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Merge remote-tracking branch 'commaai/openpilot/master' into sync-20240201

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This commit is contained in:
Jason Wen
2024-02-02 12:40:18 -05:00
parent 66df10faaf c9bd4e4c0d
commit daae551ea8
799 changed files with 23560 additions and 19411 deletions
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selfdrive/debug/auto_fingerprint.py
-105
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@@ -1,105 +0,0 @@
#!/usr/bin/env python3
import argparse
from openpilot.common.basedir import BASEDIR
from openpilot.tools.lib.logreader import MultiLogIterator
from openpilot.tools.lib.route import Route
from openpilot.selfdrive.car.fw_versions import match_fw_to_car
from openpilot.selfdrive.car.interfaces import get_interface_attr
ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS")
ALL_CARS = get_interface_attr("CAR")
PLATFORM_TO_PYTHON_CAR_NAME = {brand: {car.value: car.name for car in ALL_CARS[brand]} for brand in ALL_CARS}
BRAND_TO_PLATFORMS = {brand: [car.value for car in ALL_CARS[brand]] for brand in ALL_CARS}
PLATFORM_TO_BRAND = dict(sum([[(platform, brand) for platform in BRAND_TO_PLATFORMS[brand]] for brand in BRAND_TO_PLATFORMS], []))
def add_fw_versions(brand, platform, new_fw_versions):
filename = f"{BASEDIR}/selfdrive/car/{brand}/values.py"
with open(filename, "r") as f:
values_py = f.read()
for key in new_fw_versions.keys():
ecu, addr, subAddr = key
fw_version = new_fw_versions[key]
platform_start = values_py.index(f"CAR.{PLATFORM_TO_PYTHON_CAR_NAME[brand][platform]}: {{")
start = values_py.index(f"(Ecu.{ecu}, {hex(addr)}, {subAddr}): [", platform_start)
try:
end_str = "],\n"
end = values_py.index(end_str, start)
except ValueError:
end_str = "]\n"
end = values_py.index(end_str, start)
values_py = values_py[:end] + f" {fw_version},\n " + values_py[end:]
with open(filename, "w") as f:
f.write(values_py)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Auto fingerprint from a route")
parser.add_argument("route", help="The route name to use")
parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?')
args = parser.parse_args()
route = Route(args.route)
lr = MultiLogIterator(route.qlog_paths())
carFw = None
carVin = None
carPlatform = None
for msg in lr:
if msg.which() == "carParams":
carFw = msg.carParams.carFw
carVin = msg.carParams.carVin
carPlatform = msg.carParams.carFingerprint
break
if carFw is None:
raise Exception("No fw versions in the provided route...")
if args.platform is None: # attempt to auto-determine platform with other fuzzy fingerprints
_, possible_platforms = match_fw_to_car(carFw, log=False)
if len(possible_platforms) != 1:
print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
if carPlatform != "mock":
print("Using platform from route")
platform = carPlatform
else:
raise Exception("unable to determine platform, try manually specifying the fingerprint.")
else:
platform = list(possible_platforms)[0]
else:
platform = args.platform
print("Attempting to add fw version for: ", platform)
brand = PLATFORM_TO_BRAND[platform]
new_fw_versions = {}
for fw in carFw:
if fw.brand == brand:
addr = fw.address
subAddr = None if fw.subAddress == 0 else fw.subAddress
key = (fw.ecu.raw, addr, subAddr)
if key in ALL_FW_VERSIONS[brand][platform]:
fw_versions = set(ALL_FW_VERSIONS[brand][platform][key])
if fw.fwVersion not in fw_versions:
new_fw_versions[(fw.ecu, addr, subAddr)] = fw.fwVersion
if not new_fw_versions:
print("No new fw versions found...")
