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Merge branch 'master' into hkg-angle-steering-2025

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# Conflicts:
#	opendbc_repo
#	system/manager/process_config.py
This commit is contained in:
DevTekVE
2025-08-10 13:48:08 +02:00
parent c265e0bb85 f45ad6bab9
commit e8a40d6b85
167 changed files with 17025 additions and 4068 deletions
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.github/labeler.yaml
+1 -1
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@@ -1,6 +1,6 @@
ci:
- changed-files:
- any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
- any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
chore:
- changed-files:
.github/workflows/build-all-tinygrad-models.yaml
+18
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@@ -16,7 +16,24 @@ jobs:
recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
json_file: ${{ steps.get-json.outputs.json_file }}
model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
steps:
- name: Checkout sunnypilot repo
uses: actions/checkout@v4
with:
repository: sunnypilot/sunnypilot
path: sunnypilot
submodules: recursive
- name: Get tinygrad_repo ref
id: get-tinygrad-ref
run: |
cd sunnypilot
export PYTHONPATH=$(pwd)
ref=$(python3 sunnypilot/models/tinygrad_ref.py)
echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
echo "tinygrad_ref is $ref"
- name: Checkout docs repo (sunnypilot-docs, gh-pages)
uses: actions/checkout@v4
with:
@@ -269,6 +286,7 @@ jobs:
ARGS=""
[ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
ARGS="$ARGS --sort-by-date"
ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
eval python3 docs/json_parser.py \
--json-path "$JSON_FILE" \
--recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
.github/workflows/build-single-tinygrad-model.yaml
+4 -4
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@@ -42,11 +42,11 @@ on:
recompiled_dir:
description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
required: true
type: number
type: string
json_version:
description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
required: true
type: number
type: string
model_folder:
description: 'Model folder'
type: choice
@@ -67,11 +67,11 @@ on:
generation:
description: 'Model generation'
required: false
type: number
type: string
version:
description: 'Minimum selector version'
required: false
type: number
type: string
env:
RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
.github/workflows/cereal_validation.yaml
+3 -3
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@@ -21,8 +21,8 @@ concurrency:
env:
PYTHONWARNINGS: error
BASE_IMAGE: sunnypilot-base
BUILD: release/ci/docker_build_sp.sh base
BASE_IMAGE: openpilot-base
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
jobs:
@@ -59,7 +59,7 @@ jobs:
steps:
- uses: actions/checkout@v4
with:
repository: 'sunnypilot/sunnypilot'
repository: 'commaai/openpilot'
submodules: true
ref: "refs/heads/master"
- uses: ./.github/workflows/setup-with-retry
.github/workflows/jenkins-pr-trigger.yaml
+14
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@@ -9,6 +9,9 @@ jobs:
scan-comments:
runs-on: ubuntu-latest
if: ${{ github.event.issue.pull_request }}
permissions:
contents: write
issues: write
steps:
- name: Check for trigger phrase
id: check_comment
@@ -43,3 +46,14 @@ jobs:
git config --global user.email "github-actions[bot]@users.noreply.github.com"
git checkout -b tmp-jenkins-${{ github.event.issue.number }}
GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
- name: Delete trigger comment
if: steps.check_comment.outputs.result == 'true' && always()
uses: actions/github-script@v7
with:
script: |
await github.rest.issues.deleteComment({
owner: context.repo.owner,
repo: context.repo.repo,
comment_id: context.payload.comment.id,
});
.github/workflows/selfdrive_tests.yaml
+19 -2
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@@ -67,7 +67,23 @@ jobs:
- name: Check submodules
if: github.repository == 'sunnypilot/sunnypilot'
timeout-minutes: 3
run: release/check-submodules.sh
run: |
if [ "${{ github.ref }}" != "refs/heads/master" ]; then
git fetch origin master:refs/remotes/origin/master
SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
if git ls-files --stage "$path" | grep -q "^160000"; then
echo "$path"
fi
done | tr '\n' ' ')
if [ -n "$SUBMODULE_PATHS" ]; then
echo "Changed submodule paths: $SUBMODULE_PATHS"
export SUBMODULE_PATHS="$SUBMODULE_PATHS"
export CHECK_PR_REFS=true
fi
fi
release/check-submodules.sh
build:
runs-on: ${{
@@ -173,7 +189,8 @@ jobs:
- name: Run unit tests
timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
run: |
${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
$PYTEST --collect-only -m 'not slow' &> /dev/null && \
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
.gitignore
+2
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@@ -13,9 +13,11 @@ venv/
model2.png
a.out
.hypothesis
.cache/
/docs_site/
*.mp4
*.dylib
*.DSYM
*.d
RELEASES.md
+8 -4
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@@ -1,10 +1,14 @@
Version 0.10.0 (2025-07-07)
Version 0.10.0 (2025-08-05)
========================
* New driving model
* Lead car ground-truth fixes
* Ported over VAE from the MLSIM stack
* New training architecture described in CVPR paper
* New training architecture
* Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
* Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
* Action from lateral MPC as training objective replaced by E2E planning from worldmodel
* Low-speed lead car ground-truth fixes
* Enable live-learned steering actuation delay
* Record driving feedback using LKAS button when MADS is disabled
* Opt-in audio recording for dashcam video
Version 0.9.9 (2025-05-23)
SConstruct
+1 -1
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@@ -17,7 +17,7 @@ AGNOS = TICI
Decider('MD5-timestamp')
SetOption('num_jobs', int(os.cpu_count()/2))
SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
AddOption('--kaitai',
action='store_true',
cereal/log.capnp
+13 -3
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@@ -127,8 +127,9 @@ struct OnroadEvent @0xc4fa6047f024e718 {
espActive @90;
personalityChanged @91;
aeb @92;
userFlag @95;
userBookmark @95;
excessiveActuation @96;
audioFeedback @97;
soundsUnavailableDEPRECATED @47;
}
@@ -2468,7 +2469,7 @@ struct DebugAlert {
alertText2 @1 :Text;
}
struct UserFlag {
struct UserBookmark @0xfe346a9de48d9b50 {
}
struct SoundPressure @0xdc24138990726023 {
@@ -2486,6 +2487,11 @@ struct AudioData {
sampleRate @1 :UInt32;
}
struct AudioFeedback {
audio @0 :AudioData;
blockNum @1 :UInt16;
}
struct Touch {
sec @0 :Int64;
usec @1 :Int64;
@@ -2586,9 +2592,13 @@ struct Event {
mapRenderState @105: MapRenderState;
# UI services
userFlag @93 :UserFlag;
uiDebug @102 :UIDebug;
# driving feedback
userBookmark @93 :UserBookmark;
bookmarkButton @148 :UserBookmark;
audioFeedback @149 :AudioFeedback;
# *********** debug ***********
testJoystick @52 :Joystick;
roadEncodeData @86 :EncodeData;
cereal/messaging/tests/test_messaging.py
+1 -1
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@@ -177,8 +177,8 @@ class TestMessaging:
# wait 5 socket timeouts before sending
msg = random_carstate()
delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
start_time = time.monotonic()
delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
recvd = messaging.recv_one_retry(sub_sock)
assert (time.monotonic() - start_time) >= sock_timeout*5
assert isinstance(recvd, capnp._DynamicStructReader)
cereal/messaging/tests/test_pub_sub_master.py
+1 -1
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@@ -86,7 +86,7 @@ class TestSubMaster:
"cameraOdometry": (20, 10),
"liveCalibration": (4, 4),
"carParams": (None, None),
"userFlag": (None, None),
"userBookmark": (None, None),
}
for service, (max_freq, min_freq) in checks.items():
cereal/services.py
+3 -1
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@@ -72,9 +72,11 @@ _services: dict[str, tuple] = {
"navRoute": (True, 0.),
"navThumbnail": (True, 0.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
"userBookmark": (True, 0., 1),
"soundPressure": (True, 10., 10),
"rawAudioData": (False, 20.),
"bookmarkButton": (True, 0., 1),
"audioFeedback": (True, 0., 1),
# sunnypilot
"modelManagerSP": (False, 1., 1),
common/conversions.py → common/constants.py
+5 -1
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@@ -1,6 +1,7 @@
import numpy as np
class Conversions:
# conversions
class CV:
# Speed
MPH_TO_KPH = 1.609344
KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -17,3 +18,6 @@ class Conversions:
# Mass
LB_TO_KG = 0.453592
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
common/params_keys.h
+9 -8
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@@ -12,7 +12,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"ApiCache_Device", {PERSISTENT, STRING}},
{"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
{"AssistNowToken", {PERSISTENT, STRING}},
{"AthenadPid", {PERSISTENT, STRING}},
{"AthenadPid", {PERSISTENT, INT}},
{"AthenadUploadQueue", {PERSISTENT, JSON}},
{"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
{"BootCount", {PERSISTENT, INT}},
@@ -105,6 +105,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
{"PrimeType", {PERSISTENT, INT}},
{"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
{"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
{"RecordFront", {PERSISTENT | BACKUP, BOOL}},
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
{"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
@@ -139,7 +140,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
{"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
{"CarParamsSPPersistent", {PERSISTENT, BYTES}},
{"CarPlatformBundle", {PERSISTENT | BACKUP, STRING}},
{"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
{"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
{"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
{"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
@@ -162,11 +163,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
// Model Manager params
{"ModelManager_ActiveBundle", {PERSISTENT, STRING}},
{"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
{"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
{"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
{"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, STRING}},
{"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
// Neural Network Lateral Control
{"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -177,7 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"SunnylinkCache_Roles", {PERSISTENT, STRING}},
{"SunnylinkCache_Users", {PERSISTENT, STRING}},
{"SunnylinkDongleId", {PERSISTENT, STRING}},
{"SunnylinkdPid", {PERSISTENT, STRING}},
{"SunnylinkdPid", {PERSISTENT, INT}},
{"SunnylinkEnabled", {PERSISTENT, BOOL}},
// Backup Manager params
