mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-05 11:15:40 +08:00
Merge branch 'upstream/openpilot/master' into sync-20240220
# Conflicts: # cereal # opendbc # panda # selfdrive/car/honda/carstate.py
This commit is contained in:
Jason Wen
@@ -44,7 +44,7 @@ repos:
|
||||
- --explicit-package-bases
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||||
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.2.1
|
||||
rev: v0.2.2
|
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hooks:
|
||||
- id: ruff
|
||||
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
|
||||
@@ -74,6 +74,14 @@ repos:
|
||||
# https://google.github.io/styleguide/cppguide.html
|
||||
# relevant rules are whitelisted, see all options with: cpplint --filter=
|
||||
- --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
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- repo: https://github.com/MarcoGorelli/cython-lint
|
||||
rev: v0.16.0
|
||||
hooks:
|
||||
- id: cython-lint
|
||||
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
|
||||
args:
|
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- --max-line-length=240
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- --ignore=E111, E302, E305
|
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- repo: local
|
||||
hooks:
|
||||
- id: test_translations
|
||||
|
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+2
-1
@@ -9,8 +9,9 @@ Version 0.9.6 (2024-02-22)
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* AGNOS 9
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* comma body streaming and controls over WebRTC
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* Improved fuzzy fingerprinting for many makes and models
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* Alpha longitudinal support for new Toyota models
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* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
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* Dodge Duranago 2020-21 support
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* Dodge Durango 2020-21 support
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* Hyundai Staria 2023 support thanks to sunnyhaibin!
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* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
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* Lexus LC 2024 support thanks to nelsonjchen!
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|
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+1
-1
Submodule cereal updated: e86a48cf41...f87b5b8395
@@ -125,6 +125,7 @@ std::unordered_map<std::string, uint32_t> keys = {
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{"ForcePowerDown", PERSISTENT},
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{"GitBranch", PERSISTENT},
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{"GitCommit", PERSISTENT},
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{"GitCommitDate", PERSISTENT},
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{"GitDiff", PERSISTENT},
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{"GithubSshKeys", PERSISTENT},
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{"GithubUsername", PERSISTENT},
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|
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@@ -29,7 +29,7 @@ cdef extern from "common/params.h":
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def ensure_bytes(v):
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return v.encode() if isinstance(v, str) else v;
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return v.encode() if isinstance(v, str) else v
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|
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class UnknownKeyName(Exception):
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pass
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@@ -1,4 +1,4 @@
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#cython: language_level=3
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# cython: language_level=3
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from libcpp cimport bool
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cdef extern from "orientation.cc":
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@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
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from openpilot.common.transformations.transformations cimport LocalCoord_c
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import cython
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import numpy as np
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cimport numpy as np
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@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
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return Matrix3(<double*>m.data)
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cdef ECEF list2ecef(ecef):
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cdef ECEF e;
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cdef ECEF e
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e.x = ecef[0]
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e.y = ecef[1]
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e.z = ecef[2]
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return e
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cdef NED list2ned(ned):
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cdef NED n;
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cdef NED n
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n.n = ned[0]
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n.e = ned[1]
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n.d = ned[2]
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@@ -61,7 +60,7 @@ def euler2quat_single(euler):
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||||
|
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def quat2euler_single(quat):
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||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
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cdef Vector3 e = quat2euler_c(q);
|
||||
cdef Vector3 e = quat2euler_c(q)
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||||
return [e(0), e(1), e(2)]
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||||
|
||||
def quat2rot_single(quat):
|
||||
|
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+27
-26
@@ -1,3 +1,4 @@
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||||
import contextlib
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||||
import gc
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||||
import os
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||||
import pytest
|
||||
@@ -25,42 +26,42 @@ def pytest_runtest_call(item):
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||||
yield
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||||
|
||||
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||||
@pytest.fixture(scope="function", autouse=True)
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def openpilot_function_fixture(request):
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@contextlib.contextmanager
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||||
def clean_env():
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starting_env = dict(os.environ)
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||||
|
||||
random.seed(0)
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||||
|
||||
# setup a clean environment for each test
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||||
with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
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prefix = os.environ["OPENPILOT_PREFIX"]
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yield
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|
||||
# ensure the test doesn't change the prefix
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assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
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yield
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os.environ.clear()
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os.environ.update(starting_env)
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# cleanup any started processes
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manager.manager_cleanup()
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|
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# some processes disable gc for performance, re-enable here
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if not gc.isenabled():
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gc.enable()
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gc.collect()
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@pytest.fixture(scope="function", autouse=True)
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def openpilot_function_fixture(request):
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random.seed(0)
|
||||
|
||||
with clean_env():
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||||
# setup a clean environment for each test
|
||||
with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
|
||||
prefix = os.environ["OPENPILOT_PREFIX"]
|
||||
|
||||
yield
|
||||
|
||||
# ensure the test doesn't change the prefix
|
