diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9001ca86fc..417fe20449 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -26,7 +26,9 @@ env: jobs: build_release: name: build release - runs-on: ubuntu-latest + runs-on: ${{ ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -116,6 +118,8 @@ jobs: submodules: true - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" - name: pre-commit timeout-minutes: 4 run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" @@ -143,7 +147,7 @@ jobs: $PYTEST --timeout 60 -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ - ./selfdrive/ui/tests/test_translations.py" + pytest ./selfdrive/ui/tests/test_translations.py" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v4 with: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index b3cfd56d13..ba597f7000 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -20,25 +20,6 @@ env: jobs: - simulator_build: - name: simulator docker build - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Setup to push to repo - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - run: | - echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN - - name: Build and push sim image - run: | - selfdrive/test/docker_build.sh sim - simulator_driving: name: simulator driving runs-on: ubuntu-latest @@ -47,7 +28,6 @@ jobs: - uses: actions/checkout@v4 with: submodules: true - - run: git lfs pull - uses: ./.github/workflows/setup-with-retry - name: Build openpilot run: | diff --git a/.gitignore b/.gitignore index 693c532c54..370335e6a0 100644 --- a/.gitignore +++ b/.gitignore @@ -40,8 +40,9 @@ compile_commands.json compare_runtime*.html persist -board/obj/ -selfdrive/boardd/boardd +selfdrive/pandad/pandad +cereal/services.h +cereal/gen selfdrive/logcatd/logcatd selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd diff --git a/.gitmodules b/.gitmodules index f3e72346bc..7e081cb2d0 100644 --- a/.gitmodules +++ b/.gitmodules @@ -4,9 +4,9 @@ [submodule "opendbc"] path = opendbc url = ../../sunnyhaibin/opendbc.git -[submodule "cereal"] - path = cereal - url = ../../sunnyhaibin/cereal.git +[submodule "msgq"] + path = msgq_repo + url = ../../commaai/msgq.git [submodule "rednose_repo"] path = rednose_repo url = ../../commaai/rednose.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 28f8acd6e2..61b7823644 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -24,19 +24,19 @@ repos: - --maxkb=120 - --enforce-all - repo: https://github.com/codespell-project/codespell - rev: v2.2.6 + rev: v2.3.0 hooks: - id: codespell - exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' + exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' args: # if you've got a short variable name that's getting flagged, add it here - - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints + - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.4.4 + rev: v0.4.8 hooks: - id: ruff - exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' + exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: mypy @@ -47,7 +47,7 @@ repos: args: - --local-partial-types - --explicit-package-bases - exclude: '^(third_party/)|(body/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' + exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck @@ -55,7 +55,7 @@ repos: entry: cppcheck language: system types: [c++] - exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)' + exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)' args: - --error-exitcode=1 - --language=c++ @@ -66,7 +66,7 @@ repos: rev: 1.6.1 hooks: - id: cpplint - exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' + exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' args: - --quiet - --counting=total @@ -78,7 +78,7 @@ repos: rev: v0.16.2 hooks: - id: cython-lint - exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' + exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' args: - --max-line-length=240 - --ignore=E111, E302, E305 @@ -86,8 +86,8 @@ repos: hooks: - id: test_translations name: test translations - entry: selfdrive/ui/tests/test_translations.py - language: script + entry: pytest selfdrive/ui/tests/test_translations.py + language: system pass_filenames: false files: '^selfdrive/ui/translations/' - repo: https://github.com/python-poetry/poetry @@ -98,6 +98,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.3 + rev: 0.28.4 hooks: - id: check-github-workflows diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 1e15722bb9..5d8f958c48 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -20,6 +20,8 @@ COPY ./release ${OPENPILOT_PATH}/release COPY ./common ${OPENPILOT_PATH}/common COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal +COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo +COPY ./msgq ${OPENPILOT_PATH}/msgq COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system diff --git a/Jenkinsfile b/Jenkinsfile index 0a044ff039..321237716b 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -192,7 +192,7 @@ node { 'HW + Unit Tests': { deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [ ["build", "cd system/manager && ./build.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"], ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"], @@ -202,7 +202,7 @@ node { 'loopback': { deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [ ["build openpilot", "cd system/manager && ./build.py"], - ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"], ]) }, 'camerad': { @@ -236,9 +236,9 @@ node { 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ ["build openpilot", "cd system/manager && ./build.py"], - ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"], - ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"], - ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], + ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"], + ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"], + ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"], diff --git a/RELEASES.md b/RELEASES.md index 971ba7867d..aa0ab182ec 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,13 @@ +Version 0.9.8 (2024-XX-XX) +======================== +* Always on driver monitoring toggle + Version 0.9.7 (2024-06-11) ======================== * New driving model + * Inputs the past curvature for smoother and more accurate lateral control + * Simplified neural network architecture in the model's last layers + * Minor fixes to desire augmentation and weight decay * Adjust driving personality with the follow distance button * Added toggle to enable driver monitoring even when openpilot is not engaged * Support for hybrid variants of supported Ford models @@ -634,7 +641,7 @@ Version 0.5.13 (2019-05-31) * Reduce CPU utilization by 20% and improve stability * Temporarily remove mapd functionalities to improve stability * Add openpilot record-only mode for unsupported cars - * Synchronize controlsd to boardd to reduce latency + * Synchronize controlsd to pandad to reduce latency * Remove panda support for Subaru giraffe Version 0.5.12 (2019-05-16) @@ -970,7 +977,7 @@ Version 0.2.8 (2017-02-27) Version 0.2.7 (2017-02-08) =========================== * Better performance and pictures at night - * Fix ptr alignment issue in boardd + * Fix ptr alignment issue in pandad * Fix brake error light, fix crash if too cold Version 0.2.6 (2017-01-31) @@ -1002,7 +1009,7 @@ Version 0.2.2 (2017-01-10) Version 0.2.1 (2016-12-14) =========================== * Performance improvements, removal of more numpy - * Fix boardd process priority + * Fix pandad process priority * Make counter timer reset on use of steering wheel Version 0.2 (2016-12-12) diff --git a/SConstruct b/SConstruct index 1e9f2a6b5a..944d650d74 100644 --- a/SConstruct +++ b/SConstruct @@ -67,7 +67,7 @@ AddOption('--pc-thneed', AddOption('--minimal', action='store_false', dest='extras', - default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link) + default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS) help='the minimum build to run openpilot. no tests, tools, etc.') ## Architecture name breakdown (arch) @@ -209,6 +209,7 @@ env = Environment( "#third_party/qrcode", "#third_party", "#cereal", + "#msgq", "#opendbc/can", "#third_party/maplibre-native-qt/include", f"#third_party/maplibre-native-qt/{arch}/include" @@ -223,10 +224,9 @@ env = Environment( CFLAGS=["-std=gnu11"] + cflags, CXXFLAGS=["-std=c++1z"] + cxxflags, LIBPATH=libpath + [ - "#cereal", + "#msgq_repo", "#third_party", - "#opendbc/can", - "#selfdrive/boardd", + "#selfdrive/pandad", "#common", "#rednose/helpers", ], @@ -356,8 +356,13 @@ gpucommon = [_gpucommon] Export('common', 'gpucommon') -# Build cereal and messaging +# Build messaging (cereal + msgq + socketmaster + their dependencies) +SConscript(['msgq_repo/SConscript']) SConscript(['cereal/SConscript']) +Import('socketmaster', 'msgq') +messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',] +Export('messaging') + # Build other submodules SConscript([ diff --git a/cereal b/cereal deleted file mode 160000 index bda2b7a4a2..0000000000 --- a/cereal +++ /dev/null @@ -1 +0,0 @@ -Subproject commit bda2b7a4a2e3a9de3dddf8ea8ddbc890d9e7a3ea diff --git a/cereal/README.md b/cereal/README.md new file mode 100644 index 0000000000..e3326aab0e --- /dev/null +++ b/cereal/README.md @@ -0,0 +1,60 @@ +# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal) + +cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers. + +Imagine this use case: +* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet +* A calibration process subscribes to the `sensorEvents` packet to use the IMU +* A localization process subscribes to the `sensorEvents` packet to use the IMU also + + +## Messaging Spec + +You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`. + +All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type. + +### Best Practices + +- **All fields must describe quantities in SI units**, unless otherwise specified in the field name. +- In the context of the message they are in, field names should be completely unambiguous. +- All values should be easy to plot and be human-readable with minimal parsing. + +### Maintaining backwards-compatibility + +When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can +be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other +things are not. Read more details [here](https://capnproto.org/language.html). + +### Custom forks + +Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging +spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot +then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in +[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your +fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.** + +## Pub Sub Backends + +cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel. + +Example +--- +```python +import cereal.messaging as messaging + +# in subscriber +sm = messaging.SubMaster(['sensorEvents']) +while 1: + sm.update() + print(sm['sensorEvents']) + +``` + +```python +# in publisher +pm = messaging.PubMaster(['sensorEvents']) +dat = messaging.new_message('sensorEvents', size=1) +dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}} +pm.send('sensorEvents', dat) +``` diff --git a/cereal/SConscript b/cereal/SConscript new file mode 100644 index 0000000000..be5f161dea --- /dev/null +++ b/cereal/SConscript @@ -0,0 +1,31 @@ +Import('env', 'envCython', 'arch', 'common', 'msgq') + +import shutil + +cereal_dir = Dir('.') +gen_dir = Dir('gen') +other_dir = Dir('#msgq') + +# Build cereal +schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] +env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS") +env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], + schema_files, + f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") + +# TODO: remove non shared cereal and messaging +cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files]) + +cereal = env.Library('cereal', cereal_objects) +env.SharedLibrary('cereal_shared', cereal_objects) + +# Build messaging + +services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') +env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common]) + + +socketmaster = env.SharedObject(['messaging/socketmaster.cc']) +socketmaster = env.Library('socketmaster', socketmaster) + +Export('cereal', 'socketmaster') diff --git a/cereal/__init__.py b/cereal/__init__.py new file mode 100644 index 0000000000..89c5cf38e3 --- /dev/null +++ b/cereal/__init__.py @@ -0,0 +1,9 @@ +import os +import capnp + +CEREAL_PATH = os.path.dirname(os.path.abspath(__file__)) +capnp.remove_import_hook() + +log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) +car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) +custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp")) diff --git a/cereal/car.capnp b/cereal/car.capnp new file mode 100644 index 0000000000..24ce154eb7 --- /dev/null +++ b/cereal/car.capnp @@ -0,0 +1,757 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x8e2af1e708af8b8d; + +# ******* events causing controls state machine transition ******* + +struct CarEvent @0x9b1657f34caf3ad3 { + name @0 :EventName; + + # event types + enable @1 :Bool; + noEntry @2 :Bool; + warning @3 :Bool; # alerts presented only when enabled or soft disabling + userDisable @4 :Bool; + softDisable @5 :Bool; + immediateDisable @6 :Bool; + preEnable @7 :Bool; + permanent @8 :Bool; # alerts presented regardless of openpilot state + overrideLateral @10 :Bool; + overrideLongitudinal @9 :Bool; + + enum EventName @0xbaa8c5d505f727de { + canError @0; + steerUnavailable @1; + wrongGear @4; + doorOpen @5; + seatbeltNotLatched @6; + espDisabled @7; + wrongCarMode @8; + steerTempUnavailable @9; + reverseGear @10; + buttonCancel @11; + buttonEnable @12; + pedalPressed @13; # exits active state + preEnableStandstill @73; # added during pre-enable state with brake + gasPressedOverride @108; # added when user is pressing gas with no disengage on gas + steerOverride @114; + cruiseDisabled @14; + speedTooLow @17; + outOfSpace @18; + overheat @19; + calibrationIncomplete @20; + calibrationInvalid @21; + calibrationRecalibrating @117; + controlsMismatch @22; + pcmEnable @23; + pcmDisable @24; + radarFault @26; + brakeHold @28; + parkBrake @29; + manualRestart @30; + lowSpeedLockout @31; + joystickDebug @34; + steerTempUnavailableSilent @35; + resumeRequired @36; + preDriverDistracted @37; + promptDriverDistracted @38; + driverDistracted @39; + preDriverUnresponsive @43; + promptDriverUnresponsive @44; + driverUnresponsive @45; + belowSteerSpeed @46; + lowBattery @48; + accFaulted @51; + sensorDataInvalid @52; + commIssue @53; + commIssueAvgFreq @109; + tooDistracted @54; + posenetInvalid @55; + soundsUnavailable @56; + preLaneChangeLeft @57; + preLaneChangeRight @58; + laneChange @59; + lowMemory @63; + stockAeb @64; + ldw @65; + carUnrecognized @66; + invalidLkasSetting @69; + speedTooHigh @70; + laneChangeBlocked @71; + relayMalfunction @72; + stockFcw @74; + startup @75; + startupNoCar @76; + startupNoControl @77; + startupMaster @78; + startupNoFw @104; + fcw @79; + steerSaturated @80; + belowEngageSpeed @84; + noGps @85; + wrongCruiseMode @87; + modeldLagging @89; + deviceFalling @90; + fanMalfunction @91; + cameraMalfunction @92; + cameraFrameRate @110; + processNotRunning @95; + dashcamMode @96; + controlsInitializing @98; + usbError @99; + roadCameraError @100; + driverCameraError @101; + wideRoadCameraError @102; + highCpuUsage @105; + cruiseMismatch @106; + lkasDisabled @107; + canBusMissing @111; + controlsdLagging @112; + resumeBlocked @113; + steerTimeLimit @115; + vehicleSensorsInvalid @116; + locationdTemporaryError @103; + locationdPermanentError @118; + paramsdTemporaryError @50; + paramsdPermanentError @119; + actuatorsApiUnavailable @120; + manualSteeringRequired @121; + manualLongitudinalRequired @122; + silentPedalPressed @123; + silentButtonEnable @124; + silentBrakeHold @125; + silentWrongGear @126; + spReverseGear @127; + preKeepHandsOnWheel @128; + promptKeepHandsOnWheel @129; + keepHandsOnWheel @130; + speedLimitActive @131; + speedLimitValueChange @132; + e2eLongStop @133; + e2eLongStart @134; + controlsMismatchLong @135; + cruiseEngageBlocked @136; + laneChangeRoadEdge @137; + speedLimitPreActive @138; + speedLimitConfirmed @139; + torqueNNLoad @140; + + radarCanErrorDEPRECATED @15; + communityFeatureDisallowedDEPRECATED @62; + radarCommIssueDEPRECATED @67; + driverMonitorLowAccDEPRECATED @68; + gasUnavailableDEPRECATED @3; + dataNeededDEPRECATED @16; + modelCommIssueDEPRECATED @27; + ipasOverrideDEPRECATED @33; + geofenceDEPRECATED @40; + driverMonitorOnDEPRECATED @41; + driverMonitorOffDEPRECATED @42; + calibrationProgressDEPRECATED @47; + invalidGiraffeHondaDEPRECATED @49; + invalidGiraffeToyotaDEPRECATED @60; + internetConnectivityNeededDEPRECATED @61; + whitePandaUnsupportedDEPRECATED @81; + commIssueWarningDEPRECATED @83; + focusRecoverActiveDEPRECATED @86; + neosUpdateRequiredDEPRECATED @88; + modelLagWarningDEPRECATED @93; + startupOneplusDEPRECATED @82; + startupFuzzyFingerprintDEPRECATED @97; + noTargetDEPRECATED @25; + brakeUnavailableDEPRECATED @2; + plannerErrorDEPRECATED @32; + gpsMalfunctionDEPRECATED @94; + } +} + +# ******* main car state @ 100hz ******* +# all speeds in m/s + +struct CarState { + events @13 :List(CarEvent); + + # CAN health + canValid @26 :Bool; # invalid counter/checksums + canTimeout @40 :Bool; # CAN bus dropped out + canErrorCounter @48 :UInt32; + + # car speed + vEgo @1 :Float32; # best estimate of speed + aEgo @16 :Float32; # best estimate of acceleration + vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors + vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI + + yawRate @22 :Float32; # best estimate of yaw rate + standstill @18 :Bool; + wheelSpeeds @2 :WheelSpeeds; + + # gas pedal, 0.0-1.0 + gas @3 :Float32; # this is user pedal only + gasPressed @4 :Bool; # this is user pedal only + + engineRpm @46 :Float32; + + # brake pedal, 0.0-1.0 + brake @5 :Float32; # this is user pedal only + brakePressed @6 :Bool; # this is user pedal only + regenBraking @45 :Bool; # this is user pedal only + parkingBrake @39 :Bool; + brakeHoldActive @38 :Bool; + + # steering wheel + steeringAngleDeg @7 :Float32; + steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple + steeringRateDeg @15 :Float32; + steeringTorque @8 :Float32; # TODO: standardize units + steeringTorqueEps @27 :Float32; # TODO: standardize units + steeringPressed @9 :Bool; # if the user is using the steering wheel + steerFaultTemporary @35 :Bool; # temporary EPS fault + steerFaultPermanent @36 :Bool; # permanent EPS fault + stockAeb @30 :Bool; + stockFcw @31 :Bool; + espDisabled @32 :Bool; + accFaulted @42 :Bool; + carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable + + # cruise state + cruiseState @10 :CruiseState; + + # gear + gearShifter @14 :GearShifter; + + # button presses + buttonEvents @11 :List(ButtonEvent); + leftBlinker @20 :Bool; + rightBlinker @21 :Bool; + genericToggle @23 :Bool; + + # lock info + doorOpen @24 :Bool; + seatbeltUnlatched @25 :Bool; + + # clutch (manual transmission only) + clutchPressed @28 :Bool; + + madsEnabled @51 :Bool; + leftBlinkerOn @52 :Bool; + rightBlinkerOn @53 :Bool; + disengageByBrake @54 :Bool; + belowLaneChangeSpeed @55 :Bool; + accEnabled @56 :Bool; + latActive @57 :Bool; + gapAdjustCruiseTr @58 :Int32; + endToEndLong @59 :Bool; + customStockLong @60 :CustomStockLong; + + struct CustomStockLong { + cruiseButton @0 :Int16; + finalSpeedKph @1 :Float32; + vCruiseKphPrev @2 :Float32; + targetSpeed @3 :Float32; + vSetDis @4 :Float32; + speedDiff @5 :Float32; + buttonType @6 :Int16; + } + + # blindspot sensors + leftBlindspot @33 :Bool; # Is there something blocking the left lane change + rightBlindspot @34 :Bool; # Is there something blocking the right lane change + + fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 + charging @43 :Bool; + + # process meta + cumLagMs @50 :Float32; + + struct WheelSpeeds { + # optional wheel speeds + fl @0 :Float32; + fr @1 :Float32; + rl @2 :Float32; + rr @3 :Float32; + } + + struct CruiseState { + enabled @0 :Bool; + speed @1 :Float32; + speedCluster @6 :Float32; # Set speed as shown on instrument cluster + available @2 :Bool; + speedOffset @3 :Float32; + standstill @4 :Bool; + nonAdaptive @5 :Bool; + speedLimit @7 :Float32; + } + + enum GearShifter { + unknown @0; + park @1; + drive @2; + neutral @3; + reverse @4; + sport @5; + low @6; + brake @7; + eco @8; + manumatic @9; + } + + # send on change + struct ButtonEvent { + pressed @0 :Bool; + type @1 :Type; + + enum Type { + unknown @0; + leftBlinker @1; + rightBlinker @2; + accelCruise @3; + decelCruise @4; + cancel @5; + altButton1 @6; + altButton2 @7; + altButton3 @8; + setCruise @9; + resumeCruise @10; + gapAdjustCruise @11; + } + } + + # deprecated + errorsDEPRECATED @0 :List(CarEvent.EventName); + brakeLightsDEPRECATED @19 :Bool; + steeringRateLimitedDEPRECATED @29 :Bool; + canMonoTimesDEPRECATED @12: List(UInt64); + canRcvTimeoutDEPRECATED @49 :Bool; +} + +# ******* radar state @ 20hz ******* + +struct RadarData @0x888ad6581cf0aacb { + errors @0 :List(Error); + points @1 :List(RadarPoint); + + enum Error { + canError @0; + fault @1; + wrongConfig @2; + } + + # similar to LiveTracks + # is one timestamp valid for all? I think so + struct RadarPoint { + trackId @0 :UInt64; # no trackId reuse + + # these 3 are the minimum required + dRel @1 :Float32; # m from the front bumper of the car + yRel @2 :Float32; # m + vRel @3 :Float32; # m/s + + # these are optional and valid if they are not NaN + aRel @4 :Float32; # m/s^2 + yvRel @5 :Float32; # m/s + + # some radars flag measurements VS estimates + measured @6 :Bool; + } + + # deprecated + canMonoTimesDEPRECATED @2 :List(UInt64); +} + +# ******* car controls @ 100hz ******* + +struct CarControl { + # must be true for any actuator commands to work + enabled @0 :Bool; + latActive @11: Bool; + longActive @12: Bool; + vCruise @17 :Float32; # actual set speed + + # Actuator commands as computed by controlsd + actuators @6 :Actuators; + + # moved to CarOutput + actuatorsOutputDEPRECATED @10 :Actuators; + + leftBlinker @15: Bool; + rightBlinker @16: Bool; + + orientationNED @13 :List(Float32); + angularVelocity @14 :List(Float32); + + cruiseControl @4 :CruiseControl; + hudControl @5 :HUDControl; + + struct Actuators { + # range from 0.0 - 1.0 + gas @0: Float32; + brake @1: Float32; + # range from -1.0 - 1.0 + steer @2: Float32; + # value sent over can to the car + steerOutputCan @8: Float32; + steeringAngleDeg @3: Float32; + + curvature @7: Float32; + + speed @6: Float32; # m/s + accel @4: Float32; # m/s^2 + longControlState @5: LongControlState; + + enum LongControlState @0xe40f3a917d908282{ + off @0; + pid @1; + stopping @2; + starting @3; + } + } + + struct CruiseControl { + cancel @0: Bool; + resume @1: Bool; + override @4: Bool; + speedOverrideDEPRECATED @2: Float32; + accelOverrideDEPRECATED @3: Float32; + } + + struct HUDControl { + speedVisible @0: Bool; + setSpeed @1: Float32; + lanesVisible @2: Bool; + leadVisible @3: Bool; + visualAlert @4: VisualAlert; + audibleAlert @5: AudibleAlert; + rightLaneVisible @6: Bool; + leftLaneVisible @7: Bool; + rightLaneDepart @8: Bool; + leftLaneDepart @9: Bool; + leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead + + enum VisualAlert { + # these are the choices from the Honda + # map as good as you can for your car + none @0; + fcw @1; + steerRequired @2; + brakePressed @3; + wrongGear @4; + seatbeltUnbuckled @5; + speedTooHigh @6; + ldw @7; + } + + enum AudibleAlert { + none @0; + + engage @1; + disengage @2; + refuse @3; + + warningSoft @4; + warningImmediate @5; + + prompt @6; + promptRepeat @7; + promptDistracted @8; + promptStarting @9; + promptSingleLow @10; + promptSingleHigh @11; + } + } + + gasDEPRECATED @1 :Float32; + brakeDEPRECATED @2 :Float32; + steeringTorqueDEPRECATED @3 :Float32; + activeDEPRECATED @7 :Bool; + rollDEPRECATED @8 :Float32; + pitchDEPRECATED @9 :Float32; +} + +struct CarOutput { + # Any car specific rate limits or quirks applied by + # the CarController are reflected in actuatorsOutput + # and matches what is sent to the car + actuatorsOutput @0 :CarControl.Actuators; +} + +# ****** car param ****** + +struct CarParams { + carName @0 :Text; + carFingerprint @1 :Text; + fuzzyFingerprint @55 :Bool; + + notCar @66 :Bool; # flag for non-car robotics platforms + + pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? + enableDsu @5 :Bool; # driving support unit + enableBsm @56 :Bool; # blind spot monitoring + flags @64 :UInt32; # flags for car specific quirks + experimentalLongitudinalAvailable @71 :Bool; + pcmCruiseSpeed @74 :Bool; # is openpilot's state tied to the PCM's cruise speed? + customStockLongAvailable @75 :Bool; + spFlags @76 :UInt32; # flags for car specific quirks in sunnypilot + + minEnableSpeed @7 :Float32; + minSteerSpeed @8 :Float32; + safetyConfigs @62 :List(SafetyConfig); + alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas + + # Car docs fields + maxLateralAccel @68 :Float32; + autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically + + # things about the car in the manual + mass @17 :Float32; # [kg] curb weight: all fluids no cargo + wheelbase @18 :Float32; # [m] distance from rear axle to front axle + centerToFront @19 :Float32; # [m] distance from center of mass to front axle + steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle + steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0) + + # things we can derive + rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia + tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear] + tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff + tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff + + longitudinalTuning @25 :LongitudinalPIDTuning; + lateralParams @48 :LateralParams; + lateralTuning :union { + pid @26 :LateralPIDTuning; + indiDEPRECATED @27 :LateralINDITuning; + lqrDEPRECATED @40 :LateralLQRTuning; + torque @67 :LateralTorqueTuning; + } + + steerLimitAlert @28 :Bool; + steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued + + vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state + vEgoStarting @59 :Float32; # Speed at which the car goes into starting state + stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping + steerControlType @34 :SteerControlType; + radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out + stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary + stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop + startAccel @32 :Float32; # Required acceleration to get car moving + startingState @70 :Bool; # Does this car make use of special starting state + + steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds + longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound + longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound + openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? + carVin @38 :Text; # VIN number queried during fingerprinting + dashcamOnly @41: Bool; + passive @73: Bool; # is openpilot in control? + transmissionType @43 :TransmissionType; + carFw @44 :List(CarFw); + + radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard + fingerprintSource @49: FingerprintSource; + networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network + + wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + + struct SafetyConfig { + safetyModel @0 :SafetyModel; + safetyParam @3 :UInt16; + safetyParamDEPRECATED @1 :Int16; + safetyParam2DEPRECATED @2 :UInt32; + } + + struct LateralParams { + torqueBP @0 :List(Int32); + torqueV @1 :List(Int32); + } + + struct LateralPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @4 :Float32; + } + + struct LateralTorqueTuning { + useSteeringAngle @0 :Bool; + kp @1 :Float32; + ki @2 :Float32; + friction @3 :Float32; + kf @4 :Float32; + steeringAngleDeadzoneDeg @5 :Float32; + latAccelFactor @6 :Float32; + latAccelOffset @7 :Float32; + nnModelName @8 :Text; + nnModelFuzzyMatch @9 :Bool; + } + + struct LongitudinalPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @6 :Float32; + deadzoneBP @4 :List(Float32); + deadzoneV @5 :List(Float32); + } + + struct LateralINDITuning { + outerLoopGainBP @4 :List(Float32); + outerLoopGainV @5 :List(Float32); + innerLoopGainBP @6 :List(Float32); + innerLoopGainV @7 :List(Float32); + timeConstantBP @8 :List(Float32); + timeConstantV @9 :List(Float32); + actuatorEffectivenessBP @10 :List(Float32); + actuatorEffectivenessV @11 :List(Float32); + + outerLoopGainDEPRECATED @0 :Float32; + innerLoopGainDEPRECATED @1 :Float32; + timeConstantDEPRECATED @2 :Float32; + actuatorEffectivenessDEPRECATED @3 :Float32; + } + + struct LateralLQRTuning { + scale @0 :Float32; + ki @1 :Float32; + dcGain @2 :Float32; + + # State space system + a @3 :List(Float32); + b @4 :List(Float32); + c @5 :List(Float32); + + k @6 :List(Float32); # LQR gain + l @7 :List(Float32); # Kalman gain + } + + enum SafetyModel { + silent @0; + hondaNidec @1; + toyota @2; + elm327 @3; + gm @4; + hondaBoschGiraffe @5; + ford @6; + cadillac @7; + hyundai @8; + chrysler @9; + tesla @10; + subaru @11; + gmPassive @12; + mazda @13; + nissan @14; + volkswagen @15; + toyotaIpas @16; + allOutput @17; + gmAscm @18; + noOutput @19; # like silent but without silent CAN TXs + hondaBosch @20; + volkswagenPq @21; + subaruPreglobal @22; # pre-Global platform + hyundaiLegacy @23; + hyundaiCommunity @24; + volkswagenMlb @25; + hongqi @26; + body @27; + hyundaiCanfd @28; + volkswagenMqbEvo @29; + chryslerCusw @30; + psa @31; + } + + enum SteerControlType { + torque @0; + angle @1; + + curvatureDEPRECATED @2; + } + + enum TransmissionType { + unknown @0; + automatic @1; # Traditional auto, including DSG + manual @2; # True "stick shift" only + direct @3; # Electric vehicle or other direct drive + cvt @4; + } + + struct CarFw { + ecu @0 :Ecu; + fwVersion @1 :Data; + address @2 :UInt32; + subAddress @3 :UInt8; + responseAddress @4 :UInt32; + request @5 :List(Data); + brand @6 :Text; + bus @7 :UInt8; + logging @8 :Bool; + obdMultiplexing @9 :Bool; + } + + enum Ecu { + eps @0; + abs @1; + fwdRadar @2; + fwdCamera @3; + engine @4; + unknown @5; + transmission @8; # Transmission Control Module + hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer + srs @9; # airbag + gateway @10; # can gateway + hud @11; # heads up display + combinationMeter @12; # instrument cluster + electricBrakeBooster @15; + shiftByWire @16; + adas @19; + cornerRadar @21; + hvac @20; + parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. + epb @22; # electronic parking brake + telematics @23; + body @24; # body control module + + # Toyota only + dsu @6; + + # Honda only + vsa @13; # Vehicle Stability Assist + programmedFuelInjection @14; + + debug @17; + } + + enum FingerprintSource { + can @0; + fw @1; + fixed @2; + } + + enum NetworkLocation { + fwdCamera @0; # Standard/default integration at LKAS camera + gateway @1; # Integration at vehicle's CAN gateway + } + + enableGasInterceptorDEPRECATED @2 :Bool; + enableCameraDEPRECATED @4 :Bool; + enableApgsDEPRECATED @6 :Bool; + steerRateCostDEPRECATED @33 :Float32; + isPandaBlackDEPRECATED @39 :Bool; + hasStockCameraDEPRECATED @57 :Bool; + safetyParamDEPRECATED @10 :Int16; + safetyModelDEPRECATED @9 :SafetyModel; + safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; + minSpeedCanDEPRECATED @51 :Float32; + communityFeatureDEPRECATED @46: Bool; + startingAccelRateDEPRECATED @53 :Float32; + steerMaxBPDEPRECATED @11 :List(Float32); + steerMaxVDEPRECATED @12 :List(Float32); + gasMaxBPDEPRECATED @13 :List(Float32); + gasMaxVDEPRECATED @14 :List(Float32); + brakeMaxBPDEPRECATED @15 :List(Float32); + brakeMaxVDEPRECATED @16 :List(Float32); + directAccelControlDEPRECATED @30 :Bool; + maxSteeringAngleDegDEPRECATED @54 :Float32; +} diff --git a/cereal/custom.capnp b/cereal/custom.capnp new file mode 100644 index 0000000000..399679d03c --- /dev/null +++ b/cereal/custom.capnp @@ -0,0 +1,192 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +using Car = import "car.capnp"; + +@0xb526ba661d550a59; + +# custom.capnp: a home for empty structs reserved for custom forks +# These structs are guaranteed to remain reserved and empty in mainline +# cereal, so use these if you want custom events in your fork. + +# you can rename the struct, but don't change the identifier + +enum LongitudinalPersonalitySP { + aggressive @0; + moderate @1; + standard @2; + relaxed @3; +} + +struct ControlsStateSP @0x81c2f05a394cf4af { + lateralState @0 :Text; + personality @8 :LongitudinalPersonalitySP; + + lateralControlState :union { + indiState @1 :LateralINDIState; + pidState @2 :LateralPIDState; + angleState @3 :LateralAngleState; + debugState @4 :LateralDebugState; + torqueState @5 :LateralTorqueState; + curvatureState @6 :LateralCurvatureState; + + lqrStateDEPRECATED @7 :LateralLQRState; + } + + struct LateralINDIState { + } + + struct LateralPIDState { + } + + struct LateralAngleState { + } + + struct LateralDebugState { + } + + struct LateralTorqueState { + nnLog @0 :List(Float32); + } + + struct LateralCurvatureState { + } + + struct LateralLQRState { + } +} + +struct LongitudinalPlanSP @0xaedffd8f31e7b55d { + visionTurnControllerState @0 :VisionTurnControllerState; + visionTurnSpeed @1 :Float32; + visionCurrentLatAcc @16 :Float32; + visionMaxPredLatAcc @17 :Float32; + + speedLimitControlState @2 :SpeedLimitControlState; + speedLimit @3 :Float32; + speedLimitOffset @4 :Float32; + distToSpeedLimit @5 :Float32; + isMapSpeedLimit @6 :Bool; + speedLimitPercOffset @11 :Bool; + speedLimitValueOffset @12 :Float32; + desiredTF @13 :Float32; + notSpeedLimit @14 :Int16; + e2eX @15 :List(Float32); + e2eBlended @18 :Text; + e2eStatus @22 :Bool; + + distToTurn @7 :Float32; + turnSpeed @8 :Float32; + turnSpeedControlState @9 :SpeedLimitControlState; + turnSign @10 :Int16; + + events @19 :List(Car.CarEvent); + longitudinalPlanSource @20 :LongitudinalPlanSource; + + personalityDEPRECATED @21 :LongitudinalPersonalitySP; + + enum SpeedLimitControlState { + inactive @0; # No speed limit set or not enabled by parameter. + tempInactive @1; # User wants to ignore speed limit until it changes. + adapting @2; # Reducing speed to match new speed limit. + active @3; # Cruising at speed limit. + preActive @4; + } + + enum VisionTurnControllerState { + disabled @0; # No predicted substantial turn on vision range or feature disabled. + entering @1; # A substantial turn is predicted ahead, adapting speed to turn comfort levels. + turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling. + leaving @3; # Road ahead straightens. Start to allow positive acceleration. + } + + enum LongitudinalPlanSource { + cruise @0; + lead0 @1; + lead1 @2; + lead2 @3; + e2e @4; + turn @5; + limit @6; + turnlimit @7; + } +} + +struct LateralPlanSP @0xf35cc4560bbf6ec2 { + laneWidth @0 :Float32; + lProb @1 :Float32; + rProb @2 :Float32; + + dProb @3 :Float32; + + dynamicLaneProfile @4 :Int8; + standstillElapsed @5 :Float32; + dynamicLaneProfileStatus @9 :Bool; + + dPathWLinesXDEPRECATED @6 :List(Float32); + dPathWLinesYDEPRECATED @7 :List(Float32); + laneChangePrevDEPRECATED @8 :Bool; + laneChangeEdgeBlockDEPRECATED @10 :Bool; +} + +struct DriverMonitoringStateSP @0xda96579883444c35 { + handsOnWheelState @0 :HandsOnWheelState; + notModified @1 :Float32; + + enum HandsOnWheelState { + none @0; # hand on wheel monitoring inactive + ok @1; # driver has hands on steering wheel + minor @2; # hands off steering wheel for acceptable period + warning @3; # hands off steering wheel for warning period + critical @4; # # hands off steering wheel for critical period + terminal @5; # # hands off steering wheel for terminal period + } +} + +struct LiveMapDataSP @0x80ae746ee2596b11 { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedLimitAheadValid @2 :Bool; + speedLimitAhead @3 :Float32; + speedLimitAheadDistance @4 :Float32; + turnSpeedLimitValid @5 :Bool; + turnSpeedLimit @6 :Float32; + turnSpeedLimitEndDistance @7 :Float32; + turnSpeedLimitSign @8 :Int16; + turnSpeedLimitsAhead @9 :List(Float32); + turnSpeedLimitsAheadDistances @10 :List(Float32); + turnSpeedLimitsAheadSigns @11 :List(Int16); + lastGpsTimestamp @12 :Int64; # Milliseconds since January 1, 