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This commit is contained in:
Adeeb Shihadeh
2026-07-19 14:52:04 -07:00
parent 3dbf02f803
commit e124d6df9b
8 changed files with 4 additions and 69 deletions
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openpilot/cereal/messaging/tests/test_pub_sub_master.py
-9
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@@ -91,15 +91,6 @@ class TestSubMaster:
else:
assert not sm._check_avg_freq(service)
def test_alive(self):
pass
def test_ignore_alive(self):
pass
def test_valid(self):
pass
# SubMaster should always conflate
def test_conflate(self):
sock = "carState"
openpilot/common/params_keys.h
-1
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@@ -78,7 +78,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"LastUpdateTime", {PERSISTENT, TIME}},
{"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
{"LiveDelay", {PERSISTENT, BYTES}},
{"LiveParameters", {PERSISTENT, JSON}},
{"LiveParametersV2", {PERSISTENT, BYTES}},
{"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
{"LivestreamRequestKeyframe", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
openpilot/common/tests/test_params.py
+3 -3
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@@ -112,14 +112,14 @@ class TestParams:
def test_params_default_value(self):
self.params.remove("LanguageSetting")
self.params.remove("LongitudinalPersonality")
self.params.remove("LiveParameters")
self.params.remove("LiveParametersV2")
assert self.params.get("LanguageSetting") is None
assert self.params.get("LanguageSetting", return_default=False) is None
assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
assert self.params.get("LiveParameters") is None
assert self.params.get("LiveParameters", return_default=True) is None
assert self.params.get("LiveParametersV2") is None
assert self.params.get("LiveParametersV2", return_default=True) is None
def test_params_get_type(self):
# json
openpilot/selfdrive/locationd/paramsd.py
-21
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@@ -200,25 +200,6 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
return current_valid
# TODO: Remove this function after few releases (added in 0.9.9)
def migrate_cached_vehicle_params_if_needed(params: Params):
last_parameters_data_old = params.get("LiveParameters")
last_parameters_data = params.get("LiveParametersV2")
if last_parameters_data_old is None or last_parameters_data is not None:
return
try:
last_parameters_msg = messaging.new_message('liveParameters')
last_parameters_msg.liveParameters.valid = True
last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
except Exception as e:
cloudlog.error(f"Failed to perform parameter migration: {e}")
params.remove("LiveParameters")
def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
last_parameters_data = params.get("LiveParametersV2")
last_carparams_data = params.get("CarParamsPrevRoute")
@@ -273,8 +254,6 @@ def main():
params = Params()
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
migrate_cached_vehicle_params_if_needed(params)
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
openpilot/selfdrive/locationd/test/test_paramsd.py
+1 -30
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@@ -2,7 +2,7 @@ import random
import numpy as np
from openpilot.cereal import messaging
from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
from openpilot.selfdrive.locationd.models.car_kf import CarKalman
from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -30,38 +30,9 @@ class TestParamsd:
params.put("LiveParametersV2", msg.to_bytes(), block=True)
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
# TODO Remove this test after the support for old format is removed
def test_read_saved_params_old_format(self):
params = Params()
lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
CP = next(m for m in lr if m.which() == "carParams").carParams
msg = get_random_live_parameters(CP)
params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
params.remove("LiveParametersV2")
migrate_cached_vehicle_params_if_needed(params)
sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
assert params.get("LiveParametersV2") is not None
def test_read_saved_params_corrupted_old_format(self):
params = Params()
params.put("LiveParameters", {}, block=True)
params.remove("LiveParametersV2")
migrate_cached_vehicle_params_if_needed(params)
assert params.get("LiveParameters") is None
assert params.get("LiveParametersV2") is None
openpilot/selfdrive/ui/layouts/settings/device.py
-1
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@@ -102,7 +102,6 @@ class DeviceLayout(Widget):
self._params.remove("CalibrationParams")
self._params.remove("LiveTorqueParameters")
self._params.remove("LiveParameters")
self._params.remove("LiveParametersV2")
self._params.remove("LiveDelay")
self._params.put_bool("OnroadCycleRequested", True, block=True)
openpilot/selfdrive/ui/mici/layouts/settings/device.py
-1
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@@ -172,7 +172,6 @@ class DeviceLayoutMici(NavScroller):
params = ui_state.params
params.remove("CalibrationParams")
params.remove("LiveTorqueParameters")
params.remove("LiveParameters")
params.remove("LiveParametersV2")
params.remove("LiveDelay")
params.put_bool("OnroadCycleRequested", True, block=True)
openpilot/tools/cabana/streams/replaystream.cc
-3
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@@ -16,10 +16,7 @@ ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
unsetenv("ZMQ");
setenv("COMMA_CACHE", "/tmp/comma_download_cache", 1);
// TODO: Remove when OpenpilotPrefix supports ZMQ
#ifndef __APPLE__
op_prefix = std::make_unique<OpenpilotPrefix>();
#endif
QObject::connect(&settings, &Settings::changed, this, [this]() {
if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);