||||
assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
|
||||
|
||||
# cleanup any started processes
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||||
manager.manager_cleanup()
|
||||
|
||||
# some processes disable gc for performance, re-enable here
|
||||
if not gc.isenabled():
|
||||
gc.enable()
|
||||
gc.collect()
|
||||
|
||||
# If you use setUpClass, the environment variables won't be cleared properly,
|
||||
# so we need to hook both the function and class pytest fixtures
|
||||
@pytest.fixture(scope="class", autouse=True)
|
||||
def openpilot_class_fixture():
|
||||
starting_env = dict(os.environ)
|
||||
|
||||
yield
|
||||
|
||||
os.environ.clear()
|
||||
os.environ.update(starting_env)
|
||||
with clean_env():
|
||||
yield
|
||||
|
||||
|
||||
@pytest.fixture(scope="function")
|
||||
|
||||
+6
-6
@@ -216,9 +216,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -244,13 +244,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2023-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|
||||
+1
-1
Submodule opendbc updated: a49eea191e...e8e8ed7222
+1
-1
Submodule panda updated: 30af1bcdaa...c3f5332ea0
Generated
+210
-210
@@ -825,43 +825,43 @@ files = [
|
||||
|
||||
[[package]]
|
||||
name = "cryptography"
|
||||
version = "42.0.2"
|
||||
version = "42.0.3"
|
||||
description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
|
||||
optional = false
|
||||
python-versions = ">=3.7"
|
||||
files = [
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
{file = "cryptography-42.0.3-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2eb6368d5327d6455f20327fb6159b97538820355ec00f8cc9464d617caecead"},
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||||
{file = "cryptography-42.0.3-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:39d5c93e95bcbc4c06313fc6a500cee414ee39b616b55320c1904760ad686938"},
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||||
{file = "cryptography-42.0.3-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:3d96ea47ce6d0055d5b97e761d37b4e84195485cb5a38401be341fabf23bc32a"},
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||||
{file = "cryptography-42.0.3-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:d1998e545081da0ab276bcb4b33cce85f775adb86a516e8f55b3dac87f469548"},
|
||||
{file = "cryptography-42.0.3-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:93fbee08c48e63d5d1b39ab56fd3fdd02e6c2431c3da0f4edaf54954744c718f"},
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||||
{file = "cryptography-42.0.3-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:90147dad8c22d64b2ff7331f8d4cddfdc3ee93e4879796f837bdbb2a0b141e0c"},
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||||
{file = "cryptography-42.0.3-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:4dcab7c25e48fc09a73c3e463d09ac902a932a0f8d0c568238b3696d06bf377b"},
|
||||
{file = "cryptography-42.0.3-cp37-abi3-win32.whl", hash = "sha256:1e935c2900fb53d31f491c0de04f41110351377be19d83d908c1fd502ae8daa5"},
|
||||
{file = "cryptography-42.0.3-cp37-abi3-win_amd64.whl", hash = "sha256:762f3771ae40e111d78d77cbe9c1035e886ac04a234d3ee0856bf4ecb3749d54"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-macosx_10_12_universal2.whl", hash = "sha256:0d3ec384058b642f7fb7e7bff9664030011ed1af8f852540c76a1317a9dd0d20"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:35772a6cffd1f59b85cb670f12faba05513446f80352fe811689b4e439b5d89e"},
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||||
{file = "cryptography-42.0.3-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04859aa7f12c2b5f7e22d25198ddd537391f1695df7057c8700f71f26f47a129"},
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||||
{file = "cryptography-42.0.3-cp39-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:c3d1f5a1d403a8e640fa0887e9f7087331abb3f33b0f2207d2cc7f213e4a864c"},
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||||
{file = "cryptography-42.0.3-cp39-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:df34312149b495d9d03492ce97471234fd9037aa5ba217c2a6ea890e9166f151"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:de4ae486041878dc46e571a4c70ba337ed5233a1344c14a0790c4c4be4bbb8b4"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:0fab2a5c479b360e5e0ea9f654bcebb535e3aa1e493a715b13244f4e07ea8eec"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:25b09b73db78facdfd7dd0fa77a3f19e94896197c86e9f6dc16bce7b37a96504"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:d5cf11bc7f0b71fb71af26af396c83dfd3f6eed56d4b6ef95d57867bf1e4ba65"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-win32.whl", hash = "sha256:0fea01527d4fb22ffe38cd98951c9044400f6eff4788cf52ae116e27d30a1ba3"},
|
||||
{file = "cryptography-42.0.3-cp39-abi3-win_amd64.whl", hash = "sha256:2619487f37da18d6826e27854a7f9d4d013c51eafb066c80d09c63cf24505306"},
|
||||
{file = "cryptography-42.0.3-pp310-pypy310_pp73-macosx_10_12_x86_64.whl", hash = "sha256:ead69ba488f806fe1b1b4050febafdbf206b81fa476126f3e16110c818bac396"},
|
||||
{file = "cryptography-42.0.3-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:20180da1b508f4aefc101cebc14c57043a02b355d1a652b6e8e537967f1e1b46"},
|
||||
{file = "cryptography-42.0.3-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:5fbf0f3f0fac7c089308bd771d2c6c7b7d53ae909dce1db52d8e921f6c19bb3a"},
|
||||
{file = "cryptography-42.0.3-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:c23f03cfd7d9826cdcbad7850de67e18b4654179e01fe9bc623d37c2638eb4ef"},
|
||||
{file = "cryptography-42.0.3-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:db0480ffbfb1193ac4e1e88239f31314fe4c6cdcf9c0b8712b55414afbf80db4"},
|
||||
{file = "cryptography-42.0.3-pp39-pypy39_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:6c25e1e9c2ce682d01fc5e2dde6598f7313027343bd14f4049b82ad0402e52cd"},
|
||||
{file = "cryptography-42.0.3-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:9541c69c62d7446539f2c1c06d7046aef822940d248fa4b8962ff0302862cc1f"},
|
||||
{file = "cryptography-42.0.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:1b797099d221df7cce5ff2a1d272761d1554ddf9a987d3e11f6459b38cd300fd"},
|
||||
{file = "cryptography-42.0.3.tar.gz", hash = "sha256:069d2ce9be5526a44093a0991c450fe9906cdf069e0e7cd67d9dee49a62b9ebe"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
@@ -989,22 +989,22 @@ files = [
|
||||
|
||||
[[package]]
|
||||
name = "dnspython"
|
||||
version = "2.5.0"
|
||||
version = "2.6.1"
|
||||
description = "DNS toolkit"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "dnspython-2.5.0-py3-none-any.whl", hash = "sha256:6facdf76b73c742ccf2d07add296f178e629da60be23ce4b0a9c927b1e02c3a6"},
|
||||
{file = "dnspython-2.5.0.tar.gz", hash = "sha256:a0034815a59ba9ae888946be7ccca8f7c157b286f8455b379c692efb51022a15"},
|
||||
{file = "dnspython-2.6.1-py3-none-any.whl", hash = "sha256:5ef3b9680161f6fa89daf8ad451b5f1a33b18ae8a1c6778cdf4b43f08c0a6e50"},
|
||||
{file = "dnspython-2.6.1.tar.gz", hash = "sha256:e8f0f9c23a7b7cb99ded64e6c3a6f3e701d78f50c55e002b839dea7225cff7cc"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
dev = ["black (>=23.1.0)", "coverage (>=7.0)", "flake8 (>=5.0.3)", "mypy (>=1.0.1)", "pylint (>=2.7)", "pytest (>=6.2.5)", "pytest-cov (>=3.0.0)", "sphinx (>=7.0.0)", "twine (>=4.0.0)", "wheel (>=0.41.0)"]
|
||||
dev = ["black (>=23.1.0)", "coverage (>=7.0)", "flake8 (>=7)", "mypy (>=1.8)", "pylint (>=3)", "pytest (>=7.4)", "pytest-cov (>=4.1.0)", "sphinx (>=7.2.0)", "twine (>=4.0.0)", "wheel (>=0.42.0)"]
|
||||
dnssec = ["cryptography (>=41)"]
|
||||
doh = ["h2 (>=4.1.0)", "httpcore (>=0.17.3)", "httpx (>=0.25.1)"]
|
||||
doq = ["aioquic (>=0.9.20)"]
|
||||
idna = ["idna (>=2.1)"]
|
||||
trio = ["trio (>=0.14)"]
|
||||
doh = ["h2 (>=4.1.0)", "httpcore (>=1.0.0)", "httpx (>=0.26.0)"]
|
||||
doq = ["aioquic (>=0.9.25)"]
|
||||
idna = ["idna (>=3.6)"]
|
||||
trio = ["trio (>=0.23)"]
|
||||
wmi = ["wmi (>=1.5.1)"]
|
||||
|
||||
[[package]]
|
||||
@@ -1131,53 +1131,53 @@ files = [
|
||||
|
||||
[[package]]
|
||||
name = "fonttools"
|
||||
version = "4.48.1"
|
||||
version = "4.49.0"
|
||||
description = "Tools to manipulate font files"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "fonttools-4.48.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:702ae93058c81f46461dc4b2c79f11d3c3d8fd7296eaf8f75b4ba5bbf813cd5f"},
|
||||
{file = "fonttools-4.48.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:97f0a49fa6aa2d6205c6f72f4f98b74ef4b9bfdcb06fd78e6fe6c7af4989b63e"},
|
||||
{file = "fonttools-4.48.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d3260db55f1843e57115256e91247ad9f68cb02a434b51262fe0019e95a98738"},
|
||||
{file = "fonttools-4.48.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e740a7602c2bb71e1091269b5dbe89549749a8817dc294b34628ffd8b2bf7124"},
|
||||
{file = "fonttools-4.48.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:4108b1d247953dd7c90ec8f457a2dec5fceb373485973cc852b14200118a51ee"},
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[package.dependencies]
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@@ -6639,12 +6639,12 @@ numpy = ["numpy (>=1.6.0)"]
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[[package]]
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name = "pytweening"
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version = "1.0.7"
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description = "A collection of tweening / easing functions."
