b45c167b16 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -23,8 +23,8 @@ if [ ! -d acados_repo/ ]; then fi cd acados_repo git fetch --all -git checkout 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584 -git submodule update --recursive --init +git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2 +git submodule update --depth=1 --recursive --init # build mkdir -p build @@ -50,7 +50,7 @@ if [[ "$OSTYPE" == "darwin"* ]]; then cargo build --verbose --release --target aarch64-apple-darwin cargo build --verbose --release --target x86_64-apple-darwin lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer -else +else cargo build --verbose --release fi cp target/release/t_renderer $INSTALL_DIR/ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h index f3809c4294..2a9a974f99 100644 --- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h +++ b/third_party/acados/include/acados/dense_qp/dense_qp_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h new file mode 100644 index 0000000000..b262089b4f --- /dev/null +++ b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h @@ -0,0 +1,110 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ +#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// daqp +#include "daqp/include/types.h" + +// acados +#include "acados/dense_qp/dense_qp_common.h" +#include "acados/utils/types.h" + + +typedef struct dense_qp_daqp_opts_ +{ + DAQPSettings* daqp_opts; + int warm_start; +} dense_qp_daqp_opts; + + +typedef struct dense_qp_daqp_memory_ +{ + double* lb_tmp; + double* ub_tmp; + int* idxb; + int* idxv_to_idxb; + int* idxs; + int* idxdaqp_to_idxs; + + double* Zl; + double* Zu; + double* zl; + double* zu; + double* d_ls; + double* d_us; + + double time_qp_solver_call; + int iter; + DAQPWorkspace * daqp_work; + +} dense_qp_daqp_memory; + +// opts +acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims); +// +void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); +// +void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); +// +void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_); +// +// memory +acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory); +// +acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_); +// +void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); +// +// functions +int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); +// +void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); +// +void dense_qp_daqp_config_initialize_default(void *config_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h index 20eedc26a2..136279d666 100644 --- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h +++ b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h index 646f11f06f..d051cb15f7 100644 --- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h +++ b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h index 52606fac5d..392e472918 100644 --- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h +++ b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h index 9f0bb1af68..0e13d3ef64 100644 --- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h +++ b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h index 60d835fc58..ba97db9768 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -419,6 +416,9 @@ void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha); // +int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, + ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); +// double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, int check_early_termination); diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h index 7f7a30faf3..9dbf16f6dc 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -82,9 +79,6 @@ acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config); // void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory); // -void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx, - int nbu, int ng, int nh, int dummy0, int ns); -// void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value); // void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_, @@ -116,6 +110,9 @@ void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_m int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); +// +void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_, + void *model_, const char *field, void *value); /************************************************ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h index beeec78411..eb05edf7a6 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -63,7 +60,7 @@ typedef struct int nbu; int nbx; int ng; // number of general linear constraints - int nphi; // dimension of convex outer part + int nphi; // dimension of convex outer part int ns; // nsbu + nsbx + nsg + nsphi int nsbu; // number of softened input bounds int nsbx; // number of softened state bounds @@ -81,9 +78,6 @@ acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config); // void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory); // -void ocp_nlp_constraints_bgp_dims_initialize(void *config, void *dims, int nx, int nu, int nz, - int nbx, int nbu, int ng, int nphi, int nq, int ns); -// void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value); @@ -109,6 +103,9 @@ void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory) // int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); +// +void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_, + void *model_, const char *field, void *value); /* options */ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h index 7cadecab46..bb73c468de 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -60,11 +57,10 @@ typedef struct { acados_size_t (*dims_calculate_size)(void *config); void *(*dims_assign)(void *config, void *raw_memory); - void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nz, int nbx, int nbu, int ng, - int nh, int nq, int ns); acados_size_t (*model_calculate_size)(void *config, void *dims); void *(*model_assign)(void *config, void *dims, void *raw_memory); int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value); + void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value); acados_size_t (*opts_calculate_size)(void *config, void *dims); void *(*opts_assign)(void *config, void *dims, void *raw_memory); void (*opts_initialize_default)(void *config, void *dims, void *opts); diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h index c9fbbfb404..eb40564036 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -33,8 +30,8 @@ /// -/// \defgroup ocp_nlp_cost ocp_nlp_cost -/// +/// \defgroup ocp_nlp_cost ocp_nlp_cost +/// /// \addtogroup ocp_nlp_cost ocp_nlp_cost /// @{ @@ -62,7 +59,6 @@ typedef struct { acados_size_t (*dims_calculate_size)(void *config); void *(*dims_assign)(void *config, void *raw_memory); - void (*dims_initialize)(void *config, void *dims, int nx, int nu, int ny, int ns, int nz); void (*dims_set)(void *config_, void *dims_, const char *field, int *value); void (*dims_get)(void *config_, void *dims_, const char *field, int *value); acados_size_t (*model_calculate_size)(void *config, void *dims); @@ -91,6 +87,8 @@ typedef struct // computes the cost function value (intended for globalization) void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); void (*config_initialize_default)(void *config); + void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); + } ocp_nlp_cost_config; // @@ -105,5 +103,5 @@ ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory); #endif #endif // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ -/// @} -/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h new file mode 100644 index 0000000000..2eb3f5d127 --- /dev/null +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h @@ -0,0 +1,207 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +/// \addtogroup ocp_nlp +/// @{ +/// \addtogroup ocp_nlp_cost ocp_nlp_cost +/// @{ +/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl +/// \brief This module implements convex-over-nonlinear costs of the form +/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$, + + +#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ +#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// blasfeo +#include "blasfeo/include/blasfeo_common.h" + +// acados +#include "acados/ocp_nlp/ocp_nlp_cost_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/types.h" + + + +/************************************************ + * dims + ************************************************/ + +typedef struct +{ + int nx; // number of states + int nz; // number of algebraic variables + int nu; // number of inputs + int ny; // number of outputs + int ns; // number of slacks +} ocp_nlp_cost_conl_dims; + +// +acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config); +// +void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory); +// +void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz); +// +void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value); +// +void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value); + + + +/************************************************ + * model + ************************************************/ + +typedef struct +{ + // slack penalty has the form z^T * s + .5 * s^T * Z * s + external_function_generic *conl_cost_fun; + external_function_generic *conl_cost_fun_jac_hess; + struct blasfeo_dvec y_ref; + struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector + struct blasfeo_dvec z; // gradient of slacks as vector + double scaling; +} ocp_nlp_cost_conl_model; + +// +acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory); +// +int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_); + + + +/************************************************ + * options + ************************************************/ + +typedef struct +{ + bool gauss_newton_hess; // dummy options, we always use a gauss-newton hessian +} ocp_nlp_cost_conl_opts; + +// +acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims); +// +void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory); +// +void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts); +// +void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value); + + + +/************************************************ + * memory + ************************************************/ +typedef struct +{ + struct blasfeo_dvec grad; // gradient of cost function + struct blasfeo_dvec *ux; // pointer to ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out + struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in + struct blasfeo_dvec *Z; // pointer to Z in qp_in + struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out + struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out + double fun; ///< value of the cost function +} ocp_nlp_cost_conl_memory; + +// +acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts); +// +void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory); +// +double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_); +// +struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_); +// +void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); +// +void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); +// +void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); +// +void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); +// +void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); +// +void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); + +/************************************************ + * workspace + ************************************************/ + +typedef struct +{ + struct blasfeo_dmat W; // hessian of outer loss function + struct blasfeo_dmat W_chol; // cholesky factor of hessian of outer loss function + struct blasfeo_dmat Jt_ux; // jacobian of inner residual function + struct blasfeo_dmat Jt_ux_tilde; // jacobian of inner residual function plus gradient contribution of algebraic variables + struct blasfeo_dmat Jt_z; // jacobian of inner residual function wrt algebraic variables + struct blasfeo_dmat tmp_nv_ny; + struct blasfeo_dvec tmp_ny; + struct blasfeo_dvec tmp_2ns; +} ocp_nlp_cost_conl_workspace; + +// +acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts); + +/************************************************ + * functions + ************************************************/ + +// +void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_conl_config_initialize_default(void *config); +// +void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); +// +void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); +// +void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); + +#ifdef __cplusplus +} /* extern "C" */ +#endif + +#endif // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ +/// @} +/// @} +/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h index f2196dbee7..78958270de 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -54,6 +51,7 @@ extern "C" { typedef struct { int nx; // number of states + int nz; // number of algebraic variables int nu; // number of inputs int ns; // number of slacks } ocp_nlp_cost_external_dims; @@ -63,9 +61,6 @@ acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config); // void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory); // -void ocp_nlp_cost_external_dims_initialize(void *config, void *dims, int nx, - int nu, int ny, int ns, int nz); -// void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value); // void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value); @@ -122,7 +117,7 @@ typedef struct { struct blasfeo_dvec grad; // gradient of cost function struct blasfeo_dvec *ux; // pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out + struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in struct blasfeo_dvec *Z; // pointer to Z in qp_in struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out @@ -157,7 +152,10 @@ void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_ typedef struct { - struct blasfeo_dmat tmp_nv_nv; + struct blasfeo_dmat tmp_nunx_nunx; + struct blasfeo_dmat tmp_nz_nz; + struct blasfeo_dmat tmp_nz_nunx; + struct blasfeo_dvec tmp_nunxnz; struct blasfeo_dvec tmp_2ns; // temporary vector of dimension 2*ns } ocp_nlp_cost_external_workspace; @@ -168,6 +166,8 @@ acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void * functions ************************************************/ +// +void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); // void ocp_nlp_cost_external_config_initialize_default(void *config); // diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h index 3cf759504a..801e9a5b87 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -82,30 +79,14 @@ typedef struct acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config); -/// Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct +/// Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct /// -/// \param[in] config structure containing configuration of ocp_nlp_cost +/// \param[in] config structure containing configuration of ocp_nlp_cost /// module -/// \param[in] raw_memory pointer to memory location +/// \param[in] raw_memory pointer to memory location /// \param[out] [] /// \return dims void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory); - - -/// Initialize the dimensions struct of the -/// ocp_nlp-cost_ls component -/// -/// \param[in] config structure containing configuration ocp_nlp-cost_ls component -/// \param[in] nx number of states -/// \param[in] nu number of inputs -/// \param[in] ny number of residuals -/// \param[in] ns number of slacks -/// \param[in] nz number of algebraic variables -/// \param[out] dims -/// \return size -void ocp_nlp_cost_ls_dims_initialize(void *config, void *dims, int nx, - int nu, int ny, int ns, int nz); - // void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value); // @@ -117,7 +98,7 @@ void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int //////////////////////////////////////////////////////////////////////////////// -/// structure containing the data describing the linear least-square cost +/// structure containing the data describing the linear least-square cost typedef struct { // slack penalty has the form z^T * s + .5 * s^T * Z * s @@ -128,6 +109,8 @@ typedef struct struct blasfeo_dvec Z; ///< diagonal Hessian of slacks as vector (lower and upper) struct blasfeo_dvec z; ///< gradient of slacks as vector (lower and upper) double scaling; + int W_changed; ///< flag indicating whether W has changed and needs to be refactorized + int Cyt_or_scaling_changed; ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed } ocp_nlp_cost_ls_model; // @@ -170,7 +153,7 @@ void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void -/// structure containing the memory associated with cost_ls component +/// structure containing the memory associated with cost_ls component /// of the ocp_nlp module typedef struct { @@ -237,7 +220,8 @@ acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, //////////////////////////////////////////////////////////////////////////////// - +// computations that are done once when solver is created +void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); // void ocp_nlp_cost_ls_config_initialize_default(void *config); // diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h index aafb6b3540..5ec68cf580 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -38,8 +35,7 @@ /// @{ /// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls /// \brief This module implements nonlinear-least squares costs of the form -/// \f$\min_{x,u} \| r(x,u) - y_{\text{ref}} \|_W^2\f$. -/// @{ +/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$, #ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ #define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ @@ -65,6 +61,7 @@ extern "C" { typedef struct { int nx; // number of states + int nz; // number of algebraic variables int nu; // number of inputs int ny; // number of outputs int ns; // number of slacks @@ -75,8 +72,6 @@ acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config); // void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory); // -void ocp_nlp_cost_nls_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz); -// void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value); // void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value); @@ -99,6 +94,7 @@ typedef struct struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector struct blasfeo_dvec z; // gradient of slacks as vector double scaling; + int W_changed; ///< flag indicating whether W has changed and needs to be refactorized } ocp_nlp_cost_nls_model; // @@ -144,11 +140,11 @@ typedef struct struct blasfeo_dvec grad; // gradient of cost function struct blasfeo_dvec *ux; // pointer to ux in nlp_out struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out - struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out - struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in struct blasfeo_dvec *Z; // pointer to Z in qp_in - double fun; ///< value of the cost function + struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out + struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out + double fun; ///< value of the cost function } ocp_nlp_cost_nls_memory; // @@ -180,8 +176,11 @@ typedef struct { struct blasfeo_dmat tmp_nv_ny; struct blasfeo_dmat tmp_nv_nv; + struct blasfeo_dmat Vz; + struct blasfeo_dmat Cyt_tilde; struct blasfeo_dvec tmp_ny; - struct blasfeo_dvec tmp_2ns; // temporary vector of dimension ny + struct blasfeo_dvec tmp_2ns; + struct blasfeo_dvec tmp_nz; } ocp_nlp_cost_nls_workspace; // @@ -191,6 +190,8 @@ acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims * functions ************************************************/ +// +void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); // void ocp_nlp_cost_nls_config_initialize_default(void *config); // diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h index f2128a8574..43fe71b12f 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -68,7 +65,6 @@ typedef struct /* dims */ acados_size_t (*dims_calculate_size)(void *config); void *(*dims_assign)(void *config, void *raw_memory); - void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nx1, int nu1, int nz); void (*dims_set)(void *config_, void *dims_, const char *field, int *value); void (*dims_get)(void *config_, void *dims_, const char *field, int* value); /* model */ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h index 59a2df4f47..3afdc9f4ed 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -75,10 +72,6 @@ typedef struct acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config); // void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_dynamics_cont_dims_initialize(void *config, void *dims, int nx, int nu, int nx1, - int nu1, int nz); - // void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value); diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h index 8b2a6177bf..6ea26a7010 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -68,10 +65,6 @@ typedef struct acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config); // void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_dynamics_disc_dims_initialize(void *config, void *dims, int nx, int nu, int nx1, - int nu1, int nz); - // void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value); diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h index cd26788a56..9388f3fd24 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h index df31361680..cb523525e1 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h index f6bd7dcafd..84a023cb69 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h index c085e00d5d..b571f3bac1 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h index 104c297207..682ea206dc 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h index e0b854bc1a..7e12952c15 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h index 74cfb042e3..fdb96417f9 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h index af22c06a17..364d0f4717 100644 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h +++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -145,12 +142,6 @@ acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims /************************************************ * functions ************************************************/ - -void ocp_nlp_sqp_rti_preparation_step(void *config_, void *dims_, - void *nlp_in_, void *nlp_out_, void *opts, void *mem_, void *work_); -// -void ocp_nlp_sqp_rti_feedback_step(void *config_, void *dims_, - void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_); // int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_); diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h index caf6caf2f0..d1a45635e4 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h index 50b80850c6..f65f602c15 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h index 14ac97bbf4..d23e658b48 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h index 91690e458d..261606b842 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h index de6ce501b1..8db53a279d 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h index 1a3b7b2fa2..a535503f21 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h index 4ae391a9ff..51df1b1cd6 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h index b95a11114e..844f6048fe 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h index ad4d094516..3b875caeb5 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h index d4b30e007b..a78bc65bb9 100644 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h +++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -84,6 +81,7 @@ typedef struct acados_size_t (*dims_calculate_size)(void *config, int N); ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory); void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); + void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims); void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory); void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h index 40a0b1c0cc..045d165cbc 100644 --- a/third_party/acados/include/acados/sim/sim_collocation_utils.h +++ b/third_party/acados/include/acados/sim/sim_collocation_utils.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h index 1838d76f81..c4bbd6ed2b 100644 --- a/third_party/acados/include/acados/sim/sim_common.h +++ b/third_party/acados/include/acados/sim/sim_common.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -149,6 +146,8 @@ typedef struct bool jac_reuse; // Newton_scheme *scheme; + double newton_tol; // optinally used in implicit integrators + // workspace void *work; diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h index 24a00c7077..fd46cb4d99 100644 --- a/third_party/acados/include/acados/sim/sim_erk_integrator.h +++ b/third_party/acados/include/acados/sim/sim_erk_integrator.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h index 5524b384e0..404532a732 100644 --- a/third_party/acados/include/acados/sim/sim_gnsf.h +++ b/third_party/acados/include/acados/sim/sim_gnsf.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -46,12 +43,12 @@ extern "C" { #include "acados/sim/sim_common.h" #include "blasfeo/include/blasfeo_common.h" -#include "blasfeo/include/blasfeo_d_aux.h" -#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" -#include "blasfeo/include/blasfeo_d_blas.h" -#include "blasfeo/include/blasfeo_d_kernel.h" -#include "blasfeo/include/blasfeo_i_aux_ext_dep.h" -#include "blasfeo/include/blasfeo_target.h" +// #include "blasfeo/include/blasfeo_d_aux.h" +// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h" +// #include "blasfeo/include/blasfeo_d_blas.h" +// #include "blasfeo/include/blasfeo_d_kernel.h" +// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h" +// #include "blasfeo/include/blasfeo_target.h" /* GNSF - Generalized Nonlinear Static Feedback Model diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h index 6851bacb3a..5090aa0bb5 100644 --- a/third_party/acados/include/acados/sim/sim_irk_integrator.h +++ b/third_party/acados/include/acados/sim/sim_irk_integrator.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h index 9ec2d97bed..e60bb80ebf 100644 --- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h +++ b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h index 021363f26e..1e68dc155d 100644 --- a/third_party/acados/include/acados/utils/external_function_generic.h +++ b/third_party/acados/include/acados/utils/external_function_generic.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -137,8 +134,8 @@ typedef struct int (*casadi_work)(int *, int *, int *, int *); const int *(*casadi_sparsity_in)(int); const int *(*casadi_sparsity_out)(int); - int (*casadi_n_in)(); - int (*casadi_n_out)(); + int (*casadi_n_in)(void); + int (*casadi_n_out)(void); double **args; double **res; double *w; @@ -195,8 +192,8 @@ typedef struct int (*casadi_work)(int *, int *, int *, int *); const int *(*casadi_sparsity_in)(int); const int *(*casadi_sparsity_out)(int); - int (*casadi_n_in)(); - int (*casadi_n_out)(); + int (*casadi_n_in)(void); + int (*casadi_n_out)(void); double **args; double **res; double *w; diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h index fe1da875f6..7156a82084 100644 --- a/third_party/acados/include/acados/utils/math.h +++ b/third_party/acados/include/acados/utils/math.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -42,6 +39,7 @@ extern "C" { #if defined(__MABX2__) double fmax(double a, double b); +int isnan(double x); #endif #define MIN(a,b) (((a)<(b))?(a):(b)) diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h index 7b9efc5ed8..681a371e36 100644 --- a/third_party/acados/include/acados/utils/mem.h +++ b/third_party/acados/include/acados/utils/mem.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h index f8568afb26..824d3cee22 100644 --- a/third_party/acados/include/acados/utils/print.h +++ b/third_party/acados/include/acados/utils/print.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h index 02f1835593..62bdfb4891 100644 --- a/third_party/acados/include/acados/utils/strsep.h +++ b/third_party/acados/include/acados/utils/strsep.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h index fe561d3891..b0955932da 100644 --- a/third_party/acados/include/acados/utils/timing.h +++ b/third_party/acados/include/acados/utils/timing.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h index d3da0a86b7..a27ef9e552 100644 --- a/third_party/acados/include/acados/utils/types.h +++ b/third_party/acados/include/acados/utils/types.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -78,7 +75,7 @@ typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, doub enum return_values { ACADOS_SUCCESS, - ACADOS_FAILURE, + ACADOS_NAN_DETECTED, ACADOS_MAXITER, ACADOS_MINSTEP, ACADOS_QP_FAILURE, diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h index 51fe827127..b4302078d6 100644 --- a/third_party/acados/include/acados_c/condensing_interface.h +++ b/third_party/acados/include/acados_c/condensing_interface.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h index 4ecc77381d..b3af4bf682 100644 --- a/third_party/acados/include/acados_c/dense_qp_interface.h +++ b/third_party/acados/include/acados_c/dense_qp_interface.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -41,7 +38,7 @@ extern "C" { #include "acados/dense_qp/dense_qp_common.h" -typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t; +typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t; typedef struct { diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h index 6838975071..d4f52db850 100644 --- a/third_party/acados/include/acados_c/external_function_interface.h +++ b/third_party/acados/include/acados_c/external_function_interface.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h index 50bc0cf1af..dd3e596f8b 100644 --- a/third_party/acados/include/acados_c/ocp_nlp_interface.h +++ b/third_party/acados/include/acados_c/ocp_nlp_interface.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -66,6 +63,7 @@ typedef enum { LINEAR_LS, NONLINEAR_LS, + CONVEX_OVER_NONLINEAR, EXTERNAL, INVALID_COST, } ocp_nlp_cost_t; @@ -246,6 +244,10 @@ ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_ ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *value); +/// +ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims, + ocp_nlp_in *in, int stage, const char *field, void *value); + /* out */ /// Constructs an output struct for the non-linear program. @@ -297,7 +299,7 @@ ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config * ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out); -void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, +ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out); /* opts */ @@ -386,8 +388,6 @@ ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in * /// \param nlp_out The output struct. ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); -// -void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); /// Computes the residuals. /// diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h index 2582f142da..3dc3f1a532 100644 --- a/third_party/acados/include/acados_c/ocp_qp_interface.h +++ b/third_party/acados/include/acados_c/ocp_qp_interface.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * @@ -87,6 +84,11 @@ typedef enum { #else FULL_CONDENSING_QPOASES_NOT_AVAILABLE, #endif +#ifdef ACADOS_WITH_DAQP + FULL_CONDENSING_DAQP, +#else + FULL_CONDENSING_DAQP_NOT_AVAILABLE, +#endif #ifdef ACADOS_WITH_QORE FULL_CONDENSING_QORE, #else diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h index 5dce6f153a..09a05d6995 100644 --- a/third_party/acados/include/acados_c/sim_interface.h +++ b/third_party/acados/include/acados_c/sim_interface.h @@ -1,8 +1,5 @@ /* - * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren, - * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor, - * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan, - * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl + * Copyright (c) The acados authors. * * This file is part of acados. * diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h index ff9e9d4c16..2eab1e4094 100644 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h +++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h @@ -50,18 +50,20 @@ #define BLASFEO_CBLAS_ENUM #ifdef FORTRAN_BLAS_API #ifndef CBLAS_H -enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102}; +enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102}; enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; enum CBLAS_UPLO {CblasUpper=121, CblasLower=122}; enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; enum CBLAS_SIDE {CblasLeft=141, CblasRight=142}; +#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */ #endif // CBLAS_H #else // FORTRAN_BLAS_API -enum BLASFEO_CBLAS_ORDER {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102}; +enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102}; enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113}; enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122}; enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132}; enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142}; +#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */ #endif // FORTRAN_BLAS_API #endif // BLASFEO_CBLAS_ENUM #endif // CBLAS_API @@ -151,15 +153,19 @@ void cblas_dswap(const int N, double *X, const int incX, double *Y, const int in // void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY); +// CBLAS 2 +// +void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY); + // CBLAS 3 // -void cblas_dgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); +void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); // -void cblas_dsyrk(const enum CBLAS_ORDER Order, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); +void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); // -void cblas_dtrmm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); +void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); // -void cblas_dtrsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); +void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); @@ -240,15 +246,19 @@ void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, cons // void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY); +// CBLAS 2 +// +void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY); + // CBLAS 3 // -void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); +void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); // -void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); +void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); // -void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); +void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); // -void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); +void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h index 4ff4f307b3..51f617a649 100644 --- a/third_party/acados/include/blasfeo/include/blasfeo_target.h +++ b/third_party/acados/include/blasfeo/include/blasfeo_target.h @@ -1,13 +1,13 @@ -#ifndef TARGET_ARMV8A_ARM_CORTEX_A57 -#define TARGET_ARMV8A_ARM_CORTEX_A57 +#ifndef TARGET_X64_INTEL_HASWELL +#define TARGET_X64_INTEL_HASWELL #endif #ifndef TARGET_NEED_FEATURE_AVX2 -/* #undef TARGET_NEED_FEATURE_AVX2 */ +#define TARGET_NEED_FEATURE_AVX2 1 #endif #ifndef TARGET_NEED_FEATURE_FMA -/* #undef TARGET_NEED_FEATURE_FMA */ +#define TARGET_NEED_FEATURE_FMA 1 #endif #ifndef TARGET_NEED_FEATURE_SSE3 @@ -27,11 +27,11 @@ #endif #ifndef TARGET_NEED_FEATURE_VFPv4 -#define TARGET_NEED_FEATURE_VFPv4 1 +/* #undef TARGET_NEED_FEATURE_VFPv4 */ #endif #ifndef TARGET_NEED_FEATURE_NEONv2 -#define TARGET_NEED_FEATURE_NEONv2 1 +/* #undef TARGET_NEED_FEATURE_NEONv2 */ #endif #ifndef LA_HIGH_PERFORMANCE diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so index 35f83d4159..9a28b4c9d6 100644 Binary files a/third_party/acados/larch64/lib/libacados.so and b/third_party/acados/larch64/lib/libacados.so differ diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so index 6b0e26de79..b97ed876e2 100644 Binary files a/third_party/acados/larch64/lib/libblasfeo.so and b/third_party/acados/larch64/lib/libblasfeo.so differ diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so index bebd5e8911..cd4b1f1b5b 100644 Binary files a/third_party/acados/larch64/lib/libhpipm.so and b/third_party/acados/larch64/lib/libhpipm.so differ diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 index 0611c8a939..19e7a69bd5 100644 Binary files a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer index b4ff8bc319..b6f70bde06 100755 Binary files a/third_party/acados/larch64/t_renderer and b/third_party/acados/larch64/t_renderer differ diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so index b8a6280d68..ae5fc363f2 100644 Binary files a/third_party/acados/x86_64/lib/libacados.so and b/third_party/acados/x86_64/lib/libacados.so differ diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so index e4a19caf13..676ff67e98 100644 Binary files a/third_party/acados/x86_64/lib/libblasfeo.so and b/third_party/acados/x86_64/lib/libblasfeo.so differ diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so index 428c76a117..8d026b1185 100644 Binary files a/third_party/acados/x86_64/lib/libhpipm.so and b/third_party/acados/x86_64/lib/libhpipm.so differ diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 index cf3604688c..c0c8b66650 100644 Binary files a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 differ diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer index 5ced89c28d..d84fc762c8 100755 Binary files a/third_party/acados/x86_64/t_renderer and b/third_party/acados/x86_64/t_renderer differ diff --git a/third_party/cluster/.gitignore b/third_party/cluster/.gitignore deleted file mode 100644 index 9daeafb986..0000000000 --- a/third_party/cluster/.gitignore +++ /dev/null @@ -1 +0,0 @@ -test diff --git a/third_party/cluster/LICENSE b/third_party/cluster/LICENSE deleted file mode 100644 index ab8b4db7d7..0000000000 --- a/third_party/cluster/LICENSE +++ /dev/null @@ -1,13 +0,0 @@ -Copyright: - * fastcluster_dm.cpp & fastcluster_R_dm.cpp: - © 2011 Daniel Müllner - * fastcluster.(h|cpp) & demo.cpp & plotresult.r: - © 2018 Christoph Dalitz -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third_party/cluster/README b/third_party/cluster/README deleted file mode 100644 index acb18bc72b..0000000000 --- a/third_party/cluster/README +++ /dev/null @@ -1,79 +0,0 @@ -C++ interface to fast hierarchical clustering algorithms -======================================================== - -This is a simplified C++ interface to fast implementations of hierarchical -clustering by Daniel Müllner. The original library with interfaces to R -and Python is described in: - -Daniel Müllner: "fastcluster: Fast Hierarchical, Agglomerative Clustering -Routines for R and Python." Journal of Statistical Software 53 (2013), -no. 9, pp. 1–18, http://www.jstatsoft.org/v53/i09/ - - -Usage of the library --------------------- - -For using the library, the following source files are needed: - -fastcluster_dm.cpp, fastcluster_R_dm.cpp - original code by Daniel Müllner - these are included by fastcluster.cpp via #include, and therefore - need not be compiled to object code - -fastcluster.[h|cpp] - simplified C++ interface - fastcluster.cpp is the only file that must be compiled - -The library provides the clustering function *hclust_fast* for -creating the dendrogram information in an encoding as used by the -R function *hclust*. For a description of the parameters, see fastcluster.h. -Its parameter *method* can be one of - -HCLUST_METHOD_SINGLE - single link with the minimum spanning tree algorithm (Rohlf, 1973) - -HHCLUST_METHOD_COMPLETE - complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984) - -HCLUST_METHOD_AVERAGE - complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984) - -HCLUST_METHOD_MEDIAN - median link with the generic algorithm (Müllner, 2011) - -For splitting the dendrogram into clusters, the two functions *cutree_k* -and *cutree_cdist* are provided. - -Note that output parameters must be allocated beforehand, e.g. - int* merge = new int[2*(npoints-1)]; -For a complete usage example, see lines 135-142 of demo.cpp. - - -Demonstration program ---------------------- - -A simple demo is implemented in demo.cpp, which can be compiled and run with - - make - ./hclust-demo -m complete lines.csv - -It creates two clusters of line segments such that the segment angle between -line segments of different clusters have a maximum (cosine) dissimilarity. -For visualizing the result, plotresult.r can be used as follows -(requires R to be installed): - - ./hclust-demo -m complete lines.csv | Rscript plotresult.r - - -Authors & Copyright -------------------- - -Daniel Müllner, 2011, -Christoph Dalitz, 2018, - - -License -------- - -This code is provided under a BSD-style license. -See the file LICENSE for details. diff --git a/third_party/cluster/SConscript b/third_party/cluster/SConscript deleted file mode 100644 index 97eb4300d4..0000000000 --- a/third_party/cluster/SConscript +++ /dev/null @@ -1,8 +0,0 @@ -Import('env') - -fc = env.SharedLibrary("fastcluster", "fastcluster.cpp") - -# TODO: how do I gate on test -#env.Program("test", ["test.cpp"], LIBS=[fc]) -#valgrind --leak-check=full ./test - diff --git a/third_party/cluster/fastcluster.cpp b/third_party/cluster/fastcluster.cpp deleted file mode 100644 index d2b557d6f5..0000000000 --- a/third_party/cluster/fastcluster.cpp +++ /dev/null @@ -1,218 +0,0 @@ -// -// C++ standalone verion of fastcluster by Daniel Müllner -// -// Copyright: Christoph Dalitz, 2018 -// Daniel Müllner, 2011 -// License: BSD style license -// (see the file LICENSE for details) -// - - -#include -#include -#include - - -extern "C" { -#include "fastcluster.h" -} - -// Code by Daniel Müllner -// workaround to make it usable as a standalone version (without R) -bool fc_isnan(double x) { return false; } -#include "fastcluster_dm.cpp" -#include "fastcluster_R_dm.cpp" - -extern "C" { -// -// Assigns cluster labels (0, ..., nclust-1) to the n points such -// that the cluster result is split into nclust clusters. -// -// Input arguments: -// n = number of observables -// merge = clustering result in R format -// nclust = number of clusters -// Output arguments: -// labels = allocated integer array of size n for result -// - void cutree_k(int n, const int* merge, int nclust, int* labels) { - - int k,m1,m2,j,l; - - if (nclust > n || nclust < 2) { - for (j=0; j last_merge(n, 0); - for (k=1; k<=(n-nclust); k++) { - // (m1,m2) = merge[k,] - m1 = merge[k-1]; - m2 = merge[n-1+k-1]; - if (m1 < 0 && m2 < 0) { // both single observables - last_merge[-m1-1] = last_merge[-m2-1] = k; - } - else if (m1 < 0 || m2 < 0) { // one is a cluster - if(m1 < 0) { j = -m1; m1 = m2; } else j = -m2; - // merging single observable and cluster - for(l = 0; l < n; l++) - if (last_merge[l] == m1) - last_merge[l] = k; - last_merge[j-1] = k; - } - else { // both cluster - for(l=0; l < n; l++) { - if( last_merge[l] == m1 || last_merge[l] == m2 ) - last_merge[l] = k; - } - } - } - - // assign cluster labels - int label = 0; - std::vector z(n,-1); - for (j=0; j= cdist - // - // Input arguments: - // n = number of observables - // merge = clustering result in R format - // height = cluster distance at each merge step - // cdist = cutoff cluster distance - // Output arguments: - // labels = allocated integer array of size n for result - // - void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels) { - - int k; - - for (k=0; k<(n-1); k++) { - if (height[k] >= cdist) { - break; - } - } - cutree_k(n, merge, n-k, labels); - } - - - // - // Hierarchical clustering with one of Daniel Muellner's fast algorithms - // - // Input arguments: - // n = number of observables - // distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing - // the upper triangle (without diagonal elements) of the distance - // matrix, e.g. for n=4: - // d00 d01 d02 d03 - // d10 d11 d12 d13 -> d01 d02 d03 d12 d13 d23 - // d20 d21 d22 d23 - // d30 d31 d32 d33 - // method = cluster metric (see enum method_code) - // Output arguments: - // merge = allocated (n-1)x2 matrix (2*(n-1) array) for storing result. - // Result follows R hclust convention: - // - observabe indices start with one - // - merge[i][] contains the merged nodes in step i - // - merge[i][j] is negative when the node is an atom - // height = allocated (n-1) array with distances at each merge step - // Return code: - // 0 = ok - // 1 = invalid method - // - int hclust_fast(int n, double* distmat, int method, int* merge, double* height) { - - // call appropriate culstering function - cluster_result Z2(n-1); - if (method == HCLUST_METHOD_SINGLE) { - // single link - MST_linkage_core(n, distmat, Z2); - } - else if (method == HCLUST_METHOD_COMPLETE) { - // complete link - NN_chain_core(n, distmat, NULL, Z2); - } - else if (method == HCLUST_METHOD_AVERAGE) { - // best average distance - double* members = new double[n]; - for (int i=0; i(n, distmat, members, Z2); - delete[] members; - } - else if (method == HCLUST_METHOD_MEDIAN) { - // best median distance (beware: O(n^3)) - generic_linkage(n, distmat, NULL, Z2); - } - else if (method == HCLUST_METHOD_CENTROID) { - // best centroid distance (beware: O(n^3)) - double* members = new double[n]; - for (int i=0; i(n, distmat, members, Z2); - delete[] members; - } - else { - return 1; - } - - int* order = new int[n]; - if (method == HCLUST_METHOD_MEDIAN || method == HCLUST_METHOD_CENTROID) { - generate_R_dendrogram(merge, height, order, Z2, n); - } else { - generate_R_dendrogram(merge, height, order, Z2, n); - } - delete[] order; // only needed for visualization - - return 0; - } - - - // Build condensed distance matrix - // Input arguments: - // n = number of observables - // m = dimension of observable - // Output arguments: - // out = allocated integer array of size n * (n - 1) / 2 for result - void hclust_pdist(int n, int m, double* pts, double* out) { - int ii = 0; - for (int i = 0; i < n; i++) { - for (int j = i + 1; j < n; j++) { - // Compute euclidian distance - double d = 0; - for (int k = 0; k < m; k ++) { - double error = pts[i * m + k] - pts[j * m + k]; - d += (error * error); - } - out[ii] = d;//sqrt(d); - ii++; - } - } - } - - void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx) { - double* pdist = new double[n * (n - 1) / 2]; - int* merge = new int[2 * (n - 1)]; - double* height = new double[n - 1]; - - hclust_pdist(n, m, pts, pdist); - hclust_fast(n, pdist, HCLUST_METHOD_CENTROID, merge, height); - cutree_cdist(n, merge, height, dist, idx); - - delete[] pdist; - delete[] merge; - delete[] height; - } -} diff --git a/third_party/cluster/fastcluster.h b/third_party/cluster/fastcluster.h deleted file mode 100644 index 56c63b6a5e..0000000000 --- a/third_party/cluster/fastcluster.h +++ /dev/null @@ -1,77 +0,0 @@ -// -// C++ standalone verion of fastcluster by Daniel Muellner -// -// Copyright: Daniel Muellner, 2011 -// Christoph Dalitz, 2018 -// License: BSD style license -// (see the file LICENSE for details) -// - -#ifndef fastclustercpp_H -#define fastclustercpp_H - -// -// Assigns cluster labels (0, ..., nclust-1) to the n points such -// that the cluster result is split into nclust clusters. -// -// Input arguments: -// n = number of observables -// merge = clustering result in R format -// nclust = number of clusters -// Output arguments: -// labels = allocated integer array of size n for result -// -void cutree_k(int n, const int* merge, int nclust, int* labels); - -// -// Assigns cluster labels (0, ..., nclust-1) to the n points such -// that the hierarchical clsutering is stopped at cluster distance cdist -// -// Input arguments: -// n = number of observables -// merge = clustering result in R format -// height = cluster distance at each merge step -// cdist = cutoff cluster distance -// Output arguments: -// labels = allocated integer array of size n for result -// -void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels); - -// -// Hierarchical clustering with one of Daniel Muellner's fast algorithms -// -// Input arguments: -// n = number of observables -// distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing -// the upper triangle (without diagonal elements) of the distance -// matrix, e.g. for n=4: -// d00 d01 d02 d03 -// d10 d11 d12 d13 -> d01 d02 d03 d12 d13 d23 -// d20 d21 d22 d23 -// d30 d31 d32 d33 -// method = cluster metric (see enum method_code) -// Output arguments: -// merge = allocated (n-1)x2 matrix (2*(n-1) array) for storing result. -// Result follows R hclust convention: -// - observabe indices start with one -// - merge[i][] contains the merged nodes in step i -// - merge[i][j] is negative when the node is an atom -// height = allocated (n-1) array with distances at each merge step -// Return code: -// 0 = ok -// 1 = invalid method -// -int hclust_fast(int n, double* distmat, int method, int* merge, double* height); -enum hclust_fast_methods { - HCLUST_METHOD_SINGLE = 0, - HCLUST_METHOD_COMPLETE = 1, - HCLUST_METHOD_AVERAGE = 2, - HCLUST_METHOD_MEDIAN = 3, - HCLUST_METHOD_CENTROID = 5, -}; - -void hclust_pdist(int n, int m, double* pts, double* out); -void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx); - - -#endif diff --git a/third_party/cluster/fastcluster_R_dm.cpp b/third_party/cluster/fastcluster_R_dm.cpp deleted file mode 100644 index cbe126c15e..0000000000 --- a/third_party/cluster/fastcluster_R_dm.cpp +++ /dev/null @@ -1,115 +0,0 @@ -// -// Excerpt from fastcluster_R.cpp -// -// Copyright: Daniel Müllner, 2011 -// - -struct pos_node { - t_index pos; - int node; -}; - -void order_nodes(const int N, const int * const merge, const t_index * const node_size, int * const order) { - /* Parameters: - N : number of data points - merge : (N-1)×2 array which specifies the node indices which are - merged in each step of the clustering procedure. - Negative entries -1...