@@ -192,19 +193,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
// model panel params
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
{"LagdToggleDesc", {PERSISTENT, STRING}},
{"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
// mapd
{"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
{"MapdVersion", {PERSISTENT, STRING, ""}},
{"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
{"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
{"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
{"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}}, // mapd database update happens with device ON, reset on boot
{"OSMDownloadBounds", {PERSISTENT, STRING}},
{"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
{"OSMDownloadLocations", {PERSISTENT, STRING}},
{"OSMDownloadLocations", {PERSISTENT, JSON}},
{"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
{"OsmLocal", {PERSISTENT, BOOL}},
{"OsmLocationName", {PERSISTENT, STRING}},
common/params_pyx.pyx
+10 -5
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@@ -103,14 +103,14 @@ cdef class Params:
return cast(value)
raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
def cpp2python(self, t, value, default, key):
def _cpp2python(self, t, value, default, key):
if value is None:
return None
try:
return CPP_2_PYTHON[t](value)
except (KeyError, TypeError, ValueError):
cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
return self.cpp2python(t, default, None, key)
return self._cpp2python(t, default, None, key)
def get(self, key, bool block=False, bool return_default=False):
cdef string k = self.check_key(key)
@@ -127,8 +127,8 @@ cdef class Params:
# it means we got an interrupt while waiting
raise KeyboardInterrupt
else:
return self.cpp2python(t, default_val, None, key)
return self.cpp2python(t, val, default_val, key)
return self._cpp2python(t, default_val, None, key)
return self._cpp2python(t, val, default_val, key)
def get_bool(self, key, bool block=False):
cdef string k = self.check_key(key)
@@ -189,4 +189,9 @@ cdef class Params:
cdef string k = self.check_key(key)
cdef ParamKeyType t = self.p.getKeyType(k)
cdef optional[string] default = self.p.getKeyDefaultValue(k)
return self.cpp2python(t, default.value(), None, key) if default.has_value() else None
return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
def cpp2python(self, key, value):
cdef string k = self.check_key(key)
cdef ParamKeyType t = self.p.getKeyType(k)
return self._cpp2python(t, value, None, key)
common/prefix.py
+12 -6
View File
@@ -9,20 +9,19 @@ from openpilot.system.hardware.hw import Paths
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
class OpenpilotPrefix:
def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
self.create_dirs_on_enter = create_dirs_on_enter
self.clean_dirs_on_exit = clean_dirs_on_exit
self.shared_download_cache = shared_download_cache
def __enter__(self):
self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
os.environ['OPENPILOT_PREFIX'] = self.prefix
try:
os.mkdir(self.msgq_path)
except FileExistsError:
pass
os.makedirs(Paths.log_root(), exist_ok=True)
if self.create_dirs_on_enter:
self.create_dirs()
if self.shared_download_cache:
os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -40,6 +39,13 @@ class OpenpilotPrefix:
pass
return False
def create_dirs(self):
try:
os.mkdir(self.msgq_path)
except FileExistsError:
pass
os.makedirs(Paths.log_root(), exist_ok=True)
def clean_dirs(self):
symlink_path = Params().get_param_path()
if os.path.exists(symlink_path):
common/tests/test_params.py
+2 -2
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@@ -37,9 +37,9 @@ class TestParams:
def test_params_two_things(self):
self.params.put("DongleId", "bob")
self.params.put("AthenadPid", "123")
self.params.put("AthenadPid", 123)
assert self.params.get("DongleId") == "bob"
assert self.params.get("AthenadPid") == "123"
assert self.params.get("AthenadPid") == 123
def test_params_get_block(self):
def _delayed_writer():
common/util.cc
+7 -1
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@@ -1,4 +1,5 @@
#include "common/util.h"
#include "common/swaglog.h"
#include <sys/ioctl.h>
#include <sys/stat.h>
@@ -151,11 +152,16 @@ int safe_fflush(FILE *stream) {
return ret;
}
int safe_ioctl(int fd, unsigned long request, void *argp) {
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
int ret;
do {
ret = ioctl(fd, request, argp);
} while ((ret == -1) && (errno == EINTR));
if (ret == -1 && exception_msg) {
LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
throw std::runtime_error(exception_msg);
}
return ret;
}
common/util.h
+1 -1
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@@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
FILE* safe_fopen(const char* filename, const char* mode);
size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
int safe_fflush(FILE *stream);
int safe_ioctl(int fd, unsigned long request, void *argp);
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
std::string readlink(const std::string& path);
bool file_exists(const std::string& fn);
docs/CARS.md
+11 -3
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@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 313 Supported Cars
# 321 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Accord 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord 2023">Buy Here</a></sub></details>|||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -117,6 +118,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -179,7 +181,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
@@ -212,7 +214,9 @@ A supported vehicle is one that just works when you install a comma device. All
|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -220,10 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<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?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
launch_env.sh
+1 -1
View File
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="12.4"
export AGNOS_VERSION="12.6"
fi
export STAGING_ROOT="/data/safe_staging"
opendbc_repo
+1 -1
Submodule opendbc_repo updated: c41b0af0ea...dff960dd3d
panda
+1 -1
Submodule panda updated: e46680ff6f...0e7a3fd8cf
pyproject.toml
+1 -1
View File
@@ -119,7 +119,6 @@ dev = [
tools = [
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
#"rerun-sdk >= 0.18", # this is pretty big, so only enable once we use it
]
[project.urls]
@@ -151,6 +150,7 @@ markers = [
testpaths = [
"common",
"selfdrive",
"system/manager",
"system/updated",
"system/athena",
"system/camerad",
release/README.md
+7 -3
View File
@@ -4,20 +4,24 @@
## release checklist
**Go to `devel-staging`**
- [ ] make issue to track release
- [ ] update RELEASES.md
- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
- [ ] build new userdata partition from `release3-staging`
- [ ] open a pull request from `devel-staging` to `devel`
- [ ] post on Discord
- [ ] post on Discord, tag `@release crew`
**Go to `devel`**
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request
- [ ] before merging the pull request, test the following:
- [ ] update from previous release -> new release
- [ ] update from new release -> previous release
- [ ] fresh install with `openpilot-test.comma.ai`
- [ ] drive on fresh install
- [ ] no submodules or LFS
- [ ] check sentry, MTBF, etc.
- [ ] stress test in production
**Go to `release3`**
- [ ] publish the blog post
release/check-submodules.sh
+32 -6
View File
@@ -1,17 +1,43 @@
#!/usr/bin/env bash
has_submodule_changes() {
local submodule_path="$1"
if [ -n "$SUBMODULE_PATHS" ]; then
echo "$SUBMODULE_PATHS" | grep -q "$submodule_path"
return $?
fi
return 1
}
while read hash submodule ref; do
if [ -z "$hash" ] || [ -z "$submodule" ]; then
continue
fi
hash=$(echo "$hash" | sed 's/^[+-]//')
if [ "$submodule" = "tinygrad_repo" ]; then
echo "Skipping $submodule"
continue
fi
git -C $submodule fetch --depth 100 origin master
git -C $submodule branch -r --contains $hash | grep "origin/master"
if [ "$?" -eq 0 ]; then
echo "$submodule ok"
if [ "$CHECK_PR_REFS" = "true" ] && has_submodule_changes "$submodule"; then
echo "Checking $submodule (non-master): verifying hash $hash exists"
git -C $submodule fetch --depth 100 origin
if git -C $submodule cat-file -e $hash 2>/dev/null; then
echo "$submodule ok (hash exists)"
else
echo "$submodule: $hash does not exist in the repository"
exit 1
fi
else
echo "$submodule: $hash is not on master"
exit 1
git -C $submodule fetch --depth 100 origin master
git -C $submodule branch -r --contains $hash | grep "origin/master"
if [ "$?" -eq 0 ]; then
echo "$submodule ok"
else
echo "$submodule: $hash is not on master"
exit 1
fi
fi
done <<< $(git submodule status --recursive)
selfdrive/car/car_specific.py
+1 -1
View File
@@ -57,7 +57,7 @@ class CarSpecificEvents:
events.add(EventName.belowSteerSpeed)
elif self.CP.brand == 'honda':
events = self.create_common_events(CS, CS_prev, pcm_enable=False)
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
selfdrive/car/card.py
+1 -2
View File
@@ -1,5 +1,4 @@
#!/usr/bin/env python3
import json
import os
import time
import threading
@@ -107,7 +106,7 @@ class Car:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params
fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle") or "{}").get("platform", None)
fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
selfdrive/car/cruise.py
+1 -1
View File
@@ -2,7 +2,7 @@ import math
import numpy as np
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
selfdrive/car/tests/test_cruise_speed.py
+1 -1
View File
@@ -6,7 +6,7 @@ from parameterized import parameterized_class
from cereal import log
from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
ButtonEvent = car.CarState.ButtonEvent
selfdrive/car/tests/test_models.py
+3 -1
View File
@@ -439,7 +439,9 @@ class TestCarModelBase(unittest.TestCase):
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
# TODO: remove this exception before closing commaai/opendbc#1100
if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
if self.CP.pcmCruise:
selfdrive/controls/controlsd.py
+11 -7
View File
@@ -2,11 +2,11 @@
import math
import threading
import time
from typing import SupportsFloat
from numbers import Number
from cereal import car, log
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
from openpilot.common.swaglog import cloudlog
@@ -22,6 +22,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
State = log.SelfdriveState.OpenpilotState
@@ -31,15 +33,16 @@ LaneChangeDirection = log.LaneChangeDirection
ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
class Controls(ControlsExt):
class Controls(ControlsExt, ModelStateBase):
def __init__(self) -> None:
self.params = Params()
cloudlog.info("controlsd is waiting for CarParams")
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
cloudlog.info("controlsd got CarParams")
