mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-19 14:42:08 +08:00
Merge branch 'dev-priv/master-priv' into hkg-canfd-all-long
This commit is contained in:
Jason Wen
+68
-21
@@ -12,6 +12,7 @@ variables:
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stages:
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- build
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- sanity
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- publish
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- notify
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@@ -70,6 +71,7 @@ build:
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paths:
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- "${CI_DIR}/scons_cache"
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before_script:
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- find $BUILD_DIR/ -mindepth 1 -delete
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- *default_before_script
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- "echo Starting build stage..."
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- "echo BUILD_DIR: ${BUILD_DIR}"
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@@ -79,7 +81,6 @@ build:
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- git config --global --add safe.directory ${CI_PROJECT_DIR}
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script:
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- export PYTHONPATH="$BUILD_DIR"
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- "echo Calling to build [${CI_DIR}/build.sh ${CI_PROJECT_DIR} ${BUILD_DIR} ${VERSION}]"
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- "echo Building Panda..."
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- scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache ${CI_PROJECT_DIR}/panda
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- mkdir -p ${BUILD_DIR}
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@@ -89,28 +90,50 @@ build:
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- cd $BUILD_DIR
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- sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py # comment panda jungle when prebuilt
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- scons -j$(nproc) cache_dir=${CI_DIR}/scons_cache
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# Cleanup
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- echo "Doing cleanup for prebuilt\n\n"
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- echo "Deleting specified files..."
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- find ${BUILD_DIR} \( -name '*.a' -o -name '*.o' -o -name '*.os' -o -name '*.pyc' -o -name 'moc_*' -o -name '*.cc' -o -name "Jenkinsfile" -o -name "supercombo.onnx" -o -name ".sconsign.dblite" \) -print -delete
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- echo "Deleting Headers from selfdrive/ui path..."
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- find ${BUILD_DIR}/selfdrive/ui -type f -name '*.h' -print -delete
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- echo "Deleting the following folders and subdirectories..."
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- find "${BUILD_DIR}" -type d \( -path "*panda/board" -o -path "*panda/certs" -o -path "*panda/crypto" -o -path "*release" -o -path "*.github" -o -path "*selfdrive/ui/replay" -o -path "*__pycache__" \) -print -exec rm -rf {} +
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# Move back signed panda fw
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- mkdir -p ${BUILD_DIR}/panda/board/obj
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- cp ${CI_PROJECT_DIR}/panda/board/obj/panda.bin.signed ${BUILD_DIR}/panda/board/obj/panda.bin.signed
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- cp ${CI_PROJECT_DIR}/panda/board/obj/panda_h7.bin.signed ${BUILD_DIR}/panda/board/obj/panda_h7.bin.signed
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- cp ${CI_PROJECT_DIR}/panda/board/obj/bootstub.panda.bin ${BUILD_DIR}/panda/board/obj/bootstub.panda.bin
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- cp ${CI_PROJECT_DIR}/panda/board/obj/bootstub.panda_h7.bin ${BUILD_DIR}/panda/board/obj/bootstub.panda_h7.bin
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- touch ${BUILD_DIR}/prebuilt
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- sudo rm -rf ${OUTPUT_DIR}
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- mkdir -p ${OUTPUT_DIR}
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- shopt -s dotglob && mv ${BUILD_DIR}/* ${OUTPUT_DIR}
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- sudo chown -R comma:comma ${OUTPUT_DIR}
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# We first include the paths we want to keep, even if we later will be excluding the other things on those paths
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- rsync -av
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--include='**/panda/board/'
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--include='**/panda/board/obj'
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--include='**/panda/board/obj/panda.bin.signed'
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--include='**/panda/board/obj/panda_h7.bin.signed'
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--include='**/panda/board/obj/bootstub.panda.bin'
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--include='**/panda/board/obj/bootstub.panda_h7.bin'
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--exclude='.sconsign.dblite'
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--exclude='*.a'
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--exclude='*.A'
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--exclude='*.o'
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--exclude='*.O'
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--exclude='*.os'
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--exclude='*.OS'
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--exclude='*.pyc'
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--exclude='*.PYC'
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--exclude='moc_*'
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--exclude='MOC_*'
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--exclude='*.cc'
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--exclude='*.CC'
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--exclude='Jenkinsfile'
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--exclude='supercombo.onnx'
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--exclude='**/panda/board/*'
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--exclude='**/panda/board/obj/**'
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--exclude='**/panda/certs/'
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--exclude='**/panda/crypto/'
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--exclude='**/release/'
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--exclude='**/.github/'
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--exclude='**/selfdrive/ui/replay/'
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--exclude='**/__pycache__/'
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--exclude='**/selfdrive/ui/*.h'
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--exclude='**/selfdrive/ui/**/*.h'
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--exclude='**/selfdrive/ui/qt/offroad/sunnypilot/'
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--exclude='**/.git/'
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--delete-excluded
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--chown=comma:comma
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${BUILD_DIR}/ ${OUTPUT_DIR}/
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after_script:
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# cleanup build dir after doing work
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- find $BUILD_DIR/ -mindepth 1 -delete
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artifacts:
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paths:
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- ${OUTPUT_DIR}/