-N point to singleton nodes, while - positive entries 1...(N-1) point to nodes which are themselves - parents of other nodes. - node_size : array of node sizes - makes it easier - order : output array of size N - - Runtime: Θ(N) - */ - auto_array_ptr queue(N/2); - - int parent; - int child; - t_index pos = 0; - - queue[0].pos = 0; - queue[0].node = N-2; - t_index idx = 1; - - do { - --idx; - pos = queue[idx].pos; - parent = queue[idx].node; - - // First child - child = merge[parent]; - if (child<0) { // singleton node, write this into the 'order' array. - order[pos] = -child; - ++pos; - } - else { /* compound node: put it on top of the queue and decompose it - in a later iteration. */ - queue[idx].pos = pos; - queue[idx].node = child-1; // convert index-1 based to index-0 based - ++idx; - pos += node_size[child-1]; - } - // Second child - child = merge[parent+N-1]; - if (child<0) { - order[pos] = -child; - } - else { - queue[idx].pos = pos; - queue[idx].node = child-1; - ++idx; - } - } while (idx>0); -} - -#define size_(r_) ( ((r_ -void generate_R_dendrogram(int * const merge, double * const height, int * const order, cluster_result & Z2, const int N) { - // The array "nodes" is a union-find data structure for the cluster - // identites (only needed for unsorted cluster_result input). - union_find nodes(sorted ? 0 : N); - if (!sorted) { - std::stable_sort(Z2[0], Z2[N-1]); - } - - t_index node1, node2; - auto_array_ptr node_size(N-1); - - for (t_index i=0; inode1; - node2 = Z2[i]->node2; - } - else { - node1 = nodes.Find(Z2[i]->node1); - node2 = nodes.Find(Z2[i]->node2); - // Merge the nodes in the union-find data structure by making them - // children of a new node. - nodes.Union(node1, node2); - } - // Sort the nodes in the output array. - if (node1>node2) { - t_index tmp = node1; - node1 = node2; - node2 = tmp; - } - /* Conversion between labeling conventions. - Input: singleton nodes 0,...,N-1 - compound nodes N,...,2N-2 - Output: singleton nodes -1,...,-N - compound nodes 1,...,N - */ - merge[i] = (node1(node1)-1 - : static_cast(node1)-N+1; - merge[i+N-1] = (node2(node2)-1 - : static_cast(node2)-N+1; - height[i] = Z2[i]->dist; - node_size[i] = size_(node1) + size_(node2); - } - - order_nodes(N, merge, node_size, order); -} diff --git a/third_party/cluster/fastcluster_dm.cpp b/third_party/cluster/fastcluster_dm.cpp deleted file mode 100644 index ee6670c204..0000000000 --- a/third_party/cluster/fastcluster_dm.cpp +++ /dev/null @@ -1,1794 +0,0 @@ -/* - fastcluster: Fast hierarchical clustering routines for R and Python - - Copyright © 2011 Daniel Müllner - - - This library implements various fast algorithms for hierarchical, - agglomerative clustering methods: - - (1) Algorithms for the "stored matrix approach": the input is the array of - pairwise dissimilarities. - - MST_linkage_core: single linkage clustering with the "minimum spanning - tree algorithm (Rohlfs) - - NN_chain_core: nearest-neighbor-chain algorithm, suitable for single, - complete, average, weighted and Ward linkage (Murtagh) - - generic_linkage: generic algorithm, suitable for all distance update - formulas (Müllner) - - (2) Algorithms for the "stored data approach": the input are points in a - vector space. - - MST_linkage_core_vector: single linkage clustering for vector data - - generic_linkage_vector: generic algorithm for vector data, suitable for - the Ward, centroid and median methods. - - generic_linkage_vector_alternative: alternative scheme for updating the - nearest neighbors. This method seems faster than "generic_linkage_vector" - for the centroid and median methods but slower for the Ward method. - - All these implementation treat infinity values correctly. They throw an - exception if a NaN distance value occurs. -*/ - -// Older versions of Microsoft Visual Studio do not have the fenv header. -#ifdef _MSC_VER -#if (_MSC_VER == 1500 || _MSC_VER == 1600) -#define NO_INCLUDE_FENV -#endif -#endif -// NaN detection via fenv might not work on systems with software -// floating-point emulation (bug report for Debian armel). -#ifdef __SOFTFP__ -#define NO_INCLUDE_FENV -#endif -#ifdef NO_INCLUDE_FENV -#pragma message("Do not use fenv header.") -#else -//#pragma message("Use fenv header. If there is a warning about unknown #pragma STDC FENV_ACCESS, this can be ignored.") -//#pragma STDC FENV_ACCESS on -#include -#endif - -#include // for std::pow, std::sqrt -#include // for std::ptrdiff_t -#include // for std::numeric_limits<...>::infinity() -#include // for std::fill_n -#include // for std::runtime_error -#include // for std::string - -#include // also for DBL_MAX, DBL_MIN -#ifndef DBL_MANT_DIG -#error The constant DBL_MANT_DIG could not be defined. -#endif -#define T_FLOAT_MANT_DIG DBL_MANT_DIG - -#ifndef LONG_MAX -#include -#endif -#ifndef LONG_MAX -#error The constant LONG_MAX could not be defined. -#endif -#ifndef INT_MAX -#error The constant INT_MAX could not be defined. -#endif - -#ifndef INT32_MAX -#ifdef _MSC_VER -#if _MSC_VER >= 1600 -#define __STDC_LIMIT_MACROS -#include -#else -typedef __int32 int_fast32_t; -typedef __int64 int64_t; -#endif -#else -#define __STDC_LIMIT_MACROS -#include -#endif -#endif - -#define FILL_N std::fill_n -#ifdef _MSC_VER -#if _MSC_VER < 1600 -#undef FILL_N -#define FILL_N stdext::unchecked_fill_n -#endif -#endif - -// Suppress warnings about (potentially) uninitialized variables. -#ifdef _MSC_VER - #pragma warning (disable:4700) -#endif - -#ifndef HAVE_DIAGNOSTIC -#if __GNUC__ > 4 || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 6)) -#define HAVE_DIAGNOSTIC 1 -#endif -#endif - -#ifndef HAVE_VISIBILITY -#if __GNUC__ >= 4 -#define HAVE_VISIBILITY 1 -#endif -#endif - -/* Since the public interface is given by the Python respectively R interface, - * we do not want other symbols than the interface initalization routines to be - * visible in the shared object file. The "visibility" switch is a GCC concept. - * Hiding symbols keeps the relocation table small and decreases startup time. - * See http://gcc.gnu.org/wiki/Visibility - */ -#if HAVE_VISIBILITY -#pragma GCC visibility push(hidden) -#endif - -typedef int_fast32_t t_index; -#ifndef INT32_MAX -#define MAX_INDEX 0x7fffffffL -#else -#define MAX_INDEX INT32_MAX -#endif -#if (LONG_MAX < MAX_INDEX) -#error The integer format "t_index" must not have a greater range than "long int". -#endif -#if (INT_MAX > MAX_INDEX) -#error The integer format "int" must not have a greater range than "t_index". -#endif -typedef double t_float; - -/* Method codes. - - These codes must agree with the METHODS array in fastcluster.R and the - dictionary mthidx in fastcluster.py. -*/ -enum method_codes { - // non-Euclidean methods - METHOD_METR_SINGLE = 0, - METHOD_METR_COMPLETE = 1, - METHOD_METR_AVERAGE = 2, - METHOD_METR_WEIGHTED = 3, - METHOD_METR_WARD = 4, - METHOD_METR_WARD_D = METHOD_METR_WARD, - METHOD_METR_CENTROID = 5, - METHOD_METR_MEDIAN = 6, - METHOD_METR_WARD_D2 = 7, - - MIN_METHOD_CODE = 0, - MAX_METHOD_CODE = 7 -}; - -enum method_codes_vector { - // Euclidean methods - METHOD_VECTOR_SINGLE = 0, - METHOD_VECTOR_WARD = 1, - METHOD_VECTOR_CENTROID = 2, - METHOD_VECTOR_MEDIAN = 3, - - MIN_METHOD_VECTOR_CODE = 0, - MAX_METHOD_VECTOR_CODE = 3 -}; - -// self-destructing array pointer -template -class auto_array_ptr{ -private: - type * ptr; - auto_array_ptr(auto_array_ptr const &); // non construction-copyable - auto_array_ptr& operator=(auto_array_ptr const &); // non copyable -public: - auto_array_ptr() - : ptr(NULL) - { } - template - auto_array_ptr(index const size) - : ptr(new type[size]) - { } - template - auto_array_ptr(index const size, value const val) - : ptr(new type[size]) - { - FILL_N(ptr, size, val); - } - ~auto_array_ptr() { - delete [] ptr; } - void free() { - delete [] ptr; - ptr = NULL; - } - template - void init(index const size) { - ptr = new type [size]; - } - template - void init(index const size, value const val) { - init(size); - FILL_N(ptr, size, val); - } - inline operator type *() const { return ptr; } -}; - -struct node { - t_index node1, node2; - t_float dist; -}; - -inline bool operator< (const node a, const node b) { - return (a.dist < b.dist); -} - -class cluster_result { -private: - auto_array_ptr Z; - t_index pos; - -public: - cluster_result(const t_index size) - : Z(size) - , pos(0) - {} - - void append(const t_index node1, const t_index node2, const t_float dist) { - Z[pos].node1 = node1; - Z[pos].node2 = node2; - Z[pos].dist = dist; - ++pos; - } - - node * operator[] (const t_index idx) const { return Z + idx; } - - /* Define several methods to postprocess the distances. All these functions - are monotone, so they do not change the sorted order of distances. */ - - void sqrt() const { - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist = std::sqrt(ZZ->dist); - } - } - - void sqrt(const t_float) const { // ignore the argument - sqrt(); - } - - void sqrtdouble(const t_float) const { // ignore the argument - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist = std::sqrt(2*ZZ->dist); - } - } - - #ifdef R_pow - #define my_pow R_pow - #else - #define my_pow std::pow - #endif - - void power(const t_float p) const { - t_float const q = 1/p; - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist = my_pow(ZZ->dist,q); - } - } - - void plusone(const t_float) const { // ignore the argument - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist += 1; - } - } - - void divide(const t_float denom) const { - for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) { - ZZ->dist /= denom; - } - } -}; - -class doubly_linked_list { - /* - Class for a doubly linked list. Initially, the list is the integer range - [0, size]. We provide a forward iterator and a method to delete an index - from the list. - - Typical use: for (i=L.start; L succ; - -private: - auto_array_ptr pred; - // Not necessarily private, we just do not need it in this instance. - -public: - doubly_linked_list(const t_index size) - // Initialize to the given size. - : start(0) - , succ(size+1) - , pred(size+1) - { - for (t_index i=0; i(2*N-3-(r_))*(r_)>>1)+(c_)-1] ) -// Z is an ((N-1)x4)-array -#define Z_(_r, _c) (Z[(_r)*4 + (_c)]) - -/* - Lookup function for a union-find data structure. - - The function finds the root of idx by going iteratively through all - parent elements until a root is found. An element i is a root if - nodes[i] is zero. To make subsequent searches faster, the entry for - idx and all its parents is updated with the root element. - */ -class union_find { -private: - auto_array_ptr parent; - t_index nextparent; - -public: - union_find(const t_index size) - : parent(size>0 ? 2*size-1 : 0, 0) - , nextparent(size) - { } - - t_index Find (t_index idx) const { - if (parent[idx] != 0 ) { // a → b - t_index p = idx; - idx = parent[idx]; - if (parent[idx] != 0 ) { // a → b → c - do { - idx = parent[idx]; - } while (parent[idx] != 0); - do { - t_index tmp = parent[p]; - parent[p] = idx; - p = tmp; - } while (parent[p] != idx); - } - } - return idx; - } - - void Union (const t_index node1, const t_index node2) { - parent[node1] = parent[node2] = nextparent++; - } -}; - -class nan_error{}; -#ifdef FE_INVALID -class fenv_error{}; -#endif - -static void MST_linkage_core(const t_index N, const t_float * const D, - cluster_result & Z2) { -/* - N: integer, number of data points - D: condensed distance matrix N*(N-1)/2 - Z2: output data structure - - The basis of this algorithm is an algorithm by Rohlf: - - F. James Rohlf, Hierarchical clustering using the minimum spanning tree, - The Computer Journal, vol. 16, 1973, p. 93–95. -*/ - t_index i; - t_index idx2; - doubly_linked_list active_nodes(N); - auto_array_ptr d(N); - - t_index prev_node; - t_float min; - - // first iteration - idx2 = 1; - min = std::numeric_limits::infinity(); - for (i=1; i tmp) - d[i] = tmp; - else if (fc_isnan(tmp)) - throw (nan_error()); -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - if (d[i] < min) { - min = d[i]; - idx2 = i; - } - } - Z2.append(prev_node, idx2, min); - } -} - -/* Functions for the update of the dissimilarity array */ - -inline static void f_single( t_float * const b, const t_float a ) { - if (*b > a) *b = a; -} -inline static void f_complete( t_float * const b, const t_float a ) { - if (*b < a) *b = a; -} -inline static void f_average( t_float * const b, const t_float a, const t_float s, const t_float t) { - *b = s*a + t*(*b); - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_weighted( t_float * const b, const t_float a) { - *b = (a+*b)*.5; - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_ward( t_float * const b, const t_float a, const t_float c, const t_float s, const t_float t, const t_float v) { - *b = ( (v+s)*a - v*c + (v+t)*(*b) ) / (s+t+v); - //*b = a+(*b)-(t*a+s*(*b)+v*c)/(s+t+v); - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_centroid( t_float * const b, const t_float a, const t_float stc, const t_float s, const t_float t) { - *b = s*a - stc + t*(*b); - #ifndef FE_INVALID - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} -inline static void f_median( t_float * const b, const t_float a, const t_float c_4) { - *b = (a+(*b))*.5 - c_4; - #ifndef FE_INVALID -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*b)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - #endif -} - -template -static void NN_chain_core(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) { -/* - N: integer - D: condensed distance matrix N*(N-1)/2 - Z2: output data structure - - This is the NN-chain algorithm, described on page 86 in the following book: - - Fionn Murtagh, Multidimensional Clustering Algorithms, - Vienna, Würzburg: Physica-Verlag, 1985. -*/ - t_index i; - - auto_array_ptr NN_chain(N); - t_index NN_chain_tip = 0; - - t_index idx1, idx2; - - t_float size1, size2; - doubly_linked_list active_nodes(N); - - t_float min; - - for (t_float const * DD=D; DD!=D+(static_cast(N)*(N-1)>>1); - ++DD) { -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wfloat-equal" -#endif - if (fc_isnan(*DD)) { - throw(nan_error()); - } -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - } - - #ifdef FE_INVALID - if (feclearexcept(FE_INVALID)) throw fenv_error(); - #endif - - for (t_index j=0; jidx2) { - t_index tmp = idx1; - idx1 = idx2; - idx2 = tmp; - } - - if (method==METHOD_METR_AVERAGE || - method==METHOD_METR_WARD) { - size1 = static_cast(members[idx1]); - size2 = static_cast(members[idx2]); - members[idx2] += members[idx1]; - } - - // Remove the smaller index from the valid indices (active_nodes). - active_nodes.remove(idx1); - - switch (method) { - case METHOD_METR_SINGLE: - /* - Single linkage. - - Characteristic: new distances are never longer than the old distances. - */ - // Update the distance matrix in the range [start, idx1). - for (i=active_nodes.start; i(members[i]); - for (i=active_nodes.start; i(members[i]) ); - // Update the distance matrix in the range (idx1, idx2). - for (; i(members[i]) ); - // Update the distance matrix in the range (idx2, N). - for (i=active_nodes.succ[idx2]; i(members[i]) ); - break; - - default: - throw std::runtime_error(std::string("Invalid method.")); - } - } - #ifdef FE_INVALID - if (fetestexcept(FE_INVALID)) throw fenv_error(); - #endif -} - -class binary_min_heap { - /* - Class for a binary min-heap. The data resides in an array A. The elements of - A are not changed but two lists I and R of indices are generated which point - to elements of A and backwards. - - The heap tree structure is - - H[2*i+1] H[2*i+2] - \ / - \ / - ≤ ≤ - \ / - \ / - H[i] - - where the children must be less or equal than their parent. Thus, H[0] - contains the minimum. The lists I and R are made such that H[i] = A[I[i]] - and R[I[i]] = i. - - This implementation is not designed to handle NaN values. - */ -private: - t_float * const A; - t_index size; - auto_array_ptr I; - auto_array_ptr R; - - // no default constructor - binary_min_heap(); - // noncopyable - binary_min_heap(binary_min_heap const &); - binary_min_heap & operator=(binary_min_heap const &); - -public: - binary_min_heap(t_float * const A_, const t_index size_) - : A(A_), size(size_), I(size), R(size) - { // Allocate memory and initialize the lists I and R to the identity. This - // does not make it a heap. Call heapify afterwards! - for (t_index i=0; i>1); idx>0; ) { - --idx; - update_geq_(idx); - } - } - - inline t_index argmin() const { - // Return the minimal element. - return I[0]; - } - - void heap_pop() { - // Remove the minimal element from the heap. - --size; - I[0] = I[size]; - R[I[0]] = 0; - update_geq_(0); - } - - void remove(t_index idx) { - // Remove an element from the heap. - --size; - R[I[size]] = R[idx]; - I[R[idx]] = I[size]; - if ( H(size)<=A[idx] ) { - update_leq_(R[idx]); - } - else { - update_geq_(R[idx]); - } - } - - void replace ( const t_index idxold, const t_index idxnew, - const t_float val) { - R[idxnew] = R[idxold]; - I[R[idxnew]] = idxnew; - if (val<=A[idxold]) - update_leq(idxnew, val); - else - update_geq(idxnew, val); - } - - void update ( const t_index idx, const t_float val ) const { - // Update the element A[i] with val and re-arrange the indices to preserve - // the heap condition. - if (val<=A[idx]) - update_leq(idx, val); - else - update_geq(idx, val); - } - - void update_leq ( const t_index idx, const t_float val ) const { - // Use this when the new value is not more than the old value. - A[idx] = val; - update_leq_(R[idx]); - } - - void update_geq ( const t_index idx, const t_float val ) const { - // Use this when the new value is not less than the old value. - A[idx] = val; - update_geq_(R[idx]); - } - -private: - void update_leq_ (t_index i) const { - t_index j; - for ( ; (i>0) && ( H(i)>1) ); i=j) - heap_swap(i,j); - } - - void update_geq_ (t_index i) const { - t_index j; - for ( ; (j=2*i+1)=H(i) ) { - ++j; - if ( j>=size || H(j)>=H(i) ) break; - } - else if ( j+1 -static void generic_linkage(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) { - /* - N: integer, number of data points - D: condensed distance matrix N*(N-1)/2 - Z2: output data structure - */ - - const t_index N_1 = N-1; - t_index i, j; // loop variables - t_index idx1, idx2; // row and column indices - - auto_array_ptr n_nghbr(N_1); // array of nearest neighbors - auto_array_ptr mindist(N_1); // distances to the nearest neighbors - auto_array_ptr row_repr(N); // row_repr[i]: node number that the - // i-th row represents - doubly_linked_list active_nodes(N); - binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for - // the distance to the nearest neighbor of each point - t_index node1, node2; // node numbers in the output - t_float size1, size2; // and their cardinalities - - t_float min; // minimum and row index for nearest-neighbor search - t_index idx; - - for (i=0; ii} D(i,j) for i in range(N-1) - t_float const * DD = D; - for (i=0; i::infinity(); - for (idx=j=i+1; ji} D(i,j) - - Normally, we have equality. However, this minimum may become invalid due - to the updates in the distance matrix. The rules are: - - 1) If mindist[i] is equal to D(i, n_nghbr[i]), this is the correct - minimum and n_nghbr[i] is a nearest neighbor. - - 2) If mindist[i] is smaller than D(i, n_nghbr[i]), this might not be the - correct minimum. The minimum needs to be recomputed. - - 3) mindist[i] is never bigger than the true minimum. Hence, we never - miss the true minimum if we take the smallest mindist entry, - re-compute the value if necessary (thus maybe increasing it) and - looking for the now smallest mindist entry until a valid minimal - entry is found. This step is done in the lines below. - - The update process for D below takes care that these rules are - fulfilled. This makes sure that the minima in the rows D(i,i+1:)of D are - re-calculated when necessary but re-calculation is avoided whenever - possible. - - The re-calculation of the minima makes the worst-case runtime of this - algorithm cubic in N. We avoid this whenever possible, and in most cases - the runtime appears to be quadratic. - */ - idx1 = nn_distances.argmin(); - if (method != METHOD_METR_SINGLE) { - while ( mindist[idx1] < D_(idx1, n_nghbr[idx1]) ) { - // Recompute the minimum mindist[idx1] and n_nghbr[idx1]. - n_nghbr[idx1] = j = active_nodes.succ[idx1]; // exists, maximally N-1 - min = D_(idx1,j); - for (j=active_nodes.succ[j]; j(members[idx1]); - size2 = static_cast(members[idx2]); - members[idx2] += members[idx1]; - } - Z2.append(node1, node2, mindist[idx1]); - - // Remove idx1 from the list of active indices (active_nodes). - active_nodes.remove(idx1); - // Index idx2 now represents the new (merged) node with label N+i. - row_repr[idx2] = N+i; - - // Update the distance matrix - switch (method) { - case METHOD_METR_SINGLE: - /* - Single linkage. - - Characteristic: new distances are never longer than the old distances. - */ - // Update the distance matrix in the range [start, idx1). - for (j=active_nodes.start; j(members[j]) ); - if (n_nghbr[j] == idx1) - n_nghbr[j] = idx2; - } - // Update the distance matrix in the range (idx1, idx2). - for (; j(members[j]) ); - if (D_(j, idx2) < mindist[j]) { - nn_distances.update_leq(j, D_(j, idx2)); - n_nghbr[j] = idx2; - } - } - // Update the distance matrix in the range (idx2, N). - if (idx2(members[j]) ); - min = D_(idx2,j); - for (j=active_nodes.succ[j]; j(members[j]) ); - if (D_(idx2,j) < min) { - min = D_(idx2,j); - n_nghbr[idx2] = j; - } - } - nn_distances.update(idx2, min); - } - break; - - case METHOD_METR_CENTROID: { - /* - Centroid linkage. - - Shorter and longer distances can occur, not bigger than max(d1,d2) - but maybe smaller than min(d1,d2). - */ - // Update the distance matrix in the range [start, idx1). - t_float s = size1/(size1+size2); - t_float t = size2/(size1+size2); - t_float stc = s*t*mindist[idx1]; - for (j=active_nodes.start; j -static void MST_linkage_core_vector(const t_index N, - t_dissimilarity & dist, - cluster_result & Z2) { -/* - N: integer, number of data points - dist: function pointer to the metric - Z2: output data structure - - The basis of this algorithm is an algorithm by Rohlf: - - F. James Rohlf, Hierarchical clustering using the minimum spanning tree, - The Computer Journal, vol. 16, 1973, p. 93–95. -*/ - t_index i; - t_index idx2; - doubly_linked_list active_nodes(N); - auto_array_ptr d(N); - - t_index prev_node; - t_float min; - - // first iteration - idx2 = 1; - min = std::numeric_limits::infinity(); - for (i=1; i tmp) - d[i] = tmp; - else if (fc_isnan(tmp)) - throw (nan_error()); -#if HAVE_DIAGNOSTIC -#pragma GCC diagnostic pop -#endif - if (d[i] < min) { - min = d[i]; - idx2 = i; - } - } - Z2.append(prev_node, idx2, min); - } -} - -template -static void generic_linkage_vector(const t_index N, - t_dissimilarity & dist, - cluster_result & Z2) { - /* - N: integer, number of data points - dist: function pointer to the metric - Z2: output data structure - - This algorithm is valid for the distance update methods - "Ward", "centroid" and "median" only! - */ - const t_index N_1 = N-1; - t_index i, j; // loop variables - t_index idx1, idx2; // row and column indices - - auto_array_ptr n_nghbr(N_1); // array of nearest neighbors - auto_array_ptr mindist(N_1); // distances to the nearest neighbors - auto_array_ptr row_repr(N); // row_repr[i]: node number that the - // i-th row represents - doubly_linked_list active_nodes(N); - binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for - // the distance to the nearest neighbor of each point - t_index node1, node2; // node numbers in the output - t_float min; // minimum and row index for nearest-neighbor search - - for (i=0; ii} D(i,j) for i in range(N-1) - for (i=0; i::infinity(); - t_index idx; - for (idx=j=i+1; j(i,j); - } - if (tmp(idx1,j); - for (j=active_nodes.succ[j]; j(idx1,j); - if (tmp(j, idx2); - if (tmp < mindist[j]) { - nn_distances.update_leq(j, tmp); - n_nghbr[j] = idx2; - } - else if (n_nghbr[j] == idx2) - n_nghbr[j] = idx1; // invalidate - } - // Find the nearest neighbor for idx2. - if (idx2(idx2,j); - for (j=active_nodes.succ[j]; j(idx2, j); - if (tmp < min) { - min = tmp; - n_nghbr[idx2] = j; - } - } - nn_distances.update(idx2, min); - } - } - } -} - -template -static void generic_linkage_vector_alternative(const t_index N, - t_dissimilarity & dist, - cluster_result & Z2) { - /* - N: integer, number of data points - dist: function pointer to the metric - Z2: output data structure - - This algorithm is valid for the distance update methods - "Ward", "centroid" and "median" only! - */ - const t_index N_1 = N-1; - t_index i, j=0; // loop variables - t_index idx1, idx2; // row and column indices - - auto_array_ptr n_nghbr(2*N-2); // array of nearest neighbors - auto_array_ptr mindist(2*N-2); // distances to the nearest neighbors - - doubly_linked_list active_nodes(N+N_1); - binary_min_heap nn_distances(&*mindist, N_1, 2*N-2, 1); // minimum heap - // structure for the distance to the nearest neighbor of each point - - t_float min; // minimum for nearest-neighbor searches - - // Initialize the minimal distances: - // Find the nearest neighbor of each point. - // n_nghbr[i] = argmin_{j>i} D(i,j) for i in range(N-1) - for (i=1; i::infinity(); - t_index idx; - for (idx=j=0; j(i,j); - } - if (tmp - -extern "C" { -#include "fastcluster.h" -} - - -int main(int argc, const char* argv[]) { - const int n = 11; - const int m = 3; - double* pts = new double[n*m]{59.26000137, -9.35999966, -5.42500019, - 91.61999817, -0.31999999, -2.75, - 31.38000031, 0.40000001, -0.2, - 89.57999725, -8.07999992, -18.04999924, - 53.42000122, 0.63999999, -0.175, - 31.38000031, 0.47999999, -0.2, - 36.33999939, 0.16, -0.2, - 53.33999939, 0.95999998, -0.175, - 59.26000137, -9.76000023, -5.44999981, - 33.93999977, 0.40000001, -0.22499999, - 106.74000092, -5.76000023, -18.04999924}; - - int * idx = new int[n]; - int * correct_idx = new int[n]{0, 1, 2, 3, 4, 2, 5, 4, 0, 5, 6}; - - cluster_points_centroid(n, m, pts, 2.5 * 2.5, idx); - - for (int i = 0; i < n; i++) { - assert(idx[i] == correct_idx[i]); - } - - delete[] idx; - delete[] correct_idx; - delete[] pts; -} diff --git a/third_party/curl/build.txt b/third_party/curl/build.txt deleted file mode 100644 index def0763b46..0000000000 --- a/third_party/curl/build.txt +++ /dev/null @@ -1,5 +0,0 @@ -# with neos tree -cd ~/android/system -mka libcurl - -cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcurl_intermediates/libcurl.a lib/ diff --git a/third_party/curl/include/Makefile.am b/third_party/curl/include/Makefile.am deleted file mode 100644 index 3b24860299..0000000000 --- a/third_party/curl/include/Makefile.am +++ /dev/null @@ -1,5 +0,0 @@ -SUBDIRS = curl - -EXTRA_DIST = README - -AUTOMAKE_OPTIONS = foreign no-dependencies diff --git a/third_party/curl/include/README b/third_party/curl/include/README deleted file mode 100644 index 3e52a1d0a6..0000000000 --- a/third_party/curl/include/README +++ /dev/null @@ -1,55 +0,0 @@ - _ _ ____ _ - ___| | | | _ \| | - / __| | | | |_) | | - | (__| |_| | _ <| |___ - \___|\___/|_| \_\_____| - -Include files for libcurl, external users. - -They're all placed in the curl subdirectory here for better fit in any kind -of environment. You must include files from here using... - - #include - -... style and point the compiler's include path to the directory holding the -curl subdirectory. It makes it more likely to survive future modifications. - -NOTE FOR LIBCURL HACKERS - -The following notes apply to libcurl version 7.19.0 and later. - -* The distributed curl/curlbuild.h file is only intended to be used on systems - which can not run the also distributed configure script. - -* The distributed curlbuild.h file is generated as a copy of curlbuild.h.dist - when the libcurl source code distribution archive file is originally created. - -* If you check out from git on a non-configure platform, you must run the - appropriate buildconf* script to set up curlbuild.h and other local files - before being able of compiling the library. - -* On systems capable of running the configure script, the configure process - will overwrite the distributed include/curl/curlbuild.h file with one that - is suitable and specific to the library being configured and built, which - is generated from the include/curl/curlbuild.h.in template file. - -* If you intend to distribute an already compiled libcurl library you _MUST_ - also distribute along with it the generated curl/curlbuild.h which has been - used to compile it. Otherwise the library will be of no use for the users of - the library that you have built. It is _your_ responsibility to provide this - file. No one at the cURL project can know how you have built the library. - -* File curl/curlbuild.h includes platform and configuration dependent info, - and must not be modified by anyone. Configure script generates it for you. - -* We cannot assume anything else but very basic compiler features being - present. While libcurl requires an ANSI C compiler to build, some of the - earlier ANSI compilers clearly can't deal with some preprocessor operators. - -* Newlines must remain unix-style for older compilers' sake. - -* Comments must be written in the old-style /* unnested C-fashion */ - -To figure out how to do good and portable checks for features, operating -systems or specific hardwarare, a very good resource is Bjorn Reese's -collection at http://predef.sf.net/ diff --git a/third_party/curl/include/curl/.gitignore b/third_party/curl/include/curl/.gitignore deleted file mode 100644 index 5f3bc3ce01..0000000000 --- a/third_party/curl/include/curl/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -stamp-h2 -stamp-h3 -curlver.h.dist diff --git a/third_party/curl/include/curl/Makefile.am b/third_party/curl/include/curl/Makefile.am deleted file mode 100644 index 86e8b78344..0000000000 --- a/third_party/curl/include/curl/Makefile.am +++ /dev/null @@ -1,53 +0,0 @@ -#*************************************************************************** -# _ _ ____ _ -# Project ___| | | | _ \| | -# / __| | | | |_) | | -# | (__| |_| | _ <| |___ -# \___|\___/|_| \_\_____| -# -# Copyright (C) 1998 - 2011, Daniel Stenberg, , et al. -# -# This software is licensed as described in the file COPYING, which -# you should have received as part of this distribution. The terms -# are also available at http://curl.haxx.se/docs/copyright.html. -# -# You may opt to use, copy, modify, merge, publish, distribute and/or sell -# copies of the Software, and permit persons to whom the Software is -# furnished to do so, under the terms of the COPYING file. -# -# This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY -# KIND, either express or implied. -# -########################################################################### -pkginclude_HEADERS = \ - curl.h curlver.h easy.h mprintf.h stdcheaders.h multi.h \ - typecheck-gcc.h curlbuild.h curlrules.h - -pkgincludedir= $(includedir)/curl - -# curlbuild.h does not exist in the git tree. When the original libcurl -# source code distribution archive file is created, curlbuild.h.dist is -# renamed to curlbuild.h and included in the tarball so that it can be -# used directly on non-configure systems. -# -# The distributed curlbuild.h will be overwritten on configure systems -# when the configure script runs, with one that is suitable and specific -# to the library being configured and built. -# -# curlbuild.h.in is the distributed template file from which the configure -# script creates curlbuild.h at library configuration time, overwiting the -# one included in the distribution archive. -# -# curlbuild.h.dist is not included in the source code distribution archive. - -EXTRA_DIST = curlbuild.h.in - -DISTCLEANFILES = curlbuild.h - -checksrc: - @@PERL@ $(top_srcdir)/lib/checksrc.pl -Wcurlbuild.h -D$(top_srcdir)/include/curl $(pkginclude_HEADERS) $(EXTRA_DIST) - -if CURLDEBUG -# for debug builds, we scan the sources on all regular make invokes -all-local: checksrc -endif diff --git a/third_party/curl/include/curl/curl.h b/third_party/curl/include/curl/curl.h deleted file mode 100644 index eab2f6e99a..0000000000 --- a/third_party/curl/include/curl/curl.h +++ /dev/null @@ -1,2376 +0,0 @@ -#ifndef __CURL_CURL_H -#define __CURL_CURL_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* - * If you have libcurl problems, all docs and details are found here: - * http://curl.haxx.se/libcurl/ - * - * curl-library mailing list subscription and unsubscription web interface: - * http://cool.haxx.se/mailman/listinfo/curl-library/ - */ - -#include "curlver.h" /* libcurl version defines */ -#include "curlbuild.h" /* libcurl build definitions */ -#include "curlrules.h" /* libcurl rules enforcement */ - -/* - * Define WIN32 when build target is Win32 API - */ - -#if (defined(_WIN32) || defined(__WIN32__)) && \ - !defined(WIN32) && !defined(__SYMBIAN32__) -#define WIN32 -#endif - -#include -#include - -#if defined(__FreeBSD__) && (__FreeBSD__ >= 2) -/* Needed for __FreeBSD_version symbol definition */ -#include -#endif - -/* The include stuff here below is mainly for time_t! */ -#include -#include - -#if defined(WIN32) && !defined(_WIN32_WCE) && !defined(__CYGWIN__) -#if !(defined(_WINSOCKAPI_) || defined(_WINSOCK_H) || defined(__LWIP_OPT_H__)) -/* The check above prevents the winsock2 inclusion if winsock.h already was - included, since they can't co-exist without problems */ -#include -#include -#endif -#endif - -/* HP-UX systems version 9, 10 and 11 lack sys/select.h and so does oldish - libc5-based Linux systems. Only include it on systems that are known to - require it! */ -#if defined(_AIX) || defined(__NOVELL_LIBC__) || defined(__NetBSD__) || \ - defined(__minix) || defined(__SYMBIAN32__) || defined(__INTEGRITY) || \ - defined(ANDROID) || defined(__ANDROID__) || defined(__OpenBSD__) || \ - (defined(__FreeBSD_version) && (__FreeBSD_version < 800000)) -#include -#endif - -#if !defined(WIN32) && !defined(_WIN32_WCE) -#include -#endif - -#if !defined(WIN32) && !defined(__WATCOMC__) && !defined(__VXWORKS__) -#include -#endif - -#ifdef __BEOS__ -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -typedef void CURL; - -/* - * libcurl external API function linkage decorations. - */ - -#ifdef CURL_STATICLIB -# define CURL_EXTERN -#elif defined(WIN32) || defined(_WIN32) || defined(__SYMBIAN32__) -# if defined(BUILDING_LIBCURL) -# define CURL_EXTERN __declspec(dllexport) -# else -# define CURL_EXTERN __declspec(dllimport) -# endif -#elif defined(BUILDING_LIBCURL) && defined(CURL_HIDDEN_SYMBOLS) -# define CURL_EXTERN CURL_EXTERN_SYMBOL -#else -# define CURL_EXTERN -#endif - -#ifndef curl_socket_typedef -/* socket typedef */ -#if defined(WIN32) && !defined(__LWIP_OPT_H__) -typedef SOCKET curl_socket_t; -#define CURL_SOCKET_BAD INVALID_SOCKET -#else -typedef int curl_socket_t; -#define CURL_SOCKET_BAD -1 -#endif -#define curl_socket_typedef -#endif /* curl_socket_typedef */ - -struct curl_httppost { - struct curl_httppost *next; /* next entry in the list */ - char *name; /* pointer to allocated name */ - long namelength; /* length of name length */ - char *contents; /* pointer to allocated data contents */ - long contentslength; /* length of contents field */ - char *buffer; /* pointer to allocated buffer contents */ - long bufferlength; /* length of buffer field */ - char *contenttype; /* Content-Type */ - struct curl_slist* contentheader; /* list of extra headers for this form */ - struct curl_httppost *more; /* if one field name has more than one - file, this link should link to following - files */ - long flags; /* as defined below */ -#define HTTPPOST_FILENAME (1<<0) /* specified content is a file name */ -#define HTTPPOST_READFILE (1<<1) /* specified content is a file name */ -#define HTTPPOST_PTRNAME (1<<2) /* name is only stored pointer - do not free in formfree */ -#define HTTPPOST_PTRCONTENTS (1<<3) /* contents is only stored pointer - do not free in formfree */ -#define HTTPPOST_BUFFER (1<<4) /* upload file from buffer */ -#define HTTPPOST_PTRBUFFER (1<<5) /* upload file from pointer contents */ -#define HTTPPOST_CALLBACK (1<<6) /* upload file contents by using the - regular read callback to get the data - and pass the given pointer as custom - pointer */ - - char *showfilename; /* The file name to show. If not set, the - actual file name will be used (if this - is a file part) */ - void *userp; /* custom pointer used for - HTTPPOST_CALLBACK posts */ -}; - -/* This is the CURLOPT_PROGRESSFUNCTION callback proto. It is now considered - deprecated but was the only choice up until 7.31.0 */ -typedef int (*curl_progress_callback)(void *clientp, - double dltotal, - double dlnow, - double ultotal, - double ulnow); - -/* This is the CURLOPT_XFERINFOFUNCTION callback proto. It was introduced in - 7.32.0, it avoids floating point and provides more detailed information. */ -typedef int (*curl_xferinfo_callback)(void *clientp, - curl_off_t dltotal, - curl_off_t dlnow, - curl_off_t ultotal, - curl_off_t ulnow); - -#ifndef CURL_MAX_WRITE_SIZE - /* Tests have proven that 20K is a very bad buffer size for uploads on - Windows, while 16K for some odd reason performed a lot better. - We do the ifndef check to allow this value to easier be changed at build - time for those who feel adventurous. The practical minimum is about - 400 bytes since libcurl uses a buffer of this size as a scratch area - (unrelated to network send operations). */ -#define CURL_MAX_WRITE_SIZE 16384 -#endif - -#ifndef CURL_MAX_HTTP_HEADER -/* The only reason to have a max limit for this is to avoid the risk of a bad - server feeding libcurl with a never-ending header that will cause reallocs - infinitely */ -#define CURL_MAX_HTTP_HEADER (100*1024) -#endif - -/* This is a magic return code for the write callback that, when returned, - will signal libcurl to pause receiving on the current transfer. */ -#define CURL_WRITEFUNC_PAUSE 0x10000001 - -typedef size_t (*curl_write_callback)(char *buffer, - size_t size, - size_t nitems, - void *outstream); - - - -/* enumeration of file types */ -typedef enum { - CURLFILETYPE_FILE = 0, - CURLFILETYPE_DIRECTORY, - CURLFILETYPE_SYMLINK, - CURLFILETYPE_DEVICE_BLOCK, - CURLFILETYPE_DEVICE_CHAR, - CURLFILETYPE_NAMEDPIPE, - CURLFILETYPE_SOCKET, - CURLFILETYPE_DOOR, /* is possible only on Sun Solaris now */ - - CURLFILETYPE_UNKNOWN /* should never occur */ -} curlfiletype; - -#define CURLFINFOFLAG_KNOWN_FILENAME (1<<0) -#define CURLFINFOFLAG_KNOWN_FILETYPE (1<<1) -#define CURLFINFOFLAG_KNOWN_TIME (1<<2) -#define CURLFINFOFLAG_KNOWN_PERM (1<<3) -#define CURLFINFOFLAG_KNOWN_UID (1<<4) -#define CURLFINFOFLAG_KNOWN_GID (1<<5) -#define CURLFINFOFLAG_KNOWN_SIZE (1<<6) -#define CURLFINFOFLAG_KNOWN_HLINKCOUNT (1<<7) - -/* Content of this structure depends on information which is known and is - achievable (e.g. by FTP LIST parsing). Please see the url_easy_setopt(3) man - page for callbacks returning this structure -- some fields are mandatory, - some others are optional. The FLAG field has special meaning. */ -struct curl_fileinfo { - char *filename; - curlfiletype filetype; - time_t time; - unsigned int perm; - int uid; - int gid; - curl_off_t size; - long int hardlinks; - - struct { - /* If some of these fields is not NULL, it is a pointer to b_data. */ - char *time; - char *perm; - char *user; - char *group; - char *target; /* pointer to the target filename of a symlink */ - } strings; - - unsigned int flags; - - /* used internally */ - char * b_data; - size_t b_size; - size_t b_used; -}; - -/* return codes for CURLOPT_CHUNK_BGN_FUNCTION */ -#define CURL_CHUNK_BGN_FUNC_OK 0 -#define CURL_CHUNK_BGN_FUNC_FAIL 1 /* tell the lib to end the task */ -#define CURL_CHUNK_BGN_FUNC_SKIP 2 /* skip this chunk over */ - -/* if splitting of data transfer is enabled, this callback is called before - download of an individual chunk started. Note that parameter "remains" works - only for FTP wildcard downloading (for now), otherwise is not used */ -typedef long (*curl_chunk_bgn_callback)(const void *transfer_info, - void *ptr, - int remains); - -/* return codes for CURLOPT_CHUNK_END_FUNCTION */ -#define CURL_CHUNK_END_FUNC_OK 0 -#define CURL_CHUNK_END_FUNC_FAIL 1 /* tell the lib to end the task */ - -/* If splitting of data transfer is enabled this callback is called after - download of an individual chunk finished. - Note! After this callback was set then it have to be called FOR ALL chunks. - Even if downloading of this chunk was skipped in CHUNK_BGN_FUNC. - This is the reason why we don't need "transfer_info" parameter in this - callback and we are not interested in "remains" parameter too. */ -typedef long (*curl_chunk_end_callback)(void *ptr); - -/* return codes for FNMATCHFUNCTION */ -#define CURL_FNMATCHFUNC_MATCH 0 /* string corresponds to the pattern */ -#define CURL_FNMATCHFUNC_NOMATCH 1 /* pattern doesn't match the string */ -#define CURL_FNMATCHFUNC_FAIL 2 /* an error occurred */ - -/* callback type for wildcard downloading pattern matching. If the - string matches the pattern, return CURL_FNMATCHFUNC_MATCH value, etc. */ -typedef int (*curl_fnmatch_callback)(void *ptr, - const char *pattern, - const char *string); - -/* These are the return codes for the seek callbacks */ -#define