# Initialize sunnypilot controlsd extension
# Initialize sunnypilot controlsd extension and base model state
ControlsExt.__init__(self, self.CP, self.params)
ModelStateBase.__init__(self)
self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
@@ -96,8 +99,9 @@ class Controls(ControlsExt):
torque_params.frictionCoefficientFiltered)
self.LaC.extension.update_model_v2(self.sm['modelV2'])
calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
self.LaC.extension.update_lateral_lag(calculated_lag)
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
self.LaC.extension.update_lateral_lag(self.lat_delay)
long_plan = self.sm['longitudinalPlan']
model_v2 = self.sm['modelV2']
@@ -146,7 +150,7 @@ class Controls(ControlsExt):
# Ensure no NaNs/Infs
for p in ACTUATOR_FIELDS:
attr = getattr(actuators, p)
if not isinstance(attr, SupportsFloat):
if not isinstance(attr, Number):
continue
if not math.isfinite(attr):
selfdrive/controls/lib/desire_helper.py
+1 -1
View File
@@ -1,5 +1,5 @@
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.realtime import DT_MDL
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
selfdrive/controls/lib/drive_helpers.py
+1 -1
View File
@@ -1,5 +1,5 @@
import numpy as np
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.realtime import DT_CTRL, DT_MDL
MIN_SPEED = 1.0
selfdrive/controls/lib/latcontrol_torque.py
+2 -2
View File
@@ -2,9 +2,9 @@ import math
import numpy as np
from cereal import log
from opendbc.car import FRICTION_THRESHOLD, get_friction
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
from opendbc.car.interfaces import LatControlInputs
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController
selfdrive/controls/lib/ldw.py
+1 -1
View File
@@ -1,6 +1,6 @@
from cereal import log
from openpilot.common.realtime import DT_CTRL
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
CAMERA_OFFSET = 0.04
selfdrive/controls/lib/longitudinal_planner.py
+3 -3
View File
@@ -4,7 +4,7 @@ import numpy as np
import cereal.messaging as messaging
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -21,7 +21,7 @@ LON_MPC_STEP = 0.2 # first step is 0.2s
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
ALLOW_THROTTLE_THRESHOLD = 0.5
ALLOW_THROTTLE_THRESHOLD = 0.4
MIN_ALLOW_THROTTLE_SPEED = 2.5
# Lookup table for turns
@@ -188,7 +188,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
def publish(self, sm, pm):
plan_send = messaging.new_message('longitudinalPlan')
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
selfdrive/debug/run_process_on_route.py
+10 -8
View File
@@ -1,23 +1,25 @@
#!/usr/bin/env python3
import argparse
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
from openpilot.tools.lib.logreader import LogReader, save_log
ALLOW_PROCS = {c.proc_name for c in CONFIGS}
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", nargs='+', help="The process(s) to run")
parser.add_argument("--fingerprint", help="The fingerprint to use")
parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
args = parser.parse_args()
cfgs = [c for c in CONFIGS if c.proc_name in args.process]
lr = LogReader(args.route)
inputs = list(lr)
allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]
inputs = list(LogReader(args.route))
outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
# Remove message generated by the process under test and merge in the new messages
@@ -25,6 +27,6 @@ if __name__ == "__main__":
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.replace('/', '_')}_{'_'.join(args.process)}.zst"
fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
print(f"Saving log to {fn}")
save_log(fn, outputs)
selfdrive/locationd/calibrationd.py
+1 -1
View File
@@ -14,7 +14,7 @@ from typing import NoReturn
from cereal import log, car
import cereal.messaging as messaging
from openpilot.system.hardware import HARDWARE
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
selfdrive/locationd/lagd.py
+6
View File
@@ -12,6 +12,7 @@ from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
BLOCK_SIZE = 100
BLOCK_NUM = 50
@@ -374,6 +375,8 @@ def main():
lag, valid_blocks = initial_lag_params
lag_learner.reset(lag, valid_blocks)
lagd_toggle = LagdToggle(CP)
while True:
sm.update()
if sm.all_checks():
@@ -392,3 +395,6 @@ def main():
if sm.frame % 1200 == 0: # cache every 60 seconds
params.put_nonblocking("LiveDelay", lag_msg_dat)
if sm.frame % 60 == 0: # read from and write to params every 3 seconds
lagd_toggle.update(lag_msg)
selfdrive/locationd/models/car_kf.py
+1 -1
View File
@@ -5,7 +5,7 @@ from typing import Any
import numpy as np
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.locationd.models.constants import ObservationKind
from openpilot.common.swaglog import cloudlog
selfdrive/locationd/torqued.py
+6 -6
View File
@@ -4,14 +4,13 @@ from collections import deque, defaultdict
import cereal.messaging as messaging
from cereal import car, log
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
HISTORY = 5 # secs
POINTS_PER_BUCKET = 1500
@@ -34,7 +33,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
MIN_ENGAGE_BUFFER = 2 # secs
VERSION = 1 # bump this to invalidate old parameter caches
ALLOWED_CARS = ['toyota', 'hyundai', 'rivian']
ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
def slope2rot(slope):
@@ -51,7 +50,7 @@ class TorqueBuckets(PointBuckets):
break
class TorqueEstimator(ParameterEstimator, LagdToggle):
class TorqueEstimator(ParameterEstimator):
def __init__(self, CP, decimated=False, track_all_points=False):
super().__init__()
self.CP = CP
@@ -99,6 +98,7 @@ class TorqueEstimator(ParameterEstimator, LagdToggle):
# try to restore cached params
params = Params()
self.params = params
params_cache = params.get("CarParamsPrevRoute")
torque_cache = params.get("LiveTorqueParameters")
if params_cache is not None and torque_cache is not None:
@@ -180,7 +180,7 @@ class TorqueEstimator(ParameterEstimator, LagdToggle):
elif which == "liveCalibration":
self.calibrator.feed_live_calib(msg)
elif which == "liveDelay":
self.lag = self.lagd_torqued_main(self.CP, msg)
self.lag = get_lat_delay(self.params, msg.lateralDelay)
# calculate lateral accel from past steering torque
elif which == "livePose":
if len(self.raw_points['steer_torque']) == self.hist_len:
selfdrive/modeld/modeld.py
+7 -5
View File
@@ -31,7 +31,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -79,13 +80,14 @@ class FrameMeta:
if vipc is not None:
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
class ModelState:
class ModelState(ModelStateBase):
frames: dict[str, DrivingModelFrame]
inputs: dict[str, np.ndarray]
output: np.ndarray
prev_desire: np.ndarray # for tracking the rising edge of the pulse
def __init__(self, context: CLContext):
ModelStateBase.__init__(self)
self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
with open(VISION_METADATA_PATH, 'rb') as f:
vision_metadata = pickle.load(f)
@@ -249,8 +251,6 @@ def main(demo=False):
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
cloudlog.info("modeld got CarParams: %s", CP.brand)
modeld_lagd = LagdToggle()
# TODO this needs more thought, use .2s extra for now to estimate other delays
# TODO Move smooth seconds to action function
long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,7 +296,9 @@ def main(demo=False):
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
v_ego = max(sm["carState"].vEgo, 0.)
lat_delay = modeld_lagd.lagd_main(CP, sm, model)
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
selfdrive/pandad/pandad.cc
+9
View File
@@ -84,6 +84,15 @@ Panda *connect(std::string serial="", uint32_t index=0) {
panda->set_can_fd_auto(i, true);
}
bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
DEPRECATED_PANDA_TYPES.end(),
panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
if (is_deprecated_panda) {
LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
return panda.release();
}
if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
}
selfdrive/pandad/pandad.h
+11
View File
@@ -8,6 +8,17 @@
void pandad_main_thread(std::vector<std::string> serials);
// deprecated devices
static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
cereal::PandaState::PandaType::WHITE_PANDA,
cereal::PandaState::PandaType::GREY_PANDA,
cereal::PandaState::PandaType::BLACK_PANDA,
cereal::PandaState::PandaType::PEDAL,
cereal::PandaState::PandaType::UNO,
cereal::PandaState::PandaType::RED_PANDA_V2
};
class PandaSafety {
public:
PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
selfdrive/pandad/pandad.py
+6
View File
@@ -36,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
panda_signature = b"" if panda.bootstub else panda.get_signature()
cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")
# skip flashing if the detected device is deprecated from upstream
hw_type = panda.get_type()
if hw_type in Panda.DEPRECATED_DEVICES:
cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
return panda
if panda.bootstub or panda_signature != fw_signature:
cloudlog.info("Panda firmware out of date, update required")
panda.flash()
selfdrive/pandad/spi.cc
+34 -48
View File
@@ -66,58 +66,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
// 50MHz is the max of the 845. note that some older
// revs of the comma three may not support this speed
uint32_t spi_speed = 50000000;
if (!util::file_exists(SPI_DEVICE)) {
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
goto fail;
}
// SPI settings
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
if (ret < 0) {
LOGE("failed setting SPI mode %d", ret);
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (ret < 0) {
LOGE("failed setting SPI speed");
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
if (ret < 0) {
LOGE("failed setting SPI bits per word");
goto fail;
}
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
try {
if (!util::file_exists(SPI_DEVICE)) {
throw std::runtime_error("Error connecting to panda: SPI device not found");
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
goto fail;
}
if (!serial.empty() && (serial != hw_serial)) {
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
throw std::runtime_error("Error connecting to panda: failed to open SPI device");
}
// SPI settings
util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
throw std::runtime_error("Error connecting to panda: failed to get serial");
}
if (!serial.empty() && (serial != hw_serial)) {
throw std::runtime_error("Error connecting to panda: serial mismatch");
}
} catch (...) {
cleanup();
throw;
}
return;
fail:
cleanup();
throw std::runtime_error("Error connecting to panda");
}
PandaSpiHandle::~PandaSpiHandle() {
selfdrive/selfdrived/alerts_offroad.json
+1 -1
View File
@@ -46,7 +46,7 @@
"severity": 0
},
"Offroad_ExcessiveActuation": {
"text": "openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.",
"text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
"severity": 1,
"_comment": "Set extra field to lateral or longitudinal."