1970. + currentRoadName @13 :Text; + lastGpsLatitude @14 :Float64; + lastGpsLongitude @15 :Float64; + lastGpsSpeed @16 :Float32; + lastGpsBearingDeg @17 :Float32; + lastGpsAccuracy @18 :Float32; + lastGpsBearingAccuracyDeg @19 :Float32; + dataType @20 :DataType; + + enum DataType { + default @0; + offline @1; + online @2; + } +} + +struct E2eLongStateSP @0xa5cd762cd951a455 { + status @0 :UInt16; +} + +struct ModelDataV2SP @0xf98d843bfd7004a3 { + laneChangePrev @0 :Bool; + laneChangeEdgeBlock @1 :Bool; +} + +struct CustomReserved7 @0xb86e6369214c01c8 { +} + +struct CustomReserved8 @0xf416ec09499d9d19 { +} + +struct CustomReserved9 @0xa1680744031fdb2d { +} diff --git a/cereal/include/c++.capnp b/cereal/include/c++.capnp new file mode 100644 index 0000000000..2bda547179 --- /dev/null +++ b/cereal/include/c++.capnp @@ -0,0 +1,26 @@ +# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors +# Licensed under the MIT License: +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +@0xbdf87d7bb8304e81; +$namespace("capnp::annotations"); + +annotation namespace(file): Text; +annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text; diff --git a/cereal/legacy.capnp b/cereal/legacy.capnp new file mode 100644 index 0000000000..a8fa5e4a1f --- /dev/null +++ b/cereal/legacy.capnp @@ -0,0 +1,574 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0x80ef1ec4889c2a63; + +# legacy.capnp: a home for deprecated structs + +struct LogRotate @0x9811e1f38f62f2d1 { + segmentNum @0 :Int32; + path @1 :Text; +} + +struct LiveUI @0xc08240f996aefced { + rearViewCam @0 :Bool; + alertText1 @1 :Text; + alertText2 @2 :Text; + awarenessStatus @3 :Float32; +} + +struct UiLayoutState @0x88dcce08ad29dda0 { + activeApp @0 :App; + sidebarCollapsed @1 :Bool; + mapEnabled @2 :Bool; + mockEngaged @3 :Bool; + + enum App @0x9917470acf94d285 { + home @0; + music @1; + nav @2; + settings @3; + none @4; + } +} + +struct OrbslamCorrection @0x8afd33dc9b35e1aa { + correctionMonoTime @0 :UInt64; + prePositionECEF @1 :List(Float64); + postPositionECEF @2 :List(Float64); + prePoseQuatECEF @3 :List(Float32); + postPoseQuatECEF @4 :List(Float32); + numInliers @5 :UInt32; +} + +struct EthernetPacket @0xa99a9d5b33cf5859 { + pkt @0 :Data; + ts @1 :Float32; +} + +struct CellInfo @0xcff7566681c277ce { + timestamp @0 :UInt64; + repr @1 :Text; # android toString() for now +} + +struct WifiScan @0xd4df5a192382ba0b { + bssid @0 :Text; + ssid @1 :Text; + capabilities @2 :Text; + frequency @3 :Int32; + level @4 :Int32; + timestamp @5 :Int64; + + centerFreq0 @6 :Int32; + centerFreq1 @7 :Int32; + channelWidth @8 :ChannelWidth; + operatorFriendlyName @9 :Text; + venueName @10 :Text; + is80211mcResponder @11 :Bool; + passpoint @12 :Bool; + + distanceCm @13 :Int32; + distanceSdCm @14 :Int32; + + enum ChannelWidth @0xcb6a279f015f6b51 { + w20Mhz @0; + w40Mhz @1; + w80Mhz @2; + w160Mhz @3; + w80Plus80Mhz @4; + } +} + +struct LiveEventData @0x94b7baa90c5c321e { + name @0 :Text; + value @1 :Int32; +} + +struct ModelData @0xb8aad62cffef28a9 { + frameId @0 :UInt32; + frameAge @12 :UInt32; + frameDropPerc @13 :Float32; + timestampEof @9 :UInt64; + modelExecutionTime @14 :Float32; + gpuExecutionTime @16 :Float32; + rawPred @15 :Data; + + path @1 :PathData; + leftLane @2 :PathData; + rightLane @3 :PathData; + lead @4 :LeadData; + freePath @6 :List(Float32); + + settings @5 :ModelSettings; + leadFuture @7 :LeadData; + speed @8 :List(Float32); + meta @10 :MetaData; + longitudinal @11 :LongitudinalData; + + struct PathData @0x8817eeea389e9f08 { + points @0 :List(Float32); + prob @1 :Float32; + std @2 :Float32; + stds @3 :List(Float32); + poly @4 :List(Float32); + validLen @5 :Float32; + } + + struct LeadData @0xd1c9bef96d26fa91 { + dist @0 :Float32; + prob @1 :Float32; + std @2 :Float32; + relVel @3 :Float32; + relVelStd @4 :Float32; + relY @5 :Float32; + relYStd @6 :Float32; + relA @7 :Float32; + relAStd @8 :Float32; + } + + struct ModelSettings @0xa26e3710efd3e914 { + bigBoxX @0 :UInt16; + bigBoxY @1 :UInt16; + bigBoxWidth @2 :UInt16; + bigBoxHeight @3 :UInt16; + boxProjection @4 :List(Float32); + yuvCorrection @5 :List(Float32); + inputTransform @6 :List(Float32); + } + + struct MetaData @0x9744f25fb60f2bf8 { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + brakeDisengageProb @2 :Float32; + gasDisengageProb @3 :Float32; + steerOverrideProb @4 :Float32; + desireState @5 :List(Float32); + } + + struct LongitudinalData @0xf98f999c6a071122 { + distances @2 :List(Float32); + speeds @0 :List(Float32); + accelerations @1 :List(Float32); + } +} + +struct ECEFPoint @0xc25bbbd524983447 { + x @0 :Float64; + y @1 :Float64; + z @2 :Float64; +} + +struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 { + x @0 :Float32; + y @1 :Float32; + z @2 :Float32; +} + +struct GPSPlannerPoints @0xab54c59699f8f9f3 { + curPosDEPRECATED @0 :ECEFPointDEPRECATED; + pointsDEPRECATED @1 :List(ECEFPointDEPRECATED); + curPos @6 :ECEFPoint; + points @7 :List(ECEFPoint); + valid @2 :Bool; + trackName @3 :Text; + speedLimit @4 :Float32; + accelTarget @5 :Float32; +} + +struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b { + valid @0 :Bool; + poly @1 :List(Float32); + trackName @2 :Text; + speed @3 :Float32; + acceleration @4 :Float32; + pointsDEPRECATED @5 :List(ECEFPointDEPRECATED); + points @6 :List(ECEFPoint); + xLookahead @7 :Float32; +} + +struct UiNavigationEvent @0x90c8426c3eaddd3b { + type @0: Type; + status @1: Status; + distanceTo @2: Float32; + endRoadPointDEPRECATED @3: ECEFPointDEPRECATED; + endRoadPoint @4: ECEFPoint; + + enum Type @0xe8db07dcf8fcea05 { + none @0; + laneChangeLeft @1; + laneChangeRight @2; + mergeLeft @3; + mergeRight @4; + turnLeft @5; + turnRight @6; + } + + enum Status @0xb9aa88c75ef99a1f { + none @0; + passive @1; + approaching @2; + active @3; + } +} + +struct LiveLocationData @0xb99b2bc7a57e8128 { + status @0 :UInt8; + + # 3D fix + lat @1 :Float64; + lon @2 :Float64; + alt @3 :Float32; # m + + # speed + speed @4 :Float32; # m/s + + # NED velocity components + vNED @5 :List(Float32); + + # roll, pitch, heading (x,y,z) + roll @6 :Float32; # WRT to center of earth? + pitch @7 :Float32; # WRT to center of earth? + heading @8 :Float32; # WRT to north? + + # what are these? + wanderAngle @9 :Float32; + trackAngle @10 :Float32; + + # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png + + # gyro, in car frame, deg/s + gyro @11 :List(Float32); + + # accel, in car frame, m/s^2 + accel @12 :List(Float32); + + accuracy @13 :Accuracy; + + source @14 :SensorSource; + # if we are fixing a location in the past + fixMonoTime @15 :UInt64; + + gpsWeek @16 :Int32; + timeOfWeek @17 :Float64; + + positionECEF @18 :List(Float64); + poseQuatECEF @19 :List(Float32); + pitchCalibration @20 :Float32; + yawCalibration @21 :Float32; + imuFrame @22 :List(Float32); + + struct Accuracy @0x943dc4625473b03f { + pNEDError @0 :List(Float32); + vNEDError @1 :List(Float32); + rollError @2 :Float32; + pitchError @3 :Float32; + headingError @4 :Float32; + ellipsoidSemiMajorError @5 :Float32; + ellipsoidSemiMinorError @6 :Float32; + ellipsoidOrientationError @7 :Float32; + } + + enum SensorSource @0xc871d3cc252af657 { + applanix @0; + kalman @1; + orbslam @2; + timing @3; + dummy @4; + } +} + +struct OrbOdometry @0xd7700859ed1f5b76 { + # timing first + startMonoTime @0 :UInt64; + endMonoTime @1 :UInt64; + + # fundamental matrix and error + f @2: List(Float64); + err @3: Float64; + + # number of inlier points + inliers @4: Int32; + + # for debug only + # indexed by endMonoTime features + # value is startMonoTime feature match + # -1 if no match + matches @5: List(Int16); +} + +struct OrbFeatures @0xcd60164a8a0159ef { + timestampEof @0 :UInt64; + # transposed arrays of normalized image coordinates + # len(xs) == len(ys) == len(descriptors) * 32 + xs @1 :List(Float32); + ys @2 :List(Float32); + descriptors @3 :Data; + octaves @4 :List(Int8); + + # match index to last OrbFeatures + # -1 if no match + timestampLastEof @5 :UInt64; + matches @6: List(Int16); +} + +struct OrbFeaturesSummary @0xd500d30c5803fa4f { + timestampEof @0 :UInt64; + timestampLastEof @1 :UInt64; + + featureCount @2 :UInt16; + matchCount @3 :UInt16; + computeNs @4 :UInt64; +} + +struct OrbKeyFrame @0xc8233c0345e27e24 { + # this is a globally unique id for the KeyFrame + id @0: UInt64; + + # this is the location of the KeyFrame + pos @1: ECEFPoint; + + # these are the features in the world + # len(dpos) == len(descriptors) * 32 + dpos @2 :List(ECEFPoint); + descriptors @3 :Data; +} + +struct KalmanOdometry @0x92e21bb7ea38793a { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame +} + +struct OrbObservation @0x9b326d4e436afec7 { + observationMonoTime @0 :UInt64; + normalizedCoordinates @1 :List(Float32); + locationECEF @2 :List(Float64); + matchDistance @3: UInt32; +} + +struct CalibrationFeatures @0x8fdfadb254ea867a { + frameId @0 :UInt32; + + p0 @1 :List(Float32); + p1 @2 :List(Float32); + status @3 :List(Int8); +} + +struct NavStatus @0xbd8822120928120c { + isNavigating @0 :Bool; + currentAddress @1 :Address; + + struct Address @0xce7cd672cacc7814 { + title @0 :Text; + lat @1 :Float64; + lng @2 :Float64; + house @3 :Text; + address @4 :Text; + street @5 :Text; + city @6 :Text; + state @7 :Text; + country @8 :Text; + } +} + +struct NavUpdate @0xdb98be6565516acb { + isNavigating @0 :Bool; + curSegment @1 :Int32; + segments @2 :List(Segment); + + struct LatLng @0x9eaef9187cadbb9b { + lat @0 :Float64; + lng @1 :Float64; + } + + struct Segment @0xa5b39b4fc4d7da3f { + from @0 :LatLng; + to @1 :LatLng; + updateTime @2 :Int32; + distance @3 :Int32; + crossTime @4 :Int32; + exitNo @5 :Int32; + instruction @6 :Instruction; + + parts @7 :List(LatLng); + + enum Instruction @0xc5417a637451246f { + turnLeft @0; + turnRight @1; + keepLeft @2; + keepRight @3; + straight @4; + roundaboutExitNumber @5; + roundaboutExit @6; + roundaboutTurnLeft @7; + unkn8 @8; + roundaboutStraight @9; + unkn10 @10; + roundaboutTurnRight @11; + unkn12 @12; + roundaboutUturn @13; + unkn14 @14; + arrive @15; + exitLeft @16; + exitRight @17; + unkn18 @18; + uturn @19; + # ... + } + } +} + +struct TrafficEvent @0xacfa74a094e62626 { + type @0 :Type; + distance @1 :Float32; + action @2 :Action; + resuming @3 :Bool; + + enum Type @0xd85d75253435bf4b { + stopSign @0; + lightRed @1; + lightYellow @2; + lightGreen @3; + stopLight @4; + } + + enum Action @0xa6f6ce72165ccb49 { + none @0; + yield @1; + stop @2; + resumeReady @3; + } + +} + + +struct AndroidGnss @0xdfdf30d03fc485bd { + union { + measurements @0 :Measurements; + navigationMessage @1 :NavigationMessage; + } + + struct Measurements @0xa20710d4f428d6cd { + clock @0 :Clock; + measurements @1 :List(Measurement); + + struct Clock @0xa0e27b453a38f450 { + timeNanos @0 :Int64; + hardwareClockDiscontinuityCount @1 :Int32; + + hasTimeUncertaintyNanos @2 :Bool; + timeUncertaintyNanos @3 :Float64; + + hasLeapSecond @4 :Bool; + leapSecond @5 :Int32; + + hasFullBiasNanos @6 :Bool; + fullBiasNanos @7 :Int64; + + hasBiasNanos @8 :Bool; + biasNanos @9 :Float64; + + hasBiasUncertaintyNanos @10 :Bool; + biasUncertaintyNanos @11 :Float64; + + hasDriftNanosPerSecond @12 :Bool; + driftNanosPerSecond @13 :Float64; + + hasDriftUncertaintyNanosPerSecond @14 :Bool; + driftUncertaintyNanosPerSecond @15 :Float64; + } + + struct Measurement @0xd949bf717d77614d { + svId @0 :Int32; + constellation @1 :Constellation; + + timeOffsetNanos @2 :Float64; + state @3 :Int32; + receivedSvTimeNanos @4 :Int64; + receivedSvTimeUncertaintyNanos @5 :Int64; + cn0DbHz @6 :Float64; + pseudorangeRateMetersPerSecond @7 :Float64; + pseudorangeRateUncertaintyMetersPerSecond @8 :Float64; + accumulatedDeltaRangeState @9 :Int32; + accumulatedDeltaRangeMeters @10 :Float64; + accumulatedDeltaRangeUncertaintyMeters @11 :Float64; + + hasCarrierFrequencyHz @12 :Bool; + carrierFrequencyHz @13 :Float32; + hasCarrierCycles @14 :Bool; + carrierCycles @15 :Int64; + hasCarrierPhase @16 :Bool; + carrierPhase @17 :Float64; + hasCarrierPhaseUncertainty @18 :Bool; + carrierPhaseUncertainty @19 :Float64; + hasSnrInDb @20 :Bool; + snrInDb @21 :Float64; + + multipathIndicator @22 :MultipathIndicator; + + enum Constellation @0x9ef1f3ff0deb5ffb { + unknown @0; + gps @1; + sbas @2; + glonass @3; + qzss @4; + beidou @5; + galileo @6; + } + + enum State @0xcbb9490adce12d72 { + unknown @0; + codeLock @1; + bitSync @2; + subframeSync @3; + towDecoded @4; + msecAmbiguous @5; + symbolSync @6; + gloStringSync @7; + gloTodDecoded @8; + bdsD2BitSync @9; + bdsD2SubframeSync @10; + galE1bcCodeLock @11; + galE1c2ndCodeLock @12; + galE1bPageSync @13; + sbasSync @14; + } + + enum MultipathIndicator @0xc04e7b6231d4caa8 { + unknown @0; + detected @1; + notDetected @2; + } + } + } + + struct NavigationMessage @0xe2517b083095fd4e { + type @0 :Int32; + svId @1 :Int32; + messageId @2 :Int32; + submessageId @3 :Int32; + data @4 :Data; + status @5 :Status; + + enum Status @0xec1ff7996b35366f { + unknown @0; + parityPassed @1; + parityRebuilt @2; + } + } +} + +struct LidarPts @0xe3d6685d4e9d8f7a { + r @0 :List(UInt16); # uint16 m*500.0 + theta @1 :List(UInt16); # uint16 deg*100.0 + reflect @2 :List(UInt8); # uint8 0-255 + + # For storing out of file. + idx @3 :UInt64; + + # For storing in file + pkt @4 :Data; +} + + diff --git a/cereal/log.capnp b/cereal/log.capnp new file mode 100644 index 0000000000..de639c201c --- /dev/null +++ b/cereal/log.capnp @@ -0,0 +1,2369 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +using Car = import "car.capnp"; +using Legacy = import "legacy.capnp"; +using Custom = import "custom.capnp"; + +@0xf3b1f17e25a4285b; + +const logVersion :Int32 = 1; + +struct Map(Key, Value) { + entries @0 :List(Entry); + struct Entry { + key @0 :Key; + value @1 :Value; + } +} + +enum LongitudinalPersonality { + aggressive @0; + standard @1; + relaxed @2; +} + +struct InitData { + kernelArgs @0 :List(Text); + kernelVersion @15 :Text; + osVersion @18 :Text; + + dongleId @2 :Text; + bootlogId @22 :Text; + + deviceType @3 :DeviceType; + version @4 :Text; + gitCommit @10 :Text; + gitCommitDate @21 :Text; + gitBranch @11 :Text; + gitRemote @13 :Text; + + androidProperties @16 :Map(Text, Text); + + pandaInfo @8 :PandaInfo; + + dirty @9 :Bool; + passive @12 :Bool; + params @17 :Map(Text, Data); + + commands @19 :Map(Text, Data); + + wallTimeNanos @20 :UInt64; + + enum DeviceType { + unknown @0; + neo @1; + chffrAndroid @2; + chffrIos @3; + tici @4; + pc @5; + tizi @6; + mici @7; + } + + struct PandaInfo { + hasPanda @0 :Bool; + dongleId @1 :Text; + stVersion @2 :Text; + espVersion @3 :Text; + } + + # ***** deprecated stuff ***** + gctxDEPRECATED @1 :Text; + androidBuildInfo @5 :AndroidBuildInfo; + androidSensorsDEPRECATED @6 :List(AndroidSensor); + chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra; + iosBuildInfoDEPRECATED @14 :IosBuildInfo; + + struct AndroidBuildInfo { + board @0 :Text; + bootloader @1 :Text; + brand @2 :Text; + device @3 :Text; + display @4 :Text; + fingerprint @5 :Text; + hardware @6 :Text; + host @7 :Text; + id @8 :Text; + manufacturer @9 :Text; + model @10 :Text; + product @11 :Text; + radioVersion @12 :Text; + serial @13 :Text; + supportedAbis @14 :List(Text); + tags @15 :Text; + time @16 :Int64; + type @17 :Text; + user @18 :Text; + + versionCodename @19 :Text; + versionRelease @20 :Text; + versionSdk @21 :Int32; + versionSecurityPatch @22 :Text; + } + + struct AndroidSensor { + id @0 :Int32; + name @1 :Text; + vendor @2 :Text; + version @3 :Int32; + handle @4 :Int32; + type @5 :Int32; + maxRange @6 :Float32; + resolution @7 :Float32; + power @8 :Float32; + minDelay @9 :Int32; + fifoReservedEventCount @10 :UInt32; + fifoMaxEventCount @11 :UInt32; + stringType @12 :Text; + maxDelay @13 :Int32; + } + + struct ChffrAndroidExtra { + allCameraCharacteristics @0 :Map(Text, Text); + } + + struct IosBuildInfo { + appVersion @0 :Text; + appBuild @1 :UInt32; + osVersion @2 :Text; + deviceModel @3 :Text; + } +} + +struct FrameData { + frameId @0 :UInt32; + frameIdSensor @25 :UInt32; + requestId @28 :UInt32; + encodeId @1 :UInt32; + + frameType @7 :FrameType; + + # Timestamps + timestampEof @2 :UInt64; + timestampSof @8 :UInt64; + processingTime @23 :Float32; + + # Exposure + integLines @4 :Int32; + highConversionGain @20 :Bool; + gain @15 :Float32; # This includes highConversionGain if enabled + measuredGreyFraction @21 :Float32; + targetGreyFraction @22 :Float32; + exposureValPercent @27 :Float32; + + transform @10 :List(Float32); + + image @6 :Data; + + temperaturesC @24 :List(Float32); + + enum FrameType { + unknown @0; + neo @1; + chffrAndroid @2; + front @3; + } + + sensor @26 :ImageSensor; + enum ImageSensor { + unknown @0; + ar0231 @1; + ox03c10 @2; + os04c10 @3; + } + + frameLengthDEPRECATED @3 :Int32; + globalGainDEPRECATED @5 :Int32; + androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; + lensPosDEPRECATED @11 :Int32; + lensSagDEPRECATED @12 :Float32; + lensErrDEPRECATED @13 :Float32; + lensTruePosDEPRECATED @14 :Float32; + focusValDEPRECATED @16 :List(Int16); + focusConfDEPRECATED @17 :List(UInt8); + sharpnessScoreDEPRECATED @18 :List(UInt16); + recoverStateDEPRECATED @19 :Int32; + struct AndroidCaptureResult { + sensitivity @0 :Int32; + frameDuration @1 :Int64; + exposureTime @2 :Int64; + rollingShutterSkew @3 :UInt64; + colorCorrectionTransform @4 :List(Int32); + colorCorrectionGains @5 :List(Float32); + displayRotation @6 :Int8; + } +} + +struct Thumbnail { + frameId @0 :UInt32; + timestampEof @1 :UInt64; + thumbnail @2 :Data; + encoding @3 :Encoding; + + enum Encoding { + unknown @0; + jpeg @1; + keyframe @2; + } +} + +struct GPSNMEAData { + timestamp @0 :Int64; + localWallTime @1 :UInt64; + nmea @2 :Text; +} + +# android sensor_event_t +struct SensorEventData { + version @0 :Int32; + sensor @1 :Int32; + type @2 :Int32; + timestamp @3 :Int64; + uncalibratedDEPRECATED @10 :Bool; + + union { + acceleration @4 :SensorVec; + magnetic @5 :SensorVec; + orientation @6 :SensorVec; + gyro @7 :SensorVec; + pressure @9 :SensorVec; + magneticUncalibrated @11 :SensorVec; + gyroUncalibrated @12 :SensorVec; + proximity @13: Float32; + light @14: Float32; + temperature @15: Float32; + } + source @8 :SensorSource; + + struct SensorVec { + v @0 :List(Float32); + status @1 :Int8; + } + + enum SensorSource { + android @0; + iOS @1; + fiber @2; + velodyne @3; # Velodyne IMU + bno055 @4; # Bosch accelerometer + lsm6ds3 @5; # includes LSM6DS3 and LSM6DS3TR, TR = tape reel + bmp280 @6; # barometer + mmc3416x @7; # magnetometer + bmx055 @8; + rpr0521 @9; + lsm6ds3trc @10; + mmc5603nj @11; + } +} + +# android struct GpsLocation +struct GpsLocationData { + # Contains module-specific flags. + flags @0 :UInt16; + + # Represents latitude in degrees. + latitude @1 :Float64; + + # Represents longitude in degrees. + longitude @2 :Float64; + + # Represents altitude in meters above the WGS 84 reference ellipsoid. + altitude @3 :Float64; + + # Represents speed in meters per second. + speed @4 :Float32; + + # Represents heading in degrees. + bearingDeg @5 :Float32; + + # Represents expected horizontal accuracy in meters. + horizontalAccuracy @6 :Float32; + + unixTimestampMillis @7 :Int64; + + source @8 :SensorSource; + + # Represents NED velocity in m/s. + vNED @9 :List(Float32); + + # Represents expected vertical accuracy in meters. (presumably 1 sigma?) + verticalAccuracy @10 :Float32; + + # Represents bearing accuracy in degrees. (presumably 1 sigma?) + bearingAccuracyDeg @11 :Float32; + + # Represents velocity accuracy in m/s. (presumably 1 sigma?) + speedAccuracy @12 :Float32; + + hasFix @13 :Bool; + + enum SensorSource { + android @0; + iOS @1; + car @2; + velodyne @3; # Velodyne IMU + fusion @4; + external @5; + ublox @6; + trimble @7; + qcomdiag @8; + unicore @9; + } +} + +enum Desire { + none @0; + turnLeft @1; + turnRight @2; + laneChangeLeft @3; + laneChangeRight @4; + keepLeft @5; + keepRight @6; +} + +enum LaneChangeState { + off @0; + preLaneChange @1; + laneChangeStarting @2; + laneChangeFinishing @3; +} + +enum LaneChangeDirection { + none @0; + left @1; + right @2; +} + +struct CanData { + address @0 :UInt32; + busTime @1 :UInt16; + dat @2 :Data; + src @3 :UInt8; +} + +struct DeviceState @0xa4d8b5af2aa492eb { + deviceType @45 :InitData.DeviceType; + + networkType @22 :NetworkType; + networkInfo @31 :NetworkInfo; + networkStrength @24 :NetworkStrength; + networkStats @43 :NetworkStats; + networkMetered @41 :Bool; + lastAthenaPingTime @32 :UInt64; + + started @11 :Bool; + startedMonoTime @13 :UInt64; + + # system utilization + freeSpacePercent @7 :Float32; + memoryUsagePercent @19 :Int8; + gpuUsagePercent @33 :Int8; + cpuUsagePercent @34 :List(Int8); # per-core cpu usage + + # power + offroadPowerUsageUwh @23 :UInt32; + carBatteryCapacityUwh @25 :UInt32; + powerDrawW @40 :Float32; + somPowerDrawW @42 :Float32; + + # device thermals + cpuTempC @26 :List(Float32); + gpuTempC @27 :List(Float32); + memoryTempC @28 :Float32; + nvmeTempC @35 :List(Float32); + modemTempC @36 :List(Float32); + pmicTempC @39 :List(Float32); + maxTempC @44 :Float32; # max of other temps, used to control fan + thermalZones @38 :List(ThermalZone); + thermalStatus @14 :ThermalStatus; + + fanSpeedPercentDesired @10 :UInt16; + screenBrightnessPercent @37 :Int8; + + struct ThermalZone { + name @0 :Text; + temp @1 :Float32; + } + + enum ThermalStatus { + green @0; + yellow @1; + red @2; + danger @3; + } + + enum NetworkType { + none @0; + wifi @1; + cell2G @2; + cell3G @3; + cell4G @4; + cell5G @5; + ethernet @6; + } + + enum NetworkStrength { + unknown @0; + poor @1; + moderate @2; + good @3; + great @4; + } + + struct NetworkInfo { + technology @0 :Text; + operator @1 :Text; + band @2 :Text; + channel @3 :UInt16; + extra @4 :Text; + state @5 :Text; + } + + struct NetworkStats { + wwanTx @0 :Int64; + wwanRx @1 :Int64; + } + + # deprecated + cpu0DEPRECATED @0 :UInt16; + cpu1DEPRECATED @1 :UInt16; + cpu2DEPRECATED @2 :UInt16; + cpu3DEPRECATED @3 :UInt16; + memDEPRECATED @4 :UInt16; + gpuDEPRECATED @5 :UInt16; + batDEPRECATED @6 :UInt32; + pa0DEPRECATED @21 :UInt16; + cpuUsagePercentDEPRECATED @20 :Int8; + batteryStatusDEPRECATED @9 :Text; + batteryVoltageDEPRECATED @16 :Int32; + batteryTempCDEPRECATED @29 :Float32; + batteryPercentDEPRECATED @8 :Int16; + batteryCurrentDEPRECATED @15 :Int32; + chargingErrorDEPRECATED @17 :Bool; + chargingDisabledDEPRECATED @18 :Bool; + usbOnlineDEPRECATED @12 :Bool; + ambientTempCDEPRECATED @30 :Float32; +} + +struct PandaState @0xa7649e2575e4591e { + ignitionLine @2 :Bool; + rxBufferOverflow @7 :UInt32; + txBufferOverflow @8 :UInt32; + pandaType @10 :PandaType; + ignitionCan @13 :Bool; + faultStatus @15 :FaultStatus; + powerSaveEnabled @16 :Bool; + uptime @17 :UInt32; + faults @18 :List(FaultType); + heartbeatLost @22 :Bool; + interruptLoad @25 :Float32; + fanPower @28 :UInt8; + fanStallCount @34 :UInt8; + + spiChecksumErrorCount @33 :UInt16; + + harnessStatus @21 :HarnessStatus; + sbu1Voltage @35 :Float32; + sbu2Voltage @36 :Float32; + + # can health + canState0 @29 :PandaCanState; + canState1 @30 :PandaCanState; + canState2 @31 :PandaCanState; + + # safety stuff + controlsAllowed @3 :Bool; + safetyRxInvalid @19 :UInt32; + safetyTxBlocked @24 :UInt32; + safetyModel @14 :Car.CarParams.SafetyModel; + safetyParam @27 :UInt16; + alternativeExperience @23 :Int16; + safetyRxChecksInvalid @32 :Bool; + + voltage @0 :UInt32; + current @1 :UInt32; + + enum FaultStatus { + none @0; + faultTemp @1; + faultPerm @2; + } + + enum FaultType { + relayMalfunction @0; + unusedInterruptHandled @1; + interruptRateCan1 @2; + interruptRateCan2 @3; + interruptRateCan3 @4; + interruptRateTach @5; + interruptRateGmlanDEPRECATED @6; + interruptRateInterrupts @7; + interruptRateSpiDma @8; + interruptRateSpiCs @9; + interruptRateUart1 @10; + interruptRateUart2 @11; + interruptRateUart3 @12; + interruptRateUart5 @13; + interruptRateUartDma @14; + interruptRateUsb @15; + interruptRateTim1 @16; + interruptRateTim3 @17; + registerDivergent @18; + interruptRateKlineInit @19; + interruptRateClockSource @20; + interruptRateTick @21; + interruptRateExti @22; + interruptRateSpi @23; + interruptRateUart7 @24; + sirenMalfunction @25; + heartbeatLoopWatchdog @26; + # Update max fault type in boardd when adding faults + } + + enum PandaType @0x8a58adf93e5b3751 { + unknown @0; + whitePanda @1; + greyPanda @2; + blackPanda @3; + pedal @4; + uno @5; + dos @6; + redPanda @7; + redPandaV2 @8; + tres @9; + cuatro @10; + } + + enum HarnessStatus { + notConnected @0; + normal @1; + flipped @2; + } + + struct PandaCanState { + busOff @0 :Bool; + busOffCnt @1 :UInt32; + errorWarning @2 :Bool; + errorPassive @3 :Bool; + lastError @4 :LecErrorCode; + lastStoredError @5 :LecErrorCode; + lastDataError @6 :LecErrorCode; + lastDataStoredError @7 :LecErrorCode; + receiveErrorCnt @8 :UInt8; + transmitErrorCnt @9 :UInt8; + totalErrorCnt @10 :UInt32; + totalTxLostCnt @11 :UInt32; + totalRxLostCnt @12 :UInt32; + totalTxCnt @13 :UInt32; + totalRxCnt @14 :UInt32; + totalFwdCnt @15 :UInt32; + canSpeed @16 :UInt16; + canDataSpeed @17 :UInt16; + canfdEnabled @18 :Bool; + brsEnabled @19 :Bool; + canfdNonIso @20 :Bool; + irq0CallRate @21 :UInt32; + irq1CallRate @22 :UInt32; + irq2CallRate @23 :UInt32; + canCoreResetCnt @24 :UInt32; + + enum LecErrorCode { + noError @0; + stuffError @1; + formError @2; + ackError @3; + bit1Error @4; + bit0Error @5; + crcError @6; + noChange @7; + } + } + + gasInterceptorDetectedDEPRECATED @4 :Bool; + startedSignalDetectedDEPRECATED @5 :Bool; + hasGpsDEPRECATED @6 :Bool; + gmlanSendErrsDEPRECATED @9 :UInt32; + fanSpeedRpmDEPRECATED @11 :UInt16; + usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; + safetyParamDEPRECATED @20 :Int16; + safetyParam2DEPRECATED @26 :UInt32; +} + +struct PeripheralState { + pandaType @0 :PandaState.PandaType; + voltage @1 :UInt32; + current @2 :UInt32; + fanSpeedRpm @3 :UInt16; + + usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED; + enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 { + none @0; + client @1; + cdp @2; + dcp @3; + } +} + +struct RadarState @0x9a185389d6fdd05f { + mdMonoTime @6 :UInt64; + carStateMonoTime @11 :UInt64; + radarErrors @12 :List(Car.RadarData.Error); + + leadOne @3 :LeadData; + leadTwo @4 :LeadData; + cumLagMs @5 :Float32; + + struct LeadData { + dRel @0 :Float32; + yRel @1 :Float32; + vRel @2 :Float32; + aRel @3 :Float32; + vLead @4 :Float32; + dPath @6 :Float32; + vLat @7 :Float32; + vLeadK @8 :Float32; + aLeadK @9 :Float32; + fcw @10 :Bool; + status @11 :Bool; + aLeadTau @12 :Float32; + modelProb @13 :Float32; + radar @14 :Bool; + radarTrackId @15 :Int32 = -1; + + aLeadDEPRECATED @5 :Float32; + } + + # deprecated + ftMonoTimeDEPRECATED @7 :UInt64; + warpMatrixDEPRECATED @0 :List(Float32); + angleOffsetDEPRECATED @1 :Float32; + calStatusDEPRECATED @2 :Int8; + calCycleDEPRECATED @8 :Int32; + calPercDEPRECATED @9 :Int8; + canMonoTimesDEPRECATED @10 :List(UInt64); +} + +struct LiveCalibrationData { + calStatus @11 :Status; + calCycle @2 :Int32; + calPerc @3 :Int8; + validBlocks @9 :Int32; + + # view_frame_from_road_frame + # ui's is inversed needs new + extrinsicMatrix @4 :List(Float32); + # the direction of travel vector in device frame + rpyCalib @7 :List(Float32); + rpyCalibSpread @8 :List(Float32); + wideFromDeviceEuler @10 :List(Float32); + height @12 :List(Float32); + + warpMatrixDEPRECATED @0 :List(Float32); + calStatusDEPRECATED @1 :Int8; + warpMatrix2DEPRECATED @5 :List(Float32); + warpMatrixBigDEPRECATED @6 :List(Float32); + + enum Status { + uncalibrated @0; + calibrated @1; + invalid @2; + recalibrating @3; + } +} + +struct LiveTracks { + trackId @0 :Int32; + dRel @1 :Float32; + yRel @2 :Float32; + vRel @3 :Float32; + aRel @4 :Float32; + timeStamp @5 :Float32; + status @6 :Float32; + currentTime @7 :Float32; + stationary @8 :Bool; + oncoming @9 :Bool; +} + +struct ControlsState @0x97ff69c53601abf1 { + startMonoTime @48 :UInt64; + longitudinalPlanMonoTime @28 :UInt64; + lateralPlanMonoTime @50 :UInt64; + + state @31 :OpenpilotState; + enabled @19 :Bool; + active @36 :Bool; + + experimentalMode @64 :Bool; + personality @66 :LongitudinalPersonality; + + longControlState @30 :Car.CarControl.Actuators.LongControlState; + vPid @2 :Float32; + vTargetLead @3 :Float32; + vCruise @22 :Float32; # actual set speed + vCruiseCluster @63 :Float32; # set speed to display in the UI + upAccelCmd @4 :Float32; + uiAccelCmd @5 :Float32; + ufAccelCmd @33 :Float32; + aTarget @35 :Float32; + curvature @37 :Float32; # path curvature from vehicle model + desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers + forceDecel @51 :Bool; + + # UI alerts + alertText1 @24 :Text; + alertText2 @25 :Text; + alertStatus @38 :AlertStatus; + alertSize @39 :AlertSize; + alertBlinkingRate @42 :Float32; + alertType @44 :Text; + alertSound @56 :Car.CarControl.HUDControl.AudibleAlert; + engageable @41 :Bool; # can OP be engaged? + + cumLagMs @15 :Float32; + + lateralControlState :union { + indiState @52 :LateralINDIState; + pidState @53 :LateralPIDState; + angleState @58 :LateralAngleState; + debugState @59 :LateralDebugState; + torqueState @60 :LateralTorqueState; + + curvatureStateDEPRECATED @65 :LateralCurvatureState; + lqrStateDEPRECATED @55 :LateralLQRState; + } + + enum OpenpilotState @0xdbe58b96d2d1ac61 { + disabled @0; + preEnabled @1; + enabled @2; + softDisabling @3; + overriding @4; # superset of overriding with steering or accelerator + } + + enum AlertStatus { + normal @0; # low priority alert for user's convenience + userPrompt @1; # mid priority alert that might require user intervention + critical @2; # high priority alert that needs immediate user intervention + } + + enum AlertSize { + none @0; # don't display the alert + small @1; # small box + mid @2; # mid screen + full @3; # full screen + } + + struct LateralINDIState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + steeringAccelDeg @3 :Float32; + rateSetPoint @4 :Float32; + accelSetPoint @5 :Float32; + accelError @6 :Float32; + delayedOutput @7 :Float32; + delta @8 :Float32; + output @9 :Float32; + saturated @10 :Bool; + steeringAngleDesiredDeg @11 :Float32; + steeringRateDesiredDeg @12 :Float32; + } + + struct LateralPIDState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + angleError @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + steeringAngleDesiredDeg @9 :Float32; + } + + struct LateralTorqueState { + active @0 :Bool; + error @1 :Float32; + errorRate @8 :Float32; + p @2 :Float32; + i @3 :Float32; + d @4 :Float32; + f @5 :Float32; + output @6 :Float32; + saturated @7 :Bool; + actualLateralAccel @9 :Float32; + desiredLateralAccel @10 :Float32; + } + + struct LateralLQRState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + i @2 :Float32; + output @3 :Float32; + lqrOutput @4 :Float32; + saturated @5 :Bool; + steeringAngleDesiredDeg @6 :Float32; + } + + struct LateralAngleState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + steeringAngleDesiredDeg @4 :Float32; + } + + struct LateralCurvatureState { + active @0 :Bool; + actualCurvature @1 :Float32; + desiredCurvature @2 :Float32; + error @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + } + + struct LateralDebugState { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + output @2 :Float32; + saturated @3 :Bool; + } + + # deprecated + vEgoDEPRECATED @0 :Float32; + vEgoRawDEPRECATED @32 :Float32; + aEgoDEPRECATED @1 :Float32; + canMonoTimeDEPRECATED @16 :UInt64; + radarStateMonoTimeDEPRECATED @17 :UInt64; + mdMonoTimeDEPRECATED @18 :UInt64; + yActualDEPRECATED @6 :Float32; + yDesDEPRECATED @7 :Float32; + upSteerDEPRECATED @8 :Float32; + uiSteerDEPRECATED @9 :Float32; + ufSteerDEPRECATED @34 :Float32; + aTargetMinDEPRECATED @10 :Float32; + aTargetMaxDEPRECATED @11 :Float32; + rearViewCamDEPRECATED @23 :Bool; + driverMonitoringOnDEPRECATED @43 :Bool; + hudLeadDEPRECATED @14 :Int32; + alertSoundDEPRECATED @45 :Text; + angleModelBiasDEPRECATED @27 :Float32; + gpsPlannerActiveDEPRECATED @40 :Bool; + decelForTurnDEPRECATED @47 :Bool; + decelForModelDEPRECATED @54 :Bool; + awarenessStatusDEPRECATED @26 :Float32; + angleSteersDEPRECATED @13 :Float32; + vCurvatureDEPRECATED @46 :Float32; + mapValidDEPRECATED @49 :Bool; + jerkFactorDEPRECATED @12 :Float32; + steerOverrideDEPRECATED @20 :Bool; + steeringAngleDesiredDegDEPRECATED @29 :Float32; + canMonoTimesDEPRECATED @21 :List(UInt64); + desiredCurvatureRateDEPRECATED @62 :Float32; + canErrorCounterDEPRECATED @57 :UInt32; +} + +# All SI units and in device frame +struct XYZTData @0xc3cbae1fd505ae80 { + x @0 :List(Float32); + y @1 :List(Float32); + z @2 :List(Float32); + t @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + zStd @6 :List(Float32); +} + +struct ModelDataV2 { + frameId @0 :UInt32; + frameIdExtra @20 :UInt32; + frameAge @1 :UInt32; + frameDropPerc @2 :Float32; + timestampEof @3 :UInt64; + modelExecutionTime @15 :Float32; + gpuExecutionTime @17 :Float32; + rawPredictions @16 :Data; + + # predicted future position, orientation, etc.. + position @4 :XYZTData; + orientation @5 :XYZTData; + velocity @6 :XYZTData; + orientationRate @7 :XYZTData; + acceleration @19 :XYZTData; + + # prediction lanelines and road edges + laneLines @8 :List(XYZTData); + laneLineProbs @9 :List(Float32); + laneLineStds @13 :List(Float32); + roadEdges @10 :List(XYZTData); + roadEdgeStds @14 :List(Float32); + + # predicted lead cars + leads @11 :List(LeadDataV2); + leadsV3 @18 :List(LeadDataV3); + + meta @12 :MetaData; + confidence @23: ConfidenceClass; + + # Model perceived motion + temporalPose @21 :Pose; + + navEnabledDEPRECATED @22 :Bool; + locationMonoTimeDEPRECATED @24 :UInt64; + + # e2e lateral planner + lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; + action @26: Action; + + struct LeadDataV2 { + prob @0 :Float32; # probability that car is your lead at time t + t @1 :Float32; + + # x and y are relative position in device frame + # v is norm relative speed + # a is norm relative acceleration + xyva @2 :List(Float32); + xyvaStd @3 :List(Float32); + } + + struct LeadDataV3 { + prob @0 :Float32; # probability that car is your lead at time t + probTime @1 :Float32; + t @2 :List(Float32); + + # x and y are relative position in device frame + # v absolute norm speed + # a is derivative of v + x @3 :List(Float32); + xStd @4 :List(Float32); + y @5 :List(Float32); + yStd @6 :List(Float32); + v @7 :List(Float32); + vStd @8 :List(Float32); + a @9 :List(Float32); + aStd @10 :List(Float32); + } + + + struct MetaData { + engagedProb @0 :Float32; + desirePrediction @1 :List(Float32); + desireState @5 :List(Float32); + disengagePredictions @6 :DisengagePredictions; + hardBrakePredicted @7 :Bool; + laneChangeState @8 :LaneChangeState; + laneChangeDirection @9 :LaneChangeDirection; + + + # deprecated + brakeDisengageProbDEPRECATED @2 :Float32; + gasDisengageProbDEPRECATED @3 :Float32; + steerOverrideProbDEPRECATED @4 :Float32; + } + + enum ConfidenceClass { + red @0; + yellow @1; + green @2; + } + + struct DisengagePredictions { + t @0 :List(Float32); + brakeDisengageProbs @1 :List(Float32); + gasDisengageProbs @2 :List(Float32); + steerOverrideProbs @3 :List(Float32); + brake3MetersPerSecondSquaredProbs @4 :List(Float32); + brake4MetersPerSecondSquaredProbs @5 :List(Float32); + brake5MetersPerSecondSquaredProbs @6 :List(Float32); + } + + struct Pose { + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame + } + + struct LateralPlannerSolution { + x @0 :List(Float32); + y @1 :List(Float32); + yaw @2 :List(Float32); + yawRate @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + yawStd @6 :List(Float32); + yawRateStd @7 :List(Float32); + } + + struct Action { + desiredCurvature @0 :Float32; + } +} + +struct EncodeIndex { + # picture from camera + frameId @0 :UInt32; + type @1 :Type; + # index of encoder from start of route + encodeId @2 :UInt32; + # minute long segment this frame is in + segmentNum @3 :Int32; + # index into camera file in segment in presentation order + segmentId @4 :UInt32; + # index into camera file in segment in encode order + segmentIdEncode @5 :UInt32; + timestampSof @6 :UInt64; + timestampEof @7 :UInt64; + + # encoder metadata + flags @8 :UInt32; + len @9 :UInt32; + + enum Type { + bigBoxLossless @0; + fullHEVC @1; + qcameraH264 @6; + livestreamH264 @7; + + # deprecated + bigBoxHEVCDEPRECATED @2; + chffrAndroidH264DEPRECATED @3; + fullLosslessClipDEPRECATED @4; + frontDEPRECATED @5; + + } +} + +struct AndroidLogEntry { + id @0 :UInt8; + ts @1 :UInt64; + priority @2 :UInt8; + pid @3 :Int32; + tid @4 :Int32; + tag @5 :Text; + message @6 :Text; +} + +struct LongitudinalPlan @0xe00b5b3eba12876c { + modelMonoTime @9 :UInt64; + hasLead @7 :Bool; + fcw @8 :Bool; + longitudinalPlanSource @15 :LongitudinalPlanSource; + processingDelay @29 :Float32; + + # desired speed/accel/jerk over next 2.5s + accels @32 :List(Float32); + speeds @33 :List(Float32); + jerks @34 :List(Float32); + + solverExecutionTime @35 :Float32; + + enum LongitudinalPlanSource { + cruise @0; + lead0 @1; + lead1 @2; + lead2 @3; + e2e @4; + } + + # deprecated + vCruiseDEPRECATED @16 :Float32; + aCruiseDEPRECATED @17 :Float32; + vTargetDEPRECATED @3 :Float32; + vTargetFutureDEPRECATED @14 :Float32; + aTargetDEPRECATED @18 :Float32; + vStartDEPRECATED @26 :Float32; + aStartDEPRECATED @27 :Float32; + vMaxDEPRECATED @20 :Float32; + radarStateMonoTimeDEPRECATED @10 :UInt64; + jerkFactorDEPRECATED @6 :Float32; + hasLeftLaneDEPRECATED @23 :Bool; + hasRightLaneDEPRECATED @24 :Bool; + aTargetMinDEPRECATED @4 :Float32; + aTargetMaxDEPRECATED @5 :Float32; + lateralValidDEPRECATED @0 :Bool; + longitudinalValidDEPRECATED @2 :Bool; + dPolyDEPRECATED @1 :List(Float32); + laneWidthDEPRECATED @11 :Float32; + vCurvatureDEPRECATED @21 :Float32; + decelForTurnDEPRECATED @22 :Bool; + mapValidDEPRECATED @25 :Bool; + radarValidDEPRECATED @28 :Bool; + radarCanErrorDEPRECATED @30 :Bool; + commIssueDEPRECATED @31 :Bool; + eventsDEPRECATED @13 :List(Car.CarEvent); + gpsTrajectoryDEPRECATED @12 :GpsTrajectory; + gpsPlannerActiveDEPRECATED @19 :Bool; + personalityDEPRECATED @36 :LongitudinalPersonality; + + struct GpsTrajectory { + x @0 :List(Float32); + y @1 :List(Float32); + } +} +struct UiPlan { + frameId @2 :UInt32; + position @0 :XYZTData; + accel @1 :List(Float32); +} + +struct LateralPlan @0xe1e9318e2ae8b51e { + modelMonoTime @31 :UInt64; + laneWidthDEPRECATED @0 :Float32; + lProbDEPRECATED @5 :Float32; + rProbDEPRECATED @7 :Float32; + dPathPoints @20 :List(Float32); + dProbDEPRECATED @21 :Float32; + + mpcSolutionValid @9 :Bool; + desire @17 :Desire; + laneChangeState @18 :LaneChangeState; + laneChangeDirection @19 :LaneChangeDirection; + useLaneLines @29 :Bool; + + # desired curvatures over next 2.5s in rad/m + psis @26 :List(Float32); + curvatures @27 :List(Float32); + curvatureRates @28 :List(Float32); + + solverExecutionTime @30 :Float32; + solverCost @32 :Float32; + solverState @33 :SolverState; + + struct SolverState { + x @0 :List(List(Float32)); + u @1 :List(Float32); + } + + # deprecated + curvatureDEPRECATED @22 :Float32; + curvatureRateDEPRECATED @23 :Float32; + rawCurvatureDEPRECATED @24 :Float32; + rawCurvatureRateDEPRECATED @25 :Float32; + cProbDEPRECATED @3 :Float32; + dPolyDEPRECATED @1 :List(Float32); + cPolyDEPRECATED @2 :List(Float32); + lPolyDEPRECATED @4 :List(Float32); + rPolyDEPRECATED @6 :List(Float32); + modelValidDEPRECATED @12 :Bool; + commIssueDEPRECATED @15 :Bool; + posenetValidDEPRECATED @16 :Bool; + sensorValidDEPRECATED @14 :Bool; + paramsValidDEPRECATED @10 :Bool; + steeringAngleDegDEPRECATED @8 :Float32; # deg + steeringRateDegDEPRECATED @13 :Float32; # deg/s + angleOffsetDegDEPRECATED @11 :Float32; +} + +struct LiveLocationKalman { + + # More info on reference frames: + # https://github.com/commaai/openpilot/tree/master/common/transformations + + positionECEF @0 : Measurement; + positionGeodetic @1 : Measurement; + velocityECEF @2 : Measurement; + velocityNED @3 : Measurement; + velocityDevice @4 : Measurement; + accelerationDevice @5: Measurement; + + + # These angles are all eulers and roll, pitch, yaw + # orientationECEF transforms to rot matrix: ecef_from_device + orientationECEF @6 : Measurement; + calibratedOrientationECEF @20 : Measurement; + orientationNED @7 : Measurement; + angularVelocityDevice @8 : Measurement; + + # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated + calibratedOrientationNED @9 : Measurement; + + # Calibrated frame is simply device frame + # aligned with the vehicle + velocityCalibrated @10 : Measurement; + accelerationCalibrated @11 : Measurement; + angularVelocityCalibrated @12 : Measurement; + + gpsWeek @13 :Int32; + gpsTimeOfWeek @14 :Float64; + status @15 :Status; + unixTimestampMillis @16 :Int64; + inputsOK @17 :Bool = true; + posenetOK @18 :Bool = true; + gpsOK @19 :Bool = true; + sensorsOK @21 :Bool = true; + deviceStable @22 :Bool = true; + timeSinceReset @23 :Float64; + excessiveResets @24 :Bool; + timeToFirstFix @25 :Float32; + + filterState @26 : Measurement; + + enum Status { + uninitialized @0; + uncalibrated @1; + valid @2; + } + + struct Measurement { + value @0 : List(Float64); + std @1 : List(Float64); + valid @2 : Bool; + } +} + +struct ProcLog { + cpuTimes @0 :List(CPUTimes); + mem @1 :Mem; + procs @2 :List(Process); + + struct Process { + pid @0 :Int32; + name @1 :Text; + state @2 :UInt8; + ppid @3 :Int32; + + cpuUser @4 :Float32; + cpuSystem @5 :Float32; + cpuChildrenUser @6 :Float32; + cpuChildrenSystem @7 :Float32; + priority @8 :Int64; + nice @9 :Int32; + numThreads @10 :Int32; + startTime @11 :Float64; + + memVms @12 :UInt64; + memRss @13 :UInt64; + + processor @14 :Int32; + + cmdline @15 :List(Text); + exe @16 :Text; + } + + struct CPUTimes { + cpuNum @0 :Int64; + user @1 :Float32; + nice @2 :Float32; + system @3 :Float32; + idle @4 :Float32; + iowait @5 :Float32; + irq @6 :Float32; + softirq @7 :Float32; + } + + struct Mem { + total @0 :UInt64; + free @1 :UInt64; + available @2 :UInt64; + buffers @3 :UInt64; + cached @4 :UInt64; + active @5 :UInt64; + inactive @6 :UInt64; + shared @7 :UInt64; + } +} + +struct GnssMeasurements { + measTime @0 :UInt64; + gpsWeek @1 :Int16; + gpsTimeOfWeek @2 :Float64; + + correctedMeasurements @3 :List(CorrectedMeasurement); + ephemerisStatuses @9 :List(EphemerisStatus); + + kalmanPositionECEF @4 :LiveLocationKalman.Measurement; + kalmanVelocityECEF @5 :LiveLocationKalman.Measurement; + positionECEF @6 :LiveLocationKalman.Measurement; + velocityECEF @7 :LiveLocationKalman.Measurement; + timeToFirstFix @8 :Float32; + # Todo sync this with timing pulse of ublox + + struct EphemerisStatus { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + type @2 :EphemerisType; + source @3 :EphemerisSource; + gpsWeek @4 : UInt16; + tow @5 :Float64; + } + + struct CorrectedMeasurement { + constellationId @0 :ConstellationId; + svId @1 :UInt8; + # Is 0 when not Glonass constellation. + glonassFrequency @2 :Int8; + pseudorange @3 :Float64; + pseudorangeStd @4 :Float64; + pseudorangeRate @5 :Float64; + pseudorangeRateStd @6 :Float64; + # Satellite position and velocity [x,y,z] + satPos @7 :List(Float64); + satVel @8 :List(Float64); + ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED; + } + + struct EphemerisSourceDEPRECATED { + type @0 :EphemerisType; + # first epoch in file: + gpsWeek @1 :Int16; # -1 if Nav + gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs. + } + + enum ConstellationId { + # Satellite Constellation using the Ublox gnssid as index + gps @0; + sbas @1; + galileo @2; + beidou @3; + imes @4; + qznss @5; + glonass @6; + } + + enum EphemerisType { + nav @0; + # Different ultra-rapid files: + nasaUltraRapid @1; + glonassIacUltraRapid @2; + qcom @3; + } + + enum EphemerisSource { + gnssChip @0; + internet @1; + cache @2; + unknown @3; + } +} + +struct UbloxGnss { + union { + measurementReport @0 :MeasurementReport; + ephemeris @1 :Ephemeris; + ionoData @2 :IonoData; + hwStatus @3 :HwStatus; + hwStatus2 @4 :HwStatus2; + glonassEphemeris @5 :GlonassEphemeris; + satReport @6 :SatReport; + } + + struct SatReport { + #received time of week in gps time in seconds and gps week + iTow @0 :UInt32; + svs @1 :List(SatInfo); + + struct SatInfo { + svId @0 :UInt8; + gnssId @1 :UInt8; + flagsBitfield @2 :UInt32; + } + } + + struct MeasurementReport { + #received time of week in gps time in seconds and gps week + rcvTow @0 :Float64; + gpsWeek @1 :UInt16; + # leap seconds in seconds + leapSeconds @2 :UInt16; + # receiver status + receiverStatus @3 :ReceiverStatus; + # num of measurements to follow + numMeas @4 :UInt8; + measurements @5 :List(Measurement); + + struct ReceiverStatus { + # leap seconds have been determined + leapSecValid @0 :Bool; + # Clock reset applied + clkReset @1 :Bool; + } + + struct Measurement { + svId @0 :UInt8; + trackingStatus @1 :TrackingStatus; + # pseudorange in meters + pseudorange @2 :Float64; + # carrier phase measurement in cycles + carrierCycles @3 :Float64; + # doppler measurement in Hz + doppler @4 :Float32; + # GNSS id, 0 is gps + gnssId @5 :UInt8; + glonassFrequencyIndex @6 :UInt8; + # carrier phase locktime counter in ms + locktime @7 :UInt16; + # Carrier-to-noise density ratio (signal strength) in dBHz + cno @8 :UInt8; + # pseudorange standard deviation in meters + pseudorangeStdev @9 :Float32; + # carrier phase standard deviation in cycles + carrierPhaseStdev @10 :Float32; + # doppler standard deviation in Hz + dopplerStdev @11 :Float32; + sigId @12 :UInt8; + + struct TrackingStatus { + # pseudorange valid + pseudorangeValid @0 :Bool; + # carrier phase valid + carrierPhaseValid @1 :Bool; + # half cycle valid + halfCycleValid @2 :Bool; + # half cycle subtracted from phase + halfCycleSubtracted @3 :Bool; + } + } + } + + struct Ephemeris { + # This is according to the rinex (2?) format + svId @0 :UInt16; + year @1 :UInt16; + month @2 :UInt16; + day @3 :UInt16; + hour @4 :UInt16; + minute @5 :UInt16; + second @6 :Float32; + af0 @7 :Float64; + af1 @8 :Float64; + af2 @9 :Float64; + + iode @10 :Float64; + crs @11 :Float64; + deltaN @12 :Float64; + m0 @13 :Float64; + + cuc @14 :Float64; + ecc @15 :Float64; + cus @16 :Float64; + a @17 :Float64; # note that this is not the root!! + + toe @18 :Float64; + cic @19 :Float64; + omega0 @20 :Float64; + cis @21 :Float64; + + i0 @22 :Float64; + crc @23 :Float64; + omega @24 :Float64; + omegaDot @25 :Float64; + + iDot @26 :Float64; + codesL2 @27 :Float64; + gpsWeekDEPRECATED @28 :Float64; + l2 @29 :Float64; + + svAcc @30 :Float64; + svHealth @31 :Float64; + tgd @32 :Float64; + iodc @33 :Float64; + + transmissionTime @34 :Float64; + fitInterval @35 :Float64; + + toc @36 :Float64; + + ionoCoeffsValid @37 :Bool; + ionoAlpha @38 :List(Float64); + ionoBeta @39 :List(Float64); + + towCount @40 :UInt32; + toeWeek @41 :UInt16; + tocWeek @42 :UInt16; + } + + struct IonoData { + svHealth @0 :UInt32; + tow @1 :Float64; + gpsWeek @2 :Float64; + + ionoAlpha @3 :List(Float64); + ionoBeta @4 :List(Float64); + + healthValid @5 :Bool; + ionoCoeffsValid @6 :Bool; + } + + struct HwStatus { + noisePerMS @0 :UInt16; + agcCnt @1 :UInt16; + aStatus @2 :AntennaSupervisorState; + aPower @3 :AntennaPowerStatus; + jamInd @4 :UInt8; + flags @5 :UInt8; + + enum AntennaSupervisorState { + init @0; + dontknow @1; + ok @2; + short @3; + open @4; + } + + enum AntennaPowerStatus { + off @0; + on @1; + dontknow @2; + } + } + + struct HwStatus2 { + ofsI @0 :Int8; + magI @1 :UInt8; + ofsQ @2 :Int8; + magQ @3 :UInt8; + cfgSource @4 :ConfigSource; + lowLevCfg @5 :UInt32; + postStatus @6 :UInt32; + + enum ConfigSource { + undefined @0; + rom @1; + otp @2; + configpins @3; + flash @4; + } + } + + struct GlonassEphemeris { + svId @0 :UInt16; + year @1 :UInt16; + dayInYear @2 :UInt16; + hour @3 :UInt16; + minute @4 :UInt16; + second @5 :Float32; + + x @6 :Float64; + xVel @7 :Float64; + xAccel @8 :Float64; + y @9 :Float64; + yVel @10 :Float64; + yAccel @11 :Float64; + z @12 :Float64; + zVel @13 :Float64; + zAccel @14 :Float64; + + svType @15 :UInt8; + svURA @16 :Float32; + age @17 :UInt8; + + svHealth @18 :UInt8; + tkDEPRECATED @19 :UInt16; + tb @20 :UInt16; + + tauN @21 :Float64; + deltaTauN @22 :Float64; + gammaN @23 :Float64; + + p1 @24 :UInt8; + p2 @25 :UInt8; + p3 @26 :UInt8; + p4 @27 :UInt8; + + freqNumDEPRECATED @28 :UInt32; + + n4 @29 :UInt8; + nt @30 :UInt16; + freqNum @31 :Int16; + tkSeconds @32 :UInt32; + } +} + +struct QcomGnss @0xde94674b07ae51c1 { + logTs @0 :UInt64; + union { + measurementReport @1 :MeasurementReport; + clockReport @2 :ClockReport; + drMeasurementReport @3 :DrMeasurementReport; + drSvPoly @4 :DrSvPolyReport; + rawLog @5 :Data; + } + + enum MeasurementSource @0xd71a12b6faada7ee { + gps @0; + glonass @1; + beidou @2; + unknown3 @3; + unknown4 @4; + unknown5 @5; + sbas @6; + } + + enum SVObservationState @0xe81e829a0d6c83e9 { + idle @0; + search @1; + searchVerify @2; + bitEdge @3; + trackVerify @4; + track @5; + restart @6; + dpo @7; + glo10msBe @8; + glo10msAt @9; + } + + struct MeasurementStatus @0xe501010e1bcae83b { + subMillisecondIsValid @0 :Bool; + subBitTimeIsKnown @1 :Bool; + satelliteTimeIsKnown @2 :Bool; + bitEdgeConfirmedFromSignal @3 :Bool; + measuredVelocity @4 :Bool; + fineOrCoarseVelocity @5 :Bool; + lockPointValid @6 :Bool; + lockPointPositive @7 :Bool; + lastUpdateFromDifference @8 :Bool; + lastUpdateFromVelocityDifference @9 :Bool; + strongIndicationOfCrossCorelation @10 :Bool; + tentativeMeasurement @11 :Bool; + measurementNotUsable @12 :Bool; + sirCheckIsNeeded @13 :Bool; + probationMode @14 :Bool; + + glonassMeanderBitEdgeValid @15 :Bool; + glonassTimeMarkValid @16 :Bool; + + gpsRoundRobinRxDiversity @17 :Bool; + gpsRxDiversity @18 :Bool; + gpsLowBandwidthRxDiversityCombined @19 :Bool; + gpsHighBandwidthNu4 @20 :Bool; + gpsHighBandwidthNu8 @21 :Bool; + gpsHighBandwidthUniform @22 :Bool; + multipathIndicator @23 :Bool; + + imdJammingIndicator @24 :Bool; + lteB13TxJammingIndicator @25 :Bool; + freshMeasurementIndicator @26 :Bool; + + multipathEstimateIsValid @27 :Bool; + directionIsValid @28 :Bool; + } + + struct MeasurementReport @0xf580d7d86b7b8692 { + source @0 :MeasurementSource; + + fCount @1 :UInt32; + + gpsWeek @2 :UInt16; + glonassCycleNumber @3 :UInt8; + glonassNumberOfDays @4 :UInt16; + + milliseconds @5 :UInt32; + timeBias @6 :Float32; + clockTimeUncertainty @7 :Float32; + clockFrequencyBias @8 :Float32; + clockFrequencyUncertainty @9 :Float32; + + sv @10 :List(SV); + + struct SV @0xf10c595ae7bb2c27 { + svId @0 :UInt8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + gpsParityErrorCount @5 :UInt16; + glonassFrequencyIndex @1 :Int8; + glonassHemmingErrorCount @6 :UInt8; + filterStages @7 :UInt8; + carrierNoise @8 :UInt16; + latency @9 :Int16; + predetectInterval @10 :UInt8; + postdetections @11 :UInt16; + + unfilteredMeasurementIntegral @12 :UInt32; + unfilteredMeasurementFraction @13 :Float32; + unfilteredTimeUncertainty @14 :Float32; + unfilteredSpeed @15 :Float32; + unfilteredSpeedUncertainty @16 :Float32; + measurementStatus @17 :MeasurementStatus; + multipathEstimate @18 :UInt32; + azimuth @19 :Float32; + elevation @20 :Float32; + carrierPhaseCyclesIntegral @21 :Int32; + carrierPhaseCyclesFraction @22 :UInt16; + fineSpeed @23 :Float32; + fineSpeedUncertainty @24 :Float32; + cycleSlipCount @25 :UInt8; + } + + } + + struct ClockReport @0xca965e4add8f4f0b { + hasFCount @0 :Bool; + fCount @1 :UInt32; + + hasGpsWeek @2 :Bool; + gpsWeek @3 :UInt16; + hasGpsMilliseconds @4 :Bool; + gpsMilliseconds @5 :UInt32; + gpsTimeBias @6 :Float32; + gpsClockTimeUncertainty @7 :Float32; + gpsClockSource @8 :UInt8; + + hasGlonassYear @9 :Bool; + glonassYear @10 :UInt8; + hasGlonassDay @11 :Bool; + glonassDay @12 :UInt16; + hasGlonassMilliseconds @13 :Bool; + glonassMilliseconds @14 :UInt32; + glonassTimeBias @15 :Float32; + glonassClockTimeUncertainty @16 :Float32; + glonassClockSource @17 :UInt8; + + bdsWeek @18 :UInt16; + bdsMilliseconds @19 :UInt32; + bdsTimeBias @20 :Float32; + bdsClockTimeUncertainty @21 :Float32; + bdsClockSource @22 :UInt8; + + galWeek @23 :UInt16; + galMilliseconds @24 :UInt32; + galTimeBias @25 :Float32; + galClockTimeUncertainty @26 :Float32; + galClockSource @27 :UInt8; + + clockFrequencyBias @28 :Float32; + clockFrequencyUncertainty @29 :Float32; + frequencySource @30 :UInt8; + gpsLeapSeconds @31 :UInt8; + gpsLeapSecondsUncertainty @32 :UInt8; + gpsLeapSecondsSource @33 :UInt8; + + gpsToGlonassTimeBiasMilliseconds @34 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32; + gpsToBdsTimeBiasMilliseconds @36 :Float32; + gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32; + bdsToGloTimeBiasMilliseconds @38 :Float32; + bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32; + gpsToGalTimeBiasMilliseconds @40 :Float32; + gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32; + galToGloTimeBiasMilliseconds @42 :Float32; + galToGloTimeBiasMillisecondsUncertainty @43 :Float32; + galToBdsTimeBiasMilliseconds @44 :Float32; + galToBdsTimeBiasMillisecondsUncertainty @45 :Float32; + + hasRtcTime @46 :Bool; + systemRtcTime @47 :UInt32; + fCountOffset @48 :UInt32; + lpmRtcCount @49 :UInt32; + clockResets @50 :UInt32; + } + + struct DrMeasurementReport @0x8053c39445c6c75c { + + reason @0 :UInt8; + seqNum @1 :UInt8; + seqMax @2 :UInt8; + rfLoss @3 :UInt16; + + systemRtcValid @4 :Bool; + fCount @5 :UInt32; + clockResets @6 :UInt32; + systemRtcTime @7 :UInt64; + + gpsLeapSeconds @8 :UInt8; + gpsLeapSecondsUncertainty @9 :UInt8; + gpsToGlonassTimeBiasMilliseconds @10 :Float32; + gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32; + + gpsWeek @12 :UInt16; + gpsMilliseconds @13 :UInt32; + gpsTimeBiasMs @14 :UInt32; + gpsClockTimeUncertaintyMs @15 :UInt32; + gpsClockSource @16 :UInt8; + + glonassClockSource @17 :UInt8; + glonassYear @18 :UInt8; + glonassDay @19 :UInt16; + glonassMilliseconds @20 :UInt32; + glonassTimeBias @21 :Float32; + glonassClockTimeUncertainty @22 :Float32; + + clockFrequencyBias @23 :Float32; + clockFrequencyUncertainty @24 :Float32; + frequencySource @25 :UInt8; + + source @26 :MeasurementSource; + + sv @27 :List(SV); + + struct SV @0xf08b81df8cbf459c { + svId @0 :UInt8; + glonassFrequencyIndex @1 :Int8; + observationState @2 :SVObservationState; + observations @3 :UInt8; + goodObservations @4 :UInt8; + filterStages @5 :UInt8; + predetectInterval @6 :UInt8; + cycleSlipCount @7 :UInt8; + postdetections @8 :UInt16; + + measurementStatus @9 :MeasurementStatus; + + carrierNoise @10 :UInt16; + rfLoss @11 :UInt16; + latency @12 :Int16; + + filteredMeasurementFraction @13 :Float32; + filteredMeasurementIntegral @14 :UInt32; + filteredTimeUncertainty @15 :Float32; + filteredSpeed @16 :Float32; + filteredSpeedUncertainty @17 :Float32; + + unfilteredMeasurementFraction @18 :Float32; + unfilteredMeasurementIntegral @19 :UInt32; + unfilteredTimeUncertainty @20 :Float32; + unfilteredSpeed @21 :Float32; + unfilteredSpeedUncertainty @22 :Float32; + + multipathEstimate @23 :UInt32; + azimuth @24 :Float32; + elevation @25 :Float32; + dopplerAcceleration @26 :Float32; + fineSpeed @27 :Float32; + fineSpeedUncertainty @28 :Float32; + + carrierPhase @29 :Float64; + fCount @30 :UInt32; + + parityErrorCount @31 :UInt16; + goodParity @32 :Bool; + } + } + + struct DrSvPolyReport @0xb1fb80811a673270 { + svId @0 :UInt16; + frequencyIndex @1 :Int8; + + hasPosition @2 :Bool; + hasIono @3 :Bool; + hasTropo @4 :Bool; + hasElevation @5 :Bool; + polyFromXtra @6 :Bool; + hasSbasIono @7 :Bool; + + iode @8 :UInt16; + t0 @9 :Float64; + xyz0 @10 :List(Float64); + xyzN @11 :List(Float64); + other @12 :List(Float32); + + positionUncertainty @13 :Float32; + ionoDelay @14 :Float32; + ionoDot @15 :Float32; + sbasIonoDelay @16 :Float32; + sbasIonoDot @17 :Float32; + tropoDelay @18 :Float32; + elevation @19 :Float32; + elevationDot @20 :Float32; + elevationUncertainty @21 :Float32; + velocityCoeff @22 :List(Float64); + + gpsWeek @23 :UInt16; + gpsTow @24 :Float64; + } +} + +struct Clocks { + wallTimeNanos @3 :UInt64; # unix epoch time + + bootTimeNanosDEPRECATED @0 :UInt64; + monotonicNanosDEPRECATED @1 :UInt64; + monotonicRawNanosDEPRECATD @2 :UInt64; + modemUptimeMillisDEPRECATED @4 :UInt64; +} + +struct LiveMpcData { + x @0 :List(Float32); + y @1 :List(Float32); + psi @2 :List(Float32); + curvature @3 :List(Float32); + qpIterations @4 :UInt32; + calculationTime @5 :UInt64; + cost @6 :Float64; +} + +struct LiveLongitudinalMpcData { + xEgo @0 :List(Float32); + vEgo @1 :List(Float32); + aEgo @2 :List(Float32); + xLead @3 :List(Float32); + vLead @4 :List(Float32); + aLead @5 :List(Float32); + aLeadTau @6 :Float32; # lead accel time constant + qpIterations @7 :UInt32; + mpcId @8 :UInt32; + calculationTime @9 :UInt64; + cost @10 :Float64; +} + +struct Joystick { + # convenient for debug and live tuning + axes @0: List(Float32); + buttons @1: List(Bool); +} + +struct DriverStateV2 { + frameId @0 :UInt32; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + rawPredictions @3 :Data; + + poorVisionProb @4 :Float32; + wheelOnRightProb @5 :Float32; + + leftDriverData @6 :DriverData; + rightDriverData @7 :DriverData; + + struct DriverData { + faceOrientation @0 :List(Float32); + faceOrientationStd @1 :List(Float32); + facePosition @2 :List(Float32); + facePositionStd @3 :List(Float32); + faceProb @4 :Float32; + leftEyeProb @5 :Float32; + rightEyeProb @6 :Float32; + leftBlinkProb @7 :Float32; + rightBlinkProb @8 :Float32; + sunglassesProb @9 :Float32; + occludedProb @10 :Float32; + readyProb @11 :List(Float32); + notReadyProb @12 :List(Float32); + } +} + +struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { + frameId @0 :UInt32; + modelExecutionTime @14 :Float32; + dspExecutionTime @16 :Float32; + rawPredictions @15 :Data; + + faceOrientation @3 :List(Float32); + facePosition @4 :List(Float32); + faceProb @5 :Float32; + leftEyeProb @6 :Float32; + rightEyeProb @7 :Float32; + leftBlinkProb @8 :Float32; + rightBlinkProb @9 :Float32; + faceOrientationStd @11 :List(Float32); + facePositionStd @12 :List(Float32); + sunglassesProb @13 :Float32; + poorVision @17 :Float32; + partialFace @18 :Float32; + distractedPose @19 :Float32; + distractedEyes @20 :Float32; + eyesOnRoad @21 :Float32; + phoneUse @22 :Float32; + occludedProb @23 :Float32; + + readyProb @24 :List(Float32); + notReadyProb @25 :List(Float32); + + irPwrDEPRECATED @10 :Float32; + descriptorDEPRECATED @1 :List(Float32); + stdDEPRECATED @2 :Float32; +} + +struct DriverMonitoringState @0xb83cda094a1da284 { + events @0 :List(Car.CarEvent); + faceDetected @1 :Bool; + isDistracted @2 :Bool; + distractedType @17 :UInt32; + awarenessStatus @3 :Float32; + posePitchOffset @6 :Float32; + posePitchValidCount @7 :UInt32; + poseYawOffset @8 :Float32; + poseYawValidCount @9 :UInt32; + stepChange @10 :Float32; + awarenessActive @11 :Float32; + awarenessPassive @12 :Float32; + isLowStd @13 :Bool; + hiStdCount @14 :UInt32; + isActiveMode @16 :Bool; + isRHD @4 :Bool; + + isPreviewDEPRECATED @15 :Bool; + rhdCheckedDEPRECATED @5 :Bool; +} + +struct Boot { + wallTimeNanos @0 :UInt64; + pstore @4 :Map(Text, Data); + commands @5 :Map(Text, Data); + launchLog @3 :Text; + + lastKmsgDEPRECATED @1 :Data; + lastPmsgDEPRECATED @2 :Data; +} + +struct LiveParametersData { + valid @0 :Bool; + gyroBias @1 :Float32; + angleOffsetDeg @2 :Float32; + angleOffsetAverageDeg @3 :Float32; + stiffnessFactor @4 :Float32; + steerRatio @5 :Float32; + sensorValid @6 :Bool; + posenetSpeed @8 :Float32; + posenetValid @9 :Bool; + angleOffsetFastStd @10 :Float32; + angleOffsetAverageStd @11 :Float32; + stiffnessFactorStd @12 :Float32; + steerRatioStd @13 :Float32; + roll @14 :Float32; + filterState @15 :LiveLocationKalman.Measurement; + + yawRateDEPRECATED @7 :Float32; +} + +struct LiveTorqueParametersData { + liveValid @0 :Bool; + latAccelFactorRaw @1 :Float32; + latAccelOffsetRaw @2 :Float32; + frictionCoefficientRaw @3 :Float32; + latAccelFactorFiltered @4 :Float32; + latAccelOffsetFiltered @5 :Float32; + frictionCoefficientFiltered @6 :Float32; + totalBucketPoints @7 :Float32; + decay @8 :Float32; + maxResets @9 :Float32; + points @10 :List(List(Float32)); + version @11 :Int32; + useParams @12 :Bool; +} + +struct LiveMapDataDEPRECATED { + speedLimitValid @0 :Bool; + speedLimit @1 :Float32; + speedAdvisoryValid @12 :Bool; + speedAdvisory @13 :Float32; + speedLimitAheadValid @14 :Bool; + speedLimitAhead @15 :Float32; + speedLimitAheadDistance @16 :Float32; + curvatureValid @2 :Bool; + curvature @3 :Float32; + wayId @4 :UInt64; + roadX @5 :List(Float32); + roadY @6 :List(Float32); + lastGps @7: GpsLocationData; + roadCurvatureX @8 :List(Float32); + roadCurvature @9 :List(Float32); + distToTurn @10 :Float32; + mapValid @11 :Bool; +} + +struct CameraOdometry { + frameId @4 :UInt32; + timestampEof @5 :UInt64; + trans @0 :List(Float32); # m/s in device frame + rot @1 :List(Float32); # rad/s in device frame + transStd @2 :List(Float32); # std m/s in device frame + rotStd @3 :List(Float32); # std rad/s in device frame + wideFromDeviceEuler @6 :List(Float32); + wideFromDeviceEulerStd @7 :List(Float32); + roadTransformTrans @8 :List(Float32); + roadTransformTransStd @9 :List(Float32); +} + +struct Sentinel { + enum SentinelType { + endOfSegment @0; + endOfRoute @1; + startOfSegment @2; + startOfRoute @3; + } + type @0 :SentinelType; + signal @1 :Int32; +} + +struct UIDebug { + drawTimeMillis @0 :Float32; +} + +struct ManagerState { + processes @0 :List(ProcessState); + + struct ProcessState { + name @0 :Text; + pid @1 :Int32; + running @2 :Bool; + shouldBeRunning @4 :Bool; + exitCode @3 :Int32; + } +} + +struct UploaderState { + immediateQueueSize @0 :UInt32; + immediateQueueCount @1 :UInt32; + rawQueueSize @2 :UInt32; + rawQueueCount @3 :UInt32; + + # stats for last successfully uploaded file + lastTime @4 :Float32; # s + lastSpeed @5 :Float32; # MB/s + lastFilename @6 :Text; +} + +struct NavInstruction { + maneuverPrimaryText @0 :Text; + maneuverSecondaryText @1 :Text; + maneuverDistance @2 :Float32; # m + maneuverType @3 :Text; # TODO: Make Enum + maneuverModifier @4 :Text; # TODO: Make Enum + + distanceRemaining @5 :Float32; # m + timeRemaining @6 :Float32; # s + timeRemainingTypical @7 :Float32; # s + + lanes @8 :List(Lane); + showFull @9 :Bool; + + speedLimit @10 :Float32; # m/s + speedLimitSign @11 :SpeedLimitSign; + + allManeuvers @12 :List(Maneuver); + + struct Lane { + directions @0 :List(Direction); + active @1 :Bool; + activeDirection @2 :Direction; + } + + enum Direction { + none @0; + left @1; + right @2; + straight @3; + slightLeft @4; + slightRight @5; + } + + enum SpeedLimitSign { + mutcd @0; # US Style + vienna @1; # EU Style + } + + struct Maneuver { + distance @0 :Float32; + type @1 :Text; + modifier @2 :Text; + } +} + +struct NavRoute { + coordinates @0 :List(Coordinate); + + struct Coordinate { + latitude @0 :Float32; + longitude @1 :Float32; + } +} + +struct MapRenderState { + locationMonoTime @0 :UInt64; + renderTime @1 :Float32; + frameId @2: UInt32; +} + +struct NavModelData { + frameId @0 :UInt32; + locationMonoTime @6 :UInt64; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + features @3 :List(Float32); + # predicted future position + position @4 :XYData; + desirePrediction @5 :List(Float32); + + # All SI units and in device frame + struct XYData { + x @0 :List(Float32); + y @1 :List(Float32); + xStd @2 :List(Float32); + yStd @3 :List(Float32); + } +} + +struct EncodeData { + idx @0 :EncodeIndex; + data @1 :Data; + header @2 :Data; + unixTimestampNanos @3 :UInt64; + width @4 :UInt32; + height @5 :UInt32; +} + +struct UserFlag { +} + +struct Microphone { + soundPressure @0 :Float32; + + # uncalibrated, A-weighted + soundPressureWeighted @3 :Float32; + soundPressureWeightedDb @1 :Float32; + filteredSoundPressureWeightedDb @2 :Float32; +} + +struct Event { + logMonoTime @0 :UInt64; # nanoseconds + valid @67 :Bool = true; + + union { + # *********** log metadata *********** + initData @1 :InitData; + sentinel @73 :Sentinel; + + # *********** bootlog *********** + boot @60 :Boot; + + # ********** openpilot daemon msgs ********** + gpsNMEA @3 :GPSNMEAData; + can @5 :List(CanData); + controlsState @7 :ControlsState; + gyroscope @99 :SensorEventData; + gyroscope2 @100 :SensorEventData; + accelerometer @98 :SensorEventData; + accelerometer2 @101 :SensorEventData; + magnetometer @95 :SensorEventData; + lightSensor @96 :SensorEventData; + temperatureSensor @97 :SensorEventData; + temperatureSensor2 @123 :SensorEventData; + pandaStates @81 :List(PandaState); + peripheralState @80 :PeripheralState; + radarState @13 :RadarState; + liveTracks @16 :List(LiveTracks); + sendcan @17 :List(CanData); + liveCalibration @19 :LiveCalibrationData; + carState @22 :Car.CarState; + carControl @23 :Car.CarControl; + carOutput @127 :Car.CarOutput; + longitudinalPlan @24 :LongitudinalPlan; + uiPlan @106 :UiPlan; + ubloxGnss @34 :UbloxGnss; + ubloxRaw @39 :Data; + qcomGnss @31 :QcomGnss; + gpsLocationExternal @48 :GpsLocationData; + gpsLocation @21 :GpsLocationData; + gnssMeasurements @91 :GnssMeasurements; + liveParameters @61 :LiveParametersData; + liveTorqueParameters @94 :LiveTorqueParametersData; + cameraOdometry @63 :CameraOdometry; + thumbnail @66: Thumbnail; + onroadEvents @68: List(Car.CarEvent); + carParams @69: Car.CarParams; + driverMonitoringState @71: DriverMonitoringState; + liveLocationKalman @72 :LiveLocationKalman; + modelV2 @75 :ModelDataV2; + driverStateV2 @92 :DriverStateV2; + + # camera stuff, each camera state has a matching encode idx + roadCameraState @2 :FrameData; + driverCameraState @70: FrameData; + wideRoadCameraState @74: FrameData; + roadEncodeIdx @15 :EncodeIndex; + driverEncodeIdx @76 :EncodeIndex; + wideRoadEncodeIdx @77 :EncodeIndex; + qRoadEncodeIdx @90 :EncodeIndex; + + livestreamRoadEncodeIdx @117 :EncodeIndex; + livestreamWideRoadEncodeIdx @118 :EncodeIndex; + livestreamDriverEncodeIdx @119 :EncodeIndex; + + # microphone data + microphone @103 :Microphone; + + # systems stuff + androidLog @20 :AndroidLogEntry; + managerState @78 :ManagerState; + uploaderState @79 :UploaderState; + procLog @33 :ProcLog; + clocks @35 :Clocks; + deviceState @6 :DeviceState; + logMessage @18 :Text; + errorLogMessage @85 :Text; + + # navigation + navInstruction @82 :NavInstruction; + navRoute @83 :NavRoute; + navThumbnail @84: Thumbnail; + mapRenderState @105: MapRenderState; + + # UI services + userFlag @93 :UserFlag; + uiDebug @102 :UIDebug; + + # *********** debug *********** + testJoystick @52 :Joystick; + roadEncodeData @86 :EncodeData; + driverEncodeData @87 :EncodeData; + wideRoadEncodeData @88 :EncodeData; + qRoadEncodeData @89 :EncodeData; + + livestreamRoadEncodeData @120 :EncodeData; + livestreamWideRoadEncodeData @121 :EncodeData; + livestreamDriverEncodeData @122 :EncodeData; + + customReservedRawData0 @124 :Data; + customReservedRawData1 @125 :Data; + customReservedRawData2 @126 :Data; + + # *********** Custom: reserved for forks *********** + controlsStateSP @107 :Custom.ControlsStateSP; + longitudinalPlanSP @108 :Custom.LongitudinalPlanSP; + lateralPlanSPDEPRECATED @109 :Custom.LateralPlanSP; + driverMonitoringStateSP @110 :Custom.DriverMonitoringStateSP; + liveMapDataSP @111 :Custom.LiveMapDataSP; + e2eLongStateSP @112 :Custom.E2eLongStateSP; + modelV2SP @113 :Custom.ModelDataV2SP; + customReserved7 @114 :Custom.CustomReserved7; + customReserved8 @115 :Custom.CustomReserved8; + customReserved9 @116 :Custom.CustomReserved9; + + # *********** legacy + deprecated *********** + model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated + liveMpcDEPRECATED @36 :LiveMpcData; + liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData; + liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData; + orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection; + liveUIDEPRECATED @14 :Legacy.LiveUI; + sensorEventDEPRECATED @4 :SensorEventData; + liveEventDEPRECATED @8 :List(Legacy.LiveEventData); + liveLocationDEPRECATED @25 :Legacy.LiveLocationData; + ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket); + cellInfoDEPRECATED @28 :List(Legacy.CellInfo); + wifiScanDEPRECATED @29 :List(Legacy.WifiScan); + uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent; + liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED; + gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints; + gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan; + applanixRawDEPRECATED @42 :Data; + androidGnssDEPRECATED @30 :Legacy.AndroidGnss; + lidarPtsDEPRECATED @32 :Legacy.LidarPts; + navStatusDEPRECATED @38 :Legacy.NavStatus; + trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent); + liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData; + liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData; + navUpdateDEPRECATED @27 :Legacy.NavUpdate; + orbObservationDEPRECATED @47 :List(Legacy.OrbObservation); + locationDEPRECATED @49 :Legacy.LiveLocationData; + orbOdometryDEPRECATED @53 :Legacy.OrbOdometry; + orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures; + applanixLocationDEPRECATED @55 :Legacy.LiveLocationData; + orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame; + orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary; + featuresDEPRECATED @10 :Legacy.CalibrationFeatures; + kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry; + uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState; + pandaStateDEPRECATED @12 :PandaState; + driverStateDEPRECATED @59 :DriverStateDEPRECATED; + sensorEventsDEPRECATED @11 :List(SensorEventData); + lateralPlanDEPRECATED @64 :LateralPlan; + navModelDEPRECATED @104 :NavModelData; + } +} diff --git a/cereal/maptile.capnp b/cereal/maptile.capnp new file mode 100644 index 0000000000..c8a23a1822 --- /dev/null +++ b/cereal/maptile.capnp @@ -0,0 +1,49 @@ +using Cxx = import "./include/c++.capnp"; +$Cxx.namespace("cereal"); + +@0xa086df597ef5d7a0; + +# Geometry +struct Point { + x @0: Float64; + y @1: Float64; + z @2: Float64; +} + +struct PolyLine { + points @0: List(Point); +} + +# Map features +struct Lane { + id @0 :Text; + + leftBoundary @1 :LaneBoundary; + rightBoundary @2 :LaneBoundary; + + leftAdjacentId @3 :Text; + rightAdjacentId @4 :Text; + + inboundIds @5 :List(Text); + outboundIds @6 :List(Text); + + struct LaneBoundary { + polyLine @0 :PolyLine; + startHeading @1 :Float32; # WRT north + } +} + +# Map tiles +struct TileSummary { + version @0 :Text; + updatedAt @1 :UInt64; # Millis since epoch + + level @2 :UInt8; + x @3 :UInt16; + y @4 :UInt16; +} + +struct MapTile { + summary @0 :TileSummary; + lanes @1 :List(Lane); +} diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore new file mode 100644 index 0000000000..dbbe8e22ae --- /dev/null +++ b/cereal/messaging/.gitignore @@ -0,0 +1,10 @@ +demo +bridge +test_runner +*.o +*.os +*.d +*.a +*.so +messaging_pyx.cpp +build/ diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py new file mode 100644 index 0000000000..4ba55cf7b9 --- /dev/null +++ b/cereal/messaging/__init__.py @@ -0,0 +1,252 @@ +# must be built with scons +from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ + set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event +from msgq.ipc_pyx import MultiplePublishersError, IpcError +from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context + +import os +import capnp +import time + +from typing import Optional, List, Union, Dict, Deque +from collections import deque + +from cereal import log +from cereal.services import SERVICE_LIST + +NO_TRAVERSAL_LIMIT = 2**64-1 + + +def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader: + with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: + return msg + + +def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder: + args = { + 'valid': False, + 'logMonoTime': int(time.monotonic() * 1e9), + **kwargs + } + dat = log.Event.new_message(**args) + if service is not None: + if size is None: + dat.init(service) + else: + dat.init(service, size) + return dat + + +def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]: + """Receive all message currently available on the queue""" + msgs = drain_sock_raw(sock, wait_for_one=wait_for_one) + return [log_from_bytes(m) for m in msgs] + + +# TODO: print when we drop packets? +def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]: + """Same as drain sock, but only returns latest message. Consider using conflate instead.""" + dat = None + + while 1: + if wait and dat is None: + recv = sock.receive() + else: + recv = sock.receive(non_blocking=True) + + if recv is None: # Timeout hit + break + + dat = recv + + if dat is not None: + dat = log_from_bytes(dat) + + return dat + + +def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive() + if dat is not None: + dat = log_from_bytes(dat) + return dat + + +def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]: + dat = sock.receive(non_blocking=True) + if dat is not None: + dat = log_from_bytes(dat) + return dat + + +def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader: + """Keep receiving until we get a message""" + while True: + dat = sock.receive() + if dat is not None: + return log_from_bytes(dat) + + +class SubMaster: + def __init__(self, services: List[str], poll: Optional[str] = None, + ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None, + ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None): + self.frame = -1 + self.seen = {s: False for s in services} + self.updated = {s: False for s in services} + self.recv_time = {s: 0. for s in services} + self.recv_frame = {s: 0 for s in services} + self.alive = {s: False for s in services} + self.freq_ok = {s: False for s in services} + self.recv_dts: Dict[str, Deque[float]] = {} + self.sock = {} + self.data = {} + self.valid = {} + self.logMonoTime = {} + + self.max_freq = {} + self.min_freq = {} + + self.poller = Poller() + polled_services = set([poll, ] if poll is not None else services) + self.non_polled_services = set(services) - polled_services + + self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq + self.ignore_alive = [] if ignore_alive is None else ignore_alive + self.ignore_valid = [] if ignore_valid is None else ignore_valid + + self.simulation = bool(int(os.getenv("SIMULATION", "0"))) + + # if freq and poll aren't specified, assume the max to be conservative + assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used." + self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services]) + + for s in services: + p = self.poller if s not in self.non_polled_services else None + self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True) + + try: + data = new_message(s) + except capnp.lib.capnp.KjException: + data = new_message(s, 0) # lists + + self.data[s] = getattr(data.as_reader(), s) + self.logMonoTime[s] = 0 + self.valid[s] = True # FIXME: this should default to False + + freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.) + if s == poll: + max_freq = freq + min_freq = freq + else: + max_freq = min(freq, self.update_freq) + if SERVICE_LIST[s].frequency >= 2*self.update_freq: + min_freq = self.update_freq + elif self.update_freq >= 2*SERVICE_LIST[s].frequency: + min_freq = freq + else: + min_freq = min(freq, freq / 2.) + self.max_freq[s] = max_freq*1.2 + self.min_freq[s] = min_freq*0.8 + self.recv_dts[s] = deque(maxlen=int(10*freq)) + + def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader: + return self.data[s] + + def _check_avg_freq(self, s: str) -> bool: + return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive) + + def update(self, timeout: int = 100) -> None: + msgs = [] + for sock in self.poller.poll(timeout): + msgs.append(recv_one_or_none(sock)) + + # non-blocking receive for non-polled sockets + for s in self.non_polled_services: + msgs.append(recv_one_or_none(self.sock[s])) + self.update_msgs(time.monotonic(), msgs) + + def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None: + self.frame += 1 + self.updated = dict.fromkeys(self.updated, False) + for msg in msgs: + if msg is None: + continue + + s = msg.which() + self.seen[s] = True + self.updated[s] = True + + if self.recv_time[s] > 1e-5: + self.recv_dts[s].append(cur_time - self.recv_time[s]) + self.recv_time[s] = cur_time + self.recv_frame[s] = self.frame + self.data[s] = getattr(msg, s) + self.logMonoTime[s] = msg.logMonoTime + self.valid[s] = msg.valid + + for s in self.data: + if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation: + # alive if delay is within 10x the expected frequency + self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) + + # check average frequency; slow to fall, quick to recover + dts = self.recv_dts[s] + assert dts.maxlen is not None + recent_dts = list(dts)[-int(dts.maxlen / 10):] + try: + avg_freq = 1 / (sum(dts) / len(dts)) + avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts)) + except ZeroDivisionError: + avg_freq = 0 + avg_freq_recent = 0 + + avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s] + recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s] + self.freq_ok[s] = avg_freq_ok or recent_freq_ok + else: + self.freq_ok[s] = True + if self.simulation: + self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set + else: + self.alive[s] = True + + def all_alive(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.alive[s] for s in service_list if s not in self.ignore_alive) + + def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s)) + + def all_valid(self, service_list: Optional[List[str]] = None) -> bool: + if service_list is None: + service_list = list(self.sock.keys()) + return all(self.valid[s] for s in service_list if s not in self.ignore_valid) + + def all_checks(self, service_list: Optional[List[str]] = None) -> bool: + return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list) + + +class PubMaster: + def __init__(self, services: List[str]): + self.sock = {} + for s in services: + self.sock[s] = pub_sock(s) + + def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None: + if not isinstance(dat, bytes): + dat = dat.to_bytes() + self.sock[s].send(dat) + + def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool: + for _ in range(int(timeout*(1./dt))): + if self.sock[s].all_readers_updated(): + return True + time.sleep(dt) + return False + + def all_readers_updated(self, s: str) -> bool: + return self.sock[s].all_readers_updated() # type: ignore diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc new file mode 100644 index 0000000000..8619c1e226 --- /dev/null +++ b/cereal/messaging/bridge.cc @@ -0,0 +1,92 @@ +#include +#include +#include +#include +#include +#include + +typedef void (*sighandler_t)(int sig); + +#include "cereal/services.h" +#include "msgq/impl_msgq.h" +#include "msgq/impl_zmq.h" + +std::atomic do_exit = false; +static void set_do_exit(int sig) { + do_exit = true; +} + +void sigpipe_handler(int sig) { + assert(sig == SIGPIPE); + std::cout << "SIGPIPE received" << std::endl; +} + +static std::vector get_services(std::string whitelist_str, bool zmq_to_msgq) { + std::vector service_list; + for (const auto& it : services) { + std::string name = it.second.name; + bool in_whitelist = whitelist_str.find(name) != std::string::npos; + if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) { + continue; + } + service_list.push_back(name); + } + return service_list; +} + +int main(int argc, char** argv) { + signal(SIGPIPE, (sighandler_t)sigpipe_handler); + signal(SIGINT, (sighandler_t)set_do_exit); + signal(SIGTERM, (sighandler_t)set_do_exit); + + bool zmq_to_msgq = argc > 2; + std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1"; + std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : ""; + + Poller *poller; + Context *pub_context; + Context *sub_context; + if (zmq_to_msgq) { // republishes zmq debugging messages as msgq + poller = new ZMQPoller(); + pub_context = new MSGQContext(); + sub_context = new ZMQContext(); + } else { + poller = new MSGQPoller(); + pub_context = new ZMQContext(); + sub_context = new MSGQContext(); + } + + std::map sub2pub; + for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) { + PubSocket * pub_sock; + SubSocket * sub_sock; + if (zmq_to_msgq) { + pub_sock = new MSGQPubSocket(); + sub_sock = new ZMQSubSocket(); + } else { + pub_sock = new ZMQPubSocket(); + sub_sock = new MSGQSubSocket(); + } + pub_sock->connect(pub_context, endpoint); + sub_sock->connect(sub_context, endpoint, ip, false); + + poller->registerSocket(sub_sock); + sub2pub[sub_sock] = pub_sock; + } + + while (!do_exit) { + for (auto sub_sock : poller->poll(100)) { + Message * msg = sub_sock->receive(); + if (msg == NULL) continue; + int ret; + do { + ret = sub2pub[sub_sock]->sendMessage(msg); + } while (ret == -1 && errno == EINTR && !do_exit); + assert(ret >= 0 || do_exit); + delete msg; + + if (do_exit) break; + } + } + return 0; +} diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h new file mode 100644 index 0000000000..f3850130e6 --- /dev/null +++ b/cereal/messaging/messaging.h @@ -0,0 +1,112 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include + +#include "cereal/gen/cpp/log.capnp.h" +#include "msgq/ipc.h" + +#ifdef __APPLE__ +#define CLOCK_BOOTTIME CLOCK_MONOTONIC +#endif + +#define MSG_MULTIPLE_PUBLISHERS 100 + + +class SubMaster { +public: + SubMaster(const std::vector &service_list, const std::vector &poll = {}, + const char *address = nullptr, const std::vector &ignore_alive = {}); + void update(int timeout = 1000); + void update_msgs(uint64_t current_time, const std::vector> &messages); + inline bool allAlive(const std::vector &service_list = {}) { return all_(service_list, false, true); } + inline bool allValid(const std::vector &service_list = {}) { return all_(service_list, true, false); } + inline bool allAliveAndValid(const std::vector &service_list = {}) { return all_(service_list, true, true); } + void drain(); + ~SubMaster(); + + uint64_t frame = 0; + bool updated(const char *name) const; + bool alive(const char *name) const; + bool valid(const char *name) const; + uint64_t rcv_frame(const char *name) const; + uint64_t rcv_time(const char *name) const; + cereal::Event::Reader &operator[](const char *name) const; + +private: + bool all_(const std::vector &service_list, bool valid, bool alive); + Poller *poller_ = nullptr; + struct SubMessage; + std::map messages_; + std::map services_; +}; + +class MessageBuilder : public capnp::MallocMessageBuilder { +public: + MessageBuilder() = default; + + cereal::Event::Builder initEvent(bool valid = true) { + cereal::Event::Builder event = initRoot(); + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec; + event.setLogMonoTime(current_time); + event.setValid(valid); + return event; + } + + kj::ArrayPtr toBytes() { + heapArray_ = capnp::messageToFlatArray(*this); + return heapArray_.asBytes(); + } + + size_t getSerializedSize() { + return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word); + } + + int serializeToBuffer(unsigned char *buffer, size_t buffer_size) { + size_t serialized_size = getSerializedSize(); + if (serialized_size > buffer_size) { return -1; } + kj::ArrayOutputStream out(kj::ArrayPtr(buffer, buffer_size)); + capnp::writeMessage(out, *this); + return serialized_size; + } + +private: + kj::Array heapArray_; +}; + +class PubMaster { +public: + PubMaster(const std::vector &service_list); + inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); } + int send(const char *name, MessageBuilder &msg); + ~PubMaster(); + +private: + std::map sockets_; +}; + +class AlignedBuffer { +public: + kj::ArrayPtr align(const char *data, const size_t size) { + words_size = size / sizeof(capnp::word) + 1; + if (aligned_buf.size() < words_size) { + aligned_buf = kj::heapArray(words_size < 512 ? 512 : words_size); + } + memcpy(aligned_buf.begin(), data, size); + return aligned_buf.slice(0, words_size); + } + inline kj::ArrayPtr align(Message *m) { + return align(m->getData(), m->getSize()); + } +private: + kj::Array aligned_buf; + size_t words_size; +}; diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc new file mode 100644 index 0000000000..cd697b1f51 --- /dev/null +++ b/cereal/messaging/socketmaster.cc @@ -0,0 +1,211 @@ +#include +#include +#include +#include +#include + +#include "cereal/services.h" +#include "cereal/messaging/messaging.h" + + +const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1"); + +static inline uint64_t nanos_since_boot() { + struct timespec t; + clock_gettime(CLOCK_BOOTTIME, &t); + return t.tv_sec * 1000000000ULL + t.tv_nsec; +} + +static inline bool inList(const std::vector &list, const char *value) { + for (auto &v : list) { + if (strcmp(value, v) == 0) return true; + } + return false; +} + +class MessageContext { +public: + MessageContext() : ctx_(nullptr) {} + ~MessageContext() { delete ctx_; } + inline Context *context() { + std::call_once(init_flag, [=]() { ctx_ = Context::create(); }); + return ctx_; + } +private: + Context *ctx_; + std::once_flag init_flag; +}; + +MessageContext message_context; + +struct SubMaster::SubMessage { + std::string name; + SubSocket *socket = nullptr; + int freq = 0; + bool updated = false, alive = false, valid = true, ignore_alive; + uint64_t rcv_time = 0, rcv_frame = 0; + void *allocated_msg_reader = nullptr; + bool is_polled = false; + capnp::FlatArrayMessageReader *msg_reader = nullptr; + AlignedBuffer aligned_buf; + cereal::Event::Reader event; +}; + +SubMaster::SubMaster(const std::vector &service_list, const std::vector &poll, + const char *address, const std::vector &ignore_alive) { + poller_ = Poller::create(); + for (auto name : service_list) { + assert(services.count(std::string(name)) > 0); + + service serv = services.at(std::string(name)); + SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true); + assert(socket != 0); + bool is_polled = inList(poll, name) || poll.empty(); + if (is_polled) poller_->registerSocket(socket); + SubMessage *m = new SubMessage{ + .name = name, + .socket = socket, + .freq = serv.frequency, + .ignore_alive = inList(ignore_alive, name), + .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)), + .is_polled = is_polled}; + m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({}); + messages_[socket] = m; + services_[name] = m; + } +} + +void SubMaster::update(int timeout) { + for (auto &kv : messages_) kv.second->updated = false; + + auto sockets = poller_->poll(timeout); + + // add non-polled sockets for non-blocking receive + for (auto &kv : messages_) { + SubMessage *m = kv.second; + SubSocket *s = kv.first; + if (!m->is_polled) sockets.push_back(s); + } + + uint64_t current_time = nanos_since_boot(); + + std::vector> messages; + + for (auto s : sockets) { + Message *msg = s->receive(true); + if (msg == nullptr) continue; + + SubMessage *m = messages_.at(s); + + m->msg_reader->~FlatArrayMessageReader(); + capnp::ReaderOptions options; + options.traversalLimitInWords = kj::maxValue; // Don't limit + m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options); + delete msg; + messages.push_back({m->name, m->msg_reader->getRoot()}); + } + + update_msgs(current_time, messages); +} + +void SubMaster::update_msgs(uint64_t current_time, const std::vector> &messages){ + if (++frame == UINT64_MAX) frame = 1; + + for (auto &kv : messages) { + auto m_find = services_.find(kv.first); + if (m_find == services_.end()){ + continue; + } + SubMessage *m = m_find->second; + m->event = kv.second; + m->updated = true; + m->rcv_time = current_time; + m->rcv_frame = frame; + m->valid = m->event.getValid(); + if (SIMULATION) m->alive = true; + } + + if (!SIMULATION) { + for (auto &kv : messages_) { + SubMessage *m = kv.second; + m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq)); + } + } +} + +bool SubMaster::all_(const std::vector &service_list, bool valid, bool alive) { + int found = 0; + for (auto &kv : messages_) { + SubMessage *m = kv.second; + if (service_list.size() == 0 || inList(service_list, m->name.c_str())) { + found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive)); + } + } + return service_list.size() == 0 ? found == messages_.size() : found == service_list.size(); +} + +void SubMaster::drain() { + while (true) { + auto polls = poller_->poll(0); + if (polls.size() == 0) + break; + + for (auto sock : polls) { + Message *msg = sock->receive(true); + delete msg; + } + } +} + +bool SubMaster::updated(const char *name) const { + return services_.at(name)->updated; +} + +bool SubMaster::alive(const char *name) const { + return services_.at(name)->alive; +} + +bool SubMaster::valid(const char *name) const { + return services_.at(name)->valid; +} + +uint64_t SubMaster::rcv_frame(const char *name) const { + return services_.at(name)->rcv_frame; +} + +uint64_t SubMaster::rcv_time(const char *name) const { + return services_.at(name)->rcv_time; +} + +cereal::Event::Reader &SubMaster::operator[](const char *name) const { + return services_.at(name)->event; +} + +SubMaster::~SubMaster() { + delete poller_; + for (auto &kv : messages_) { + SubMessage *m = kv.second; + m->msg_reader->~FlatArrayMessageReader(); + free(m->allocated_msg_reader); + delete m->socket; + delete m; + } +} + +PubMaster::PubMaster(const std::vector &service_list) { + for (auto name : service_list) { + assert(services.count(name) > 0); + PubSocket *socket = PubSocket::create(message_context.context(), name); + assert(socket); + sockets_[name] = socket; + } +} + +int PubMaster::send(const char *name, MessageBuilder &msg) { + auto bytes = msg.toBytes(); + return send(name, bytes.begin(), bytes.size()); +} + +PubMaster::~PubMaster() { + for (auto s : sockets_) delete s.second; +} diff --git a/selfdrive/boardd/__init__.py b/cereal/messaging/tests/__init__.py similarity index 100% rename from selfdrive/boardd/__init__.py rename to cereal/messaging/tests/__init__.py diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py new file mode 100755 index 0000000000..429c2d3c53 --- /dev/null +++ b/cereal/messaging/tests/test_messaging.py @@ -0,0 +1,195 @@ +#!/usr/bin/env python3 +import os +import capnp +import multiprocessing +import numbers +import random +import threading +import time +import unittest +from parameterized import parameterized + +from cereal import log, car +import cereal.messaging as messaging +from cereal.services import SERVICE_LIST + +events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()] + +def random_sock(): + return random.choice(events) + +def random_socks(num_socks=10): + return list({random_sock() for _ in range(num_socks)}) + +def random_bytes(length=1000): + return bytes([random.randrange(0xFF) for _ in range(length)]) + +def zmq_sleep(t=1): + if "ZMQ" in os.environ: + time.sleep(t) + +def zmq_expected_failure(func): + if "ZMQ" in os.environ: + return unittest.expectedFailure(func) + else: + return func + + +# TODO: this should take any capnp struct and returrn a msg with random populated data +def random_carstate(): + fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"] + msg = messaging.new_message("carState") + cs = msg.carState + for f in fields: + setattr(cs, f, random.random() * 10) + return msg + +# TODO: this should compare any capnp structs +def assert_carstate(cs1, cs2): + for f in car.CarState.schema.non_union_fields: + # TODO: check all types + val1, val2 = getattr(cs1, f), getattr(cs2, f) + if isinstance(val1, numbers.Number): + assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'" + +def delayed_send(delay, sock, dat): + def send_func(): + sock.send(dat) + threading.Timer(delay, send_func).start() + + +class TestMessaging(unittest.TestCase): + def setUp(self): + # TODO: ZMQ tests are too slow; all sleeps will need to be + # replaced with logic to block on the necessary condition + if "ZMQ" in os.environ: + raise unittest.SkipTest + + # ZMQ pub socket takes too long to die + # sleep to prevent multiple publishers error between tests + zmq_sleep() + + @parameterized.expand(events) + def test_new_message(self, evt): + try: + msg = messaging.new_message(evt) + except capnp.lib.capnp.KjException: + msg = messaging.new_message(evt, random.randrange(200)) + self.assertLess(time.monotonic() - msg.logMonoTime, 0.1) + self.assertFalse(msg.valid) + self.assertEqual(evt, msg.which()) + + @parameterized.expand(events) + def test_pub_sock(self, evt): + messaging.pub_sock(evt) + + @parameterized.expand(events) + def test_sub_sock(self, evt): + messaging.sub_sock(evt) + + @parameterized.expand([ + (messaging.drain_sock, capnp._DynamicStructReader), + (messaging.drain_sock_raw, bytes), + ]) + def test_drain_sock(self, func, expected_type): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=1000) + zmq_sleep() + + # no wait and no msgs in queue + msgs = func(sub_sock) + self.assertIsInstance(msgs, list) + self.assertEqual(len(msgs), 0) + + # no wait but msgs are queued up + num_msgs = random.randrange(3, 10) + for _ in range(num_msgs): + pub_sock.send(messaging.new_message(sock).to_bytes()) + time.sleep(0.1) + msgs = func(sub_sock) + self.assertIsInstance(msgs, list) + self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs)) + self.assertEqual(len(msgs), num_msgs) + + def test_recv_sock(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=100) + zmq_sleep() + + # no wait and no msg in queue, socket should timeout + recvd = messaging.recv_sock(sub_sock) + self.assertTrue(recvd is None) + + # no wait and one msg in queue + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + time.sleep(0.01) + recvd = messaging.recv_sock(sub_sock) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + # https://github.com/python/mypy/issues/13038 + assert_carstate(msg.carState, recvd.carState) + + def test_recv_one(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=1000) + zmq_sleep() + + # no msg in queue, socket should timeout + recvd = messaging.recv_one(sub_sock) + self.assertTrue(recvd is None) + + # one msg in queue + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + recvd = messaging.recv_one(sub_sock) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert_carstate(msg.carState, recvd.carState) + + @zmq_expected_failure + def test_recv_one_or_none(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock) + zmq_sleep() + + # no msg in queue, socket shouldn't block + recvd = messaging.recv_one_or_none(sub_sock) + self.assertTrue(recvd is None) + + # one msg in queue + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + recvd = messaging.recv_one_or_none(sub_sock) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert_carstate(msg.carState, recvd.carState) + + def test_recv_one_retry(self): + sock = "carState" + sock_timeout = 0.1 + pub_sock = messaging.pub_sock(sock) + sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000)) + zmq_sleep() + + # this test doesn't work with ZMQ since multiprocessing interrupts it + if "ZMQ" not in os.environ: + # wait 15 socket timeouts and make sure it's still retrying + p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,)) + p.start() + time.sleep(sock_timeout*15) + self.assertTrue(p.is_alive()) + p.terminate() + + # wait 15 socket timeouts before sending + msg = random_carstate() + delayed_send(sock_timeout*15, pub_sock, msg.to_bytes()) + start_time = time.monotonic() + recvd = messaging.recv_one_retry(sub_sock) + self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15) + self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert_carstate(msg.carState, recvd.carState) + +if __name__ == "__main__": + unittest.main() diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py new file mode 100755 index 0000000000..81a1cf2d57 --- /dev/null +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python3 +import random +import time +from typing import Sized, cast +import unittest + +import cereal.messaging as messaging +from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \ + random_bytes, random_carstate, assert_carstate, \ + zmq_sleep + + +class TestSubMaster(unittest.TestCase): + + def setUp(self): + # ZMQ pub socket takes too long to die + # sleep to prevent multiple publishers error between tests + zmq_sleep(3) + + def test_init(self): + sm = messaging.SubMaster(events) + for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, + sm.sock, sm.data, sm.logMonoTime, sm.valid]: + self.assertEqual(len(cast(Sized, p)), len(events)) + + def test_init_state(self): + socks = random_socks() + sm = messaging.SubMaster(socks) + self.assertEqual(sm.frame, -1) + self.assertFalse(any(sm.updated.values())) + self.assertFalse(any(sm.alive.values())) + self.assertTrue(all(t == 0. for t in sm.recv_time.values())) + self.assertTrue(all(f == 0 for f in sm.recv_frame.values())) + self.assertTrue(all(t == 0 for t in sm.logMonoTime.values())) + + for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, + sm.sock, sm.data, sm.logMonoTime, sm.valid]: + self.assertEqual(len(cast(Sized, p)), len(socks)) + + def test_getitem(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sm = messaging.SubMaster([sock,]) + zmq_sleep() + + msg = random_carstate() + pub_sock.send(msg.to_bytes()) + sm.update(1000) + assert_carstate(msg.carState, sm[sock]) + + # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs + def test_update(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sm = messaging.SubMaster([sock,]) + zmq_sleep() + + for i in range(10): + msg = messaging.new_message(sock) + pub_sock.send(msg.to_bytes()) + sm.update(1000) + self.assertEqual(sm.frame, i) + self.assertTrue(all(sm.updated.values())) + + def test_update_timeout(self): + sock = random_sock() + sm = messaging.SubMaster([sock,]) + for _ in range(5): + timeout = random.randrange(1000, 5000) + start_time = time.monotonic() + sm.update(timeout) + t = time.monotonic() - start_time + self.assertGreaterEqual(t, timeout/1000.) + self.assertLess(t, 5) + self.assertFalse(any(sm.updated.values())) + + def test_avg_frequency_checks(self): + for poll in (True, False): + sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"], + poll=("modelV2" if poll else None), + frequency=(20. if not poll else None)) + + checks = { + "carState": (20, 20), + "modelV2": (20, 20 if poll else 10), + "cameraOdometry": (20, 10), + "liveCalibration": (4, 4), + "carParams": (None, None), + } + + for service, (max_freq, min_freq) in checks.items(): + if max_freq is not None: + assert sm._check_avg_freq(service) + assert sm.max_freq[service] == max_freq*1.2 + assert sm.min_freq[service] == min_freq*0.8 + else: + assert not sm._check_avg_freq(service) + + def test_alive(self): + pass + + def test_ignore_alive(self): + pass + + def test_valid(self): + pass + + # SubMaster should always conflate + def test_conflate(self): + sock = "carState" + pub_sock = messaging.pub_sock(sock) + sm = messaging.SubMaster([sock,]) + + n = 10 + for i in range(n+1): + msg = messaging.new_message(sock) + msg.carState.vEgo = i + pub_sock.send(msg.to_bytes()) + time.sleep(0.01) + sm.update(1000) + self.assertEqual(sm[sock].vEgo, n) + + +class TestPubMaster(unittest.TestCase): + + def setUp(self): + # ZMQ pub socket takes too long to die + # sleep to prevent multiple publishers error between tests + zmq_sleep(3) + + def test_init(self): + messaging.PubMaster(events) + + def test_send(self): + socks = random_socks() + pm = messaging.PubMaster(socks) + sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks} + zmq_sleep() + + # PubMaster accepts either a capnp msg builder or bytes + for capnp in [True, False]: + for i in range(100): + sock = socks[i % len(socks)] + + if capnp: + try: + msg = messaging.new_message(sock) + except Exception: + msg = messaging.new_message(sock, random.randrange(50)) + else: + msg = random_bytes() + + pm.send(sock, msg) + recvd = sub_socks[sock].receive() + + if capnp: + msg.clear_write_flag() + msg = msg.to_bytes() + self.assertEqual(msg, recvd, i) + + +if __name__ == "__main__": + unittest.main() diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py new file mode 100755 index 0000000000..0fac379e43 --- /dev/null +++ b/cereal/messaging/tests/test_services.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +import os +import tempfile +from typing import Dict +import unittest +from parameterized import parameterized + +import cereal.services as services +from cereal.services import SERVICE_LIST + + +class TestServices(unittest.TestCase): + + @parameterized.expand(SERVICE_LIST.keys()) + def test_services(self, s): + service = SERVICE_LIST[s] + self.assertTrue(service.frequency <= 104) + + def test_generated_header(self): + with tempfile.NamedTemporaryFile(suffix=".h") as f: + ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}") + self.assertEqual(ret, 0, "generated services header is not valid C") + +if __name__ == "__main__": + unittest.main() diff --git a/cereal/services.py b/cereal/services.py new file mode 100755 index 0000000000..854e559361 --- /dev/null +++ b/cereal/services.py @@ -0,0 +1,129 @@ +#!/usr/bin/env python3 +from typing import Optional + + +class Service: + def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None): + self.should_log = should_log + self.frequency = frequency + self.decimation = decimation + + +_services: dict[str, tuple] = { + # service: (should_log, frequency, qlog decimation (optional)) + # note: the "EncodeIdx" packets will still be in the log + "gyroscope": (True, 104., 104), + "gyroscope2": (True, 100., 100), + "accelerometer": (True, 104., 104), + "accelerometer2": (True, 100., 100), + "magnetometer": (True, 25., 25), + "lightSensor": (True, 100., 100), + "temperatureSensor": (True, 2., 200), + "temperatureSensor2": (True, 2., 200), + "gpsNMEA": (True, 9.), + "deviceState": (True, 2., 1), + "can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment + "controlsState": (True, 100., 10), + "pandaStates": (True, 10., 1), + "peripheralState": (True, 2., 1), + "radarState": (True, 20., 5), + "roadEncodeIdx": (False, 20., 1), + "liveTracks": (True, 20.), + "sendcan": (True, 100., 139), + "logMessage": (True, 0.), + "errorLogMessage": (True, 0., 1), + "liveCalibration": (True, 4., 4), + "liveTorqueParameters": (True, 4., 1), + "androidLog": (True, 0.), + "carState": (True, 100., 10), + "carControl": (True, 100., 10), + "carOutput": (True, 100., 10), + "longitudinalPlan": (True, 20., 5), + "procLog": (True, 0.5, 15), + "gpsLocationExternal": (True, 10., 10), + "gpsLocation": (True, 1., 1), + "ubloxGnss": (True, 10.), + "qcomGnss": (True, 2.), + "gnssMeasurements": (True, 10., 10), + "clocks": (True, 0.1, 1), + "ubloxRaw": (True, 20.), + "liveLocationKalman": (True, 20., 5), + "liveParameters": (True, 20., 5), + "cameraOdometry": (True, 20., 5), + "lateralPlanDEPRECATED": (True, 20., 5), + "thumbnail": (True, 0.2, 1), + "onroadEvents": (True, 1., 1), + "carParams": (True, 0.02, 1), + "roadCameraState": (True, 20., 20), + "driverCameraState": (True, 20., 20), + "driverEncodeIdx": (False, 20., 1), + "driverStateV2": (True, 20., 10), + "driverMonitoringState": (True, 20., 10), + "wideRoadEncodeIdx": (False, 20., 1), + "wideRoadCameraState": (True, 20., 20), + "modelV2": (True, 20., 40), + "managerState": (True, 2., 1), + "uploaderState": (True, 0., 1), + "navInstruction": (True, 1., 10), + "navRoute": (True, 0.), + "navThumbnail": (True, 0.), + "navModelDEPRECATED": (True, 2., 4.), + "mapRenderState": (True, 2., 1.), + "uiPlan": (True, 20., 40.), + "qRoadEncodeIdx": (False, 20.), + "userFlag": (True, 0., 1), + "microphone": (True, 10., 10), + + "controlsStateSP": (True, 100., 10), + "longitudinalPlanSP": (True, 20., 5), + "lateralPlanSPDEPRECATED": (True, 20., 5), + "driverMonitoringStateSP": (True, 20., 10), + "liveMapDataSP": (True, 0.), + "e2eLongStateSP": (True, 0.), + "modelV2SP": (True, 20., 40), + + # debug + "uiDebug": (True, 0., 1), + "testJoystick": (True, 0.), + "roadEncodeData": (False, 20.), + "driverEncodeData": (False, 20.), + "wideRoadEncodeData": (False, 20.), + "qRoadEncodeData": (False, 20.), + "livestreamWideRoadEncodeIdx": (False, 20.), + "livestreamRoadEncodeIdx": (False, 20.), + "livestreamDriverEncodeIdx": (False, 20.), + "livestreamWideRoadEncodeData": (False, 20.), + "livestreamRoadEncodeData": (False, 20.), + "livestreamDriverEncodeData": (False, 20.), + "customReservedRawData0": (True, 0.), + "customReservedRawData1": (True, 0.), + "customReservedRawData2": (True, 0.), +} +SERVICE_LIST = {name: Service(*vals) for + idx, (name, vals) in enumerate(_services.items())} + + +def build_header(): + h = "" + h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n" + h += "#ifndef __SERVICES_H\n" + h += "#define __SERVICES_H\n" + + h += "#include \n" + h += "#include \n" + + h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n" + h += "static std::map services = {\n" + for k, v in SERVICE_LIST.items(): + should_log = "true" if v.should_log else "false" + decimation = -1 if v.decimation is None else v.decimation + h += ' { "%s", {"%s", %s, %d, %d}},\n' % \ + (k, k, should_log, v.frequency, decimation) + h += "};\n" + + h += "#endif\n" + return h + + +if __name__ == "__main__": + print(build_header()) diff --git a/common/git.py b/common/git.py index bfb18ce25d..4406bf96b1 100644 --- a/common/git.py +++ b/common/git.py @@ -1,5 +1,5 @@ +from functools import cache import subprocess -from openpilot.common.utils import cache from openpilot.common.run import run_cmd, run_cmd_default diff --git a/common/markdown.py b/common/markdown.py new file mode 100644 index 0000000000..f0f056d963 --- /dev/null +++ b/common/markdown.py @@ -0,0 +1,45 @@ +HTML_REPLACEMENTS = [ + (r'&', r'&'), + (r'"', r'"'), +] + +def parse_markdown(text: str, tab_length: int = 2) -> str: + lines = text.split("\n") + output: list[str] = [] + list_level = 0 + + def end_outstanding_lists(level: int, end_level: int) -> int: + while level > end_level: + level -= 1 + output.append("") + if level > 0: + output.append("") + return end_level + + for i, line in enumerate(lines): + if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading + output.append(f"

{line}

") + elif line.startswith("==="): + pass + elif line.lstrip().startswith("* "): # list + line_level = 1 + line.count(" " * tab_length, 0, line.index("*")) + if list_level >= line_level: + list_level = end_outstanding_lists(list_level, line_level) + else: + list_level += 1 + if list_level > 1: + output[-1] = output[-1].replace("", "") + output.append("
    ") + output.append(f"
  • {line.replace('*', '', 1).lstrip()}
    • ") + else: + list_level = end_outstanding_lists(list_level, 0) + if len(line) > 0: + output.append(line) + + end_outstanding_lists(list_level, 0) + output_str = "\n".join(output) + "\n" + + for (fr, to) in HTML_REPLACEMENTS: + output_str = output_str.replace(fr, to) + + return output_str diff --git a/common/ratekeeper.h b/common/ratekeeper.h index b6e8ac66a6..e7323c6ec3 100644 --- a/common/ratekeeper.h +++ b/common/ratekeeper.h @@ -9,7 +9,7 @@ public: ~RateKeeper() {} bool keepTime(); bool monitorTime(); - inline double frame() const { return frame_; } + inline uint64_t frame() const { return frame_; } inline double remaining() const { return remaining_; } private: diff --git a/common/realtime.py b/common/realtime.py index 6b8587ff06..dd97ea3d78 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -12,7 +12,7 @@ from openpilot.system.hardware import PC # time step for each process DT_CTRL = 0.01 # controlsd DT_MDL = 0.05 # model -DT_TRML = 0.5 # thermald and manager +DT_HW = 0.5 # hardwared and manager DT_DMON = 0.05 # driver monitoring @@ -23,7 +23,7 @@ class Priority: CTRL_LOW = 51 # plannerd & radard # CORE 3 - # - boardd = 55 + # - pandad = 55 CTRL_HIGH = 53 diff --git a/common/tests/test_markdown.py b/common/tests/test_markdown.py new file mode 100644 index 0000000000..d3c7e02c69 --- /dev/null +++ b/common/tests/test_markdown.py @@ -0,0 +1,15 @@ +import os + +from openpilot.common.basedir import BASEDIR +from openpilot.common.markdown import parse_markdown + + +class TestMarkdown: + def test_all_release_notes(self): + with open(os.path.join(BASEDIR, "RELEASES.md")) as f: + release_notes = f.read().split("\n\n") + assert len(release_notes) > 10 + + for rn in release_notes: + md = parse_markdown(rn) + assert len(md) > 0 diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py old mode 100755 new mode 100644 index 41076d9b3f..11a6bf70ee --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -1,5 +1,3 @@ -#!/usr/bin/env python3 - import numpy as np import openpilot.common.transformations.coordinates as coord diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py old mode 100755 new mode 100644 index 695642774e..55fbc6581e --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -1,5 +1,3 @@ -#!/usr/bin/env python3 - import numpy as np from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ diff --git a/common/utils.py b/common/utils.py index e37f2448c5..b9de020ee6 100644 --- a/common/utils.py +++ b/common/utils.py @@ -1,11 +1,3 @@ -from collections.abc import Callable -from functools import lru_cache -from typing import TypeVar - - -_RT = TypeVar("_RT") - - class Freezable: _frozen: bool = False @@ -17,7 +9,3 @@ class Freezable: if self._frozen: raise Exception("cannot modify frozen object") super().__setattr__(*args, **kwargs) - - -def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]: - return lru_cache(maxsize=None)(user_function) diff --git a/common/version.h b/common/version.h index f89e14a780..c8470ac49c 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.7.0" +#define COMMA_VERSION "0.9.7.1" diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md index 9d0718c572..31e19e1206 100644 --- a/docs/BOUNTIES.md +++ b/docs/BOUNTIES.md @@ -57,10 +57,6 @@ The control doesn't have to be perfect, but it should generally do what it's sup Get a Rivian driving with openpilot. Requires a merged port with lateral control and at least a POC of longitudinal control. -#### Toyota SecOc - $5000 - -We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932). - #### Chevy Bolt with SuperCruise - $2500 The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port. diff --git a/docs/CARS.md b/docs/CARS.md index 26b7fe203f..3b163dcee3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. All |Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#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 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#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 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#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 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|Hyundai|Ioniq 6 (with HDA II) 2023[5](#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 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Hyundai|Ioniq 6 (with HDA II) 2023-24[5](#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 3X