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[[package]]
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@@ -6924,28 +6924,28 @@ docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
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[[package]]
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[[package]]
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[package.dependencies]
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@@ -7188,56 +7188,56 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
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[[package]]
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{file = "shapely-2.0.2-cp39-cp39-win_amd64.whl", hash = "sha256:794affd80ca0f2c536fc948a3afa90bd8fb61ebe37fe873483ae818e7f21def4"},
|
||||
{file = "shapely-2.0.2.tar.gz", hash = "sha256:1713cc04c171baffc5b259ba8531c58acc2a301707b7f021d88a15ed090649e7"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:98040462b36ced9671e266b95c326b97f41290d9d17504a1ee4dc313a7667b9c"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:71eb736ef2843f23473c6e37f6180f90f0a35d740ab284321548edf4e55d9a52"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:881eb9dbbb4a6419667e91fcb20313bfc1e67f53dbb392c6840ff04793571ed1"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f10d2ccf0554fc0e39fad5886c839e47e207f99fdf09547bc687a2330efda35b"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-win32.whl", hash = "sha256:6dfdc077a6fcaf74d3eab23a1ace5abc50c8bce56ac7747d25eab582c5a2990e"},
|
||||
{file = "shapely-2.0.3-cp310-cp310-win_amd64.whl", hash = "sha256:64c5013dacd2d81b3bb12672098a0b2795c1bf8190cfc2980e380f5ef9d9e4d9"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:56cee3e4e8159d6f2ce32e421445b8e23154fd02a0ac271d6a6c0b266a8e3cce"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:619232c8276fded09527d2a9fd91a7885ff95c0ff9ecd5e3cb1e34fbb676e2ae"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:b2a7d256db6f5b4b407dc0c98dd1b2fcf1c9c5814af9416e5498d0a2e4307a4b"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e45f0c8cd4583647db3216d965d49363e6548c300c23fd7e57ce17a03f824034"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:13cb37d3826972a82748a450328fe02a931dcaed10e69a4d83cc20ba021bc85f"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-win32.whl", hash = "sha256:9302d7011e3e376d25acd30d2d9e70d315d93f03cc748784af19b00988fc30b1"},
|
||||
{file = "shapely-2.0.3-cp311-cp311-win_amd64.whl", hash = "sha256:6b464f2666b13902835f201f50e835f2f153f37741db88f68c7f3b932d3505fa"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:e86e7cb8e331a4850e0c2a8b2d66dc08d7a7b301b8d1d34a13060e3a5b4b3b55"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:c91981c99ade980fc49e41a544629751a0ccd769f39794ae913e53b07b2f78b9"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:bd45d456983dc60a42c4db437496d3f08a4201fbf662b69779f535eb969660af"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:882fb1ffc7577e88c1194f4f1757e277dc484ba096a3b94844319873d14b0f2d"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b9f2d93bff2ea52fa93245798cddb479766a18510ea9b93a4fb9755c79474889"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-win32.whl", hash = "sha256:99abad1fd1303b35d991703432c9481e3242b7b3a393c186cfb02373bf604004"},
|
||||
{file = "shapely-2.0.3-cp312-cp312-win_amd64.whl", hash = "sha256:6f555fe3304a1f40398977789bc4fe3c28a11173196df9ece1e15c5bc75a48db"},
|
||||
{file = "shapely-2.0.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:a983cc418c1fa160b7d797cfef0e0c9f8c6d5871e83eae2c5793fce6a837fad9"},
|
||||
{file = "shapely-2.0.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:18bddb8c327f392189a8d5d6b9a858945722d0bb95ccbd6a077b8e8fc4c7890d"},
|
||||
{file = "shapely-2.0.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:442f4dcf1eb58c5a4e3428d88e988ae153f97ab69a9f24e07bf4af8038536325"},
|
||||
{file = "shapely-2.0.3-cp37-cp37m-win32.whl", hash = "sha256:31a40b6e3ab00a4fd3a1d44efb2482278642572b8e0451abdc8e0634b787173e"},
|
||||
{file = "shapely-2.0.3-cp37-cp37m-win_amd64.whl", hash = "sha256:59b16976c2473fec85ce65cc9239bef97d4205ab3acead4e6cdcc72aee535679"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:705efbce1950a31a55b1daa9c6ae1c34f1296de71ca8427974ec2f27d57554e3"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:601c5c0058a6192df704cb889439f64994708563f57f99574798721e9777a44b"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f24ecbb90a45c962b3b60d8d9a387272ed50dc010bfe605f1d16dfc94772d8a1"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8c2a2989222c6062f7a0656e16276c01bb308bc7e5d999e54bf4e294ce62e76"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42bceb9bceb3710a774ce04908fda0f28b291323da2688f928b3f213373b5aee"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-win32.whl", hash = "sha256:54d925c9a311e4d109ec25f6a54a8bd92cc03481a34ae1a6a92c1fe6729b7e01"},
|
||||
{file = "shapely-2.0.3-cp38-cp38-win_amd64.whl", hash = "sha256:300d203b480a4589adefff4c4af0b13919cd6d760ba3cbb1e56275210f96f654"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:083d026e97b6c1f4a9bd2a9171c7692461092ed5375218170d91705550eecfd5"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:27b6e1910094d93e9627f2664121e0e35613262fc037051680a08270f6058daf"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:71b2de56a9e8c0e5920ae5ddb23b923490557ac50cb0b7fa752761bf4851acde"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4d279e56bbb68d218d63f3efc80c819cedcceef0e64efbf058a1df89dc57201b"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:88566d01a30f0453f7d038db46bc83ce125e38e47c5f6bfd4c9c287010e9bf74"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-win32.whl", hash = "sha256:58afbba12c42c6ed44c4270bc0e22f3dadff5656d711b0ad335c315e02d04707"},
|
||||
{file = "shapely-2.0.3-cp39-cp39-win_amd64.whl", hash = "sha256:5026b30433a70911979d390009261b8c4021ff87c7c3cbd825e62bb2ffa181bc"},
|
||||
{file = "shapely-2.0.3.tar.gz", hash = "sha256:4d65d0aa7910af71efa72fd6447e02a8e5dd44da81a983de9d736d6e6ccbe674"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
numpy = ">=1.14"
|
||||
numpy = ">=1.14,<2"
|
||||
|
||||
[package.extras]
|
||||
docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
|
||||
@@ -7594,13 +7594,13 @@ telegram = ["requests"]
|
||||
|
||||
[[package]]
|
||||
name = "types-requests"
|
||||
version = "2.31.0.20240125"
|
||||
version = "2.31.0.20240218"
|
||||
description = "Typing stubs for requests"
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "types-requests-2.31.0.20240125.tar.gz", hash = "sha256:03a28ce1d7cd54199148e043b2079cdded22d6795d19a2c2a6791a4b2b5e2eb5"},
|
||||
{file = "types_requests-2.31.0.20240125-py3-none-any.whl", hash = "sha256:9592a9a4cb92d6d75d9b491a41477272b710e021011a2a3061157e2fb1f1a5d1"},
|
||||
{file = "types-requests-2.31.0.20240218.tar.gz", hash = "sha256:f1721dba8385958f504a5386240b92de4734e047a08a40751c1654d1ac3349c5"},
|
||||
{file = "types_requests-2.31.0.20240218-py3-none-any.whl", hash = "sha256:a82807ec6ddce8f00fe0e949da6d6bc1fbf1715420218a9640d695f70a9e5a9b"},
|
||||
]
|
||||
|
||||
[package.dependencies]
|
||||
@@ -7641,13 +7641,13 @@ files = [
|
||||
|
||||
[[package]]
|
||||
name = "urllib3"
|
||||
version = "2.2.0"
|
||||
version = "2.2.1"
|
||||
description = "HTTP library with thread-safe connection pooling, file post, and more."