add_fw_versions(brand, platform, new_fw_versions)
selfdrive/debug/can_print_changes.py
+7 -4
View File
@@ -3,10 +3,11 @@ import argparse
import binascii
import time
from collections import defaultdict
from typing import Optional
import cereal.messaging as messaging
from openpilot.selfdrive.debug.can_table import can_table
from openpilot.tools.lib.logreader import logreader_from_route_or_segment
from openpilot.tools.lib.logreader import LogIterable, LogReader
RED = '\033[91m'
CLEAR = '\033[0m'
@@ -95,13 +96,15 @@ if __name__ == "__main__":
args = parser.parse_args()
init_lr, new_lr = None, None
init_lr: Optional[LogIterable] = None
new_lr: Optional[LogIterable] = None
if args.init:
if args.init == '':
init_lr = []
else:
init_lr = logreader_from_route_or_segment(args.init)
init_lr = LogReader(args.init)
if args.comp:
new_lr = logreader_from_route_or_segment(args.comp)
new_lr = LogReader(args.comp)
can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)
selfdrive/debug/count_events.py
+21 -27
View File
@@ -4,16 +4,12 @@ import math
import datetime
from collections import Counter
from pprint import pprint
from tqdm import tqdm
from typing import List, Tuple, cast
from cereal.services import SERVICE_LIST
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.logreader import LogReader, ReadMode
if __name__ == "__main__":
r = Route(sys.argv[1])
cnt_valid: Counter = Counter()
cnt_events: Counter = Counter()
@@ -24,31 +20,29 @@ if __name__ == "__main__":
start_time = math.inf
end_time = -math.inf
ignition_off = None
for q in tqdm(r.qlog_paths()):
if q is None:
continue
lr = list(LogReader(q))
for msg in lr:
end_time = max(end_time, msg.logMonoTime)
start_time = min(start_time, msg.logMonoTime)
for msg in LogReader(sys.argv[1], ReadMode.QLOG):
end_time = max(end_time, msg.logMonoTime)
start_time = min(start_time, msg.logMonoTime)
if msg.which() == 'carEvents':
for e in msg.carEvents:
cnt_events[e.name] += 1
elif msg.which() == 'controlsState':
if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
if msg.which() == 'onroadEvents':
for e in msg.onroadEvents:
cnt_events[e.name] += 1
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, msg.controlsState.alertType))
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
elif msg.which() in cams:
cnt_cameras[msg.which()] += 1
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
elif msg.which() in cams:
cnt_cameras[msg.which()] += 1
if not msg.valid:
cnt_valid[msg.which()] += 1
if not msg.valid:
cnt_valid[msg.which()] += 1
duration = (end_time - start_time) / 1e9
selfdrive/debug/cycle_alerts.py
+2 -3
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@@ -54,9 +54,8 @@ def cycle_alerts(duration=200, is_metric=False):
CS = car.CarState.new_message()
CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED',
'driverMonitoringStateSP'] + cameras)
'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
'managerState', 'longitudinalPlanSP', 'driverMonitoringStateSP'] + cameras)
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
selfdrive/debug/debug_fw_fingerprinting_offline.py
Executable
+46
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@@ -0,0 +1,46 @@
#!/usr/bin/env python3
import argparse
from openpilot.tools.lib.logreader import LogReader, ReadMode
from panda.python import uds
def main(route: str, addrs: list[int]):
"""
TODO:
- highlight TX vs RX clearly
- disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128)
- print as fixed width table, easier to read
"""
lr = LogReader(route, default_mode=ReadMode.RLOG)
start_mono_time = None
prev_mono_time = 0
# include rx addresses
addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs]
for msg in lr:
if msg.which() == 'can':
if start_mono_time is None:
start_mono_time = msg.logMonoTime
if msg.which() in ("can", 'sendcan'):
for can in getattr(msg, msg.which()):
if can.address in addrs:
if msg.logMonoTime != prev_mono_time:
print()
prev_mono_time = msg.logMonoTime
print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " +
f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}")
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
parser.add_argument('route', help='Route name')
parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)')
args = parser.parse_args()
addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
main(args.route, addrs)
selfdrive/debug/filter_log_message.py
+10 -25
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@@ -1,11 +1,9 @@
#!/usr/bin/env python3
import os
import argparse
import json
import cereal.messaging as messaging
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route
LEVELS = {
"DEBUG": 10,
@@ -53,31 +51,18 @@ if __name__ == "__main__":
parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
args = parser.parse_args()
logs = None
if len(args.route):
if os.path.exists(args.route[0]):
logs = [args.route[0]]
else:
r = Route(args.route[0])
logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)]
if len(args.route) == 2 and logs:
n = int(args.route[1])
logs = [logs[n]]
min_level = LEVELS[args.level]
if logs:
for log in logs:
if log:
lr = LogReader(log)
for m in lr:
if m.which() == 'logMessage':
print_logmessage(m.logMonoTime, m.logMessage, min_level)
elif m.which() == 'errorLogMessage' and 'qlog' in log:
print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
elif m.which() == 'androidLog':
print_androidlog(m.logMonoTime, m.androidLog)
if args.route:
for route in args.route:
lr = LogReader(route)
for m in lr:
if m.which() == 'logMessage':
print_logmessage(m.logMonoTime, m.logMessage, min_level)
elif m.which() == 'errorLogMessage':
print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
elif m.which() == 'androidLog':
print_androidlog(m.logMonoTime, m.androidLog)
else:
sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
while True:
selfdrive/debug/fingerprint_from_route.py
+2 -4
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@@ -1,8 +1,7 @@
#!/usr/bin/env python3
import sys
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.logreader import MultiLogIterator
from openpilot.tools.lib.logreader import LogReader, ReadMode
def get_fingerprint(lr):
@@ -40,6 +39,5 @@ if __name__ == "__main__":
print("Usage: ./fingerprint_from_route.py <route>")
sys.exit(1)
route = Route(sys.argv[1])
lr = MultiLogIterator(route.log_paths()[:5])
lr = LogReader(sys.argv[1], ReadMode.QLOG)
get_fingerprint(lr)
selfdrive/debug/format_fingerprints.py
Executable
+81
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@@ -0,0 +1,81 @@
#!/usr/bin/env python3
import jinja2
import os
from cereal import car
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car.interfaces import get_interface_attr
Ecu = car.CarParams.Ecu
CARS = get_interface_attr('CAR')
FW_VERSIONS = get_interface_attr('FW_VERSIONS')
FINGERPRINTS = get_interface_attr('FINGERPRINTS')
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
{%- if FINGERPRINTS[brand] %}
# ruff: noqa: E501
{% endif %}
{% if FW_VERSIONS[brand] %}
from cereal import car
{% endif %}
from openpilot.selfdrive.car.{{brand}}.values import CAR
{% if FW_VERSIONS[brand] %}
Ecu = car.CarParams.Ecu
{% endif %}
{% if comments +%}
{{ comments | join() }}
{% endif %}
{% if FINGERPRINTS[brand] %}
FINGERPRINTS = {
{% for car, fingerprints in FINGERPRINTS[brand].items() %}
CAR.{{car.name}}: [{
{% for fingerprint in fingerprints %}
{% if not loop.first %}
{{ "{" }}
{% endif %}
{% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
}{% if loop.last %}]{% endif %},
{% endfor %}
{% endfor %}
}
{% endif %}
FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
{% for car, _ in FW_VERSIONS[brand].items() %}
CAR.{{car.name}}: {
{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
{% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
{{fw_version}},
{% endfor %}
],
{% endfor %}
},
{% endfor %}
}
""", trim_blocks=True)
def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
extra_fw_versions = extra_fw_versions or {}
fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py")
with open(fingerprints_file, "r") as f:
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
with open(fingerprints_file, "w") as f:
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
extra_fw_versions=extra_fw_versions))
if __name__ == "__main__":
for brand in FW_VERSIONS.keys():
format_brand_fw_versions(brand)
selfdrive/debug/print_docs_diff.py
+4 -3
View File
@@ -8,9 +8,10 @@ from openpilot.selfdrive.car.docs import get_all_car_info
from openpilot.selfdrive.car.docs_definitions import Column
FOOTNOTE_TAG = "<sup>{}</sup>"
STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
VIDEO_ICON = '<a href="{}" target="_blank">\
<img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
STAR_ICON = '<a href="##"><img valign="top" ' + \
'src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
VIDEO_ICON = '<a href="{}" target="_blank">' + \
'<img height="18px" src="https://media.githubusercontent.com/media/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
ARROW_SYMBOL = "➡️"
selfdrive/debug/profiling/clpeak/.gitignore
-1
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@@ -1 +0,0 @@
clpeak/
selfdrive/debug/profiling/clpeak/build.sh
-22
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@@ -1,22 +0,0 @@
#!/usr/bin/bash
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
cd $DIR
if [ ! -d "$DIR/clpeak" ]; then
git clone https://github.com/krrishnarraj/clpeak.git
cd clpeak
git fetch
git checkout ec2d3e70e1abc7738b81f9277c7af79d89b2133b
git reset --hard origin/master
git submodule update --init --recursive --remote
git apply ../run_continuously.patch
fi
cd clpeak
mkdir build || true
cd build
cmake ..
cmake --build .
selfdrive/debug/profiling/clpeak/clpeak3
BIN
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Binary file not shown.