    - 1 comma power v2
    - 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 3X
    - 1 comma power v2
    - 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 3X
    - 1 comma power v2
    - 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 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -185,8 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Ford Q3 connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || -|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 3X
    - 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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 Mazda connector
    - 1 RJ45 cable (7 ft)
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |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 3X
    - 1 comma power v2
    - 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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -237,7 +237,7 @@ A supported vehicle is one that just works when you install a comma device. All |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-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |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 3X
    - 1 comma power v2
    - 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 3X
    - 1 comma power v2
    - 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-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
    Parts- 1 RJ45 cable (7 ft)
    - 1 Toyota A connector
    - 1 comma 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Toyota|Highlander 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 3X
    - 1 comma power v2
    - 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 3X
    - 1 comma power v2
    - 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)|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 3X
    - 1 comma power v2
    - 1 harness box
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -269,8 +269,8 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|California 2021-23|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 3X
    - 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 3X
    - 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 3X
    - 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 3X
    - 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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |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 3X
    - 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 3X
    - 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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || @@ -279,7 +279,7 @@ A supported vehicle is one that just works when you install a comma device. All |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 3X
    - 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 3X
    - 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 3X
    - 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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || +|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
    Parts- 1 J533 connector
    - 1 USB-C coupler
    - 1 angled mount (8 degrees)
    - 1 comma 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Jetta 2018-24|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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || |Volkswagen|Jetta GLI 2021-24|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 3X
    - 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 3X
    - 1 harness box
    - 1 long OBD-C cable
    - 1 mount
    - 1 right angle OBD-C cable (1.5 ft)
    Buy Here
    || diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 6e8808ec20..3b89fe9874 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -14,12 +14,12 @@ cereal messaging ^^^^^^^^^ .. autodoxygenindex:: - :project: cereal_messaging + :project: msgq_repo_msgq visionipc ^^^^^^^^^ .. autodoxygenindex:: - :project: cereal_visionipc + :project: msgq_repo_msgq_visionipc selfdrive @@ -77,10 +77,10 @@ sensorsd .. autodoxygenindex:: :project: system_sensord_sensors -boardd +pandad ^^^^^^ .. autodoxygenindex:: - :project: selfdrive_boardd + :project: selfdrive_pandad rednose diff --git a/msgq b/msgq new file mode 120000 index 0000000000..df09146f62 --- /dev/null +++ b/msgq @@ -0,0 +1 @@ +msgq_repo/msgq \ No newline at end of file diff --git a/msgq_repo b/msgq_repo new file mode 160000 index 0000000000..381fc3d9df --- /dev/null +++ b/msgq_repo @@ -0,0 +1 @@ +Subproject commit 381fc3d9dfe7d2ff40a075ff8c1f980ae2a62d19 diff --git a/opendbc b/opendbc index e2906791c6..e0b8c109cd 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e2906791c67eeadc9dfc3c770a678f3b888137a8 +Subproject commit e0b8c109cd3571c407cb09b5edacc223fb78be10 diff --git a/panda b/panda index 92e0d71db4..ea0aacb5ed 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 92e0d71db46de7e2d2adcbe97998ae4ce7b4cf34 +Subproject commit ea0aacb5edcea9f19e429e3007ba69746b8f4e8e diff --git a/poetry.lock b/poetry.lock index 23b2eb7b8a..6f0b998639 100644 --- a/poetry.lock +++ b/poetry.lock @@ -112,39 +112,42 @@ ifaddr = ">=0.2.0" [[package]] name = "aiortc" -version = "1.8.0" +version = "1.9.0" description = "An implementation of WebRTC and ORTC" optional = false python-versions = ">=3.8" files = [ - {file = "aiortc-1.8.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ac0bc48c9f98a744f6696be287b0403648deb3e20bd7f8fa91eb841e1c6c4e8d"}, - {file = "aiortc-1.8.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:639afa23b7d5c6f7d4f3f7af5fadb9cc67c82d56e17840b4433d2e5f73958bb5"}, - {file = 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{version = "10.3", markers = "platform_release >= \"10.0\""} +pyobjc-framework-CryptoTokenKit = {version = "10.3", markers = "platform_release >= \"14.0\""} +pyobjc-framework-DataDetection = {version = "10.3", markers = "platform_release >= \"21.0\""} +pyobjc-framework-DeviceCheck = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-DictionaryServices = {version = "10.3", markers = "platform_release >= \"9.0\""} +pyobjc-framework-DiscRecording = "10.3" +pyobjc-framework-DiscRecordingUI = "10.3" +pyobjc-framework-DiskArbitration = "10.3" +pyobjc-framework-DVDPlayback = "10.3" +pyobjc-framework-EventKit = {version = "10.3", markers = "platform_release >= \"12.0\""} +pyobjc-framework-ExceptionHandling = "10.3" +pyobjc-framework-ExecutionPolicy = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-ExtensionKit = {version = "10.3", markers = "platform_release >= \"22.0\""} +pyobjc-framework-ExternalAccessory = {version = "10.3", markers = "platform_release >= \"17.0\""} +pyobjc-framework-FileProvider = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-FileProviderUI = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-FinderSync = {version = "10.3", markers = "platform_release >= \"14.0\""} +pyobjc-framework-FSEvents = {version = "10.3", markers = "platform_release >= \"9.0\""} +pyobjc-framework-GameCenter = {version = "10.3", markers = "platform_release >= \"12.0\""} +pyobjc-framework-GameController = {version = "10.3", markers = "platform_release >= \"13.0\""} +pyobjc-framework-GameKit = {version = "10.3", markers = "platform_release >= \"12.0\""} +pyobjc-framework-GameplayKit = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-HealthKit = {version = "10.3", markers = "platform_release >= \"22.0\""} +pyobjc-framework-ImageCaptureCore = {version = "10.3", markers = "platform_release >= \"10.0\""} +pyobjc-framework-InputMethodKit = {version = "10.3", markers = "platform_release >= \"9.0\""} +pyobjc-framework-InstallerPlugins = "10.3" +pyobjc-framework-InstantMessage = {version = "10.3", markers = "platform_release >= \"9.0\""} +pyobjc-framework-Intents = {version = "10.3", markers = "platform_release >= \"16.0\""} +pyobjc-framework-IntentsUI = {version = "10.3", markers = "platform_release >= \"21.0\""} +pyobjc-framework-IOBluetooth = "10.3" +pyobjc-framework-IOBluetoothUI = "10.3" +pyobjc-framework-IOSurface = {version = "10.3", markers = "platform_release >= \"10.0\""} +pyobjc-framework-iTunesLibrary = {version = "10.3", markers = "platform_release >= \"10.0\""} +pyobjc-framework-KernelManagement = {version = "10.3", markers = "platform_release >= \"20.0\""} +pyobjc-framework-LatentSemanticMapping = "10.3" +pyobjc-framework-LaunchServices = "10.3" +pyobjc-framework-libdispatch = {version = "10.3", markers = "platform_release >= \"12.0\""} +pyobjc-framework-libxpc = {version = "10.3", markers = "platform_release >= \"12.0\""} +pyobjc-framework-LinkPresentation = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-LocalAuthentication = {version = "10.3", markers = "platform_release >= \"14.0\""} +pyobjc-framework-LocalAuthenticationEmbeddedUI = {version = "10.3", markers = "platform_release >= \"21.0\""} +pyobjc-framework-MailKit = {version = "10.3", markers = "platform_release >= \"21.0\""} +pyobjc-framework-MapKit = {version = "10.3", markers = "platform_release >= \"13.0\""} +pyobjc-framework-MediaAccessibility = {version = "10.3", markers = "platform_release >= \"13.0\""} +pyobjc-framework-MediaLibrary = {version = "10.3", markers = "platform_release >= \"13.0\""} +pyobjc-framework-MediaPlayer = {version = "10.3", markers = "platform_release >= \"16.0\""} +pyobjc-framework-MediaToolbox = {version = "10.3", markers = "platform_release >= \"13.0\""} +pyobjc-framework-Metal = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-MetalFX = {version = "10.3", markers = "platform_release >= \"22.0\""} +pyobjc-framework-MetalKit = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-MetalPerformanceShaders = {version = "10.3", markers = "platform_release >= \"17.0\""} +pyobjc-framework-MetalPerformanceShadersGraph = {version = "10.3", markers = "platform_release >= \"20.0\""} +pyobjc-framework-MetricKit = {version = "10.3", markers = "platform_release >= \"21.0\""} +pyobjc-framework-MLCompute = {version = "10.3", markers = "platform_release >= \"20.0\""} +pyobjc-framework-ModelIO = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-MultipeerConnectivity = {version = "10.3", markers = "platform_release >= \"14.0\""} +pyobjc-framework-NaturalLanguage = {version = "10.3", markers = "platform_release >= \"18.0\""} +pyobjc-framework-NetFS = {version = "10.3", markers = "platform_release >= \"10.0\""} +pyobjc-framework-Network = {version = "10.3", markers = "platform_release >= \"18.0\""} +pyobjc-framework-NetworkExtension = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-NotificationCenter = {version = "10.3", markers = "platform_release >= \"14.0\""} +pyobjc-framework-OpenDirectory = {version = "10.3", markers = "platform_release >= \"10.0\""} +pyobjc-framework-OSAKit = "10.3" +pyobjc-framework-OSLog = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-PassKit = {version = "10.3", markers = "platform_release >= \"20.0\""} +pyobjc-framework-PencilKit = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-PHASE = {version = "10.3", markers = "platform_release >= \"21.0\""} +pyobjc-framework-Photos = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-PhotosUI = {version = "10.3", markers = "platform_release >= \"15.0\""} +pyobjc-framework-PreferencePanes = "10.3" +pyobjc-framework-PubSub = {version = "10.3", markers = "platform_release >= \"9.0\" and platform_release < \"18.0\""} +pyobjc-framework-PushKit = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-Quartz = "10.3" +pyobjc-framework-QuickLookThumbnailing = {version = "10.3", markers = "platform_release >= \"19.0\""} +pyobjc-framework-ReplayKit = {version = "10.3", markers = "platform_release >= \"20.0\""} +pyobjc-framework-SafariServices = {version = "10.3", markers = "platform_release >= \"16.0\""} +pyobjc-framework-SafetyKit = {version = "10.3", markers = "platform_release >= \"22.0\""} +pyobjc-framework-SceneKit = {version = "10.3", markers = "platform_release >= \"11.0\""} +pyobjc-framework-ScreenCaptureKit = {version = "10.3", markers = "platform_release >= \"21.4\""} +pyobjc-framework-ScreenSaver = "10.3" +pyobjc-framework-ScreenTime = {version = "10.3", markers = "platform_release >= \"20.0\""} +pyobjc-framework-ScriptingBridge = {version = "10.3", markers = "platform_release >= \"9.0\""} +pyobjc-framework-SearchKit = "10.3" 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] [package.dependencies] @@ -7831,13 +7856,13 @@ files = [ [[package]] name = "typing-extensions" -version = "4.12.0" +version = "4.12.2" description = "Backported and Experimental Type Hints for Python 3.8+" optional = false python-versions = ">=3.8" files = [ - {file = "typing_extensions-4.12.0-py3-none-any.whl", hash = "sha256:b349c66bea9016ac22978d800cfff206d5f9816951f12a7d0ec5578b0a819594"}, - {file = "typing_extensions-4.12.0.tar.gz", hash = "sha256:8cbcdc8606ebcb0d95453ad7dc5065e6237b6aa230a31e81d0f440c30fed5fd8"}, + {file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"}, + {file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"}, ] [[package]] @@ -8025,20 +8050,20 @@ multidict = ">=4.0" [[package]] name = "zipp" -version = "3.18.2" +version = "3.19.2" description = "Backport of pathlib-compatible object wrapper for zip files" 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"rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] +test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"] [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "ac6ceb0682848e6c5e39110842e8d96fdc98b15037c56491a7fc1e03b7b89cbd" +content-hash = "a09744c1ac37507bef4de0c210f7321722a2852798ca366d04dfec9329190202" diff --git a/pyproject.toml b/pyproject.toml index d7145b10a9..007245540f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -20,7 +20,7 @@ markers = [ ] testpaths = [ "common", - "selfdrive/boardd", + "selfdrive/pandad", "selfdrive/car", "selfdrive/controls", "selfdrive/locationd", @@ -29,10 +29,9 @@ testpaths = [ "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", "system/updated", - "system/thermald", "system/athena", "system/camerad", - "system/hardware/tici", + "system/hardware", "system/loggerd", "system/proclogd", "system/tests", @@ -40,7 +39,8 @@ testpaths = [ "system/webrtc", "tools/lib/tests", "tools/replay", - "tools/cabana" + "tools/cabana", + "cereal/messaging/tests", ] [tool.mypy] @@ -87,34 +87,47 @@ readme = "README.md" repository = "https://github.com/commaai/openpilot" documentation = "https://docs.comma.ai" - [tool.poetry.dependencies] python = "~3.11" + +# multiple users +sounddevice = "*" # micd + soundd +pyserial = "*" # pigeond + qcomgpsd +requests = "*" # many one-off uses +sympy = "*" # rednose + friends +crcmod = "*" # cars + qcomgpsd + +# hardwared +smbus2 = "*" # configuring amp + +# core +cffi = "*" +scons = "*" +pycapnp = "*" +Cython = "*" +numpy = "*" + +# body / webrtcd aiohttp = "*" aiortc = "*" -cffi = "*" -crcmod = "*" -Cython = "*" -json-rpc = "*" +pyaudio = "*" + +# panda libusb1 = "*" -numpy = "*" +spidev = { version = "*", platform = "linux" } + +# modeld onnx = ">=1.14.0" onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" } onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" } -psutil = "*" -pyaudio = "*" -pycapnp = "*" -pycryptodome = "*" -PyJWT = "*" -pyserial = "*" + +# logging pyzmq = "*" -requests = "*" -scons = "*" sentry-sdk = "*" -smbus2 = "*" -sounddevice = "*" -spidev = { version = "*", platform = "linux" } -sympy = "*" + +# athena +PyJWT = "*" +json-rpc = "*" websocket_client = "*" # acados deps @@ -122,9 +135,10 @@ casadi = "*" future-fstrings = "*" # these should be removed -markdown-it-py = "*" -timezonefinder = "*" +psutil = "*" +timezonefinder = "*" # just used for nav ETA setproctitle = "*" +pycryptodome = "*" # used in updated/casync, panda, body, and a test [tool.poetry.group.dev.dependencies] av = "*" @@ -152,6 +166,7 @@ pprofile = "*" polyline = "*" pre-commit = "*" pyautogui = "*" +pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 pygame = "*" pywinctl = "*" @@ -165,6 +180,7 @@ pytest-timeout = "*" pytest-randomly = "*" pytest-asyncio = "*" pytest-mock = "*" +pytest-repeat = "*" rerun-sdk = "*" ruff = "*" sphinx = "*" diff --git a/release/build_release.sh b/release/build_release.sh index b68ae455c3..510df75e51 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -90,9 +90,9 @@ TEST_FILES="tools/" cd $SOURCE_DIR cp -pR -n --parents $TEST_FILES $BUILD_DIR/ cd $BUILD_DIR -RELEASE=1 selfdrive/test/test_onroad.py +RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py #system/manager/test/test_manager.py -selfdrive/car/tests/test_car_interfaces.py +pytest selfdrive/car/tests/test_car_interfaces.py rm -rf $TEST_FILES if [ ! -z "$RELEASE_BRANCH" ]; then diff --git a/release/release_files.py b/release/release_files.py index a6fb7d6481..2d279e97a4 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -10,13 +10,25 @@ ROOT = HERE + "/.." # - minimizing release download size # - keeping the diff readable blacklist = [ - "^scripts/", "body/STL/", - "tools/cabana/", + + "panda/drivers/", "panda/examples/", + "panda/tests/safety/", + + "opendbc/.*.dbc$", "opendbc/generator/", + "cereal/.*test.*", + "^common/tests/", + + # particularly large text files + "poetry.lock", + "third_party/catch2", + "selfdrive/car/tests/test_models.*", + "^tools/", + "^scripts/", "^tinygrad_repo/", "matlab.*.md", @@ -56,8 +68,60 @@ whitelist = [ "tinygrad_repo/tinygrad/runtime/ops_gpu.py", "tinygrad_repo/tinygrad/shape/*", "tinygrad_repo/tinygrad/.*.py", + + # TODO: do this automatically + "opendbc/comma_body.dbc", + "opendbc/chrysler_ram_hd_generated.dbc", + "opendbc/chrysler_ram_dt_generated.dbc", + "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc", + "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc", + "opendbc/gm_global_a_powertrain_generated.dbc", + "opendbc/gm_global_a_object.dbc", + "opendbc/gm_global_a_chassis.dbc", + "opendbc/FORD_CADS.dbc", + "opendbc/ford_fusion_2018_adas.dbc", + "opendbc/ford_lincoln_base_pt.dbc", + "opendbc/honda_accord_2018_can_generated.dbc", + "opendbc/acura_ilx_2016_can_generated.dbc", + "opendbc/acura_rdx_2018_can_generated.dbc", + "opendbc/acura_rdx_2020_can_generated.dbc", + "opendbc/honda_civic_touring_2016_can_generated.dbc", + "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc", + "opendbc/honda_crv_touring_2016_can_generated.dbc", + "opendbc/honda_crv_ex_2017_can_generated.dbc", + "opendbc/honda_crv_ex_2017_body_generated.dbc", + "opendbc/honda_crv_executive_2016_can_generated.dbc", + "opendbc/honda_fit_ex_2018_can_generated.dbc", + "opendbc/honda_odyssey_exl_2018_generated.dbc", + "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc", + "opendbc/honda_insight_ex_2019_can_generated.dbc", + "opendbc/acura_ilx_2016_nidec.dbc", + "opendbc/honda_civic_ex_2022_can_generated.dbc", + "opendbc/hyundai_canfd.dbc", + "opendbc/hyundai_kia_generic.dbc", + "opendbc/hyundai_kia_mando_front_radar_generated.dbc", + "opendbc/mazda_2017.dbc", + "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", + "opendbc/toyota_tnga_k_pt_generated.dbc", + "opendbc/toyota_new_mc_pt_generated.dbc", + "opendbc/toyota_nodsu_pt_generated.dbc", + "opendbc/toyota_adas.dbc", + "opendbc/toyota_tss2_adas.dbc", + "opendbc/vw_golf_mk4.dbc", + "opendbc/vw_mqb_2010.dbc", + "opendbc/tesla_can.dbc", + "opendbc/tesla_radar_bosch_generated.dbc", + "opendbc/tesla_radar_continental_generated.dbc", + "opendbc/tesla_powertrain.dbc", ] + if __name__ == "__main__": for f in Path(ROOT).rglob("**/*"): if not (f.is_file() or f.is_symlink()): diff --git a/selfdrive/SConscript b/selfdrive/SConscript index 6b72177d8e..52898f758f 100644 --- a/selfdrive/SConscript +++ b/selfdrive/SConscript @@ -1,4 +1,4 @@ -SConscript(['boardd/SConscript']) +SConscript(['pandad/SConscript']) SConscript(['controls/lib/lateral_mpc_lib/SConscript']) SConscript(['controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['locationd/SConscript']) diff --git a/selfdrive/boardd/.gitignore b/selfdrive/boardd/.gitignore deleted file mode 100644 index e8daa2ef27..0000000000 --- a/selfdrive/boardd/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -boardd -boardd_api_impl.cpp -tests/test_boardd_usbprotocol diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript deleted file mode 100644 index 666763d9b0..0000000000 --- a/selfdrive/boardd/SConscript +++ /dev/null @@ -1,11 +0,0 @@ -Import('env', 'envCython', 'common', 'cereal', 'messaging') - -libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) - -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('extras'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 199c425782..d9ee020ba4 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -11,7 +11,7 @@ from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events @@ -29,8 +29,7 @@ class Car: self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) - self.can_rcv_timeout_counter = 0 # consecutive timeout count - self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count + self.can_rcv_cum_timeout_counter = 0 self.CC_prev = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() @@ -96,12 +95,7 @@ class Car: # Check for CAN timeout if not can_rcv_valid: - self.can_rcv_timeout_counter += 1 self.can_rcv_cum_timeout_counter += 1 - else: - self.can_rcv_timeout_counter = 0 - - self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5 if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime @@ -141,7 +135,6 @@ class Car: cs_send = messaging.new_message('carState') cs_send.valid = CS.canValid cs_send.carState = CS - cs_send.carState.canRcvTimeout = self.can_rcv_timeout cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter cs_send.carState.cumLagMs = -self.rk.remaining * 1000. self.pm.send('carState', cs_send) @@ -153,7 +146,7 @@ class Car: # Initialize CarInterface, once controls are ready # TODO: this can make us miss at least a few cycles when doing an ECU knockout self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - # signal boardd to switch to car safety mode + # signal pandad to switch to car safety mode self.params.put_bool_nonblocking("ControlsReady", True) if self.sm.all_alive(['carControl']): diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 1789054580..5072aad5c0 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -410,6 +410,7 @@ FW_VERSIONS = { b'68453483AD', b'68453487AD', b'68453491AC', + b'68453491AD', b'68453499AD', b'68453503AC', b'68453503AD', @@ -557,6 +558,7 @@ FW_VERSIONS = { b'68467936AC ', b'68500630AD', b'68500630AE', + b'68500631AE', b'68502719AC ', b'68502722AC ', b'68502733AC ', @@ -603,6 +605,7 @@ FW_VERSIONS = { b'68484467AC', b'68484471AC', b'68502994AD', + b'68502996AD', b'68520867AE', b'68520867AF', b'68520870AC', diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index da5e7b4612..e7a9fbcf2c 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -6,7 +6,7 @@ import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE 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.selfdrive.pandad import can_list_to_can_capnp from openpilot.common.swaglog import cloudlog diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py old mode 100755 new mode 100644 index 72dd69980a..b1a19017d4 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import random from collections.abc import Iterable diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index ad4dcdc8f1..bb2827571c 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -85,7 +85,7 @@ class Request: auxiliary: bool = False # FW responses from these queries will not be used for fingerprinting logging: bool = False - # boardd toggles OBD multiplexing on/off as needed + # pandad toggles OBD multiplexing on/off as needed obd_multiplexing: bool = True diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index fef3c52d34..4bb6413d01 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -352,7 +352,7 @@ if __name__ == "__main__": pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') - # Set up params for boardd + # Set up params for pandad params = Params() params.remove("FirmwareQueryDone") params.put_bool("IsOnroad", False) diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py old mode 100755 new mode 100644 index 389d0636c9..a0a4a94ffa --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from parameterized import parameterized from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index a4ac8ce2d4..6b4ca51e0b 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -11,43 +11,6 @@ Ecu = car.CarParams.Ecu FW_VERSIONS = { CAR.HONDA_ACCORD: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6A0-8720\x00\x00', - b'37805-6A0-9520\x00\x00', - b'37805-6A0-9620\x00\x00', - b'37805-6A0-9720\x00\x00', - b'37805-6A0-A540\x00\x00', - b'37805-6A0-A550\x00\x00', - b'37805-6A0-A640\x00\x00', - b'37805-6A0-A650\x00\x00', - b'37805-6A0-A740\x00\x00', - b'37805-6A0-A750\x00\x00', - b'37805-6A0-A840\x00\x00', - b'37805-6A0-A850\x00\x00', - b'37805-6A0-A930\x00\x00', - b'37805-6A0-AF30\x00\x00', - b'37805-6A0-AG30\x00\x00', - b'37805-6A0-AJ10\x00\x00', - b'37805-6A0-C540\x00\x00', - b'37805-6A0-CG20\x00\x00', - b'37805-6A1-H650\x00\x00', - b'37805-6B2-A550\x00\x00', - b'37805-6B2-A560\x00\x00', - b'37805-6B2-A650\x00\x00', - b'37805-6B2-A660\x00\x00', - b'37805-6B2-A720\x00\x00', - b'37805-6B2-A810\x00\x00', - b'37805-6B2-A820\x00\x00', - b'37805-6B2-A920\x00\x00', - b'37805-6B2-A960\x00\x00', - b'37805-6B2-AA10\x00\x00', - b'37805-6B2-C520\x00\x00', - b'37805-6B2-C540\x00\x00', - b'37805-6B2-C560\x00\x00', - b'37805-6B2-M520\x00\x00', - b'37805-6B2-Y810\x00\x00', - b'37805-6M4-B730\x00\x00', - ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TVC-A910\x00\x00', b'54008-TWA-A910\x00\x00', @@ -175,38 +138,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CIVIC: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A640\x00\x00', - b'37805-5AA-A650\x00\x00', - b'37805-5AA-A670\x00\x00', - b'37805-5AA-A680\x00\x00', - b'37805-5AA-A810\x00\x00', - b'37805-5AA-C640\x00\x00', - b'37805-5AA-C680\x00\x00', - b'37805-5AA-C820\x00\x00', - b'37805-5AA-L650\x00\x00', - b'37805-5AA-L660\x00\x00', - b'37805-5AA-L680\x00\x00', - b'37805-5AA-L690\x00\x00', - b'37805-5AA-L810\x00\x00', - b'37805-5AG-Q710\x00\x00', - b'37805-5AJ-A610\x00\x00', - b'37805-5AJ-A620\x00\x00', - b'37805-5AJ-L610\x00\x00', - b'37805-5BA-A310\x00\x00', - b'37805-5BA-A510\x00\x00', - b'37805-5BA-A740\x00\x00', - b'37805-5BA-A760\x00\x00', - b'37805-5BA-A930\x00\x00', - b'37805-5BA-A960\x00\x00', - b'37805-5BA-C640\x00\x00', - b'37805-5BA-C860\x00\x00', - b'37805-5BA-L410\x00\x00', - b'37805-5BA-L760\x00\x00', - b'37805-5BA-L930\x00\x00', - b'37805-5BA-L940\x00\x00', - b'37805-5BA-L960\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5CG-A040\x00\x00', b'28101-5CG-A050\x00\x00', @@ -256,61 +187,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CIVIC_BOSCH: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5AA-A940\x00\x00', - b'37805-5AA-A950\x00\x00', - b'37805-5AA-C950\x00\x00', - b'37805-5AA-L940\x00\x00', - b'37805-5AA-L950\x00\x00', - b'37805-5AG-Z910\x00\x00', - b'37805-5AJ-A750\x00\x00', - b'37805-5AJ-L750\x00\x00', - b'37805-5AK-T530\x00\x00', - b'37805-5AN-A750\x00\x00', - b'37805-5AN-A830\x00\x00', - b'37805-5AN-A840\x00\x00', - b'37805-5AN-A930\x00\x00', - b'37805-5AN-A940\x00\x00', - b'37805-5AN-A950\x00\x00', - b'37805-5AN-AG20\x00\x00', - b'37805-5AN-AH20\x00\x00', - b'37805-5AN-AJ30\x00\x00', - b'37805-5AN-AK10\x00\x00', - b'37805-5AN-AK20\x00\x00', - b'37805-5AN-AR10\x00\x00', - b'37805-5AN-AR20\x00\x00', - b'37805-5AN-C650\x00\x00', - b'37805-5AN-CH20\x00\x00', - b'37805-5AN-E630\x00\x00', - b'37805-5AN-E720\x00\x00', - b'37805-5AN-E820\x00\x00', - b'37805-5AN-J820\x00\x00', - b'37805-5AN-L840\x00\x00', - b'37805-5AN-L930\x00\x00', - b'37805-5AN-L940\x00\x00', - b'37805-5AN-LF20\x00\x00', - b'37805-5AN-LH20\x00\x00', - b'37805-5AN-LJ20\x00\x00', - b'37805-5AN-LR20\x00\x00', - b'37805-5AN-LS20\x00\x00', - b'37805-5AW-G720\x00\x00', - b'37805-5AZ-E850\x00\x00', - b'37805-5AZ-G540\x00\x00', - b'37805-5AZ-G740\x00\x00', - b'37805-5AZ-G840\x00\x00', - b'37805-5BB-A530\x00\x00', - b'37805-5BB-A540\x00\x00', - b'37805-5BB-A620\x00\x00', - b'37805-5BB-A630\x00\x00', - b'37805-5BB-A640\x00\x00', - b'37805-5BB-C540\x00\x00', - b'37805-5BB-C630\x00\x00', - b'37805-5BB-C640\x00\x00', - b'37805-5BB-L540\x00\x00', - b'37805-5BB-L630\x00\x00', - b'37805-5BB-L640\x00\x00', - b'37805-5BF-J130\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5CG-A920\x00\x00', b'28101-5CG-AB10\x00\x00', @@ -414,10 +290,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CIVIC_BOSCH_DIESEL: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-59N-G630\x00\x00', - b'37805-59N-G830\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-59Y-G220\x00\x00', b'28101-59Y-G620\x00\x00', @@ -488,41 +360,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CRV_5G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5PA-3060\x00\x00', - b'37805-5PA-3080\x00\x00', - b'37805-5PA-3180\x00\x00', - b'37805-5PA-4050\x00\x00', - b'37805-5PA-4150\x00\x00', - b'37805-5PA-6520\x00\x00', - b'37805-5PA-6530\x00\x00', - b'37805-5PA-6630\x00\x00', - b'37805-5PA-6640\x00\x00', - b'37805-5PA-7630\x00\x00', - b'37805-5PA-9530\x00\x00', - b'37805-5PA-9630\x00\x00', - b'37805-5PA-9640\x00\x00', - b'37805-5PA-9730\x00\x00', - b'37805-5PA-9830\x00\x00', - b'37805-5PA-9840\x00\x00', - b'37805-5PA-A650\x00\x00', - b'37805-5PA-A670\x00\x00', - b'37805-5PA-A680\x00\x00', - b'37805-5PA-A850\x00\x00', - b'37805-5PA-A870\x00\x00', - b'37805-5PA-A880\x00\x00', - b'37805-5PA-A890\x00\x00', - b'37805-5PA-AB10\x00\x00', - b'37805-5PA-AD10\x00\x00', - b'37805-5PA-AF20\x00\x00', - b'37805-5PA-AF30\x00\x00', - b'37805-5PA-AH20\x00\x00', - b'37805-5PA-BF10\x00\x00', - b'37805-5PA-C680\x00\x00', - b'37805-5PD-Q630\x00\x00', - b'37805-5PF-F730\x00\x00', - b'37805-5PF-M630\x00\x00', - ], (Ecu.transmission, 0x18da1ef1, None): [ b'28101-5RG-A020\x00\x00', b'28101-5RG-A030\x00\x00', @@ -598,10 +435,6 @@ FW_VERSIONS = { ], }, CAR.HONDA_CRV_EU: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-R5Z-G740\x00\x00', - b'37805-R5Z-G780\x00\x00', - ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-T1V-G920\x00\x00', ], @@ -702,24 +535,6 @@ FW_VERSIONS = { b'38897-THR-A010\x00\x00', b'38897-THR-A020\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5MR-3050\x00\x00', - b'37805-5MR-3150\x00\x00', - b'37805-5MR-3250\x00\x00', - b'37805-5MR-4070\x00\x00', - b'37805-5MR-4080\x00\x00', - b'37805-5MR-4170\x00\x00', - b'37805-5MR-4180\x00\x00', - b'37805-5MR-A240\x00\x00', - b'37805-5MR-A250\x00\x00', - b'37805-5MR-A310\x00\x00', - b'37805-5MR-A740\x00\x00', - b'37805-5MR-A750\x00\x00', - b'37805-5MR-A840\x00\x00', - b'37805-5MR-C620\x00\x00', - b'37805-5MR-D530\x00\x00', - b'37805-5MR-K730\x00\x00', - ], (Ecu.eps, 0x18da30f1, None): [ b'39990-THR-A020\x00\x00', b'39990-THR-A030\x00\x00', @@ -804,39 +619,6 @@ FW_VERSIONS = { b'28101-5EZ-A700\x00\x00', b'28103-5EY-A110\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-RLV-4060\x00\x00', - b'37805-RLV-4070\x00\x00', - b'37805-RLV-5140\x00\x00', - b'37805-RLV-5230\x00\x00', - b'37805-RLV-5250\x00\x00', - b'37805-RLV-A630\x00\x00', - b'37805-RLV-A830\x00\x00', - b'37805-RLV-A840\x00\x00', - b'37805-RLV-B210\x00\x00', - b'37805-RLV-B220\x00\x00', - b'37805-RLV-B420\x00\x00', - b'37805-RLV-B430\x00\x00', - b'37805-RLV-B620\x00\x00', - b'37805-RLV-B710\x00\x00', - b'37805-RLV-B720\x00\x00', - b'37805-RLV-C430\x00\x00', - b'37805-RLV-C510\x00\x00', - b'37805-RLV-C520\x00\x00', - b'37805-RLV-C530\x00\x00', - b'37805-RLV-C910\x00\x00', - b'37805-RLV-F120\x00\x00', - b'37805-RLV-L080\x00\x00', - b'37805-RLV-L090\x00\x00', - b'37805-RLV-L150\x00\x00', - b'37805-RLV-L160\x00\x00', - b'37805-RLV-L180\x00\x00', - b'37805-RLV-L350\x00\x00', - b'37805-RLV-L410\x00\x00', - b'37805-RLV-L430\x00\x00', - b'37805-RLV-L830\x00\x00', - b'37805-RLV-L850\x00\x00', - ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', b'38897-TG7-A040\x00\x00', @@ -914,26 +696,6 @@ FW_VERSIONS = { ], }, CAR.ACURA_RDX_3G: { - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-5YF-A130\x00\x00', - b'37805-5YF-A230\x00\x00', - b'37805-5YF-A320\x00\x00', - b'37805-5YF-A330\x00\x00', - b'37805-5YF-A420\x00\x00', - b'37805-5YF-A430\x00\x00', - b'37805-5YF-A750\x00\x00', - b'37805-5YF-A760\x00\x00', - b'37805-5YF-A770\x00\x00', - b'37805-5YF-A850\x00\x00', - b'37805-5YF-A860\x00\x00', - b'37805-5YF-A870\x00\x00', - b'37805-5YF-AD20\x00\x00', - b'37805-5YF-C210\x00\x00', - b'37805-5YF-C220\x00\x00', - b'37805-5YF-C410\x00\x00', - b'37805-5YF-C420\x00\x00', - b'37805-5YF-C430\x00\x00', - ], (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', b'57114-TJB-A040\x00\x00', @@ -1088,10 +850,6 @@ FW_VERSIONS = { b'28101-6EH-A010\x00\x00', b'28101-6JC-M310\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-6CT-A710\x00\x00', - b'37805-6HZ-M630\x00\x00', - ], (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ b'46114-3W0-A020\x00\x00', ], @@ -1172,14 +930,5 @@ FW_VERSIONS = { b'28101-65H-A120\x00\x00', b'28101-65J-N010\x00\x00', ], - (Ecu.programmedFuelInjection, 0x18da10f1, None): [ - b'37805-64A-A540\x00\x00', - b'37805-64A-A620\x00\x00', - b'37805-64D-P510\x00\x00', - b'37805-64L-A540\x00\x00', - b'37805-64S-A540\x00\x00', - b'37805-64S-A720\x00\x00', - b'37805-64S-AA10\x00\x00', - ], }, } diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py old mode 100755 new mode 100644 index 54d177d2ed..b8ad7872b2 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import re from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 070cc3e1ca..52dccaf4a8 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -318,6 +318,7 @@ FW_QUERY_CONFIG = FwQueryConfig( ], # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present + # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py non_essential_ecus={ Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G], Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID, @@ -325,6 +326,7 @@ FW_QUERY_CONFIG = FwQueryConfig( }, extra_ecus=[ (Ecu.combinationMeter, 0x18da60f1, None), + (Ecu.programmedFuelInjection, 0x18da10f1, None), # The only other ECU on PT bus accessible by camera on radarless Civic # This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1 # Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda' diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index bba304bfb1..5d9b1803e3 