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@@ -120,6 +143,27 @@ build:
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when: manual
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- if: $NEW_BRANCH
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when: always
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check no source code sent:
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stage: sanity
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variables:
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FORBIDDEN_FILE_EXTENSIONS: "*.a,*.o,*.os,*.pyc,moc_*,*.cc,Jenkinsfile,supercombo.onnx,.sconsign.dblite"
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FORBIDDEN_DIR_PATTERNS: "*panda/certs,*panda/crypto,*release,*.github,*selfdrive/ui/replay,*__pycache__"
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REQUIRED_FILE_EXTENSIONS: "*.py,*.json"
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REQUIRED_DIR_PATTERNS: "*selfdrive/ui,*openpilot"
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before_script:
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- apk update && apk upgrade
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- apk add bash findutils
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script:
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- cd ${OUTPUT_DIR}
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- echo "Checking that we have properly cleaned up"
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- ${CI_DIR}/sanity_check.sh "$FORBIDDEN_FILE_EXTENSIONS" "$FORBIDDEN_DIR_PATTERNS" true
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- echo "Checking that our sanity check works and also checking that some required files are indeed found"
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- ${CI_DIR}/sanity_check.sh "$REQUIRED_FILE_EXTENSIONS" "$REQUIRED_DIR_PATTERNS" false
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rules:
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- if: $NEW_BRANCH
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when: on_success
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- when: never
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.publish_base: &publish_base
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variables:
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@@ -128,6 +172,9 @@ build:
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needs:
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- job: build
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artifacts: true
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- job: "check no source code sent"
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artifacts: false
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optional: false
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before_script:
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- 'apk update && apk upgrade'
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- 'apk add git bash openssh'
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+4
-3
@@ -4,6 +4,7 @@ sunnypilot - 0.9.6.0 (2024-xx-xx)
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* NEW❗: Default Driving Model: Los Angeles v2 (January 24, 2024)
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* UPDATED: Driving Model Selector v3
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* NEW❗: Driving Model additions
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* Certified Herbalist v2 (February 13, 2024) - CHv2
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* Certified Herbalist (February 5, 2024) - CH
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* Los Angeles v2 (January 24, 2024) - LAv2
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* Los Angeles (January 22, 2024) - LAv1
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@@ -16,15 +17,15 @@ sunnypilot - 0.9.6.0 (2024-xx-xx)
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* Blue Diamond (November 18, 2023) - BDv1
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* Farmville (November 7, 2023) - FV
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* Night Strike (October 3, 2023) - NS
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* Certain features are deprecated with Legacy Driving Models
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* Certain features are deprecated with newer Driving Models
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* Dynamic Lane Profile
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* Custom Offsets
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* UPDATED: Dynamic Lane Profile (DLP)
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* Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
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* Deprecate support for newer Driving Models (e.g., CH, LAv2, LAv1)
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* Deprecate support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
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* UPDATED: Custom Offsets
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* Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
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* Deprecate support for newer Driving Models (e.g., CH, LAv2, LAv1)
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* Deprecate support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
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* FIXED: New comma 3X support
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* FIXED: New comma eSIM support
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* Bug fixes and performance improvements
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@@ -64,6 +64,7 @@ set_gitlab_directory_permissions() {
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sudo chmod g+s "$GITLAB_BASE_DIR"
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}
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# Please note that when the gitlab runner is started, linux implicitly executes "source /etc/profile" for every logged shell. This will make scons available
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create_gitlab_runner_service() {
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cat <<EOL | sudo tee /etc/systemd/system/${SERVICE_NAME}.service
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[Unit]
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Executable
+75
@@ -0,0 +1,75 @@
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#!/usr/bin/env bash
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# Check if the correct number of arguments are provided
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if [ "$#" -lt 2 ]; then
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echo "Error: Missing required arguments."
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echo "Usage: $0 \"ext1,ext2,...\" \"dir1,dir2,...\" [expect_no_match]"
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exit 1
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fi
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# Convert comma-separated lists of extensions and directory patterns to arrays
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IFS=',' read -r -a file_extensions <<< "$1"
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IFS=',' read -r -a dir_patterns <<< "$2"
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# Boolean argument to determine the script's behavior when matches are found
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expect_no_match=${3:-true} # Default to true if not provided
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# Validate that file_extensions and dir_patterns are not empty
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if [ ${#file_extensions[@]} -eq 0 ]; then
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echo "Error: No file extensions provided."
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exit 1
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fi
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if [ ${#dir_patterns[@]} -eq 0 ]; then
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echo "Error: No directory patterns provided."