selfdrive/debug/profiling/clpeak/no_print.patch
-39
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@@ -1,39 +0,0 @@
diff --git a/src/logger.cpp b/src/logger.cpp
index a63c6dd..a1d9860 100644
--- a/src/logger.cpp
+++ b/src/logger.cpp
@@ -24,34 +24,22 @@ logger::~logger()
void logger::print(string str)
{
- cout << str;
- cout.flush();
}
void logger::print(double val)
{
- cout << setprecision(2) << fixed;
- cout << val;
- cout.flush();
}
void logger::print(float val)
{
- cout << setprecision(2) << fixed;
- cout << val;
- cout.flush();
}
void logger::print(int val)
{
- cout << val;
- cout.flush();
}
void logger::print(unsigned int val)
{
- cout << val;
- cout.flush();
}
void logger::xmlOpenTag(string tag)
selfdrive/debug/profiling/clpeak/run_continuously.patch
-13
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@@ -1,13 +0,0 @@
diff --git a/src/clpeak.cpp b/src/clpeak.cpp
index 8cb192b..b6fe6f5 100644
--- a/src/clpeak.cpp
+++ b/src/clpeak.cpp
@@ -47,7 +47,7 @@ int clPeak::runAll()
log->xmlOpenTag("clpeak");
log->xmlAppendAttribs("os", OS_NAME);
- for (size_t p = 0; p < platforms.size(); p++)
+ for (size_t p = 0; p < platforms.size(); (p+1 % platforms.size()))
{
if (forcePlatform && (p != specifiedPlatform))
continue;
selfdrive/debug/profiling/ftrace.sh
-23
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@@ -1,23 +0,0 @@
#!/usr/bin/bash
set -e
cd /sys/kernel/tracing
echo 1 > tracing_on
echo boot > trace_clock
echo 1000 > buffer_size_kb
# /sys/kernel/tracing/available_events
echo 1 > events/irq/enable
echo 1 > events/sched/enable
echo 1 > events/kgsl/enable
echo 1 > events/camera/enable
echo 1 > events/workqueue/enable
echo > trace
sleep 5
echo 0 > tracing_on
cp trace /tmp/trace
chown comma: /tmp/trace
echo /tmp/trace
selfdrive/debug/profiling/palanteer/.gitignore
-2
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@@ -1,2 +0,0 @@
palanteer/
viewer
selfdrive/debug/profiling/palanteer/setup.sh
-24
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@@ -1,24 +0,0 @@
#!/bin/bash
set -e
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
cd $DIR
if [ ! -d palanteer ]; then
git clone https://github.com/dfeneyrou/palanteer
pip install wheel
sudo apt install libunwind-dev libdw-dev
fi
cd palanteer
git pull
mkdir -p build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
pip install --force-reinstall python/dist/palanteer*.whl
cp bin/palanteer $DIR/viewer
selfdrive/debug/profiling/perfetto/.gitignore
-7
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@@ -1,7 +0,0 @@
trace_*
tracebox
trace_processor
perfetto/
configs/
selfdrive/debug/profiling/perfetto/build.sh
-11
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@@ -1,11 +0,0 @@
#!/usr/bin/bash
if [ ! -d perfetto ]; then
git clone https://android.googlesource.com/platform/external/perfetto/
fi
cd perfetto
tools/install-build-deps --linux-arm
tools/gn gen --args='is_debug=false target_os="linux" target_cpu="arm64"' out/linux
tools/ninja -C out/linux tracebox traced traced_probes perfetto
selfdrive/debug/profiling/perfetto/copy.sh
-6
View File
@@ -1,6 +0,0 @@
#!/usr/bin/bash
DEST=tici:/data/openpilot/selfdrive/debug/profiling/perfetto
scp -r perfetto/out/linux/tracebox $DEST
scp -r perfetto/test/configs $DEST
selfdrive/debug/profiling/perfetto/record.sh
-8
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@@ -1,8 +0,0 @@
#!/usr/bin/bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
OUT=trace_
sudo ./tracebox -o $OUT --txt -c configs/scheduling.cfg
sudo chown $USER:$USER $OUT
selfdrive/debug/profiling/perfetto/server.sh
-6
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@@ -1,6 +0,0 @@
#!/usr/bin/bash
curl -LO https://get.perfetto.dev/trace_processor
chmod +x ./trace_processor
./trace_processor --httpd
selfdrive/debug/profiling/perfetto/traces.sh
-5
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@@ -1,5 +0,0 @@
#!/usr/bin/bash
DEST=tici:/data/openpilot/selfdrive/debug/profiling/perfetto
scp tici:/data/openpilot/selfdrive/debug/profiling/perfetto/trace_* .