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -23,9 +23,6 @@ FINGERPRINTS = { CAR.GENESIS_G90: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 }], - CAR.HYUNDAI_IONIQ_EV_2020: [{ - 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], CAR.HYUNDAI_KONA_EV: [{ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 }], @@ -135,9 +132,12 @@ FW_VERSIONS = { b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ', + b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7100 ', + b'\xf1\x00AEev SCC FHCUP 1.00 1.01 99110-G7100 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101', + b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7510 4APEC101', b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101', ], (Ecu.fwdCamera, 0x7c4, None): [ @@ -146,6 +146,7 @@ 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 USA LHD 1.00 1.01 95740-G2600 190819', ], }, CAR.HYUNDAI_IONIQ_EV_LTD: { @@ -749,6 +750,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', + b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ', ], }, CAR.KIA_NIRO_HEV_2021: { @@ -877,6 +879,7 @@ FW_VERSIONS = { b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.07 99210-AA000 220426', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.08 99210-AA000 220728', ], (Ecu.abs, 0x7d1, None): [ @@ -1001,6 +1004,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', + b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', ], }, @@ -1039,10 +1043,10 @@ FW_VERSIONS = { CAR.KIA_SPORTAGE_5TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663', + b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663', b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', - b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690', ], diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7ac8a35c93..21db1f8180 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -79,6 +79,9 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + if candidate == CAR.KIA_OPTIMA_G4_FL: + ret.steerActuatorDelay = 0.2 + # *** longitudinal control *** if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py old mode 100755 new mode 100644 index db2110b0de..4d31d7d15e --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from hypothesis import settings, given, strategies as st import pytest diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ad40db7bd5..552d6d0ae5 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -324,7 +324,7 @@ class CAR(Platforms): flags=HyundaiFlags.EV, ) HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig( - [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], + [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], HYUNDAI_IONIQ_5.specs, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, ) @@ -525,7 +525,7 @@ class CAR(Platforms): # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), ], - CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), + GENESIS_G70.specs, flags=HyundaiFlags.MANDO_RADAR, ) GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 9538987ad1..689e31b240 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -33,6 +33,18 @@ TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.tom TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') +GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = { + 'P': GearShifter.park, 'PARK': GearShifter.park, + 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, + 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, + 'E': GearShifter.eco, 'ECO': GearShifter.eco, + 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, + 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, + 'S': GearShifter.sport, 'SPORT': GearShifter.sport, + 'L': GearShifter.low, 'LOW': GearShifter.low, + 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, +} + class LatControlInputs(NamedTuple): lateral_acceleration: float @@ -45,29 +57,33 @@ TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.L @cache -def get_torque_params(candidate): +def get_torque_params(): with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: sub = tomllib.load(f) - if candidate in sub: - candidate = sub[candidate] - with open(TORQUE_PARAMS_PATH, 'rb') as f: params = tomllib.load(f) with open(TORQUE_OVERRIDE_PATH, 'rb') as f: override = tomllib.load(f) - # Ensure no overlap - if sum([candidate in x for x in [sub, params, override]]) > 1: - raise RuntimeError(f'{candidate} is defined twice in torque config') + torque_params = {} + for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}: + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') - if candidate in override: - out = override[candidate] - elif candidate in params: - out = params[candidate] - else: - raise NotImplementedError(f"Did not find torque params for {candidate}") - return {key: out[i] for i, key in enumerate(params['legend'])} + sub_candidate = sub.get(candidate, candidate) + if sub_candidate in override: + out = override[sub_candidate] + elif sub_candidate in params: + out = params[sub_candidate] + else: + raise NotImplementedError(f"Did not find torque params for {sub_candidate}") + + torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])} + if candidate in sub: + torque_params[candidate] = torque_params[sub_candidate] + + return torque_params # generic car and radar interfaces @@ -168,7 +184,7 @@ class CarInterfaceBase(ABC): ret.carFingerprint = candidate # Car docs fields - ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] + ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED'] ret.autoResumeSng = True # describes whether car can resume from a stop automatically # standard ALC params @@ -202,7 +218,7 @@ class CarInterfaceBase(ABC): @staticmethod def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - params = get_torque_params(candidate) + params = get_torque_params()[candidate] tune.init('torque') tune.torque.useSteeringAngle = use_steering_angle @@ -427,19 +443,7 @@ class CarStateBase(ABC): def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter: if gear is None: return GearShifter.unknown - - d: dict[str, car.CarState.GearShifter] = { - 'P': GearShifter.park, 'PARK': GearShifter.park, - 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, - 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, - 'E': GearShifter.eco, 'ECO': GearShifter.eco, - 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, - 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, - 'S': GearShifter.sport, 'SPORT': GearShifter.sport, - 'L': GearShifter.low, 'LOW': GearShifter.low, - 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, - } - return d.get(gear.upper(), GearShifter.unknown) + return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown) @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 8fdc747e9e..447c7093c5 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -4,7 +4,7 @@ from functools import partial import cereal.messaging as messaging from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.car.fw_query_definitions import AddrType from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index e3bd9d9099..7f3ae73163 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -311,6 +311,7 @@ FW_VERSIONS = { b'\x00\x00d\xd3\x1f@ \t', ], (Ecu.engine, 0x7e0, None): [ + b'\xa7"@0\x07', b'\xa7"@p\x07', b'\xa7)\xa0q\x07', b'\xba"@@\x07', @@ -318,6 +319,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\x1a\xf6F`\x00', + b'\xda\xf2`p\x00', b'\xda\xf2`\x80\x00', b'\xda\xfd\xe0\x80\x00', b'\xdc\xf2@`\x00', diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py old mode 100755 new mode 100644 index bb585d567f..f236986d8e --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from parameterized import parameterized from cereal import log, messaging diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py old mode 100755 new mode 100644 index d16294cf84..ba61dd8b55 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import math import hypothesis.strategies as st diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py old mode 100755 new mode 100644 index 0ed95e18f2..40ad07b283 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from collections import defaultdict import os import pytest diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py deleted file mode 100755 index 34f30bc703..0000000000 --- a/selfdrive/car/tests/test_fingerprints.py +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys - -from openpilot.common.basedir import BASEDIR - -# messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can) -# (addr, len) -CAN_IGNITION_MSGS = { - 'gm': [(0x1F1, 8), (0x160, 5)], - #'tesla' : [(0x348, 8)], -} - -def _get_fingerprints(): - # read all the folders in selfdrive/car and return a dict where: - # - keys are all the car names that which we have a fingerprint dict for - # - values are dicts of fingeprints for each trim - fingerprints = {} - for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: - car_name = car_folder.split('/')[-1] - try: - fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS - except (ImportError, OSError, AttributeError): - pass - - return fingerprints - - -def check_fingerprint_consistency(f1, f2): - # return false if it finds a fingerprint fully included in another - # max message worth checking is 1800, as above that they usually come too infrequently and not - # usable for fingerprinting - - max_msg = 1800 - - is_f1_in_f2 = True - for k in f1: - if (k not in f2 or f1[k] != f2[k]) and k < max_msg: - is_f1_in_f2 = False - - is_f2_in_f1 = True - for k in f2: - if (k not in f1 or f2[k] != f1[k]) and k < max_msg: - is_f2_in_f1 = False - - return not is_f1_in_f2 and not is_f2_in_f1 - - -def check_can_ignition_conflicts(fingerprints, brands): - # loops through all the fingerprints and exits if CAN ignition dedicated messages - # are found in unexpected fingerprints - - for brand_can, msgs_can in CAN_IGNITION_MSGS.items(): - for i, f in enumerate(fingerprints): - for msg_can in msgs_can: - if brand_can != brands[i] and msg_can[0] in f and msg_can[1] == f[msg_can[0]]: - print("CAN ignition dedicated msg %d with len %d found in %s fingerprints!" % (msg_can[0], msg_can[1], brands[i])) - print("TEST FAILED") - sys.exit(1) - - - -if __name__ == "__main__": - fingerprints = _get_fingerprints() - - fingerprints_flat: list[dict] = [] - car_names = [] - brand_names = [] - for brand in fingerprints: - for car in fingerprints[brand]: - fingerprints_flat += fingerprints[brand][car] - for _ in range(len(fingerprints[brand][car])): - car_names.append(car) - brand_names.append(brand) - - # first check if CAN ignition specific messages are unexpectedly included in other fingerprints - check_can_ignition_conflicts(fingerprints_flat, brand_names) - - valid = True - for idx1, f1 in enumerate(fingerprints_flat): - for idx2, f2 in enumerate(fingerprints_flat): - if idx1 < idx2 and not check_fingerprint_consistency(f1, f2): - valid = False - print(f"Those two fingerprints are inconsistent {car_names[idx1]} {car_names[idx2]}") - print("") - print(', '.join("%d: %d" % v for v in sorted(f1.items()))) - print("") - print(', '.join("%d: %d" % v for v in sorted(f2.items()))) - print("") - - print(f"Found {len(fingerprints_flat)} individual fingerprints") - if not valid or len(fingerprints_flat) == 0: - print("TEST FAILED") - sys.exit(1) - else: - print("TEST SUCCESSFUL") diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py old mode 100755 new mode 100644 index 230e6f10e1..f872972542 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import random import time diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index a478bc601a..e61d197f4b 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -3,6 +3,7 @@ from collections import defaultdict import importlib from parameterized import parameterized_class import pytest +import sys from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces @@ -20,8 +21,6 @@ MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3 # jerk is measured over half a second JERK_MEAS_T = 0.5 -car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) - @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)]) class TestLateralLimits: @@ -44,7 +43,7 @@ class TestLateralLimits: CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams cls.control_params = CarControllerParams(CP) - cls.torque_params = get_torque_params(cls.car_model) + cls.torque_params = get_torque_params()[cls.car_model] @staticmethod def calculate_0_5s_jerk(control_params, torque_params): @@ -64,9 +63,36 @@ class TestLateralLimits: def test_jerk_limits(self): up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) - car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE assert down_jerk <= MAX_LAT_JERK_DOWN def test_max_lateral_accel(self): assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL + + +class LatAccelReport: + car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) + + def pytest_sessionfinish(self): + print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n") + + max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks]) + for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): + violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ + _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} " + + f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + + @pytest.fixture(scope="class", autouse=True) + def class_setup(self, request): + yield + cls = request.cls + if hasattr(cls, "control_params"): + up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params) + self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} + + +if __name__ == '__main__': + sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()])) # noqa: TID251 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py old mode 100755 new mode 100644 index 8807db69d9..b5d75e665b --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import capnp import os import importlib diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py old mode 100755 new mode 100644 index 217189255e..31e4be4fe6 --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -1,5 +1,3 @@ -#!/usr/bin/env python3 - from openpilot.selfdrive.car.values import PLATFORMS diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 92715547cb..0e969529cd 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -61,7 +61,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "GMC_ACADIA" = [1.6, 1.6, 0.2] "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1] "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] -"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1] +"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005] "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1] "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1] "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml index d56d793347..b0ac39f392 100644 --- a/selfdrive/car/torque_data/params.toml +++ b/selfdrive/car/torque_data/params.toml @@ -41,7 +41,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745] "JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048] "JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003] -"KIA_EV6" = [3.2, 2.093457, 0.05] +"KIA_EV6" = [3.2, 2.093457, 0.005] "KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716] "KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] "KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558] diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 6319535714..0866a4d43c 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -214,6 +214,7 @@ FW_VERSIONS = { b'8646F0601400 ', b'8646F0603400 ', b'8646F0603500 ', + b'8646F0604000 ', b'8646F0604100 ', b'8646F0605000 ', b'8646F0606000 ', diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py old mode 100755 new mode 100644 index ef49e00551..0217a0fbc1 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from hypothesis import given, settings, strategies as st from cereal import car diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index dbab2e9255..2e781ad0aa 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -161,7 +161,7 @@ class CAR(Platforms): ToyotaCarDocs("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), # Hybrid platforms ToyotaCarDocs("Toyota Corolla Hybrid 2020-22"), - ToyotaCarDocs("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), + ToyotaCarDocs("Toyota Corolla Hybrid (South America only) 2020-23", min_enable_speed=7.5), ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarDocs("Lexus UX Hybrid 2019-23"), ], diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index fdc375fc8d..fea530b29b 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -119,6 +119,7 @@ FW_VERSIONS = { b'\xf1\x8704L906056BP\xf1\x894729', b'\xf1\x8704L906056EK\xf1\x896391', b'\xf1\x8705L906023BC\xf1\x892688', + b'\xf1\x8705L906023MH\xf1\x892588', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100', @@ -128,6 +129,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2', b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2', + b'\xf1\x872N0909143H \xf1\x897045\xf1\x82\x05263AZ309A2', b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2', ], (Ecu.fwdRadar, 0x757, None): [ @@ -589,6 +591,7 @@ FW_VERSIONS = { b'\xf1\x8783A907115Q \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158DS\xf1\x893699', b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158FM\xf1\x893757', b'\xf1\x8709G927158GC\xf1\x893821', diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py old mode 100755 new mode 100644 index 561d28b9fb..0002578105 --- a/selfdrive/car/volkswagen/tests/test_volkswagen.py +++ b/selfdrive/car/volkswagen/tests/test_volkswagen.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import random import re diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4d317176be..8b58769b3f 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -244,14 +244,14 @@ class CAR(Platforms): ) VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( [ - VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarDocs("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Crafter 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen e-Crafter 2018-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("Volkswagen Grand California 2019-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN TGE 2017-24", video_link="https://youtu.be/4100gLeabmo"), + VWCarDocs("MAN eTGE 2020-24", video_link="https://youtu.be/4100gLeabmo"), ], VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), - chassis_codes={"SY", "SZ"}, + chassis_codes={"SY", "SZ", "UY", "UZ"}, wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN}, ) VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e2ed9673ca..6722d1f87d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,7 @@ from typing import SupportsFloat import cereal.messaging as messaging from cereal import car, log -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.conversions import Conversions as CV @@ -286,7 +286,7 @@ class Controls: else: safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES - # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda + # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: self.events.add(EventName.controlsMismatch) @@ -324,19 +324,18 @@ class Controls: # generic catch-all. ideally, a more specific event should be added above instead 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 CS.canRcvTimeout) and no_system_errors: + if not self.sm.all_checks() and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): self.events.add(EventName.commIssueAvgFreq) - else: # invalid or can_rcv_timeout. + else: self.events.add(EventName.commIssue) logs = { 'invalid': [s for s, valid in self.sm.valid.items() if not valid], 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - 'can_rcv_timeout': CS.canRcvTimeout, } if logs != self.logged_comm_issue: cloudlog.event("commIssue", error=True, **logs) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 6c39376cfd..b957280632 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -51,7 +51,7 @@ class Events: def __init__(self): self.events: list[int] = [] self.static_events: list[int] = [] - self.events_prev = dict.fromkeys(EVENTS.keys(), 0) + self.event_counters = dict.fromkeys(EVENTS.keys(), 0) @property def names(self) -> list[int]: @@ -66,7 +66,7 @@ class Events: bisect.insort(self.events, event_name) def clear(self) -> None: - self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} + self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()} self.events = self.static_events.copy() def contains(self, event_type: str) -> bool: @@ -85,7 +85,7 @@ class Events: if not isinstance(alert, Alert): alert = alert(*callback_args) - if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay: + if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay: alert.alert_type = f"{EVENT_NAME[e]}/{et}" alert.event_type = et ret.append(alert) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index b6603e69fc..73242cb8f9 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', 'messaging_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python') gen = "c_generated_code" @@ -60,7 +60,7 @@ 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, [messaging_python, common_python, opendbc_python]) +lenv.Depends(generated_lat, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index dfacb2df92..de8308cc56 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -5,6 +5,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_dead from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.modeld.constants import ModelConstants +CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] + LongCtrlState = car.CarControl.Actuators.LongControlState @@ -70,19 +72,19 @@ class LongControl: # Interp control trajectory speeds = long_plan.speeds if len(speeds) == CONTROL_N: - v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds) - a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels) + v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds) + a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels) - v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds) + v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, CONTROL_N_T_IDX, speeds) a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now - v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds) + v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, CONTROL_N_T_IDX, speeds) a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now v_target = min(v_target_lower, v_target_upper) a_target = min(a_target_lower, a_target_upper) - v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds) + v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds) else: v_target = 0.0 v_target_now = 0.0 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index c00d5cb5a7..592c1c2c2d 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', 'messaging_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python') gen = "c_generated_code" @@ -66,7 +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, [messaging_python, common_python, opendbc_python]) +lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index a975ad727b..93824ff252 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -65,9 +65,9 @@ class LongitudinalPlanner: @staticmethod def parse_model(model_msg, model_error): - if (len(model_msg.position.x) == 33 and - len(model_msg.velocity.x) == 33 and - len(model_msg.acceleration.x) == 33): + if (len(model_msg.position.x) == ModelConstants.IDX_N and + len(model_msg.velocity.x) == ModelConstants.IDX_N and + len(model_msg.acceleration.x) == ModelConstants.IDX_N): x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py old mode 100755 new mode 100644 index c234cc49d6..8b9c18a9d4 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import random from openpilot.selfdrive.controls.lib.events import Alert, EVENTS diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py old mode 100755 new mode 100644 index b731bbd950..81411edec1 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from parameterized import parameterized from cereal import car, log diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py old mode 100755 new mode 100644 index 2efcf2fbbd..4d0e41805d --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import math diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py old mode 100755 new mode 100644 index e29a6322ab..38dc045949 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import copy import json import os diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py old mode 100755 new mode 100644 index 6c46285e81..8f451a49bc --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import itertools import numpy as np diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py old mode 100755 new mode 100644 index 89a575a9ad..0fd543dd60 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import itertools from parameterized import parameterized_class diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py old mode 100755 new mode 100644 index f4e97725ff..f1f4449afd --- a/selfdrive/controls/tests/test_leads.py +++ b/selfdrive/controls/tests/test_leads.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import cereal.messaging as messaging from openpilot.selfdrive.test.process_replay import replay_process_with_name diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index fc9f8ab125..14b0788a3d 100644 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -4,7 +4,7 @@ from parameterized import parameterized from cereal import log, car import cereal.messaging as messaging from openpilot.common.params import Params -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_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 @@ -105,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] for _ in range(1000): - # card waits for boardd to echo back that it has changed the multiplexing mode + # card waits for pandad to echo back that it has changed the multiplexing mode if not params.get_bool("ObdMultiplexingChanged"): params.put_bool("ObdMultiplexingChanged", True) diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py old mode 100755 new mode 100644 index b92724ce43..b6ec512dc4 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,5 +1,3 @@ -#!/usr/bin/env python3 - from cereal import car, log from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 24c467659d..fc527cd81b 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -1,25 +1,36 @@ #!/usr/bin/env python3 - import sys import time import numpy as np +import datetime from collections.abc import MutableSequence -from collections import defaultdict, deque +from collections import defaultdict import cereal.messaging as messaging -socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} -ts: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) if __name__ == "__main__": - while True: - print() + ts: defaultdict[str, MutableSequence[float]] = defaultdict(list) + socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} + try: + st = time.monotonic() + while True: + print() + for s, sock in socks.items(): + msgs = messaging.drain_sock(sock) + for m in msgs: + ts[s].append(m.logMonoTime / 1e6) + + if len(ts[s]) > 2: + d = np.diff(ts[s])[-100:] + print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") + time.sleep(1) + except KeyboardInterrupt: + print("\n") + print("="*5, "timing summary", "="*5) for s, sock in socks.items(): msgs = messaging.drain_sock(sock) - for m in msgs: - ts[s].append(m.logMonoTime / 1e6) - if len(ts[s]) > 2: d = np.diff(ts[s]) print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") - time.sleep(1) + print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5) diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py index dea21331b7..a931c423a9 100755 --- a/selfdrive/debug/clear_dtc.py +++ b/selfdrive/debug/clear_dtc.py @@ -12,11 +12,11 @@ parser.add_argument('--debug', action='store_true') args = parser.parse_args() try: - check_output(["pidof", "boardd"]) - print("boardd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "pandad"]) + print("pandad 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) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e panda = Panda() diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index baf44b9082..234dfea3cc 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -9,10 +9,10 @@ System tools like top/htop can only show current cpu usage values, so I write th Calculate minumium/maximum/accumulated_average cpu usage as long term inspections. Monitor multiple processes simuteneously. Sample usage: - root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd - ('Add monitored proc:', './boardd') + root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd + ('Add monitored proc:', './pandad') ('Add monitored proc:', 'python locationd/ubloxd.py') - boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96% + pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96% ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39% ''' import psutil diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py index f7f7a1604f..14f6c0e33c 100755 --- a/selfdrive/debug/get_fingerprint.py +++ b/selfdrive/debug/get_fingerprint.py @@ -4,7 +4,7 @@ # Instructions: # - connect to a Panda -# - run selfdrive/boardd/boardd +# - run selfdrive/pandad/pandad # - launching this script # Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint # - since some messages are published at low frequency, keep this script running for at least 30s, diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index e5cae0d470..5e7080ef64 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -79,11 +79,11 @@ if __name__ == "__main__": args = parser.parse_args() try: - check_output(["pidof", "boardd"]) - print("boardd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "pandad"]) + print("pandad 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) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip() diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py index 9ad5563975..2d27dd2bb2 100755 --- a/selfdrive/debug/read_dtc_status.py +++ b/selfdrive/debug/read_dtc_status.py @@ -13,11 +13,11 @@ parser.add_argument('--debug', action='store_true') args = parser.parse_args() try: - check_output(["pidof", "boardd"]) - print("boardd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "pandad"]) + print("pandad 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) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e panda = Panda() diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 07555a6087..27cd4d5b40 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,6 +1,6 @@ -Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations') +Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl'] +loc_libs = [messaging, common, 'pthread', 'dl'] # build ekf models rednose_gen_dir = 'models/generated' diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py old mode 100755 new mode 100644 index 598d5d2d5f..df61b6a7c7 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import random import numpy as np diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py old mode 100755 new mode 100644 index f88f423cf1..74ac7d2962 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import json import random diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py old mode 100755 new mode 100644 index be95c6fffb..ca52bffeea --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import numpy as np from collections import defaultdict diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index ef403b44fc..a388bf089c 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -9,7 +9,7 @@ from pathlib import Path from cereal import messaging from cereal.messaging import PubMaster, SubMaster -from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8f417d7c7d..46211c65d7 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -8,7 +8,7 @@ from cereal import car, log from pathlib import Path from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster -from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 5e28e9b95d..523ce00e43 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -1,13 +1,10 @@ #include "selfdrive/modeld/models/commonmodel.h" -#include #include #include #include #include "common/clutil.h" -#include "common/mat.h" -#include "common/timing.h" ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) { input_frames = std::make_unique(buf_size); @@ -52,21 +49,6 @@ ModelFrame::~ModelFrame() { CL_CHECK(clReleaseCommandQueue(q)); } -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++) { - 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++) { - output[i] *= inv_denominator; - } -} - float sigmoid(float input) { return 1 / (1 + expf(-input)); } diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 1a079da055..2cf79094a6 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -13,20 +13,11 @@ #endif #include "common/mat.h" -#include "cereal/messaging/messaging.h" #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL; - -void softmax(const float* input, float* output, size_t len); float sigmoid(float input); -template -constexpr const kj::ArrayPtr to_kj_array_ptr(const std::array &arr) { - return kj::ArrayPtr(arr.data(), arr.size()); -} - class ModelFrame { public: ModelFrame(cl_device_id device_id, cl_context context); diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index 57b79aeafb..7c3eb0b3d7 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -1,6 +1,6 @@ # distutils: language = c++ -from cereal.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem cdef extern from "common/mat.h": cdef struct mat3: diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd index 97e3914588..0bb798625b 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pxd +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -1,7 +1,7 @@ # distutils: language = c++ -from cereal.visionipc.visionipc cimport cl_mem -from cereal.visionipc.visionipc_pyx cimport CLContext as BaseCLContext +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext cdef class CLContext(BaseCLContext): pass diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index bc59b7a233..e292bb0d2d 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -5,8 +5,8 @@ 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 msgq.visionipc.visionipc cimport cl_mem +from msgq.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 diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd index 1f928da332..a911b43584 100644 --- a/selfdrive/modeld/runners/snpemodel.pxd +++ b/selfdrive/modeld/runners/snpemodel.pxd @@ -2,7 +2,7 @@ from libcpp.string cimport string -from cereal.visionipc.visionipc cimport cl_context +from msgq.visionipc.visionipc cimport cl_context cdef extern from "selfdrive/modeld/runners/snpemodel.h": cdef cppclass SNPEModel: diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd index 90af972865..79e24dbdd6 100644 --- a/selfdrive/modeld/runners/thneedmodel.pxd +++ b/selfdrive/modeld/runners/thneedmodel.pxd @@ -2,7 +2,7 @@ from libcpp.string cimport string -from cereal.visionipc.visionipc cimport cl_context +from msgq.visionipc.visionipc cimport cl_context cdef extern from "selfdrive/modeld/runners/thneedmodel.h": cdef cppclass ThneedModel: diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py old mode 100755 new mode 100644 index 5cbdbc2bb4..1e19a591bf --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -1,9 +1,8 @@ -#!