CURL_SEEKFUNC_OK 0 -#define CURL_SEEKFUNC_FAIL 1 /* fail the entire transfer */ -#define CURL_SEEKFUNC_CANTSEEK 2 /* tell libcurl seeking can't be done, so - libcurl might try other means instead */ -typedef int (*curl_seek_callback)(void *instream, - curl_off_t offset, - int origin); /* 'whence' */ - -/* This is a return code for the read callback that, when returned, will - signal libcurl to immediately abort the current transfer. */ -#define CURL_READFUNC_ABORT 0x10000000 -/* This is a return code for the read callback that, when returned, will - signal libcurl to pause sending data on the current transfer. */ -#define CURL_READFUNC_PAUSE 0x10000001 - -typedef size_t (*curl_read_callback)(char *buffer, - size_t size, - size_t nitems, - void *instream); - -typedef enum { - CURLSOCKTYPE_IPCXN, /* socket created for a specific IP connection */ - CURLSOCKTYPE_ACCEPT, /* socket created by accept() call */ - CURLSOCKTYPE_LAST /* never use */ -} curlsocktype; - -/* The return code from the sockopt_callback can signal information back - to libcurl: */ -#define CURL_SOCKOPT_OK 0 -#define CURL_SOCKOPT_ERROR 1 /* causes libcurl to abort and return - CURLE_ABORTED_BY_CALLBACK */ -#define CURL_SOCKOPT_ALREADY_CONNECTED 2 - -typedef int (*curl_sockopt_callback)(void *clientp, - curl_socket_t curlfd, - curlsocktype purpose); - -struct curl_sockaddr { - int family; - int socktype; - int protocol; - unsigned int addrlen; /* addrlen was a socklen_t type before 7.18.0 but it - turned really ugly and painful on the systems that - lack this type */ - struct sockaddr addr; -}; - -typedef curl_socket_t -(*curl_opensocket_callback)(void *clientp, - curlsocktype purpose, - struct curl_sockaddr *address); - -typedef int -(*curl_closesocket_callback)(void *clientp, curl_socket_t item); - -typedef enum { - CURLIOE_OK, /* I/O operation successful */ - CURLIOE_UNKNOWNCMD, /* command was unknown to callback */ - CURLIOE_FAILRESTART, /* failed to restart the read */ - CURLIOE_LAST /* never use */ -} curlioerr; - -typedef enum { - CURLIOCMD_NOP, /* no operation */ - CURLIOCMD_RESTARTREAD, /* restart the read stream from start */ - CURLIOCMD_LAST /* never use */ -} curliocmd; - -typedef curlioerr (*curl_ioctl_callback)(CURL *handle, - int cmd, - void *clientp); - -/* - * The following typedef's are signatures of malloc, free, realloc, strdup and - * calloc respectively. Function pointers of these types can be passed to the - * curl_global_init_mem() function to set user defined memory management - * callback routines. - */ -typedef void *(*curl_malloc_callback)(size_t size); -typedef void (*curl_free_callback)(void *ptr); -typedef void *(*curl_realloc_callback)(void *ptr, size_t size); -typedef char *(*curl_strdup_callback)(const char *str); -typedef void *(*curl_calloc_callback)(size_t nmemb, size_t size); - -/* the kind of data that is passed to information_callback*/ -typedef enum { - CURLINFO_TEXT = 0, - CURLINFO_HEADER_IN, /* 1 */ - CURLINFO_HEADER_OUT, /* 2 */ - CURLINFO_DATA_IN, /* 3 */ - CURLINFO_DATA_OUT, /* 4 */ - CURLINFO_SSL_DATA_IN, /* 5 */ - CURLINFO_SSL_DATA_OUT, /* 6 */ - CURLINFO_END -} curl_infotype; - -typedef int (*curl_debug_callback) - (CURL *handle, /* the handle/transfer this concerns */ - curl_infotype type, /* what kind of data */ - char *data, /* points to the data */ - size_t size, /* size of the data pointed to */ - void *userptr); /* whatever the user please */ - -/* All possible error codes from all sorts of curl functions. Future versions - may return other values, stay prepared. - - Always add new return codes last. Never *EVER* remove any. The return - codes must remain the same! - */ - -typedef enum { - CURLE_OK = 0, - CURLE_UNSUPPORTED_PROTOCOL, /* 1 */ - CURLE_FAILED_INIT, /* 2 */ - CURLE_URL_MALFORMAT, /* 3 */ - CURLE_NOT_BUILT_IN, /* 4 - [was obsoleted in August 2007 for - 7.17.0, reused in April 2011 for 7.21.5] */ - CURLE_COULDNT_RESOLVE_PROXY, /* 5 */ - CURLE_COULDNT_RESOLVE_HOST, /* 6 */ - CURLE_COULDNT_CONNECT, /* 7 */ - CURLE_FTP_WEIRD_SERVER_REPLY, /* 8 */ - CURLE_REMOTE_ACCESS_DENIED, /* 9 a service was denied by the server - due to lack of access - when login fails - this is not returned. */ - CURLE_FTP_ACCEPT_FAILED, /* 10 - [was obsoleted in April 2006 for - 7.15.4, reused in Dec 2011 for 7.24.0]*/ - CURLE_FTP_WEIRD_PASS_REPLY, /* 11 */ - CURLE_FTP_ACCEPT_TIMEOUT, /* 12 - timeout occurred accepting server - [was obsoleted in August 2007 for 7.17.0, - reused in Dec 2011 for 7.24.0]*/ - CURLE_FTP_WEIRD_PASV_REPLY, /* 13 */ - CURLE_FTP_WEIRD_227_FORMAT, /* 14 */ - CURLE_FTP_CANT_GET_HOST, /* 15 */ - CURLE_HTTP2, /* 16 - A problem in the http2 framing layer. - [was obsoleted in August 2007 for 7.17.0, - reused in July 2014 for 7.38.0] */ - CURLE_FTP_COULDNT_SET_TYPE, /* 17 */ - CURLE_PARTIAL_FILE, /* 18 */ - CURLE_FTP_COULDNT_RETR_FILE, /* 19 */ - CURLE_OBSOLETE20, /* 20 - NOT USED */ - CURLE_QUOTE_ERROR, /* 21 - quote command failure */ - CURLE_HTTP_RETURNED_ERROR, /* 22 */ - CURLE_WRITE_ERROR, /* 23 */ - CURLE_OBSOLETE24, /* 24 - NOT USED */ - CURLE_UPLOAD_FAILED, /* 25 - failed upload "command" */ - CURLE_READ_ERROR, /* 26 - couldn't open/read from file */ - CURLE_OUT_OF_MEMORY, /* 27 */ - /* Note: CURLE_OUT_OF_MEMORY may sometimes indicate a conversion error - instead of a memory allocation error if CURL_DOES_CONVERSIONS - is defined - */ - CURLE_OPERATION_TIMEDOUT, /* 28 - the timeout time was reached */ - CURLE_OBSOLETE29, /* 29 - NOT USED */ - CURLE_FTP_PORT_FAILED, /* 30 - FTP PORT operation failed */ - CURLE_FTP_COULDNT_USE_REST, /* 31 - the REST command failed */ - CURLE_OBSOLETE32, /* 32 - NOT USED */ - CURLE_RANGE_ERROR, /* 33 - RANGE "command" didn't work */ - CURLE_HTTP_POST_ERROR, /* 34 */ - CURLE_SSL_CONNECT_ERROR, /* 35 - wrong when connecting with SSL */ - CURLE_BAD_DOWNLOAD_RESUME, /* 36 - couldn't resume download */ - CURLE_FILE_COULDNT_READ_FILE, /* 37 */ - CURLE_LDAP_CANNOT_BIND, /* 38 */ - CURLE_LDAP_SEARCH_FAILED, /* 39 */ - CURLE_OBSOLETE40, /* 40 - NOT USED */ - CURLE_FUNCTION_NOT_FOUND, /* 41 */ - CURLE_ABORTED_BY_CALLBACK, /* 42 */ - CURLE_BAD_FUNCTION_ARGUMENT, /* 43 */ - CURLE_OBSOLETE44, /* 44 - NOT USED */ - CURLE_INTERFACE_FAILED, /* 45 - CURLOPT_INTERFACE failed */ - CURLE_OBSOLETE46, /* 46 - NOT USED */ - CURLE_TOO_MANY_REDIRECTS , /* 47 - catch endless re-direct loops */ - CURLE_UNKNOWN_OPTION, /* 48 - User specified an unknown option */ - CURLE_TELNET_OPTION_SYNTAX , /* 49 - Malformed telnet option */ - CURLE_OBSOLETE50, /* 50 - NOT USED */ - CURLE_PEER_FAILED_VERIFICATION, /* 51 - peer's certificate or fingerprint - wasn't verified fine */ - CURLE_GOT_NOTHING, /* 52 - when this is a specific error */ - CURLE_SSL_ENGINE_NOTFOUND, /* 53 - SSL crypto engine not found */ - CURLE_SSL_ENGINE_SETFAILED, /* 54 - can not set SSL crypto engine as - default */ - CURLE_SEND_ERROR, /* 55 - failed sending network data */ - CURLE_RECV_ERROR, /* 56 - failure in receiving network data */ - CURLE_OBSOLETE57, /* 57 - NOT IN USE */ - CURLE_SSL_CERTPROBLEM, /* 58 - problem with the local certificate */ - CURLE_SSL_CIPHER, /* 59 - couldn't use specified cipher */ - CURLE_SSL_CACERT, /* 60 - problem with the CA cert (path?) */ - CURLE_BAD_CONTENT_ENCODING, /* 61 - Unrecognized/bad encoding */ - CURLE_LDAP_INVALID_URL, /* 62 - Invalid LDAP URL */ - CURLE_FILESIZE_EXCEEDED, /* 63 - Maximum file size exceeded */ - CURLE_USE_SSL_FAILED, /* 64 - Requested FTP SSL level failed */ - CURLE_SEND_FAIL_REWIND, /* 65 - Sending the data requires a rewind - that failed */ - CURLE_SSL_ENGINE_INITFAILED, /* 66 - failed to initialise ENGINE */ - CURLE_LOGIN_DENIED, /* 67 - user, password or similar was not - accepted and we failed to login */ - CURLE_TFTP_NOTFOUND, /* 68 - file not found on server */ - CURLE_TFTP_PERM, /* 69 - permission problem on server */ - CURLE_REMOTE_DISK_FULL, /* 70 - out of disk space on server */ - CURLE_TFTP_ILLEGAL, /* 71 - Illegal TFTP operation */ - CURLE_TFTP_UNKNOWNID, /* 72 - Unknown transfer ID */ - CURLE_REMOTE_FILE_EXISTS, /* 73 - File already exists */ - CURLE_TFTP_NOSUCHUSER, /* 74 - No such user */ - CURLE_CONV_FAILED, /* 75 - conversion failed */ - CURLE_CONV_REQD, /* 76 - caller must register conversion - callbacks using curl_easy_setopt options - CURLOPT_CONV_FROM_NETWORK_FUNCTION, - CURLOPT_CONV_TO_NETWORK_FUNCTION, and - CURLOPT_CONV_FROM_UTF8_FUNCTION */ - CURLE_SSL_CACERT_BADFILE, /* 77 - could not load CACERT file, missing - or wrong format */ - CURLE_REMOTE_FILE_NOT_FOUND, /* 78 - remote file not found */ - CURLE_SSH, /* 79 - error from the SSH layer, somewhat - generic so the error message will be of - interest when this has happened */ - - CURLE_SSL_SHUTDOWN_FAILED, /* 80 - Failed to shut down the SSL - connection */ - CURLE_AGAIN, /* 81 - socket is not ready for send/recv, - wait till it's ready and try again (Added - in 7.18.2) */ - CURLE_SSL_CRL_BADFILE, /* 82 - could not load CRL file, missing or - wrong format (Added in 7.19.0) */ - CURLE_SSL_ISSUER_ERROR, /* 83 - Issuer check failed. (Added in - 7.19.0) */ - CURLE_FTP_PRET_FAILED, /* 84 - a PRET command failed */ - CURLE_RTSP_CSEQ_ERROR, /* 85 - mismatch of RTSP CSeq numbers */ - CURLE_RTSP_SESSION_ERROR, /* 86 - mismatch of RTSP Session Ids */ - CURLE_FTP_BAD_FILE_LIST, /* 87 - unable to parse FTP file list */ - CURLE_CHUNK_FAILED, /* 88 - chunk callback reported error */ - CURLE_NO_CONNECTION_AVAILABLE, /* 89 - No connection available, the - session will be queued */ - CURLE_SSL_PINNEDPUBKEYNOTMATCH, /* 90 - specified pinned public key did not - match */ - CURLE_SSL_INVALIDCERTSTATUS, /* 91 - invalid certificate status */ - CURL_LAST /* never use! */ -} CURLcode; - -#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all - the obsolete stuff removed! */ - -/* Previously obsolete error code re-used in 7.38.0 */ -#define CURLE_OBSOLETE16 CURLE_HTTP2 - -/* Previously obsolete error codes re-used in 7.24.0 */ -#define CURLE_OBSOLETE10 CURLE_FTP_ACCEPT_FAILED -#define CURLE_OBSOLETE12 CURLE_FTP_ACCEPT_TIMEOUT - -/* compatibility with older names */ -#define CURLOPT_ENCODING CURLOPT_ACCEPT_ENCODING - -/* The following were added in 7.21.5, April 2011 */ -#define CURLE_UNKNOWN_TELNET_OPTION CURLE_UNKNOWN_OPTION - -/* The following were added in 7.17.1 */ -/* These are scheduled to disappear by 2009 */ -#define CURLE_SSL_PEER_CERTIFICATE CURLE_PEER_FAILED_VERIFICATION - -/* The following were added in 7.17.0 */ -/* These are scheduled to disappear by 2009 */ -#define CURLE_OBSOLETE CURLE_OBSOLETE50 /* no one should be using this! */ -#define CURLE_BAD_PASSWORD_ENTERED CURLE_OBSOLETE46 -#define CURLE_BAD_CALLING_ORDER CURLE_OBSOLETE44 -#define CURLE_FTP_USER_PASSWORD_INCORRECT CURLE_OBSOLETE10 -#define CURLE_FTP_CANT_RECONNECT CURLE_OBSOLETE16 -#define CURLE_FTP_COULDNT_GET_SIZE CURLE_OBSOLETE32 -#define CURLE_FTP_COULDNT_SET_ASCII CURLE_OBSOLETE29 -#define CURLE_FTP_WEIRD_USER_REPLY CURLE_OBSOLETE12 -#define CURLE_FTP_WRITE_ERROR CURLE_OBSOLETE20 -#define CURLE_LIBRARY_NOT_FOUND CURLE_OBSOLETE40 -#define CURLE_MALFORMAT_USER CURLE_OBSOLETE24 -#define CURLE_SHARE_IN_USE CURLE_OBSOLETE57 -#define CURLE_URL_MALFORMAT_USER CURLE_NOT_BUILT_IN - -#define CURLE_FTP_ACCESS_DENIED CURLE_REMOTE_ACCESS_DENIED -#define CURLE_FTP_COULDNT_SET_BINARY CURLE_FTP_COULDNT_SET_TYPE -#define CURLE_FTP_QUOTE_ERROR CURLE_QUOTE_ERROR -#define CURLE_TFTP_DISKFULL CURLE_REMOTE_DISK_FULL -#define CURLE_TFTP_EXISTS CURLE_REMOTE_FILE_EXISTS -#define CURLE_HTTP_RANGE_ERROR CURLE_RANGE_ERROR -#define CURLE_FTP_SSL_FAILED CURLE_USE_SSL_FAILED - -/* The following were added earlier */ - -#define CURLE_OPERATION_TIMEOUTED CURLE_OPERATION_TIMEDOUT - -#define CURLE_HTTP_NOT_FOUND CURLE_HTTP_RETURNED_ERROR -#define CURLE_HTTP_PORT_FAILED CURLE_INTERFACE_FAILED -#define CURLE_FTP_COULDNT_STOR_FILE CURLE_UPLOAD_FAILED - -#define CURLE_FTP_PARTIAL_FILE CURLE_PARTIAL_FILE -#define CURLE_FTP_BAD_DOWNLOAD_RESUME CURLE_BAD_DOWNLOAD_RESUME - -/* This was the error code 50 in 7.7.3 and a few earlier versions, this - is no longer used by libcurl but is instead #defined here only to not - make programs break */ -#define CURLE_ALREADY_COMPLETE 99999 - -/* Provide defines for really old option names */ -#define CURLOPT_FILE CURLOPT_WRITEDATA /* name changed in 7.9.7 */ -#define CURLOPT_INFILE CURLOPT_READDATA /* name changed in 7.9.7 */ -#define CURLOPT_WRITEHEADER CURLOPT_HEADERDATA - -/* Since long deprecated options with no code in the lib that does anything - with them. */ -#define CURLOPT_WRITEINFO CURLOPT_OBSOLETE40 -#define CURLOPT_CLOSEPOLICY CURLOPT_OBSOLETE72 - -#endif /*!CURL_NO_OLDIES*/ - -/* This prototype applies to all conversion callbacks */ -typedef CURLcode (*curl_conv_callback)(char *buffer, size_t length); - -typedef CURLcode (*curl_ssl_ctx_callback)(CURL *curl, /* easy handle */ - void *ssl_ctx, /* actually an - OpenSSL SSL_CTX */ - void *userptr); - -typedef enum { - CURLPROXY_HTTP = 0, /* added in 7.10, new in 7.19.4 default is to use - CONNECT HTTP/1.1 */ - CURLPROXY_HTTP_1_0 = 1, /* added in 7.19.4, force to use CONNECT - HTTP/1.0 */ - CURLPROXY_SOCKS4 = 4, /* support added in 7.15.2, enum existed already - in 7.10 */ - CURLPROXY_SOCKS5 = 5, /* added in 7.10 */ - CURLPROXY_SOCKS4A = 6, /* added in 7.18.0 */ - CURLPROXY_SOCKS5_HOSTNAME = 7 /* Use the SOCKS5 protocol but pass along the - host name rather than the IP address. added - in 7.18.0 */ -} curl_proxytype; /* this enum was added in 7.10 */ - -/* - * Bitmasks for CURLOPT_HTTPAUTH and CURLOPT_PROXYAUTH options: - * - * CURLAUTH_NONE - No HTTP authentication - * CURLAUTH_BASIC - HTTP Basic authentication (default) - * CURLAUTH_DIGEST - HTTP Digest authentication - * CURLAUTH_NEGOTIATE - HTTP Negotiate (SPNEGO) authentication - * CURLAUTH_GSSNEGOTIATE - Alias for CURLAUTH_NEGOTIATE (deprecated) - * CURLAUTH_NTLM - HTTP NTLM authentication - * CURLAUTH_DIGEST_IE - HTTP Digest authentication with IE flavour - * CURLAUTH_NTLM_WB - HTTP NTLM authentication delegated to winbind helper - * CURLAUTH_ONLY - Use together with a single other type to force no - * authentication or just that single type - * CURLAUTH_ANY - All fine types set - * CURLAUTH_ANYSAFE - All fine types except Basic - */ - -#define CURLAUTH_NONE ((unsigned long)0) -#define CURLAUTH_BASIC (((unsigned long)1)<<0) -#define CURLAUTH_DIGEST (((unsigned long)1)<<1) -#define CURLAUTH_NEGOTIATE (((unsigned long)1)<<2) -/* Deprecated since the advent of CURLAUTH_NEGOTIATE */ -#define CURLAUTH_GSSNEGOTIATE CURLAUTH_NEGOTIATE -#define CURLAUTH_NTLM (((unsigned long)1)<<3) -#define CURLAUTH_DIGEST_IE (((unsigned long)1)<<4) -#define CURLAUTH_NTLM_WB (((unsigned long)1)<<5) -#define CURLAUTH_ONLY (((unsigned long)1)<<31) -#define CURLAUTH_ANY (~CURLAUTH_DIGEST_IE) -#define CURLAUTH_ANYSAFE (~(CURLAUTH_BASIC|CURLAUTH_DIGEST_IE)) - -#define CURLSSH_AUTH_ANY ~0 /* all types supported by the server */ -#define CURLSSH_AUTH_NONE 0 /* none allowed, silly but complete */ -#define CURLSSH_AUTH_PUBLICKEY (1<<0) /* public/private key files */ -#define CURLSSH_AUTH_PASSWORD (1<<1) /* password */ -#define CURLSSH_AUTH_HOST (1<<2) /* host key files */ -#define CURLSSH_AUTH_KEYBOARD (1<<3) /* keyboard interactive */ -#define CURLSSH_AUTH_AGENT (1<<4) /* agent (ssh-agent, pageant...) */ -#define CURLSSH_AUTH_DEFAULT CURLSSH_AUTH_ANY - -#define CURLGSSAPI_DELEGATION_NONE 0 /* no delegation (default) */ -#define CURLGSSAPI_DELEGATION_POLICY_FLAG (1<<0) /* if permitted by policy */ -#define CURLGSSAPI_DELEGATION_FLAG (1<<1) /* delegate always */ - -#define CURL_ERROR_SIZE 256 - -enum curl_khtype { - CURLKHTYPE_UNKNOWN, - CURLKHTYPE_RSA1, - CURLKHTYPE_RSA, - CURLKHTYPE_DSS -}; - -struct curl_khkey { - const char *key; /* points to a zero-terminated string encoded with base64 - if len is zero, otherwise to the "raw" data */ - size_t len; - enum curl_khtype keytype; -}; - -/* this is the set of return values expected from the curl_sshkeycallback - callback */ -enum curl_khstat { - CURLKHSTAT_FINE_ADD_TO_FILE, - CURLKHSTAT_FINE, - CURLKHSTAT_REJECT, /* reject the connection, return an error */ - CURLKHSTAT_DEFER, /* do not accept it, but we can't answer right now so - this causes a CURLE_DEFER error but otherwise the - connection will be left intact etc */ - CURLKHSTAT_LAST /* not for use, only a marker for last-in-list */ -}; - -/* this is the set of status codes pass in to the callback */ -enum curl_khmatch { - CURLKHMATCH_OK, /* match */ - CURLKHMATCH_MISMATCH, /* host found, key mismatch! */ - CURLKHMATCH_MISSING, /* no matching host/key found */ - CURLKHMATCH_LAST /* not for use, only a marker for last-in-list */ -}; - -typedef int - (*curl_sshkeycallback) (CURL *easy, /* easy handle */ - const struct curl_khkey *knownkey, /* known */ - const struct curl_khkey *foundkey, /* found */ - enum curl_khmatch, /* libcurl's view on the keys */ - void *clientp); /* custom pointer passed from app */ - -/* parameter for the CURLOPT_USE_SSL option */ -typedef enum { - CURLUSESSL_NONE, /* do not attempt to use SSL */ - CURLUSESSL_TRY, /* try using SSL, proceed anyway otherwise */ - CURLUSESSL_CONTROL, /* SSL for the control connection or fail */ - CURLUSESSL_ALL, /* SSL for all communication or fail */ - CURLUSESSL_LAST /* not an option, never use */ -} curl_usessl; - -/* Definition of bits for the CURLOPT_SSL_OPTIONS argument: */ - -/* - ALLOW_BEAST tells libcurl to allow the BEAST SSL vulnerability in the - name of improving interoperability with older servers. Some SSL libraries - have introduced work-arounds for this flaw but those work-arounds sometimes - make the SSL communication fail. To regain functionality with those broken - servers, a user can this way allow the vulnerability back. */ -#define CURLSSLOPT_ALLOW_BEAST (1<<0) - -#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all - the obsolete stuff removed! */ - -/* Backwards compatibility with older names */ -/* These are scheduled to disappear by 2009 */ - -#define CURLFTPSSL_NONE CURLUSESSL_NONE -#define CURLFTPSSL_TRY CURLUSESSL_TRY -#define CURLFTPSSL_CONTROL CURLUSESSL_CONTROL -#define CURLFTPSSL_ALL CURLUSESSL_ALL -#define CURLFTPSSL_LAST CURLUSESSL_LAST -#define curl_ftpssl curl_usessl -#endif /*!CURL_NO_OLDIES*/ - -/* parameter for the CURLOPT_FTP_SSL_CCC option */ -typedef enum { - CURLFTPSSL_CCC_NONE, /* do not send CCC */ - CURLFTPSSL_CCC_PASSIVE, /* Let the server initiate the shutdown */ - CURLFTPSSL_CCC_ACTIVE, /* Initiate the shutdown */ - CURLFTPSSL_CCC_LAST /* not an option, never use */ -} curl_ftpccc; - -/* parameter for the CURLOPT_FTPSSLAUTH option */ -typedef enum { - CURLFTPAUTH_DEFAULT, /* let libcurl decide */ - CURLFTPAUTH_SSL, /* use "AUTH SSL" */ - CURLFTPAUTH_TLS, /* use "AUTH TLS" */ - CURLFTPAUTH_LAST /* not an option, never use */ -} curl_ftpauth; - -/* parameter for the CURLOPT_FTP_CREATE_MISSING_DIRS option */ -typedef enum { - CURLFTP_CREATE_DIR_NONE, /* do NOT create missing dirs! */ - CURLFTP_CREATE_DIR, /* (FTP/SFTP) if CWD fails, try MKD and then CWD - again if MKD succeeded, for SFTP this does - similar magic */ - CURLFTP_CREATE_DIR_RETRY, /* (FTP only) if CWD fails, try MKD and then CWD - again even if MKD failed! */ - CURLFTP_CREATE_DIR_LAST /* not an option, never use */ -} curl_ftpcreatedir; - -/* parameter for the CURLOPT_FTP_FILEMETHOD option */ -typedef enum { - CURLFTPMETHOD_DEFAULT, /* let libcurl pick */ - CURLFTPMETHOD_MULTICWD, /* single CWD operation for each path part */ - CURLFTPMETHOD_NOCWD, /* no CWD at all */ - CURLFTPMETHOD_SINGLECWD, /* one CWD to full dir, then work on file */ - CURLFTPMETHOD_LAST /* not an option, never use */ -} curl_ftpmethod; - -/* bitmask defines for CURLOPT_HEADEROPT */ -#define CURLHEADER_UNIFIED 0 -#define CURLHEADER_SEPARATE (1<<0) - -/* CURLPROTO_ defines are for the CURLOPT_*PROTOCOLS options */ -#define CURLPROTO_HTTP (1<<0) -#define CURLPROTO_HTTPS (1<<1) -#define CURLPROTO_FTP (1<<2) -#define CURLPROTO_FTPS (1<<3) -#define CURLPROTO_SCP (1<<4) -#define CURLPROTO_SFTP (1<<5) -#define CURLPROTO_TELNET (1<<6) -#define CURLPROTO_LDAP (1<<7) -#define CURLPROTO_LDAPS (1<<8) -#define CURLPROTO_DICT (1<<9) -#define CURLPROTO_FILE (1<<10) -#define CURLPROTO_TFTP (1<<11) -#define CURLPROTO_IMAP (1<<12) -#define CURLPROTO_IMAPS (1<<13) -#define CURLPROTO_POP3 (1<<14) -#define CURLPROTO_POP3S (1<<15) -#define CURLPROTO_SMTP (1<<16) -#define CURLPROTO_SMTPS (1<<17) -#define CURLPROTO_RTSP (1<<18) -#define CURLPROTO_RTMP (1<<19) -#define CURLPROTO_RTMPT (1<<20) -#define CURLPROTO_RTMPE (1<<21) -#define CURLPROTO_RTMPTE (1<<22) -#define CURLPROTO_RTMPS (1<<23) -#define CURLPROTO_RTMPTS (1<<24) -#define CURLPROTO_GOPHER (1<<25) -#define CURLPROTO_SMB (1<<26) -#define CURLPROTO_SMBS (1<<27) -#define CURLPROTO_ALL (~0) /* enable everything */ - -/* long may be 32 or 64 bits, but we should never depend on anything else - but 32 */ -#define CURLOPTTYPE_LONG 0 -#define CURLOPTTYPE_OBJECTPOINT 10000 -#define CURLOPTTYPE_FUNCTIONPOINT 20000 -#define CURLOPTTYPE_OFF_T 30000 - -/* name is uppercase CURLOPT_, - type is one of the defined CURLOPTTYPE_ - number is unique identifier */ -#ifdef CINIT -#undef CINIT -#endif - -#ifdef CURL_ISOCPP -#define CINIT(na,t,nu) CURLOPT_ ## na = CURLOPTTYPE_ ## t + nu -#else -/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */ -#define LONG CURLOPTTYPE_LONG -#define OBJECTPOINT CURLOPTTYPE_OBJECTPOINT -#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT -#define OFF_T CURLOPTTYPE_OFF_T -#define CINIT(name,type,number) CURLOPT_/**/name = type + number -#endif - -/* - * This macro-mania below setups the CURLOPT_[what] enum, to be used with - * curl_easy_setopt(). The first argument in the CINIT() macro is the [what] - * word. - */ - -typedef enum { - /* This is the FILE * or void * the regular output should be written to. */ - CINIT(WRITEDATA, OBJECTPOINT, 1), - - /* The full URL to get/put */ - CINIT(URL, OBJECTPOINT, 2), - - /* Port number to connect to, if other than default. */ - CINIT(PORT, LONG, 3), - - /* Name of proxy to use. */ - CINIT(PROXY, OBJECTPOINT, 4), - - /* "user:password;options" to use when fetching. */ - CINIT(USERPWD, OBJECTPOINT, 5), - - /* "user:password" to use with proxy. */ - CINIT(PROXYUSERPWD, OBJECTPOINT, 6), - - /* Range to get, specified as an ASCII string. */ - CINIT(RANGE, OBJECTPOINT, 7), - - /* not used */ - - /* Specified file stream to upload from (use as input): */ - CINIT(READDATA, OBJECTPOINT, 9), - - /* Buffer to receive error messages in, must be at least CURL_ERROR_SIZE - * bytes big. If this is not used, error messages go to stderr instead: */ - CINIT(ERRORBUFFER, OBJECTPOINT, 10), - - /* Function that will be called to store the output (instead of fwrite). The - * parameters will use fwrite() syntax, make sure to follow them. */ - CINIT(WRITEFUNCTION, FUNCTIONPOINT, 11), - - /* Function that will be called to read the input (instead of fread). The - * parameters will use fread() syntax, make sure to follow them. */ - CINIT(READFUNCTION, FUNCTIONPOINT, 12), - - /* Time-out the read operation after this amount of seconds */ - CINIT(TIMEOUT, LONG, 13), - - /* If the CURLOPT_INFILE is used, this can be used to inform libcurl about - * how large the file being sent really is. That allows better error - * checking and better verifies that the upload was successful. -1 means - * unknown size. - * - * For large file support, there is also a _LARGE version of the key - * which takes an off_t type, allowing platforms with larger off_t - * sizes to handle larger files. See below for INFILESIZE_LARGE. - */ - CINIT(INFILESIZE, LONG, 14), - - /* POST static input fields. */ - CINIT(POSTFIELDS, OBJECTPOINT, 15), - - /* Set the referrer page (needed by some CGIs) */ - CINIT(REFERER, OBJECTPOINT, 16), - - /* Set the FTP PORT string (interface name, named or numerical IP address) - Use i.e '-' to use default address. */ - CINIT(FTPPORT, OBJECTPOINT, 17), - - /* Set the User-Agent string (examined by some CGIs) */ - CINIT(USERAGENT, OBJECTPOINT, 18), - - /* If the download receives less than "low speed limit" bytes/second - * during "low speed time" seconds, the operations is aborted. - * You could i.e if you have a pretty high speed connection, abort if - * it is less than 2000 bytes/sec during 20 seconds. - */ - - /* Set the "low speed limit" */ - CINIT(LOW_SPEED_LIMIT, LONG, 19), - - /* Set the "low speed time" */ - CINIT(LOW_SPEED_TIME, LONG, 20), - - /* Set the continuation offset. - * - * Note there is also a _LARGE version of this key which uses - * off_t types, allowing for large file offsets on platforms which - * use larger-than-32-bit off_t's. Look below for RESUME_FROM_LARGE. - */ - CINIT(RESUME_FROM, LONG, 21), - - /* Set cookie in request: */ - CINIT(COOKIE, OBJECTPOINT, 22), - - /* This points to a linked list of headers, struct curl_slist kind. This - list is also used for RTSP (in spite of its name) */ - CINIT(HTTPHEADER, OBJECTPOINT, 23), - - /* This points to a linked list of post entries, struct curl_httppost */ - CINIT(HTTPPOST, OBJECTPOINT, 24), - - /* name of the file keeping your private SSL-certificate */ - CINIT(SSLCERT, OBJECTPOINT, 25), - - /* password for the SSL or SSH private key */ - CINIT(KEYPASSWD, OBJECTPOINT, 26), - - /* send TYPE parameter? */ - CINIT(CRLF, LONG, 27), - - /* send linked-list of QUOTE commands */ - CINIT(QUOTE, OBJECTPOINT, 28), - - /* send FILE * or void * to store headers to, if you use a callback it - is simply passed to the callback unmodified */ - CINIT(HEADERDATA, OBJECTPOINT, 29), - - /* point to a file to read the initial cookies from, also enables - "cookie awareness" */ - CINIT(COOKIEFILE, OBJECTPOINT, 31), - - /* What version to specifically try to use. - See CURL_SSLVERSION defines below. */ - CINIT(SSLVERSION, LONG, 32), - - /* What kind of HTTP time condition to use, see defines */ - CINIT(TIMECONDITION, LONG, 33), - - /* Time to use with the above condition. Specified in number of seconds - since 1 Jan 1970 */ - CINIT(TIMEVALUE, LONG, 34), - - /* 35 = OBSOLETE */ - - /* Custom request, for customizing the get command like - HTTP: DELETE, TRACE and others - FTP: to use a different list command - */ - CINIT(CUSTOMREQUEST, OBJECTPOINT, 36), - - /* HTTP request, for odd commands like DELETE, TRACE and others */ - CINIT(STDERR, OBJECTPOINT, 37), - - /* 38 is not used */ - - /* send linked-list of post-transfer QUOTE commands */ - CINIT(POSTQUOTE, OBJECTPOINT, 39), - - CINIT(OBSOLETE40, OBJECTPOINT, 40), /* OBSOLETE, do not use! */ - - CINIT(VERBOSE, LONG, 41), /* talk a lot */ - CINIT(HEADER, LONG, 42), /* throw the header out too */ - CINIT(NOPROGRESS, LONG, 43), /* shut off the progress meter */ - CINIT(NOBODY, LONG, 44), /* use HEAD to get http document */ - CINIT(FAILONERROR, LONG, 45), /* no output on http error codes >= 400 */ - CINIT(UPLOAD, LONG, 46), /* this is an upload */ - CINIT(POST, LONG, 47), /* HTTP POST method */ - CINIT(DIRLISTONLY, LONG, 48), /* bare names when listing directories */ - - CINIT(APPEND, LONG, 50), /* Append instead of overwrite on upload! */ - - /* Specify whether to read the user+password from the .netrc or the URL. - * This must be one of the CURL_NETRC_* enums below. */ - CINIT(NETRC, LONG, 51), - - CINIT(FOLLOWLOCATION, LONG, 52), /* use Location: Luke! */ - - CINIT(TRANSFERTEXT, LONG, 53), /* transfer data in text/ASCII format */ - CINIT(PUT, LONG, 54), /* HTTP PUT */ - - /* 55 = OBSOLETE */ - - /* DEPRECATED - * Function that will be called instead of the internal progress display - * function. This function should be defined as the curl_progress_callback - * prototype defines. */ - CINIT(PROGRESSFUNCTION, FUNCTIONPOINT, 56), - - /* Data passed to the CURLOPT_PROGRESSFUNCTION and CURLOPT_XFERINFOFUNCTION - callbacks */ - CINIT(PROGRESSDATA, OBJECTPOINT, 57), -#define CURLOPT_XFERINFODATA CURLOPT_PROGRESSDATA - - /* We want the referrer field set automatically when following locations */ - CINIT(AUTOREFERER, LONG, 58), - - /* Port of the proxy, can be set in the proxy string as well with: - "[host]:[port]" */ - CINIT(PROXYPORT, LONG, 59), - - /* size of the POST input data, if strlen() is not good to use */ - CINIT(POSTFIELDSIZE, LONG, 60), - - /* tunnel non-http operations through a HTTP proxy */ - CINIT(HTTPPROXYTUNNEL, LONG, 61), - - /* Set the interface string to use as outgoing network interface */ - CINIT(INTERFACE, OBJECTPOINT, 62), - - /* Set the krb4/5 security level, this also enables krb4/5 awareness. This - * is a string, 'clear', 'safe', 'confidential' or 'private'. If the string - * is set but doesn't match one of these, 'private' will be used. */ - CINIT(KRBLEVEL, OBJECTPOINT, 63), - - /* Set if we should verify the peer in ssl handshake, set 1 to verify. */ - CINIT(SSL_VERIFYPEER, LONG, 64), - - /* The CApath or CAfile used to validate the peer certificate - this option is used only if SSL_VERIFYPEER is true */ - CINIT(CAINFO, OBJECTPOINT, 65), - - /* 66 = OBSOLETE */ - /* 67 = OBSOLETE */ - - /* Maximum number of http redirects to follow */ - CINIT(MAXREDIRS, LONG, 68), - - /* Pass a long set to 1 to get the date of the requested document (if - possible)! Pass a zero to shut it off. */ - CINIT(FILETIME, LONG, 69), - - /* This points to a linked list of telnet options */ - CINIT(TELNETOPTIONS, OBJECTPOINT, 70), - - /* Max amount of cached alive connections */ - CINIT(MAXCONNECTS, LONG, 71), - - CINIT(OBSOLETE72, LONG, 72), /* OBSOLETE, do not use! */ - - /* 73 = OBSOLETE */ - - /* Set to explicitly use a new connection for the upcoming transfer. - Do not use this unless you're absolutely sure of this, as it makes the - operation slower and is less friendly for the network. */ - CINIT(FRESH_CONNECT, LONG, 74), - - /* Set to explicitly forbid the upcoming transfer's connection to be re-used - when done. Do not use this unless you're absolutely sure of this, as it - makes the operation slower and is less friendly for the network. */ - CINIT(FORBID_REUSE, LONG, 75), - - /* Set to a file name that contains random data for libcurl to use to - seed the random engine when doing SSL connects. */ - CINIT(RANDOM_FILE, OBJECTPOINT, 76), - - /* Set to the Entropy Gathering Daemon socket pathname */ - CINIT(EGDSOCKET, OBJECTPOINT, 77), - - /* Time-out connect operations after this amount of seconds, if connects are - OK within this time, then fine... This only aborts the connect phase. */ - CINIT(CONNECTTIMEOUT, LONG, 78), - - /* Function that will be called to store headers (instead of fwrite). The - * parameters will use fwrite() syntax, make sure to follow them. */ - CINIT(HEADERFUNCTION, FUNCTIONPOINT, 79), - - /* Set this to force the HTTP request to get back to GET. Only really usable - if POST, PUT or a custom request have been used first. - */ - CINIT(HTTPGET, LONG, 80), - - /* Set if we should verify the Common name from the peer certificate in ssl - * handshake, set 1 to check existence, 2 to ensure that it matches the - * provided hostname. */ - CINIT(SSL_VERIFYHOST, LONG, 81), - - /* Specify which file name to write all known cookies in after completed - operation. Set file name to "-" (dash) to make it go to stdout. */ - CINIT(COOKIEJAR, OBJECTPOINT, 82), - - /* Specify which SSL ciphers to use */ - CINIT(SSL_CIPHER_LIST, OBJECTPOINT, 83), - - /* Specify which HTTP version to use! This must be set to one of the - CURL_HTTP_VERSION* enums set below. */ - CINIT(HTTP_VERSION, LONG, 84), - - /* Specifically switch on or off the FTP engine's use of the EPSV command. By - default, that one will always be attempted before the more traditional - PASV command. */ - CINIT(FTP_USE_EPSV, LONG, 85), - - /* type of the file keeping your SSL-certificate ("DER", "PEM", "ENG") */ - CINIT(SSLCERTTYPE, OBJECTPOINT, 86), - - /* name of the file keeping your private SSL-key */ - CINIT(SSLKEY, OBJECTPOINT, 87), - - /* type of the file keeping your private SSL-key ("DER", "PEM", "ENG") */ - CINIT(SSLKEYTYPE, OBJECTPOINT, 88), - - /* crypto engine for the SSL-sub system */ - CINIT(SSLENGINE, OBJECTPOINT, 89), - - /* set the crypto engine for the SSL-sub system as default - the param has no meaning... - */ - CINIT(SSLENGINE_DEFAULT, LONG, 90), - - /* Non-zero value means to use the global dns cache */ - CINIT(DNS_USE_GLOBAL_CACHE, LONG, 91), /* DEPRECATED, do not use! */ - - /* DNS cache timeout */ - CINIT(DNS_CACHE_TIMEOUT, LONG, 92), - - /* send linked-list of pre-transfer QUOTE commands */ - CINIT(PREQUOTE, OBJECTPOINT, 93), - - /* set the debug function */ - CINIT(DEBUGFUNCTION, FUNCTIONPOINT, 94), - - /* set the data for the debug function */ - CINIT(DEBUGDATA, OBJECTPOINT, 95), - - /* mark this as start of a cookie session */ - CINIT(COOKIESESSION, LONG, 96), - - /* The CApath directory used to validate the peer certificate - this option is used only if SSL_VERIFYPEER is true */ - CINIT(CAPATH, OBJECTPOINT, 97), - - /* Instruct libcurl to use a smaller receive buffer */ - CINIT(BUFFERSIZE, LONG, 98), - - /* Instruct libcurl to not use any signal/alarm handlers, even when using - timeouts. This option is useful for multi-threaded applications. - See libcurl-the-guide for more background information. */ - CINIT(NOSIGNAL, LONG, 99), - - /* Provide a CURLShare for mutexing non-ts data */ - CINIT(SHARE, OBJECTPOINT, 100), - - /* indicates type of proxy. accepted values are CURLPROXY_HTTP (default), - CURLPROXY_SOCKS4, CURLPROXY_SOCKS4A and CURLPROXY_SOCKS5. */ - CINIT(PROXYTYPE, LONG, 101), - - /* Set the Accept-Encoding string. Use this to tell a server you would like - the response to be compressed. Before 7.21.6, this was known as - CURLOPT_ENCODING */ - CINIT(ACCEPT_ENCODING, OBJECTPOINT, 102), - - /* Set pointer to private data */ - CINIT(PRIVATE, OBJECTPOINT, 103), - - /* Set aliases for HTTP 200 in the HTTP Response header */ - CINIT(HTTP200ALIASES, OBJECTPOINT, 104), - - /* Continue to send authentication (user+password) when following locations, - even when hostname changed. This can potentially send off the name - and password to whatever host the server decides. */ - CINIT(UNRESTRICTED_AUTH, LONG, 105), - - /* Specifically switch on or off the FTP engine's use of the EPRT command ( - it also disables the LPRT attempt). By default, those ones will always be - attempted before the good old traditional PORT command. */ - CINIT(FTP_USE_EPRT, LONG, 106), - - /* Set this to a bitmask value to enable the particular authentications - methods you like. Use this in combination with CURLOPT_USERPWD. - Note that setting multiple bits may cause extra network round-trips. */ - CINIT(HTTPAUTH, LONG, 107), - - /* Set the ssl context callback function, currently only for OpenSSL ssl_ctx - in second argument. The function must be matching the - curl_ssl_ctx_callback proto. */ - CINIT(SSL_CTX_FUNCTION, FUNCTIONPOINT, 108), - - /* Set the userdata for the ssl context callback function's third - argument */ - CINIT(SSL_CTX_DATA, OBJECTPOINT, 109), - - /* FTP Option that causes missing dirs to be created on the remote server. - In 7.19.4 we introduced the convenience enums for this option using the - CURLFTP_CREATE_DIR prefix. - */ - CINIT(FTP_CREATE_MISSING_DIRS, LONG, 110), - - /* Set this to a bitmask value to enable the particular authentications - methods you like. Use this in combination with CURLOPT_PROXYUSERPWD. - Note that setting multiple bits may cause extra network round-trips. */ - CINIT(PROXYAUTH, LONG, 111), - - /* FTP option that changes the timeout, in seconds, associated with - getting a response. This is different from transfer timeout time and - essentially places a demand on the FTP server to acknowledge commands - in a timely manner. */ - CINIT(FTP_RESPONSE_TIMEOUT, LONG, 112), -#define CURLOPT_SERVER_RESPONSE_TIMEOUT CURLOPT_FTP_RESPONSE_TIMEOUT - - /* Set this option to one of the CURL_IPRESOLVE_* defines (see below) to - tell libcurl to resolve names to those IP versions only. This only has - affect on systems with support for more than one, i.e IPv4 _and_ IPv6. */ - CINIT(IPRESOLVE, LONG, 113), - - /* Set this option to limit the size of a file that will be downloaded from - an HTTP or FTP server. - - Note there is also _LARGE version which adds large file support for - platforms which have larger off_t sizes. See MAXFILESIZE_LARGE below. */ - CINIT(MAXFILESIZE, LONG, 114), - - /* See the comment for INFILESIZE above, but in short, specifies - * the size of the file being uploaded. -1 means unknown. - */ - CINIT(INFILESIZE_LARGE, OFF_T, 115), - - /* Sets the continuation offset. There is also a LONG version of this; - * look above for RESUME_FROM. - */ - CINIT(RESUME_FROM_LARGE, OFF_T, 116), - - /* Sets the maximum size of data that will be downloaded from - * an HTTP or FTP server. See MAXFILESIZE above for the LONG version. - */ - CINIT(MAXFILESIZE_LARGE, OFF_T, 117), - - /* Set this option to the file name of your .netrc file you want libcurl - to parse (using the CURLOPT_NETRC option). If not set, libcurl will do - a poor attempt to find the user's home directory and check for a .netrc - file in there. */ - CINIT(NETRC_FILE, OBJECTPOINT, 118), - - /* Enable SSL/TLS for FTP, pick one of: - CURLUSESSL_TRY - try using SSL, proceed anyway otherwise - CURLUSESSL_CONTROL - SSL for the control connection or fail - CURLUSESSL_ALL - SSL for all communication or fail - */ - CINIT(USE_SSL, LONG, 119), - - /* The _LARGE version of the standard POSTFIELDSIZE option */ - CINIT(POSTFIELDSIZE_LARGE, OFF_T, 120), - - /* Enable/disable the TCP Nagle algorithm */ - CINIT(TCP_NODELAY, LONG, 121), - - /* 122 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 123 OBSOLETE. Gone in 7.16.0 */ - /* 124 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 125 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 126 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */ - /* 127 OBSOLETE. Gone in 7.16.0 */ - /* 128 OBSOLETE. Gone in 7.16.0 */ - - /* When FTP over SSL/TLS is selected (with CURLOPT_USE_SSL), this option - can be used to change libcurl's default action which is to first try - "AUTH SSL" and then "AUTH TLS" in this order, and proceed when a OK - response has been received. - - Available parameters are: - CURLFTPAUTH_DEFAULT - let libcurl decide - CURLFTPAUTH_SSL - try "AUTH SSL" first, then TLS - CURLFTPAUTH_TLS - try "AUTH TLS" first, then SSL - */ - CINIT(FTPSSLAUTH, LONG, 129), - - CINIT(IOCTLFUNCTION, FUNCTIONPOINT, 130), - CINIT(IOCTLDATA, OBJECTPOINT, 131), - - /* 132 OBSOLETE. Gone in 7.16.0 */ - /* 133 OBSOLETE. Gone in 7.16.0 */ - - /* zero terminated string for pass on to the FTP server when asked for - "account" info */ - CINIT(FTP_ACCOUNT, OBJECTPOINT, 134), - - /* feed cookies into cookie engine */ - CINIT(COOKIELIST, OBJECTPOINT, 135), - - /* ignore Content-Length */ - CINIT(IGNORE_CONTENT_LENGTH, LONG, 136), - - /* Set to non-zero to skip the IP address received in a 227 PASV FTP server - response. Typically used for FTP-SSL purposes but is not restricted to - that. libcurl will then instead use the same IP address it used for the - control connection. */ - CINIT(FTP_SKIP_PASV_IP, LONG, 137), - - /* Select "file method" to use when doing FTP, see the curl_ftpmethod - above. */ - CINIT(FTP_FILEMETHOD, LONG, 138), - - /* Local port number to bind the socket to */ - CINIT(LOCALPORT, LONG, 139), - - /* Number of ports to try, including the first one set with LOCALPORT. - Thus, setting it to 1 will make no additional attempts but the first. - */ - CINIT(LOCALPORTRANGE, LONG, 140), - - /* no transfer, set up connection and let application use the socket by - extracting it with CURLINFO_LASTSOCKET */ - CINIT(CONNECT_ONLY, LONG, 141), - - /* Function that will be called to convert from the - network encoding (instead of using the iconv calls in libcurl) */ - CINIT(CONV_FROM_NETWORK_FUNCTION, FUNCTIONPOINT, 142), - - /* Function that will be called to convert to the - network encoding (instead of using the iconv calls in libcurl) */ - CINIT(CONV_TO_NETWORK_FUNCTION, FUNCTIONPOINT, 143), - - /* Function that will be called to convert from UTF8 - (instead of using the iconv calls in libcurl) - Note that this is used only for SSL certificate processing */ - CINIT(CONV_FROM_UTF8_FUNCTION, FUNCTIONPOINT, 144), - - /* if the connection proceeds too quickly then need to slow it down */ - /* limit-rate: maximum number of bytes per second to send or receive */ - CINIT(MAX_SEND_SPEED_LARGE, OFF_T, 145), - CINIT(MAX_RECV_SPEED_LARGE, OFF_T, 146), - - /* Pointer to command string to send if USER/PASS fails. */ - CINIT(FTP_ALTERNATIVE_TO_USER, OBJECTPOINT, 147), - - /* callback function for setting socket options */ - CINIT(SOCKOPTFUNCTION, FUNCTIONPOINT, 148), - CINIT(SOCKOPTDATA, OBJECTPOINT, 149), - - /* set to 0 to disable session ID re-use for this transfer, default is - enabled (== 1) */ - CINIT(SSL_SESSIONID_CACHE, LONG, 150), - - /* allowed SSH authentication methods */ - CINIT(SSH_AUTH_TYPES, LONG, 151), - - /* Used by scp/sftp to do public/private key authentication */ - CINIT(SSH_PUBLIC_KEYFILE, OBJECTPOINT, 152), - CINIT(SSH_PRIVATE_KEYFILE, OBJECTPOINT, 153), - - /* Send CCC (Clear Command Channel) after authentication */ - CINIT(FTP_SSL_CCC, LONG, 154), - - /* Same as TIMEOUT and CONNECTTIMEOUT, but with ms resolution */ - CINIT(TIMEOUT_MS, LONG, 155), - CINIT(CONNECTTIMEOUT_MS, LONG, 156), - - /* set to zero to disable the libcurl's decoding and thus pass the raw body - data to the application even when it is encoded/compressed */ - CINIT(HTTP_TRANSFER_DECODING, LONG, 157), - CINIT(HTTP_CONTENT_DECODING, LONG, 158), - - /* Permission used when creating new files and directories on the remote - server for protocols that support it, SFTP/SCP/FILE */ - CINIT(NEW_FILE_PERMS, LONG, 159), - CINIT(NEW_DIRECTORY_PERMS, LONG, 160), - - /* Set the behaviour of POST when redirecting. Values must be set to one - of CURL_REDIR* defines below. This used to be called CURLOPT_POST301 */ - CINIT(POSTREDIR, LONG, 161), - - /* used by scp/sftp to verify the host's public key */ - CINIT(SSH_HOST_PUBLIC_KEY_MD5, OBJECTPOINT, 162), - - /* Callback function for opening socket (instead of socket(2)). Optionally, - callback is able change the address or refuse to connect returning - CURL_SOCKET_BAD. The callback should have type - curl_opensocket_callback */ - CINIT(OPENSOCKETFUNCTION, FUNCTIONPOINT, 163), - CINIT(OPENSOCKETDATA, OBJECTPOINT, 164), - - /* POST volatile input fields. */ - CINIT(COPYPOSTFIELDS, OBJECTPOINT, 165), - - /* set transfer mode (;type=) when doing FTP via an HTTP proxy */ - CINIT(PROXY_TRANSFER_MODE, LONG, 166), - - /* Callback function for seeking in the input stream */ - CINIT(SEEKFUNCTION, FUNCTIONPOINT, 167), - CINIT(SEEKDATA, OBJECTPOINT, 168), - - /* CRL file */ - CINIT(CRLFILE, OBJECTPOINT, 169), - - /* Issuer certificate */ - CINIT(ISSUERCERT, OBJECTPOINT, 170), - - /* (IPv6) Address scope */ - CINIT(ADDRESS_SCOPE, LONG, 171), - - /* Collect certificate chain info and allow it to get retrievable with - CURLINFO_CERTINFO after the transfer is complete. */ - CINIT(CERTINFO, LONG, 172), - - /* "name" and "pwd" to use when fetching. */ - CINIT(USERNAME, OBJECTPOINT, 173), - CINIT(PASSWORD, OBJECTPOINT, 174), - - /* "name" and "pwd" to use with Proxy when fetching. */ - CINIT(PROXYUSERNAME, OBJECTPOINT, 175), - CINIT(PROXYPASSWORD, OBJECTPOINT, 176), - - /* Comma separated list of hostnames defining no-proxy zones. These should - match both hostnames directly, and hostnames within a domain. For - example, local.com will match local.com and www.local.com, but NOT - notlocal.com or www.notlocal.com. For compatibility with other - implementations of this, .local.com will be considered to be the same as - local.com. A single * is the only valid wildcard, and effectively - disables the use of proxy. */ - CINIT(NOPROXY, OBJECTPOINT, 177), - - /* block size for TFTP transfers */ - CINIT(TFTP_BLKSIZE, LONG, 178), - - /* Socks Service */ - CINIT(SOCKS5_GSSAPI_SERVICE, OBJECTPOINT, 179), - - /* Socks Service */ - CINIT(SOCKS5_GSSAPI_NEC, LONG, 180), - - /* set the bitmask for the protocols that are allowed to be used for the - transfer, which thus helps the app which takes URLs from users or other - external inputs and want to restrict what protocol(s) to deal - with. Defaults to CURLPROTO_ALL. */ - CINIT(PROTOCOLS, LONG, 181), - - /* set the bitmask for the protocols that libcurl is allowed to follow to, - as a subset of the CURLOPT_PROTOCOLS ones. That means the protocol needs - to be set in both bitmasks to be allowed to get redirected to. Defaults - to all protocols except FILE and SCP. */ - CINIT(REDIR_PROTOCOLS, LONG, 182), - - /* set the SSH knownhost file name to use */ - CINIT(SSH_KNOWNHOSTS, OBJECTPOINT, 183), - - /* set the SSH host key callback, must point to a curl_sshkeycallback - function */ - CINIT(SSH_KEYFUNCTION, FUNCTIONPOINT, 184), - - /* set the SSH host key callback custom pointer */ - CINIT(SSH_KEYDATA, OBJECTPOINT, 185), - - /* set the SMTP mail originator */ - CINIT(MAIL_FROM, OBJECTPOINT, 186), - - /* set the SMTP mail receiver(s) */ - CINIT(MAIL_RCPT, OBJECTPOINT, 187), - - /* FTP: send PRET before PASV */ - CINIT(FTP_USE_PRET, LONG, 188), - - /* RTSP request method (OPTIONS, SETUP, PLAY, etc...) */ - CINIT(RTSP_REQUEST, LONG, 189), - - /* The RTSP session identifier */ - CINIT(RTSP_SESSION_ID, OBJECTPOINT, 190), - - /* The RTSP stream URI */ - CINIT(RTSP_STREAM_URI, OBJECTPOINT, 191), - - /* The Transport: header to use in RTSP requests */ - CINIT(RTSP_TRANSPORT, OBJECTPOINT, 192), - - /* Manually initialize the client RTSP CSeq for this handle */ - CINIT(RTSP_CLIENT_CSEQ, LONG, 