|
||||
optional = false
|
||||
python-versions = ">=3.8"
|
||||
files = [
|
||||
{file = "urllib3-2.2.0-py3-none-any.whl", hash = "sha256:ce3711610ddce217e6d113a2732fafad960a03fd0318c91faa79481e35c11224"},
|
||||
{file = "urllib3-2.2.0.tar.gz", hash = "sha256:051d961ad0c62a94e50ecf1af379c3aba230c66c710493493560c0c223c49f20"},
|
||||
{file = "urllib3-2.2.1-py3-none-any.whl", hash = "sha256:450b20ec296a467077128bff42b73080516e71b56ff59a60a02bef2232c4fa9d"},
|
||||
{file = "urllib3-2.2.1.tar.gz", hash = "sha256:d0570876c61ab9e520d776c38acbbb5b05a776d3f9ff98a5c8fd5162a444cf19"},
|
||||
]
|
||||
|
||||
[package.extras]
|
||||
|
||||
@@ -362,11 +362,11 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
|
||||
ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
|
||||
ps.setAlternativeExperience(health.alternative_experience_pkt);
|
||||
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
|
||||
ps.setInterruptLoad(health.interrupt_load);
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt);
|
||||
ps.setFanPower(health.fan_power);
|
||||
ps.setFanStallCount(health.fan_stall_count);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
|
||||
ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
|
||||
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
|
||||
ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
|
||||
|
||||
|
||||
@@ -162,7 +162,7 @@ def fingerprint(logcan, sendcan, num_pandas):
|
||||
cloudlog.warning("VIN %s", vin)
|
||||
params.put("CarVin", vin)
|
||||
|
||||
# disable OBD multiplexing for potential ECU knockouts
|
||||
# disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
|
||||
set_obd_multiplexing(params, False)
|
||||
params.put_bool("FirmwareQueryDone", True)
|
||||
|
||||
|
||||
@@ -17,7 +17,7 @@ OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
|
||||
# A global list of addresses we will only ever consider for VIN responses
|
||||
# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
|
||||
# TODO: move these to each brand's FW query config
|
||||
STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c4, 0x18da10f1, 0x18da0ef1]
|
||||
STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
|
||||
|
||||
|
||||
def p16(val):
|
||||
@@ -65,6 +65,9 @@ class StdQueries:
|
||||
GM_VIN_REQUEST = b'\x1a\x90'
|
||||
GM_VIN_RESPONSE = b'\x5a\x90'
|
||||
|
||||
KWP_VIN_REQUEST = b'\x21\x81'
|
||||
KWP_VIN_RESPONSE = b'\x61\x81'
|
||||
|
||||
|
||||
@dataclass
|
||||
class Request:
|
||||
|
||||
@@ -7,8 +7,8 @@ from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
|
||||
from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \
|
||||
HONDA_BOSCH_RADARLESS, SERIAL_STEERING
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
|
||||
HondaFlags, SERIAL_STEERING
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
@@ -44,7 +44,7 @@ def get_can_messages(CP, gearbox_msg):
|
||||
else:
|
||||
messages.append((gearbox_msg, 100))
|
||||
|
||||
if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
|
||||
if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
|
||||
messages.append(("BRAKE_MODULE", 50))
|
||||
|
||||
if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
|
||||
@@ -221,7 +221,7 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
|
||||
if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
|
||||
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
|
||||
else:
|
||||
# brake switch has shown some single time step noise, so only considered when
|
||||
|
||||
@@ -101,10 +101,6 @@ FW_VERSIONS = {
|
||||
b'39990-TVA-X040\x00\x00',
|
||||
b'39990-TVE-H130\x00\x00',
|
||||
],
|
||||
(Ecu.unknown, 0x18da3af1, None): [
|
||||
b'39390-TVA-A020\x00\x00',
|
||||
b'39390-TVA-A120\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBX-H230\x00\x00',
|
||||
b'77959-TVA-A460\x00\x00',
|
||||
@@ -313,6 +309,7 @@ FW_VERSIONS = {
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBA-A030\x00\x00',
|
||||
b'77959-TBA-A040\x00\x00',
|
||||
b'77959-TBG-A020\x00\x00',
|
||||
b'77959-TBG-A030\x00\x00',
|
||||
b'77959-TEA-Q820\x00\x00',
|
||||
],
|
||||
|
||||
@@ -3,8 +3,9 @@ from cereal import car
|
||||
from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from openpilot.selfdrive.car.honda.hondacan import get_pt_bus
|
||||
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
|
||||
HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
|
||||
HONDA_BOSCH_RADARLESS
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
from openpilot.selfdrive.car.disable_ecu import disable_ecu
|
||||
@@ -310,7 +311,8 @@ class CarInterface(CarInterfaceBase):
|
||||
raise ValueError(f"unsupported car {candidate}")
|
||||
|
||||
# These cars use alternate user brake msg (0x1BE)
|
||||
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
|
||||
if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH:
|
||||
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
|
||||
|
||||
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
|
||||
|
||||
@@ -49,6 +49,7 @@ class CarControllerParams:
|
||||
class HondaFlags(IntFlag):
|
||||
# Bosch models with alternate set of LKAS_HUD messages
|
||||
BOSCH_EXT_HUD = 1
|
||||
BOSCH_ALT_BRAKE = 2
|
||||
|
||||
|
||||
# Car button codes
|
||||
@@ -267,7 +268,6 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_E
|
||||
CAR.PILOT, CAR.RIDGELINE, CAR.ACCORD_NIDEC_4CYL}
|
||||
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
|
||||
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
|
||||
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
|
||||
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
|
||||
|
||||
SERIAL_STEERING = {CAR.ACCORD_NIDEC_4CYL, }
|
||||
|
||||
@@ -1549,6 +1549,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
|
||||
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206',
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719',
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007',
|
||||
@@ -1556,7 +1557,6 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719',
|
||||
],
|
||||
},
|
||||
CAR.IONIQ_6: {
|
||||
|
||||
@@ -46,6 +46,7 @@ FW_VERSIONS = {
|
||||
CAR.LEAF: {
|
||||
(Ecu.abs, 0x740, None): [
|
||||
b'476605SA1C',
|
||||
b'476605SA7D',
|
||||
b'476605SC2D',
|
||||
b'476606WK7B',
|
||||
b'476606WK9B',
|
||||
@@ -65,6 +66,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.gateway, 0x18dad0f1, None): [
|
||||
b'284U25SA3C',
|
||||
b'284U25SP0C',
|
||||
b'284U25SP1C',
|
||||
b'284U26WK0A',
|
||||
b'284U26WK0C',
|
||||
|
||||
@@ -187,6 +187,7 @@ routes = [
|
||||
CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
|
||||
CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid
|
||||
CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
|
||||
CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
|
||||
CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
|
||||
CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
|
||||
CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
|
||||
@@ -223,7 +224,7 @@ routes = [
|
||||
CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
|
||||
CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU
|
||||
CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2), # hybrid
|
||||
# CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled
|
||||
CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled
|
||||
CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
|
||||
|
||||
CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
|
||||
@@ -291,7 +292,6 @@ routes = [
|
||||
# Segments that test specific issues
|
||||
# Controls mismatch due to interceptor threshold
|
||||
CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
|
||||
CarTestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
|
||||
# Controls mismatch due to standstill threshold
|
||||
CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
|
||||
]
|
||||
|
||||
@@ -74,6 +74,10 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
|
||||
self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
|
||||
|
||||
# If we're using the interceptor for gasPressed, we should be commanding gas with it
|
||||
if car_params.enableGasInterceptor:
|
||||
self.assertTrue(car_params.openpilotLongitudinalControl)
|
||||
|
||||
# Lateral sanity checks
|
||||
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
|
||||
tune = car_params.lateralTuning
|
||||
|
||||
@@ -33,18 +33,29 @@ class TestFwFingerprint(unittest.TestCase):
|
||||
self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
|
||||
self.assertEqual(candidates[0], expected)
|
||||
|
||||
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
||||
def test_exact_match(self, brand, car_model, ecus):
|
||||
@parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
|
||||
def test_exact_match(self, brand, car_model, ecus, test_non_essential):
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
CP = car.CarParams.new_message()
|
||||
for _ in range(200):
|
||||
for _ in range(100):
|
||||
fw = []
|
||||
for ecu, fw_versions in ecus.items():
|
||||
# Assume non-essential ECUs apply to all cars, so we catch cases where Car A with
|