/usr/bin/env python3 import numpy as np import random import cereal.messaging as messaging -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.car.car_helpers import write_car_param diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py old mode 100755 new mode 100644 index a960a379e2..f750437dc3 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import numpy as np from cereal import car, log diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 5a049f18ba..295e8127db 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -1,8 +1,8 @@ -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') map_env = qt_env.Clone() -libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, cereal, visionipc, transformations, - 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] +libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations, + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': libs.append(':libEGL_mesa.so.0') diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 7a3d2c316b..956c1d54bc 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -12,7 +12,7 @@ #include #include -#include "cereal/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_server.h" #include "cereal/messaging/messaging.h" diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py old mode 100755 new mode 100644 index 52b594a57e..04363883b2 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import time import numpy as np import os @@ -9,7 +8,7 @@ import http.server import cereal.messaging as messaging from typing import Any -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman from openpilot.selfdrive.test.helpers import with_processes diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py old mode 100755 new mode 100644 index 3d899ba282..b6580acff1 --- a/selfdrive/navd/tests/test_navd.py +++ b/selfdrive/navd/tests/test_navd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import json import random import numpy as np diff --git a/selfdrive/pandad/.gitignore b/selfdrive/pandad/.gitignore new file mode 100644 index 0000000000..f7226cdb87 --- /dev/null +++ b/selfdrive/pandad/.gitignore @@ -0,0 +1,3 @@ +pandad +pandad_api_impl.cpp +tests/test_pandad_usbprotocol diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript new file mode 100644 index 0000000000..63a2c1e650 --- /dev/null +++ b/selfdrive/pandad/SConscript @@ -0,0 +1,11 @@ +Import('env', 'envCython', 'common', 'messaging') + +libs = ['usb-1.0', common, messaging, 'pthread'] +panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) + +env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs) +env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) + +envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +if GetOption('extras'): + env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/boardd/boardd.py b/selfdrive/pandad/__init__.py similarity index 81% rename from selfdrive/boardd/boardd.py rename to selfdrive/pandad/__init__.py index 0cdaf5e912..8081a62dd0 100644 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/pandad/__init__.py @@ -1,5 +1,5 @@ # Cython, now uses scons to build -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_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/pandad/can_list_to_can_capnp.cc similarity index 95% rename from selfdrive/boardd/can_list_to_can_capnp.cc rename to selfdrive/pandad/can_list_to_can_capnp.cc index 72ca72688a..9fc2648da2 100644 --- a/selfdrive/boardd/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,5 +1,5 @@ #include "cereal/messaging/messaging.h" -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/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/main.cc b/selfdrive/pandad/main.cc similarity index 71% rename from selfdrive/boardd/main.cc rename to selfdrive/pandad/main.cc index cb17a584bd..b63d884a45 100644 --- a/selfdrive/boardd/main.cc +++ b/selfdrive/pandad/main.cc @@ -1,22 +1,22 @@ #include -#include "selfdrive/boardd/boardd.h" +#include "selfdrive/pandad/pandad.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" int main(int argc, char *argv[]) { - LOGW("starting boardd"); + LOGW("starting pandad"); if (!Hardware::PC()) { int err; err = util::set_realtime_priority(54); assert(err == 0); - err = util::set_core_affinity({4}); + err = util::set_core_affinity({3}); assert(err == 0); } std::vector serials(argv + 1, argv + argc); - boardd_main_thread(serials); + pandad_main_thread(serials); return 0; } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/pandad/panda.cc similarity index 95% rename from selfdrive/boardd/panda.cc rename to selfdrive/pandad/panda.cc index a2e5574090..a404ad3880 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -1,4 +1,4 @@ -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" #include @@ -220,12 +220,18 @@ bool Panda::can_receive(std::vector& out_vec) { if (!comms_healthy()) { return false; } - if (recv == RECV_SIZE) { - LOGW("Panda receive buffer full"); - } - receive_buffer_size += recv; - return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); + if (getenv("PANDAD_MAXOUT") != NULL) { + static uint8_t junk[RECV_SIZE]; + handle->bulk_read(0xab, junk, RECV_SIZE - recv); + } + + bool ret = true; + if (recv > 0) { + receive_buffer_size += recv; + ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); + } + return ret; } void Panda::can_reset_communications() { @@ -246,9 +252,9 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector #include diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/pandad/panda_comms.h similarity index 94% rename from selfdrive/boardd/panda_comms.h rename to selfdrive/pandad/panda_comms.h index 6b64768c17..9c452faf6d 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/pandad/panda_comms.h @@ -56,6 +56,13 @@ private: }; #ifndef __APPLE__ +struct __attribute__((packed)) spi_header { + uint8_t sync; + uint8_t endpoint; + uint16_t tx_len; + uint16_t max_rx_len; +}; + class PandaSpiHandle : public PandaCommsHandle { public: PandaSpiHandle(std::string serial); @@ -79,5 +86,8 @@ private: int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); int lltransfer(spi_ioc_transfer &t); + + spi_header header; + uint32_t xfer_count = 0; }; #endif diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/pandad/pandad.cc similarity index 97% rename from selfdrive/boardd/boardd.cc rename to selfdrive/pandad/pandad.cc index fcbf58999e..095a7893b4 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/pandad/pandad.cc @@ -1,4 +1,4 @@ -#include "selfdrive/boardd/boardd.h" +#include "selfdrive/pandad/pandad.h" #include #include @@ -25,7 +25,7 @@ // - The internal panda will always be the first panda // - Consecutive pandas will be sorted based on panda type, and then serial number // Connecting: -// - If a panda connection is dropped, boardd will reconnect to all pandas +// - If a panda connection is dropped, pandad will reconnect to all pandas // - If a panda is added, we will only reconnect when we are offroad // CAN buses: // - Each panda will have it's block of 4 buses. E.g.: the second panda will use @@ -163,7 +163,7 @@ Panda *connect(std::string serial="", uint32_t index=0) { } void can_send_thread(std::vector pandas, bool fake_send) { - util::set_thread_name("boardd_can_send"); + util::set_thread_name("pandad_can_send"); AlignedBuffer aligned_buf; std::unique_ptr context(Context::create()); @@ -198,12 +198,12 @@ void can_send_thread(std::vector pandas, bool fake_send) { } void can_recv_thread(std::vector pandas) { - util::set_thread_name("boardd_can_recv"); + util::set_thread_name("pandad_can_recv"); PubMaster pm({"can"}); // run at 100Hz - RateKeeper rk("boardd_can_recv", 100); + RateKeeper rk("pandad_can_recv", 100); std::vector raw_can_data; while (!do_exit && check_all_connected(pandas)) { @@ -405,7 +405,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { } void panda_state_thread(std::vector pandas, bool spoofing_started) { - util::set_thread_name("boardd_panda_state"); + util::set_thread_name("pandad_panda_state"); Params params; SubMaster sm({"controlsState"}); @@ -495,7 +495,7 @@ void panda_state_thread(std::vector pandas, bool spoofing_started) { void peripheral_control_thread(Panda *panda, bool no_fan_control) { - util::set_thread_name("boardd_peripheral_control"); + util::set_thread_name("pandad_peripheral_control"); SubMaster sm({"deviceState", "driverCameraState"}); @@ -546,8 +546,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { } } -void boardd_main_thread(std::vector serials) { - LOGW("launching boardd"); +void pandad_main_thread(std::vector serials) { + LOGW("launching pandad"); if (serials.size() == 0) { serials = Panda::list(); diff --git a/selfdrive/boardd/boardd.h b/selfdrive/pandad/pandad.h similarity index 53% rename from selfdrive/boardd/boardd.h rename to selfdrive/pandad/pandad.h index 0646fc6189..9d35949a8f 100644 --- a/selfdrive/boardd/boardd.h +++ b/selfdrive/pandad/pandad.h @@ -3,7 +3,7 @@ #include #include -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" bool safety_setter_thread(std::vector pandas); -void boardd_main_thread(std::vector serials); +void pandad_main_thread(std::vector serials); diff --git a/selfdrive/boardd/pandad.py b/selfdrive/pandad/pandad.py similarity index 95% rename from selfdrive/boardd/pandad.py rename to selfdrive/pandad/pandad.py index b4ac2d9548..12accdbf5e 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -# simple boardd wrapper that updates the panda first +# simple pandad wrapper that updates the panda first import os import usb1 import time @@ -157,10 +157,10 @@ def main() -> NoReturn: first_run = False - # run boardd with all connected serials as arguments - os.environ['MANAGER_DAEMON'] = 'boardd' - os.chdir(os.path.join(BASEDIR, "selfdrive/boardd")) - subprocess.run(["./boardd", *panda_serials], check=True) + # run pandad with all connected serials as arguments + os.environ['MANAGER_DAEMON'] = 'pandad' + os.chdir(os.path.join(BASEDIR, "selfdrive/pandad")) + subprocess.run(["./pandad", *panda_serials], check=True) if __name__ == "__main__": main() diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx similarity index 100% rename from selfdrive/boardd/boardd_api_impl.pyx rename to selfdrive/pandad/pandad_api_impl.pyx diff --git a/selfdrive/boardd/spi.cc b/selfdrive/pandad/spi.cc similarity index 85% rename from selfdrive/boardd/spi.cc rename to selfdrive/pandad/spi.cc index 66e6a0f0ab..8f1e29689b 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/pandad/spi.cc @@ -13,7 +13,7 @@ #include "common/timing.h" #include "common/swaglog.h" #include "panda/board/comms_definitions.h" -#include "selfdrive/boardd/panda_comms.h" +#include "selfdrive/pandad/panda_comms.h" #define SPI_SYNC 0x5AU @@ -28,13 +28,6 @@ enum SpiError { ACK_TIMEOUT = -3, }; -struct __attribute__((packed)) spi_header { - uint8_t sync; - uint8_t endpoint; - uint16_t tx_len; - uint16_t max_rx_len; -}; - const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds const std::string SPI_DEVICE = "/dev/spidev0.0"; @@ -55,6 +48,12 @@ private: std::recursive_mutex &m; }; +#define SPILOG(fn, fmt, ...) do { \ + fn(fmt, ## __VA_ARGS__); \ + fn(" %d / 0x%x / %d / %d / tx: %s", \ + xfer_count, header.endpoint, header.tx_len, header.max_rx_len, \ + util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \ + } while (0) PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { int ret; @@ -178,7 +177,7 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t } if (d < 0) { - LOGE("SPI: bulk transfer failed with %d", d); + SPILOG(LOGE, "SPI: bulk transfer failed with %d", d); comms_healthy = false; return d; } @@ -240,6 +239,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1 // due to full TX buffers nack_count += 1; if (nack_count > 3) { + SPILOG(LOGE, "NACK sleep %d", nack_count); usleep(std::clamp(nack_count*10, 200, 2000)); } } @@ -247,7 +247,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1 } while (ret < 0 && connected && !timed_out); if (ret < 0) { - LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); + SPILOG(LOGE, "transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); } return ret; @@ -258,32 +258,32 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, if (timeout == 0) { timeout = SPI_ACK_TIMEOUT; } - timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT); + timeout = std::clamp(timeout, 20U, SPI_ACK_TIMEOUT); spi_ioc_transfer transfer = { .tx_buf = (uint64_t)tx_buf, .rx_buf = (uint64_t)rx_buf, - .len = length + .len = length, }; - tx_buf[0] = tx; + memset(tx_buf, tx, length); while (true) { int ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to send ACK request"); + SPILOG(LOGE, "SPI: failed to send ACK request"); return ret; } if (rx_buf[0] == ack) { break; } else if (rx_buf[0] == SPI_NACK) { - LOGD("SPI: got NACK"); + SPILOG(LOGD, "SPI: got NACK, waiting for 0x%x", ack); return SpiError::NACK; } // handle timeout if (millis_since_boot() - start_millis > timeout) { - LOGD("SPI: timed out waiting for ACK"); + SPILOG(LOGW, "SPI: timed out waiting for ACK, waiting for 0x%x", ack); return SpiError::ACK_TIMEOUT; } } @@ -334,7 +334,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx assert(tx_len < SPI_BUF_SIZE); assert(max_rx_len < SPI_BUF_SIZE); - spi_header header = { + xfer_count++; + header = { .sync = SPI_SYNC, .endpoint = endpoint, .tx_len = tx_len, @@ -352,14 +353,14 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx transfer.len = sizeof(header) + 1; ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to send header"); - return ret; + SPILOG(LOGE, "SPI: failed to send header"); + goto fail; } // Wait for (N)ACK ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1); if (ret < 0) { - return ret; + goto fail; } // Send data @@ -370,33 +371,33 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx transfer.len = tx_len + 1; ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to send data"); - return ret; + SPILOG(LOGE, "SPI: failed to send data"); + goto fail; } // Wait for (N)ACK ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3); if (ret < 0) { - return ret; + goto fail; } // Read data rx_data_len = *(uint16_t *)(rx_buf+1); if (rx_data_len >= SPI_BUF_SIZE) { - LOGE("SPI: RX data len larger than buf size %d", rx_data_len); - return -1; + SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len); + goto fail; } transfer.len = rx_data_len + 1; transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); ret = lltransfer(transfer); if (ret < 0) { - LOGE("SPI: failed to read rx data"); - return ret; + SPILOG(LOGE, "SPI: failed to read rx data"); + goto fail; } if (!check_checksum(rx_buf, rx_data_len + 4)) { - LOGE("SPI: bad checksum"); - return -1; + SPILOG(LOGE, "SPI: bad checksum"); + goto fail; } if (rx_data != NULL) { @@ -404,5 +405,20 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx } return rx_data_len; + +fail: + // ensure slave is in a consistent state + // and ready for the next transfer + int nack_cnt = 0; + while (nack_cnt < 3) { + if (wait_for_ack(SPI_NACK, 0x14, 1, SPI_BUF_SIZE/2) == 0) { + nack_cnt += 1; + } else { + nack_cnt = 0; + } + } + + if (ret > 0) ret = -1; + return ret; } #endif diff --git a/selfdrive/boardd/tests/__init__.py b/selfdrive/pandad/tests/__init__.py similarity index 100% rename from selfdrive/boardd/tests/__init__.py rename to selfdrive/pandad/tests/__init__.py diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/pandad/tests/bootstub.panda.bin similarity index 100% rename from selfdrive/boardd/tests/bootstub.panda.bin rename to selfdrive/pandad/tests/bootstub.panda.bin diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/pandad/tests/bootstub.panda_h7.bin similarity index 100% rename from selfdrive/boardd/tests/bootstub.panda_h7.bin rename to selfdrive/pandad/tests/bootstub.panda_h7.bin diff --git a/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin similarity index 100% rename from selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin rename to selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py old mode 100755 new mode 100644 similarity index 97% rename from selfdrive/boardd/tests/test_pandad.py rename to selfdrive/pandad/tests/test_pandad.py index 581b9813a4..467c7f04c9 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/pandad/tests/test_pandad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import pytest import time @@ -40,7 +39,7 @@ class TestPandad: managed_processes['pandad'].stop() if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown: - raise Exception("boardd failed to start") + raise Exception("pandad failed to start") return dt @@ -102,7 +101,7 @@ class TestPandad: ts.append(dt) # 5s for USB (due to enumeration) - # - 0.2s pandad -> boardd + # - 0.2s pandad -> pandad # - plus some buffer assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0) print("startup times", ts, sum(ts) / len(ts)) diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py old mode 100755 new mode 100644 similarity index 86% rename from selfdrive/boardd/tests/test_boardd_loopback.py rename to selfdrive/pandad/tests/test_pandad_loopback.py index fa9eb957c2..d2b6d047d5 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/pandad/tests/test_pandad_loopback.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import copy import random @@ -9,20 +8,23 @@ from pprint import pprint import cereal.messaging as messaging from cereal import car, log +from openpilot.common.retry import retry 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.pandad 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 -def setup_boardd(num_pandas): +@retry(attempts=3) +def setup_pandad(num_pandas): params = Params() + params.clear_all() params.put_bool("IsOnroad", False) - with Timeout(90, "boardd didn't start"): - sm = messaging.SubMaster(['pandaStates']) + sm = messaging.SubMaster(['pandaStates']) + with Timeout(90, "pandad didn't start"): while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): sm.update(1000) @@ -31,7 +33,7 @@ def setup_boardd(num_pandas): assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \ connect another panda for multipanda tests." - # boardd safety setting relies on these params + # pandad safety setting relies on these params cp = car.CarParams.new_message() safety_config = car.CarParams.SafetyConfig.new_message() @@ -43,6 +45,9 @@ def setup_boardd(num_pandas): params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) + with Timeout(90, "pandad didn't set safety mode"): + while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']): + sm.update(1000) def send_random_can_messages(sendcan, count, num_pandas=1): sent_msgs = defaultdict(set) @@ -71,15 +76,16 @@ class TestBoarddLoopback: @with_processes(['pandad']) def test_loopback(self): num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 - setup_boardd(num_pandas) + setup_pandad(num_pandas) + sendcan = messaging.pub_sock('sendcan') can = messaging.sub_sock('can', conflate=False, timeout=100) sm = messaging.SubMaster(['pandaStates']) - time.sleep(0.5) + time.sleep(1) n = 200 for i in range(n): - print(f"boardd loopback {i}/{n}") + print(f"pandad loopback {i}/{n}") sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas) diff --git a/selfdrive/boardd/tests/test_boardd_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py old mode 100755 new mode 100644 similarity index 54% rename from selfdrive/boardd/tests/test_boardd_spi.py rename to selfdrive/pandad/tests/test_pandad_spi.py index d384caaddd..11e20e72cc --- a/selfdrive/boardd/tests/test_boardd_spi.py +++ b/selfdrive/pandad/tests/test_pandad_spi.py @@ -1,15 +1,16 @@ -#!/usr/bin/env python3 import os import time import numpy as np import pytest +import random import cereal.messaging as messaging from cereal.services import SERVICE_LIST from openpilot.system.hardware import HARDWARE from openpilot.selfdrive.test.helpers import phone_only, with_processes -from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd +from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages +JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ @pytest.mark.tici class TestBoarddSpi: @@ -18,38 +19,67 @@ class TestBoarddSpi: if HARDWARE.get_device_type() == 'tici': pytest.skip("only for spi pandas") os.environ['STARTED'] = '1' - os.environ['BOARDD_LOOPBACK'] = '1' os.environ['SPI_ERR_PROB'] = '0.001' + if not JUNGLE_SPAM: + os.environ['BOARDD_LOOPBACK'] = '1' @phone_only @with_processes(['pandad']) def test_spi_corruption(self, subtests): - setup_boardd(1) + setup_pandad(1) + sendcan = messaging.pub_sock('sendcan') socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')} time.sleep(2) for s in socks.values(): messaging.drain_sock_raw(s) + total_recv_count = 0 + total_sent_count = 0 + sent_msgs = {bus: list() for bus in range(3)} + st = time.monotonic() ts = {s: list() for s in socks.keys()} - for _ in range(20): + for _ in range(int(os.getenv("TEST_TIME", "20"))): + # send some CAN messages + if not JUNGLE_SPAM: + sent = send_random_can_messages(sendcan, random.randrange(2, 20)) + for k, v in sent.items(): + sent_msgs[k].extend(list(v)) + total_sent_count += len(v) + for service, sock in socks.items(): for m in messaging.drain_sock(sock): ts[service].append(m.logMonoTime) # sanity check for corruption - assert m.valid + assert m.valid or (service == "can") if service == "can": - assert len(m.can) == 0 + for msg in m.can: + if JUNGLE_SPAM: + # PandaJungle.set_generated_can(True) + i = msg.address - 0x200 + assert msg.address >= 0x200 + assert msg.src == (i%3) + assert msg.dat == b"\xff"*(i%8) + total_recv_count += 1 + continue + + if msg.src > 4: + continue + key = (msg.address, msg.dat) + assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}" + # TODO: enable this + #sent_msgs[msg.src].remove(key) + total_recv_count += 1 elif service == "pandaStates": assert len(m.pandaStates) == 1 ps = m.pandaStates[0] - assert ps.uptime < 100 + assert ps.uptime < 1000 assert ps.pandaType == "tres" assert ps.ignitionLine assert not ps.ignitionCan - assert ps.voltage < 14000 + assert 4000 < ps.voltage < 14000 elif service == "peripheralState": ps = m.peripheralState assert ps.pandaType == "tres" @@ -67,6 +97,10 @@ class TestBoarddSpi: with subtests.test(msg="timing check", service=service): edt = 1e3 / SERVICE_LIST[service].frequency assert edt*0.9 < np.mean(dts) < edt*1.1 - assert np.max(dts) < edt*3 + assert np.max(dts) < edt*8 assert np.min(dts) < edt assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8) + + with subtests.test(msg="CAN traffic"): + print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received") + assert total_recv_count > 20 diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_usbprotocol.cc similarity index 99% rename from selfdrive/boardd/tests/test_boardd_usbprotocol.cc rename to selfdrive/pandad/tests/test_pandad_usbprotocol.cc index aa67e8cf8c..11f7184efd 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/pandad/tests/test_pandad_usbprotocol.cc @@ -4,7 +4,7 @@ #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" struct PandaTest : public Panda { PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh index f8a423762d..2887fff74b 100644 --- a/selfdrive/test/docker_common.sh +++ b/selfdrive/test/docker_common.sh @@ -1,9 +1,6 @@ if [ "$1" = "base" ]; then export DOCKER_IMAGE=openpilot-base export DOCKER_FILE=Dockerfile.openpilot_base -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 diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 26c35c0c18..94eb0dfaa6 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -2,6 +2,7 @@ import capnp import hypothesis.strategies as st from typing import Any from collections.abc import Callable +from functools import cache from cereal import log @@ -11,67 +12,62 @@ DrawType = Callable[[st.SearchStrategy], Any] class FuzzyGenerator: def __init__(self, draw: DrawType, real_floats: bool): self.draw = draw - self.real_floats = real_floats + self.native_type_map = FuzzyGenerator._get_native_type_map(real_floats) def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]: - def floats(**kwargs) -> st.SearchStrategy[float]: - allow_nan = not self.real_floats - allow_infinity = not self.real_floats - return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity) - - if field == 'bool': - return st.booleans() - elif field == 'int8': - return st.integers(min_value=-2**7, max_value=2**7-1) - elif field == 'int16': - return st.integers(min_value=-2**15, max_value=2**15-1) - elif field == 'int32': - return st.integers(min_value=-2**31, max_value=2**31-1) - elif field == 'int64': - return st.integers(min_value=-2**63, max_value=2**63-1) - elif field == 'uint8': - return st.integers(min_value=0, max_value=2**8-1) - elif field == 'uint16': - return st.integers(min_value=0, max_value=2**16-1) - elif field == 'uint32': - return st.integers(min_value=0, max_value=2**32-1) - elif field == 'uint64': - return st.integers(min_value=0, max_value=2**64-1) - elif field == 'float32': - return floats(width=32) - elif field == 'float64': - return floats(width=64) - elif field == 'text': - return st.text(max_size=1000) - elif field == 'data': - return st.binary(max_size=1000) - elif field == 'anyPointer': - return st.text() + value_func = self.native_type_map.get(field) + if value_func is not None: + return value_func else: - raise NotImplementedError(f'Invalid type : {field}') + raise NotImplementedError(f'Invalid type: {field}') def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy: def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy: - if field_type.which() == 'struct': + type_which = field_type.which() + if type_which == 'struct': return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema) - elif field_type.which() == 'list': + elif type_which == 'list': return st.lists(rec(field_type.list.elementType)) - elif field_type.which() == 'enum': + elif type_which == 'enum': schema = field.schema.elementType if base_type == 'list' else field.schema return st.sampled_from(list(schema.enumerants.keys())) else: - return self.generate_native_type(field_type.which()) + return self.generate_native_type(type_which) - if 'slot' in field.proto.to_dict(): - base_type = field.proto.slot.type.which() - return rec(field.proto.slot.type) - else: + try: + if hasattr(field.proto, 'slot'): + slot_type = field.proto.slot.type + base_type = slot_type.which() + return rec(slot_type) + else: + return self.generate_struct(field.schema) + except capnp.lib.capnp.KjException: return self.generate_struct(field.schema) def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: 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({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill}) + single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () + fields_to_generate = schema.non_union_fields + single_fill + return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) + + @staticmethod + @cache + def _get_native_type_map(real_floats: bool) -> dict[str, st.SearchStrategy]: + return { + 'bool': st.booleans(), + 'int8': st.integers(min_value=-2**7, max_value=2**7-1), + 'int16': st.integers(min_value=-2**15, max_value=2**15-1), + 'int32': st.integers(min_value=-2**31, max_value=2**31-1), + 'int64': st.integers(min_value=-2**63, max_value=2**63-1), + 'uint8': st.integers(min_value=0, max_value=2**8-1), + 'uint16': st.integers(min_value=0, max_value=2**16-1), + 'uint32': st.integers(min_value=0, max_value=2**32-1), + 'uint64': st.integers(min_value=0, max_value=2**64-1), + 'float32': st.floats(width=32, allow_nan=not real_floats, allow_infinity=not real_floats), + 'float64': st.floats(width=64, allow_nan=not real_floats, allow_infinity=not real_floats), + 'text': st.text(max_size=1000), + 'data': st.binary(max_size=1000), + 'anyPointer': st.text(), # Note: No need to define a separate function for anyPointer + } @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/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py old mode 100755 new mode 100644 index 0ad6d6d4fd..62a95babeb --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import itertools from parameterized import parameterized_class diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b325e6e693..739efcb985 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -16,7 +16,7 @@ import capnp 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 msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0a9a54325a..70178b8ea3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -87aa5052e36d5cf83698b1eb6e50aef5c86df8ca \ No newline at end of file +e536df5586a71b22baa789dc584d7eab67f1fbbb diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py old mode 100755 new mode 100644 index 6bcc94911f..c802d9c573 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import copy from hypothesis import given, HealthCheck, Phase, settings import hypothesis.strategies as st diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py old mode 100755 new mode 100644 index 036f21b9e5..27d0541a50 --- a/selfdrive/test/process_replay/test_imgproc.py +++ b/selfdrive/test/process_replay/test_imgproc.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import numpy as np import hashlib diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py old mode 100755 new mode 100644 index c27d9e8f7b..17fefcb497 --- a/selfdrive/test/process_replay/test_regen.py +++ b/selfdrive/test/process_replay/test_regen.py @@ -1,5 +1,3 @@ -#!/usr/bin/env python3 - from parameterized import parameterized from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py index 9bfe214c1e..12deb58724 100644 --- a/selfdrive/test/process_replay/vision_meta.py +++ b/selfdrive/test/process_replay/vision_meta.py @@ -1,5 +1,5 @@ from collections import namedtuple -from cereal.visionipc import VisionStreamType +from msgq.visionipc import VisionStreamType from openpilot.common.realtime import DT_MDL, DT_DMON from openpilot.common.transformations.camera import DEVICE_CAMERAS diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 5c85312f1a..84dae25821 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -70,6 +70,7 @@ safe_checkout() { git checkout $GIT_COMMIT git clean -xdff git submodule sync + git submodule foreach --recursive "git reset --hard && git clean -xdff" git submodule update --init --recursive git submodule foreach --recursive "git reset --hard && git clean -xdff" @@ -95,6 +96,7 @@ unsafe_checkout() { git reset --hard $GIT_COMMIT git clean -df git submodule sync + git submodule foreach --recursive "git reset --hard && git clean -df" git submodule update --init --recursive git submodule foreach --recursive "git reset --hard && git clean -df" diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py old mode 100755 new mode 100644 index 8b60b9650b..75585e2f14 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import bz2 import math import json @@ -48,7 +47,7 @@ PROCS = { "selfdrive.controls.radard": 7.0, "selfdrive.modeld.modeld": 13.0, "selfdrive.modeld.dmonitoringmodeld": 8.0, - "system.thermald.thermald": 3.87, + "system.hardware.hardwared": 3.87, "selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.torqued": 5.0, "selfdrive.ui.soundd": 3.5, @@ -59,7 +58,7 @@ PROCS = { "./logcatd": 0, "system.micd": 6.0, "system.timed": 0, - "selfdrive.boardd.pandad": 0, + "selfdrive.pandad.pandad": 0, "system.statsd": 0.4, "selfdrive.navd.navd": 0.4, "system.loggerd.uploader": (0.5, 15.0), @@ -68,12 +67,12 @@ PROCS = { PROCS.update({ "tici": { - "./boardd": 4.0, + "./pandad": 4.0, "./ubloxd": 0.02, "system.ubloxd.pigeond": 6.0, }, "tizi": { - "./boardd": 19.0, + "./pandad": 19.0, "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py old mode 100755 new mode 100644 index 11de5283b5..e08d0e676c --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import pytest import time diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py old mode 100755 new mode 100644 index 12619d4246..f8eae94823 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import datetime import os import pytest diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 13b6998de2..e181cb9abd 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -1,10 +1,9 @@ import os import json -Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', - 'cereal', 'transformations') +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') -base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, visionipc, transformations, + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == 'larch64': base_libs.append('EGL') @@ -127,4 +126,4 @@ if GetOption('extras') and arch != "Darwin": # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): - qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) + qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'msgq', 'visionipc']) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index e4f1396268..914b04b654 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -11,6 +11,7 @@ #include #include +#include #include #include @@ -104,6 +105,7 @@ CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); + QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread); } CameraWidget::~CameraWidget() { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index c97038cf43..85ec498735 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -22,7 +22,7 @@ #include #endif -#include "cereal/visionipc/visionipc_client.h" +#include "msgq/visionipc/visionipc_client.h" #include "system/camerad/cameras/camera_common.h" #include "selfdrive/ui/ui.h" diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py old mode 100755 new mode 100644 index d15a6c1831..468bc92cca --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -1,5 +1,3 @@ -#!/usr/bin/env python3 - from cereal import car from cereal import messaging from cereal.messaging import SubMaster, PubMaster diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py old mode 100755 new mode 100644 index 57de069d0b..0967152fa4 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import json import os diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 871333563d..1d33c103a4 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -10,7 +10,7 @@ import pywinctl import time from cereal import messaging, car, log -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal.messaging import SubMaster, PubMaster from openpilot.common.mock import mock_messages diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py old mode 100755 new mode 100644 index 895cd8eb56..48519a0ffd --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest from functools import wraps import json diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py old mode 100755 new mode 100644 index 4fda13dfe8..73fe7783af --- a/system/athena/tests/test_athenad_ping.py +++ b/system/athena/tests/test_athenad_ping.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import subprocess import threading diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py old mode 100755 new mode 100644 index 85c065c1bf..4f663fbc0a --- a/system/athena/tests/test_registration.py +++ b/system/athena/tests/test_registration.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import json from Crypto.PublicKey import RSA from pathlib import Path diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 8f19e7ee19..511664c275 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') +Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc') -libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] +libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', messaging, visionipc, gpucommon, 'atomic'] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 587968fccb..555362ab8b 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -5,7 +5,7 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_server.h" #include "common/queue.h" #include "common/util.h" diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index d9377eebe9..4ba38c1df4 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -6,7 +6,7 @@ import numpy as np from PIL import Image import cereal.messaging as messaging -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.system.hardware import PC @@ -83,7 +83,7 @@ def snapshot(): front_camera_allowed = params.get_bool("RecordFront") params.put_bool("IsTakingSnapshot", True) set_offroad_alert("Offroad_IsTakingSnapshot", True) - time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start + time.sleep(2.0) # Give hardwared time to read the param, or if just started give camerad time to start # Check if camerad is already started try: diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py old mode 100755 new mode 100644 index dcc9825632..ada9594895 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import time import numpy as np diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py old mode 100755 new mode 100644 index 36e8522b1d..dbe6f3d880 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import time import numpy as np diff --git a/system/hardware/base.h b/system/hardware/base.h index dc2282a93a..ca24633a18 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -5,7 +5,7 @@ #include #include -#include "cereal/messaging/messaging.h" +#include "cereal/gen/cpp/log.capnp.h" // no-op base hw class class HardwareNone { diff --git a/system/thermald/fan_controller.py b/system/hardware/fan_controller.py similarity index 94% rename from system/thermald/fan_controller.py rename to system/hardware/fan_controller.py index 19c3292ce2..f32133f6bf 100755 --- a/system/thermald/fan_controller.py +++ b/system/hardware/fan_controller.