193), - - /* Manually initialize the server RTSP CSeq for this handle */ - CINIT(RTSP_SERVER_CSEQ, LONG, 194), - - /* The stream to pass to INTERLEAVEFUNCTION. */ - CINIT(INTERLEAVEDATA, OBJECTPOINT, 195), - - /* Let the application define a custom write method for RTP data */ - CINIT(INTERLEAVEFUNCTION, FUNCTIONPOINT, 196), - - /* Turn on wildcard matching */ - CINIT(WILDCARDMATCH, LONG, 197), - - /* Directory matching callback called before downloading of an - individual file (chunk) started */ - CINIT(CHUNK_BGN_FUNCTION, FUNCTIONPOINT, 198), - - /* Directory matching callback called after the file (chunk) - was downloaded, or skipped */ - CINIT(CHUNK_END_FUNCTION, FUNCTIONPOINT, 199), - - /* Change match (fnmatch-like) callback for wildcard matching */ - CINIT(FNMATCH_FUNCTION, FUNCTIONPOINT, 200), - - /* Let the application define custom chunk data pointer */ - CINIT(CHUNK_DATA, OBJECTPOINT, 201), - - /* FNMATCH_FUNCTION user pointer */ - CINIT(FNMATCH_DATA, OBJECTPOINT, 202), - - /* send linked-list of name:port:address sets */ - CINIT(RESOLVE, OBJECTPOINT, 203), - - /* Set a username for authenticated TLS */ - CINIT(TLSAUTH_USERNAME, OBJECTPOINT, 204), - - /* Set a password for authenticated TLS */ - CINIT(TLSAUTH_PASSWORD, OBJECTPOINT, 205), - - /* Set authentication type for authenticated TLS */ - CINIT(TLSAUTH_TYPE, OBJECTPOINT, 206), - - /* Set to 1 to enable the "TE:" header in HTTP requests to ask for - compressed transfer-encoded responses. Set to 0 to disable the use of TE: - in outgoing requests. The current default is 0, but it might change in a - future libcurl release. - - libcurl will ask for the compressed methods it knows of, and if that - isn't any, it will not ask for transfer-encoding at all even if this - option is set to 1. - - */ - CINIT(TRANSFER_ENCODING, LONG, 207), - - /* Callback function for closing socket (instead of close(2)). The callback - should have type curl_closesocket_callback */ - CINIT(CLOSESOCKETFUNCTION, FUNCTIONPOINT, 208), - CINIT(CLOSESOCKETDATA, OBJECTPOINT, 209), - - /* allow GSSAPI credential delegation */ - CINIT(GSSAPI_DELEGATION, LONG, 210), - - /* Set the name servers to use for DNS resolution */ - CINIT(DNS_SERVERS, OBJECTPOINT, 211), - - /* Time-out accept operations (currently for FTP only) after this amount - of miliseconds. */ - CINIT(ACCEPTTIMEOUT_MS, LONG, 212), - - /* Set TCP keepalive */ - CINIT(TCP_KEEPALIVE, LONG, 213), - - /* non-universal keepalive knobs (Linux, AIX, HP-UX, more) */ - CINIT(TCP_KEEPIDLE, LONG, 214), - CINIT(TCP_KEEPINTVL, LONG, 215), - - /* Enable/disable specific SSL features with a bitmask, see CURLSSLOPT_* */ - CINIT(SSL_OPTIONS, LONG, 216), - - /* Set the SMTP auth originator */ - CINIT(MAIL_AUTH, OBJECTPOINT, 217), - - /* Enable/disable SASL initial response */ - CINIT(SASL_IR, LONG, 218), - - /* Function that will be called instead of the internal progress display - * function. This function should be defined as the curl_xferinfo_callback - * prototype defines. (Deprecates CURLOPT_PROGRESSFUNCTION) */ - CINIT(XFERINFOFUNCTION, FUNCTIONPOINT, 219), - - /* The XOAUTH2 bearer token */ - CINIT(XOAUTH2_BEARER, OBJECTPOINT, 220), - - /* Set the interface string to use as outgoing network - * interface for DNS requests. - * Only supported by the c-ares DNS backend */ - CINIT(DNS_INTERFACE, OBJECTPOINT, 221), - - /* Set the local IPv4 address to use for outgoing DNS requests. - * Only supported by the c-ares DNS backend */ - CINIT(DNS_LOCAL_IP4, OBJECTPOINT, 222), - - /* Set the local IPv4 address to use for outgoing DNS requests. - * Only supported by the c-ares DNS backend */ - CINIT(DNS_LOCAL_IP6, OBJECTPOINT, 223), - - /* Set authentication options directly */ - CINIT(LOGIN_OPTIONS, OBJECTPOINT, 224), - - /* Enable/disable TLS NPN extension (http2 over ssl might fail without) */ - CINIT(SSL_ENABLE_NPN, LONG, 225), - - /* Enable/disable TLS ALPN extension (http2 over ssl might fail without) */ - CINIT(SSL_ENABLE_ALPN, LONG, 226), - - /* Time to wait for a response to a HTTP request containing an - * Expect: 100-continue header before sending the data anyway. */ - CINIT(EXPECT_100_TIMEOUT_MS, LONG, 227), - - /* This points to a linked list of headers used for proxy requests only, - struct curl_slist kind */ - CINIT(PROXYHEADER, OBJECTPOINT, 228), - - /* Pass in a bitmask of "header options" */ - CINIT(HEADEROPT, LONG, 229), - - /* The public key in DER form used to validate the peer public key - this option is used only if SSL_VERIFYPEER is true */ - CINIT(PINNEDPUBLICKEY, OBJECTPOINT, 230), - - /* Path to Unix domain socket */ - CINIT(UNIX_SOCKET_PATH, OBJECTPOINT, 231), - - /* Set if we should verify the certificate status. */ - CINIT(SSL_VERIFYSTATUS, LONG, 232), - - /* Set if we should enable TLS false start. */ - CINIT(SSL_FALSESTART, LONG, 233), - - /* Do not squash dot-dot sequences */ - CINIT(PATH_AS_IS, LONG, 234), - - /* Proxy Service Name */ - CINIT(PROXY_SERVICE_NAME, OBJECTPOINT, 235), - - /* Service Name */ - CINIT(SERVICE_NAME, OBJECTPOINT, 236), - - /* Wait/don't wait for pipe/mutex to clarify */ - CINIT(PIPEWAIT, LONG, 237), - - CURLOPT_LASTENTRY /* the last unused */ -} CURLoption; - -#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all - the obsolete stuff removed! */ - -/* Backwards compatibility with older names */ -/* These are scheduled to disappear by 2011 */ - -/* This was added in version 7.19.1 */ -#define CURLOPT_POST301 CURLOPT_POSTREDIR - -/* These are scheduled to disappear by 2009 */ - -/* The following were added in 7.17.0 */ -#define CURLOPT_SSLKEYPASSWD CURLOPT_KEYPASSWD -#define CURLOPT_FTPAPPEND CURLOPT_APPEND -#define CURLOPT_FTPLISTONLY CURLOPT_DIRLISTONLY -#define CURLOPT_FTP_SSL CURLOPT_USE_SSL - -/* The following were added earlier */ - -#define CURLOPT_SSLCERTPASSWD CURLOPT_KEYPASSWD -#define CURLOPT_KRB4LEVEL CURLOPT_KRBLEVEL - -#else -/* This is set if CURL_NO_OLDIES is defined at compile-time */ -#undef CURLOPT_DNS_USE_GLOBAL_CACHE /* soon obsolete */ -#endif - - - /* Below here follows defines for the CURLOPT_IPRESOLVE option. If a host - name resolves addresses using more than one IP protocol version, this - option might be handy to force libcurl to use a specific IP version. */ -#define CURL_IPRESOLVE_WHATEVER 0 /* default, resolves addresses to all IP - versions that your system allows */ -#define CURL_IPRESOLVE_V4 1 /* resolve to IPv4 addresses */ -#define CURL_IPRESOLVE_V6 2 /* resolve to IPv6 addresses */ - - /* three convenient "aliases" that follow the name scheme better */ -#define CURLOPT_RTSPHEADER CURLOPT_HTTPHEADER - - /* These enums are for use with the CURLOPT_HTTP_VERSION option. */ -enum { - CURL_HTTP_VERSION_NONE, /* setting this means we don't care, and that we'd - like the library to choose the best possible - for us! */ - CURL_HTTP_VERSION_1_0, /* please use HTTP 1.0 in the request */ - CURL_HTTP_VERSION_1_1, /* please use HTTP 1.1 in the request */ - CURL_HTTP_VERSION_2_0, /* please use HTTP 2.0 in the request */ - - CURL_HTTP_VERSION_LAST /* *ILLEGAL* http version */ -}; - -/* Convenience definition simple because the name of the version is HTTP/2 and - not 2.0. The 2_0 version of the enum name was set while the version was - still planned to be 2.0 and we stick to it for compatibility. */ -#define CURL_HTTP_VERSION_2 CURL_HTTP_VERSION_2_0 - -/* - * Public API enums for RTSP requests - */ -enum { - CURL_RTSPREQ_NONE, /* first in list */ - CURL_RTSPREQ_OPTIONS, - CURL_RTSPREQ_DESCRIBE, - CURL_RTSPREQ_ANNOUNCE, - CURL_RTSPREQ_SETUP, - CURL_RTSPREQ_PLAY, - CURL_RTSPREQ_PAUSE, - CURL_RTSPREQ_TEARDOWN, - CURL_RTSPREQ_GET_PARAMETER, - CURL_RTSPREQ_SET_PARAMETER, - CURL_RTSPREQ_RECORD, - CURL_RTSPREQ_RECEIVE, - CURL_RTSPREQ_LAST /* last in list */ -}; - - /* These enums are for use with the CURLOPT_NETRC option. */ -enum CURL_NETRC_OPTION { - CURL_NETRC_IGNORED, /* The .netrc will never be read. - * This is the default. */ - CURL_NETRC_OPTIONAL, /* A user:password in the URL will be preferred - * to one in the .netrc. */ - CURL_NETRC_REQUIRED, /* A user:password in the URL will be ignored. - * Unless one is set programmatically, the .netrc - * will be queried. */ - CURL_NETRC_LAST -}; - -enum { - CURL_SSLVERSION_DEFAULT, - CURL_SSLVERSION_TLSv1, /* TLS 1.x */ - CURL_SSLVERSION_SSLv2, - CURL_SSLVERSION_SSLv3, - CURL_SSLVERSION_TLSv1_0, - CURL_SSLVERSION_TLSv1_1, - CURL_SSLVERSION_TLSv1_2, - - CURL_SSLVERSION_LAST /* never use, keep last */ -}; - -enum CURL_TLSAUTH { - CURL_TLSAUTH_NONE, - CURL_TLSAUTH_SRP, - CURL_TLSAUTH_LAST /* never use, keep last */ -}; - -/* symbols to use with CURLOPT_POSTREDIR. - CURL_REDIR_POST_301, CURL_REDIR_POST_302 and CURL_REDIR_POST_303 - can be bitwise ORed so that CURL_REDIR_POST_301 | CURL_REDIR_POST_302 - | CURL_REDIR_POST_303 == CURL_REDIR_POST_ALL */ - -#define CURL_REDIR_GET_ALL 0 -#define CURL_REDIR_POST_301 1 -#define CURL_REDIR_POST_302 2 -#define CURL_REDIR_POST_303 4 -#define CURL_REDIR_POST_ALL \ - (CURL_REDIR_POST_301|CURL_REDIR_POST_302|CURL_REDIR_POST_303) - -typedef enum { - CURL_TIMECOND_NONE, - - CURL_TIMECOND_IFMODSINCE, - CURL_TIMECOND_IFUNMODSINCE, - CURL_TIMECOND_LASTMOD, - - CURL_TIMECOND_LAST -} curl_TimeCond; - - -/* curl_strequal() and curl_strnequal() are subject for removal in a future - libcurl, see lib/README.curlx for details */ -CURL_EXTERN int (curl_strequal)(const char *s1, const char *s2); -CURL_EXTERN int (curl_strnequal)(const char *s1, const char *s2, size_t n); - -/* name is uppercase CURLFORM_ */ -#ifdef CFINIT -#undef CFINIT -#endif - -#ifdef CURL_ISOCPP -#define CFINIT(name) CURLFORM_ ## name -#else -/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */ -#define CFINIT(name) CURLFORM_/**/name -#endif - -typedef enum { - CFINIT(NOTHING), /********* the first one is unused ************/ - - /* */ - CFINIT(COPYNAME), - CFINIT(PTRNAME), - CFINIT(NAMELENGTH), - CFINIT(COPYCONTENTS), - CFINIT(PTRCONTENTS), - CFINIT(CONTENTSLENGTH), - CFINIT(FILECONTENT), - CFINIT(ARRAY), - CFINIT(OBSOLETE), - CFINIT(FILE), - - CFINIT(BUFFER), - CFINIT(BUFFERPTR), - CFINIT(BUFFERLENGTH), - - CFINIT(CONTENTTYPE), - CFINIT(CONTENTHEADER), - CFINIT(FILENAME), - CFINIT(END), - CFINIT(OBSOLETE2), - - CFINIT(STREAM), - - CURLFORM_LASTENTRY /* the last unused */ -} CURLformoption; - -#undef CFINIT /* done */ - -/* structure to be used as parameter for CURLFORM_ARRAY */ -struct curl_forms { - CURLformoption option; - const char *value; -}; - -/* use this for multipart formpost building */ -/* Returns code for curl_formadd() - * - * Returns: - * CURL_FORMADD_OK on success - * CURL_FORMADD_MEMORY if the FormInfo allocation fails - * CURL_FORMADD_OPTION_TWICE if one option is given twice for one Form - * CURL_FORMADD_NULL if a null pointer was given for a char - * CURL_FORMADD_MEMORY if the allocation of a FormInfo struct failed - * CURL_FORMADD_UNKNOWN_OPTION if an unknown option was used - * CURL_FORMADD_INCOMPLETE if the some FormInfo is not complete (or error) - * CURL_FORMADD_MEMORY if a curl_httppost struct cannot be allocated - * CURL_FORMADD_MEMORY if some allocation for string copying failed. - * CURL_FORMADD_ILLEGAL_ARRAY if an illegal option is used in an array - * - ***************************************************************************/ -typedef enum { - CURL_FORMADD_OK, /* first, no error */ - - CURL_FORMADD_MEMORY, - CURL_FORMADD_OPTION_TWICE, - CURL_FORMADD_NULL, - CURL_FORMADD_UNKNOWN_OPTION, - CURL_FORMADD_INCOMPLETE, - CURL_FORMADD_ILLEGAL_ARRAY, - CURL_FORMADD_DISABLED, /* libcurl was built with this disabled */ - - CURL_FORMADD_LAST /* last */ -} CURLFORMcode; - -/* - * NAME curl_formadd() - * - * DESCRIPTION - * - * Pretty advanced function for building multi-part formposts. Each invoke - * adds one part that together construct a full post. Then use - * CURLOPT_HTTPPOST to send it off to libcurl. - */ -CURL_EXTERN CURLFORMcode curl_formadd(struct curl_httppost **httppost, - struct curl_httppost **last_post, - ...); - -/* - * callback function for curl_formget() - * The void *arg pointer will be the one passed as second argument to - * curl_formget(). - * The character buffer passed to it must not be freed. - * Should return the buffer length passed to it as the argument "len" on - * success. - */ -typedef size_t (*curl_formget_callback)(void *arg, const char *buf, - size_t len); - -/* - * NAME curl_formget() - * - * DESCRIPTION - * - * Serialize a curl_httppost struct built with curl_formadd(). - * Accepts a void pointer as second argument which will be passed to - * the curl_formget_callback function. - * Returns 0 on success. - */ -CURL_EXTERN int curl_formget(struct curl_httppost *form, void *arg, - curl_formget_callback append); -/* - * NAME curl_formfree() - * - * DESCRIPTION - * - * Free a multipart formpost previously built with curl_formadd(). - */ -CURL_EXTERN void curl_formfree(struct curl_httppost *form); - -/* - * NAME curl_getenv() - * - * DESCRIPTION - * - * Returns a malloc()'ed string that MUST be curl_free()ed after usage is - * complete. DEPRECATED - see lib/README.curlx - */ -CURL_EXTERN char *curl_getenv(const char *variable); - -/* - * NAME curl_version() - * - * DESCRIPTION - * - * Returns a static ascii string of the libcurl version. - */ -CURL_EXTERN char *curl_version(void); - -/* - * NAME curl_easy_escape() - * - * DESCRIPTION - * - * Escapes URL strings (converts all letters consider illegal in URLs to their - * %XX versions). This function returns a new allocated string or NULL if an - * error occurred. - */ -CURL_EXTERN char *curl_easy_escape(CURL *handle, - const char *string, - int length); - -/* the previous version: */ -CURL_EXTERN char *curl_escape(const char *string, - int length); - - -/* - * NAME curl_easy_unescape() - * - * DESCRIPTION - * - * Unescapes URL encoding in strings (converts all %XX codes to their 8bit - * versions). This function returns a new allocated string or NULL if an error - * occurred. - * Conversion Note: On non-ASCII platforms the ASCII %XX codes are - * converted into the host encoding. - */ -CURL_EXTERN char *curl_easy_unescape(CURL *handle, - const char *string, - int length, - int *outlength); - -/* the previous version */ -CURL_EXTERN char *curl_unescape(const char *string, - int length); - -/* - * NAME curl_free() - * - * DESCRIPTION - * - * Provided for de-allocation in the same translation unit that did the - * allocation. Added in libcurl 7.10 - */ -CURL_EXTERN void curl_free(void *p); - -/* - * NAME curl_global_init() - * - * DESCRIPTION - * - * curl_global_init() should be invoked exactly once for each application that - * uses libcurl and before any call of other libcurl functions. - * - * This function is not thread-safe! - */ -CURL_EXTERN CURLcode curl_global_init(long flags); - -/* - * NAME curl_global_init_mem() - * - * DESCRIPTION - * - * curl_global_init() or curl_global_init_mem() should be invoked exactly once - * for each application that uses libcurl. This function can be used to - * initialize libcurl and set user defined memory management callback - * functions. Users can implement memory management routines to check for - * memory leaks, check for mis-use of the curl library etc. User registered - * callback routines with be invoked by this library instead of the system - * memory management routines like malloc, free etc. - */ -CURL_EXTERN CURLcode curl_global_init_mem(long flags, - curl_malloc_callback m, - curl_free_callback f, - curl_realloc_callback r, - curl_strdup_callback s, - curl_calloc_callback c); - -/* - * NAME curl_global_cleanup() - * - * DESCRIPTION - * - * curl_global_cleanup() should be invoked exactly once for each application - * that uses libcurl - */ -CURL_EXTERN void curl_global_cleanup(void); - -/* linked-list structure for the CURLOPT_QUOTE option (and other) */ -struct curl_slist { - char *data; - struct curl_slist *next; -}; - -/* - * NAME curl_slist_append() - * - * DESCRIPTION - * - * Appends a string to a linked list. If no list exists, it will be created - * first. Returns the new list, after appending. - */ -CURL_EXTERN struct curl_slist *curl_slist_append(struct curl_slist *, - const char *); - -/* - * NAME curl_slist_free_all() - * - * DESCRIPTION - * - * free a previously built curl_slist. - */ -CURL_EXTERN void curl_slist_free_all(struct curl_slist *); - -/* - * NAME curl_getdate() - * - * DESCRIPTION - * - * Returns the time, in seconds since 1 Jan 1970 of the time string given in - * the first argument. The time argument in the second parameter is unused - * and should be set to NULL. - */ -CURL_EXTERN time_t curl_getdate(const char *p, const time_t *unused); - -/* info about the certificate chain, only for OpenSSL builds. Asked - for with CURLOPT_CERTINFO / CURLINFO_CERTINFO */ -struct curl_certinfo { - int num_of_certs; /* number of certificates with information */ - struct curl_slist **certinfo; /* for each index in this array, there's a - linked list with textual information in the - format "name: value" */ -}; - -/* enum for the different supported SSL backends */ -typedef enum { - CURLSSLBACKEND_NONE = 0, - CURLSSLBACKEND_OPENSSL = 1, - CURLSSLBACKEND_GNUTLS = 2, - CURLSSLBACKEND_NSS = 3, - CURLSSLBACKEND_OBSOLETE4 = 4, /* Was QSOSSL. */ - CURLSSLBACKEND_GSKIT = 5, - CURLSSLBACKEND_POLARSSL = 6, - CURLSSLBACKEND_CYASSL = 7, - CURLSSLBACKEND_SCHANNEL = 8, - CURLSSLBACKEND_DARWINSSL = 9, - CURLSSLBACKEND_AXTLS = 10 -} curl_sslbackend; - -/* Information about the SSL library used and the respective internal SSL - handle, which can be used to obtain further information regarding the - connection. Asked for with CURLINFO_TLS_SESSION. */ -struct curl_tlssessioninfo { - curl_sslbackend backend; - void *internals; -}; - -#define CURLINFO_STRING 0x100000 -#define CURLINFO_LONG 0x200000 -#define CURLINFO_DOUBLE 0x300000 -#define CURLINFO_SLIST 0x400000 -#define CURLINFO_MASK 0x0fffff -#define CURLINFO_TYPEMASK 0xf00000 - -typedef enum { - CURLINFO_NONE, /* first, never use this */ - CURLINFO_EFFECTIVE_URL = CURLINFO_STRING + 1, - CURLINFO_RESPONSE_CODE = CURLINFO_LONG + 2, - CURLINFO_TOTAL_TIME = CURLINFO_DOUBLE + 3, - CURLINFO_NAMELOOKUP_TIME = CURLINFO_DOUBLE + 4, - CURLINFO_CONNECT_TIME = CURLINFO_DOUBLE + 5, - CURLINFO_PRETRANSFER_TIME = CURLINFO_DOUBLE + 6, - CURLINFO_SIZE_UPLOAD = CURLINFO_DOUBLE + 7, - CURLINFO_SIZE_DOWNLOAD = CURLINFO_DOUBLE + 8, - CURLINFO_SPEED_DOWNLOAD = CURLINFO_DOUBLE + 9, - CURLINFO_SPEED_UPLOAD = CURLINFO_DOUBLE + 10, - CURLINFO_HEADER_SIZE = CURLINFO_LONG + 11, - CURLINFO_REQUEST_SIZE = CURLINFO_LONG + 12, - CURLINFO_SSL_VERIFYRESULT = CURLINFO_LONG + 13, - CURLINFO_FILETIME = CURLINFO_LONG + 14, - CURLINFO_CONTENT_LENGTH_DOWNLOAD = CURLINFO_DOUBLE + 15, - CURLINFO_CONTENT_LENGTH_UPLOAD = CURLINFO_DOUBLE + 16, - CURLINFO_STARTTRANSFER_TIME = CURLINFO_DOUBLE + 17, - CURLINFO_CONTENT_TYPE = CURLINFO_STRING + 18, - CURLINFO_REDIRECT_TIME = CURLINFO_DOUBLE + 19, - CURLINFO_REDIRECT_COUNT = CURLINFO_LONG + 20, - CURLINFO_PRIVATE = CURLINFO_STRING + 21, - CURLINFO_HTTP_CONNECTCODE = CURLINFO_LONG + 22, - CURLINFO_HTTPAUTH_AVAIL = CURLINFO_LONG + 23, - CURLINFO_PROXYAUTH_AVAIL = CURLINFO_LONG + 24, - CURLINFO_OS_ERRNO = CURLINFO_LONG + 25, - CURLINFO_NUM_CONNECTS = CURLINFO_LONG + 26, - CURLINFO_SSL_ENGINES = CURLINFO_SLIST + 27, - CURLINFO_COOKIELIST = CURLINFO_SLIST + 28, - CURLINFO_LASTSOCKET = CURLINFO_LONG + 29, - CURLINFO_FTP_ENTRY_PATH = CURLINFO_STRING + 30, - CURLINFO_REDIRECT_URL = CURLINFO_STRING + 31, - CURLINFO_PRIMARY_IP = CURLINFO_STRING + 32, - CURLINFO_APPCONNECT_TIME = CURLINFO_DOUBLE + 33, - CURLINFO_CERTINFO = CURLINFO_SLIST + 34, - CURLINFO_CONDITION_UNMET = CURLINFO_LONG + 35, - CURLINFO_RTSP_SESSION_ID = CURLINFO_STRING + 36, - CURLINFO_RTSP_CLIENT_CSEQ = CURLINFO_LONG + 37, - CURLINFO_RTSP_SERVER_CSEQ = CURLINFO_LONG + 38, - CURLINFO_RTSP_CSEQ_RECV = CURLINFO_LONG + 39, - CURLINFO_PRIMARY_PORT = CURLINFO_LONG + 40, - CURLINFO_LOCAL_IP = CURLINFO_STRING + 41, - CURLINFO_LOCAL_PORT = CURLINFO_LONG + 42, - CURLINFO_TLS_SESSION = CURLINFO_SLIST + 43, - /* Fill in new entries below here! */ - - CURLINFO_LASTONE = 43 -} CURLINFO; - -/* CURLINFO_RESPONSE_CODE is the new name for the option previously known as - CURLINFO_HTTP_CODE */ -#define CURLINFO_HTTP_CODE CURLINFO_RESPONSE_CODE - -typedef enum { - CURLCLOSEPOLICY_NONE, /* first, never use this */ - - CURLCLOSEPOLICY_OLDEST, - CURLCLOSEPOLICY_LEAST_RECENTLY_USED, - CURLCLOSEPOLICY_LEAST_TRAFFIC, - CURLCLOSEPOLICY_SLOWEST, - CURLCLOSEPOLICY_CALLBACK, - - CURLCLOSEPOLICY_LAST /* last, never use this */ -} curl_closepolicy; - -#define CURL_GLOBAL_SSL (1<<0) -#define CURL_GLOBAL_WIN32 (1<<1) -#define CURL_GLOBAL_ALL (CURL_GLOBAL_SSL|CURL_GLOBAL_WIN32) -#define CURL_GLOBAL_NOTHING 0 -#define CURL_GLOBAL_DEFAULT CURL_GLOBAL_ALL -#define CURL_GLOBAL_ACK_EINTR (1<<2) - - -/***************************************************************************** - * Setup defines, protos etc for the sharing stuff. - */ - -/* Different data locks for a single share */ -typedef enum { - CURL_LOCK_DATA_NONE = 0, - /* CURL_LOCK_DATA_SHARE is used internally to say that - * the locking is just made to change the internal state of the share - * itself. - */ - CURL_LOCK_DATA_SHARE, - CURL_LOCK_DATA_COOKIE, - CURL_LOCK_DATA_DNS, - CURL_LOCK_DATA_SSL_SESSION, - CURL_LOCK_DATA_CONNECT, - CURL_LOCK_DATA_LAST -} curl_lock_data; - -/* Different lock access types */ -typedef enum { - CURL_LOCK_ACCESS_NONE = 0, /* unspecified action */ - CURL_LOCK_ACCESS_SHARED = 1, /* for read perhaps */ - CURL_LOCK_ACCESS_SINGLE = 2, /* for write perhaps */ - CURL_LOCK_ACCESS_LAST /* never use */ -} curl_lock_access; - -typedef void (*curl_lock_function)(CURL *handle, - curl_lock_data data, - curl_lock_access locktype, - void *userptr); -typedef void (*curl_unlock_function)(CURL *handle, - curl_lock_data data, - void *userptr); - -typedef void CURLSH; - -typedef enum { - CURLSHE_OK, /* all is fine */ - CURLSHE_BAD_OPTION, /* 1 */ - CURLSHE_IN_USE, /* 2 */ - CURLSHE_INVALID, /* 3 */ - CURLSHE_NOMEM, /* 4 out of memory */ - CURLSHE_NOT_BUILT_IN, /* 5 feature not present in lib */ - CURLSHE_LAST /* never use */ -} CURLSHcode; - -typedef enum { - CURLSHOPT_NONE, /* don't use */ - CURLSHOPT_SHARE, /* specify a data type to share */ - CURLSHOPT_UNSHARE, /* specify which data type to stop sharing */ - CURLSHOPT_LOCKFUNC, /* pass in a 'curl_lock_function' pointer */ - CURLSHOPT_UNLOCKFUNC, /* pass in a 'curl_unlock_function' pointer */ - CURLSHOPT_USERDATA, /* pass in a user data pointer used in the lock/unlock - callback functions */ - CURLSHOPT_LAST /* never use */ -} CURLSHoption; - -CURL_EXTERN CURLSH *curl_share_init(void); -CURL_EXTERN CURLSHcode curl_share_setopt(CURLSH *, CURLSHoption option, ...); -CURL_EXTERN CURLSHcode curl_share_cleanup(CURLSH *); - -/**************************************************************************** - * Structures for querying information about the curl library at runtime. - */ - -typedef enum { - CURLVERSION_FIRST, - CURLVERSION_SECOND, - CURLVERSION_THIRD, - CURLVERSION_FOURTH, - CURLVERSION_LAST /* never actually use this */ -} CURLversion; - -/* The 'CURLVERSION_NOW' is the symbolic name meant to be used by - basically all programs ever that want to get version information. It is - meant to be a built-in version number for what kind of struct the caller - expects. If the struct ever changes, we redefine the NOW to another enum - from above. */ -#define CURLVERSION_NOW CURLVERSION_FOURTH - -typedef struct { - CURLversion age; /* age of the returned struct */ - const char *version; /* LIBCURL_VERSION */ - unsigned int version_num; /* LIBCURL_VERSION_NUM */ - const char *host; /* OS/host/cpu/machine when configured */ - int features; /* bitmask, see defines below */ - const char *ssl_version; /* human readable string */ - long ssl_version_num; /* not used anymore, always 0 */ - const char *libz_version; /* human readable string */ - /* protocols is terminated by an entry with a NULL protoname */ - const char * const *protocols; - - /* The fields below this were added in CURLVERSION_SECOND */ - const char *ares; - int ares_num; - - /* This field was added in CURLVERSION_THIRD */ - const char *libidn; - - /* These field were added in CURLVERSION_FOURTH */ - - /* Same as '_libiconv_version' if built with HAVE_ICONV */ - int iconv_ver_num; - - const char *libssh_version; /* human readable string */ - -} curl_version_info_data; - -#define CURL_VERSION_IPV6 (1<<0) /* IPv6-enabled */ -#define CURL_VERSION_KERBEROS4 (1<<1) /* Kerberos V4 auth is supported - (deprecated) */ -#define CURL_VERSION_SSL (1<<2) /* SSL options are present */ -#define CURL_VERSION_LIBZ (1<<3) /* libz features are present */ -#define CURL_VERSION_NTLM (1<<4) /* NTLM auth is supported */ -#define CURL_VERSION_GSSNEGOTIATE (1<<5) /* Negotiate auth is supported - (deprecated) */ -#define CURL_VERSION_DEBUG (1<<6) /* Built with debug capabilities */ -#define CURL_VERSION_ASYNCHDNS (1<<7) /* Asynchronous DNS resolves */ -#define CURL_VERSION_SPNEGO (1<<8) /* SPNEGO auth is supported */ -#define CURL_VERSION_LARGEFILE (1<<9) /* Supports files larger than 2GB */ -#define CURL_VERSION_IDN (1<<10) /* Internationized Domain Names are - supported */ -#define CURL_VERSION_SSPI (1<<11) /* Built against Windows SSPI */ -#define CURL_VERSION_CONV (1<<12) /* Character conversions supported */ -#define CURL_VERSION_CURLDEBUG (1<<13) /* Debug memory tracking supported */ -#define CURL_VERSION_TLSAUTH_SRP (1<<14) /* TLS-SRP auth is supported */ -#define CURL_VERSION_NTLM_WB (1<<15) /* NTLM delegation to winbind helper - is suported */ -#define CURL_VERSION_HTTP2 (1<<16) /* HTTP2 support built-in */ -#define CURL_VERSION_GSSAPI (1<<17) /* Built against a GSS-API library */ -#define CURL_VERSION_KERBEROS5 (1<<18) /* Kerberos V5 auth is supported */ -#define CURL_VERSION_UNIX_SOCKETS (1<<19) /* Unix domain sockets support */ - - /* - * NAME curl_version_info() - * - * DESCRIPTION - * - * This function returns a pointer to a static copy of the version info - * struct. See above. - */ -CURL_EXTERN curl_version_info_data *curl_version_info(CURLversion); - -/* - * NAME curl_easy_strerror() - * - * DESCRIPTION - * - * The curl_easy_strerror function may be used to turn a CURLcode value - * into the equivalent human readable error string. This is useful - * for printing meaningful error messages. - */ -CURL_EXTERN const char *curl_easy_strerror(CURLcode); - -/* - * NAME curl_share_strerror() - * - * DESCRIPTION - * - * The curl_share_strerror function may be used to turn a CURLSHcode value - * into the equivalent human readable error string. This is useful - * for printing meaningful error messages. - */ -CURL_EXTERN const char *curl_share_strerror(CURLSHcode); - -/* - * NAME curl_easy_pause() - * - * DESCRIPTION - * - * The curl_easy_pause function pauses or unpauses transfers. Select the new - * state by setting the bitmask, use the convenience defines below. - * - */ -CURL_EXTERN CURLcode curl_easy_pause(CURL *handle, int bitmask); - -#define CURLPAUSE_RECV (1<<0) -#define CURLPAUSE_RECV_CONT (0) - -#define CURLPAUSE_SEND (1<<2) -#define CURLPAUSE_SEND_CONT (0) - -#define CURLPAUSE_ALL (CURLPAUSE_RECV|CURLPAUSE_SEND) -#define CURLPAUSE_CONT (CURLPAUSE_RECV_CONT|CURLPAUSE_SEND_CONT) - -#ifdef __cplusplus -} -#endif - -/* unfortunately, the easy.h and multi.h include files need options and info - stuff before they can be included! */ -#include "easy.h" /* nothing in curl is fun without the easy stuff */ -#include "multi.h" - -/* the typechecker doesn't work in C++ (yet) */ -#if defined(__GNUC__) && defined(__GNUC_MINOR__) && \ - ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) && \ - !defined(__cplusplus) && !defined(CURL_DISABLE_TYPECHECK) -#include "typecheck-gcc.h" -#else -#if defined(__STDC__) && (__STDC__ >= 1) -/* This preprocessor magic that replaces a call with the exact same call is - only done to make sure application authors pass exactly three arguments - to these functions. */ -#define curl_easy_setopt(handle,opt,param) curl_easy_setopt(handle,opt,param) -#define curl_easy_getinfo(handle,info,arg) curl_easy_getinfo(handle,info,arg) -#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param) -#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param) -#endif /* __STDC__ >= 1 */ -#endif /* gcc >= 4.3 && !__cplusplus */ - -#endif /* __CURL_CURL_H */ diff --git a/third_party/curl/include/curl/curlbuild.h b/third_party/curl/include/curl/curlbuild.h deleted file mode 100644 index 2bf01cf37c..0000000000 --- a/third_party/curl/include/curl/curlbuild.h +++ /dev/null @@ -1,195 +0,0 @@ -/* include/curl/curlbuild.h. Generated from curlbuild.h.in by configure. */ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2012, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.in or - * at file include/curl/curlbuild.h, this is due to the following reason: - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY */ -/* ================================================================ */ - -/* Configure process defines this to 1 when it finds out that system */ -/* header file ws2tcpip.h must be included by the external interface. */ -/* #undef CURL_PULL_WS2TCPIP_H */ -#ifdef CURL_PULL_WS2TCPIP_H -# ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -# endif -# include -# include -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/types.h must be included by the external interface. */ -#define CURL_PULL_SYS_TYPES_H 1 -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file stdint.h must be included by the external interface. */ -#define CURL_PULL_STDINT_H 1 -#ifdef CURL_PULL_STDINT_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file inttypes.h must be included by the external interface. */ -#define CURL_PULL_INTTYPES_H 1 -#ifdef CURL_PULL_INTTYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/socket.h must be included by the external interface. */ -#define CURL_PULL_SYS_SOCKET_H 1 -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/poll.h must be included by the external interface. */ -/* #undef CURL_PULL_SYS_POLL_H */ -#ifdef CURL_PULL_SYS_POLL_H -# include -#endif - -/* Integral data type used for curl_socklen_t. */ -#define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t - -/* The size of `curl_socklen_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -/* Data type definition of curl_socklen_t. */ -typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; - -/* Signed integral data type used for curl_off_t. */ -#define CURL_TYPEOF_CURL_OFF_T int64_t - -/* Data type definition of curl_off_t. */ -typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; - -/* curl_off_t formatting string directive without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_T "lld" - -/* unsigned curl_off_t formatting string without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_TU "llu" - -/* curl_off_t formatting string directive with "%" conversion specifier. */ -#define CURL_FORMAT_OFF_T "%lld" - -/* The size of `curl_off_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_OFF_T 8 - -/* curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_T LL - -/* unsigned curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_TU ULL - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlbuild.h.cmake b/third_party/curl/include/curl/curlbuild.h.cmake deleted file mode 100644 index 60bc7a70ec..0000000000 --- a/third_party/curl/include/curl/curlbuild.h.cmake +++ /dev/null @@ -1,197 +0,0 @@ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2008, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.in or - * at file include/curl/curlbuild.h, this is due to the following reason: - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY */ -/* ================================================================ */ - -/* Configure process defines this to 1 when it finds out that system */ -/* header file ws2tcpip.h must be included by the external interface. */ -#cmakedefine CURL_PULL_WS2TCPIP_H -#ifdef CURL_PULL_WS2TCPIP_H -# ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -# endif -# include -# include -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/types.h must be included by the external interface. */ -#cmakedefine CURL_PULL_SYS_TYPES_H -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file stdint.h must be included by the external interface. */ -#cmakedefine CURL_PULL_STDINT_H -#ifdef CURL_PULL_STDINT_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file inttypes.h must be included by the external interface. */ -#cmakedefine CURL_PULL_INTTYPES_H -#ifdef CURL_PULL_INTTYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/socket.h must be included by the external interface. */ -#cmakedefine CURL_PULL_SYS_SOCKET_H -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/poll.h must be included by the external interface. */ -#cmakedefine CURL_PULL_SYS_POLL_H -#ifdef CURL_PULL_SYS_POLL_H -# include -#endif - -/* The size of `long', as computed by sizeof. */ -#define CURL_SIZEOF_LONG ${CURL_SIZEOF_LONG} - -/* Integral data type used for curl_socklen_t. */ -#define CURL_TYPEOF_CURL_SOCKLEN_T ${CURL_TYPEOF_CURL_SOCKLEN_T} - -/* The size of `curl_socklen_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_SOCKLEN_T ${CURL_SIZEOF_CURL_SOCKLEN_T} - -/* Data type definition of curl_socklen_t. */ -typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; - -/* Signed integral data type used for curl_off_t. */ -#define CURL_TYPEOF_CURL_OFF_T ${CURL_TYPEOF_CURL_OFF_T} - -/* Data type definition of curl_off_t. */ -typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; - -/* curl_off_t formatting string directive without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_T "${CURL_FORMAT_CURL_OFF_T}" - -/* unsigned curl_off_t formatting string without "%" conversion specifier. */ -#define CURL_FORMAT_CURL_OFF_TU "${CURL_FORMAT_CURL_OFF_TU}" - -/* curl_off_t formatting string directive with "%" conversion specifier. */ -#define CURL_FORMAT_OFF_T "${CURL_FORMAT_OFF_T}" - -/* The size of `curl_off_t', as computed by sizeof. */ -#define CURL_SIZEOF_CURL_OFF_T ${CURL_SIZEOF_CURL_OFF_T} - -/* curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_T ${CURL_SUFFIX_CURL_OFF_T} - -/* unsigned curl_off_t constant suffix. */ -#define CURL_SUFFIX_CURL_OFF_TU ${CURL_SUFFIX_CURL_OFF_TU} - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlbuild.h.dist b/third_party/curl/include/curl/curlbuild.h.dist deleted file mode 100644 index f09419a843..0000000000 --- a/third_party/curl/include/curl/curlbuild.h.dist +++ /dev/null @@ -1,585 +0,0 @@ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2013, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * See file include/curl/curlbuild.h.in, run configure, and forget - * that this file exists it is only used for non-configure systems. - * But you can keep reading if you want ;-) - * - */ - -/* ================================================================ */ -/* NOTES FOR NON-CONFIGURE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * Try to keep one section per platform, compiler and architecture, - * otherwise, if an existing section is reused for a different one and - * later on the original is adjusted, probably the piggybacking one can - * be adversely changed. - * - * In order to differentiate between platforms/compilers/architectures - * use only compiler built in predefined preprocessor symbols. - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * For any given platform/compiler curl_off_t must be typedef'ed to a - * 64-bit wide signed integral data type. The width of this data type - * must remain constant and independent of any possible large file - * support settings. - * - * As an exception to the above, curl_off_t shall be typedef'ed to a - * 32-bit wide signed integral data type if there is no 64-bit type. - * - * As a general rule, curl_off_t shall not be mapped to off_t. This - * rule shall only be violated if off_t is the only 64-bit data type - * available and the size of off_t is independent of large file support - * settings. Keep your build on the safe side avoiding an off_t gating. - * If you have a 64-bit off_t then take for sure that another 64-bit - * data type exists, dig deeper and you will find it. - * - * NOTE 3: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.dist or - * at file include/curl/curlbuild.h, this is due to the following reason: - * file include/curl/curlbuild.h.dist is renamed to include/curl/curlbuild.h - * when the libcurl source code distribution archive file is created. - * - * File include/curl/curlbuild.h.dist is not included in the distribution - * archive. File include/curl/curlbuild.h is not present in the git tree. - * - * The distributed include/curl/curlbuild.h file is only intended to be used - * on systems which can not run the also distributed configure script. - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - * If you check out from git on a non-configure platform, you must run the - * appropriate buildconf* script to set up curlbuild.h and other local files. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -# error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -# error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -# error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -# error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -# error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -# error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -# error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -# error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -# error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -# error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR NON-CONFIGURE SYSTEMS ONLY */ -/* ================================================================ */ - -#if defined(__DJGPP__) || defined(__GO32__) -# if defined(__DJGPP__) && (__DJGPP__ > 1) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__SALFORDC__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__BORLANDC__) -# if (__BORLANDC__ < 0x520) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__TURBOC__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__WATCOMC__) -# if defined(__386__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__POCC__) -# if (__POCC__ < 280) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# elif defined(_MSC_VER) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__LCC__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__SYMBIAN32__) -# if defined(__EABI__) /* Treat all ARM compilers equally */ -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(__CW32__) -# pragma longlong on -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(__VC32__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__MWERKS__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(_WIN32_WCE) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__MINGW32__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__VMS) -# if defined(__VAX) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -#elif defined(__OS400__) -# if defined(__ILEC400__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 -# endif - -#elif defined(__MVS__) -# if defined(__IBMC__) || defined(__IBMCPP__) -# if defined(_ILP32) -# define CURL_SIZEOF_LONG 4 -# elif defined(_LP64) -# define CURL_SIZEOF_LONG 8 -# endif -# if defined(_LONG_LONG) -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(_LP64) -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 -# endif - -#elif defined(__370__) -# if defined(__IBMC__) || defined(__IBMCPP__) -# if defined(_ILP32) -# define CURL_SIZEOF_LONG 4 -# elif defined(_LP64) -# define CURL_SIZEOF_LONG 8 -# endif -# if defined(_LONG_LONG) -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(_LP64) -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# else -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 -# endif - -#elif defined(TPF) -# define CURL_SIZEOF_LONG 8 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -/* ===================================== */ -/* KEEP MSVC THE PENULTIMATE ENTRY */ -/* ===================================== */ - -#elif defined(_MSC_VER) -# if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T __int64 -# define CURL_FORMAT_CURL_OFF_T "I64d" -# define CURL_FORMAT_CURL_OFF_TU "I64u" -# define CURL_FORMAT_OFF_T "%I64d" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T i64 -# define CURL_SUFFIX_CURL_OFF_TU ui64 -# else -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 4 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T int -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 - -/* ===================================== */ -/* KEEP GENERIC GCC THE LAST ENTRY */ -/* ===================================== */ - -#elif defined(__GNUC__) -# if defined(__ILP32__) || \ - defined(__i386__) || defined(__ppc__) || defined(__arm__) || defined(__sparc__) -# define CURL_SIZEOF_LONG 4 -# define CURL_TYPEOF_CURL_OFF_T long long -# define CURL_FORMAT_CURL_OFF_T "lld" -# define CURL_FORMAT_CURL_OFF_TU "llu" -# define CURL_FORMAT_OFF_T "%lld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T LL -# define CURL_SUFFIX_CURL_OFF_TU ULL -# elif defined(__LP64__) || \ - defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__) -# define CURL_SIZEOF_LONG 8 -# define CURL_TYPEOF_CURL_OFF_T long -# define CURL_FORMAT_CURL_OFF_T "ld" -# define CURL_FORMAT_CURL_OFF_TU "lu" -# define CURL_FORMAT_OFF_T "%ld" -# define CURL_SIZEOF_CURL_OFF_T 8 -# define CURL_SUFFIX_CURL_OFF_T L -# define CURL_SUFFIX_CURL_OFF_TU UL -# endif -# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t -# define CURL_SIZEOF_CURL_SOCKLEN_T 4 -# define CURL_PULL_SYS_TYPES_H 1 -# define CURL_PULL_SYS_SOCKET_H 1 - -#else -# error "Unknown non-configure build target!" - Error Compilation_aborted_Unknown_non_configure_build_target -#endif - -/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file */ -/* sys/types.h is required here to properly make type definitions below. */ -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file */ -/* sys/socket.h is required here to properly make type definitions below. */ -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Data type definition of curl_socklen_t. */ - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T - typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; -#endif - -/* Data type definition of curl_off_t. */ - -#ifdef CURL_TYPEOF_CURL_OFF_T - typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; -#endif - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlbuild.h.in b/third_party/curl/include/curl/curlbuild.h.in deleted file mode 100644 index 7cb2b6ef7e..0000000000 --- a/third_party/curl/include/curl/curlbuild.h.in +++ /dev/null @@ -1,194 +0,0 @@ -#ifndef __CURL_CURLBUILD_H -#define __CURL_CURLBUILD_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2012, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * If you think that something actually needs to be changed, adjusted - * or fixed in this file, then, report it on the libcurl development - * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * This header file shall only export symbols which are 'curl' or 'CURL' - * prefixed, otherwise public name space would be polluted. - * - * NOTE 2: - * ------- - * - * Right now you might be staring at file include/curl/curlbuild.h.in or - * at file include/curl/curlbuild.h, this is due to the following reason: - * - * On systems capable of running the configure script, the configure process - * will overwrite the distributed include/curl/curlbuild.h file with one that - * is suitable and specific to the library being configured and built, which - * is generated from the include/curl/curlbuild.h.in template file. - * - */ - -/* ================================================================ */ -/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */ -/* ================================================================ */ - -#ifdef CURL_SIZEOF_LONG -#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_SOCKLEN_T -#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_SOCKLEN_T -#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined -#endif - -#ifdef CURL_TYPEOF_CURL_OFF_T -#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_T -#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_FORMAT_CURL_OFF_TU -#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined -#endif - -#ifdef CURL_FORMAT_OFF_T -#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined -#endif - -#ifdef CURL_SIZEOF_CURL_OFF_T -#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_T -#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined -#endif - -#ifdef CURL_SUFFIX_CURL_OFF_TU -#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined -#endif - -/* ================================================================ */ -/* EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY */ -/* ================================================================ */ - -/* Configure process defines this to 1 when it finds out that system */ -/* header file ws2tcpip.h must be included by the external interface. */ -#undef CURL_PULL_WS2TCPIP_H -#ifdef CURL_PULL_WS2TCPIP_H -# ifndef WIN32_LEAN_AND_MEAN -# define WIN32_LEAN_AND_MEAN -# endif -# include -# include -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/types.h must be included by the external interface. */ -#undef CURL_PULL_SYS_TYPES_H -#ifdef CURL_PULL_SYS_TYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file stdint.h must be included by the external interface. */ -#undef CURL_PULL_STDINT_H -#ifdef CURL_PULL_STDINT_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file inttypes.h must be included by the external interface. */ -#undef CURL_PULL_INTTYPES_H -#ifdef CURL_PULL_INTTYPES_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/socket.h must be included by the external interface. */ -#undef CURL_PULL_SYS_SOCKET_H -#ifdef CURL_PULL_SYS_SOCKET_H -# include -#endif - -/* Configure process defines this to 1 when it finds out that system */ -/* header file sys/poll.h must be included by the external interface. */ -#undef CURL_PULL_SYS_POLL_H -#ifdef CURL_PULL_SYS_POLL_H -# include -#endif - -/* Integral data type used for curl_socklen_t. */ -#undef CURL_TYPEOF_CURL_SOCKLEN_T - -/* The size of `curl_socklen_t', as computed by sizeof. */ -#undef CURL_SIZEOF_CURL_SOCKLEN_T - -/* Data type definition of curl_socklen_t. */ -typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t; - -/* Signed integral data type used for curl_off_t. */ -#undef CURL_TYPEOF_CURL_OFF_T - -/* Data type definition of curl_off_t. */ -typedef CURL_TYPEOF_CURL_OFF_T curl_off_t; - -/* curl_off_t formatting string directive without "%" conversion specifier. */ -#undef CURL_FORMAT_CURL_OFF_T - -/* unsigned curl_off_t formatting string without "%" conversion specifier. */ -#undef CURL_FORMAT_CURL_OFF_TU - -/* curl_off_t formatting string directive with "%" conversion specifier. */ -#undef CURL_FORMAT_OFF_T - -/* The size of `curl_off_t', as computed by sizeof. */ -#undef CURL_SIZEOF_CURL_OFF_T - -/* curl_off_t constant suffix. */ -#undef CURL_SUFFIX_CURL_OFF_T - -/* unsigned curl_off_t constant suffix. */ -#undef CURL_SUFFIX_CURL_OFF_TU - -#endif /* __CURL_CURLBUILD_H */ diff --git a/third_party/curl/include/curl/curlrules.h b/third_party/curl/include/curl/curlrules.h deleted file mode 100644 index 1163e95f48..0000000000 --- a/third_party/curl/include/curl/curlrules.h +++ /dev/null @@ -1,248 +0,0 @@ -#ifndef __CURL_CURLRULES_H -#define __CURL_CURLRULES_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2012, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* ================================================================ */ -/* COMPILE TIME SANITY CHECKS */ -/* ================================================================ */ - -/* - * NOTE 1: - * ------- - * - * All checks done in this file are intentionally placed in a public - * header file which is pulled by curl/curl.h when an application is - * being built using an already built libcurl library. Additionally - * this file is also included and used when building the library. - * - * If compilation fails on this file it is certainly sure that the - * problem is elsewhere. It could be a problem in the curlbuild.h - * header file, or simply that you are using different compilation - * settings than those used to build the library. - * - * Nothing in this file is intended to be modified or adjusted by the - * curl library user nor by the curl library builder. - * - * Do not deactivate any check, these are done to make sure that the - * library is properly built and used. - * - * You can find further help on the libcurl development mailing list: - * http://cool.haxx.se/mailman/listinfo/curl-library/ - * - * NOTE 2 - * ------ - * - * Some of the following compile time checks are based on the fact - * that the dimension of a constant array can not be a negative one. - * In this way if the compile time verification fails, the compilation - * will fail issuing an error. The error description wording is compiler - * dependent but it will be quite similar to one of the following: - * - * "negative subscript or subscript is too large" - * "array must have at least one element" - * "-1 is an illegal array size" - * "size of array is negative" - * - * If you are building an application which tries to use an already - * built libcurl library and you are getting this kind of errors on - * this file, it is a clear indication that there is a mismatch between - * how the library was built and how you are trying to use it for your - * application. Your already compiled or binary library provider is the - * only one who can give you the details you need to properly use it. - */ - -/* - * Verify that some macros are actually defined. - */ - -#ifndef CURL_TYPEOF_CURL_SOCKLEN_T -# error "CURL_TYPEOF_CURL_SOCKLEN_T definition is missing!" - Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_is_missing -#endif - -#ifndef CURL_SIZEOF_CURL_SOCKLEN_T -# error "CURL_SIZEOF_CURL_SOCKLEN_T definition is missing!" - Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_is_missing -#endif - -#ifndef CURL_TYPEOF_CURL_OFF_T -# error "CURL_TYPEOF_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_FORMAT_CURL_OFF_T -# error "CURL_FORMAT_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_FORMAT_CURL_OFF_TU -# error "CURL_FORMAT_CURL_OFF_TU definition is missing!" - Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_is_missing -#endif - -#ifndef CURL_FORMAT_OFF_T -# error "CURL_FORMAT_OFF_T definition is missing!" - Error Compilation_aborted_CURL_FORMAT_OFF_T_is_missing -#endif - -#ifndef CURL_SIZEOF_CURL_OFF_T -# error "CURL_SIZEOF_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_SUFFIX_CURL_OFF_T -# error "CURL_SUFFIX_CURL_OFF_T definition is missing!" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_is_missing -#endif - -#ifndef CURL_SUFFIX_CURL_OFF_TU -# error "CURL_SUFFIX_CURL_OFF_TU definition is missing!" - Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_is_missing -#endif - -/* - * Macros private to this header file. - */ - -#define CurlchkszEQ(t, s) sizeof(t) == s ? 1 : -1 - -#define CurlchkszGE(t1, t2) sizeof(t1) >= sizeof(t2) ? 1 : -1 - -/* - * Verify that the size previously defined and expected for - * curl_off_t is actually the the same as the one reported - * by sizeof() at compile time. - */ - -typedef char - __curl_rule_02__ - [CurlchkszEQ(curl_off_t, CURL_SIZEOF_CURL_OFF_T)]; - -/* - * Verify at compile time that the size of curl_off_t as reported - * by sizeof() is greater or equal than the one reported for long - * for the current compilation. - */ - -typedef char - __curl_rule_03__ - [CurlchkszGE(curl_off_t, long)]; - -/* - * Verify that the size previously defined and expected for - * curl_socklen_t is actually the the same as the one reported - * by sizeof() at compile time. - */ - -typedef char - __curl_rule_04__ - [CurlchkszEQ(curl_socklen_t, CURL_SIZEOF_CURL_SOCKLEN_T)]; - -/* - * Verify at compile time that the size of curl_socklen_t as reported - * by sizeof() is greater or equal than the one reported for int for - * the current compilation. - */ - -typedef char - __curl_rule_05__ - [CurlchkszGE(curl_socklen_t, int)]; - -/* ================================================================ */ -/* EXTERNALLY AND INTERNALLY VISIBLE DEFINITIONS */ -/* ================================================================ */ - -/* - * CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow - * these to be visible and exported by the external libcurl interface API, - * while also making them visible to the library internals, simply including - * curl_setup.h, without actually needing to include curl.h internally. - * If some day this section would grow big enough, all this should be moved - * to its own header file. - */ - -/* - * Figure out if we can use the ## preprocessor operator, which is supported - * by ISO/ANSI C and C++. Some compilers support it without setting __STDC__ - * or __cplusplus so we need to carefully check for them too. - */ - -#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \ - defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \ - defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \ - defined(__ILEC400__) - /* This compiler is believed to have an ISO compatible preprocessor */ -#define CURL_ISOCPP -#else - /* This compiler is believed NOT to have an ISO compatible preprocessor */ -#undef CURL_ISOCPP -#endif - -/* - * Macros for minimum-width signed and unsigned curl_off_t integer constants. - */ - -#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551) -# define __CURL_OFF_T_C_HLPR2(x) x -# define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x) -# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \ - __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T) -# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \ - __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU) -#else -# ifdef CURL_ISOCPP -# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix -# else -# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix -# endif -# define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix) -# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T) -# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU) -#endif - -/* - * Get rid of macros private to this header file. - */ - -#undef CurlchkszEQ -#undef CurlchkszGE - -/* - * Get rid of macros not intended to exist beyond this point. - */ - -#undef CURL_PULL_WS2TCPIP_H -#undef CURL_PULL_SYS_TYPES_H -#undef CURL_PULL_SYS_SOCKET_H -#undef CURL_PULL_SYS_POLL_H -#undef CURL_PULL_STDINT_H -#undef CURL_PULL_INTTYPES_H - -#undef CURL_TYPEOF_CURL_SOCKLEN_T -#undef CURL_TYPEOF_CURL_OFF_T - -#ifdef CURL_NO_OLDIES -#undef CURL_FORMAT_OFF_T /* not required since 7.19.0 - obsoleted in 7.20.0 */ -#endif - -#endif /* __CURL_CURLRULES_H */ diff --git a/third_party/curl/include/curl/curlver.h b/third_party/curl/include/curl/curlver.h deleted file mode 100644 index be442eff8f..0000000000 --- a/third_party/curl/include/curl/curlver.h +++ /dev/null @@ -1,77 +0,0 @@ -#ifndef __CURL_CURLVER_H -#define __CURL_CURLVER_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* This header file contains nothing but libcurl version info, generated by - a script at release-time. This was made its own header file in 7.11.2 */ - -/* This is the global package copyright */ -#define LIBCURL_COPYRIGHT "1996 - 2015 Daniel Stenberg, ." - -/* This is the version number of the libcurl package from which this header - file origins: */ -#define LIBCURL_VERSION "7.43.0-DEV" - -/* The numeric version number is also available "in parts" by using these - defines: */ -#define LIBCURL_VERSION_MAJOR 7 -#define LIBCURL_VERSION_MINOR 43 -#define LIBCURL_VERSION_PATCH 0 - -/* This is the numeric version of the libcurl version number, meant for easier - parsing and comparions by programs. The LIBCURL_VERSION_NUM define will - always follow this syntax: - - 0xXXYYZZ - - Where XX, YY and ZZ are the main version, release and patch numbers in - hexadecimal (using 8 bits each). All three numbers are always represented - using two digits. 1.2 would appear as "0x010200" while version 9.11.7 - appears as "0x090b07". - - This 6-digit (24 bits) hexadecimal number does not show pre-release number, - and it is always a greater number in a more recent release. It makes - comparisons with greater than and less than work. - - Note: This define is the full hex number and _does not_ use the - CURL_VERSION_BITS() macro since curl's own configure script greps for it - and needs it to contain the full number. -*/ -#define LIBCURL_VERSION_NUM 0x072B00 - -/* - * This is the date and time when the full source package was created. The - * timestamp is not stored in git, as the timestamp is properly set in the - * tarballs by the maketgz script. - * - * The format of the date should follow this template: - * - * "Mon Feb 12 11:35:33 UTC 2007" - */ -#define LIBCURL_TIMESTAMP "DEV" - -#define CURL_VERSION_BITS(x,y,z) ((x)<<16|(y)<<8|z) -#define CURL_AT_LEAST_VERSION(x,y,z) \ - (LIBCURL_VERSION_NUM >= CURL_VERSION_BITS(x, y, z)) - -#endif /* __CURL_CURLVER_H */ diff --git a/third_party/curl/include/curl/easy.h b/third_party/curl/include/curl/easy.h deleted file mode 100644 index c1e3e76096..0000000000 --- a/third_party/curl/include/curl/easy.h +++ /dev/null @@ -1,102 +0,0 @@ -#ifndef __CURL_EASY_H -#define __CURL_EASY_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2008, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ -#ifdef __cplusplus -extern "C" { -#endif - -CURL_EXTERN CURL *curl_easy_init(void); -CURL_EXTERN CURLcode curl_easy_setopt(CURL *curl, CURLoption option, ...); -CURL_EXTERN CURLcode curl_easy_perform(CURL *curl); -CURL_EXTERN void curl_easy_cleanup(CURL *curl); - -/* - * NAME curl_easy_getinfo() - * - * DESCRIPTION - * - * Request internal information from the curl session with this function. The - * third argument MUST be a pointer to a long, a pointer to a char * or a - * pointer to a double (as the documentation describes elsewhere). The data - * pointed to will be filled in accordingly and can be relied upon only if the - * function returns CURLE_OK. This function is intended to get used *AFTER* a - * performed transfer, all results from this function are undefined until the - * transfer is completed. - */ -CURL_EXTERN CURLcode curl_easy_getinfo(CURL *curl, CURLINFO info, ...); - - -/* - * NAME curl_easy_duphandle() - * - * DESCRIPTION - * - * Creates a new curl session handle with the same options set for the handle - * passed in. Duplicating a handle could only be a matter of cloning data and - * options, internal state info and things like persistent connections cannot - * be transferred. It is useful in multithreaded applications when you can run - * curl_easy_duphandle() for each new thread to avoid a series of identical - * curl_easy_setopt() invokes in every thread. - */ -CURL_EXTERN CURL* curl_easy_duphandle(CURL *curl); - -/* - * NAME curl_easy_reset() - * - * DESCRIPTION - * - * Re-initializes a CURL handle to the default values. This puts back the - * handle to the same state as it was in when it was just created. - * - * It does keep: live connections, the Session ID cache, the DNS cache and the - * cookies. - */ -CURL_EXTERN void curl_easy_reset(CURL *curl); - -/* - * NAME curl_easy_recv() - * - * DESCRIPTION - * - * Receives data from the connected socket. Use after successful - * curl_easy_perform() with CURLOPT_CONNECT_ONLY option. - */ -CURL_EXTERN CURLcode curl_easy_recv(CURL *curl, void *buffer, size_t buflen, - size_t *n); - -/* - * NAME curl_easy_send() - * - * DESCRIPTION - * - * Sends data over the connected socket. Use after successful - * curl_easy_perform() with CURLOPT_CONNECT_ONLY option. - */ -CURL_EXTERN CURLcode curl_easy_send(CURL *curl, const void *buffer, - size_t buflen, size_t *n); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/third_party/curl/include/curl/mprintf.h b/third_party/curl/include/curl/mprintf.h deleted file mode 100644 index c6b0d7679a..0000000000 --- a/third_party/curl/include/curl/mprintf.h +++ /dev/null @@ -1,74 +0,0 @@ -#ifndef __CURL_MPRINTF_H -#define __CURL_MPRINTF_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -#include -#include /* needed for FILE */ - -#include "curl.h" - -#ifdef __cplusplus -extern "C" { -#endif - -CURL_EXTERN int curl_mprintf(const char *format, ...); -CURL_EXTERN int curl_mfprintf(FILE *fd, const char *format, ...); -CURL_EXTERN int curl_msprintf(char *buffer, const char *format, ...); -CURL_EXTERN int curl_msnprintf(char *buffer, size_t maxlength, - const char *format, ...); -CURL_EXTERN int curl_mvprintf(const char *format, va_list args); -CURL_EXTERN int curl_mvfprintf(FILE *fd, const char *format, va_list args); -CURL_EXTERN int curl_mvsprintf(char *buffer, const char *format, va_list args); -CURL_EXTERN int curl_mvsnprintf(char *buffer, size_t maxlength, - const char *format, va_list args); -CURL_EXTERN char *curl_maprintf(const char *format, ...); -CURL_EXTERN char *curl_mvaprintf(const char *format, va_list args); - -#ifdef _MPRINTF_REPLACE -# undef printf -# undef fprintf -# undef sprintf -# undef vsprintf -# undef snprintf -# undef vprintf -# undef vfprintf -# undef vsnprintf -# undef aprintf -# undef vaprintf -# define printf curl_mprintf -# define fprintf curl_mfprintf -# define sprintf curl_msprintf -# define vsprintf curl_mvsprintf -# define snprintf curl_msnprintf -# define vprintf curl_mvprintf -# define vfprintf curl_mvfprintf -# define vsnprintf curl_mvsnprintf -# define aprintf curl_maprintf -# define vaprintf curl_mvaprintf -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* __CURL_MPRINTF_H */ diff --git a/third_party/curl/include/curl/multi.h b/third_party/curl/include/curl/multi.h deleted file mode 100644 index 0d859f8fd9..0000000000 --- a/third_party/curl/include/curl/multi.h +++ /dev/null @@ -1,404 +0,0 @@ -#ifndef __CURL_MULTI_H -#define __CURL_MULTI_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2015, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ -/* - This is an "external" header file. Don't give away any internals here! - - GOALS - - o Enable a "pull" interface. The application that uses libcurl decides where - and when to ask libcurl to get/send data. - - o Enable multiple simultaneous transfers in the same thread without making it - complicated for the application. - - o Enable the application to select() on its own file descriptors and curl's - file descriptors simultaneous easily. - -*/ - -/* - * This header file should not really need to include "curl.h" since curl.h - * itself includes this file and we expect user applications to do #include - * without the need for especially including multi.h. - * - * For some reason we added this include here at one point, and rather than to - * break existing (wrongly written) libcurl applications, we leave it as-is - * but with this warning attached. - */ -#include "curl.h" - -#ifdef __cplusplus -extern "C" { -#endif - -typedef void CURLM; - -typedef enum { - CURLM_CALL_MULTI_PERFORM = -1, /* please call curl_multi_perform() or - curl_multi_socket*() soon */ - CURLM_OK, - CURLM_BAD_HANDLE, /* the passed-in handle is not a valid CURLM handle */ - CURLM_BAD_EASY_HANDLE, /* an easy handle was not good/valid */ - CURLM_OUT_OF_MEMORY, /* if you ever get this, you're in deep sh*t */ - CURLM_INTERNAL_ERROR, /* this is a libcurl bug */ - CURLM_BAD_SOCKET, /* the passed in socket argument did not match */ - CURLM_UNKNOWN_OPTION, /* curl_multi_setopt() with unsupported option */ - CURLM_ADDED_ALREADY, /* an easy handle already added to a multi handle was - attempted to get added - again */ - CURLM_LAST -} CURLMcode; - -/* just to make code nicer when using curl_multi_socket() you can now check - for CURLM_CALL_MULTI_SOCKET too in the same style it works for - curl_multi_perform() and CURLM_CALL_MULTI_PERFORM */ -#define CURLM_CALL_MULTI_SOCKET CURLM_CALL_MULTI_PERFORM - -/* bitmask bits for CURLMOPT_PIPELINING */ -#define CURLPIPE_NOTHING 0L -#define CURLPIPE_HTTP1 1L -#define CURLPIPE_MULTIPLEX 2L - -typedef enum { - CURLMSG_NONE, /* first, not used */ - CURLMSG_DONE, /* This easy handle has completed. 'result' contains - the CURLcode of the transfer */ - CURLMSG_LAST /* last, not used */ -} CURLMSG; - -struct CURLMsg { - CURLMSG msg; /* what this message means */ - CURL *easy_handle; /* the handle it concerns */ - union { - void *whatever; /* message-specific data */ - CURLcode result; /* return code for transfer */ - } data; -}; -typedef struct CURLMsg CURLMsg; - -/* Based on poll(2) structure and values. - * We don't use pollfd and POLL* constants explicitly - * to cover platforms without poll(). */ -#define CURL_WAIT_POLLIN 0x0001 -#define CURL_WAIT_POLLPRI 0x0002 -#define CURL_WAIT_POLLOUT 0x0004 - -struct curl_waitfd { - curl_socket_t fd; - short events; - short revents; /* not supported yet */ -}; - -/* - * Name: curl_multi_init() - * - * Desc: inititalize multi-style curl usage - * - * Returns: a new CURLM handle to use in all 'curl_multi' functions. - */ -CURL_EXTERN CURLM *curl_multi_init(void); - -/* - * Name: curl_multi_add_handle() - * - * Desc: add a standard curl handle to the multi stack - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_add_handle(CURLM *multi_handle, - CURL *curl_handle); - - /* - * Name: curl_multi_remove_handle() - * - * Desc: removes a curl handle from the multi stack again - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_remove_handle(CURLM *multi_handle, - CURL *curl_handle); - - /* - * Name: curl_multi_fdset() - * - * Desc: Ask curl for its fd_set sets. The app can use these to select() or - * poll() on. We want curl_multi_perform() called as soon as one of - * them are ready. - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_fdset(CURLM *multi_handle, - fd_set *read_fd_set, - fd_set *write_fd_set, - fd_set *exc_fd_set, - int *max_fd); - -/* - * Name: curl_multi_wait() - * - * Desc: Poll on all fds within a CURLM set as well as any - * additional fds passed to the function. - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_wait(CURLM *multi_handle, - struct curl_waitfd extra_fds[], - unsigned int extra_nfds, - int timeout_ms, - int *ret); - - /* - * Name: curl_multi_perform() - * - * Desc: When the app thinks there's data available for curl it calls this - * function to read/write whatever there is right now. This returns - * as soon as the reads and writes are done. This function does not - * require that there actually is data available for reading or that - * data can be written, it can be called just in case. It returns - * the number of handles that still transfer data in the second - * argument's integer-pointer. - * - * Returns: CURLMcode type, general multi error code. *NOTE* that this only - * returns errors etc regarding the whole multi stack. There might - * still have occurred problems on invidual transfers even when this - * returns OK. - */ -CURL_EXTERN CURLMcode curl_multi_perform(CURLM *multi_handle, - int *running_handles); - - /* - * Name: curl_multi_cleanup() - * - * Desc: Cleans up and removes a whole multi stack. It does not free or - * touch any individual easy handles in any way. We need to define - * in what state those handles will be if this function is called - * in the middle of a transfer. - * - * Returns: CURLMcode type, general multi error code. - */ -CURL_EXTERN CURLMcode curl_multi_cleanup(CURLM *multi_handle); - -/* - * Name: curl_multi_info_read() - * - * Desc: Ask the multi handle if there's any messages/informationals from - * the individual transfers. Messages include informationals such as - * error code from the transfer or just the fact that a transfer is - * completed. More details on these should be written down as well. - * - * Repeated calls to this function will return a new struct each - * time, until a special "end of msgs" struct is returned as a signal - * that there is no more to get at this point. - * - * The data the returned pointer points to will not survive calling - * curl_multi_cleanup(). - * - * The 'CURLMsg' struct is meant to be very simple and only contain - * very basic informations. If more involved information is wanted, - * we will provide the particular "transfer handle" in that struct - * and that should/could/would be used in subsequent - * curl_easy_getinfo() calls (or similar). The point being that we - * must never expose complex structs to applications, as then we'll - * undoubtably get backwards compatibility problems in the future. - * - * Returns: A pointer to a filled-in struct, or NULL if it failed or ran out - * of structs. It also writes the number of messages left in the - * queue (after this read) in the integer the second argument points - * to. - */ -CURL_EXTERN CURLMsg *curl_multi_info_read(CURLM *multi_handle, - int *msgs_in_queue); - -/* - * Name: curl_multi_strerror() - * - * Desc: The curl_multi_strerror function may be used to turn a CURLMcode - * value into the equivalent human readable error string. This is - * useful for printing meaningful error messages. - * - * Returns: A pointer to a zero-terminated error message. - */ -CURL_EXTERN const char *curl_multi_strerror(CURLMcode); - -/* - * Name: curl_multi_socket() and - * curl_multi_socket_all() - * - * Desc: An alternative version of curl_multi_perform() that allows the - * application to pass in one of the file descriptors that have been - * detected to have "action" on them and let libcurl perform. - * See man page for details. - */ -#define CURL_POLL_NONE 0 -#define CURL_POLL_IN 1 -#define CURL_POLL_OUT 2 -#define CURL_POLL_INOUT 3 -#define CURL_POLL_REMOVE 4 - -#define CURL_SOCKET_TIMEOUT CURL_SOCKET_BAD - -#define CURL_CSELECT_IN 0x01 -#define CURL_CSELECT_OUT 0x02 -#define CURL_CSELECT_ERR 0x04 - -typedef int (*curl_socket_callback)(CURL *easy, /* easy handle */ - curl_socket_t s, /* socket */ - int what, /* see above */ - void *userp, /* private callback - pointer */ - void *socketp); /* private socket - pointer */ -/* - * Name: curl_multi_timer_callback - * - * Desc: Called by libcurl whenever the library detects a change in the - * maximum number of milliseconds the app is allowed to wait before - * curl_multi_socket() or curl_multi_perform() must be called - * (to allow libcurl's timed events to take place). - * - * Returns: The callback should return zero. - */ -typedef int (*curl_multi_timer_callback)(CURLM *multi, /* multi handle */ - long timeout_ms, /* see above */ - void *userp); /* private callback - pointer */ - -CURL_EXTERN CURLMcode curl_multi_socket(CURLM *multi_handle, curl_socket_t s, - int *running_handles); - -CURL_EXTERN CURLMcode curl_multi_socket_action(CURLM *multi_handle, - curl_socket_t s, - int ev_bitmask, - int *running_handles); - -CURL_EXTERN CURLMcode curl_multi_socket_all(CURLM *multi_handle, - int *running_handles); - -#ifndef CURL_ALLOW_OLD_MULTI_SOCKET -/* This macro below was added in 7.16.3 to push users who recompile to use - the new curl_multi_socket_action() instead of the old curl_multi_socket() -*/ -#define curl_multi_socket(x,y,z) curl_multi_socket_action(x,y,0,z) -#endif - -/* - * Name: curl_multi_timeout() - * - * Desc: Returns the maximum number of milliseconds the app is allowed to - * wait before curl_multi_socket() or curl_multi_perform() must be - * called (to allow libcurl's timed events to take place). - * - * Returns: CURLM error code. - */ -CURL_EXTERN CURLMcode curl_multi_timeout(CURLM *multi_handle, - long *milliseconds); - -#undef CINIT /* re-using the same name as in curl.h */ - -#ifdef CURL_ISOCPP -#define CINIT(name,type,num) CURLMOPT_ ## name = CURLOPTTYPE_ ## type + num -#else -/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */ -#define LONG CURLOPTTYPE_LONG -#define OBJECTPOINT CURLOPTTYPE_OBJECTPOINT -#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT -#define OFF_T CURLOPTTYPE_OFF_T -#define CINIT(name,type,number) CURLMOPT_/**/name = type + number -#endif - -typedef enum { - /* This is the socket callback function pointer */ - CINIT(SOCKETFUNCTION, FUNCTIONPOINT, 1), - - /* This is the argument passed to the socket callback */ - CINIT(SOCKETDATA, OBJECTPOINT, 2), - - /* set to 1 to enable pipelining for this multi handle */ - CINIT(PIPELINING, LONG, 3), - - /* This is the timer callback function pointer */ - CINIT(TIMERFUNCTION, FUNCTIONPOINT, 4), - - /* This is the argument passed to the timer callback */ - CINIT(TIMERDATA, OBJECTPOINT, 5), - - /* maximum number of entries in the connection cache */ - CINIT(MAXCONNECTS, LONG, 6), - - /* maximum number of (pipelining) connections to one host */ - CINIT(MAX_HOST_CONNECTIONS, LONG, 7), - - /* maximum number of requests in a pipeline */ - CINIT(MAX_PIPELINE_LENGTH, LONG, 8), - - /* a connection with a content-length longer than this - will not be considered for pipelining */ - CINIT(CONTENT_LENGTH_PENALTY_SIZE, OFF_T, 9), - - /* a connection with a chunk length longer than this - will not be considered for pipelining */ - CINIT(CHUNK_LENGTH_PENALTY_SIZE, OFF_T, 10), - - /* a list of site names(+port) that are blacklisted from - pipelining */ - CINIT(PIPELINING_SITE_BL, OBJECTPOINT, 11), - - /* a list of server types that are blacklisted from - pipelining */ - CINIT(PIPELINING_SERVER_BL, OBJECTPOINT, 12), - - /* maximum number of open connections in total */ - CINIT(MAX_TOTAL_CONNECTIONS, LONG, 13), - - CURLMOPT_LASTENTRY /* the last unused */ -} CURLMoption; - - -/* - * Name: curl_multi_setopt() - * - * Desc: Sets options for the multi handle. - * - * Returns: CURLM error code. - */ -CURL_EXTERN CURLMcode curl_multi_setopt(CURLM *multi_handle, - CURLMoption option, ...); - - -/* - * Name: curl_multi_assign() - * - * Desc: This function sets an association in the multi handle between the - * given socket and a private pointer of the application. This is - * (only) useful for curl_multi_socket uses. - * - * Returns: CURLM error code. - */ -CURL_EXTERN CURLMcode curl_multi_assign(CURLM *multi_handle, - curl_socket_t sockfd, void *sockp); - -#ifdef __cplusplus -} /* end of extern "C" */ -#endif - -#endif diff --git a/third_party/curl/include/curl/stdcheaders.h b/third_party/curl/include/curl/stdcheaders.h deleted file mode 100644 index ad82ef6335..0000000000 --- a/third_party/curl/include/curl/stdcheaders.h +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef __STDC_HEADERS_H -#define __STDC_HEADERS_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2010, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -#include - -size_t fread (void *, size_t, size_t, FILE *); -size_t fwrite (const void *, size_t, size_t, FILE *); - -int strcasecmp(const char *, const char *); -int strncasecmp(const char *, const char *, size_t); - -#endif /* __STDC_HEADERS_H */ diff --git a/third_party/curl/include/curl/typecheck-gcc.h b/third_party/curl/include/curl/typecheck-gcc.h deleted file mode 100644 index 13fb0fa9ee..0000000000 --- a/third_party/curl/include/curl/typecheck-gcc.h +++ /dev/null @@ -1,612 +0,0 @@ -#ifndef __CURL_TYPECHECK_GCC_H -#define __CURL_TYPECHECK_GCC_H -/*************************************************************************** - * _ _ ____ _ - * Project ___| | | | _ \| | - * / __| | | | |_) | | - * | (__| |_| | _ <| |___ - * \___|\___/|_| \_\_____| - * - * Copyright (C) 1998 - 2014, Daniel Stenberg, , et al. - * - * This software is licensed as described in the file COPYING, which - * you should have received as part of this distribution. The terms - * are also available at http://curl.haxx.se/docs/copyright.html. - * - * You may opt to use, copy, modify, merge, publish, distribute and/or sell - * copies of the Software, and permit persons to whom the Software is - * furnished to do so, under the terms of the COPYING file. - * - * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY - * KIND, either express or implied. - * - ***************************************************************************/ - -/* wraps curl_easy_setopt() with typechecking */ - -/* To add a new kind of warning, add an - * if(_curl_is_sometype_option(_curl_opt)) - * if(!_curl_is_sometype(value)) - * _curl_easy_setopt_err_sometype(); - * block and define _curl_is_sometype_option, _curl_is_sometype and - * _curl_easy_setopt_err_sometype below - * - * NOTE: We use two nested 'if' statements here instead of the && operator, in - * order to work around gcc bug #32061. It affects only gcc 4.3.x/4.4.x - * when compiling with -Wlogical-op. - * - * To add an option that uses the same type as an existing option, you'll just - * need to extend the appropriate _curl_*_option macro - */ -#define curl_easy_setopt(handle, option, value) \ -__extension__ ({ \ - __typeof__ (option) _curl_opt = option; \ - if(__builtin_constant_p(_curl_opt)) { \ - if(_curl_is_long_option(_curl_opt)) \ - if(!_curl_is_long(value)) \ - _curl_easy_setopt_err_long(); \ - if(_curl_is_off_t_option(_curl_opt)) \ - if(!_curl_is_off_t(value)) \ - _curl_easy_setopt_err_curl_off_t(); \ - if(_curl_is_string_option(_curl_opt)) \ - if(!_curl_is_string(value)) \ - _curl_easy_setopt_err_string(); \ - if(_curl_is_write_cb_option(_curl_opt)) \ - if(!_curl_is_write_cb(value)) \ - _curl_easy_setopt_err_write_callback(); \ - if((_curl_opt) == CURLOPT_READFUNCTION) \ - if(!_curl_is_read_cb(value)) \ - _curl_easy_setopt_err_read_cb(); \ - if((_curl_opt) == CURLOPT_IOCTLFUNCTION) \ - if(!_curl_is_ioctl_cb(value)) \ - _curl_easy_setopt_err_ioctl_cb(); \ - if((_curl_opt) == CURLOPT_SOCKOPTFUNCTION) \ - if(!_curl_is_sockopt_cb(value)) \ - _curl_easy_setopt_err_sockopt_cb(); \ - if((_curl_opt) == CURLOPT_OPENSOCKETFUNCTION) \ - if(!_curl_is_opensocket_cb(value)) \ - _curl_easy_setopt_err_opensocket_cb(); \ - if((_curl_opt) == CURLOPT_PROGRESSFUNCTION) \ - if(!_curl_is_progress_cb(value)) \ - _curl_easy_setopt_err_progress_cb(); \ - if((_curl_opt) == CURLOPT_DEBUGFUNCTION) \ - if(!_curl_is_debug_cb(value)) \ - _curl_easy_setopt_err_debug_cb(); \ - if((_curl_opt) == CURLOPT_SSL_CTX_FUNCTION) \ - if(!_curl_is_ssl_ctx_cb(value)) \ - _curl_easy_setopt_err_ssl_ctx_cb(); \ - if(_curl_is_conv_cb_option(_curl_opt)) \ - if(!_curl_is_conv_cb(value)) \ - _curl_easy_setopt_err_conv_cb(); \ - if((_curl_opt) == CURLOPT_SEEKFUNCTION) \ - if(!_curl_is_seek_cb(value)) \ - _curl_easy_setopt_err_seek_cb(); \ - if(_curl_is_cb_data_option(_curl_opt)) \ - if(!_curl_is_cb_data(value)) \ - _curl_easy_setopt_err_cb_data(); \ - if((_curl_opt) == CURLOPT_ERRORBUFFER) \ - if(!_curl_is_error_buffer(value)) \ - _curl_easy_setopt_err_error_buffer(); \ - if((_curl_opt) == CURLOPT_STDERR) \ - if(!_curl_is_FILE(value)) \ - _curl_easy_setopt_err_FILE(); \ - if(_curl_is_postfields_option(_curl_opt)) \ - if(!_curl_is_postfields(value)) \ - _curl_easy_setopt_err_postfields(); \ - if((_curl_opt) == CURLOPT_HTTPPOST) \ - if(!_curl_is_arr((value), struct curl_httppost)) \ - _curl_easy_setopt_err_curl_httpost(); \ - if(_curl_is_slist_option(_curl_opt)) \ - if(!_curl_is_arr((value), struct curl_slist)) \ - _curl_easy_setopt_err_curl_slist(); \ - if((_curl_opt) == CURLOPT_SHARE) \ - if(!_curl_is_ptr((value), CURLSH)) \ - _curl_easy_setopt_err_CURLSH(); \ - } \ - curl_easy_setopt(handle, _curl_opt, value); \ -}) - -/* wraps curl_easy_getinfo() with typechecking */ -/* FIXME: don't allow const pointers */ -#define curl_easy_getinfo(handle, info, arg) \ -__extension__ ({ \ - __typeof__ (info) _curl_info = info; \ - if(__builtin_constant_p(_curl_info)) { \ - if(_curl_is_string_info(_curl_info)) \ - if(!_curl_is_arr((arg), char *)) \ - _curl_easy_getinfo_err_string(); \ - if(_curl_is_long_info(_curl_info)) \ - if(!_curl_is_arr((arg), long)) \ - _curl_easy_getinfo_err_long(); \ - if(_curl_is_double_info(_curl_info)) \ - if(!_curl_is_arr((arg), double)) \ - _curl_easy_getinfo_err_double(); \ - if(_curl_is_slist_info(_curl_info)) \ - if(!_curl_is_arr((arg), struct curl_slist *)) \ - _curl_easy_getinfo_err_curl_slist(); \ - } \ - curl_easy_getinfo(handle, _curl_info, arg); \ -}) - -/* TODO: typechecking for curl_share_setopt() and curl_multi_setopt(), - * for now just make sure that the functions are called with three - * arguments - */ -#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param) -#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param) - - -/* the actual warnings, triggered by calling the _curl_easy_setopt_err* - * functions */ - -/* To define a new warning, use _CURL_WARNING(identifier, "message") */ -#define _CURL_WARNING(id, message) \ - static void __attribute__((__warning__(message))) \ - __attribute__((__unused__)) __attribute__((__noinline__)) \ - id(void) { __asm__(""); } - -_CURL_WARNING(_curl_easy_setopt_err_long, - "curl_easy_setopt expects a long argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_curl_off_t, - "curl_easy_setopt expects a curl_off_t argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_string, - "curl_easy_setopt expects a " - "string (char* or char[]) argument for this option" - ) -_CURL_WARNING(_curl_easy_setopt_err_write_callback, - "curl_easy_setopt expects a curl_write_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_read_cb, - "curl_easy_setopt expects a curl_read_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_ioctl_cb, - "curl_easy_setopt expects a curl_ioctl_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_sockopt_cb, - "curl_easy_setopt expects a curl_sockopt_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_opensocket_cb, - "curl_easy_setopt expects a " - "curl_opensocket_callback argument for this option" - ) -_CURL_WARNING(_curl_easy_setopt_err_progress_cb, - "curl_easy_setopt expects a curl_progress_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_debug_cb, - "curl_easy_setopt expects a curl_debug_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_ssl_ctx_cb, - "curl_easy_setopt expects a curl_ssl_ctx_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_conv_cb, - "curl_easy_setopt expects a curl_conv_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_seek_cb, - "curl_easy_setopt expects a curl_seek_callback argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_cb_data, - "curl_easy_setopt expects a " - "private data pointer as argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_error_buffer, - "curl_easy_setopt expects a " - "char buffer of CURL_ERROR_SIZE as argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_FILE, - "curl_easy_setopt expects a FILE* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_postfields, - "curl_easy_setopt expects a void* or char* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_curl_httpost, - "curl_easy_setopt expects a struct curl_httppost* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_curl_slist, - "curl_easy_setopt expects a struct curl_slist* argument for this option") -_CURL_WARNING(_curl_easy_setopt_err_CURLSH, - "curl_easy_setopt expects a CURLSH* argument for this option") - -_CURL_WARNING(_curl_easy_getinfo_err_string, - "curl_easy_getinfo expects a pointer to char * for this info") -_CURL_WARNING(_curl_easy_getinfo_err_long, - "curl_easy_getinfo expects a pointer to long for this info") -_CURL_WARNING(_curl_easy_getinfo_err_double, - "curl_easy_getinfo expects a pointer to double for this info") -_CURL_WARNING(_curl_easy_getinfo_err_curl_slist, - "curl_easy_getinfo expects a pointer to struct curl_slist * for this info") - -/* groups of curl_easy_setops options that take the same type of argument */ - -/* To add a new option to one of the groups, just add - * (option) == CURLOPT_SOMETHING - * to the or-expression. If the option takes a long or curl_off_t, you don't - * have to do anything - */ - -/* evaluates to true if option takes a long argument */ -#define _curl_is_long_option(option) \ - (0 < (option) && (option) < CURLOPTTYPE_OBJECTPOINT) - -#define _curl_is_off_t_option(option) \ - ((option) > CURLOPTTYPE_OFF_T) - -/* evaluates to true if option takes a char* argument */ -#define _curl_is_string_option(option) \ - ((option) == CURLOPT_URL || \ - (option) == CURLOPT_PROXY || \ - (option) == CURLOPT_INTERFACE || \ - (option) == CURLOPT_NETRC_FILE || \ - (option) == CURLOPT_USERPWD || \ - (option) == CURLOPT_USERNAME || \ - (option) == CURLOPT_PASSWORD || \ - (option) == CURLOPT_PROXYUSERPWD || \ - (option) == CURLOPT_PROXYUSERNAME || \ - (option) == CURLOPT_PROXYPASSWORD || \ - (option) == CURLOPT_NOPROXY || \ - (option) == CURLOPT_ACCEPT_ENCODING || \ - (option) == CURLOPT_REFERER || \ - (option) == CURLOPT_USERAGENT || \ - (option) == CURLOPT_COOKIE || \ - (option) == CURLOPT_COOKIEFILE || \ - (option) == CURLOPT_COOKIEJAR || \ - (option) == CURLOPT_COOKIELIST || \ - (option) == CURLOPT_FTPPORT || \ - (option) == CURLOPT_FTP_ALTERNATIVE_TO_USER || \ - (option) == CURLOPT_FTP_ACCOUNT || \ - (option) == CURLOPT_RANGE || \ - (option) == CURLOPT_CUSTOMREQUEST || \ - (option) == CURLOPT_SSLCERT || \ - (option) == CURLOPT_SSLCERTTYPE || \ - (option) == CURLOPT_SSLKEY || \ - (option) == CURLOPT_SSLKEYTYPE || \ - (option) == CURLOPT_KEYPASSWD || \ - (option) == CURLOPT_SSLENGINE || \ - (option) == CURLOPT_CAINFO || \ - (option) == CURLOPT_CAPATH || \ - (option) == CURLOPT_RANDOM_FILE || \ - (option) == CURLOPT_EGDSOCKET || \ - (option) == CURLOPT_SSL_CIPHER_LIST || \ - (option) == CURLOPT_KRBLEVEL || \ - (option) == CURLOPT_SSH_HOST_PUBLIC_KEY_MD5 || \ - (option) == CURLOPT_SSH_PUBLIC_KEYFILE || \ - (option) == CURLOPT_SSH_PRIVATE_KEYFILE || \ - (option) == CURLOPT_CRLFILE || \ - (option) == CURLOPT_ISSUERCERT || \ - (option) == CURLOPT_SOCKS5_GSSAPI_SERVICE || \ - (option) == CURLOPT_SSH_KNOWNHOSTS || \ - (option) == CURLOPT_MAIL_FROM || \ - (option) == CURLOPT_RTSP_SESSION_ID || \ - (option) == CURLOPT_RTSP_STREAM_URI || \ - (option) == CURLOPT_RTSP_TRANSPORT || \ - (option) == CURLOPT_XOAUTH2_BEARER || \ - (option) == CURLOPT_DNS_SERVERS || \ - (option) == CURLOPT_DNS_INTERFACE || \ - (option) == CURLOPT_DNS_LOCAL_IP4 || \ - (option) == CURLOPT_DNS_LOCAL_IP6 || \ - (option) == CURLOPT_LOGIN_OPTIONS || \ - (option) == CURLOPT_PROXY_SERVICE_NAME || \ - (option) == CURLOPT_SERVICE_NAME || \ - 0) - -/* evaluates to true if option takes a curl_write_callback argument */ -#define _curl_is_write_cb_option(option) \ - ((option) == CURLOPT_HEADERFUNCTION || \ - (option) == CURLOPT_WRITEFUNCTION) - -/* evaluates to true if option takes a curl_conv_callback argument */ -#define _curl_is_conv_cb_option(option) \ - ((option) == CURLOPT_CONV_TO_NETWORK_FUNCTION || \ - (option) == CURLOPT_CONV_FROM_NETWORK_FUNCTION || \ - (option) == CURLOPT_CONV_FROM_UTF8_FUNCTION) - -/* evaluates to true if option takes a data argument to pass to a callback */ -#define _curl_is_cb_data_option(option) \ - ((option) == CURLOPT_WRITEDATA || \ - (option) == CURLOPT_READDATA || \ - (option) == CURLOPT_IOCTLDATA || \ - (option) == CURLOPT_SOCKOPTDATA || \ - (option) == CURLOPT_OPENSOCKETDATA || \ - (option) == CURLOPT_PROGRESSDATA || \ - (option) == CURLOPT_HEADERDATA || \ - (option) == CURLOPT_DEBUGDATA || \ - (option) == CURLOPT_SSL_CTX_DATA || \ - (option) == CURLOPT_SEEKDATA || \ - (option) == CURLOPT_PRIVATE || \ - (option) == CURLOPT_SSH_KEYDATA || \ - (option) == CURLOPT_INTERLEAVEDATA || \ - (option) == CURLOPT_CHUNK_DATA || \ - (option) == CURLOPT_FNMATCH_DATA || \ - 0) - -/* evaluates to true if option takes a POST data argument (void* or char*) */ -#define _curl_is_postfields_option(option) \ - ((option) == CURLOPT_POSTFIELDS || \ - (option) == CURLOPT_COPYPOSTFIELDS || \ - 0) - -/* evaluates to true if option takes a struct curl_slist * argument */ -#define _curl_is_slist_option(option) \ - ((option) == CURLOPT_HTTPHEADER || \ - (option) == CURLOPT_HTTP200ALIASES || \ - (option) == CURLOPT_QUOTE || \ - (option) == CURLOPT_POSTQUOTE || \ - (option) == CURLOPT_PREQUOTE || \ - (option) == CURLOPT_TELNETOPTIONS || \ - (option) == CURLOPT_MAIL_RCPT || \ - 0) - -/* groups of curl_easy_getinfo infos that take the same type of argument */ - -/* evaluates to true if info expects a pointer to char * argument */ -#define _curl_is_string_info(info) \ - (CURLINFO_STRING < (info) && (info) < CURLINFO_LONG) - -/* evaluates to true if info expects a pointer to long argument */ -#define _curl_is_long_info(info) \ - (CURLINFO_LONG < (info) && (info) < CURLINFO_DOUBLE) - -/* evaluates to true if info expects a pointer to double argument */ -#define _curl_is_double_info(info) \ - (CURLINFO_DOUBLE < (info) && (info) < CURLINFO_SLIST) - -/* true if info expects a pointer to struct curl_slist * argument */ -#define _curl_is_slist_info(info) \ - (CURLINFO_SLIST < (info)) - - -/* typecheck helpers -- check whether given expression has requested type*/ - -/* For pointers, you can use the _curl_is_ptr/_curl_is_arr macros, - * otherwise define a new macro. Search for __builtin_types_compatible_p - * in the GCC manual. - * NOTE: these macros MUST NOT EVALUATE their arguments! The argument is - * the actual expression passed to the curl_easy_setopt macro. This - * means that you can only apply the sizeof and __typeof__ operators, no - * == or whatsoever. - */ - -/* XXX: should evaluate to true iff expr is a pointer */ -#define _curl_is_any_ptr(expr) \ - (sizeof(expr) == sizeof(void*)) - -/* evaluates to true if expr is NULL */ -/* XXX: must not evaluate expr, so this check is not accurate */ -#define _curl_is_NULL(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), __typeof__(NULL))) - -/* evaluates to true if expr is type*, const type* or NULL */ -#define _curl_is_ptr(expr, type) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), type *) || \ - __builtin_types_compatible_p(__typeof__(expr), const type *)) - -/* evaluates to true if expr is one of type[], type*, NULL or const type* */ -#define _curl_is_arr(expr, type) \ - (_curl_is_ptr((expr), type) || \ - __builtin_types_compatible_p(__typeof__(expr), type [])) - -/* evaluates to true if expr is a string */ -#define _curl_is_string(expr) \ - (_curl_is_arr((expr), char) || \ - _curl_is_arr((expr), signed char) || \ - _curl_is_arr((expr), unsigned char)) - -/* evaluates to true if expr is a long (no matter the signedness) - * XXX: for now, int is also accepted (and therefore short and char, which - * are promoted to int when passed to a variadic function) */ -#define _curl_is_long(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), long) || \ - __builtin_types_compatible_p(__typeof__(expr), signed long) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned long) || \ - __builtin_types_compatible_p(__typeof__(expr), int) || \ - __builtin_types_compatible_p(__typeof__(expr), signed int) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned int) || \ - __builtin_types_compatible_p(__typeof__(expr), short) || \ - __builtin_types_compatible_p(__typeof__(expr), signed short) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned short) || \ - __builtin_types_compatible_p(__typeof__(expr), char) || \ - __builtin_types_compatible_p(__typeof__(expr), signed char) || \ - __builtin_types_compatible_p(__typeof__(expr), unsigned