||||
# missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs
|
||||
if ecu[0] in config.non_essential_ecus and test_non_essential:
|
||||
continue
|
||||
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
|
||||
"address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
|
||||
CP.carFw = fw
|
||||
_, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
|
||||
self.assertFingerprints(matches, car_model)
|
||||
if not test_non_essential:
|
||||
self.assertFingerprints(matches, car_model)
|
||||
else:
|
||||
# if we're removing ECUs we expect some match loss, but it shouldn't mismatch
|
||||
if len(matches) != 0:
|
||||
self.assertFingerprints(matches, car_model)
|
||||
|
||||
@parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
|
||||
def test_custom_fuzzy_match(self, brand, car_model, ecus):
|
||||
@@ -225,7 +236,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
|
||||
|
||||
def test_startup_timing(self):
|
||||
# Tests worse-case VIN query time and typical present ECU query time
|
||||
vin_ref_times = {'worst': 1.0, 'best': 0.5} # best assumes we go through all queries to get a match
|
||||
vin_ref_times = {'worst': 1.2, 'best': 0.6} # best assumes we go through all queries to get a match
|
||||
present_ecu_ref_time = 0.75
|
||||
|
||||
def fake_get_ecu_addrs(*_, timeout):
|
||||
|
||||
@@ -226,20 +226,16 @@ class CarInterface(CarInterfaceBase):
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
|
||||
and not (ret.flags & ToyotaFlags.SMART_DSU)
|
||||
ret.enableGasInterceptor = 0x201 in fingerprint[0]
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
|
||||
|
||||
# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
|
||||
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
|
||||
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
|
||||
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
|
||||
ret.experimentalLongitudinalAvailable = use_sdsu
|
||||
ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
|
||||
|
||||
if not use_sdsu:
|
||||
# Disabling radar is only supported on TSS2 radar-ACC cars
|
||||
if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet
|
||||
if experimental_long and candidate in RADAR_ACC_CAR:
|
||||
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
|
||||
else:
|
||||
use_sdsu = use_sdsu and experimental_long
|
||||
@@ -254,10 +250,14 @@ class CarInterface(CarInterfaceBase):
|
||||
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
|
||||
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
|
||||
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
|
||||
ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
|
||||
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
|
||||
|
||||
@@ -22,6 +22,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
|
||||
(StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
|
||||
(StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
|
||||
(StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400), # Bolt fwdCamera
|
||||
(StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3), # Nissan Leaf VCM
|
||||
):
|
||||
if bus not in valid_buses:
|
||||
continue
|
||||
@@ -40,8 +41,8 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
|
||||
for addr in vin_addrs:
|
||||
vin = results.get((addr, None))
|
||||
if vin is not None:
|
||||
# Ford pads with null bytes
|
||||
if len(vin) == 24:
|
||||
# Ford and Nissan pads with null bytes
|
||||
if len(vin) in (19, 24):
|
||||
vin = re.sub(b'\x00*$', b'', vin)
|
||||
|
||||
# Honda Bosch response starts with a length, trim to correct length
|
||||
|
||||
@@ -319,7 +319,8 @@ class Controls:
|
||||
else:
|
||||
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
|
||||
|
||||
if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
|
||||
# safety mismatch allows some time for boardd 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)
|
||||
|
||||
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
|
||||
@@ -418,9 +419,12 @@ class Controls:
|
||||
|
||||
# TODO: fix simulator
|
||||
if not SIMULATION or REPLAY:
|
||||
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
|
||||
if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
|
||||
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
|
||||
self.events.add(EventName.noGps)
|
||||
if self.sm['liveLocationKalman'].gpsOK:
|
||||
self.distance_traveled = 0
|
||||
self.distance_traveled += CS.vEgo * DT_CTRL
|
||||
|
||||
if self.sm['modelV2'].frameDropPerc > 20:
|
||||
self.events.add(EventName.modeldLagging)
|
||||
@@ -438,7 +442,7 @@ class Controls:
|
||||
|
||||
if not self.initialized:
|
||||
all_valid = CS.canValid and self.sm.all_checks()
|
||||
timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
|
||||
timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 4.0)
|
||||
if all_valid or timed_out or (SIMULATION and not REPLAY):
|
||||
available_streams = VisionIpcClient.available_streams("camerad", block=False)
|
||||
if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
|
||||
@@ -483,8 +487,6 @@ class Controls:
|
||||
if ps.safetyModel not in IGNORED_SAFETY_MODES):
|
||||
self.mismatch_counter += 1
|
||||
|
||||
self.distance_traveled += CS.vEgo * DT_CTRL
|
||||
|
||||
return CS
|
||||
|
||||
def state_transition(self, CS):
|
||||
|
||||
@@ -809,12 +809,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
# is thrown. This can mean a service crashed, did not broadcast a message for
|
||||
# ten times the regular interval, or the average interval is more than 10% too high.
|
||||
EventName.commIssue: {
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Communication Issue between Processes"),
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
|
||||
ET.NO_ENTRY: comm_issue_alert,
|
||||
},
|
||||
EventName.commIssueAvgFreq: {
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate between Processes"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"),
|
||||
ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
|
||||
},
|
||||
|
||||
EventName.controlsdLagging: {
|
||||
|
||||
@@ -16,28 +16,35 @@ if __name__ == "__main__":
|
||||
cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
|
||||
cnt_cameras = dict.fromkeys(cams, 0)
|
||||
|
||||
events: List[Tuple[float, set[str]]] = []
|
||||
alerts: List[Tuple[float, str]] = []
|
||||
start_time = math.inf
|
||||
end_time = -math.inf
|
||||
ignition_off = None
|
||||
for msg in LogReader(sys.argv[1], ReadMode.QLOG):
|
||||
t = (msg.logMonoTime - start_time) / 1e9
|
||||
end_time = max(end_time, msg.logMonoTime)
|
||||
start_time = min(start_time, msg.logMonoTime)
|
||||
|
||||
if msg.which() == 'onroadEvents':
|
||||
for e in msg.onroadEvents:
|
||||
cnt_events[e.name] += 1
|
||||
|
||||
ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')}
|
||||
if len(events) == 0 or ae != events[-1][1]:
|
||||
events.append((t, ae))
|
||||
|
||||
elif msg.which() == 'controlsState':
|
||||
at = msg.controlsState.alertType
|
||||
if "/override" not in at or "lanechange" in at.lower():
|
||||
if len(alerts) == 0 or alerts[-1][1] != at:
|
||||
t = (msg.logMonoTime - start_time) / 1e9
|
||||
alerts.append((t, at))
|
||||
elif msg.which() == 'pandaStates':
|
||||
if ignition_off is None:
|
||||
ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
|
||||
if not ign:
|
||||
ignition_off = msg.logMonoTime
|
||||
break
|
||||
elif msg.which() in cams:
|
||||
cnt_cameras[msg.which()] += 1
|
||||
|
||||
@@ -64,9 +71,14 @@ if __name__ == "__main__":
|
||||
print("Alerts")
|
||||
for t, a in alerts:
|
||||
print(f"{t:8.2f} {a}")
|
||||
|
||||
print("\n")
|
||||
print("Events")
|
||||
for t, evt in events:
|
||||
print(f"{t:8.2f} {evt}")
|
||||
|
||||
print("\n")
|
||||
if ignition_off is not None:
|
||||
ignition_off = round((ignition_off - start_time) / 1e9, 2)
|
||||
print("Ignition off at", ignition_off)
|
||||
|
||||
print("\n")
|
||||
print("Route duration", datetime.timedelta(seconds=duration))
|
||||
|
||||
@@ -46,6 +46,7 @@ def print_androidlog(t, msg):
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument('--absolute', action='store_true')
|
||||
parser.add_argument('--level', default='DEBUG')
|
||||
parser.add_argument('--addr', default='127.0.0.1')
|
||||
parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
|
||||
@@ -54,15 +55,18 @@ if __name__ == "__main__":
|
||||
min_level = LEVELS[args.level]
|
||||
|
||||
if args.route:
|
||||
st = None if not args.absolute else 0
|
||||
for route in args.route:
|
||||
lr = LogReader(route)
|
||||
lr = LogReader(route, sort_by_time=True)
|
||||
for m in lr:
|
||||
if st is None:
|
||||
st = m.logMonoTime
|
||||
if m.which() == 'logMessage':
|
||||
print_logmessage(m.logMonoTime, m.logMessage, min_level)
|
||||
print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
|
||||
elif m.which() == 'errorLogMessage':
|
||||
print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
|
||||
print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
|
||||
elif m.which() == 'androidLog':
|
||||
print_androidlog(m.logMonoTime, m.androidLog)