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from abc import ABC, abstractmethod -from openpilot.common.realtime import DT_TRML +from openpilot.common.realtime import DT_HW from openpilot.common.numpy_fast import interp from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.pid import PIDController @@ -18,7 +18,7 @@ class TiciFanController(BaseFanController): cloudlog.info("Setting up TICI fan handler") self.last_ignition = False - self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML)) + self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW)) def update(self, cur_temp: float, ignition: bool) -> int: self.controller.neg_limit = -(100 if ignition else 30) diff --git a/system/thermald/thermald.py b/system/hardware/hardwared.py similarity index 96% rename from system/thermald/thermald.py rename to system/hardware/hardwared.py index 90f6494a26..e3a4c81711 100755 --- a/system/thermald/thermald.py +++ b/system/hardware/hardwared.py @@ -15,14 +15,14 @@ from cereal.services import SERVICE_LIST from openpilot.common.dict_helpers import strip_deprecated_keys from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params -from openpilot.common.realtime import DT_TRML +from openpilot.common.realtime import DT_HW 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.system.statsd import statlog from openpilot.common.swaglog import cloudlog -from openpilot.system.thermald.power_monitoring import PowerMonitoring -from openpilot.system.thermald.fan_controller import TiciFanController +from openpilot.system.hardware.power_monitoring import PowerMonitoring +from openpilot.system.hardware.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus @@ -106,7 +106,7 @@ def hw_state_thread(end_event, hw_queue): while not end_event.is_set(): # these are expensive calls. update every 10s - if (count % int(10. / DT_TRML)) == 0: + if (count % int(10. / DT_HW)) == 0: try: network_type = HARDWARE.get_network_type() modem_temps = HARDWARE.get_modem_temperatures() @@ -159,10 +159,10 @@ def hw_state_thread(end_event, hw_queue): cloudlog.exception("Error getting hardware state") count += 1 - time.sleep(DT_TRML) + time.sleep(DT_HW) -def thermald_thread(end_event, hw_queue) -> None: +def hardware_thread(end_event, hw_queue) -> None: pm = messaging.PubMaster(['deviceState']) sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates") @@ -190,8 +190,8 @@ def thermald_thread(end_event, hw_queue) -> None: modem_temps=[], ) - all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) - offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False) + all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False) + offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False) should_start_prev = False in_car = False engaged_prev = False @@ -232,7 +232,7 @@ def thermald_thread(end_event, hw_queue) -> None: # Run at 2Hz, plus rising edge of ignition ign_edge = started_ts is None and onroad_conditions["ignition"] - if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge: + if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge: continue msg = read_thermal(thermal_config) @@ -349,7 +349,7 @@ def thermald_thread(end_event, hw_queue) -> None: try: with open('/dev/kmsg', 'w') as kmsg: - kmsg.write(f"<3>[thermald] engaged: {engaged}\n") + kmsg.write(f"<3>[hardware] engaged: {engaged}\n") except Exception: pass @@ -423,7 +423,7 @@ def thermald_thread(end_event, hw_queue) -> None: # report to server once every 10 minutes rising_edge_started = should_start and not should_start_prev - if rising_edge_started or (count % int(600. / DT_TRML)) == 0: + if rising_edge_started or (count % int(600. / DT_HW)) == 0: dat = { 'count': count, 'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates], @@ -452,7 +452,7 @@ def main(): threads = [ threading.Thread(target=hw_state_thread, args=(end_event, hw_queue)), - threading.Thread(target=thermald_thread, args=(end_event, hw_queue)), + threading.Thread(target=hardware_thread, args=(end_event, hw_queue)), ] for t in threads: diff --git a/system/thermald/power_monitoring.py b/system/hardware/power_monitoring.py similarity index 100% rename from system/thermald/power_monitoring.py rename to system/hardware/power_monitoring.py diff --git a/system/thermald/__init__.py b/system/hardware/tests/__init__.py similarity index 100% rename from system/thermald/__init__.py rename to system/hardware/tests/__init__.py diff --git a/system/thermald/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py old mode 100755 new mode 100644 similarity index 95% rename from system/thermald/tests/test_fan_controller.py rename to system/hardware/tests/test_fan_controller.py index 5c858132a2..002c1edfda --- a/system/thermald/tests/test_fan_controller.py +++ b/system/hardware/tests/test_fan_controller.py @@ -1,7 +1,6 @@ -#!/usr/bin/env python3 import pytest -from openpilot.system.thermald.fan_controller import TiciFanController +from openpilot.system.hardware.fan_controller import TiciFanController ALL_CONTROLLERS = [TiciFanController] diff --git a/system/thermald/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py old mode 100755 new mode 100644 similarity index 97% rename from system/thermald/tests/test_power_monitoring.py rename to system/hardware/tests/test_power_monitoring.py index 0795a29c8f..1dff6c6c5f --- a/system/thermald/tests/test_power_monitoring.py +++ b/system/hardware/tests/test_power_monitoring.py @@ -1,8 +1,7 @@ -#!/usr/bin/env python3 import pytest from openpilot.common.params import Params -from openpilot.system.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ +from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S # Create fake time @@ -18,9 +17,9 @@ VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 def pm_patch(mocker, name, value, constant=False): if constant: - mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", value) + mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", value) else: - mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", return_value=value) + mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value) @pytest.fixture(autouse=True) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 45d20d976b..a5dee88b56 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -379,23 +379,19 @@ class Tici(HardwareBase): # *** CPU config *** - # offline big cluster, leave core 4 online for boardd - for i in range(5, 8): + # offline big cluster, leave core 4 online for pandad + for i in range(4, 8): val = '0' if powersave_enabled else '1' sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online') for n in ('0', '4'): + if powersave_enabled and n == '4': + continue gov = 'ondemand' if powersave_enabled else 'performance' sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor') # *** IRQ config *** - # boardd core - affine_irq(4, "spi_geni") # SPI - affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) - if "tici" in self.get_device_type(): - affine_irq(4, "xhci-hcd:usb1") # internal panda USB (also modem) - # GPU affine_irq(5, "kgsl-3d0") @@ -416,7 +412,7 @@ class Tici(HardwareBase): if self.amplifier is not None: self.amplifier.initialize_configuration(self.get_device_type()) - # Allow thermald to write engagement status to kmsg + # Allow hardwared to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL @@ -453,6 +449,18 @@ class Tici(HardwareBase): sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") + # pandad core + affine_irq(3, "spi_geni") # SPI + if "tici" in self.get_device_type(): + affine_irq(3, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) + affine_irq(3, "xhci-hcd:usb1") # internal panda USB (also modem) + try: + pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip() + subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid]) + subprocess.call(["sudo", "taskset", "-pc", "3", pid]) + except subprocess.CalledProcessException as e: + print(str(e)) + def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py old mode 100755 new mode 100644 index 462cf6cb5c..a1bbd363fd --- a/system/hardware/tici/tests/test_agnos_updater.py +++ b/system/hardware/tici/tests/test_agnos_updater.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import json import os import requests diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py old mode 100755 new mode 100644 index dfba84b942..3f75436db1 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import time import random diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py old mode 100755 new mode 100644 index 49d4ac7699..75f53e7cdb --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import time import numpy as np @@ -12,12 +11,16 @@ HARDWARE = Tici() class TestHardware: def test_power_save_time(self): - ts = [] + ts = {True: [], False: []} for _ in range(5): for on in (True, False): st = time.monotonic() HARDWARE.set_power_save(on) - ts.append(time.monotonic() - st) + ts[on].append(time.monotonic() - st) - assert 0.1 < np.mean(ts) < 0.25 - assert max(ts) < 0.3 + # disabling power save is the main time-critical one + assert 0.1 < np.mean(ts[False]) < 0.15 + assert max(ts[False]) < 0.2 + + assert 0.1 < np.mean(ts[True]) < 0.35 + assert max(ts[True]) < 0.4 diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py old mode 100755 new mode 100644 index 1fe063c8e8..866f7d1188 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 from collections import defaultdict, deque import pytest import time diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript index 6bd7c6ff3e..ac2a79a1f2 100644 --- a/system/logcatd/SConscript +++ b/system/logcatd/SConscript @@ -1,3 +1,3 @@ -Import('env', 'cereal', 'messaging', 'common') +Import('env', 'messaging', 'common') -env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[cereal, messaging, common, 'zmq', 'capnp', 'kj', 'systemd', 'json11']) +env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd', 'json11']) diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index d4f52fb5f1..196d18476a 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -1,9 +1,8 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc') +Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, cereal, messaging, visionipc, - 'zmq', 'capnp', 'kj', 'z', - 'avformat', 'avcodec', 'swscale', 'avutil', - 'yuv', 'OpenCL', 'pthread'] +libs = [common, messaging, visionipc, + 'z', 'avformat', 'avcodec', 'swscale', + 'avutil', 'yuv', 'OpenCL', 'pthread'] src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] if arch != "larch64": diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 75183611b3..72848609ef 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,7 @@ #include #include "cereal/messaging/messaging.h" -#include "cereal/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc.h" #include "common/queue.h" #include "system/camerad/cameras/camera_common.h" #include "system/loggerd/loggerd.h" diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index 3c0ffc1667..a324479fb5 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -215,7 +215,7 @@ void loggerd_thread() { 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); + LOGD("logging %s", it.name.c_str()); SubSocket * sock = SubSocket::create(ctx.get(), it.name); assert(sock != NULL); diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 5eef161834..7c80ba51a2 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -4,7 +4,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/services.h" -#include "cereal/visionipc/visionipc_client.h" +#include "msgq/visionipc/visionipc_client.h" #include "system/camerad/cameras/camera_common.h" #include "system/hardware/hw.h" #include "common/params.h" diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py old mode 100755 new mode 100644 index 3ba6ad4031..6222ea253b --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import time import threading from collections import namedtuple diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py old mode 100755 new mode 100644 index ddf074d3b5..75862a9d45 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import math import os import pytest @@ -28,7 +27,7 @@ CAMERAS = [ ] # we check frame count, so we don't have to be too strict on size -FILE_SIZE_TOLERANCE = 0.5 +FILE_SIZE_TOLERANCE = 0.7 @pytest.mark.tici # TODO: all of loggerd should work on PC diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py old mode 100755 new mode 100644 index d3789badb7..6a24540acf --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import numpy as np import os import re @@ -23,7 +22,7 @@ from openpilot.system.manager.process_config import managed_processes from openpilot.system.version import get_version from openpilot.tools.lib.helpers import RE from openpilot.tools.lib.logreader import LogReader -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from openpilot.common.transformations.camera import DEVICE_CAMERAS SentinelType = log.Sentinel.SentinelType diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py old mode 100755 new mode 100644 index c0a9770e53..6591198281 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import time import threading diff --git a/system/manager/build.py b/system/manager/build.py index ac7822d51b..956336a604 100755 --- a/system/manager/build.py +++ b/system/manager/build.py @@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata 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 = 2410 +TOTAL_SCONS_NODES = 2820 MAX_BUILD_PROGRESS = 100 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: diff --git a/system/manager/manager.py b/system/manager/manager.py index 6dad190ec9..80d15e15da 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -205,7 +205,7 @@ def manager_thread() -> None: elif not started and started_prev: params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) - # update onroad params, which drives boardd's safety setter thread + # update onroad params, which drives pandad's safety setter thread if started != started_prev: write_onroad_params(started, params) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 0cc8950194..ea309c32d4 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -60,7 +60,7 @@ procs = [ NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad), - NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False), + NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], 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), @@ -70,13 +70,13 @@ procs = [ PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), - PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), + PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad), PythonProcess("radard", "selfdrive.controls.radard", only_onroad), - PythonProcess("thermald", "system.thermald.thermald", always_run), + PythonProcess("hardwared", "system.hardware.hardwared", always_run), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py old mode 100755 new mode 100644 index af8397b246..e5960d1113 --- a/system/manager/test/test_manager.py +++ b/system/manager/test/test_manager.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import pytest import signal diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript index 1f4b767011..9ca8e73542 100644 --- a/system/proclogd/SConscript +++ b/system/proclogd/SConscript @@ -1,5 +1,5 @@ -Import('env', 'cereal', 'messaging', 'common') -libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11'] +Import('env', 'messaging', 'common') +libs = [messaging, 'pthread', 'common', 'zmq', 'json11'] env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs) if GetOption('extras'): diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py index caff7af646..8b9ab51086 100644 --- a/system/qcomgpsd/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -127,7 +127,7 @@ def main() -> NoReturn: print("qcomgpsd 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) + if e.returncode != 1: # 1 == no process found (pandad not running) raise e print("power up antenna ...") diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py old mode 100755 new mode 100644 index 33d6e5b78f..ef23737dd7 --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import pytest import json diff --git a/system/sensord/SConscript b/system/sensord/SConscript index 7974eb07ae..e2dfb522c6 100644 --- a/system/sensord/SConscript +++ b/system/sensord/SConscript @@ -1,4 +1,4 @@ -Import('env', 'arch', 'common', 'cereal', 'messaging') +Import('env', 'arch', 'common', 'messaging') sensors = [ 'sensors/i2c_sensor.cc', @@ -11,7 +11,7 @@ sensors = [ 'sensors/lsm6ds3_temp.cc', 'sensors/mmc5603nj_magn.cc', ] -libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread'] +libs = [common, messaging, 'pthread'] if arch == "larch64": libs.append('i2c') env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py old mode 100755 new mode 100644 index aed3b07b32..1871012dd6 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import pytest import time diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py old mode 100755 new mode 100644 index f8c5be09b0..3baf5300c0 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import glob import os import time diff --git a/system/thermald/tests/__init__.py b/system/thermald/tests/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript index 67d9856dad..ce09e235e6 100644 --- a/system/ubloxd/SConscript +++ b/system/ubloxd/SConscript @@ -1,6 +1,6 @@ -Import('env', 'common', 'cereal', 'messaging') +Import('env', 'common', 'messaging') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] +loc_libs = [messaging, common, 'kaitai', 'pthread'] if GetOption('kaitai'): generated = Dir('generated').srcnode().abspath diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py old mode 100755 new mode 100644 index cd3ad9305c..202820e412 --- a/system/ubloxd/tests/test_pigeond.py +++ b/system/ubloxd/tests/test_pigeond.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import time diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py old mode 100755 new mode 100644 index 29cf78f0f1..bc171e7432 --- a/system/updated/casync/tests/test_casync.py +++ b/system/updated/casync/tests/test_casync.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import os import pathlib diff --git a/system/updated/updated.py b/system/updated/updated.py index 2fe7f3fd92..8453e37a32 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -11,11 +11,11 @@ import time import threading from collections import defaultdict from pathlib import Path -from markdown_it import MarkdownIt from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.common.time import system_time_valid +from openpilot.common.markdown import parse_markdown from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import AGNOS, HARDWARE @@ -89,7 +89,7 @@ def parse_release_notes(basedir: str) -> bytes: with open(os.path.join(basedir, "CHANGELOGS.md"), "rb") as f: r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes try: - return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8") + return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8") except Exception: return r + b"\n" except FileNotFoundError: diff --git a/system/version.py b/system/version.py index d258fe0492..94964526b3 100755 --- a/system/version.py +++ b/system/version.py @@ -1,14 +1,13 @@ #!/usr/bin/env python3 from dataclasses import dataclass +from functools import cache import json import os import pathlib import subprocess - from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog -from openpilot.common.utils import cache from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py old mode 100755 new mode 100644 index d8defab13f..e89e42e440 --- a/system/webrtc/tests/test_stream_session.py +++ b/system/webrtc/tests/test_stream_session.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import asyncio import json # for aiortc and its dependencies @@ -9,7 +8,6 @@ from aiortc import RTCDataChannel from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE import capnp import pyaudio - from cereal import messaging, log from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy @@ -73,7 +71,7 @@ class TestStreamSession: fake_msg = messaging.new_message("livestreamDriverEncodeData") config = {"receive.return_value": fake_msg.to_bytes()} - mocker.patch("cereal.messaging.SubSocket", spec=True, **config) + mocker.patch("msgq.SubSocket", spec=True, **config) track = LiveStreamVideoStreamTrack("driver") assert track.id.startswith("driver") diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py old mode 100755 new mode 100644 index b0bc7b1966..d4b659a3aa --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python import pytest import asyncio import json @@ -62,3 +61,4 @@ class TestWebrtcdProc: assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test" _, session = mock_request.app["streams"].__setitem__.call_args.args await self.assertCompletesWithTimeout(session.post_run_cleanup()) + diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 76c3cd8470..afd346857f 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -24,7 +24,7 @@ from cereal import messaging, log class CerealOutgoingMessageProxy: def __init__(self, sm: messaging.SubMaster): self.sm = sm - self.channels: list['RTCDataChannel'] = [] + self.channels: list[RTCDataChannel] = [] def add_channel(self, channel: 'RTCDataChannel'): self.channels.append(channel) diff --git a/teleoprtc_repo b/teleoprtc_repo index f2e5a6dd9e..fdcff87aaf 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit f2e5a6dd9e13a184b2f0e95a6c8afd308ec2da89 +Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5 diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py index 8b13789179..e69de29bb2 100644 --- a/third_party/acados/acados_template/gnsf/__init__.py +++ b/third_party/acados/acados_template/gnsf/__init__.py @@ -1 +0,0 @@ - diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 2574e3368b..ba4a142451 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,7 +1,7 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'zmq', 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') @@ -39,4 +39,4 @@ 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", Glob("#opendbc/*.dbc")]) +cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")]) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index bb29a7e3a4..4a3b4126dd 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -91,7 +91,6 @@ int main(int argc, char *argv[]) { w.openStream(); } w.show(); - int ret = app.exec(); - delete can; - return ret; + + return app.exec(); } diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 540634b9b7..2e6ca9662e 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -3,6 +3,7 @@ #include #include +#include #include "common/timing.h" #include "tools/cabana/settings.h" @@ -19,6 +20,7 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); event_buffer_ = std::make_unique(EVENT_NEXT_BUFFER_SIZE); + QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &AbstractStream::stop); QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index c50407be1a..3e76247680 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -7,7 +7,7 @@ #include #include "tools/cabana/streams/livestream.h" -#include "selfdrive/boardd/panda.h" +#include "selfdrive/pandad/panda.h" 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}; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 3c3e431ce7..5fda6b0487 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -64,6 +64,12 @@ void ReplayStream::start() { replay->start(); } +void ReplayStream::stop() { + if (replay) { + replay->stop(); + } +} + bool ReplayStream::eventFilter(const Event *event) { static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index e3278d9a32..049ccddafb 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -16,6 +16,7 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); void start() override; + void stop() override; bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); void seekTo(double ts) override; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index cd412f7271..7fca45c393 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -151,7 +151,7 @@ QWidget *VideoWidget::createCameraWidget() { setMaximumTime(can->totalSeconds()); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); }); QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); - QObject::connect(can, &AbstractStream::eventsMerged, [this]() { slider->update(); }); + QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); }); QObject::connect(static_cast(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated); diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index df9de096f0..ea427816ef 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -8,7 +8,7 @@ import multiprocessing import time import cereal.messaging as messaging -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType V4L2_BUF_FLAG_KEYFRAME = 8 diff --git a/tools/latencylogger/README.md b/tools/latencylogger/README.md index a961f83619..421a6a0b4a 100644 --- a/tools/latencylogger/README.md +++ b/tools/latencylogger/README.md @@ -76,7 +76,7 @@ Frame ID: 1202 Events updated 111.183541 sendcan published 112.981692 controlsState published 113.731994 - boardd + pandad sending sendcan to panda: 250027001751393037323631 81.928119 sendcan sent to panda: 250027001751393037323631 82.164834 sending sendcan to panda: 250027001751393037323631 93.569986 diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 8c6af56b6e..8691149e94 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -12,7 +12,7 @@ from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" -SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd'] +SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'pandad'] MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime'] MSGQ_TO_SERVICE = { 'roadCameraState': 'camerad', @@ -137,7 +137,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times): timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time)) continue - if service == "boardd": + if service == "pandad": timestamps[latest_controls_frameid][service].append((event, time)) end_times[latest_controls_frameid][service] = time else: @@ -153,7 +153,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times): failed_inserts += 1 if latest_controls_frameid == 0: - print("Warning: failed to bind boardd logs to a frame ID. Add a timestamp cloudlog in controlsd.") + print("Warning: failed to bind pandad logs to a frame ID. Add a timestamp cloudlog in controlsd.") elif failed_inserts > len(timestamps): print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID") diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py old mode 100755 new mode 100644 index 32f55df5d1..2bb63b4dce --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import http.server import os import shutil diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py old mode 100755 new mode 100644 index 58d22a07ef..6bc7ba8773 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import capnp import contextlib import io diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py old mode 100755 new mode 100644 index f92554872f..624531a1a8 --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python import pytest import requests import tempfile diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py old mode 100755 new mode 100644 index 8f75fa19c0..491bb81327 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python from collections import namedtuple from openpilot.tools.lib.route import SegmentName diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index d26ec3cfe2..b7f7cb93a2 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -6,7 +6,7 @@ if [ -z "$SKIP_PROMPT" ]; then echo "--------------- macOS support ---------------" echo "Running openpilot natively on macOS is not officially supported." echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." - echo + echo echo "Check out devcontainers for a seamless experience (see tools/README.md)." echo "-------------------------------------------------" echo -n "Are you sure you want to continue? [y/N] " @@ -28,7 +28,7 @@ fi # Install brew if required if [[ $(command -v brew) == "" ]]; then - echo "Installing Hombrew" + echo "Installing Homebrew" /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" echo "[ ] installed brew t=$SECONDS" diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py old mode 100755 new mode 100644 index b9a55297e5..a2c509f943 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import glob import signal diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 5d88f560be..cf9d74a894 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -1,8 +1,8 @@ Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, 'zmq', - 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, + 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') diff --git a/tools/replay/camera.h b/tools/replay/camera.h index 77a6293ec6..21c3d98dcf 100644 --- a/tools/replay/camera.h +++ b/tools/replay/camera.h @@ -5,7 +5,7 @@ #include #include -#include "cereal/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_server.h" #include "common/queue.h" #include "tools/replay/framereader.h" #include "tools/replay/logreader.h" diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index c7da8caf71..3ab33a1dfd 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,7 +8,7 @@ import threading os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list +from openpilot.selfdrive.pandad import can_capnp_to_can_list from openpilot.tools.lib.logreader import LogReader from panda import PandaJungle diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index b9abefb7c3..7a4d024aa2 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -3,7 +3,7 @@ #include #include -#include "cereal/visionipc/visionbuf.h" +#include "msgq/visionipc/visionbuf.h" #include "system/camerad/cameras/camera_common.h" #include "tools/replay/filereader.h" diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 6a159aa8e2..8616437188 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -46,16 +46,21 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s } Replay::~Replay() { + stop(); +} + +void Replay::stop() { if (!stream_thread_ && segments_.empty()) return; rInfo("shutdown: in progress..."); if (stream_thread_ != nullptr) { - exit_ =true; + exit_ = true; paused_ = true; stream_cv_.notify_one(); stream_thread_->quit(); stream_thread_->wait(); delete stream_thread_; + stream_thread_ = nullptr; } timeline_future.waitForFinished(); rInfo("shutdown: done"); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e3f321e1d7..4adbc14df8 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -54,6 +54,7 @@ public: ~Replay(); bool load(); void start(int seconds = 0); + void stop(); void pause(bool pause); void seekToFlag(FindFlag flag); void seekTo(double seconds, bool relative); diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 31e4fff74d..a790f14ff0 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -18,7 +18,7 @@ from openpilot.tools.replay.lib.ui_helpers import (UP, maybe_update_radar_points, plot_lead, plot_model, pygame_modules_have_loaded) -from cereal.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionIpcClient, VisionStreamType os.environ['BASEDIR'] = BASEDIR diff --git a/tools/rerun/run.py b/tools/rerun/run.py index 8a002f68ba..9975478a73 100755 --- a/tools/rerun/run.py +++ b/tools/rerun/run.py @@ -39,6 +39,7 @@ def log_msg(msg, parent_key=''): pass # Not a plottable value def createBlueprint(): + blueprint = None timeSeriesViews = [] for topic in sorted(SERVICE_LIST.keys()): timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False)) @@ -51,9 +52,12 @@ def log_thumbnail(thumbnailMsg): bytesImgData = thumbnailMsg.get('thumbnail') rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData)) +@rr.shutdown_at_exit def process(blueprint, lr): + rr.init("rerun_test") + rr.connect(default_blueprint=blueprint) + ret = [] - rr.init("rerun_test", spawn=True, default_blueprint=blueprint) for msg in lr: ret.append(msg) rr.set_time_nanos("TIMELINE", msg.logMonoTime) @@ -75,8 +79,11 @@ if __name__ == '__main__': args = parser.parse_args() - route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() blueprint = createBlueprint() + rr.init("rerun_test") + rr.spawn(connect=False) # child processes stream data to Viewer + + route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() print("Getting route log paths") lr = LogReader(route_or_segment_name) lr.run_across_segments(NUM_CPUS, partial(process, blueprint)) diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim deleted file mode 100644 index cb573b33f2..0000000000 --- a/tools/sim/Dockerfile.sim +++ /dev/null @@ -1,37 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -RUN apt-get update && apt-get install -y --no-install-recommends \ - tmux \ - vim \ - && rm -rf /var/lib/apt/lists/* - -# get same tmux config used on NEOS for debugging -RUN cd $HOME && \ - curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf - -ENV OPENPILOT_PATH /tmp/openpilot -ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} - -RUN mkdir -p ${OPENPILOT_PATH} -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 ./rednose ${OPENPILOT_PATH}/rednose -COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons -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 -COPY ./release ${OPENPILOT_PATH}/release - -RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly - -RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/Dockerfile.sim_nvidia b/tools/sim/Dockerfile.sim_nvidia deleted file mode 100644 index 5e5dd263da..0000000000 --- a/tools/sim/Dockerfile.sim_nvidia +++ /dev/null @@ -1,21 +0,0 @@ -FROM ubuntu:20.04 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && \ - apt-get install -y --no-install-recommends \ - apt-utils \ - sudo \ - ssh \ - curl \ - ca-certificates \ - git \ - git-lfs && \ - rm -rf /var/lib/apt/lists/* - -RUN curl -fsSL https://get.docker.com -o get-docker.sh && \ - sudo sh get-docker.sh && \ - distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && \ - curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - && \ - curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list && \ - sudo apt-get update && \ - sudo apt-get install -y nvidia-docker2 diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index 95769dd44e..b58cbeaaf2 100644 --- a/tools/sim/lib/camerad.py +++ b/tools/sim/lib/camerad.py @@ -3,7 +3,7 @@ import os import pyopencl as cl import pyopencl.array as cl_array -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal import messaging from openpilot.common.basedir import BASEDIR diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index 168b3aa324..1324932131 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -17,7 +17,7 @@ class GPSState: self.altitude = 0 def from_xy(self, xy): - """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?""" + """Simulates a lat/lon from an xy coordinate on a plane, for simple simulation. TODO: proper global projection?""" BASE_LAT = 32.75308505188913 BASE_LON = -117.2095393365393 DEG_TO_METERS = 100000 diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index e82100b520..6e5c00b103 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -3,7 +3,7 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser from openpilot.common.params import Params -from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp from openpilot.selfdrive.car import crc8_pedal from openpilot.tools.sim.lib.common import SimulatorState from panda.python import Panda diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py old mode 100755 new mode 100644 index f06110184b..8849e901cb --- a/tools/sim/tests/test_metadrive_bridge.py +++ b/tools/sim/tests/test_metadrive_bridge.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import pytest import warnings diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py index ce33473f9a..d0b879a086 100755 --- a/tools/webcam/camerad.py +++ b/tools/webcam/camerad.py @@ -3,7 +3,7 @@ import threading import os from collections import namedtuple -from cereal.visionipc import VisionIpcServer, VisionStreamType +from msgq.visionipc import VisionIpcServer, VisionStreamType from cereal import messaging from openpilot.tools.webcam.camera import Camera