}
selfdrive/selfdrived/events.py
+18 -2
View File
@@ -4,10 +4,12 @@ import os
from cereal import log, car
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.git import get_short_branch
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
@@ -40,6 +42,7 @@ class Events(EventsBase):
return log.OnroadEvent
# ********** helper functions **********
def get_display_speed(speed_ms: float, metric: bool) -> str:
speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
@@ -92,6 +95,14 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
return NormalPermanentAlert(
"Recording Audio Feedback",
f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
priority=Priority.LOW)
# *** debug alerts ***
def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -203,6 +214,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
return NormalPermanentAlert("Invalid LKAS setting", text)
EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# ********** events with no alerts **********
@@ -824,9 +836,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.WARNING: personality_changed_alert,
},
EventName.userFlag: {
EventName.userBookmark: {
ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
},
EventName.audioFeedback: {
ET.PERMANENT: audio_feedback_alert,
},
}
selfdrive/selfdrived/helpers.py
+54
View File
@@ -0,0 +1,54 @@
import math
from enum import StrEnum, auto
from cereal import car, messaging
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.helpers import Pose
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
from opendbc.car.lateral import ISO_LATERAL_ACCEL
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
class ExcessiveActuationType(StrEnum):
LONGITUDINAL = auto()
LATERAL = auto()
class ExcessiveActuationCheck:
def __init__(self):
self._excessive_counter = 0
self._engaged_counter = 0
def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
# CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
# longitudinal
accel_calibrated = calibrated_pose.acceleration.x
excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
# lateral
yaw_rate = calibrated_pose.angular_velocity.yaw
roll = sm['liveParameters'].roll
roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
# Prevent false positives after overriding
excessive_lat_actuation = False
self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
excessive_lat_actuation = True
# livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
excessive_type = None
if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
if excessive_long_actuation:
excessive_type = ExcessiveActuationType.LONGITUDINAL
else:
excessive_type = ExcessiveActuationType.LATERAL
return excessive_type
selfdrive/selfdrived/selfdrived.py
+29 -37
View File
@@ -7,7 +7,6 @@ import cereal.messaging as messaging
from cereal import car, log, custom
from msgq.visionipc import VisionIpcClient, VisionStreamType
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.params import Params
@@ -18,6 +17,7 @@ from openpilot.common.gps import get_gps_location_service
from openpilot.selfdrive.car.car_specific import CarSpecificEvents
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
from openpilot.selfdrive.selfdrived.events import Events, ET
from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
from openpilot.selfdrive.selfdrived.state import StateMachine
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
@@ -34,7 +34,6 @@ SIMULATION = "SIMULATION" in os.environ
TESTING_CLOSET = "TESTING_CLOSET" in os.environ
LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
ThermalStatus = log.DeviceState.ThermalStatus
State = log.SelfdriveState.OpenpilotState
@@ -48,21 +47,6 @@ SafetyModel = car.CarParams.SafetyModel
IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrator: PoseCalibrator, counter: int) -> tuple[int, bool]:
# CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
device_pose = Pose.from_live_pose(sm['livePose'])
calibrated_pose = calibrator.build_calibrated_pose(device_pose)
accel_calibrated = calibrated_pose.acceleration.x
# livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
accel_valid = abs(CS.aEgo - accel_calibrated) < 2
excessive_actuation = accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2
counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0
return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT
class SelfdriveD(CruiseHelper):
def __init__(self, CP=None, CP_SP=None):
self.params = Params()
@@ -85,7 +69,11 @@ class SelfdriveD(CruiseHelper):
self.CP_SP = CP_SP
self.car_events = CarSpecificEvents(self.CP)
self.calibrator = PoseCalibrator()
self.pose_calibrator = PoseCalibrator()
self.calibrated_pose: Pose | None = None
self.excessive_actuation_check = ExcessiveActuationCheck()
self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
# Setup sockets
self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -107,7 +95,7 @@ class SelfdriveD(CruiseHelper):
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
self.camera_packets + self.sensor_packets + self.gps_packets,
ignore_alive=ignore, ignore_avg_freq=ignore,
ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -143,8 +131,6 @@ class SelfdriveD(CruiseHelper):
self.experimental_mode = False
self.personality = self.params.get("LongitudinalPersonality", return_default=True)
self.recalibrating_seen = False
self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
self.excessive_actuation_counter = 0
self.state_machine = StateMachine()
self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -205,9 +191,12 @@ class SelfdriveD(CruiseHelper):
self.events.add(EventName.selfdriveInitializing)
return
# Check for user flag (bookmark) press
if self.sm.updated['userFlag']:
self.events.add(EventName.userFlag)
# Check for user bookmark press (bookmark button or end of LKAS button feedback)
if self.sm.updated['userBookmark']:
self.events.add(EventName.userBookmark)
if self.sm.updated['audioFeedback']:
self.events.add(EventName.audioFeedback)
# Don't add any more events while in dashcam mode
if self.CP.passive:
@@ -276,14 +265,18 @@ class SelfdriveD(CruiseHelper):
if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
self.events.add(EventName.ldw)
# Check for excessive (longitudinal) actuation
# Check for excessive actuation
if self.sm.updated['liveCalibration']:
self.calibrator.feed_live_calib(self.sm['liveCalibration'])
self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
if self.sm.updated['livePose']:
device_pose = Pose.from_live_pose(self.sm['livePose'])
self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrator, self.excessive_actuation_counter)
if not self.excessive_actuation and excessive_actuation:
set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal")
self.excessive_actuation = True
if self.calibrated_pose is not None:
excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
if not self.excessive_actuation and excessive_actuation is not None:
set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
self.excessive_actuation = True
if self.excessive_actuation:
self.events.add(EventName.excessiveActuation)
@@ -339,13 +332,12 @@ class SelfdriveD(CruiseHelper):
self.events.add(EventName.cameraFrameRate)
if not REPLAY and self.rk.lagging:
self.events.add(EventName.selfdrivedLagging)
if not self.sm.valid['radarState']:
if self.sm['radarState'].radarErrors.canError:
self.events.add(EventName.canError)
elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
self.events.add(EventName.radarTempUnavailable)
else:
self.events.add(EventName.radarFault)
if self.sm['radarState'].radarErrors.canError:
self.events.add(EventName.canError)
elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
self.events.add(EventName.radarTempUnavailable)
elif any(self.sm['radarState'].radarErrors.to_dict().values()):
self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
if CS.canTimeout:
selfdrive/test/process_replay/process_replay.py
+74 -111
View File
@@ -4,8 +4,9 @@ import time
import copy
import heapq
import signal
from collections import Counter, OrderedDict
from collections import Counter
from dataclasses import dataclass, field
from itertools import islice
from typing import Any
from collections.abc import Callable, Iterable
from tqdm import tqdm
@@ -16,12 +17,13 @@ import cereal.messaging as messaging
from cereal import car
from cereal.services import SERVICE_LIST
from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
from opendbc.car.can_definitions import CanData
from opendbc.car.car_helpers import get_car, interfaces
from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
from openpilot.selfdrive.car.card import convert_to_capnp
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -30,22 +32,10 @@ from openpilot.tools.lib.logreader import LogIterable
from openpilot.tools.lib.framereader import FrameReader
# Numpy gives different results based on CPU features after version 19
NUMPY_TOLERANCE = 1e-7
NUMPY_TOLERANCE = 1e-2
PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
class DummySocket:
def __init__(self):
self.data: list[bytes] = []
def receive(self, non_blocking: bool = False) -> bytes | None:
if non_blocking:
return None
return self.data.pop()
def send(self, data: bytes):
self.data.append(data)
class LauncherWithCapture:
def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
@@ -63,8 +53,7 @@ class ReplayContext:
self.pubs = cfg.pubs
self.main_pub = cfg.main_pub
self.main_pub_drained = cfg.main_pub_drained
self.unlocked_pubs = cfg.unlocked_pubs
assert(len(self.pubs) != 0 or self.main_pub is not None)
assert len(self.pubs) != 0 or self.main_pub is not None
def __enter__(self):
self.open_context()
@@ -79,9 +68,8 @@ class ReplayContext:
messaging.set_fake_prefix(self.proc_name)
if self.main_pub is None:
self.events = OrderedDict()
pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
for pub in pubs_with_events:
self.events = {}
for pub in self.pubs:
self.events[pub] = messaging.fake_event_handle(pub, enable=True)
else:
self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
@@ -138,16 +126,21 @@ class ProcessConfig:
processing_time: float = 0.001
timeout: int = 30
simulation: bool = True
# Set to service process receives on first
main_pub: str | None = None
main_pub_drained: bool = True
main_pub_drained: bool = False
vision_pubs: list[str] = field(default_factory=list)
ignore_alive_pubs: list[str] = field(default_factory=list)
unlocked_pubs: list[str] = field(default_factory=list)
def __post_init__(self):
# If the process is polling a service, we can just lock that one to speed up replay
if self.main_pub is None and isinstance(self.should_recv_callback, MessageBasedRcvCallback):
self.main_pub = self.should_recv_callback.trigger_msg_type
class ProcessContainer:
def __init__(self, cfg: ProcessConfig):
self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
self.prefix = OpenpilotPrefix(create_dirs_on_enter=False, clean_dirs_on_exit=False)
self.cfg = copy.deepcopy(cfg)
self.process = copy.deepcopy(managed_processes[cfg.proc_name])
self.msg_queue: list[capnp._DynamicStructReader] = []
@@ -229,6 +222,7 @@ class ProcessContainer:
fingerprint: str | None, capture_output: bool
):
with self.prefix as p:
self.prefix.create_dirs()
self._setup_env(params_config, environ_config)
if self.cfg.config_callback is not None:
@@ -254,11 +248,6 @@ class ProcessContainer:
if self.cfg.init_callback is not None:
self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)
# wait for process to startup
with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
time.sleep(0)
def stop(self):
with self.prefix:
self.process.signal(signal.SIGKILL)
@@ -267,28 +256,42 @@ class ProcessContainer:
self.prefix.clean_dirs()
self._clean_env()
def get_output_msgs(self, start_time: int):
assert self.rc and self.sockets
output_msgs = []
self.rc.wait_for_recv_called()
for socket in self.sockets:
ms = messaging.drain_sock(socket)
for m in ms:
m = m.as_builder()
m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
output_msgs.append(m.as_reader())
return output_msgs
def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
assert self.rc and self.pm and self.sockets and self.process.proc
output_msgs = []
with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
end_of_cycle = True
if self.cfg.should_recv_callback is not None:
end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
self.msg_queue.append(msg)
if end_of_cycle:
self.rc.wait_for_recv_called()
end_of_cycle = True
if self.cfg.should_recv_callback is not None:
end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
self.msg_queue.append(msg)
if end_of_cycle:
with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
# call recv to let sub-sockets reconnect, after we know the process is ready
if self.cnt == 0:
for s in self.sockets:
messaging.recv_one_or_none(s)
# empty recv on drained pub indicates the end of messages, only do that if there're any
# certain processes use drain_sock. need to cause empty recv to break from this loop
trigger_empty_recv = False
if self.cfg.main_pub and self.cfg.main_pub_drained:
trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
# get output msgs from previous inputs
output_msgs = self.get_output_msgs(msg.logMonoTime)
for m in self.msg_queue:
self.pm.send(m.which(), m.as_builder())
@@ -303,14 +306,8 @@ class ProcessContainer:
self.msg_queue = []
self.rc.unlock_sockets()
self.rc.wait_for_next_recv(trigger_empty_recv)
for socket in self.sockets:
ms = messaging.drain_sock(socket)
for m in ms:
m = m.as_builder()
m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
output_msgs.append(m.as_reader())
if trigger_empty_recv:
self.rc.unlock_sockets()
self.cnt += 1
assert self.process.proc.is_alive()
@@ -320,7 +317,7 @@ class ProcessContainer:
def card_fingerprint_callback(rc, pm, msgs, fingerprint):
print("start fingerprinting")
params = Params()
canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))
# card expects one arbitrary can and pandaState
rc.send_sync(pm, "can", messaging.new_message("can", 1))
@@ -345,36 +342,27 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
CP = CarInterface.get_non_essential_params(fingerprint)
CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
else:
can = DummySocket()
sendcan = DummySocket()
canmsgs = [msg for msg in msgs if msg.which() == "can"]
can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can")
cached_params_raw = params.get("CarParamsCache")
has_cached_cp = cached_params_raw is not None
assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
assert next(can_msgs, None), "CAN messages are required for fingerprinting"
assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \
"CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes())
can_callbacks = can_comm_callbacks(can, sendcan)
def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
return [next(can_msgs, [])]
cached_params = None
if has_cached_cp:
if cached_params_raw is not None:
with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
cached_params = _cached_params
_CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
_CI = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
CP, CP_SP = _CI.CP, _CI.CP_SP
params.put("CarParams", CP.to_bytes())
params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
def selfdrived_rcv_callback(msg, cfg, frame):
return (frame - 1) == 0 or msg.which() == 'carState'
def card_rcv_callback(msg, cfg, frame):
# no sendcan until card is initialized
if msg.which() != "can":
@@ -389,21 +377,6 @@ def card_rcv_callback(msg, cfg, frame):
return len(socks) > 0
def calibration_rcv_callback(msg, cfg, frame):
# calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
# should_recv always true to increment frame
return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
def torqued_rcv_callback(msg, cfg, frame):
# should_recv always true to increment frame
return (frame - 1) == 0 or msg.which() == 'livePose'
def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
return msg.which() == "driverCameraState"
class ModeldCameraSyncRcvCallback:
def __init__(self):
self.road_present = False
@@ -428,26 +401,13 @@ class ModeldCameraSyncRcvCallback:
class MessageBasedRcvCallback:
def __init__(self, trigger_msg_type):
def __init__(self, trigger_msg_type: str, first_frame: bool = False):
self.trigger_msg_type = trigger_msg_type
self.first_frame = first_frame
def __call__(self, msg, cfg, frame):
return msg.which() == self.trigger_msg_type
class FrequencyBasedRcvCallback:
def __init__(self, trigger_msg_type):
self.trigger_msg_type = trigger_msg_type
def __call__(self, msg, cfg, frame):
if msg.which() != self.trigger_msg_type:
return False
resp_sockets = [
s for s in cfg.subs
if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
]
return bool(len(resp_sockets))
# publish on first frame or trigger msg
return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type
def selfdrived_config_callback(params, cfg, lr):
@@ -462,16 +422,16 @@ CONFIGS = [
proc_name="selfdrived",
pubs=[
"carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
"longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
"modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
"liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
"gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
"longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
"driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
"accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
"carControl", "driverAssistance", "alertDebug", "audioFeedback",
],
subs=["selfdriveState", "onroadEvents"],
ignore=["logMonoTime"],
config_callback=selfdrived_config_callback,
init_callback=get_car_params_callback,
should_recv_callback=selfdrived_rcv_callback,
should_recv_callback=MessageBasedRcvCallback("carState", True),
tolerance=NUMPY_TOLERANCE,
processing_time=0.004,
),
@@ -496,6 +456,7 @@ CONFIGS = [
tolerance=NUMPY_TOLERANCE,
processing_time=0.004,
main_pub="can",
main_pub_drained=True,
),
ProcessConfig(
proc_name="radard",
@@ -503,7 +464,7 @@ CONFIGS = [
subs=["radarState"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
should_recv_callback=MessageBasedRcvCallback("modelV2"),
),
ProcessConfig(
proc_name="plannerd",
@@ -511,7 +472,7 @@ CONFIGS = [
subs=["longitudinalPlan", "driverAssistance"],
ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
init_callback=get_car_params_callback,
should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
should_recv_callback=MessageBasedRcvCallback("modelV2"),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -520,14 +481,14 @@ CONFIGS = [
subs=["liveCalibration"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=calibration_rcv_callback,
should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
),
ProcessConfig(
proc_name="dmonitoringd",
pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
subs=["driverMonitoringState"],
ignore=["logMonoTime"],
should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -539,7 +500,6 @@ CONFIGS = [
ignore=["logMonoTime"],
should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
tolerance=NUMPY_TOLERANCE,
unlocked_pubs=["accelerometer", "gyroscope"],
),
ProcessConfig(
proc_name="paramsd",
@@ -547,7 +507,7 @@ CONFIGS = [
subs=["liveParameters"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=FrequencyBasedRcvCallback("livePose"),
should_recv_callback=MessageBasedRcvCallback("livePose"),
tolerance=NUMPY_TOLERANCE,
processing_time=0.004,
),
@@ -572,7 +532,7 @@ CONFIGS = [
subs=["liveTorqueParameters"],
ignore=["logMonoTime"],
init_callback=get_car_params_callback,
should_recv_callback=torqued_rcv_callback,
should_recv_callback=MessageBasedRcvCallback("livePose", True),
tolerance=NUMPY_TOLERANCE,
),
ProcessConfig(
@@ -584,7 +544,6 @@ CONFIGS = [
tolerance=NUMPY_TOLERANCE,
processing_time=0.020,
main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
main_pub_drained=False,
vision_pubs=["roadCameraState", "wideRoadCameraState"],
ignore_alive_pubs=["wideRoadCameraState"],
init_callback=get_car_params_callback,
@@ -594,11 +553,10 @@ CONFIGS = [
pubs=["liveCalibration", "driverCameraState"],
subs=["driverStateV2"],
ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
should_recv_callback=dmonitoringmodeld_rcv_callback,
should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
tolerance=NUMPY_TOLERANCE,
processing_time=0.020,
main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
main_pub_drained=False,
vision_pubs=["driverCameraState"],
ignore_alive_pubs=["driverCameraState"],
),
@@ -706,8 +664,8 @@ def _replay_multi_process(
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
log_msgs = []
containers = []
try:
containers = []
for cfg in cfgs:
container = ProcessContainer(cfg)
containers.append(container)
@@ -742,6 +700,11 @@ def _replay_multi_process(
internal_pub_queue.append(m)
heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
log_msgs.extend(output_msgs)
# flush last set of messages from each process
for container in containers:
last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
log_msgs.extend(container.get_output_msgs(last_time))
finally:
for container in containers:
container.stop()
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
c289a0359d1b1f26cf4d9e73a2c04b2bbfec840f
62b3e8590fe85f87494517b3177a0ccaad1e17e5
selfdrive/test/setup_device_ci.sh
+1
View File
@@ -54,6 +54,7 @@ while true; do
# /data/ciui.py &
#fi
awk '{print \$1}' /proc/uptime > /var/tmp/power_watchdog
sleep 5s
done
selfdrive/test/test_onroad.py
+1
View File
@@ -55,6 +55,7 @@ PROCS = {
"selfdrive.locationd.paramsd": 9.0,
"selfdrive.locationd.lagd": 11.0,
"selfdrive.ui.soundd": 3.0,
"selfdrive.ui.feedback.feedbackd": 1.0,
"selfdrive.monitoring.dmonitoringd": 4.0,
"./proclogd": 2.0,
"system.logmessaged": 1.0,
selfdrive/ui/SConscript
+1 -11
View File
@@ -70,14 +70,8 @@ if GetOption('extras'):
qt_src.remove("main.cc") # replaced by test_runner
qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
# setup
qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
LIBS=qt_libs + ['curl', 'common'])
# build installers
if arch != "Darwin":
# build installers
raylib_env = env.Clone()
raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
@@ -109,7 +103,3 @@ if GetOption('extras'):
f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
# keep installers small
assert f[0].get_size() < 1900*1e3, f[0].get_size()
# build watch3
if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
selfdrive/ui/feedback/feedbackd.py
Executable
+71
View File
@@ -0,0 +1,71 @@
#!/usr/bin/env python3
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from cereal import car
from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
FEEDBACK_MAX_DURATION = 10.0
ButtonType = car.CarState.ButtonEvent.Type
def main():
params = Params()
pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
should_record_audio = False
block_num = 0
waiting_for_release = False
early_stop_triggered = False
while True:
sm.update()
should_send_bookmark = False
# only allow the LKAS button to record feedback when MADS is disabled
if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
for be in sm['carState'].buttonEvents:
if be.type == ButtonType.lkas:
if be.pressed:
if not should_record_audio:
if params.get_bool("RecordAudioFeedback"): # Start recording on first press if toggle set
should_record_audio = True
block_num = 0
waiting_for_release = False
early_stop_triggered = False
cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
else:
should_send_bookmark = True # immediately send bookmark if toggle false
cloudlog.info("LKAS button pressed - bookmarking")
elif should_record_audio and not waiting_for_release: # Wait for release of second press to stop recording early
waiting_for_release = True
elif waiting_for_release: # Second press released
waiting_for_release = False
early_stop_triggered = True
cloudlog.info("LKAS button released - ending recording early")
if should_record_audio and sm.updated['rawAudioData']:
raw_audio = sm['rawAudioData']
msg = messaging.new_message('audioFeedback', valid=True)
msg.audioFeedback.audio.data = raw_audio.data
msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
msg.audioFeedback.blockNum = block_num
block_num += 1
if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered: # Check for timeout or early stop
should_send_bookmark = True # send bookmark at end of audio segment
should_record_audio = False
early_stop_triggered = False
cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
pm.send('audioFeedback', msg)
if sm.updated['bookmarkButton']:
cloudlog.info("Bookmark button pressed!")