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exit 1
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fi
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# Define the command and arguments as an array
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find_command=(find . \( -false)
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for ext in "${file_extensions[@]}"; do
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find_command+=(-o -type f -name "*$ext")
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done
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for dir in "${dir_patterns[@]}"; do
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find_command+=(-o -type d -path "$dir")
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done
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find_command+=(\) -print)
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# Debug print
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echo "Executing find_command ${find_command[@]}"
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# Execute the find command
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FOUND=$("${find_command[@]}")
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# Function to handle found matches
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handle_found() {
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local count=$(echo "$FOUND" | grep -c '^')
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if [ "$expect_no_match" = true ]; then
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echo "Failure: Unexpected match$( [ "$count" -gt 1 ] && echo "es" ) found ($count):"
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echo "$FOUND"
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exit 1
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else
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echo "Success: Expected match$( [ "$count" -gt 1 ] && echo "es" ) found ($count):"
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echo "$FOUND"
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exit 0
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fi
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}
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# Function to handle no matches found
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handle_not_found() {
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if [ "$expect_no_match" = false ]; then
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echo "Failure: Expected matches not found."
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exit 1
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else
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echo "Success: No matches found as expected."
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exit 0
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fi
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}
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# Check if any files or directories are found and handle accordingly
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if [ -n "$FOUND" ]; then
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handle_found
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else
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handle_not_found
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fi
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Regular → Executable
@@ -102,6 +102,7 @@ selfdrive/car/tests/__init__.py
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selfdrive/car/tests/test_car_interfaces.py
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selfdrive/car/torque_data/*.toml
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selfdrive/car/torque_data/lat_models/*
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selfdrive/car/torque_data/neural_ff_weights.json
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selfdrive/car/body/*.py
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selfdrive/car/chrysler/*.py
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@@ -40,7 +40,7 @@ class NissanCarInfo(CarInfo):
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CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
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CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
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CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
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CAR.LEAF_IC: None, # same platforms
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CAR.LEAF_IC: NissanCarInfo("Nissan Leaf Instrument Cluster 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), # same platforms
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CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
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CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
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}
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@@ -180,6 +180,7 @@
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"Mazda CX-9 2021-23": "MAZDA CX-9 2021",
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"Nissan Altima 2019-20": "NISSAN ALTIMA 2020",
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"Nissan Leaf 2018-23": "NISSAN LEAF 2018",
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"Nissan Leaf Instrument Cluster 2018-23": "NISSAN LEAF 2018 Instrument Cluster",
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"Nissan Rogue 2018-20": "NISSAN ROGUE 2019",
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"Nissan X-Trail 2017": "NISSAN X-TRAIL 2017",
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"Ram 1500 2019-24": "RAM 1500 5TH GEN",
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@@ -189,12 +189,13 @@ class LatControlTorque(LatControl):
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lateral_jerk_measurement = 0
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lookahead_lateral_jerk = 0
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if self.use_nn or self.use_lateral_jerk:
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model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
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if model_good and (self.use_nn or self.use_lateral_jerk):
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# prepare "look-ahead" desired lateral jerk
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lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
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friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16)
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predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
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desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - actual_lateral_accel) / self.desired_lat_jerk_time
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desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
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lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
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if self.use_steering_angle or lookahead_lateral_jerk == 0.0:
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lookahead_lateral_jerk = 0.0
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@@ -203,12 +204,12 @@ class LatControlTorque(LatControl):
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lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
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lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
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model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
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if self.use_nn and model_good:
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# update past data
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roll = params.roll
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pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
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roll = roll_pitch_adjust(roll, pitch)
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if len(llk.calibratedOrientationNED.value) > 1:
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pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
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roll = roll_pitch_adjust(roll, pitch)
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self.roll_deque.append(roll)
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self.lateral_accel_desired_deque.append(desired_lateral_accel)
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@@ -166,6 +166,10 @@ def manager_init() -> None:
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if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
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os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
|
||||
|
||||
models_dir = "/data/media/0/models"
|
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if not os.path.exists(models_dir):
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os.makedirs(models_dir)
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||||
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||||
# preimport all processes
|
||||
for p in managed_processes.values():
|
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p.prepare()
|
||||
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||||
@@ -15,6 +15,7 @@ from openpilot.common.params import Params
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from openpilot.common.realtime import set_realtime_priority
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||||
from openpilot.selfdrive.modeld.constants import ModelConstants
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from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
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from openpilot.selfdrive.sunnypilot import get_model_generation
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||||
|
||||
NAV_INPUT_SIZE = 256*256
|
||||
NAV_FEATURE_LEN = 256
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||||
@@ -51,7 +52,8 @@ class ModelState:
|
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assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
|
||||
self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
|
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self.param_s = Params()
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if self.param_s.get_bool("CustomDrivingModel"):
|
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self.custom_model, self.model_gen = get_model_generation(self.param_s)
|
||||
if self.custom_model and self.model_gen != 0:
|
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_model_name = self.param_s.get("NavModelText", encoding="utf8")
|
||||
_model_paths = {
|
||||
ModelRunner.SNPE: f"{CUSTOM_MODEL_PATH}/navmodel_q_{_model_name}.dlc"}
|
||||
|
||||
@@ -68,7 +68,7 @@ QString SoftwarePanelSP::GetModelName() {
|
||||
return selectedModelToDownload->displayName;
|
||||
}
|
||||
|
||||
if (params.getBool("CustomDrivingModel")) {
|
||||
if (params.getBool("CustomDrivingModel") && QString::fromStdString(params.get("DrivingModelGeneration")) != "0") {
|
||||
return QString::fromStdString(params.get("DrivingModelName"));
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user