selfdrive/debug/profiling/py-spy/profile.sh
-21
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@@ -1,21 +0,0 @@
#!/usr/bin/env bash
set -e
cd "$(dirname "$0")"
# find process with name passed in (excluding this process)
for PID in $(pgrep -f $1); do
if [ "$PID" != "$$" ]; then
ps -p $PID -o args
TRACE_PID=$PID
break
fi
done
if [ -z "$TRACE_PID" ]; then
echo "could not find PID for $1"
exit 1
fi
sudo env PATH=$PATH py-spy record -d 5 -o /tmp/perf$TRACE_PID.svg -p $TRACE_PID &&
google-chrome /tmp/perf$TRACE_PID.svg
selfdrive/debug/profiling/snapdragon/.gitignore
-1
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@@ -1 +0,0 @@
SnapdragonProfiler/
selfdrive/debug/profiling/snapdragon/README
-7
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@@ -1,7 +0,0 @@
snapdragon profiler
--------
* download from https://developer.qualcomm.com/software/snapdragon-profiler
* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
* run ./setup-agnos.sh
* run selfdrive/debug/adb.sh on device
selfdrive/debug/profiling/snapdragon/setup-agnos.sh
-7
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@@ -1,7 +0,0 @@
#!/bin/bash
# TODO: there's probably a better way to do this
cd SnapdragonProfiler/service
mv android real_android
ln -s agl/ android
selfdrive/debug/profiling/watch-irqs.sh
-4
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@@ -1,4 +0,0 @@
#!/usr/bin/bash
set -e
RUBYOPT="-W0" irqtop -d1 -R
selfdrive/debug/run_process_on_route.py
+5 -6
View File
@@ -3,29 +3,28 @@
import argparse
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
from openpilot.tools.lib.logreader import MultiLogIterator
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.helpers import save_log
from openpilot.tools.lib.logreader import LogReader
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Run process on route and create new logs",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--fingerprint", help="The fingerprint to use")
parser.add_argument("route", help="The route name to use")
parser.add_argument("process", help="The process to run")
args = parser.parse_args()
cfg = [c for c in CONFIGS if c.proc_name == args.process][0]
route = Route(args.route)
lr = MultiLogIterator(route.log_paths())
lr = LogReader(args.route)
inputs = list(lr)
outputs = replay_process(cfg, inputs)
outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint)
# Remove message generated by the process under test and merge in the new messages
produces = {o.which() for o in outputs}
inputs = [i for i in inputs if i.which() not in produces]
outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
fn = f"{args.route}_{args.process}.bz2"
fn = f"{args.route.replace('/', '_')}_{args.process}.bz2"
save_log(fn, outputs)
selfdrive/debug/sensor_data_to_hist.py
-111
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@@ -1,111 +0,0 @@
#!/usr/bin/env python3
'''
printing the gap between interrupts in a histogram to check if the
frequency is what we expect, the bmx is not interrupt driven for as we
get interrupts in a 2kHz rate.
'''
import argparse
import sys
import numpy as np
from collections import defaultdict
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route
import matplotlib.pyplot as plt
SRC_BMX = "bmx055"
SRC_LSM = "lsm6ds3"
def parseEvents(log_reader):
bmx_data = defaultdict(list)
lsm_data = defaultdict(list)
for m in log_reader:
if m.which() not in ['accelerometer', 'gyroscope']:
continue
d = getattr(m, m.which()).to_dict()
if d["source"] == SRC_BMX and "acceleration" in d:
bmx_data["accel"].append(d["timestamp"] / 1e9)
if d["source"] == SRC_BMX and "gyroUncalibrated" in d:
bmx_data["gyro"].append(d["timestamp"] / 1e9)
if d["source"] == SRC_LSM and "acceleration" in d:
lsm_data["accel"].append(d["timestamp"] / 1e9)
if d["source"] == SRC_LSM and "gyroUncalibrated" in d:
lsm_data["gyro"].append(d["timestamp"] / 1e9)
return bmx_data, lsm_data
def cleanData(data):
if len(data) == 0:
return [], []
data.sort()
diffs = np.diff(data)
return data, diffs
def logAvgValues(data, sensor):
if len(data) == 0:
print(f"{sensor}: no data to average")
return
avg = sum(data) / len(data)
hz = 1 / avg
print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("route", type=str, help="route name")
parser.add_argument("segment", type=int, help="segment number")
args = parser.parse_args()
r = Route(args.route)
logs = r.log_paths()
if len(logs) == 0:
print("NO data routes")
sys.exit(0)
if args.segment >= len(logs):
print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}")
sys.exit(0)
lr = LogReader(logs[args.segment])
bmx_data, lsm_data = parseEvents(lr)
# sort bmx accel data, and then cal all the diffs, and to a histogram of those
bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"])
bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"])
lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"])
lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"])
# get out the averages
logAvgValues(bmx_accel_diffs, "bmx accel")
logAvgValues(bmx_gyro_diffs, "bmx gyro ")
logAvgValues(lsm_accel_diffs, "lsm accel")
logAvgValues(lsm_gyro_diffs, "lsm gyro ")
fig, axs = plt.subplots(1, 2, tight_layout=True)
axs[0].hist(bmx_accel_diffs, bins=50)
axs[0].set_title("bmx_accel")
axs[1].hist(bmx_gyro_diffs, bins=50)
axs[1].set_title("bmx_gyro")
figl, axsl = plt.subplots(1, 2, tight_layout=True)
axsl[0].hist(lsm_accel_diffs, bins=50)
axsl[0].set_title("lsm_accel")
axsl[1].hist(lsm_gyro_diffs, bins=50)
axsl[1].set_title("lsm_gyro")
print("check plot...")