|
||||
print_androidlog(m.logMonoTime-st, m.androidLog)
|
||||
else:
|
||||
sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
|
||||
while True:
|
||||
|
||||
@@ -44,11 +44,15 @@ if __name__ == "__main__":
|
||||
|
||||
dongles = []
|
||||
for route in tqdm(routes):
|
||||
dongle_id = SegmentRange(route).dongle_id
|
||||
sr = SegmentRange(route)
|
||||
dongle_id = sr.dongle_id
|
||||
|
||||
if dongle_id in dongles:
|
||||
continue
|
||||
|
||||
if sr.slice == '' and sr.selector is None:
|
||||
route += '/0'
|
||||
|
||||
lr = LogReader(route, default_mode=ReadMode.QLOG)
|
||||
|
||||
try:
|
||||
|
||||
@@ -19,7 +19,7 @@ from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGL
|
||||
from openpilot.common.swaglog import cloudlog, add_file_handler
|
||||
from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
|
||||
get_normalized_origin, terms_version, training_version, \
|
||||
is_tested_branch, is_release_branch
|
||||
is_tested_branch, is_release_branch, get_commit_date
|
||||
|
||||
|
||||
def manager_init() -> None:
|
||||
@@ -126,6 +126,7 @@ def manager_init() -> None:
|
||||
params.put("TermsVersion", terms_version)
|
||||
params.put("TrainingVersion", training_version)
|
||||
params.put("GitCommit", get_commit())
|
||||
params.put("GitCommitDate", get_commit_date())
|
||||
params.put("GitBranch", get_short_branch())
|
||||
params.put("GitRemote", get_origin())
|
||||
params.put_bool("IsTestedBranch", is_tested_branch())
|
||||
|
||||
@@ -281,11 +281,13 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
|
||||
running = []
|
||||
for p in procs:
|
||||
if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
|
||||
p.start()
|
||||
running.append(p)
|
||||
else:
|
||||
p.stop(block=False)
|
||||
|
||||
p.check_watchdog(started)
|
||||
|
||||
for p in running:
|
||||
p.start()
|
||||
|
||||
return running
|
||||
|
||||
@@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
|
||||
def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState,
|
||||
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
|
||||
timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
|
||||
nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None:
|
||||
nav_enabled: bool, valid: bool) -> None:
|
||||
frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
|
||||
msg.valid = valid
|
||||
|
||||
|
||||
+11
-12
@@ -116,12 +116,16 @@ class ModelState:
|
||||
|
||||
|
||||
def main(demo=False):
|
||||
cloudlog.warning("modeld init")
|
||||
|
||||
sentry.set_tag("daemon", PROCESS_NAME)
|
||||
cloudlog.bind(daemon=PROCESS_NAME)
|
||||
setproctitle(PROCESS_NAME)
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
cloudlog.warning("setting up CL context")
|
||||
cl_context = CLContext()
|
||||
cloudlog.warning("CL context ready; loading model")
|
||||
model = ModelState(cl_context)
|
||||
cloudlog.warning("models loaded, modeld starting")
|
||||
|
||||
@@ -152,12 +156,8 @@ def main(demo=False):
|
||||
pm = PubMaster(["modelV2", "modelV2SP", "cameraOdometry"])
|
||||
sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
|
||||
|
||||
|
||||
publish_state = PublishState()
|
||||
params = Params()
|
||||
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
|
||||
steer_delay = msg.steerActuatorDelay + .2
|
||||
#steer_delay = 0.4
|
||||
|
||||
# setup filter to track dropped frames
|
||||
frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
|
||||
@@ -177,13 +177,15 @@ def main(demo=False):
|
||||
|
||||
if demo:
|
||||
CP = get_demo_car_params()
|
||||
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
|
||||
CP = msg
|
||||
cloudlog.info("plannerd got CarParams: %s", CP.carName)
|
||||
else:
|
||||
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
|
||||
CP = msg
|
||||
cloudlog.info("modeld got CarParams: %s", CP.carName)
|
||||
|
||||
# TODO this needs more thought, use .2s extra for now to estimate other delays
|
||||
steer_delay = CP.steerActuatorDelay + .2
|
||||
DH = DesireHelper()
|
||||
|
||||
DH = DesireHelper()
|
||||
|
||||
while True:
|
||||
# Keep receiving frames until we are at least 1 frame ahead of previous extra frame
|
||||
@@ -219,13 +221,10 @@ def main(demo=False):
|
||||
buf_extra = buf_main
|
||||
meta_extra = meta_main
|
||||
|
||||
# TODO: path planner timeout?
|
||||
sm.update(0)
|
||||
desire = DH.desire
|
||||
v_ego = sm["carState"].vEgo
|
||||
is_rhd = sm["driverMonitoringState"].isRHD
|
||||
frame_id = sm["roadCameraState"].frameId
|
||||
# TODO add lag
|
||||
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
|
||||
if sm.updated["liveCalibration"]:
|
||||
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
|
||||
@@ -294,7 +293,7 @@ def main(demo=False):
|
||||
modelv2_sp_send = messaging.new_message('modelV2SP')
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
|
||||
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen)
|
||||
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
|
||||
|
||||
desire_state = modelv2_send.modelV2.meta.desireState
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
|
||||
@@ -7,7 +7,7 @@ cdef class CLContext(BaseCLContext):
|
||||
pass
|
||||
|
||||
cdef class CLMem:
|
||||
cdef cl_mem * mem;
|
||||
cdef cl_mem * mem
|
||||
|
||||
@staticmethod
|
||||
cdef create(void*)
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be
|
||||
size 48219112
|
||||
oid sha256:c11f99aab832242a604b1bb4c4cf391c9c3d5e90cbc07ab0d4c133473b56a3a4
|
||||
size 48193749
|
||||
|
||||
@@ -2,7 +2,6 @@
|
||||
# cython: c_string_encoding=ascii
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libc.string cimport memcpy
|
||||
|
||||
from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
|
||||
from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
|
||||
|
||||
@@ -4,13 +4,14 @@
|
||||
#include "third_party/json11/json11.hpp"
|
||||
#include "common/util.h"
|
||||
#include "common/clutil.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "selfdrive/modeld/thneed/thneed.h"
|
||||
using namespace json11;
|
||||
|
||||
extern map<cl_program, string> g_program_source;
|
||||
|
||||
void Thneed::load(const char *filename) {
|
||||
printf("Thneed::load: loading from %s\n", filename);
|
||||
LOGD("Thneed::load: loading from %s\n", filename);
|
||||
|
||||
string buf = util::read_file(filename);
|
||||
int jsz = *(int *)buf.data();
|
||||
@@ -74,8 +75,8 @@ void Thneed::load(const char *filename) {
|
||||
clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
|
||||
#endif
|
||||
if (clbuf == NULL) {
|
||||
printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
|
||||
desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
|
||||
LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
|
||||
desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
|
||||
}
|
||||
assert(clbuf != NULL);
|
||||
}
|
||||
@@ -95,11 +96,11 @@ void Thneed::load(const char *filename) {
|
||||
cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
|
||||
input_clmem.push_back(aa);
|
||||
input_sizes.push_back(sz);
|
||||
printf("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
|
||||
LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
|
||||
|
||||
cl_int cl_err;
|
||||
void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
|
||||
if (cl_err != CL_SUCCESS) printf("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
|
||||
if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
|
||||
assert(cl_err == CL_SUCCESS);
|
||||
inputs.push_back(ret);
|
||||
}
|
||||
@@ -107,7 +108,7 @@ void Thneed::load(const char *filename) {
|
||||
for (auto &obj : jdat["outputs"].array_items()) {
|
||||
auto mobj = obj.object_items();
|
||||
int sz = mobj["size"].int_value();
|
||||
printf("Thneed::save: adding output with size %d\n", sz);
|
||||
LOGD("Thneed::save: adding output with size %d\n", sz);
|
||||
// TODO: support multiple outputs
|
||||
output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
|
||||
assert(output != NULL);
|
||||
|
||||
@@ -22,20 +22,20 @@ __kernel void warpPerspective(__global const uchar * src,
|
||||
W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
|
||||
int X = rint(X0 * W), Y = rint(Y0 * W);
|
||||
|
||||
short sx = convert_short_sat(X >> INTER_BITS);
|
||||
short sy = convert_short_sat(Y >> INTER_BITS);
|
||||
int sx = convert_short_sat(X >> INTER_BITS);
|
||||
int sy = convert_short_sat(Y >> INTER_BITS);
|
||||
|
||||
short sx_clamp = clamp(sx, 0, src_cols - 1);
|
||||
short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
|
||||
short sy_clamp = clamp(sy, 0, src_rows - 1);
|
||||
short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
|
||||
int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
|
||||
int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
|
||||
int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
|
||||
int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
|
||||
|
||||
short ay = (short)(Y & (INTER_TAB_SIZE - 1));
|
||||
short ax = (short)(X & (INTER_TAB_SIZE - 1));
|
||||
|
||||
int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ?