char)) - -/* evaluates to true if expr is of type curl_off_t */ -#define _curl_is_off_t(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), curl_off_t)) - -/* evaluates to true if expr is abuffer suitable for CURLOPT_ERRORBUFFER */ -/* XXX: also check size of an char[] array? */ -#define _curl_is_error_buffer(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), char *) || \ - __builtin_types_compatible_p(__typeof__(expr), char[])) - -/* evaluates to true if expr is of type (const) void* or (const) FILE* */ -#if 0 -#define _curl_is_cb_data(expr) \ - (_curl_is_ptr((expr), void) || \ - _curl_is_ptr((expr), FILE)) -#else /* be less strict */ -#define _curl_is_cb_data(expr) \ - _curl_is_any_ptr(expr) -#endif - -/* evaluates to true if expr is of type FILE* */ -#define _curl_is_FILE(expr) \ - (__builtin_types_compatible_p(__typeof__(expr), FILE *)) - -/* evaluates to true if expr can be passed as POST data (void* or char*) */ -#define _curl_is_postfields(expr) \ - (_curl_is_ptr((expr), void) || \ - _curl_is_arr((expr), char)) - -/* FIXME: the whole callback checking is messy... - * The idea is to tolerate char vs. void and const vs. not const - * pointers in arguments at least - */ -/* helper: __builtin_types_compatible_p distinguishes between functions and - * function pointers, hide it */ -#define _curl_callback_compatible(func, type) \ - (__builtin_types_compatible_p(__typeof__(func), type) || \ - __builtin_types_compatible_p(__typeof__(func), type*)) - -/* evaluates to true if expr is of type curl_read_callback or "similar" */ -#define _curl_is_read_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), __typeof__(fread)) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_read_callback) || \ - _curl_callback_compatible((expr), _curl_read_callback1) || \ - _curl_callback_compatible((expr), _curl_read_callback2) || \ - _curl_callback_compatible((expr), _curl_read_callback3) || \ - _curl_callback_compatible((expr), _curl_read_callback4) || \ - _curl_callback_compatible((expr), _curl_read_callback5) || \ - _curl_callback_compatible((expr), _curl_read_callback6)) -typedef size_t (_curl_read_callback1)(char *, size_t, size_t, void*); -typedef size_t (_curl_read_callback2)(char *, size_t, size_t, const void*); -typedef size_t (_curl_read_callback3)(char *, size_t, size_t, FILE*); -typedef size_t (_curl_read_callback4)(void *, size_t, size_t, void*); -typedef size_t (_curl_read_callback5)(void *, size_t, size_t, const void*); -typedef size_t (_curl_read_callback6)(void *, size_t, size_t, FILE*); - -/* evaluates to true if expr is of type curl_write_callback or "similar" */ -#define _curl_is_write_cb(expr) \ - (_curl_is_read_cb(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), __typeof__(fwrite)) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_write_callback) || \ - _curl_callback_compatible((expr), _curl_write_callback1) || \ - _curl_callback_compatible((expr), _curl_write_callback2) || \ - _curl_callback_compatible((expr), _curl_write_callback3) || \ - _curl_callback_compatible((expr), _curl_write_callback4) || \ - _curl_callback_compatible((expr), _curl_write_callback5) || \ - _curl_callback_compatible((expr), _curl_write_callback6)) -typedef size_t (_curl_write_callback1)(const char *, size_t, size_t, void*); -typedef size_t (_curl_write_callback2)(const char *, size_t, size_t, - const void*); -typedef size_t (_curl_write_callback3)(const char *, size_t, size_t, FILE*); -typedef size_t (_curl_write_callback4)(const void *, size_t, size_t, void*); -typedef size_t (_curl_write_callback5)(const void *, size_t, size_t, - const void*); -typedef size_t (_curl_write_callback6)(const void *, size_t, size_t, FILE*); - -/* evaluates to true if expr is of type curl_ioctl_callback or "similar" */ -#define _curl_is_ioctl_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_ioctl_callback) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback1) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback2) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback3) || \ - _curl_callback_compatible((expr), _curl_ioctl_callback4)) -typedef curlioerr (_curl_ioctl_callback1)(CURL *, int, void*); -typedef curlioerr (_curl_ioctl_callback2)(CURL *, int, const void*); -typedef curlioerr (_curl_ioctl_callback3)(CURL *, curliocmd, void*); -typedef curlioerr (_curl_ioctl_callback4)(CURL *, curliocmd, const void*); - -/* evaluates to true if expr is of type curl_sockopt_callback or "similar" */ -#define _curl_is_sockopt_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_sockopt_callback) || \ - _curl_callback_compatible((expr), _curl_sockopt_callback1) || \ - _curl_callback_compatible((expr), _curl_sockopt_callback2)) -typedef int (_curl_sockopt_callback1)(void *, curl_socket_t, curlsocktype); -typedef int (_curl_sockopt_callback2)(const void *, curl_socket_t, - curlsocktype); - -/* evaluates to true if expr is of type curl_opensocket_callback or - "similar" */ -#define _curl_is_opensocket_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_opensocket_callback) ||\ - _curl_callback_compatible((expr), _curl_opensocket_callback1) || \ - _curl_callback_compatible((expr), _curl_opensocket_callback2) || \ - _curl_callback_compatible((expr), _curl_opensocket_callback3) || \ - _curl_callback_compatible((expr), _curl_opensocket_callback4)) -typedef curl_socket_t (_curl_opensocket_callback1) - (void *, curlsocktype, struct curl_sockaddr *); -typedef curl_socket_t (_curl_opensocket_callback2) - (void *, curlsocktype, const struct curl_sockaddr *); -typedef curl_socket_t (_curl_opensocket_callback3) - (const void *, curlsocktype, struct curl_sockaddr *); -typedef curl_socket_t (_curl_opensocket_callback4) - (const void *, curlsocktype, const struct curl_sockaddr *); - -/* evaluates to true if expr is of type curl_progress_callback or "similar" */ -#define _curl_is_progress_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_progress_callback) || \ - _curl_callback_compatible((expr), _curl_progress_callback1) || \ - _curl_callback_compatible((expr), _curl_progress_callback2)) -typedef int (_curl_progress_callback1)(void *, - double, double, double, double); -typedef int (_curl_progress_callback2)(const void *, - double, double, double, double); - -/* evaluates to true if expr is of type curl_debug_callback or "similar" */ -#define _curl_is_debug_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_debug_callback) || \ - _curl_callback_compatible((expr), _curl_debug_callback1) || \ - _curl_callback_compatible((expr), _curl_debug_callback2) || \ - _curl_callback_compatible((expr), _curl_debug_callback3) || \ - _curl_callback_compatible((expr), _curl_debug_callback4) || \ - _curl_callback_compatible((expr), _curl_debug_callback5) || \ - _curl_callback_compatible((expr), _curl_debug_callback6) || \ - _curl_callback_compatible((expr), _curl_debug_callback7) || \ - _curl_callback_compatible((expr), _curl_debug_callback8)) -typedef int (_curl_debug_callback1) (CURL *, - curl_infotype, char *, size_t, void *); -typedef int (_curl_debug_callback2) (CURL *, - curl_infotype, char *, size_t, const void *); -typedef int (_curl_debug_callback3) (CURL *, - curl_infotype, const char *, size_t, void *); -typedef int (_curl_debug_callback4) (CURL *, - curl_infotype, const char *, size_t, const void *); -typedef int (_curl_debug_callback5) (CURL *, - curl_infotype, unsigned char *, size_t, void *); -typedef int (_curl_debug_callback6) (CURL *, - curl_infotype, unsigned char *, size_t, const void *); -typedef int (_curl_debug_callback7) (CURL *, - curl_infotype, const unsigned char *, size_t, void *); -typedef int (_curl_debug_callback8) (CURL *, - curl_infotype, const unsigned char *, size_t, const void *); - -/* evaluates to true if expr is of type curl_ssl_ctx_callback or "similar" */ -/* this is getting even messier... */ -#define _curl_is_ssl_ctx_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_ssl_ctx_callback) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback1) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback2) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback3) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback4) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback5) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback6) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback7) || \ - _curl_callback_compatible((expr), _curl_ssl_ctx_callback8)) -typedef CURLcode (_curl_ssl_ctx_callback1)(CURL *, void *, void *); -typedef CURLcode (_curl_ssl_ctx_callback2)(CURL *, void *, const void *); -typedef CURLcode (_curl_ssl_ctx_callback3)(CURL *, const void *, void *); -typedef CURLcode (_curl_ssl_ctx_callback4)(CURL *, const void *, const void *); -#ifdef HEADER_SSL_H -/* hack: if we included OpenSSL's ssl.h, we know about SSL_CTX - * this will of course break if we're included before OpenSSL headers... - */ -typedef CURLcode (_curl_ssl_ctx_callback5)(CURL *, SSL_CTX, void *); -typedef CURLcode (_curl_ssl_ctx_callback6)(CURL *, SSL_CTX, const void *); -typedef CURLcode (_curl_ssl_ctx_callback7)(CURL *, const SSL_CTX, void *); -typedef CURLcode (_curl_ssl_ctx_callback8)(CURL *, const SSL_CTX, - const void *); -#else -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback5; -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback6; -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback7; -typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback8; -#endif - -/* evaluates to true if expr is of type curl_conv_callback or "similar" */ -#define _curl_is_conv_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_conv_callback) || \ - _curl_callback_compatible((expr), _curl_conv_callback1) || \ - _curl_callback_compatible((expr), _curl_conv_callback2) || \ - _curl_callback_compatible((expr), _curl_conv_callback3) || \ - _curl_callback_compatible((expr), _curl_conv_callback4)) -typedef CURLcode (*_curl_conv_callback1)(char *, size_t length); -typedef CURLcode (*_curl_conv_callback2)(const char *, size_t length); -typedef CURLcode (*_curl_conv_callback3)(void *, size_t length); -typedef CURLcode (*_curl_conv_callback4)(const void *, size_t length); - -/* evaluates to true if expr is of type curl_seek_callback or "similar" */ -#define _curl_is_seek_cb(expr) \ - (_curl_is_NULL(expr) || \ - __builtin_types_compatible_p(__typeof__(expr), curl_seek_callback) || \ - _curl_callback_compatible((expr), _curl_seek_callback1) || \ - _curl_callback_compatible((expr), _curl_seek_callback2)) -typedef CURLcode (*_curl_seek_callback1)(void *, curl_off_t, int); -typedef CURLcode (*_curl_seek_callback2)(const void *, curl_off_t, int); - - -#endif /* __CURL_TYPECHECK_GCC_H */ diff --git a/third_party/curl/lib/libcurl.a b/third_party/curl/lib/libcurl.a deleted file mode 100644 index 494ac6c043..0000000000 Binary files a/third_party/curl/lib/libcurl.a and /dev/null differ diff --git a/third_party/libyuv/mac/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a similarity index 56% rename from third_party/libyuv/mac/lib/libyuv.a rename to third_party/libyuv/Darwin/lib/libyuv.a index 4a1609ca7a..3265bd8da0 100644 Binary files a/third_party/libyuv/mac/lib/libyuv.a and b/third_party/libyuv/Darwin/lib/libyuv.a differ diff --git a/third_party/libyuv/LICENSE.libyuv b/third_party/libyuv/LICENSE.libyuv deleted file mode 100644 index c911747a6b..0000000000 --- a/third_party/libyuv/LICENSE.libyuv +++ /dev/null @@ -1,29 +0,0 @@ -Copyright 2011 The LibYuv Project Authors. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are -met: - - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in - the documentation and/or other materials provided with the - distribution. - - * Neither the name of Google nor the names of its contributors may - be used to endorse or promote products derived from this software - without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64 new file mode 120000 index 0000000000..062c65e8d9 --- /dev/null +++ b/third_party/libyuv/aarch64 @@ -0,0 +1 @@ +larch64/ \ No newline at end of file diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh new file mode 100755 index 0000000000..e044312d05 --- /dev/null +++ b/third_party/libyuv/build.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env bash +set -e + +git clone https://chromium.googlesource.com/libyuv/libyuv +cd libyuv +git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 +cmake . + +## To create universal binary on Darwin: +## ``` +## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a +## ``` \ No newline at end of file diff --git a/third_party/libyuv/build.txt b/third_party/libyuv/build.txt deleted file mode 100644 index 376e981ec7..0000000000 --- a/third_party/libyuv/build.txt +++ /dev/null @@ -1,4 +0,0 @@ -git clone https://chromium.googlesource.com/libyuv/libyuv -cd libyuv -git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2 -cmake . diff --git a/third_party/libyuv/lib/libyuv.a b/third_party/libyuv/lib/libyuv.a deleted file mode 100644 index 228de4d03e..0000000000 Binary files a/third_party/libyuv/lib/libyuv.a and /dev/null differ diff --git a/third_party/libyuv/mac_arm64/lib/libyuv.a b/third_party/libyuv/mac_arm64/lib/libyuv.a deleted file mode 100644 index 96c11829e5..0000000000 Binary files a/third_party/libyuv/mac_arm64/lib/libyuv.a and /dev/null differ diff --git a/third_party/libyuv/x64/include b/third_party/libyuv/x86_64/include similarity index 100% rename from third_party/libyuv/x64/include rename to third_party/libyuv/x86_64/include diff --git a/third_party/libyuv/x64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a similarity index 100% rename from third_party/libyuv/x64/lib/libyuv.a rename to third_party/libyuv/x86_64/lib/libyuv.a diff --git a/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so new file mode 100755 index 0000000000..d417101ac0 Binary files /dev/null and b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so differ diff --git a/tools/README.md b/tools/README.md index 28c819c28b..28f4f7ebd2 100644 --- a/tools/README.md +++ b/tools/README.md @@ -9,10 +9,12 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve First, clone openpilot: ``` bash cd ~ -git clone https://github.com/commaai/openpilot.git +git clone --recurse-submodules https://github.com/commaai/openpilot.git + +# or do a partial clone instead for a faster clone and smaller repo size +git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git cd openpilot -git submodule update --init ``` Then, run the setup script: @@ -36,6 +38,16 @@ Build openpilot with this command: scons -u -j$(nproc) ``` +### Dev Container + +openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup. + +Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers). + +#### X11 forwarding on macOS + +GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS. + ### Windows Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. diff --git a/tools/bodyteleop/.gitignore b/tools/bodyteleop/.gitignore new file mode 100644 index 0000000000..adeab99a95 --- /dev/null +++ b/tools/bodyteleop/.gitignore @@ -0,0 +1,4 @@ +av +av-10.0.0/* +key.pem +cert.pem \ No newline at end of file diff --git a/tools/bodyteleop/bodyav.py b/tools/bodyteleop/bodyav.py new file mode 100644 index 0000000000..3f11f8d4f2 --- /dev/null +++ b/tools/bodyteleop/bodyav.py @@ -0,0 +1,159 @@ +import asyncio +import io +import numpy as np +import pyaudio +import wave + +from aiortc.contrib.media import MediaBlackhole +from aiortc.mediastreams import AudioStreamTrack, MediaStreamError, MediaStreamTrack +from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE +from aiortc.rtcrtpsender import RTCRtpSender +from av import CodecContext, Packet +from pydub import AudioSegment +import cereal.messaging as messaging + +AUDIO_RATE = 16000 +SOUNDS = { + 'engage': '../../selfdrive/assets/sounds/engage.wav', + 'disengage': '../../selfdrive/assets/sounds/disengage.wav', + 'error': '../../selfdrive/assets/sounds/warning_immediate.wav', +} + + +def force_codec(pc, sender, forced_codec='video/VP9', stream_type="video"): + codecs = RTCRtpSender.getCapabilities(stream_type).codecs + codec = [codec for codec in codecs if codec.mimeType == forced_codec] + transceiver = next(t for t in pc.getTransceivers() if t.sender == sender) + transceiver.setCodecPreferences(codec) + + +class EncodedBodyVideo(MediaStreamTrack): + kind = "video" + + _start: float + _timestamp: int + + def __init__(self): + super().__init__() + sock_name = 'livestreamDriverEncodeData' + messaging.context = messaging.Context() + self.sock = messaging.sub_sock(sock_name, None, conflate=True) + self.pts = 0 + + async def recv(self) -> Packet: + while True: + msg = messaging.recv_one_or_none(self.sock) + if msg is not None: + break + await asyncio.sleep(0.005) + + evta = getattr(msg, msg.which()) + self.last_idx = evta.idx.encodeId + + packet = Packet(evta.header + evta.data) + packet.time_base = VIDEO_TIME_BASE + packet.pts = self.pts + self.pts += 0.05 * VIDEO_CLOCK_RATE + return packet + + +class WebClientSpeaker(MediaBlackhole): + def __init__(self): + super().__init__() + self.p = pyaudio.PyAudio() + self.buffer = io.BytesIO() + self.channels = 2 + self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600, + output=True, stream_callback=self.pyaudio_callback) + + def pyaudio_callback(self, in_data, frame_count, time_info, status): + if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: + buff = np.zeros((frame_count, 2), dtype=np.int16).tobytes() + elif self.buffer.getbuffer().nbytes > 115200: # 3x the usual read size + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 4) + buff = buff[:frame_count * self.channels * 2] + self.buffer.seek(2) + else: + self.buffer.seek(0) + buff = self.buffer.read(frame_count * self.channels * 2) + self.buffer.seek(2) + return (buff, pyaudio.paContinue) + + async def consume(self, track): + while True: + try: + frame = await track.recv() + except MediaStreamError: + return + bio = bytes(frame.planes[0]) + self.buffer.write(bio) + + async def start(self): + for track, task in self._MediaBlackhole__tracks.items(): + if task is None: + self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track)) + + async def stop(self): + for task in self._MediaBlackhole__tracks.values(): + if task is not None: + task.cancel() + self._MediaBlackhole__tracks = {} + self.stream.stop_stream() + self.stream.close() + self.p.terminate() + + +class BodyMic(AudioStreamTrack): + def __init__(self): + super().__init__() + + self.sample_rate = AUDIO_RATE + self.AUDIO_PTIME = 0.020 # 20ms audio packetization + self.samples = int(self.AUDIO_PTIME * self.sample_rate) + self.FORMAT = pyaudio.paInt16 + self.CHANNELS = 2 + self.RATE = self.sample_rate + self.CHUNK = int(AUDIO_RATE * 0.020) + self.p = pyaudio.PyAudio() + self.mic_stream = self.p.open(format=self.FORMAT, channels=1, rate=self.RATE, input=True, frames_per_buffer=self.CHUNK) + + self.codec = CodecContext.create('pcm_s16le', 'r') + self.codec.sample_rate = self.RATE + self.codec.channels = 2 + self.audio_samples = 0 + self.chunk_number = 0 + + async def recv(self): + mic_data = self.mic_stream.read(self.CHUNK) + mic_sound = AudioSegment(mic_data, sample_width=2, channels=1, frame_rate=self.RATE) + mic_sound = AudioSegment.from_mono_audiosegments(mic_sound, mic_sound) + mic_sound += 3 # increase volume by 3db + packet = Packet(mic_sound.raw_data) + frame = self.codec.decode(packet)[0] + frame.pts = self.audio_samples + self.audio_samples += frame.samples + self.chunk_number = self.chunk_number + 1 + return frame + + +async def play_sound(sound): + chunk = 5120 + with wave.open(SOUNDS[sound], 'rb') as wf: + def callback(in_data, frame_count, time_info, status): + data = wf.readframes(frame_count) + return data, pyaudio.paContinue + + p = pyaudio.PyAudio() + stream = p.open(format=p.get_format_from_width(wf.getsampwidth()), + channels=wf.getnchannels(), + rate=wf.getframerate(), + output=True, + frames_per_buffer=chunk, + stream_callback=callback) + stream.start_stream() + while stream.is_active(): + await asyncio.sleep(0) + stream.stop_stream() + stream.close() + p.terminate() diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html new file mode 100644 index 0000000000..3654769756 --- /dev/null +++ b/tools/bodyteleop/static/index.html @@ -0,0 +1,103 @@ + + + + + commabody + + + + + + + + + + +
+

comma body

+ + +
+
+
+
+
+ + + +
+

body

+
+
+
+ + +
+

you

+
+
+
+
+
+
+
+ - +
+

ping time

+
+
+
+ - +
+

battery

+
+
+
+ +
+
+
+
+
+
W
+
0,0x,y
+
+
+
A
+
S
+
D
+
+
+
+ + + + +
+
+
+
+
+
+

Play Sounds

+
+
+ + + +
+
+
+
+
+
+
+
+
+
+ + + diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js new file mode 100644 index 0000000000..b1e0e7ee70 --- /dev/null +++ b/tools/bodyteleop/static/js/controls.js @@ -0,0 +1,54 @@ +const keyVals = {w: 0, a: 0, s: 0, d: 0} + +export function getXY() { + let x = -keyVals.w + keyVals.s + let y = -keyVals.d + keyVals.a + return {x, y} +} + +export const handleKeyX = (key, setValue) => { + if (['w', 'a', 's', 'd'].includes(key)){ + keyVals[key] = setValue; + let color = "#333"; + if (setValue === 1){ + color = "#e74c3c"; + } + $("#key-"+key).css('background', color); + const {x, y} = getXY(); + $("#pos-vals").text(x+","+y); + } +}; + +export async function executePlan() { + let plan = $("#plan-text").val(); + const planList = []; + plan.split("\n").forEach(function(e){ + let line = e.split(",").map(k=>parseInt(k)); + if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){ + console.log("invalid plan"); + } + else{ + planList.push(line) + } + }); + + async function execute() { + for (var i = 0; i < planList.length; i++) { + let [w, a, s, d, t] = planList[i]; + while(t > 0){ + console.log(w, a, s, d, t); + if(w==1){$("#key-w").mousedown();} + if(a==1){$("#key-a").mousedown();} + if(s==1){$("#key-s").mousedown();} + if(d==1){$("#key-d").mousedown();} + await sleep(50); + $("#key-w").mouseup(); + $("#key-a").mouseup(); + $("#key-s").mouseup(); + $("#key-d").mouseup(); + t = t - 0.05; + } + } + } + execute(); +} \ No newline at end of file diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js new file mode 100644 index 0000000000..f521905724 --- /dev/null +++ b/tools/bodyteleop/static/js/jsmain.js @@ -0,0 +1,23 @@ +import { handleKeyX, executePlan } from "./controls.js"; +import { start, stop, last_ping } from "./webrtc.js"; + +export var pc = null; +export var dc = null; + +document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1))); +document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0))); +$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1)); +$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0)); +$("#plan-button").click(executePlan); + +setInterval( () => { + const dt = new Date().getTime(); + if ((dt - last_ping) > 1000) { + $(".pre-blob").removeClass('blob'); + $("#battery").text("-"); + $("#ping-time").text('-'); + $("video")[0].load(); + } +}, 5000); + +start(pc, dc); \ No newline at end of file diff --git a/tools/bodyteleop/static/js/plots.js b/tools/bodyteleop/static/js/plots.js new file mode 100644 index 0000000000..5327bf71be --- /dev/null +++ b/tools/bodyteleop/static/js/plots.js @@ -0,0 +1,53 @@ +export const pingPoints = []; +export const batteryPoints = []; + +function getChartConfig(pts, color, title, ymax=100) { + return { + type: 'line', + data: { + datasets: [{ + label: title, + data: pts, + borderWidth: 1, + borderColor: color, + backgroundColor: color, + fill: 'origin' + }] + }, + options: { + scales: { + x: { + type: 'time', + time: { + unit: 'minute', + displayFormats: { + second: 'h:mm a' + } + }, + grid: { + color: '#222', // Grid lines color + }, + ticks: { + source: 'data', + fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color + } + }, + y: { + beginAtZero: true, + max: ymax, + grid: { + color: 'rgba(255, 255, 255, 0.1)', // Grid lines color + }, + ticks: { + fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color + } + } + } + } + } +} + +const ctxPing = document.getElementById('chart-ping'); +const ctxBattery = document.getElementById('chart-battery'); +export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250)); +export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100)); diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js new file mode 100644 index 0000000000..7668c1c1e4 --- /dev/null +++ b/tools/bodyteleop/static/js/webrtc.js @@ -0,0 +1,227 @@ +import { getXY } from "./controls.js"; +import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js"; + +export let dcInterval = null; +export let batteryInterval = null; +export let last_ping = null; + + +export function createPeerConnection(pc) { + var config = { + sdpSemantics: 'unified-plan' + }; + + pc = new RTCPeerConnection(config); + + // connect audio / video + pc.addEventListener('track', function(evt) { + console.log("Adding Tracks!") + if (evt.track.kind == 'video') + document.getElementById('video').srcObject = evt.streams[0]; + else + document.getElementById('audio').srcObject = evt.streams[0]; + }); + return pc; +} + + +export function negotiate(pc) { + return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) { + return pc.setLocalDescription(offer); + }).then(function() { + return new Promise(function(resolve) { + if (pc.iceGatheringState === 'complete') { + resolve(); + } + else { + function checkState() { + if (pc.iceGatheringState === 'complete') { + pc.removeEventListener('icegatheringstatechange', checkState); + resolve(); + } + } + pc.addEventListener('icegatheringstatechange', checkState); + } + }); + }).then(function() { + var offer = pc.localDescription; + return fetch('/offer', { + body: JSON.stringify({ + sdp: offer.sdp, + type: offer.type, + }), + headers: { + 'Content-Type': 'application/json' + }, + method: 'POST' + }); + }).then(function(response) { + console.log(response); + return response.json(); + }).then(function(answer) { + return pc.setRemoteDescription(answer); + }).catch(function(e) { + alert(e); + }); +} + + +function isMobile() { + let check = false; + (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera); + return check; +}; + + +export const constraints = { + audio: { + autoGainControl: false, + sampleRate: 48000, + sampleSize: 16, + echoCancellation: true, + noiseSuppression: true, + channelCount: 1 + }, + video: isMobile() +}; + + +export function createDummyVideoTrack() { + const canvas = document.createElement('canvas'); + const context = canvas.getContext('2d'); + + const frameWidth = 5; // Set the width of the frame + const frameHeight = 5; // Set the height of the frame + canvas.width = frameWidth; + canvas.height = frameHeight; + + context.fillStyle = 'black'; + context.fillRect(0, 0, frameWidth, frameHeight); + + const stream = canvas.captureStream(); + const videoTrack = stream.getVideoTracks()[0]; + + return videoTrack; +} + + +export function start(pc, dc) { + pc = createPeerConnection(pc); + + // add audio track + navigator.mediaDevices.enumerateDevices() + .then(function(devices) { + const hasAudioInput = devices.find((device) => { device.kind === "audioinput" }); + var modifiedConstraints = {}; + modifiedConstraints.video = constraints.video; + modifiedConstraints.audio = hasAudioInput ? constraints.audio : false; + + return Promise.resolve(modifiedConstraints); + }) + .then(function(constraints) { + if (constraints.audio || constraints.video) { + return navigator.mediaDevices.getUserMedia(constraints); + } else{ + return Promise.resolve(null); + } + }) + .then(function(stream) { + if (stream) { + stream.getTracks().forEach(function(track) { + pc.addTrack(track, stream); + }); + } + + return negotiate(pc); + }) + .catch(function(err) { + alert('Could not acquire media: ' + err); + }); + + // add a fake video? + // const dummyVideoTrack = createDummyVideoTrack(); + // const dummyMediaStream = new MediaStream(); + // dummyMediaStream.addTrack(dummyVideoTrack); + // pc.addTrack(dummyVideoTrack, dummyMediaStream); + + // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000) + // var video = document.querySelector('video'); + // var print = function (e, f){console.log(e, f); video.requestVideoFrameCallback(print);}; + // video.requestVideoFrameCallback(print); + + var parameters = {"ordered": true}; + dc = pc.createDataChannel('data', parameters); + dc.onclose = function() { + console.log("data channel closed"); + clearInterval(dcInterval); + clearInterval(batteryInterval); + }; + function controlCommand() { + const {x, y} = getXY(); + const dt = new Date().getTime(); + var message = JSON.stringify({type: 'control_command', x, y, dt}); + dc.send(message); + } + + function batteryLevel() { + var message = JSON.stringify({type: 'battery_level'}); + dc.send(message); + } + + dc.onopen = function() { + dcInterval = setInterval(controlCommand, 50); + batteryInterval = setInterval(batteryLevel, 10000); + controlCommand(); + batteryLevel(); + $(".sound").click((e)=>{ + const sound = $(e.target).attr('id').replace('sound-', '') + dc.send(JSON.stringify({type: 'play_sound', sound})); + }); + }; + + let val_print_idx = 0; + dc.onmessage = function(evt) { + const data = JSON.parse(evt.data); + if(val_print_idx == 0 && data.type === 'ping_time') { + const dt = new Date().getTime(); + const pingtime = dt - data.incoming_time; + pingPoints.push({'x': dt, 'y': pingtime}); + if (pingPoints.length > 1000) { + pingPoints.shift(); + } + chartPing.update(); + $("#ping-time").text((pingtime) + "ms"); + last_ping = dt; + $(".pre-blob").addClass('blob'); + } + val_print_idx = (val_print_idx + 1 ) % 20; + if(data.type === 'battery_level') { + $("#battery").text(data.value + "%"); + batteryPoints.push({'x': new Date().getTime(), 'y': data.value}); + if (batteryPoints.length > 1000) { + batteryPoints.shift(); + } + chartBattery.update(); + } + }; +} + + +export function stop(pc, dc) { + if (dc) { + dc.close(); + } + if (pc.getTransceivers) { + pc.getTransceivers().forEach(function(transceiver) { + if (transceiver.stop) { + transceiver.stop(); + } + }); + } + pc.getSenders().forEach(function(sender) { + sender.track.stop(); + }); + setTimeout(function() { + pc.close(); + }, 500); +} diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css new file mode 100644 index 0000000000..1bfb5982b4 --- /dev/null +++ b/tools/bodyteleop/static/main.css @@ -0,0 +1,185 @@ +body { + background: #333 !important; + color: #fff !important; + display: flex; + justify-content: center; + align-items: start; +} + +p { + margin: 0px !important; +} + +i { + font-style: normal; +} + +.small { + font-size: 1em !important +} + +.jumbo { + font-size: 8rem; +} + + +@media (max-width: 600px) { + .small { + font-size: 0.5em !important + } + .jumbo { + display: none; + } + +} + +#main { + display: flex; + flex-direction: column; + align-content: center; + justify-content: center; + align-items: center; + font-size: 30px; + width: 100%; + max-width: 1200px; +} + +video { + width: 95%; +} + +.pre-blob { + display: flex; + background: #333; + border-radius: 50%; + margin: 10px; + height: 45px; + width: 45px; + justify-content: center; + align-items: center; + font-size: 1rem; +} + +.blob { + background: rgba(231, 76, 60,1.0); + box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0); + animation: pulse 2s infinite; +} + +@keyframes pulse { + 0% { + box-shadow: 0 0 0 0px rgba(192, 57, 43, 1); + } + 100% { + box-shadow: 0 0 0 20px rgba(192, 57, 43, 0); + } +} + + +.icon-sup-panel { + display: flex; + flex-direction: row; + justify-content: space-around; + align-items: center; + background: #222; + border-radius: 10px; + padding: 5px; + margin: 5px 0px 5px 0px; +} + +.icon-sub-panel { + display: flex; + flex-direction: column; + justify-content: space-between; + align-items: center; +} + +#icon-panel { + display: flex; + width: 100%; + justify-content: space-between; + margin-top: 5px; +} + +.icon-sub-sub-panel { + display: flex; + flex-direction: row; +} + +.keys, #key-val { + background: #333; + padding: 2rem; + margin: 5px; + color: #fff; + display: flex; + justify-content: center; + align-items: center; + border-radius: 10px; + cursor: pointer; +} + +#key-val { + pointer-events: none; + background: #fff; + color: #333; + line-height: 1; + font-size: 20px; + flex-direction: column; +} + +.wasd-row { + display: flex; + flex-direction: row; + justify-content: center; + align-items: stretch; +} + +#wasd { + margin: 5px 0px 5px 0px; + background: #222; + border-radius: 10px; + width: 100%; + padding: 20px; + display: flex; + flex-direction: row; + justify-content: space-around; + align-items: stretch; + + user-select: none; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + touch-action: manipulation; +} + +.panel { + display: flex; + justify-content: center; + margin: 5px 0px 5px 0px !important; + background: #222; + border-radius: 10px; + width: 100%; + padding: 10px; +} + +#ping-time, #battery { + font-size: 25px; +} + +#stop { + display: none; +} + +.plan-form { + display: flex; + flex-direction: column; + justify-content: space-between; + align-items: center; +} + +.details { + display: flex; + padding: 0px 10px 0px 10px; +} diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png new file mode 100644 index 0000000000..ba0e846b22 Binary files /dev/null and b/tools/bodyteleop/static/poster.png differ diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py new file mode 100644 index 0000000000..717afdeaf8 --- /dev/null +++ b/tools/bodyteleop/web.py @@ -0,0 +1,207 @@ +import asyncio +import json +import logging +import os +import ssl +import uuid +import time + +# aiortc and its dependencies have lots of internal warnings :( +import warnings +warnings.resetwarnings() +warnings.simplefilter("always") + +from aiohttp import web +from aiortc import RTCPeerConnection, RTCSessionDescription + +import cereal.messaging as messaging +from openpilot.common.basedir import BASEDIR +from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo + +logger = logging.getLogger("pc") +logging.basicConfig(level=logging.INFO) + +pcs = set() +pm, sm = None, None +TELEOPDIR = f"{BASEDIR}/tools/bodyteleop" + + +async def index(request): + content = open(TELEOPDIR + "/static/index.html", "r").read() + now = time.monotonic() + request.app['mutable_vals']['last_send_time'] = now + request.app['mutable_vals']['last_override_time'] = now + request.app['mutable_vals']['prev_command'] = [] + request.app['mutable_vals']['find_person'] = False + + return web.Response(content_type="text/html", text=content) + + +async def control_body(data, app): + now = time.monotonic() + if (data['type'] == 'dummy_controls') and (now < (app['mutable_vals']['last_send_time'] + 0.2)): + return + if (data['type'] == 'control_command') and (app['mutable_vals']['prev_command'] == [data['x'], data['y']] and data['x'] == 0 and data['y'] == 0): + return + + logger.info(str(data)) + x = max(-1.0, min(1.0, data['x'])) + y = max(-1.0, min(1.0, data['y'])) + dat = messaging.new_message('testJoystick') + dat.testJoystick.axes = [x, y] + dat.testJoystick.buttons = [False] + pm.send('testJoystick', dat) + app['mutable_vals']['last_send_time'] = now + if (data['type'] == 'control_command'): + app['mutable_vals']['last_override_time'] = now + app['mutable_vals']['prev_command'] = [data['x'], data['y']] + + +async def dummy_controls_msg(app): + while True: + if 'last_send_time' in app['mutable_vals']: + this_time = time.monotonic() + if (app['mutable_vals']['last_send_time'] + 0.2) < this_time: + await control_body({'type': 'dummy_controls', 'x': 0, 'y': 0}, app) + await asyncio.sleep(0.2) + + +async def start_background_tasks(app): + app['bgtask_dummy_controls_msg'] = asyncio.create_task(dummy_controls_msg(app)) + + +async def stop_background_tasks(app): + app['bgtask_dummy_controls_msg'].cancel() + await app['bgtask_dummy_controls_msg'] + + +async def offer(request): + logger.info("\n\n\nnewoffer!\n\n") + + params = await request.json() + offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"]) + speaker = WebClientSpeaker() + blackhole = MediaBlackhole() + + pc = RTCPeerConnection() + pc_id = "PeerConnection(%s)" % uuid.uuid4() + pcs.add(pc) + + def log_info(msg, *args): + logger.info(pc_id + " " + msg, *args) + + log_info("Created for %s", request.remote) + + @pc.on("datachannel") + def on_datachannel(channel): + request.app['mutable_vals']['remote_channel'] = channel + + @channel.on("message") + async def on_message(message): + data = json.loads(message) + if data['type'] == 'control_command': + await control_body(data, request.app) + times = { + 'type': 'ping_time', + 'incoming_time': data['dt'], + 'outgoing_time': int(time.time() * 1000), + } + channel.send(json.dumps(times)) + if data['type'] == 'battery_level': + sm.update(timeout=0) + if sm.updated['carState']: + channel.send(json.dumps({'type': 'battery_level', 'value': int(sm['carState'].fuelGauge * 100)})) + if data['type'] == 'play_sound': + logger.info(f"Playing sound: {data['sound']}") + await play_sound(data['sound']) + if data['type'] == 'find_person': + request.app['mutable_vals']['find_person'] = data['value'] + + @pc.on("connectionstatechange") + async def on_connectionstatechange(): + log_info("Connection state is %s", pc.connectionState) + if pc.connectionState == "failed": + await pc.close() + pcs.discard(pc) + + @pc.on('track') + def on_track(track): + logger.info(f"Track received: {track.kind}") + if track.kind == "audio": + speaker.addTrack(track) + elif track.kind == "video": + blackhole.addTrack(track) + + @track.on("ended") + async def on_ended(): + log_info("Remote %s track ended", track.kind) + if track.kind == "audio": + await speaker.stop() + elif track.kind == "video": + await blackhole.stop() + + video_sender = pc.addTrack(EncodedBodyVideo()) + force_codec(pc, video_sender, forced_codec='video/H264') + _ = pc.addTrack(BodyMic()) + + await pc.setRemoteDescription(offer) + await speaker.start() + await blackhole.start() + answer = await pc.createAnswer() + await pc.setLocalDescription(answer) + + return web.Response( + content_type="application/json", + text=json.dumps( + {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type} + ), + ) + + +async def on_shutdown(app): + coros = [pc.close() for pc in pcs] + await asyncio.gather(*coros) + pcs.clear() + + +async def run(cmd): + proc = await asyncio.create_subprocess_shell( + cmd, + stdout=asyncio.subprocess.PIPE, + stderr=asyncio.subprocess.PIPE + ) + stdout, stderr = await proc.communicate() + logger.info("Created key and cert!") + if stdout: + logger.info(f'[stdout]\n{stdout.decode()}') + if stderr: + logger.info(f'[stderr]\n{stderr.decode()}') + + +def main(): + global pm, sm + pm = messaging.PubMaster(['testJoystick']) + sm = messaging.SubMaster(['carState', 'logMessage']) + # App needs to be HTTPS for microphone and audio autoplay to work on the browser + cert_path = TELEOPDIR + '/cert.pem' + key_path = TELEOPDIR + '/key.pem' + if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)): + asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \ + -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"')) + else: + logger.info("Certificate exists!") + ssl_context = ssl.SSLContext() + ssl_context.load_cert_chain(cert_path, key_path) + app = web.Application() + app['mutable_vals'] = {} + app.on_shutdown.append(on_shutdown) + app.router.add_post("/offer", offer) + app.router.add_get("/", index) + app.router.add_static('/static', TELEOPDIR + '/static') + app.on_startup.append(start_background_tasks) + app.on_cleanup.append(stop_background_tasks) + web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context) + + +if __name__ == "__main__": + main() diff --git a/tools/cabana/README.md b/tools/cabana/README.md index cfda056636..53723ef8a6 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -17,6 +17,7 @@ Options: --stream read can messages from live streaming --panda read can messages from panda --panda-serial read can messages from panda with given serial + --socketcan read can messages from given SocketCAN device --zmq the ip address on which to receive zmq messages --data_dir local directory with routes diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d726872718..f1a7581870 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -9,9 +9,11 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', if arch == "Darwin": base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') + base_frameworks.append('QtSerialBus') else: base_libs.append('OpenCL') base_libs.append('Qt5Charts') + base_libs.append('Qt5SerialBus') qt_libs = ['qt_util'] + base_libs @@ -27,18 +29,17 @@ assets_src = "assets/assets.qrc" cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET") cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"])) -prev_moc_path = cabana_env['QT_MOCHPREFIX'] -cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) -if GetOption('test'): +if GetOption('extras'): cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) -generate_dbc = cabana_env.Command('generate_dbc_json', - [], - "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json") +output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json' +generate_dbc = cabana_env.Command('#' + output_json_file, + ['dbc/generate_dbc_json.py'], + "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file) cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"]) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 6aac56cc78..bd43c337bd 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,5 +1,7 @@ #include "tools/cabana/binaryview.h" +#include + #include #include #include diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 161b2aad8a..04e1d5b2af 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 49b8fcf6ca..33403a2bff 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -7,6 +7,7 @@ #include "tools/cabana/streams/devicestream.h" #include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" +#include "tools/cabana/streams/socketcanstream.h" int main(int argc, char *argv[]) { QCoreApplication::setApplicationName("Cabana"); @@ -28,6 +29,9 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"stream", "read can messages from live streaming"}); cmd_parser.addOption({"panda", "read can messages from panda"}); cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"}); + if (SocketCanStream::available()) { + cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"}); + } cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.addOption({"no-vipc", "do not output video"}); @@ -50,6 +54,10 @@ int main(int argc, char *argv[]) { qWarning() << e.what(); return 0; } + } else if (cmd_parser.isSet("socketcan")) { + SocketCanStreamConfig config = {}; + config.device = cmd_parser.value("socketcan"); + stream = new SocketCanStream(&app, config); } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { @@ -67,12 +75,7 @@ int main(int argc, char *argv[]) { } else if (cmd_parser.isSet("demo")) { route = DEMO_ROUTE; } - - if (route.isEmpty()) { - StreamSelector dlg(&stream); - dlg.exec(); - dbc_file = dlg.dbcFile(); - } else { + if (!route.isEmpty()) { auto replay_stream = new ReplayStream(&app); if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; @@ -81,17 +84,28 @@ int main(int argc, char *argv[]) { } } - MainWindow w; - if (!stream) { - stream = new DummyStream(&app); - } - stream->start(); - if (!dbc_file.isEmpty()) { - w.loadFile(dbc_file); - } - w.show(); + int ret = 0; + { + MainWindow w; + QTimer::singleShot(0, [&]() { + if (!stream) { + StreamSelector dlg(&stream); + dlg.exec(); + dbc_file = dlg.dbcFile(); + } + if (!stream) { + stream = new DummyStream(&app); + } + stream->start(); + if (!dbc_file.isEmpty()) { + w.loadFile(dbc_file); + } + w.show(); + }); + + ret = app.exec(); + } - int ret = app.exec(); delete can; return ret; } diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 7ba2e87110..18a9adbe07 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -1,5 +1,8 @@ #include "tools/cabana/chart/chart.h" +#include +#include + #include #include #include @@ -764,6 +767,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); } else { series = new QScatterSeries(this); + static_cast(series)->setBorderColor(color); chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); } series->setColor(color); diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 272ea0d193..2740d81b66 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index ebc463af0e..e852e6d206 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -1,5 +1,7 @@ #include "tools/cabana/chart/chartswidget.h" +#include + #include #include #include diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 0d9f79062a..88ba4226c0 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index baedee8bb2..4692b41e4b 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -1,5 +1,6 @@ #include "tools/cabana/chart/sparkline.h" +#include #include #include "tools/cabana/streams/abstractstream.h" diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h index 2061966ebb..21cbd40a3f 100644 --- a/tools/cabana/chart/sparkline.h +++ b/tools/cabana/chart/sparkline.