should_send_bookmark = True
if should_send_bookmark:
msg = messaging.new_message('userBookmark', valid=True)
pm.send('userBookmark', msg)
if __name__ == '__main__':
main()
selfdrive/ui/layouts/main.py
+6 -6
View File
@@ -19,7 +19,7 @@ class MainLayout(Widget):
def __init__(self):
super().__init__()
self._pm = messaging.PubMaster(['userFlag'])
self._pm = messaging.PubMaster(['bookmarkButton'])
self._sidebar = Sidebar()
self._current_mode = MainState.HOME
@@ -40,7 +40,7 @@ class MainLayout(Widget):
def _setup_callbacks(self):
self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
on_flag=self._on_flag_clicked)
on_flag=self._on_bookmark_clicked)
self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
@@ -76,10 +76,10 @@ class MainLayout(Widget):
def _on_settings_clicked(self):
self.open_settings(PanelType.DEVICE)
def _on_flag_clicked(self):
user_flag = messaging.new_message('userFlag')
user_flag.valid = True
self._pm.send('userFlag', user_flag)
def _on_bookmark_clicked(self):
user_bookmark = messaging.new_message('bookmarkButton')
user_bookmark.valid = True
self._pm.send('bookmarkButton', user_bookmark)
def _on_onroad_clicked(self):
self._sidebar.set_visible(not self._sidebar.is_visible)
selfdrive/ui/layouts/settings/toggles.py
+10
View File
@@ -23,6 +23,10 @@ DESCRIPTIONS = {
'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
"IsMetric": "Display speed in km/h instead of mph.",
"RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
"RecordAudioFeedback": (
"Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
"The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
),
}
@@ -81,6 +85,12 @@ class TogglesLayout(Widget):
self._params.get_bool("RecordAudio"),
icon="microphone.png",
),
toggle_item(
"Record Audio Feedback with LKAS button",
DESCRIPTIONS["RecordAudioFeedback"],
self._params.get_bool("RecordAudioFeedback"),
icon="microphone.png",
),
toggle_item(
"Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
),
selfdrive/ui/layouts/sidebar.py
+1 -1
View File
@@ -146,7 +146,7 @@ class Sidebar(Widget):
def _draw_buttons(self, rect: rl.Rectangle):
mouse_pos = rl.get_mouse_position()
mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
# Settings button
settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
selfdrive/ui/onroad/cameraview.py
+7 -13
View File
@@ -141,6 +141,9 @@ class CameraView(Widget):
self.client = None
def __del__(self):
self.close()
def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
if not self.frame:
return np.eye(3)
@@ -337,16 +340,7 @@ class CameraView(Widget):
if __name__ == "__main__":
gui_app.init_window("watch3")
road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
try:
for _ in gui_app.render():
road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
finally:
road_camera_view.close()
driver_camera_view.close()
wide_road_camera_view.close()
gui_app.init_window("camera view")
road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
for _ in gui_app.render():
road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
selfdrive/ui/onroad/exp_button.py
+1 -1
View File
@@ -50,7 +50,7 @@ class ExpButton(Widget):
center_y = int(self._rect.y + self._rect.height // 2)
mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255
texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
selfdrive/ui/onroad/hud_renderer.py
+1 -1
View File
@@ -1,6 +1,6 @@
import pyray as rl
from dataclasses import dataclass
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.system.ui.lib.application import gui_app, FontWeight
selfdrive/ui/qt/offroad/settings.cc
+7
View File
@@ -75,6 +75,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
"../assets/icons/microphone.png",
true,
},
{
"RecordAudioFeedback",
tr("Record Audio Feedback with LKAS button"),
tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
"../assets/icons/microphone.png",
false,
},
{
"IsMetric",
tr("Use Metric System"),
selfdrive/ui/qt/python_helpers.py
-23
View File
@@ -1,23 +0,0 @@
import os
import platform
from cffi import FFI
import sip
from openpilot.common.basedir import BASEDIR
def suffix():
return ".dylib" if platform.system() == "Darwin" else ".so"
def get_ffi():
lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
ffi = FFI()
ffi.cdef("void set_main_window(void *w);")
return ffi, ffi.dlopen(lib)
def set_main_window(widget):
ffi, lib = get_ffi()
lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))
selfdrive/ui/qt/setup/setup.cc
-541
View File
@@ -1,541 +0,0 @@
#include "selfdrive/ui/qt/setup/setup.h"
#include <cstdio>
#include <cstdlib>
#include <sstream>
#include <string>
#include <QApplication>
#include <QLabel>
#include <QVBoxLayout>
#include <curl/curl.h>
#include "common/util.h"
#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/api.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/network/networking.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/input.h"
const std::string USER_AGENT = "AGNOSSetup-";
const QString OPENPILOT_URL = "https://openpilot.comma.ai";
bool is_elf(char *fname) {
FILE *fp = fopen(fname, "rb");
if (fp == NULL) {
return false;
}
char buf[4];
size_t n = fread(buf, 1, 4, fp);
fclose(fp);
return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
}
void Setup::download(QString url) {
// autocomplete incomplete urls
if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
url.prepend("https://installer.comma.ai/");
}
CURL *curl = curl_easy_init();
if (!curl) {
emit finished(url, tr("Something went wrong. Reboot the device."));
return;
}
auto version = util::read_file("/VERSION");
struct curl_slist *list = NULL;
std::string header = "X-openpilot-serial: " + Hardware::get_serial();
list = curl_slist_append(list, header.c_str());
char tmpfile[] = "/tmp/installer_XXXXXX";
FILE *fp = fdopen(mkstemp(tmpfile), "wb");
curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
int ret = curl_easy_perform(curl);
long res_status = 0;
curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
if (ret != CURLE_OK || res_status != 200) {
emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
} else if (!is_elf(tmpfile)) {
emit finished(url, tr("No custom software found at this URL."));
} else {
rename(tmpfile, "/tmp/installer");
FILE *fp_url = fopen("/tmp/installer_url", "w");
fprintf(fp_url, "%s", url.toStdString().c_str());
fclose(fp_url);
emit finished(url);
}
curl_slist_free_all(list);
curl_easy_cleanup(curl);
fclose(fp);
}
QWidget * Setup::low_voltage() {
QWidget *widget = new QWidget();
QVBoxLayout *main_layout = new QVBoxLayout(widget);
main_layout->setContentsMargins(55, 0, 55, 55);
main_layout->setSpacing(0);
// inner text layout: warning icon, title, and body
QVBoxLayout *inner_layout = new QVBoxLayout();
inner_layout->setContentsMargins(110, 144, 365, 0);
main_layout->addLayout(inner_layout);
QLabel *triangle = new QLabel();
triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png"));
inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
inner_layout->addSpacing(80);
QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
inner_layout->addSpacing(25);
QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
body->setWordWrap(true);
body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
body->setStyleSheet("font-size: 80px; font-weight: 300;");
inner_layout->addWidget(body);
inner_layout->addStretch();
// power off + continue buttons
QHBoxLayout *blayout = new QHBoxLayout();
blayout->setSpacing(50);
main_layout->addLayout(blayout, 0);
QPushButton *poweroff = new QPushButton(tr("Power off"));
poweroff->setObjectName("navBtn");
blayout->addWidget(poweroff);
QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
Hardware::poweroff();
});
QPushButton *cont = new QPushButton(tr("Continue"));
cont->setObjectName("navBtn");
blayout->addWidget(cont);
QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
return widget;
}
QWidget * Setup::custom_software_warning() {
QWidget *widget = new QWidget();
QVBoxLayout *main_layout = new QVBoxLayout(widget);
main_layout->setContentsMargins(55, 0, 55, 55);
main_layout->setSpacing(0);
QVBoxLayout *inner_layout = new QVBoxLayout();
inner_layout->setContentsMargins(110, 110, 300, 0);
main_layout->addLayout(inner_layout);
QLabel *title = new QLabel(tr("WARNING: Custom Software"));
title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
inner_layout->addSpacing(25);
QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later."));
body->setWordWrap(true);
body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
body->setStyleSheet("font-size: 65px; font-weight: 300;");
inner_layout->addWidget(body);
inner_layout->addStretch();
QHBoxLayout *blayout = new QHBoxLayout();
blayout->setSpacing(50);
main_layout->addLayout(blayout, 0);
QPushButton *back = new QPushButton(tr("Back"));
back->setObjectName("navBtn");
blayout->addWidget(back);
QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
QPushButton *cont = new QPushButton(tr("Continue"));
cont->setObjectName("navBtn");
blayout->addWidget(cont);
QObject::connect(cont, &QPushButton::clicked, this, [=]() {
QTimer::singleShot(0, [=]() {
setCurrentWidget(downloading_widget);
});
QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
if (!url.isEmpty()) {
QTimer::singleShot(1000, this, [=]() {
download(url);
});
} else {
setCurrentWidget(software_selection_widget);
}
});
return widget;
}
QWidget * Setup::getting_started() {
QWidget *widget = new QWidget();
QHBoxLayout *main_layout = new QHBoxLayout(widget);
main_layout->setMargin(0);
QVBoxLayout *vlayout = new QVBoxLayout();
vlayout->setContentsMargins(165, 280, 100, 0);
main_layout->addLayout(vlayout);
QLabel *title = new QLabel(tr("Getting Started"));
title->setStyleSheet("font-size: 90px; font-weight: 500;");
vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
vlayout->addSpacing(90);
QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
desc->setWordWrap(true);
desc->setStyleSheet("font-size: 80px; font-weight: 300;");
vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
vlayout->addStretch();
QPushButton *btn = new QPushButton();
btn->setIcon(QIcon(":/images/button_continue_triangle.svg"));
btn->setIconSize(QSize(54, 106));
btn->setFixedSize(310, 1080);
btn->setProperty("primary", true);
btn->setStyleSheet("border: none;");
main_layout->addWidget(btn, 0, Qt::AlignRight);
QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage);
return widget;
}
QWidget * Setup::network_setup() {
QWidget *widget = new QWidget();
QVBoxLayout *main_layout = new QVBoxLayout(widget);
main_layout->setContentsMargins(55, 50, 55, 50);
// title
QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
title->setStyleSheet("font-size: 90px; font-weight: 500;");
main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
main_layout->addSpacing(25);
// wifi widget
Networking *networking = new Networking(this, false);
networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}");
main_layout->addWidget(networking, 1);
main_layout->addSpacing(35);
// back + continue buttons
QHBoxLayout *blayout = new QHBoxLayout;
main_layout->addLayout(blayout);
blayout->setSpacing(50);
QPushButton *back = new QPushButton(tr("Back"));
back->setObjectName("navBtn");
QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
blayout->addWidget(back);
QPushButton *cont = new QPushButton();
cont->setObjectName("navBtn");
cont->setProperty("primary", true);
cont->setEnabled(false);
QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
blayout->addWidget(cont);
// setup timer for testing internet connection
HttpRequest *request = new HttpRequest(this, false, 2500);
QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
cont->setEnabled(success);
if (success) {
const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
} else {
cont->setText(tr("Waiting for internet"));
}
repaint();
});
request->sendRequest(OPENPILOT_URL);
QTimer *timer = new QTimer(this);
QObject::connect(timer, &QTimer::timeout, [=]() {
if (!request->active() && cont->isVisible()) {
request->sendRequest(OPENPILOT_URL);
}
});
timer->start(1000);
return widget;
}
QWidget * radio_button(QString title, QButtonGroup *group) {
QPushButton *btn = new QPushButton(title);
btn->setCheckable(true);
group->addButton(btn);
btn->setStyleSheet(R"(
QPushButton {
height: 230;
padding-left: 100px;
padding-right: 100px;
text-align: left;
font-size: 80px;
font-weight: 400;
border-radius: 10px;
background-color: #4F4F4F;
}
QPushButton:checked {
background-color: #465BEA;
}
)");
// checkmark icon
QPixmap pix(":/icons/circled_check.svg");
btn->setIcon(pix);
btn->setIconSize(QSize(0, 0));
btn->setLayoutDirection(Qt::RightToLeft);
QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
});
return btn;
}
QWidget * Setup::software_selection() {
QWidget *widget = new QWidget();
QVBoxLayout *main_layout = new QVBoxLayout(widget);
main_layout->setContentsMargins(55, 50, 55, 50);
main_layout->setSpacing(0);
// title
QLabel *title = new QLabel(tr("Choose Software to Install"));
title->setStyleSheet("font-size: 90px; font-weight: 500;");
main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
main_layout->addSpacing(50);
// sunnypilot + custom radio buttons
QButtonGroup *group = new QButtonGroup(widget);
group->setExclusive(true);
QWidget *openpilot = radio_button(tr("sunnypilot"), group);
main_layout->addWidget(openpilot);
main_layout->addSpacing(30);
QWidget *custom = radio_button(tr("Custom Software"), group);
main_layout->addWidget(custom);
main_layout->addStretch();
// back + continue buttons
QHBoxLayout *blayout = new QHBoxLayout;
main_layout->addLayout(blayout);
blayout->setSpacing(50);
QPushButton *back = new QPushButton(tr("Back"));
back->setObjectName("navBtn");
QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
blayout->addWidget(back);
QPushButton *cont = new QPushButton(tr("Continue"));
cont->setObjectName("navBtn");
cont->setEnabled(false);
cont->setProperty("primary", true);
blayout->addWidget(cont);
QObject::connect(cont, &QPushButton::clicked, [=]() {
if (group->checkedButton() != openpilot) {
QTimer::singleShot(0, [=]() {
setCurrentWidget(custom_software_warning_widget);
});
} else {
QTimer::singleShot(0, [=]() {
setCurrentWidget(downloading_widget);
});
QTimer::singleShot(1000, this, [=]() {
download(OPENPILOT_URL);
});
}
});
connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
btn->setChecked(true);
cont->setEnabled(true);
});
return widget;
}
QWidget * Setup::downloading() {
QWidget *widget = new QWidget();
QVBoxLayout *main_layout = new QVBoxLayout(widget);
QLabel *txt = new QLabel(tr("Downloading..."));
txt->setStyleSheet("font-size: 90px; font-weight: 500;");
main_layout->addWidget(txt, 0, Qt::AlignCenter);
return widget;
}
QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
QWidget *widget = new QWidget();
QVBoxLayout *main_layout = new QVBoxLayout(widget);
main_layout->setContentsMargins(55, 185, 55, 55);
main_layout->setSpacing(0);
QLabel *title = new QLabel(tr("Download Failed"));
title->setStyleSheet("font-size: 90px; font-weight: 500;");
main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
main_layout->addSpacing(67);
url->setWordWrap(true);
url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
main_layout->addWidget(url);
main_layout->addSpacing(48);
body->setWordWrap(true);
body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
main_layout->addWidget(body);
main_layout->addStretch();
// reboot + start over buttons
QHBoxLayout *blayout = new QHBoxLayout();
blayout->setSpacing(50);
main_layout->addLayout(blayout, 0);
QPushButton *reboot = new QPushButton(tr("Reboot device"));
reboot->setObjectName("navBtn");
blayout->addWidget(reboot);
QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
Hardware::reboot();
});
QPushButton *restart = new QPushButton(tr("Start over"));
restart->setObjectName("navBtn");
restart->setProperty("primary", true);
blayout->addWidget(restart);
QObject::connect(restart, &QPushButton::clicked, this, [=]() {
setCurrentIndex(1);
});
widget->setStyleSheet(R"(
QLabel {
margin-left: 117;
}
)");
return widget;
}
void Setup::prevPage() {
setCurrentIndex(currentIndex() - 1);
}
void Setup::nextPage() {
setCurrentIndex(currentIndex() + 1);
}
Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
if (std::getenv("MULTILANG")) {
selectLanguage();
}
std::stringstream buffer;
buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
if (voltage < 7) {
addWidget(low_voltage());
}
addWidget(getting_started());
addWidget(network_setup());
software_selection_widget = software_selection();
addWidget(software_selection_widget);
custom_software_warning_widget = custom_software_warning();
addWidget(custom_software_warning_widget);
downloading_widget = downloading();
addWidget(downloading_widget);
QLabel *url_label = new QLabel();
QLabel *body_label = new QLabel();
failed_widget = download_failed(url_label, body_label);
addWidget(failed_widget);
QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
qDebug() << "finished" << url << error;
if (error.isEmpty()) {
// hide setup on success
QTimer::singleShot(3000, this, &QWidget::hide);
} else {
url_label->setText(url);
body_label->setText(error);
setCurrentWidget(failed_widget);
}
});
// TODO: revisit pressed bg color
setStyleSheet(R"(
* {
color: white;
font-family: Inter;
}
Setup {
background-color: black;
}
QPushButton#navBtn {
height: 160;
font-size: 55px;
font-weight: 400;
border-radius: 10px;
background-color: #333333;
}
QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled {
color: #808080;
background-color: #333333;
}
QPushButton#navBtn:pressed {
background-color: #444444;
}
QPushButton[primary='true'], #navBtn[primary='true'] {
background-color: #465BEA;
}
QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] {
background-color: #3049F4;
}
)");
}
void Setup::selectLanguage() {
QMap<QString, QString> langs = getSupportedLanguages();
QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this);
if (!selection.isEmpty()) {
QString selectedLang = langs[selection];
Params().put("LanguageSetting", selectedLang.toStdString());
if (translator.load(":/" + selectedLang)) {
qApp->installTranslator(&translator);
}
}
}
int main(int argc, char *argv[]) {
QApplication a(argc, argv);
Setup setup;
setMainWindow(&setup);
return a.exec();
}
selfdrive/ui/qt/setup/setup.h
-38
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@@ -1,38 +0,0 @@
#pragma once
#include <QLabel>
#include <QStackedWidget>
#include <QString>
#include <QTranslator>
#include <QWidget>
class Setup : public QStackedWidget {
Q_OBJECT
public:
explicit Setup(QWidget *parent = 0);
private:
void selectLanguage();
QWidget *low_voltage();
QWidget *custom_software_warning();
QWidget *getting_started();
QWidget *network_setup();
QWidget *software_selection();
QWidget *downloading();
QWidget *download_failed(QLabel *url, QLabel *body);
QWidget *failed_widget;
QWidget *downloading_widget;
QWidget *custom_software_warning_widget;
QWidget *software_selection_widget;
QTranslator translator;
signals:
void finished(const QString &url, const QString &error = "");
public slots:
void nextPage();
void prevPage();
void download(QString url);
};
selfdrive/ui/qt/sidebar.cc
+3 -3
View File
@@ -38,7 +38,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
pm = std::make_unique<PubMaster>(std::vector<const char*>{"bookmarkButton"});
}
void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -61,8 +61,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
}
if (onroad && home_btn.contains(event->pos())) {
MessageBuilder msg;
msg.initEvent().initUserFlag();
pm->send("userFlag", msg);
msg.initEvent().initBookmarkButton();
pm->send("bookmarkButton", msg);
} else if (settings_btn.contains(event->pos())) {
emit openSettings();
} else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
-4
View File
@@ -361,10 +361,6 @@ void ModelsPanel::updateLabels() {
QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
"Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
"The Current value is updated automatically when the vehicle is Onroad.");
QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
if (!current.isEmpty()) {
desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
}
lagd_toggle_control->setDescription(desc);
delay_control->setVisible(!params.getBool("LagdToggle"));
selfdrive/ui/tests/test_feedbackd.py
+52
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@@ -0,0 +1,52 @@
import pytest
import cereal.messaging as messaging
from cereal import car
from openpilot.common.params import Params
from openpilot.system.manager.process_config import managed_processes
class TestFeedbackd:
def setup_method(self):
self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
self.sm = messaging.SubMaster(['audioFeedback'])
def _send_lkas_button(self, pressed: bool):
msg = messaging.new_message('carState')
msg.carState.canValid = True
msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
self.pm.send('carState', msg)
def _send_audio_data(self, count: int = 5):
for _ in range(count):
audio_msg = messaging.new_message('rawAudioData')
audio_msg.rawAudioData.data = bytes(1600) # 800 samples of int16
audio_msg.rawAudioData.sampleRate = 16000
self.pm.send('rawAudioData', audio_msg)
self.sm.update(timeout=100)
@pytest.mark.parametrize("record_feedback", [False, True])
def test_audio_feedback(self, record_feedback):
Params().put_bool("RecordAudioFeedback", record_feedback)
managed_processes["feedbackd"].start()
assert self.pm.wait_for_readers_to_update('carState', timeout=5)
assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
self._send_lkas_button(pressed=True)
self._send_audio_data()
self._send_lkas_button(pressed=False)
self._send_audio_data()
if record_feedback:
assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
else:
assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
self._send_lkas_button(pressed=True)
self._send_audio_data()
self._send_lkas_button(pressed=False)
self._send_audio_data()
assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
managed_processes["feedbackd"].stop()
selfdrive/ui/tests/test_raylib_ui.py
+8
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@@ -0,0 +1,8 @@
import time
from openpilot.selfdrive.test.helpers import with_processes
@with_processes(["raylib_ui"])
def test_raylib_ui():
"""Test initialization of the UI widgets is successful."""