plt.show()
selfdrive/debug/test_car_model.py
-38
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@@ -1,38 +0,0 @@
#!/usr/bin/env python3
import argparse
import sys
from typing import List
import unittest
from openpilot.selfdrive.car.tests.routes import CarTestRoute
from openpilot.selfdrive.car.tests.test_models import TestCarModel
from openpilot.tools.lib.route import SegmentName
def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite:
test_suite = unittest.TestSuite()
for test_route in routes:
# create new test case and discover tests
test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci}
CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
return test_suite
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
"Uses selfdrive/car/tests/test_models.py")
parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
parser.add_argument("--car", help="Specify car model for test route")
parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
args = parser.parse_args()
if len(sys.argv) == 1:
parser.print_help()
sys.exit()
route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
test_suite = create_test_models_suite([test_route], ci=args.ci)
unittest.TextTestRunner().run(test_suite)
selfdrive/debug/test_fw_query_on_routes.py
+6 -17
View File
@@ -6,8 +6,8 @@ import argparse
import os
import traceback
from tqdm import tqdm
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.logreader import LogReader, ReadMode
from openpilot.tools.lib.route import SegmentRange
from openpilot.selfdrive.car.car_helpers import interface_names
from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
@@ -44,23 +44,14 @@ if __name__ == "__main__":
dongles = []
for route in tqdm(routes):
route = route.rstrip()
dongle_id, time = route.split('|')
dongle_id = SegmentRange(route).dongle_id
if dongle_id in dongles:
continue
if NO_API:
qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
else:
route = Route(route)
qlog_path = next((p for p in route.qlog_paths() if p is not None), None)
if qlog_path is None:
continue
lr = LogReader(route, default_mode=ReadMode.QLOG)
try:
lr = LogReader(qlog_path)
dongles.append(dongle_id)
CP = None
@@ -98,13 +89,11 @@ if __name__ == "__main__":
if len(fuzzy_matches) == 1:
if list(fuzzy_matches)[0] != live_fingerprint:
wrong_fuzzy += 1
print(f"{dongle_id}|{time}")
print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint)
else:
good_fuzzy += 1
break
print(f"{dongle_id}|{time}")
print("Old style:", live_fingerprint, "Vin", CP.carVin)
print("New style (exact):", exact_matches)
print("New style (fuzzy):", fuzzy_matches)
@@ -112,8 +101,8 @@ if __name__ == "__main__":
padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
for version in sorted(car_fw, key=lambda fw: fw.brand):
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \
(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " +
f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
print("Mismatches")
found = False
selfdrive/debug/toyota_eps_factor.py
+2 -4
View File
@@ -5,8 +5,7 @@ import matplotlib.pyplot as plt
from sklearn import linear_model
from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.logreader import MultiLogIterator
from openpilot.tools.lib.logreader import LogReader
MIN_SAMPLES = 30 * 100
@@ -58,7 +57,6 @@ def get_eps_factor(lr, plot=False):
if __name__ == "__main__":
r = Route(sys.argv[1])
lr = MultiLogIterator(r.log_paths())
lr = LogReader(sys.argv[1])
n = get_eps_factor(lr, plot="--plot" in sys.argv)
print("EPS torque factor: ", n)