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc index f34d7e8dfe..f5c9cc9cbd 100644 --- a/tools/cabana/chart/tiplabel.cc +++ b/tools/cabana/chart/tiplabel.cc @@ -1,5 +1,7 @@ #include "tools/cabana/chart/tiplabel.h" +#include + #include #include #include diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index a1e667807e..c7f59c4c7f 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 691a1c4fb8..537749e48d 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -1,5 +1,7 @@ #include "tools/cabana/dbc/dbc.h" +#include + #include "tools/cabana/util.h" uint qHash(const MessageId &item) { diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index 6a3084d943..e44bc41abf 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,10 +1,14 @@ #pragma once +#include +#include +#include +#include + #include #include #include #include -#include #include "opendbc/can/common_dbc.h" diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index f20d4888e2..3ac0829487 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -3,6 +3,7 @@ #include #include #include +#include #include "tools/cabana/dbc/dbcfile.h" diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index cb122e2eb2..da19e27b77 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -2,7 +2,7 @@ import argparse import json -from selfdrive.car.car_helpers import get_interface_attr +from openpilot.selfdrive.car.car_helpers import get_interface_attr def generate_dbc_json() -> str: diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index cf9dea88db..7381884cf3 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,5 +1,7 @@ #include "tools/cabana/historylog.h" +#include + #include #include #include @@ -153,7 +155,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); + hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); it->colors = hex_colors.colors; } } @@ -166,7 +168,7 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti auto msgs = fetchData(first, events.cend(), 0); if (update_colors) { for (auto it = msgs.begin(); it != msgs.end(); ++it) { - hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); + hex_colors.compute(msg_id, it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq); it->colors = hex_colors.colors; } } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 2dea698f68..a68fbdbf43 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,6 +1,8 @@ #pragma once #include +#include + #include #include #include diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index fa91095706..d3caf492a6 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,6 +1,9 @@ #include "tools/cabana/mainwin.h" +#include #include +#include + #include #include #include diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index fe4c7afb03..6a3d11cda1 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,4 +1,10 @@ #include "tools/cabana/messageswidget.h" + +#include +#include +#include +#include + #include #include #include @@ -9,7 +15,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0 ,0, 0, 0); + main_layout->setContentsMargins(0, 0, 0, 0); QHBoxLayout *title_layout = new QHBoxLayout(); num_msg_label = new QLabel(this); @@ -168,7 +174,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { auto getFreq = [](const CanData &d) -> QString { if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) { - return d.freq >= 1 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); + return d.freq >= 0.95 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); } else { return "--"; } @@ -177,7 +183,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { switch (index.column()) { case Column::NAME: return msgName(id); - case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A" ; + case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A"; case Column::ADDRESS: return QString::number(id.address, 16); case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A"; case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A"; @@ -275,7 +281,8 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co case Column::NAME: { const auto msg = dbc()->msg(id); match = re.match(msg ? msg->name : UNTITLED).hasMatch(); - match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); }); + match = match || (msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), + [&re](const auto &s) { return re.match(s->name).hasMatch(); })); break; } case Column::SOURCE: @@ -283,7 +290,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co break; case Column::ADDRESS: { match = re.match(QString::number(id.address, 16)).hasMatch(); - match |= parseRange(txt, id.address, 16); + match = match || parseRange(txt, id.address, 16); break; } case Column::FREQ: @@ -295,8 +302,8 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co break; case Column::DATA: { match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive); - match |= re.match(QString(data.dat.toHex())).hasMatch(); - match |= re.match(QString(data.dat.toHex(' '))).hasMatch(); + match = match || re.match(QString(data.dat.toHex())).hasMatch(); + match = match || re.match(QString(data.dat.toHex(' '))).hasMatch(); break; } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 2e165f5b7c..f6d71a5a2e 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,5 +1,9 @@ #pragma once +#include +#include +#include + #include #include #include diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index ce10576ffe..1b1c8dac22 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -1,5 +1,7 @@ #include "tools/cabana/signalview.h" +#include + #include #include #include diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 9541ac8a3b..9d8571d0b8 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include @@ -129,7 +131,7 @@ private: QAbstractItemView::dataChanged(topLeft, bottomRight, roles); } void leaveEvent(QEvent *event) override { - emit ((SignalView *)parentWidget())->highlight(nullptr); + emit static_cast(parentWidget())->highlight(nullptr); QTreeView::leaveEvent(event); } }; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 7cd210d8f1..c8945aec64 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,7 +1,12 @@ #include "tools/cabana/streams/abstractstream.h" +#include +#include + #include +static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB + AbstractStream *can = nullptr; StreamNotifier *StreamNotifier::instance() { @@ -9,8 +14,11 @@ StreamNotifier *StreamNotifier::instance() { return ¬ifier; } -AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash()), QObject(parent) { +AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); + new_msgs = std::make_unique>(); + event_buffer = std::make_unique(EVENT_NEXT_BUFFER_SIZE); + QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); @@ -59,7 +67,7 @@ void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t std::lock_guard lk(mutex); auto mask_it = masks.find(id); std::vector *mask = mask_it == masks.end() ? nullptr : &mask_it->second; - all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask); + all_msgs[id].compute(id, (const char *)data, size, sec, getSpeed(), mask); if (!new_msgs->contains(id)) { new_msgs->insert(id, {}); } @@ -110,9 +118,8 @@ void AbstractStream::updateLastMsgsTo(double sec) { if (it != ev.crend()) { double ts = (*it)->mono_time / 1e9 - routeStartTime(); auto &m = all_msgs[id]; - m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); + m.compute(id, (const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); m.count = std::distance(it, ev.crend()); - m.freq = m.count / std::max(1.0, ts); } } @@ -127,61 +134,52 @@ void AbstractStream::updateLastMsgsTo(double sec) { } void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) { - size_t memory_size = 0; - size_t events_cnt = 0; - for (auto it = first; it != last; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size(); - ++events_cnt; - } - } - } - if (memory_size == 0) return; + static std::unordered_map> new_events_map; + static std::vector new_events; + new_events_map.clear(); + new_events.clear(); - char *ptr = memory_blocks.emplace_back(new char[memory_size]).get(); - std::unordered_map> new_events_map; - std::vector new_events; - new_events.reserve(events_cnt); for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { uint64_t ts = (*it)->mono_time; for (const auto &c : (*it)->event.getCan()) { - CanEvent *e = (CanEvent *)ptr; + auto dat = c.getDat(); + CanEvent *e = (CanEvent *)event_buffer->allocate(sizeof(CanEvent) + sizeof(uint8_t) * dat.size()); e->src = c.getSrc(); e->address = c.getAddress(); e->mono_time = ts; - auto dat = c.getDat(); e->size = dat.size(); memcpy(e->dat, (uint8_t *)dat.begin(), e->size); new_events_map[{.source = e->src, .address = e->address}].push_back(e); new_events.push_back(e); - ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size; } } } - bool append = new_events.front()->mono_time > lastest_event_ts; + auto compare = [](const CanEvent *l, const CanEvent *r) { + return l->mono_time < r->mono_time; + }; + for (auto &[id, new_e] : new_events_map) { auto &e = events_[id]; - auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) { - return l->mono_time < r->mono_time; - }); - e.insert(pos, new_e.cbegin(), new_e.cend()); + auto insert_pos = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), compare); + e.insert(insert_pos, new_e.cbegin(), new_e.cend()); } - auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) { - return l->mono_time < r->mono_time; - }); - all_events_.insert(pos, new_events.cbegin(), new_events.cend()); + if (!new_events.empty()) { + auto insert_pos = std::upper_bound(all_events_.cbegin(), all_events_.cend(), new_events.front(), compare); + all_events_.insert(insert_pos, new_events.cbegin(), new_events.cend()); + } - lastest_event_ts = all_events_.back()->mono_time; + lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time; emit eventsMerged(); } // CanData +namespace { + constexpr int periodic_threshold = 10; constexpr int start_alpha = 128; constexpr float fade_time = 2.0; @@ -192,15 +190,41 @@ const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135); const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135); const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135); -static inline QColor blend(const QColor &a, const QColor &b) { +inline QColor blend(const QColor &a, const QColor &b) { return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); } -void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const std::vector *mask, uint32_t in_freq) { +// Calculate the frequency of the past minute. +double calc_freq(const MessageId &msg_id, double current_sec) { + auto compare = [](const CanEvent *e, uint64_t mono_time) { + return e->mono_time < mono_time; + }; + + const auto &events = can->events(msg_id); + uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9; + uint64_t first_mono_time = std::max(0, cur_mono_time - 59 * 1e9); + auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, compare); + auto second = std::lower_bound(first, events.end(), cur_mono_time, compare); + if (first != events.end() && second != events.end()) { + double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9; + uint32_t count = std::distance(first, second); + return count / std::max(1.0, duration); + } + return 0; +} + +} // namespace + +void CanData::compute(const MessageId &msg_id, const char *can_data, const int size, double current_sec, + double playback_speed, const std::vector *mask, double in_freq) { ts = current_sec; ++count; - const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime()); - freq = in_freq == 0 ? count / std::max(1.0, sec_to_first_event) : in_freq; + + if (auto sec = seconds_since_boot(); (sec - last_freq_update_ts) >= 1) { + last_freq_update_ts = sec; + freq = !in_freq ? calc_freq(msg_id, ts) : in_freq; + } + if (dat.size() != size) { dat.resize(size); bit_change_counts.resize(size); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index fb42a58e24..62ab3f2f4b 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -3,17 +3,23 @@ #include #include #include +#include +#include #include +#include + #include #include +#include "common/timing.h" #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/settings.h" #include "tools/cabana/util.h" #include "tools/replay/replay.h" struct CanData { - void compute(const char *dat, const int size, double current_sec, double playback_speed, const std::vector *mask, uint32_t in_freq = 0); + void compute(const MessageId &msg_id, const char *dat, const int size, double current_sec, + double playback_speed, const std::vector *mask = nullptr, double in_freq = 0); double ts = 0.; uint32_t count = 0; @@ -24,6 +30,7 @@ struct CanData { std::vector> bit_change_counts; std::vector last_delta; std::vector same_delta_counter; + double last_freq_update_ts = seconds_since_boot(); }; struct CanEvent { @@ -34,12 +41,18 @@ struct CanEvent { uint8_t dat[]; }; +struct BusConfig { + int can_speed_kbps = 500; + int data_speed_kbps = 2000; + bool can_fd = false; +}; + class AbstractStream : public QObject { Q_OBJECT public: AbstractStream(QObject *parent); - virtual ~AbstractStream() {}; + virtual ~AbstractStream() {} virtual void start() = 0; inline bool liveStreaming() const { return route() == nullptr; } virtual void seekTo(double ts) {} @@ -88,7 +101,7 @@ protected: QHash all_msgs; std::unordered_map> events_; std::vector all_events_; - std::deque> memory_blocks; + std::unique_ptr event_buffer; std::mutex mutex; std::unordered_map> masks; }; diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 5631f64d68..349a2d7a1c 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -1,5 +1,8 @@ #include "tools/cabana/streams/devicestream.h" +#include +#include + #include #include #include diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 91c88c97ca..3f8397f56c 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,5 +1,8 @@ #include "tools/cabana/streams/livestream.h" +#include +#include + struct LiveStream::Logger { Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {} diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index b4816d090f..38ef2c67f9 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,5 +1,9 @@ #pragma once +#include +#include +#include + #include #include "tools/cabana/streams/abstractstream.h" diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index 275ed84f43..4a6c588e51 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -1,5 +1,7 @@ #include "tools/cabana/streams/pandastream.h" +#include + #include #include #include @@ -7,6 +9,20 @@ #include "selfdrive/ui/qt/util.h" +// TODO: remove clearLayout +static void clearLayout(QLayout* layout) { + while (layout->count() > 0) { + QLayoutItem* item = layout->takeAt(0); + if (QWidget* widget = item->widget()) { + widget->deleteLater(); + } + if (QLayout* childLayout = item->layout()) { + clearLayout(childLayout); + } + delete item; + } +} + PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { if (config.serial.isEmpty()) { auto serials = Panda::list(); diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index f726c5cfb6..43803950f9 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include @@ -10,12 +13,6 @@ const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; -struct BusConfig { - int can_speed_kbps = 500; - int data_speed_kbps = 2000; - bool can_fd = false; -}; - struct PandaStreamConfig { QString serial = ""; std::vector bus_config; diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index eddcf514f7..de69d9e86c 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -1,5 +1,11 @@ #pragma once +#include +#include +#include +#include +#include + #include "common/prefix.h" #include "tools/cabana/streams/abstractstream.h" diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc new file mode 100644 index 0000000000..3df8e31f3b --- /dev/null +++ b/tools/cabana/streams/socketcanstream.cc @@ -0,0 +1,114 @@ +#include "tools/cabana/streams/socketcanstream.h" + +#include +#include +#include + +SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) { + if (!available()) { + throw std::runtime_error("SocketCAN plugin not available"); + } + + qDebug() << "Connecting to SocketCAN device" << config.device; + if (!connect()) { + throw std::runtime_error("Failed to connect to SocketCAN device"); + } +} + +bool SocketCanStream::available() { + return QCanBus::instance()->plugins().contains("socketcan"); +} + +bool SocketCanStream::connect() { + // Connecting might generate some warnings about missing socketcan/libsocketcan libraries + // These are expected and can be ignored, we don't need the advanced features of libsocketcan + QString errorString; + device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString)); + + if (!device) { + qDebug() << "Failed to create SocketCAN device" << errorString; + return false; + } + + if (!device->connectDevice()) { + qDebug() << "Failed to connect to device"; + return false; + } + + return true; +} + +void SocketCanStream::streamThread() { + while (!QThread::currentThread()->isInterruptionRequested()) { + QThread::msleep(1); + + auto frames = device->readAllFrames(); + if (frames.size() == 0) continue; + + MessageBuilder msg; + auto evt = msg.initEvent(); + auto canData = evt.initCan(frames.size()); + + + for (uint i = 0; i < frames.size(); i++) { + if (!frames[i].isValid()) continue; + + canData[i].setAddress(frames[i].frameId()); + canData[i].setSrc(0); + + auto payload = frames[i].payload(); + canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size())); + } + + auto bytes = msg.toBytes(); + handleEvent((const char*)bytes.begin(), bytes.size()); + } +} + +AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) { + return new OpenSocketCanWidget(stream); +} + +OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(1); + + QFormLayout *form_layout = new QFormLayout(); + + QHBoxLayout *device_layout = new QHBoxLayout(); + device_edit = new QComboBox(); + device_edit->setFixedWidth(300); + device_layout->addWidget(device_edit); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setFixedWidth(100); + device_layout->addWidget(refresh); + form_layout->addRow(tr("Device"), device_layout); + main_layout->addLayout(form_layout); + + main_layout->addStretch(1); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices); + QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); }); + + // Populate devices + refreshDevices(); +} + +void OpenSocketCanWidget::refreshDevices() { + device_edit->clear(); + for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) { + device_edit->addItem(device.name()); + } +} + + +bool OpenSocketCanWidget::open() { + try { + *stream = new SocketCanStream(qApp, config); + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what())); + return false; + } + return true; +} diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h new file mode 100644 index 0000000000..6f2d7aa353 --- /dev/null +++ b/tools/cabana/streams/socketcanstream.h @@ -0,0 +1,52 @@ +#pragma once + +#include + +#include +#include +#include + +#include +#include +#include + +#include "tools/cabana/streams/livestream.h" + +struct SocketCanStreamConfig { + QString device = ""; // TODO: support multiple devices/buses at once +}; + +class SocketCanStream : public LiveStream { + Q_OBJECT +public: + SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); + static AbstractOpenStreamWidget *widget(AbstractStream **stream); + + static bool available(); + + inline QString routeName() const override { + return QString("Live Streaming From Socket CAN %1").arg(config.device); + } + +protected: + void streamThread() override; + bool connect(); + + SocketCanStreamConfig config = {}; + std::unique_ptr device; +}; + +class OpenSocketCanWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenSocketCanWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&SocketCAN"); } + +private: + void refreshDevices(); + + QComboBox *device_edit; + SocketCanStreamConfig config = {}; +}; diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index 6da44ecd1a..719ba72920 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -6,9 +6,11 @@ #include #include +#include "streams/socketcanstream.h" #include "tools/cabana/streams/devicestream.h" #include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" +#include "tools/cabana/streams/socketcanstream.h" StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Open stream")); @@ -40,6 +42,9 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial addStreamWidget(ReplayStream::widget(stream)); addStreamWidget(PandaStream::widget(stream)); + if (SocketCanStream::available()) { + addStreamWidget(SocketCanStream::widget(stream)); + } addStreamWidget(DeviceStream::widget(stream)); QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 91292b718a..a3d014dd2c 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -7,7 +7,7 @@ #include "tools/cabana/streams/abstractstream.h" // demo route, first segment -const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; +const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2"; TEST_CASE("DBCFile::generateDBC") { QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can"); diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index fceb823bbb..b19babdf88 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -180,8 +180,8 @@ void FindSignalDlg::search() { std::function cmp = nullptr; switch (compare_cb->currentIndex()) { case 0: cmp = [v1](double v) { return v == v1;}; break; - case 1: cmp = [v1](double v) { return v > v1;};break; - case 2: cmp = [v1](double v) { return v >= v1;};break; + case 1: cmp = [v1](double v) { return v > v1;}; break; + case 2: cmp = [v1](double v) { return v >= v1;}; break; case 3: cmp = [v1](double v) { return v != v1;}; break; case 4: cmp = [v1](double v) { return v < v1;}; break; case 5: cmp = [v1](double v) { return v <= v1;}; break; diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h index f046bdf7e3..e9e5f9f180 100644 --- a/tools/cabana/tools/findsignal.h +++ b/tools/cabana/tools/findsignal.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include #include #include diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 72429104a5..c3c659791a 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -1,5 +1,7 @@ #include "tools/cabana/tools/findsimilarbits.h" +#include + #include #include #include diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 31a4486772..951856e32d 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,12 +1,16 @@ #include "tools/cabana/util.h" +#include #include #include +#include +#include +#include #include #include -#include #include +#include #include #include #include @@ -261,3 +265,26 @@ QString signalToolTip(const cabana::Signal *sig) { )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb) .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); } + +// MonotonicBuffer + +void *MonotonicBuffer::allocate(size_t bytes, size_t alignment) { + assert(bytes > 0); + void *p = std::align(alignment, bytes, current_buf, available); + if (p == nullptr) { + available = next_buffer_size = std::max(next_buffer_size, bytes); + current_buf = buffers.emplace_back(std::aligned_alloc(alignment, next_buffer_size)); + next_buffer_size *= growth_factor; + p = current_buf; + } + + current_buf = (char *)current_buf + bytes; + available -= bytes; + return p; +} + +MonotonicBuffer::~MonotonicBuffer() { + for (auto buf : buffers) { + free(buf); + } +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index a53abfd0bb..9e93e74833 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,6 +1,9 @@ #pragma once #include +#include +#include +#include #include #include @@ -57,7 +60,7 @@ public: private: std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const; void build_tree(const QVector &arr, int n, int left, int right); - std::vector> tree; + std::vector> tree; int size = 0; }; @@ -97,7 +100,7 @@ namespace utils { QPixmap icon(const QString &id); void setTheme(int theme); inline QString formatSeconds(int seconds) { - return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); + return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } } @@ -151,5 +154,20 @@ private: QSocketNotifier *sn; }; +class MonotonicBuffer { +public: + MonotonicBuffer(size_t initial_size) : next_buffer_size(initial_size) {} + ~MonotonicBuffer(); + void *allocate(size_t bytes, size_t alignment = 16ul); + void deallocate(void *p) {} + +private: + void *current_buf = nullptr; + size_t next_buffer_size = 0; + size_t available = 0; + std::deque buffers; + static constexpr float growth_factor = 1.5; +}; + int num_decimals(double num); QString signalToolTip(const cabana::Signal *sig); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 46642e5244..f535c6b729 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,5 +1,10 @@ #include "tools/cabana/videowidget.h" +#include +#include +#include +#include + #include #include #include diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 670e866534..7ddd315e48 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,7 +1,11 @@ #pragma once #include +#include +#include #include +#include +#include #include #include diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 0e524c5a04..ac7ca2520b 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -26,7 +26,7 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False): if nvidia: os.environ["NV_LOW_LATENCY"] = "3" # both bLowLatency and CUVID_PKT_ENDOFPICTURE sys.path += os.environ["LD_LIBRARY_PATH"].split(":") - import PyNvCodec as nvc # pylint: disable=import-error + import PyNvCodec as nvc nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0) cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG) @@ -95,7 +95,9 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False): pc_latency = (time.monotonic()-time_q[0])*1000 time_q = time_q[1:] if debug: - print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name) + print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" + % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, + process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name) class CompressedVipc: def __init__(self, addr, vision_streams, nvidia=False, debug=False): diff --git a/tools/camerastream/receive.py b/tools/camerastream/receive.py index 6f8d67c78f..bf6929c039 100755 --- a/tools/camerastream/receive.py +++ b/tools/camerastream/receive.py @@ -4,7 +4,7 @@ import sys import numpy as np os.environ['ZMQ'] = '1' -from common.window import Window +from openpilot.common.window import Window import cereal.messaging as messaging # start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad' diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index a2e130342c..3bad2770cd 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse import multiprocessing -import rpyc # pylint: disable=import-error +import rpyc from collections import defaultdict from helper import download_rinex, exec_LimeGPS_bin diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index 178e8b2c3c..cdedd8ea57 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -4,12 +4,12 @@ import shutil from datetime import datetime from collections import defaultdict -import rpyc # pylint: disable=import-error -from rpyc.utils.server import ThreadedServer # pylint: disable=import-error +import rpyc +from rpyc.utils.server import ThreadedServer -#from common.params import Params +#from openpilot.common.params import Params import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes from laika.lib.coordinates import ecef2geodetic DELTA = 0.001 @@ -128,7 +128,7 @@ class RemoteCheckerService(rpyc.Service): if pos_geo is None or len(pos_geo) == 0: continue - match = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon])) + match = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True)) match &= abs(pos_geo[2] - salt) < ALT_DELTA if match: match_cnt += 1 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py old mode 100644 new mode 100755 index 2c08c105a1..98f1ad84b8 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -3,11 +3,11 @@ import time import unittest import struct -from common.params import Params +from openpilot.common.params import Params import cereal.messaging as messaging -import system.sensord.pigeond as pd -from system.hardware import TICI -from selfdrive.test.helpers import with_processes +import openpilot.system.sensord.pigeond as pd +from openpilot.system.hardware import TICI +from openpilot.selfdrive.test.helpers import with_processes def read_events(service, duration_sec): @@ -30,7 +30,7 @@ def create_backup(pigeon): pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") try: if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): - assert False, "Could not store almanac" + raise RuntimeError("Could not store almanac") except TimeoutError: pass diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py old mode 100644 new mode 100755 index b3ce93fc81..c399671715 --- a/tools/gpstest/test_gps_qcom.py +++ b/tools/gpstest/test_gps_qcom.py @@ -3,10 +3,10 @@ import time import unittest import subprocess as sp -from common.params import Params -from system.hardware import TICI +from openpilot.common.params import Params +from openpilot.system.hardware import TICI import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes def exec_mmcli(cmd): diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py old mode 100644 new mode 100755 index 689b0f0b9f..abb47d4bfc --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,12 +4,12 @@ import time import unittest import cereal.messaging as messaging -import system.sensord.pigeond as pd +import openpilot.system.sensord.pigeond as pd -from common.params import Params -from system.hardware import TICI -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.helpers import with_processes +from openpilot.common.params import Params +from openpilot.system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.helpers import with_processes def wait_for_location(sm, timeout, con=10): diff --git a/update_requirements.sh b/tools/install_python_dependencies.sh similarity index 52% rename from update_requirements.sh rename to tools/install_python_dependencies.sh index b2b36e7097..07bb8ac9a4 100755 --- a/update_requirements.sh +++ b/tools/install_python_dependencies.sh @@ -2,7 +2,8 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR +ROOT=$DIR/../ +cd $ROOT RC_FILE="${HOME}/.$(basename ${SHELL})rc" if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then @@ -12,27 +13,35 @@ fi if ! command -v "pyenv" > /dev/null 2>&1; then echo "pyenv install ..." curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash + PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH" +fi - echo -e "\n. ~/.pyenvrc" >> $RC_FILE +if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then + echo "pyenvrc setup ..." cat < "${HOME}/.pyenvrc" if [ -z "\$PYENV_ROOT" ]; then - export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH + $PYENV_PATH_SETUP export PYENV_ROOT="\$HOME/.pyenv" eval "\$(pyenv init -)" eval "\$(pyenv virtualenv-init -)" fi EOF - # setup now without restarting shell - export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH - export PYENV_ROOT="$HOME/.pyenv" - eval "$(pyenv init -)" - eval "$(pyenv virtualenv-init -)" + SOURCE_PYENVRC="source ~/.pyenvrc" + if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then + printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE + fi + + eval "$SOURCE_PYENVRC" + # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS + if [ $(uname) == "Darwin" ]; then + unset -f pyenv + fi fi export MAKEFLAGS="-j$(nproc)" -PYENV_PYTHON_VERSION=$(cat .python-version) +PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version) if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then # no pyenv update on mac if [ "$(uname)" == "Linux" ]; then @@ -45,39 +54,33 @@ fi eval "$(pyenv init --path)" echo "update pip" -pip install pip==22.3.1 -pip install poetry==1.2.2 +pip install pip==23.2.1 +pip install poetry==1.5.1 poetry config virtualenvs.prefer-active-python true --local +poetry config virtualenvs.in-project true --local -if [[ -n "$XX" ]] || [[ "$(basename "$(dirname "$(pwd)")")" == "xx" ]]; then - XX=true +echo "PYTHONPATH=${PWD}" > $ROOT/.env +if [[ "$(uname)" == 'Darwin' ]]; then + echo "# msgq doesn't work on mac" >> $ROOT/.env + echo "export ZMQ=1" >> $ROOT/.env + echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env fi -POETRY_INSTALL_ARGS="--no-cache --no-root" - -if [ -n "$XX" ]; then - echo "WARNING: using xx dependency group, installing globally" - poetry config virtualenvs.create false --local - POETRY_INSTALL_ARGS="$POETRY_INSTALL_ARGS --with xx --sync" -else - echo "PYTHONPATH=${PWD}" > .env - poetry self add poetry-dotenv-plugin@^0.1.0 -fi +poetry self add poetry-dotenv-plugin@^0.1.0 echo "pip packages install..." -poetry install $POETRY_INSTALL_ARGS +poetry install --no-cache --no-root pyenv rehash -[ -n "$XX" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" +[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" if [ "$(uname)" != "Darwin" ]; then echo "pre-commit hooks install..." shopt -s nullglob for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do - cd $DIR/$(dirname $f) - if [ -e ".git" ]; then - $RUN pre-commit install + if [ -e "$ROOT/$(dirname $f)/.git" ]; then + $RUN pre-commit install -c "$f" fi done fi diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh new file mode 100755 index 0000000000..78a01f2b75 --- /dev/null +++ b/tools/install_ubuntu_dependencies.sh @@ -0,0 +1,135 @@ +#!/usr/bin/env bash +set -e + +SUDO="" + +# Use sudo if not root +if [[ ! $(id -u) -eq 0 ]]; then + if [[ -z $(which sudo) ]]; then + echo "Please install sudo or run as root" + exit 1 + fi + SUDO="sudo" +fi + +# Install packages present in all supported versions of Ubuntu +function install_ubuntu_common_requirements() { + $SUDO apt-get update + $SUDO apt-get install -y --no-install-recommends \ + autoconf \ + build-essential \ + ca-certificates \ + casync \ + clang \ + cmake \ + make \ + cppcheck \ + libtool \ + gcc-arm-none-eabi \ + bzip2 \ + liblzma-dev \ + libarchive-dev \ + libbz2-dev \ + capnproto \ + libcapnp-dev \ + curl \ + libcurl4-openssl-dev \ + git \ + git-lfs \ + ffmpeg \ + libavformat-dev \ + libavcodec-dev \ + libavdevice-dev \ + libavutil-dev \ + libavfilter-dev \ + libeigen3-dev \ + libffi-dev \ + libglew-dev \ + libgles2-mesa-dev \ + libglfw3-dev \ + libglib2.0-0 \ + libncurses5-dev \ + libncursesw5-dev \ + libomp-dev \ + libopencv-dev \ + libpng16-16 \ + libportaudio2 \ + libssl-dev \ + libsqlite3-dev \ + libusb-1.0-0-dev \ + libzmq3-dev \ + libsystemd-dev \ + locales \ + opencl-headers \ + ocl-icd-libopencl1 \ + ocl-icd-opencl-dev \ + clinfo \ + portaudio19-dev \ + qml-module-qtquick2 \ + qtmultimedia5-dev \ + qtlocation5-dev \ + qtpositioning5-dev \ + qttools5-dev-tools \ + libqt5sql5-sqlite \ + libqt5svg5-dev \ + libqt5charts5-dev \ + libqt5serialbus5-dev \ + libqt5x11extras5-dev \ + libreadline-dev \ + libdw1 \ + valgrind +} + +# Install Ubuntu 22.04 LTS packages +function install_ubuntu_lts_latest_requirements() { + install_ubuntu_common_requirements + + $SUDO apt-get install -y --no-install-recommends \ + g++-12 \ + qtbase5-dev \ + qtchooser \ + qt5-qmake \ + qtbase5-dev-tools \ + python3-dev +} + +# Install Ubuntu 20.04 packages +function install_ubuntu_focal_requirements() { + install_ubuntu_common_requirements + + $SUDO apt-get install -y --no-install-recommends \ + libavresample-dev \ + qt5-default \ + python-dev +} + +# Detect OS using /etc/os-release file +if [ -f "/etc/os-release" ]; then + source /etc/os-release + case "$VERSION_CODENAME" in + "jammy") + install_ubuntu_lts_latest_requirements + ;; + "kinetic") + install_ubuntu_lts_latest_requirements + ;; + "focal") + install_ubuntu_focal_requirements + ;; + *) + echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04." + read -p "Would you like to attempt installation anyway? " -n 1 -r + echo "" + if [[ ! $REPLY =~ ^[Yy]$ ]]; then + exit 1 + fi + if [ "$UBUNTU_CODENAME" = "jammy" ] || [ "$UBUNTU_CODENAME" = "kinetic" ]; then + install_ubuntu_lts_latest_requirements + else + install_ubuntu_focal_requirements + fi + esac +else + echo "No /etc/os-release in the system" + exit 1 +fi diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index b31dab83fe..82847e3fa1 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -5,10 +5,10 @@ import threading from inputs import get_gamepad import cereal.messaging as messaging -from common.realtime import Ratekeeper -from common.numpy_fast import interp, clip -from common.params import Params -from tools.lib.kbhit import KBHit +from openpilot.common.realtime import Ratekeeper +from openpilot.common.numpy_fast import interp, clip +from openpilot.common.params import Params +from openpilot.tools.lib.kbhit import KBHit class Keyboard: diff --git a/tools/joystick/web.py b/tools/joystick/web.py deleted file mode 100755 index 5cba4e938d..0000000000 --- a/tools/joystick/web.py +++ /dev/null @@ -1,78 +0,0 @@ -#!/usr/bin/env python3 -import time -import threading -from flask import Flask - -import cereal.messaging as messaging - -app = Flask(__name__) -pm = messaging.PubMaster(['testJoystick']) - -index = """ - - - - - -
- -""" - -@app.route("/") -def hello_world(): - return index - -last_send_time = time.monotonic() -@app.route("/control//") -def control(x, y): - global last_send_time - x,y = float(x), float(y) - x = max(-1, min(1, x)) - y = max(-1, min(1, y)) - dat = messaging.new_message('testJoystick') - dat.testJoystick.axes = [y,x] - dat.testJoystick.buttons = [False] - pm.send('testJoystick', dat) - last_send_time = time.monotonic() - return "" - -def handle_timeout(): - while 1: - this_time = time.monotonic() - if (last_send_time+0.5) < this_time: - #print("timeout, no web in %.2f s" % (this_time-last_send_time)) - dat = messaging.new_message('testJoystick') - dat.testJoystick.axes = [0,0] - dat.testJoystick.buttons = [False] - pm.send('testJoystick', dat) - time.sleep(0.1) - -def main(): - threading.Thread(target=handle_timeout, daemon=True).start() - app.run(host="0.0.0.0") - -if __name__ == '__main__': - main() diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 81a4790dea..f2adc97e01 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,7 +8,7 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" diff --git a/tools/lib/README.md b/tools/lib/README.md index d77eef5ac5..daf74aaf40 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -3,10 +3,10 @@ Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader -r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36") +r = Route("a2a0ccea32023010|2023-07-27--13-01-19") # get a list of paths for the route's rlog files print(r.log_paths()) @@ -37,11 +37,11 @@ for msg in lr: `MultiLogIterator` is similar to `LogReader`, but reads multiple logs. ```python -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator # setup a MultiLogIterator to read all the logs in the route -r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36") +r = Route("a2a0ccea32023010|2023-07-27--13-01-19") lr = MultiLogIterator(r.log_paths()) # print all the steering angles values from all the logs in the route diff --git a/tools/lib/auth.py b/tools/lib/auth.py index 086027968f..997d1f860d 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -29,8 +29,8 @@ from http.server import BaseHTTPRequestHandler, HTTPServer from typing import Any, Dict from urllib.parse import parse_qs, urlencode -from tools.lib.api import APIError, CommaApi, UnauthorizedError -from tools.lib.auth_config import set_token, get_token +from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError +from openpilot.tools.lib.auth_config import set_token, get_token PORT = 3000 @@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler): self.end_headers() self.wfile.write(b'Return to the CLI to continue') - def log_message(self, format, *args): # pylint: disable=redefined-builtin + def log_message(self, *args): pass # this prevent http server from dumping messages to stdout diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index 7952fee495..8863dd57a2 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -1,7 +1,7 @@ import json import os -from common.file_helpers import mkdirs_exists_ok -from system.hardware import PC +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.system.hardware import PC class MissingAuthConfigError(Exception): diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 1e474e5dde..01756bb5e9 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -3,9 +3,9 @@ import functools import re from typing import List, Optional -from tools.lib.auth_config import get_token -from tools.lib.api import CommaApi -from tools.lib.helpers import RE, timestamp_to_datetime +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.helpers import RE, timestamp_to_datetime @functools.total_ordering diff --git a/tools/lib/cache.py b/tools/lib/cache.py index 82b2298730..d142955e59 100644 --- a/tools/lib/cache.py +++ b/tools/lib/cache.py @@ -1,6 +1,6 @@ import os import urllib.parse -from common.file_helpers import mkdirs_exists_ok +from openpilot.common.file_helpers import mkdirs_exists_ok DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache") diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 215f7b2185..5ac23d57ec 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,11 +1,11 @@ import os -from tools.lib.url_file import URLFile +from openpilot.tools.lib.url_file import URLFile DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") def FileReader(fn, debug=False): if fn.startswith("cd:/"): fn = fn.replace("cd:/", DATA_ENDPOINT) - if fn.startswith("http://") or fn.startswith("https://"): + if fn.startswith(("http://", "https://")): return URLFile(fn, debug=debug) return open(fn, "rb") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index d9920ab128..cbc9310790 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -1,4 +1,3 @@ -# pylint: skip-file import json import os import pickle @@ -13,11 +12,11 @@ import numpy as np from lru import LRU import _io -from tools.lib.cache import cache_path_for_file_path -from tools.lib.exceptions import DataUnreadableError -from common.file_helpers import atomic_write_in_dir +from openpilot.tools.lib.cache import cache_path_for_file_path +from openpilot.tools.lib.exceptions import DataUnreadableError +from openpilot.common.file_helpers import atomic_write_in_dir -from tools.lib.filereader import FileReader +from openpilot.tools.lib.filereader import FileReader HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 @@ -70,8 +69,8 @@ def ffprobe(fn, fmt=None): try: ffprobe_output = subprocess.check_output(cmd) - except subprocess.CalledProcessError: - raise DataUnreadableError(fn) + except subprocess.CalledProcessError as e: + raise DataUnreadableError(fn) from e return json.loads(ffprobe_output) @@ -80,14 +79,14 @@ def vidindex(fn, typ): vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex") vidindex = os.path.join(vidindex_dir, "vidindex") - subprocess.check_call(["make"], cwd=vidindex_dir, stdout=open("/dev/null", "w")) + subprocess.check_call(["make"], cwd=vidindex_dir, stdout=subprocess.DEVNULL) with tempfile.NamedTemporaryFile() as prefix_f, \ tempfile.NamedTemporaryFile() as index_f: try: subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name]) - except subprocess.CalledProcessError: - raise DataUnreadableError(f"vidindex failed on file {fn}") + except subprocess.CalledProcessError as e: + raise DataUnreadableError(f"vidindex failed on file {fn}") from e with open(index_f.name, "rb") as f: index = f.read() with open(prefix_f.name, "rb") as f: @@ -237,25 +236,23 @@ def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt): threads = os.getenv("FFMPEG_THREADS", "0") cuda = os.getenv("FFMPEG_CUDA", "0") == "1" - proc = subprocess.Popen( - ["ffmpeg", - "-threads", threads, - "-hwaccel", "none" if not cuda else "cuda", - "-c:v", "hevc", - "-vsync", "0", - "-f", vid_fmt, - "-flags2", "showall", - "-i", "pipe:0", - "-threads", threads, - "-f", "rawvideo", - "-pix_fmt", pix_fmt, - "pipe:1"], - stdin=tmpf, stdout=subprocess.PIPE, stderr=open("/dev/null")) - - # dat = proc.communicate()[0] - dat = proc.stdout.read() - if proc.wait() != 0: - raise DataUnreadableError("ffmpeg failed") + args = ["ffmpeg", + "-threads", threads, + "-hwaccel", "none" if not cuda else "cuda", + "-c:v", "hevc", + "-vsync", "0", + "-f", vid_fmt, + "-flags2", "showall", + "-i", "pipe:0", + "-threads", threads, + "-f", "rawvideo", + "-pix_fmt", pix_fmt, + "pipe:1"] + with subprocess.Popen(args, stdin=tmpf, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) as proc: + # dat = proc.communicate()[0] + dat = proc.stdout.read() + if proc.wait() != 0: + raise DataUnreadableError("ffmpeg failed") if pix_fmt == "rgb24": ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) @@ -418,7 +415,7 @@ class VideoStreamDecompressor: elif self.pix_fmt == "yuv444p": ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w)) else: - assert False + raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}") yield ret result_code = self.proc.wait() diff --git a/tools/lib/kbhit.py b/tools/lib/kbhit.py old mode 100644 new mode 100755 diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 46c648ef12..e528996f32 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -8,8 +8,8 @@ import warnings from cereal import log as capnp_log -from tools.lib.filereader import FileReader -from tools.lib.route import Route, SegmentName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.route import Route, SegmentName # this is an iterator itself, and uses private variables from LogReader class MultiLogIterator: @@ -98,7 +98,7 @@ class LogReader: for e in ents: _ents.append(e) except capnp.KjException: - warnings.warn("Corrupted events detected", RuntimeWarning) + warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1) self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) self._ts = [x.logMonoTime for x in self._ents] diff --git a/tools/lib/route.py b/tools/lib/route.py index 388cb003e6..e37b7d4434 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -5,9 +5,9 @@ from collections import defaultdict from itertools import chain from typing import Optional -from tools.lib.auth_config import get_token -from tools.lib.api import CommaApi -from tools.lib.helpers import RE +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.helpers import RE QLOG_FILENAMES = ['qlog', 'qlog.bz2'] QCAMERA_FILENAMES = ['qcamera.ts'] diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py old mode 100644 new mode 100755 index d2a2a6872f..7702b52e3e --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,18 +1,14 @@ #!