|
||||
convert_int(src[mad24(sy, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
|
||||
int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ?
|
||||
convert_int(src[mad24(sy, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
|
||||
int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
|
||||
convert_int(src[mad24(sy+1, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
|
||||
int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
|
||||
convert_int(src[mad24(sy+1, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
|
||||
|
||||
float taby = 1.f/INTER_TAB_SIZE*ay;
|
||||
float tabx = 1.f/INTER_TAB_SIZE*ax;
|
||||
|
||||
|
||||
@@ -11,7 +11,6 @@ from openpilot.system.version import training_version, terms_version
|
||||
|
||||
|
||||
def set_params_enabled():
|
||||
os.environ['REPLAY'] = "1"
|
||||
os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
|
||||
os.environ['LOGPRINT'] = "debug"
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
fee90bcee1e545c7ec9a39d3c7d4e42cfefb9955
|
||||
fd6421f7551573c549480f9d29bb0dee4678344d
|
||||
|
||||
@@ -1 +1 @@
|
||||
7d25b1f7d0bd3b506fa4e72ff893728894eb1a45
|
||||
1b16593e2d0c9ff2dae2916293ae5fbc7d6f26df
|
||||
|
||||
@@ -114,6 +114,7 @@ class TestOnroad(unittest.TestCase):
|
||||
params = Params()
|
||||
params.remove("CurrentRoute")
|
||||
set_params_enabled()
|
||||
os.environ['REPLAY'] = '1'
|
||||
os.environ['TESTING_CLOSET'] = '1'
|
||||
if os.path.exists(Paths.log_root()):
|
||||
shutil.rmtree(Paths.log_root())
|
||||
|
||||
@@ -18,33 +18,40 @@ def test_time_to_onroad():
|
||||
proc = subprocess.Popen(["python", manager_path])
|
||||
|
||||
start_time = time.monotonic()
|
||||
sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents'])
|
||||
sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan'])
|
||||
try:
|
||||
# wait for onroad
|
||||
with Timeout(20, "timed out waiting to go onroad"):
|
||||
while True:
|
||||
sm.update(1000)
|
||||
if sm['deviceState'].started:
|
||||
break
|
||||
time.sleep(1)
|
||||
# wait for onroad. timeout assumes panda is up to date
|
||||
with Timeout(10, "timed out waiting to go onroad"):
|
||||
while not sm['deviceState'].started:
|
||||
sm.update(100)
|
||||
|
||||
# wait for engageability
|
||||
try:
|
||||
with Timeout(10, "timed out waiting for engageable"):
|
||||
sendcan_frame = None
|
||||
while True:
|
||||
sm.update(1000)
|
||||
if sm['controlsState'].engageable:
|
||||
sm.update(100)
|
||||
|
||||
# sendcan is only sent once we're initialized
|
||||
if sm.seen['controlsState'] and sendcan_frame is None:
|
||||
sendcan_frame = sm.frame
|
||||
|
||||
if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame:
|
||||
sm.update(100)
|
||||
assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
|
||||
break
|
||||
time.sleep(1)
|
||||
finally:
|
||||
print(f"onroad events: {sm['onroadEvents']}")
|
||||
print(f"engageable after {time.monotonic() - start_time:.2f}s")
|
||||
|
||||
# once we're enageable, must be for the next few seconds
|
||||
for _ in range(500):
|
||||
# once we're enageable, must stay for the next few seconds
|
||||
st = time.monotonic()
|
||||
while (time.monotonic() - st) < 10.:
|
||||
sm.update(100)
|
||||
assert sm.all_alive(), sm.alive
|
||||
assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
|
||||
assert sm['controlsState'].cumLagMs < 10.
|
||||
finally:
|
||||
proc.terminate()
|
||||
if proc.wait(60) is None:
|
||||
if proc.wait(20) is None:
|
||||
proc.kill()
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
#include <vector>
|
||||
|
||||
#include <QApplication>
|
||||
#include <QDir>
|
||||
#include <QFile>
|
||||
#include <QFileInfo>
|
||||
#include <QHash>
|
||||
@@ -114,6 +115,11 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
|
||||
|
||||
qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
|
||||
|
||||
// ensure the current dir matches the exectuable's directory
|
||||
QApplication tmp(argc, argv);
|
||||
QString appDir = QCoreApplication::applicationDirPath();
|
||||
QDir::setCurrent(appDir);
|
||||
|
||||
setQtSurfaceFormat();
|
||||
}
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@ class StreamingDecompressor:
|
||||
def __init__(self, url: str) -> None:
|
||||
self.buf = b""
|
||||
|
||||
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60) # type: ignore
|
||||
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
|
||||
self.it = self.req.iter_content(chunk_size=1024 * 1024)
|
||||
self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
|
||||
self.eof = False
|
||||
|
||||
@@ -44,6 +44,7 @@ kj::Array<capnp::word> logger_build_init_data() {
|
||||
std::map<std::string, std::string> params_map = params.readAll();
|
||||
|
||||
init.setGitCommit(params_map["GitCommit"]);
|
||||
init.setGitCommitDate(params_map["GitCommitDate"]);
|
||||
init.setGitBranch(params_map["GitBranch"]);
|
||||
init.setGitRemote(params_map["GitRemote"]);
|
||||
init.setPassive(false);
|
||||
|
||||
@@ -107,6 +107,7 @@ class TestLoggerd:
|
||||
# param, initData field, value
|
||||
("DongleId", "dongleId", dongle),
|
||||
("GitCommit", "gitCommit", "commit"),
|
||||
("GitCommitDate", "gitCommitDate", "date"),
|
||||
("GitBranch", "gitBranch", "branch"),
|
||||
("GitRemote", "gitRemote", "remote"),
|
||||
]
|
||||
|
||||
@@ -68,13 +68,14 @@ class TestRawgpsd(unittest.TestCase):
|
||||
|
||||
def test_turns_off_gnss(self):
|
||||
for s in (0.1, 1, 5):
|
||||
managed_processes['qcomgpsd'].start()
|
||||
time.sleep(s)
|
||||
managed_processes['qcomgpsd'].stop()
|
||||
with self.subTest(runtime=s):
|
||||
managed_processes['qcomgpsd'].start()
|
||||
time.sleep(s)
|
||||
managed_processes['qcomgpsd'].stop()
|
||||
|
||||
ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
|
||||
loc_status = json.loads(ls)
|
||||
assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
|
||||
ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
|
||||
loc_status = json.loads(ls)
|
||||
assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
|
||||
|
||||
|
||||
def check_assistance(self, should_be_loaded):
|
||||
|
||||
+12
-6
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import subprocess
|
||||
from typing import List, Optional, Callable, TypeVar
|
||||
from typing import List, Callable, TypeVar
|
||||
from functools import lru_cache
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
@@ -22,7 +22,7 @@ def run_cmd(cmd: List[str]) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8').strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[str]:
|
||||
def run_cmd_default(cmd: List[str], default: str = "") -> str:
|
||||
try:
|
||||
return run_cmd(cmd)
|
||||
except subprocess.CalledProcessError:
|
||||
@@ -31,17 +31,22 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s
|
||||
|
||||
@cache
|
||||
def get_commit(branch: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "rev-parse", branch]) or ""
|
||||
return run_cmd_default(["git", "rev-parse", branch])
|
||||
|
||||
|
||||
@cache
|
||||
def get_commit_date(commit: str = "HEAD") -> str:
|
||||
return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
|
||||
|
||||
|
||||
@cache
|
||||
def get_short_branch() -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or ""
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
|
||||
|
||||
|
||||
@cache
|
||||
def get_branch() -> str:
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or ""
|
||||
return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
|
||||
|
||||
|
||||
@cache
|