time.sleep(1)
selfdrive/ui/tests/test_ui/run.py
+2 -3
View File
@@ -1,6 +1,5 @@
#!/usr/bin/env python3
import capnp
import json
import pathlib
import shutil
import sys
@@ -265,12 +264,12 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
time.sleep(UI_DELAY)
def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
Params().put("CarPlatformBundle", json.dumps(
Params().put("CarPlatformBundle",
{
"platform": "HONDA_CIVIC_2022",
"name": "Honda Civic 2022-24"
}
))
)
setup_settings_device(click, pm)
scroll(-400, 278, 962)
selfdrive/ui/translations/main_ar.ts
+1346 -183
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selfdrive/ui/translations/main_de.ts
+1346 -183
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selfdrive/ui/translations/main_es.ts
+1328 -167
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selfdrive/ui/translations/main_fr.ts
+1344 -179
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selfdrive/ui/translations/main_ja.ts
+1329 -168
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selfdrive/ui/translations/main_ko.ts
+1329 -168
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selfdrive/ui/translations/main_pt-BR.ts
+1329 -168
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selfdrive/ui/translations/main_th.ts
+1346 -183
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selfdrive/ui/translations/main_tr.ts
+1331 -166
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selfdrive/ui/translations/main_zh-CHS.ts
+1328 -167
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selfdrive/ui/translations/main_zh-CHT.ts
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selfdrive/ui/watch3.cc
-33
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@@ -1,33 +0,0 @@
#include <QApplication>
#include <QtWidgets>
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/cameraview.h"
int main(int argc, char *argv[]) {
initApp(argc, argv);
QApplication a(argc, argv);
QWidget w;
setMainWindow(&w);
QVBoxLayout *layout = new QVBoxLayout(&w);
layout->setMargin(0);
layout->setSpacing(0);
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
}
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
}
return a.exec();
}
selfdrive/ui/watch3.py
Executable
+17
View File
@@ -0,0 +1,17 @@
#!/usr/bin/env python3
import pyray as rl
from msgq.visionipc import VisionStreamType
from openpilot.system.ui.lib.application import gui_app
from openpilot.selfdrive.ui.onroad.cameraview import CameraView
if __name__ == "__main__":
gui_app.init_window("watch3")
road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
for _ in gui_app.render():
road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
selfdrive/ui/widgets/exp_mode_button.py
+4 -12
View File
@@ -14,7 +14,6 @@ class ExperimentalModeButton(Widget):
self.params = Params()
self.experimental_mode = self.params.get_bool("ExperimentalMode")
self.is_pressed = False
self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
@@ -32,19 +31,12 @@ class ExperimentalModeButton(Widget):
rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
start_color, end_color)
def _handle_interaction(self, rect):
mouse_pos = rl.get_mouse_position()
mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)
def _handle_mouse_release(self, mouse_pos):
self.experimental_mode = not self.experimental_mode
# TODO: Opening settings for ExperimentalMode
self.params.put_bool("ExperimentalMode", self.experimental_mode)
def _render(self, rect):
if self._handle_interaction(rect):
self.experimental_mode = not self.experimental_mode
# TODO: Opening settings for ExperimentalMode
self.params.put_bool("ExperimentalMode", self.experimental_mode)
rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
sunnypilot/livedelay/helpers.py
+14
View File
@@ -0,0 +1,14 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from openpilot.common.params import Params
def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
if params.get_bool("LagdToggle"):
return float(params.get("LagdValueCache", return_default=True))
return stock_lat_delay
sunnypilot/livedelay/lagd_toggle.py
+21 -34
View File
@@ -4,48 +4,35 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from cereal import log
from opendbc.car import structs
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
class LagdToggle:
def __init__(self):
def __init__(self, CP: structs.CarParams):
self.CP = CP
self.params = Params()
self.lag = 0.0
self._last_desc = None
@property
def software_delay(self):
return self.params.get("LagdToggleDelay")
self.lagd_toggle = self.params.get_bool("LagdToggle")
self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
def _maybe_update_desc(self, desc):
if desc != self._last_desc:
self.params.put_nonblocking("LagdToggleDesc", desc)
self._last_desc = desc
def read_params(self) -> None:
self.lagd_toggle = self.params.get_bool("LagdToggle")
self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
def lagd_main(self, CP, sm, model):
if self.params.get_bool("LagdToggle"):
lateral_delay = sm["liveDelay"].lateralDelay
lat_smooth = model.LAT_SMOOTH_SECONDS
result = lateral_delay + lat_smooth
desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
self._maybe_update_desc(desc)
return result
def update(self, lag_msg: log.LiveDelayData) -> None:
self.read_params()
steer_actuator_delay = CP.steerActuatorDelay
lat_smooth = model.LAT_SMOOTH_SECONDS
delay = self.software_delay
result = (steer_actuator_delay + delay) + lat_smooth
desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
self._maybe_update_desc(desc)
return result
if not self.lagd_toggle:
steer_actuator_delay = self.CP.steerActuatorDelay
delay = self.software_delay
self.lag = (steer_actuator_delay + delay)
self.params.put_nonblocking("LagdValueCache", self.lag)
return
def lagd_torqued_main(self, CP, msg):
if self.params.get_bool("LagdToggle"):
self.lag = msg.lateralDelay
cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
else:
self.lag = CP.steerActuatorDelay + self.software_delay
cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
return self.lag
lateral_delay = lag_msg.liveDelay.lateralDelay
self.lag = lateral_delay
self.params.put_nonblocking("LagdValueCache", self.lag)
sunnypilot/mapd/live_map_data/osm_map_data.py
+1 -1
View File
@@ -38,7 +38,7 @@ class OsmMapData(BaseMapData):
def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {}
next_speed_limit_section = next_speed_limit_section_str if next_speed_limit_section_str else {}
next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
next_speed_limit_latitude = next_speed_limit_section.get('latitude')
next_speed_limit_longitude = next_speed_limit_section.get('longitude')
sunnypilot/mapd/mapd_manager.py
+7 -2
View File
@@ -59,12 +59,17 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
params.put("OsmDownloadedDate", str(time.monotonic()))
params.put_bool("OsmDbUpdatesCheck", False)
osm_download_locations = json.dumps({
osm_download_locations = {
"nations": nations,
"states": states or []
}
osm_download_locations_dump = json.dumps({
"nations": nations,
"states": states or []
})
print(f"Downloading maps for {osm_download_locations}")
print(f"Downloading maps for {osm_download_locations_dump}")
mem_params.put("OSMDownloadLocations", osm_download_locations)
sunnypilot/modeld/modeld.py
+9 -8
View File
@@ -20,13 +20,14 @@ from openpilot.system import sentry
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -48,7 +49,7 @@ class FrameMeta:
if vipc is not None:
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
class ModelState:
class ModelState(ModelStateBase):
frame: ModelFrame
wide_frame: ModelFrame
inputs: dict[str, np.ndarray]
@@ -57,6 +58,7 @@ class ModelState:
model: ModelRunner
def __init__(self, context: CLContext):
ModelStateBase.__init__(self)
self.frame = ModelFrame(context)
self.wide_frame = ModelFrame(context)
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -202,8 +204,6 @@ def main(demo=False):
cloudlog.info("modeld got CarParams: %s", CP.brand)
modeld_lagd = LagdToggle()
# Enable lagd support for sunnypilot modeld
long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
prev_action = log.ModelDataV2.Action()
@@ -248,8 +248,9 @@ def main(demo=False):
v_ego = sm["carState"].vEgo
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
steer_delay = modeld_lagd.lagd_main(CP, sm, model)
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -283,7 +284,7 @@ def main(demo=False):
}
if "lateral_control_params" in model.inputs.keys():
inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)
if "driving_style" in model.inputs.keys():
inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +307,7 @@ def main(demo=False):
action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
v_ego, steer_delay, model.meta)
v_ego, lat_delay, model.meta)
desire_state = modelv2_send.modelV2.meta.desireState
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
sunnypilot/modeld/modeld_base.py
+12
View File
@@ -0,0 +1,12 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from openpilot.common.params import Params
class ModelStateBase:
def __init__(self):
self.lat_delay = Params().get("LagdValueCache", return_default=True)
sunnypilot/modeld_v2/modeld.py
+9 -8
View File
@@ -22,8 +22,9 @@ from openpilot.sunnypilot.modeld_v2.constants import Plan
from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
from openpilot.sunnypilot.models.helpers import get_active_bundle
from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
from openpilot.sunnypilot.models.runners.helpers import get_model_runner
PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -39,13 +40,14 @@ class FrameMeta:
self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
class ModelState:
class ModelState(ModelStateBase):
frames: dict[str, DrivingModelFrame]
inputs: dict[str, np.ndarray]
prev_desire: np.ndarray # for tracking the rising edge of the pulse
temporal_idxs: slice | np.ndarray
def __init__(self, context: CLContext):
ModelStateBase.__init__(self)
try:
self.model_runner = get_model_runner()
self.constants = self.model_runner.constants
@@ -242,9 +244,6 @@ def main(demo=False):
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
cloudlog.info("modeld got CarParams: %s", CP.brand)
modeld_lagd = LagdToggle()
# TODO Move smooth seconds to action function
long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
prev_action = log.ModelDataV2.Action()
@@ -289,7 +288,9 @@ def main(demo=False):
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
v_ego = max(sm["carState"].vEgo, 0.)
steer_delay = modeld_lagd.lagd_main(CP, sm, model)
if sm.frame % 60 == 0:
model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -326,7 +327,7 @@ def main(demo=False):
}
if "lateral_control_params" in model.numpy_inputs.keys():
inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
mt1 = time.perf_counter()
model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -338,7 +339,7 @@ def main(demo=False):
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')
action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
prev_action = action
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
sunnypilot/models/fetcher.py
+2 -3
View File
@@ -5,7 +5,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import json
import time
import requests
@@ -102,14 +101,14 @@ class ModelCache:
if not cached_data:
cloudlog.warning("No cached model data available")
return {}, True
return json.loads(cached_data), self._is_expired()
return cached_data, self._is_expired()
except Exception as e:
cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
return {}, True
def set(self, data: dict) -> None:
"""Updates the cache with new model data"""
self.params.put(self._CACHE_KEY, json.dumps(data))
self.params.put(self._CACHE_KEY, data)
self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
sunnypilot/models/helpers.py
+1 -2
View File
@@ -9,7 +9,6 @@ import hashlib
import os
import pickle
import numpy as np
import json
from openpilot.common.params import Params
from cereal import custom
@@ -71,7 +70,7 @@ def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundl
params = Params()
try:
if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
return custom.ModelManagerSP.ModelBundle(**active_bundle)
except Exception:
pass
sunnypilot/models/manager.py
+1 -2
View File
@@ -8,7 +8,6 @@ See the LICENSE.md file in the root directory for more details.
import asyncio
import os
import time
import json
import aiohttp
from openpilot.common.params import Params
@@ -146,7 +145,7 @@ class ModelManagerSP:
await asyncio.gather(*tasks)
self.active_bundle = self.selected_bundle
self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict()))
self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict())
self.selected_bundle = None
except Exception:
sunnypilot/models/tests/test_tinygrad_ref.py
+23
View File
@@ -0,0 +1,23 @@
import requests
from sunnypilot.models.tinygrad_ref import get_tinygrad_ref
from sunnypilot.models.fetcher import ModelFetcher
def fetch_tinygrad_ref():
response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
response.raise_for_status()
json_data = response.json()
return json_data.get("tinygrad_ref")
def test_tinygrad_ref():
current_ref = get_tinygrad_ref()
remote_ref = fetch_tinygrad_ref()
assert remote_ref == current_ref, (
f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
Current: {current_ref}
Remote: {remote_ref}
Please run build-all workflow to update models."""
)
print("tinygrad_repo ref matches current compiled driving models json ref.")
sunnypilot/models/tinygrad_ref.py
+36
View File
@@ -0,0 +1,36 @@
import os
from openpilot.common.basedir import BASEDIR
def get_tinygrad_ref():
repo_path = os.path.join(BASEDIR, "tinygrad_repo")
git_path = os.path.join(repo_path, ".git")
try:
if os.path.isdir(git_path):
git_dir = git_path
else:
with open(git_path) as f:
line = f.read().strip()
git_dir = os.path.join(repo_path, line[8:])
with open(os.path.join(git_dir, "HEAD")) as f:
ref = f.read().strip()
if ref.startswith("ref:"):
with open(os.path.join(git_dir, ref.split(" ", 1)[1])) as f:
return f.read().strip()
return ref
except Exception as e:
print(f"Error getting tinygrad_repo ref: {e}")
return None
def main():
current_ref = get_tinygrad_ref()
if current_ref:
print(current_ref)
else:
print("")
if __name__ == "__main__":
main()
sunnypilot/navd/helpers.py
+4 -4
View File
@@ -5,7 +5,7 @@ import math
import numpy as np
from typing import Any, cast
from openpilot.common.conversions import Conversions
from openpilot.common.constants import CV
from openpilot.common.params import Params
DIRECTIONS = ('left', 'right', 'straight')
@@ -13,8 +13,8 @@ MODIFIABLE_DIRECTIONS = ('left', 'right')
EARTH_MEAN_RADIUS = 6371007.2
SPEED_CONVERSIONS = {
'km/h': Conversions.KPH_TO_MS,
'mph': Conversions.MPH_TO_MS,
'km/h': CV.KPH_TO_MS,
'mph': CV.MPH_TO_MS,
}
@@ -133,7 +133,7 @@ def string_to_direction(direction: str) -> str:
def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
unit = cast(str, maxspeed['unit'])
speed = cast(float, maxspeed['speed'])
return SPEED_CONVERSIONS[unit] * speed
return float(SPEED_CONVERSIONS[unit] * speed)
def field_valid(dat: dict, field: str) -> bool:

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