/usr/bin/env python3 import os -import shutil import unittest - -os.environ["COMMA_CACHE"] = "/tmp/__test_cache__" -from tools.lib.url_file import URLFile, CACHE_DIR +from openpilot.tools.lib.url_file import URLFile +from openpilot.selfdrive.test.helpers import temporary_cache_dir class TestFileDownload(unittest.TestCase): def compare_loads(self, url, start=0, length=None): """Compares range between cached and non cached version""" - shutil.rmtree(CACHE_DIR) - file_cached = URLFile(url, cache=True) file_downloaded = URLFile(url, cache=False) @@ -35,6 +31,7 @@ class TestFileDownload(unittest.TestCase): self.assertEqual(file_cached.get_length(), file_downloaded.get_length()) self.assertEqual(response_cached, response_downloaded) + @temporary_cache_dir def test_small_file(self): # Make sure we don't force cache os.environ["FILEREADER_CACHE"] = "0" @@ -55,6 +52,7 @@ class TestFileDownload(unittest.TestCase): for i in range(length // 100): self.compare_loads(small_file_url, 100 * i, 100) + @temporary_cache_dir def test_large_file(self): large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" # Load the end 100 bytes of both files diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py index 6efa0dc351..1f24ae5c8e 100755 --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -5,8 +5,8 @@ import tempfile from collections import defaultdict import numpy as np -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader class TestReaders(unittest.TestCase): diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py index fbe7f3e776..7977f17be2 100755 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -2,19 +2,19 @@ import unittest from collections import namedtuple -from tools.lib.route import SegmentName +from openpilot.tools.lib.route import SegmentName class TestRouteLibrary(unittest.TestCase): def test_segment_name_formats(self): Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir']) - cases = [ Case("4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, None), - Case("4cf7a6ad03080c90/2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, None), - Case("4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, None), - Case("4cf7a6ad03080c90/2021-09-29--13-46-36/3", "4cf7a6ad03080c90|2021-09-29--13-46-36", 3, None), - Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, "/data/media/0/realdata"), - Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, "/data/media/0/realdata"), - Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, "/data/media/0/realdata") ] + cases = [ Case("a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, None), + Case("a2a0ccea32023010/2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, None), + Case("a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, None), + Case("a2a0ccea32023010/2023-07-27--13-01-19/3", "a2a0ccea32023010|2023-07-27--13-01-19", 3, None), + Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, "/data/media/0/realdata"), + Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, "/data/media/0/realdata"), + Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, "/data/media/0/realdata") ] def _validate(case): route_or_segment_name = case.input diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 1e94a588f1..e93f8e715c 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -1,5 +1,3 @@ -# pylint: skip-file - import os import time import tempfile @@ -9,7 +7,7 @@ import pycurl from hashlib import sha256 from io import BytesIO from tenacity import retry, wait_random_exponential, stop_after_attempt -from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir +from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c index d174ffa8a7..dc6f43f14f 100644 --- a/tools/lib/vidindex/bitstream.c +++ b/tools/lib/vidindex/bitstream.c @@ -1,8 +1,8 @@ +#include "./bitstream.h" + #include #include -#include "bitstream.h" - static const uint32_t BS_MASKS[33] = { 0, 0x1L, 0x3L, 0x7L, 0xFL, 0x1FL, 0x3FL, 0x7FL, 0xFFL, 0x1FFL, 0x3FFL, 0x7FFL, diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c index 4857c60dd2..1d7da2e193 100644 --- a/tools/lib/vidindex/vidindex.c +++ b/tools/lib/vidindex/vidindex.c @@ -9,7 +9,7 @@ #include #include -#include "bitstream.h" +#include "./bitstream.h" #define START_CODE 0x000001 diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 4a4cc0c65d..c767131f51 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -1,4 +1,4 @@ -#!/bin/bash +#!/usr/bin/env bash set -e @@ -28,7 +28,6 @@ if [[ $(command -v brew) == "" ]]; then fi fi -# TODO: remove protobuf,protobuf-c,swig when casadi can be pip installed brew bundle --file=- <<-EOS brew "catch2" brew "cmake" @@ -47,11 +46,9 @@ brew "libtool" brew "llvm" brew "openssl@3.0" brew "pyenv" +brew "pyenv-virtualenv" brew "qt@5" brew "zeromq" -brew "protobuf" -brew "protobuf-c" -brew "swig" brew "gcc@12" cask "gcc-arm-embedded" brew "portaudio" @@ -73,16 +70,8 @@ export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include" export PYCURL_CURL_CONFIG=/usr/bin/curl-config export PYCURL_SSL_LIBRARY=openssl -# openpilot environment -if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then - echo "source $ROOT/tools/openpilot_env.sh" >> $RC_FILE - source "$ROOT/tools/openpilot_env.sh" - echo "Added openpilot_env to RC file: $RC_FILE" -fi - # install python dependencies -$ROOT/update_requirements.sh -eval "$(pyenv init --path)" +$DIR/install_python_dependencies.sh echo "[ ] installed python dependencies t=$SECONDS" echo diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh deleted file mode 100755 index 59108312ac..0000000000 --- a/tools/openpilot_env.sh +++ /dev/null @@ -1,22 +0,0 @@ -if [ -z "$OPENPILOT_ENV" ]; then - export PATH="$HOME/.pyenv/bin:$PATH" - - # Pyenv suggests we place the below two lines in .profile before we source - # .bashrc, but there is no simple way to guarantee we do this correctly - # programmatically across heterogeneous systems. For end-user convenience, - # we add the lines here as a workaround. - # https://github.com/pyenv/pyenv/issues/1906 - export PYENV_ROOT="$HOME/.pyenv" - - if [[ "$(uname)" == 'Linux' ]]; then - eval "$(pyenv virtualenv-init -)" - elif [[ "$(uname)" == 'Darwin' ]]; then - # msgq doesn't work on mac - export ZMQ=1 - export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES - fi - eval "$(pyenv init --path)" - eval "$(pyenv init -)" - - export OPENPILOT_ENV=1 -fi diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index b4190384db..ca9946145d 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -38,11 +38,11 @@ optional arguments: Examples using route name: -`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"` +`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"` Examples using segment name: -`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36--1"` +`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"` ## Streaming diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index e147cf9ce8..02858b1edf 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -10,16 +10,16 @@ import tempfile import requests import argparse -from common.basedir import BASEDIR -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from tools.lib.route import Route, SegmentName -from tools.lib.helpers import save_log +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentName +from openpilot.tools.lib.helpers import save_log from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) -DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" +DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest" INSTALL_DIR = os.path.join(juggle_dir, "bin") PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler") @@ -129,7 +129,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No if dbc is None: for cp in [m for m in all_data if m.which() == 'carParams']: try: - DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC + DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC dbc = DBC[cp.carParams.carFingerprint]['pt'] except Exception: pass @@ -168,7 +168,7 @@ if __name__ == "__main__": if not os.path.exists(PLOTJUGGLER_BIN): print("PlotJuggler is missing. Downloading...") install() - + if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION: print("PlotJuggler is out of date. Installing update...") install() diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml index ff8f3ad193..33a24f76d6 100644 --- a/tools/plotjuggler/layouts/longitudinal.xml +++ b/tools/plotjuggler/layouts/longitudinal.xml @@ -3,10 +3,10 @@ - + - + @@ -15,7 +15,16 @@ - + + + + + + + + + + @@ -23,7 +32,7 @@ - + diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 8fc032042a..b002331cd7 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -6,9 +6,9 @@ import subprocess import time import unittest -from common.basedir import BASEDIR -from common.timeout import Timeout -from tools.plotjuggler.juggle import install +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.tools.plotjuggler.juggle import install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") @@ -18,19 +18,18 @@ class TestPlotJuggler(unittest.TestCase): install() pj = os.path.join(PJ_DIR, "juggle.py") - p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', - stderr=subprocess.PIPE, shell=True, start_new_session=True) + with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', + stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: + # Wait for "Done reading Rlog data" signal from the plugin + output = "\n" + with Timeout(180, error_msg=output): + while output.splitlines()[-1] != "Done reading Rlog data": + output += p.stderr.readline().decode("utf-8") - # Wait for "Done reading Rlog data" signal from the plugin - output = "\n" - with Timeout(180, error_msg=output): - while output.splitlines()[-1] != "Done reading Rlog data": - output += p.stderr.readline().decode("utf-8") - - # ensure plotjuggler didn't crash after exiting the plugin - time.sleep(15) - self.assertEqual(p.poll(), None) - os.killpg(os.getpgid(p.pid), signal.SIGTERM) + # ensure plotjuggler didn't crash after exiting the plugin + time.sleep(15) + self.assertEqual(p.poll(), None) + os.killpg(os.getpgid(p.pid), signal.SIGTERM) # TODO: also test that layouts successfully load def test_layouts(self): diff --git a/tools/replay/README.md b/tools/replay/README.md index 6c2cdf9521..91e89176a2 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -12,7 +12,7 @@ python tools/lib/auth.py tools/replay/replay # Example: -tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19' # or use --demo to replay the default demo route: tools/replay/replay --demo diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 4ddeb662e0..bce7512e44 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -21,5 +21,5 @@ Export('replay_lib') replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) -if GetOption('test'): - qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) +if GetOption('extras'): + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs]) diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 66898c9244..49f3010c6c 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,7 +1,19 @@ #include "tools/replay/camera.h" -#include "tools/replay/util.h" #include +#include + +#include "third_party/linux/include/msm_media_info.h" +#include "tools/replay/util.h" + +std::tuple get_nv12_info(int width, int height) { + int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height); + assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width)); + assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height)); + size_t nv12_buffer_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage + return {nv12_width, nv12_height, nv12_buffer_size}; +} CameraServer::CameraServer(std::pair camera_size[MAX_CAMERAS]) { for (int i = 0; i < MAX_CAMERAS; ++i) { @@ -25,7 +37,9 @@ void CameraServer::startVipcServer() { for (auto &cam : cameras_) { if (cam.width > 0 && cam.height > 0) { rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height); - vipc_server_->create_buffers(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height); + auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height); + vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height, + nv12_buffer_size, nv12_width, nv12_width * nv12_height); if (!cam.thread.joinable()) { cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam)); } @@ -38,7 +52,7 @@ void CameraServer::cameraThread(Camera &cam) { auto read_frame = [&](FrameReader *fr, int frame_id) { VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type); assert(yuv_buf); - bool ret = fr->get(frame_id, (uint8_t *)yuv_buf->addr); + bool ret = fr->get(frame_id, yuv_buf); return ret ? yuv_buf : nullptr; }; diff --git a/tools/replay/camera.h b/tools/replay/camera.h index 66d33142fb..9f43c5a362 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -1,11 +1,18 @@ #pragma once #include + +#include +#include +#include + #include "cereal/visionipc/visionipc_server.h" #include "common/queue.h" #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" +std::tuple get_nv12_info(int width, int height); + class CameraServer { public: CameraServer(std::pair camera_size[MAX_CAMERAS] = nullptr); diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 52666c4db0..032c29824a 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,21 +8,11 @@ from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' -from common.basedir import BASEDIR -from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from selfdrive.boardd.boardd import can_capnp_to_can_list -from tools.plotjuggler.juggle import load_segment -from tools.lib.logreader import logreader_from_route_or_segment -from panda import Panda - -try: - # this bool can be replaced when mypy understands this pattern - panda_jungle_imported = True - from panda_jungle import PandaJungle # pylint: disable=import-error # type: ignore -except ImportError: - PandaJungle = None - panda_jungle_imported = False - +from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL +from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list +from openpilot.tools.plotjuggler.juggle import load_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from panda import Panda, PandaJungle def send_thread(s, flock): if "Jungle" in str(type(s)): @@ -94,10 +84,6 @@ if __name__ == "__main__": parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") args = parser.parse_args() - if not panda_jungle_imported: - print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m") - print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m") - print("Loading log...") if args.route_or_segment_name is None: ROUTE = "77611a1fac303767/2020-03-24--09-50-38" diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5cbd3818a6..719bbd69ca 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -1,7 +1,11 @@ #include "tools/replay/consoleui.h" -#include #include +#include +#include +#include + +#include #include "common/version.h" diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index ed276c627c..303f0c60ca 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -2,9 +2,8 @@ #include "tools/replay/util.h" #include -#include "libyuv.h" - -#include "cereal/visionipc/visionbuf.h" +#include +#include "third_party/libyuv/include/libyuv.h" #ifdef __APPLE__ #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX @@ -118,7 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s width = (decoder_ctx->width + 3) & ~3; height = decoder_ctx->height; - visionbuf_compute_aligned_width_and_height(width, height, &aligned_width, &aligned_height); if (has_hw_decoder && !no_hw_decoder) { if (!initHardwareDecoder(HW_DEVICE_TYPE)) { @@ -177,15 +175,15 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) { return true; } -bool FrameReader::get(int idx, uint8_t *yuv) { - assert(yuv != nullptr); +bool FrameReader::get(int idx, VisionBuf *buf) { + assert(buf != nullptr); if (!valid_ || idx < 0 || idx >= packets.size()) { return false; } - return decode(idx, yuv); + return decode(idx, buf); } -bool FrameReader::decode(int idx, uint8_t *yuv) { +bool FrameReader::decode(int idx, VisionBuf *buf) { int from_idx = idx; if (idx != prev_idx + 1 && key_frames_count_ > 1) { // seeking to the nearest key frame @@ -201,7 +199,7 @@ bool FrameReader::decode(int idx, uint8_t *yuv) { for (int i = from_idx; i <= idx; ++i) { AVFrame *f = decodeFrame(packets[i]); if (f && i == idx) { - return copyBuffers(f, yuv); + return copyBuffers(f, buf); } } return false; @@ -233,22 +231,20 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) { } } -bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) { - assert(f != nullptr && yuv != nullptr); - uint8_t *y = yuv; - uint8_t *uv = y + width * height; +bool FrameReader::copyBuffers(AVFrame *f, VisionBuf *buf) { + assert(f != nullptr && buf != nullptr); if (hw_pix_fmt == HW_PIX_FMT) { for (int i = 0; i < height/2; i++) { - memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width); - memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width); - memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width); + memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width); + memcpy(buf->y + (i*2 + 1)*buf->stride, f->data[0] + (i*2 + 1)*f->linesize[0], width); + memcpy(buf->uv + i*buf->stride, f->data[1] + i*f->linesize[1], width); } } else { libyuv::I420ToNV12(f->data[0], f->linesize[0], f->data[1], f->linesize[1], f->data[2], f->linesize[2], - y, width, - uv, width, + buf->y, buf->stride, + buf->uv, buf->stride, width, height); } return true; diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index e50b61d7f4..bb72ac8f8d 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -4,6 +4,7 @@ #include #include +#include "cereal/visionipc/visionbuf.h" #include "tools/replay/filereader.h" extern "C" { @@ -22,19 +23,18 @@ public: bool load(const std::string &url, bool no_hw_decoder = false, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic *abort = nullptr); - bool get(int idx, uint8_t *yuv); + bool get(int idx, VisionBuf *buf); int getYUVSize() const { return width * height * 3 / 2; } size_t getFrameCount() const { return packets.size(); } bool valid() const { return valid_; } int width = 0, height = 0; - int aligned_width = 0, aligned_height = 0; private: bool initHardwareDecoder(AVHWDeviceType hw_device_type); - bool decode(int idx, uint8_t *yuv); + bool decode(int idx, VisionBuf *buf); AVFrame * decodeFrame(AVPacket *pkt); - bool copyBuffers(AVFrame *f, uint8_t *yuv); + bool copyBuffers(AVFrame *f, VisionBuf *buf); std::vector packets; std::unique_ptrav_frame_, hw_frame; diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index 1c18298969..e350b89bac 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -3,14 +3,14 @@ from typing import Any, Dict, Tuple import matplotlib.pyplot as plt import numpy as np -import pygame # pylint: disable=import-error +import pygame from matplotlib.backends.backend_agg import FigureCanvasAgg -from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, +from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, tici_f_frame_size, tici_f_focal_length, get_view_frame_from_calib_frame) -from selfdrive.controls.radard import RADAR_TO_CAMERA +from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA RED = (255, 0, 0) @@ -161,7 +161,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co idxs.append(name_to_arr_idx[item]) plot_select.append(i) axs[i].set_title(", ".join(f"{nm} ({cl})" - for (nm, cl) in zip(pl_list, plot_colors[i])), fontsize=10) + for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) axs[i].tick_params(axis="x", colors="white") axs[i].tick_params(axis="y", colors="white") axs[i].title.set_color("white") @@ -205,11 +205,11 @@ def plot_model(m, img, calibration, top_down): px, py_bottom = to_topdown_pt(x - x_std, y) top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) - for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds): + for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): color = (0, int(255 * prob), 0) draw_path(path, color, img, calibration, top_down, YELLOW) - for edge, std in zip(m.roadEdges, m.roadEdgeStds): + for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True): prob = max(1 - std, 0) color = (int(255 * prob), 0, 0) draw_path(edge, color, img, calibration, top_down, RED) diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index 9a5df2eeed..74aebceae5 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -29,8 +29,7 @@ Event::Event(const kj::ArrayPtr &amsg, bool frame) : reader(a LogReader::LogReader(size_t memory_pool_block_size) { #ifdef HAS_MEMORY_RESOURCE const size_t buf_size = sizeof(Event) * memory_pool_block_size; - pool_buffer_ = ::operator new(buf_size); - mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size); + mbr_ = std::make_unique(buf_size); #endif events.reserve(memory_pool_block_size); } @@ -39,11 +38,6 @@ LogReader::~LogReader() { for (Event *e : events) { delete e; } - -#ifdef HAS_MEMORY_RESOURCE - delete mbr_; - ::operator delete(pool_buffer_); -#endif } bool LogReader::load(const std::string &url, std::atomic *abort, @@ -69,7 +63,7 @@ bool LogReader::parse(const std::set &allow, std::atomic words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { #ifdef HAS_MEMORY_RESOURCE - Event *evt = new (mbr_) Event(words); + Event *evt = new (mbr_.get()) Event(words); #else Event *evt = new Event(words); #endif @@ -85,7 +79,7 @@ bool LogReader::parse(const std::set &allow, std::atomicwhich == cereal::Event::WIDE_ROAD_ENCODE_IDX) { #ifdef HAS_MEMORY_RESOURCE - Event *frame_evt = new (mbr_) Event(words, true); + Event *frame_evt = new (mbr_.get()) Event(words, true); #else Event *frame_evt = new Event(words, true); #endif diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index 010839af22..77d751a91b 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -5,7 +5,10 @@ #include #endif +#include #include +#include +#include #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" @@ -61,7 +64,6 @@ private: bool parse(const std::set &allow, std::atomic *abort); std::string raw_; #ifdef HAS_MEMORY_RESOURCE - std::pmr::monotonic_buffer_resource *mbr_ = nullptr; - void *pool_buffer_ = nullptr; + std::unique_ptr mbr_; #endif }; diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 78be2acd0b..98a0bb3333 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -6,6 +6,11 @@ #include "tools/replay/replay.h" int main(int argc, char *argv[]) { +#ifdef __APPLE__ + // With all sockets opened, we might hit the default limit of 256 on macOS + util::set_file_descriptor_limit(1024); +#endif + QCoreApplication app(argc, argv); const QStringList base_blacklist = {"uiDebug", "userFlag"}; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 74817584cd..d8a68a06e9 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -16,19 +16,20 @@ Replay::Replay(QString route, QStringList allow, QStringList block, QStringList auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); for (const auto &it : services) { - uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); + auto name = it.second.name.c_str(); + uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && - !(flags & REPLAY_FLAG_ALL_SERVICES) && - !allow.contains(it.name)) { + !(flags & REPLAY_FLAG_ALL_SERVICES) && + !allow.contains(name)) { continue; } - if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) { - sockets_[which] = it.name; + if ((allow.empty() || allow.contains(name)) && !block.contains(name)) { + sockets_[which] = name; if (!allow.empty() || !block.empty()) { allow_list.insert((cereal::Event::Which)which); } - s.push_back(it.name); + s.push_back(name); } } @@ -150,9 +151,10 @@ void Replay::buildTimeline() { [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical, }; - for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) { + const auto &route_segments = route_->segments(); + for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { LogReader log; - if (!log.load(route_->at(it->first).qlog.toStdString(), &exit_, + if (!log.load(it->second.qlog.toStdString(), &exit_, {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; @@ -226,7 +228,10 @@ void Replay::segmentLoadFinished(bool success) { if (!success) { Segment *seg = qobject_cast(sender()); rWarning("failed to load segment %d, removing it from current replay list", seg->seg_num); - segments_.erase(seg->seg_num); + updateEvents([&]() { + segments_.erase(seg->seg_num); + return true; + }); } queueSegment(); } @@ -307,7 +312,8 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: updateEvents([&]() { events_.swap(new_events_); segments_merged_ = segments_need_merge; - return true; + // Do not wake up the stream thread if the current segment has not been merged. + return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0); }); } } @@ -454,7 +460,7 @@ void Replay::stream() { } if (eit == events_->end() && !hasFlag(REPLAY_FLAG_NO_LOOP)) { - int last_segment = segments_.rbegin()->first; + int last_segment = segments_.empty() ? 0 : segments_.rbegin()->first; if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) { rInfo("reaches the end of route, restart from beginning"); QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 4eb8e3ab30..5ed4ff11b5 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -1,13 +1,21 @@ #pragma once +#include +#include +#include #include +#include +#include +#include +#include +#include #include #include "tools/replay/camera.h" #include "tools/replay/route.h" -const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; +const QString DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"; // one segment uses about 100M of memory constexpr int MIN_SEGMENTS_CACHE = 5; @@ -72,7 +80,7 @@ public: inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } - inline const std::map> &segments() const { return segments_; }; + inline const std::map> &segments() const { return segments_; } inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 619aeb3f5f..15a57e5e42 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -6,11 +6,13 @@ #include #include #include - #include +#include +#include +#include -#include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" +#include "system/hardware/hw.h" #include "tools/replay/replay.h" #include "tools/replay/util.h" diff --git a/tools/replay/route.h b/tools/replay/route.h index 86adf6a14d..7207ff4f5c 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -1,5 +1,10 @@ #pragma once +#include +#include +#include +#include + #include #include diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index f0b80269dc..393a561c0f 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -43,13 +43,6 @@ TEST_CASE("httpMultiPartDownload") { REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM); } -int random_int(int min, int max) { - std::random_device dev; - std::mt19937 rng(dev()); - std::uniform_int_distribution dist(min, max); - return dist(rng); -} - TEST_CASE("FileReader") { auto enable_local_cache = GENERATE(true, false); std::string cache_file = cacheFilePath(TEST_RLOG_URL); @@ -102,10 +95,13 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) { if (cam == RoadCam || cam == WideRoadCam) { REQUIRE(fr->getFrameCount() == 1200); } - std::unique_ptr yuv_buf = std::make_unique(fr->getYUVSize()); + auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height); + VisionBuf buf; + buf.allocate(nv12_buffer_size); + buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height); // sequence get 100 frames for (int i = 0; i < 100; ++i) { - REQUIRE(fr->get(i, yuv_buf.get())); + REQUIRE(fr->get(i, &buf)); } } @@ -144,7 +140,7 @@ TEST_CASE("Route") { auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE); REQUIRE(route.load()); - REQUIRE(route.segments().size() == 11); + REQUIRE(route.segments().size() == 13); for (int i = 0; i < 2; ++i) { read_segment(i, route.at(i), flags); } @@ -154,7 +150,7 @@ TEST_CASE("Route") { // helper class for unit tests class TestReplay : public Replay { public: - TestReplay(const QString &route, uint8_t flags = REPLAY_FLAG_NO_FILE_CACHE) : Replay(route, {}, {}, {}, nullptr, flags) {} + TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, {}, nullptr, flags) {} void test_seek(); void testSeekTo(int seek_to); }; @@ -198,7 +194,7 @@ void TestReplay::test_seek() { QEventLoop loop; std::thread thread = std::thread([&]() { for (int i = 0; i < 10; ++i) { - testSeekTo(random_int(0, 1 * 60)); + testSeekTo(util::random_int(0, 2 * 60)); } loop.quit(); }); diff --git a/tools/replay/ui.py b/tools/replay/ui.py index a222e8e5b6..43195a481d 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -3,14 +3,14 @@ import argparse import os import sys -import cv2 # pylint: disable=import-error +import cv2 import numpy as np -import pygame # pylint: disable=import-error +import pygame import cereal.messaging as messaging -from common.numpy_fast import clip -from common.basedir import BASEDIR -from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, +from openpilot.common.numpy_fast import clip +from openpilot.common.basedir import BASEDIR +from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, _INTRINSICS, BLACK, GREEN, YELLOW, Calibration, get_blank_lid_overlay, init_plots, diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index c008a7aeff..ae97ad45d6 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -# pylint: skip-file import argparse import bisect @@ -11,9 +10,9 @@ import tty from collections import defaultdict import cereal.messaging as messaging -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.openpilotci import get_url IGNORE = ['initData', 'sentinel'] diff --git a/tools/replay/util.cc b/tools/replay/util.cc index a6ebbec615..172d545c75 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -9,8 +9,10 @@ #include #include #include +#include #include #include +#include #include "common/timing.h" #include "common/util.h" diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py index 139373f665..471db7ee3e 100755 --- a/tools/scripts/fetch_image_from_route.py +++ b/tools/scripts/fetch_image_from_route.py @@ -8,8 +8,8 @@ if len(sys.argv) < 4: import requests from PIL import Image -from tools.lib.auth_config import get_token -from tools.lib.framereader import FrameReader +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.framereader import FrameReader jwt = get_token() diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py old mode 100644 new mode 100755 index 3fefd45ba8..541252d270 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -2,9 +2,9 @@ import argparse import os import sys -from common.basedir import BASEDIR -from tools.lib.logreader import MultiLogIterator -from tools.lib.route import Route +from openpilot.common.basedir import BASEDIR +from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route os.environ['BASEDIR'] = BASEDIR diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 8f03303b59..699765eee1 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import requests -from common.params import Params +from openpilot.common.params import Params import sys diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 48aa12ebc6..9fd8a56101 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -9,25 +9,29 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ RUN cd $HOME && \ curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf -ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH} -RUN mkdir -p $HOME/openpilot +ENV OPENPILOT_PATH /tmp/openpilot +ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} -COPY SConstruct $HOME/openpilot/ +RUN mkdir -p ${OPENPILOT_PATH} +WORKDIR ${OPENPILOT_PATH} -COPY ./body $HOME/openpilot/body -COPY ./third_party $HOME/openpilot/third_party -COPY ./site_scons $HOME/openpilot/site_scons -COPY ./rednose $HOME/openpilot/rednose -COPY ./laika $HOME/openpilot/laika -COPY ./common $HOME/openpilot/common -COPY ./opendbc $HOME/openpilot/opendbc -COPY ./cereal $HOME/openpilot/cereal -COPY ./panda $HOME/openpilot/panda -COPY ./selfdrive $HOME/openpilot/selfdrive -COPY ./system $HOME/openpilot/system -COPY ./tools $HOME/openpilot/tools +COPY SConstruct ${OPENPILOT_PATH} -WORKDIR $HOME/openpilot -RUN scons --cache-readonly -j12 +COPY ./openpilot ${OPENPILOT_PATH}/openpilot +COPY ./body ${OPENPILOT_PATH}/body +COPY ./third_party ${OPENPILOT_PATH}/third_party +COPY ./site_scons ${OPENPILOT_PATH}/site_scons +COPY ./rednose ${OPENPILOT_PATH}/rednose +COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo +RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika +COPY ./common ${OPENPILOT_PATH}/common +COPY ./opendbc ${OPENPILOT_PATH}/opendbc +COPY ./cereal ${OPENPILOT_PATH}/cereal +COPY ./panda ${OPENPILOT_PATH}/panda +COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive +COPY ./system ${OPENPILOT_PATH}/system +COPY ./tools ${OPENPILOT_PATH}/tools -RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()" +RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly + +RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 64446e1115..33fb2c020e 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -8,7 +8,7 @@ import time from multiprocessing import Process, Queue from typing import Any -import carla # pylint: disable=import-error +import carla import numpy as np import pyopencl as cl import pyopencl.array as cl_array @@ -16,13 +16,13 @@ import pyopencl.array as cl_array import cereal.messaging as messaging from cereal import log from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.basedir import BASEDIR -from common.numpy_fast import clip -from common.params import Params -from common.realtime import DT_DMON, Ratekeeper -from selfdrive.car.honda.values import CruiseButtons -from selfdrive.test.helpers import set_params_enabled -from tools.sim.lib.can import can_function +from openpilot.common.basedir import BASEDIR +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from openpilot.common.realtime import DT_DMON, Ratekeeper +from openpilot.selfdrive.car.honda.values import CruiseButtons +from openpilot.selfdrive.test.helpers import set_params_enabled +from openpilot.tools.sim.lib.can import can_function W, H = 1928, 1208 REPEAT_COUNTER = 5 @@ -550,12 +550,12 @@ if __name__ == "__main__": if args.joystick: # start input poll for joystick - from tools.sim.lib.manual_ctrl import wheel_poll_thread + from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread wheel_poll_thread(q) else: # start input poll for keyboard - from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread + from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread keyboard_poll_thread(q) p.join() diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index fba4dc0e58..db321d3193 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -2,8 +2,8 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error -from selfdrive.car import crc8_pedal +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.car import crc8_pedal packer = CANPacker("honda_civic_touring_2016_can_generated") rpacker = CANPacker("acura_ilx_2016_nidec") @@ -11,19 +11,12 @@ rpacker = CANPacker("acura_ilx_2016_nidec") def get_car_can_parser(): dbc_f = 'honda_civic_touring_2016_can_generated' - signals = [ - ("STEER_TORQUE", 0xe4), - ("STEER_TORQUE_REQUEST", 0xe4), - ("COMPUTER_BRAKE", 0x1fa), - ("COMPUTER_BRAKE_REQUEST", 0x1fa), - ("GAS_COMMAND", 0x200), - ] checks = [ (0xe4, 100), (0x1fa, 50), (0x200, 50), ] - return CANParser(dbc_f, signals, checks, 0) + return CANParser(dbc_f, checks, 0) cp = get_car_can_parser() def can_function(pm, speed, angle, idx, cruise_button, is_engaged): diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 8f1bcc2b57..1687a2e6ba 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -135,8 +135,8 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: print('%d buttons found: %s' % (num_buttons, ', '.join(button_map))) # Enable FF - import evdev # pylint: disable=import-error - from evdev import ecodes, InputDevice # pylint: disable=import-error + import evdev + from evdev import ecodes, InputDevice device = evdev.list_devices()[0] evtdev = InputDevice(device) val = 24000 diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh index 7ead6699f0..f14e0efd16 100755 --- a/tools/sim/start_carla.sh +++ b/tools/sim/start_carla.sh @@ -15,7 +15,7 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then fi fi -docker pull carlasim/carla:0.9.13 +docker pull carlasim/carla:0.9.14 EXTRA_ARGS="-it" if [[ "$DETACH" ]]; then @@ -30,5 +30,5 @@ docker run \ --net=host \ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ $EXTRA_ARGS \ - carlasim/carla:0.9.13 \ + carlasim/carla:0.9.14 \ /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index dba89b8b70..54f4995e45 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -3,7 +3,7 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" cd $DIR -OPENPILOT_DIR="/openpilot" +OPENPILOT_DIR="/tmp/openpilot" if ! [[ -z "$MOUNT_OPENPILOT" ]]; then OPENPILOT_DIR="$(dirname $(dirname $DIR))" EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH" diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py index f467391967..65f5f4a30f 100755 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -6,10 +6,10 @@ import os from multiprocessing import Queue from cereal import messaging -from common.basedir import BASEDIR -from selfdrive.manager.helpers import unblock_stdout -from tools.sim import bridge -from tools.sim.bridge import CarlaBridge +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.manager.helpers import unblock_stdout +from openpilot.tools.sim import bridge +from openpilot.tools.sim.bridge import CarlaBridge CI = "CI" in os.environ @@ -68,7 +68,8 @@ class TestCarlaIntegration(unittest.TestCase): no_car_events_issues_once = True break - self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'") + self.assertTrue(no_car_events_issues_once, + f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'") start_time = time.monotonic() min_counts_control_active = 100 diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 4819be770f..c615608852 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment def sigint_handler(signal, frame): exit(0) @@ -105,7 +105,10 @@ class SteeringAccuracyTool: print(f" {'-'*118}") for k in sorted(self.speed_group_stats[group].keys()): v = self.speed_group_stats[group][k] - print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') + print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \ + | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \ + | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \ + | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') print("") diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 63e8fcdf3d..1bdeb50e0d 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -1,153 +1,13 @@ -#!/bin/bash +#!/usr/bin/env bash set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -ROOT="$(cd $DIR/../ && pwd)" -SUDO="" # NOTE: this is used in a docker build, so do not run any scripts here. -# Use sudo if not root -if [[ ! $(id -u) -eq 0 ]]; then - if [[ -z $(which sudo) ]]; then - echo "Please install sudo or run as root" - exit 1 - fi - SUDO="sudo" -fi - -# Install packages present in all supported versions of Ubuntu -function install_ubuntu_common_requirements() { - $SUDO apt-get update - $SUDO apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ - ca-certificates \ - casync \ - clang \ - cmake \ - make \ - cppcheck \ - libtool \ - gcc-arm-none-eabi \ - bzip2 \ - liblzma-dev \ - libarchive-dev \ - libbz2-dev \ - capnproto \ - libcapnp-dev \ - curl \ - libcurl4-openssl-dev \ - git \ - git-lfs \ - ffmpeg \ - libavformat-dev \ - libavcodec-dev \ - libavdevice-dev \ - libavutil-dev \ - libavfilter-dev \ - libeigen3-dev \ - libffi-dev \ - libglew-dev \ - libgles2-mesa-dev \ - libglfw3-dev \ - libglib2.0-0 \ - libncurses5-dev \ - libncursesw5-dev \ - libomp-dev \ - libopencv-dev \ - libpng16-16 \ - libportaudio2 \ - libssl-dev \ - libsqlite3-dev \ - libusb-1.0-0-dev \ - libzmq3-dev \ - libsystemd-dev \ - locales \ - opencl-headers \ - ocl-icd-libopencl1 \ - ocl-icd-opencl-dev \ - clinfo \ - portaudio19-dev \ - qml-module-qtquick2 \ - qtmultimedia5-dev \ - qtlocation5-dev \ - qtpositioning5-dev \ - qttools5-dev-tools \ - libqt5sql5-sqlite \ - libqt5svg5-dev \ - libqt5charts5-dev \ - libqt5x11extras5-dev \ - libreadline-dev \ - libdw1 \ - valgrind -} - -# Install Ubuntu 22.04 LTS packages -function install_ubuntu_lts_latest_requirements() { - install_ubuntu_common_requirements - - $SUDO apt-get install -y --no-install-recommends \ - g++-12 \ - qtbase5-dev \ - qtchooser \ - qt5-qmake \ - qtbase5-dev-tools \ - python3-dev -} - -# Install Ubuntu 20.04 packages -function install_ubuntu_focal_requirements() { - install_ubuntu_common_requirements - - $SUDO apt-get install -y --no-install-recommends \ - libavresample-dev \ - qt5-default \ - python-dev -} - -# Detect OS using /etc/os-release file -if [ -f "/etc/os-release" ]; then - source /etc/os-release - case "$VERSION_CODENAME" in - "jammy") - install_ubuntu_lts_latest_requirements - ;; - "kinetic") - install_ubuntu_lts_latest_requirements - ;; - "focal") - install_ubuntu_focal_requirements - ;; - *) - echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04." - read -p "Would you like to attempt installation anyway? " -n 1 -r - echo "" - if [[ ! $REPLY =~ ^[Yy]$ ]]; then - exit 1 - fi - if [ "$UBUNTU_CODENAME" = "jammy" ] || [ "$UBUNTU_CODENAME" = "kinetic" ]; then - install_ubuntu_lts_latest_requirements - else - install_ubuntu_focal_requirements - fi - esac -else - echo "No /etc/os-release in the system" - exit 1 -fi - - -# install python dependencies -$ROOT/update_requirements.sh - -source ~/.bashrc -if [ -z "$OPENPILOT_ENV" ]; then - printf "\nsource %s/tools/openpilot_env.sh" "$ROOT" >> ~/.bashrc - source ~/.bashrc - echo "added openpilot_env to bashrc" -fi +$DIR/install_ubuntu_dependencies.sh +$DIR/install_python_dependencies.sh echo echo "---- OPENPILOT SETUP DONE ----" diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py index 2ae35992ec..0b7b676f6e 100755 --- a/tools/webcam/front_mount_helper.py +++ b/tools/webcam/front_mount_helper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import numpy as np -# copied from common.transformations/camera.py +# copied from openpilot.common.transformations/camera.py eon_dcam_focal_length = 860.0 # pixels webcam_focal_length = 908.0 # pixels @@ -18,7 +18,7 @@ webcam_intrinsics = np.array([ cam_id = 2 if __name__ == "__main__": - import cv2 # pylint: disable=import-error + import cv2 trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py index 4331614acf..e3f1284a45 100755 --- a/tools/webcam/warp_vis.py +++ b/tools/webcam/warp_vis.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import numpy as np -# copied from common.transformations/camera.py +# copied from openpilot.common.transformations/camera.py eon_focal_length = 910.0 # pixels eon_dcam_focal_length = 860.0 # pixels @@ -23,7 +23,7 @@ webcam_intrinsics = np.array([ [ 0., 0., 1.]]) if __name__ == "__main__": - import cv2 # pylint: disable=import-error + import cv2 trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics)) trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear) diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py index 42438cb209..598e0a0587 100644 --- a/tools/zookeeper/__init__.py +++ b/tools/zookeeper/__init__.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import ft4222 import ft4222.I2CMaster diff --git a/tools/zookeeper/check_consumption.py b/tools/zookeeper/check_consumption.py index 1345b90571..dab948318f 100755 --- a/tools/zookeeper/check_consumption.py +++ b/tools/zookeeper/check_consumption.py @@ -2,7 +2,7 @@ import sys import time -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper # Usage: check_consumption.py # Exit code: 0 -> passed diff --git a/tools/zookeeper/disable.py b/tools/zookeeper/disable.py index 6c1eecc18b..4bea3e7ed0 100755 --- a/tools/zookeeper/disable.py +++ b/tools/zookeeper/disable.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() diff --git a/tools/zookeeper/enable_and_wait.py b/tools/zookeeper/enable_and_wait.py index 6907e6017c..51b8dc0a5c 100755 --- a/tools/zookeeper/enable_and_wait.py +++ b/tools/zookeeper/enable_and_wait.py @@ -3,7 +3,7 @@ import os import sys import time from socket import gethostbyname, gaierror -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper def is_online(ip): try: diff --git a/tools/zookeeper/ignition.py b/tools/zookeeper/ignition.py index 5c85be203d..d5f01c362f 100755 --- a/tools/zookeeper/ignition.py +++ b/tools/zookeeper/ignition.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import sys -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index fa1f442bbc..a081baa72a 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -3,9 +3,9 @@ import sys import time import datetime -from common.realtime import Ratekeeper -from common.filter_simple import FirstOrderFilter -from tools.zookeeper import Zookeeper +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() diff --git a/tools/zookeeper/test_zookeeper.py b/tools/zookeeper/test_zookeeper.py index ba395ad7ba..89f7f28975 100755 --- a/tools/zookeeper/test_zookeeper.py +++ b/tools/zookeeper/test_zookeeper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import time -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__":
%1%2 %4%5 %6%7