||||
@@ -51,7 +56,7 @@ def get_origin() -> str:
|
||||
tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
|
||||
return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
|
||||
except subprocess.CalledProcessError: # Not on a branch, fallback
|
||||
return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or ""
|
||||
return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
|
||||
|
||||
|
||||
@cache
|
||||
@@ -132,3 +137,4 @@ if __name__ == "__main__":
|
||||
print(f"Branch: {get_branch()}")
|
||||
print(f"Short branch: {get_short_branch()}")
|
||||
print(f"Prebuilt: {is_prebuilt()}")
|
||||
print(f"Commit date: {get_commit_date()}")
|
||||
|
||||
@@ -73,7 +73,7 @@ class ReadMode(enum.StrEnum):
|
||||
QLOG = "q" # only read qlogs
|
||||
SANITIZED = "s" # read from the commaCarSegments database
|
||||
AUTO = "a" # default to rlogs, fallback to qlogs
|
||||
AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user
|
||||
AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user
|
||||
|
||||
|
||||
LogPath = Optional[str]
|
||||
@@ -81,6 +81,8 @@ LogPaths = List[LogPath]
|
||||
ValidFileCallable = Callable[[LogPath], bool]
|
||||
Source = Callable[[SegmentRange, ReadMode], LogPaths]
|
||||
|
||||
InternalUnavailableException = Exception("Internal source not available")
|
||||
|
||||
def default_valid_file(fn: LogPath) -> bool:
|
||||
return fn is not None and file_exists(fn)
|
||||
|
||||
@@ -106,7 +108,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, v
|
||||
return qlog_paths
|
||||
elif mode == ReadMode.AUTO:
|
||||
return auto_strategy(rlog_paths, qlog_paths, False, valid_file)
|
||||
elif mode == ReadMode.AUTO_INTERACIVE:
|
||||
elif mode == ReadMode.AUTO_INTERACTIVE:
|
||||
return auto_strategy(rlog_paths, qlog_paths, True, valid_file)
|
||||
raise Exception(f"invalid mode: {mode}")
|
||||
|
||||
@@ -126,7 +128,7 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
|
||||
|
||||
def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
|
||||
if not internal_source_available():
|
||||
raise Exception("Internal source not available")
|
||||
raise InternalUnavailableException
|
||||
|
||||
def get_internal_url(sr: SegmentRange, seg, file):
|
||||
return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
|
||||
@@ -160,7 +162,7 @@ def get_invalid_files(files):
|
||||
|
||||
def check_source(source: Source, *args) -> LogPaths:
|
||||
files = source(*args)
|
||||
assert next(get_invalid_files(files), None) is None
|
||||
assert next(get_invalid_files(files), False) is False
|
||||
return files
|
||||
|
||||
|
||||
|
||||
+5
-5
@@ -264,7 +264,7 @@ class SegmentRange:
|
||||
return self.m.group("timestamp")
|
||||
|
||||
@property
|
||||
def _slice(self) -> str:
|
||||
def slice(self) -> str:
|
||||
return self.m.group("slice") or ""
|
||||
|
||||
@property
|
||||
@@ -273,12 +273,12 @@ class SegmentRange:
|
||||
|
||||
@property
|
||||
def seg_idxs(self) -> list[int]:
|
||||
m = re.fullmatch(RE.SLICE, self._slice)
|
||||
assert m is not None, f"Invalid slice: {self._slice}"
|
||||
m = re.fullmatch(RE.SLICE, self.slice)
|
||||
assert m is not None, f"Invalid slice: {self.slice}"
|
||||
start, end, step = (None if s is None else int(s) for s in m.groups())
|
||||
|
||||
# one segment specified
|
||||
if start is not None and end is None and ':' not in self._slice:
|
||||
if start is not None and end is None and ':' not in self.slice:
|
||||
if start < 0:
|
||||
start += get_max_seg_number_cached(self) + 1
|
||||
return [start]
|
||||
@@ -291,7 +291,7 @@ class SegmentRange:
|
||||
return list(range(end + 1))[s]
|
||||
|
||||
def __str__(self) -> str:
|
||||
return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "")
|
||||
return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
|
||||
|
||||
def __repr__(self) -> str:
|
||||
return self.__str__()
|
||||
|
||||
@@ -25,7 +25,7 @@ class TestCommaCarSegments(unittest.TestCase):
|
||||
|
||||
sr = SegmentRange(segment)
|
||||
|
||||
url = get_url(sr.route_name, sr._slice)
|
||||
url = get_url(sr.route_name, sr.slice)
|
||||
|
||||
resp = requests.get(url)
|
||||
self.assertEqual(resp.status_code, 200)
|
||||
|
||||
@@ -1,4 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
import contextlib
|
||||
import io
|
||||
import shutil
|
||||
import tempfile
|
||||
import os
|
||||
@@ -9,7 +11,7 @@ import requests
|
||||
from parameterized import parameterized
|
||||
from unittest import mock
|
||||
|
||||
from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode
|
||||
from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
|
||||
from openpilot.tools.lib.route import SegmentRange
|
||||
from openpilot.tools.lib.url_file import URLFileException
|
||||
|
||||
@@ -23,6 +25,24 @@ def noop(segment: LogIterable):
|
||||
return segment
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def setup_source_scenario(is_internal=False):
|
||||
with (
|
||||
mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock,
|
||||
mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock,
|
||||
mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock,
|
||||
):
|
||||
if is_internal:
|
||||
internal_source_mock.return_value = [QLOG_FILE]
|
||||
else:
|
||||
internal_source_mock.side_effect = InternalUnavailableException
|
||||
|
||||
openpilotci_source_mock.return_value = [None]
|
||||
comma_api_source_mock.return_value = [QLOG_FILE]
|
||||
|
||||
yield
|
||||
|
||||
|
||||
class TestLogReader(unittest.TestCase):
|
||||
@parameterized.expand([
|
||||
(f"{TEST_ROUTE}", ALL_SEGS),
|
||||
@@ -168,10 +188,33 @@ class TestLogReader(unittest.TestCase):
|
||||
with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock:
|
||||
log_paths_mock.return_value = [None] * NUM_SEGS
|
||||
# Should fall back to qlogs since rlogs are not available
|
||||
lr = LogReader(f"{TEST_ROUTE}/0/a", default_source=comma_api_source)
|
||||
log_len = len(list(lr))
|
||||
|
||||
self.assertEqual(qlog_len, log_len)
|
||||
with self.subTest("interactive_yes"):
|
||||
with mock.patch("sys.stdin", new=io.StringIO("y\n")):
|
||||
lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
|
||||
log_len = len(list(lr))
|
||||
self.assertEqual(qlog_len, log_len)
|
||||
|
||||
with self.subTest("interactive_no"):
|
||||
with mock.patch("sys.stdin", new=io.StringIO("n\n")):
|
||||
with self.assertRaises(AssertionError):
|
||||
lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
|
||||
|
||||
with self.subTest("non_interactive"):
|
||||
lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source)
|
||||
log_len = len(list(lr))
|
||||
self.assertEqual(qlog_len, log_len)
|
||||
|
||||
@parameterized.expand([(True,), (False,)])
|
||||
@pytest.mark.slow
|
||||
def test_auto_source_scenarios(self, is_internal):
|
||||
lr = LogReader(QLOG_FILE)
|
||||
qlog_len = len(list(lr))
|
||||
|
||||
with setup_source_scenario(is_internal=is_internal):
|
||||
lr = LogReader(f"{TEST_ROUTE}/0/q")
|
||||
log_len = len(list(lr))
|
||||
self.assertEqual(qlog_len, log_len)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -73,7 +73,7 @@ def process(can, lr):
|
||||
return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
|
||||
|
||||
def juggle_route(route_or_segment_name, can, layout, dbc=None):
|
||||
sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE)
|
||||
sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
|
||||
|
||||
all_data = sr.run_across_segments(24, partial(process, can))
|
||||
|
||||
|
||||
Reference in New Issue
Block a user