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Merge branch 'upstream/openpilot/master'

Browse Source 
# Conflicts:
#	.pre-commit-config.yaml
#	README.md
#	cereal
#	opendbc
#	panda
#	selfdrive/car/torque_data/override.yaml
This commit is contained in:
Jason Wen
2023-09-22 23:49:13 -04:00
parent 32e514f421 7e54882458
commit eb2a58185d
161 changed files with 2187 additions and 2841 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/labeler.yaml
+61
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@@ -0,0 +1,61 @@
CI / testing:
- all:
- changed-files: ['.github/**']
- all:
- changed-files: ['**/test_*']
car:
- all:
- changed-files: ['selfdrive/car/**']
body:
- all:
- changed-files: ['selfdrive/car/body/*']
chrysler:
- all:
- changed-files: ['selfdrive/car/chrysler/*']
ford:
- all:
- changed-files: ['selfdrive/car/ford/*']
gm:
- all:
- changed-files: ['selfdrive/car/gm/*']
honda:
- all:
- changed-files: ['selfdrive/car/honda/*']
hyundai:
- all:
- changed-files: ['selfdrive/car/hyundai/*']
mazda:
- all:
- changed-files: ['selfdrive/car/mazda/*']
nissan:
- all:
- changed-files: ['selfdrive/car/nissan/*']
subaru:
- all:
- changed-files: ['selfdrive/car/subaru/*']
tesla:
- all:
- changed-files: ['selfdrive/car/tesla/*']
toyota:
- all:
- changed-files: ['selfdrive/car/toyota/*']
volkswagen:
- all:
- changed-files: ['selfdrive/car/volkswagen/*']
simulation:
- all:
- changed-files: ['tools/sim/**']
ui:
- all:
- changed-files: ['selfdrive/ui/**']
tools:
- all:
- changed-files: ['tools/**']
multilanguage:
- all:
- changed-files: ['selfdrive/ui/translations/**']
.github/workflows/compile-openpilot/action.yaml
+27
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@@ -0,0 +1,27 @@
name: 'compile openpilot'
inputs:
cache_key_prefix:
description: 'Prefix for caching key'
required: false
default: 'scons'
runs:
using: "composite"
steps:
- shell: bash
name: Build openpilot with all flags
run: |
${{ env.RUN }} "scons -j$(nproc)"
${{ env.RUN }} "release/check-dirty.sh"
- shell: bash
name: Cleanup scons cache and rebuild
run: |
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
scons -j$(nproc) --cache-populate"
- name: Save scons cache
uses: actions/cache/save@v3
if: github.ref == 'refs/heads/master'
with:
path: .ci_cache/scons_cache
key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
.github/workflows/labeler.yaml
+18
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@@ -0,0 +1,18 @@
name: "Pull Request Labeler"
on:
pull_request_target:
jobs:
labeler:
permissions:
contents: read
pull-requests: write
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v3
with:
submodules: false
- uses: actions/labeler@v5.0.0-alpha.1
with:
dot: true
configuration-path: .github/labeler.yaml
.github/workflows/prebuilt.yaml
+2 -2
View File
@@ -5,7 +5,7 @@ on:
workflow_dispatch:
env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
BUILD: selfdrive/test/docker_build.sh prebuilt
jobs:
@@ -29,5 +29,5 @@ jobs:
submodules: true
- name: Build and Push docker image
run: |
$DOCKER_LOGIN
$DOCKER_GHCR_LOGIN
eval "$BUILD"
.github/workflows/selfdrive_tests.yaml
+49 -32
View File
@@ -16,7 +16,8 @@ env:
CL_BASE_IMAGE: openpilot-base-cl
AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }}
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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/sh -c
@@ -67,30 +68,27 @@ jobs:
cd $STRIPPED_DIR
${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
build_all:
name: build all
runs-on: ubuntu-20.04
build:
strategy:
matrix:
arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
steps:
- uses: actions/checkout@v3
with:
submodules: true
# login only on arm machines, due to buildjet rate limits
- name: Setup docker
if: contains(runner.name, 'buildjet')
run: |
$DOCKER_HUB_LOGIN
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot with all flags
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
run: |
${{ env.RUN }} "scons -j$(nproc)"
${{ env.RUN }} "release/check-dirty.sh"
- name: Cleanup scons cache and rebuild
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
run: |
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
scons -j$(nproc) --cache-populate"
- name: Save scons cache
uses: actions/cache/save@v3
if: github.ref == 'refs/heads/master'
with:
path: .ci_cache/scons_cache
key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
cache_key_prefix: scons_${{ matrix.arch }}
- uses: ./.github/workflows/compile-openpilot
timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
with:
cache_key_prefix: scons_${{ matrix.arch }}
build_mac:
name: build macos
@@ -185,8 +183,10 @@ jobs:
sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
docker_push:
name: docker push
runs-on: ubuntu-20.04
strategy:
matrix:
arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v3
@@ -195,14 +195,39 @@ jobs:
- name: Setup to push to repo
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
$DOCKER_LOGIN
echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
$DOCKER_GHCR_LOGIN
# login only on arm machines, due to buildjet rate limits
- name: Additional setup for buildjet
if: contains(runner.name, 'buildjet')
run: |
$DOCKER_HUB_LOGIN
- uses: ./.github/workflows/setup-with-retry
with:
git-lfs: false
- name: Build and push CL Docker image
if: matrix.arch == 'x86_64'
run: |
unset TARGET_ARCHITECTURE
eval "$BUILD_CL"
docker_push_multiarch:
name: docker push multiarch tag
runs-on: ubuntu-20.04
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
needs: [docker_push]
steps:
- uses: actions/checkout@v3
with:
submodules: false
- name: Setup docker
run: |
$DOCKER_GHCR_LOGIN
- name: Merge x64 and arm64 tags
run: |
export PUSH_IMAGE=true
selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
static_analysis:
name: static analysis
runs-on: ubuntu-20.04
@@ -249,18 +274,10 @@ jobs:
timeout-minutes: 40
run: |
${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
$PYTEST && \
selfdrive/locationd/test/_test_locationd_lib.py && \
./system/ubloxd/tests/test_glonass_runner && \
$PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py && \
./common/tests/test_common && \
./selfdrive/boardd/tests/test_boardd_usbprotocol && \
./system/loggerd/tests/test_logger &&\
./system/proclogd/tests/test_proclog && \
./tools/replay/tests/test_replay && \
./tools/cabana/tests/test_cabana && \
./system/camerad/test/ae_gray_test && \
./selfdrive/test/process_replay/test_fuzzy.py"
- name: "Upload coverage to Codecov"
@@ -324,7 +341,7 @@ jobs:
${{ env.RUN }} "scons -j$(nproc)"
# PYTHONWARNINGS triggers a SyntaxError in onnxruntime
- name: Run model replay with ONNX
timeout-minutes: 2
timeout-minutes: 3
run: |
${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
.github/workflows/setup-with-retry/action.yaml
+14 -6
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@@ -5,9 +5,14 @@ inputs:
description: 'Whether or not to pull the git lfs'
required: false
default: 'true'
env:
SLEEP_TIME: 30 # Time to sleep between retries
cache_key_prefix:
description: 'Prefix for caching key'
required: false
default: 'scons_x86_64'
sleep_time:
description: 'Time to sleep between retries'
required: false
default: 30
runs:
using: "composite"
@@ -17,23 +22,26 @@ runs:
continue-on-error: true
with:
git_lfs: ${{ inputs.git_lfs }}
cache_key_prefix: ${{ inputs.cache_key_prefix }}
is_retried: true
- if: steps.setup1.outcome == 'failure'
shell: bash
run: sleep ${{ env.SLEEP_TIME }}
run: sleep ${{ inputs.sleep_time }}
- id: setup2
if: steps.setup1.outcome == 'failure'
uses: ./.github/workflows/setup
continue-on-error: true
with:
git_lfs: ${{ inputs.git_lfs }}
cache_key_prefix: ${{ inputs.cache_key_prefix }}
is_retried: true
- if: steps.setup2.outcome == 'failure'
shell: bash
run: sleep ${{ env.SLEEP_TIME }}
run: sleep ${{ inputs.sleep_time }}
- id: setup3
if: steps.setup2.outcome == 'failure'
uses: ./.github/workflows/setup
with:
git_lfs: ${{ inputs.git_lfs }}
is_retried: true
cache_key_prefix: ${{ inputs.cache_key_prefix }}
is_retried: true
.github/workflows/setup/action.yaml
+7 -3
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@@ -5,6 +5,10 @@ inputs:
description: 'Whether or not to pull the git lfs'
required: false
default: 'true'
cache_key_prefix:
description: 'Prefix for caching key'
required: false
default: 'scons_x86_64'
is_retried:
description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
required: false
@@ -35,10 +39,10 @@ runs:
uses: actions/cache/restore@v3
with:
path: .ci_cache/scons_cache
key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
restore-keys: |
scons-${{ env.CACHE_COMMIT_DATE }}-
scons-
${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
${{ inputs.cache_key_prefix }}-
# if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
- id: scons-cache-setup
shell: bash
.github/workflows/tools_tests.yaml
+3 -3
View File
@@ -13,7 +13,7 @@ concurrency:
env:
BASE_IMAGE: openpilot-base
CL_BASE_IMAGE: openpilot-base-cl
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
BUILD: selfdrive/test/docker_build.sh base
@@ -58,7 +58,7 @@ jobs:
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
$DOCKER_LOGIN
$DOCKER_GHCR_LOGIN
- name: Build and push sim image
run: |
selfdrive/test/docker_build.sh sim
@@ -78,7 +78,7 @@ jobs:
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
$DOCKER_LOGIN
$DOCKER_GHCR_LOGIN
- name: Build and push docs image
run: |
selfdrive/test/docker_build.sh docs
.pre-commit-config.yaml
+81 -1
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@@ -1,9 +1,89 @@
exclude: '^(tinygrad_repo)'
repos:
- repo: meta
hooks:
- id: check-hooks-apply
- id: check-useless-excludes
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
hooks:
- id: check-ast
exclude: '^(third_party)/'
- id: check-json
- id: check-toml
- id: check-xml
- id: check-yaml
- id: check-merge-conflict
- id: check-symlinks
- id: check-executables-have-shebangs
- id: check-shebang-scripts-are-executable
- id: check-added-large-files
args: ['--maxkb=100']
- repo: https://github.com/codespell-project/codespell
rev: v2.2.5
hooks:
- id: codespell
exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
args:
# if you've got a short variable name that's getting flagged, add it here
- -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
- --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
- repo: local
hooks:
- id: mypy
name: mypy
entry: mypy
language: system
types: [python]
args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.0.288
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
- repo: local
hooks:
- id: cppcheck
name: cppcheck
entry: cppcheck
language: system
types: [c++]
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
args:
- --error-exitcode=1
- --language=c++
- --quiet
- --force
- -j8
- repo: https://github.com/cpplint/cpplint
rev: 1.6.1
hooks:
- id: cpplint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
args:
- --quiet
- --counting=total
- --linelength=240
# https://google.github.io/styleguide/cppguide.html
# relevant rules are whitelisted, see all options with: cpplint --filter=
- --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
- repo: local
hooks:
- id: test_translations
name: test translations
entry: selfdrive/ui/tests/test_translations.py
language: script
pass_filenames: false
- repo: https://github.com/python-poetry/poetry
rev: '1.5.0'
rev: '1.6.0'
hooks:
- id: poetry-check
- id: poetry-lock
name: validate poetry lock
args:
- --check
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.26.3
hooks:
- id: check-github-workflows
Jenkinsfile
Vendored
+176 -216
View File
@@ -1,4 +1,4 @@
def phone(String ip, String step_label, String cmd) {
def device(String ip, String step_label, String cmd) {
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
def ssh_cmd = """
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
@@ -51,226 +51,186 @@ END"""
}
}
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 20, unit: 'MINUTES') {
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
def deviceStage(String stageName, String deviceType, List env, def steps) {
stage(stageName) {
if (currentBuild.result != null) {
return
}
def extra = env.collect { "export ${it}" }.join('\n');
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 20, unit: 'MINUTES') {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
steps.each { item ->
device(device_ip, item[0], item[1])
}
}
}
}
}
}
pipeline {
agent none
environment {
CI = "1"
PYTHONWARNINGS = "error"
TEST_DIR = "/data/openpilot"
SOURCE_DIR = "/data/openpilot_source/"
AZURE_TOKEN = credentials('azure_token')
MAPBOX_TOKEN = credentials('mapbox_token')
def pcStage(String stageName, Closure body) {
node {
stage(stageName) {
if (currentBuild.result != null) {
return
}
checkout scm
def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
timeout(time: 20, unit: 'MINUTES') {
try {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --recursive"
sh "git lfs pull"
body()
} finally {
sh "rm -rf ${env.WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
}
options {
timeout(time: 3, unit: 'HOURS')
disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
}
stages {
stage('build release3-staging') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
when {
branch 'devel-staging'
}
steps {
phone_steps("tici-needs-can", [
["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
])
}
}
stage('build nightly') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
when {
branch 'master-ci'
}
steps {
phone_steps("tici-needs-can", [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
}
}
stage('openpilot tests') {
when {
not {
anyOf {
branch 'master-ci'; branch 'devel'; branch 'devel-staging';
branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
branch 'testing-closet*'; branch 'hotfix-*'
}
}
}
parallel {
/*
stage('simulator') {
agent {
dockerfile {
filename 'Dockerfile.sim_nvidia'
dir 'tools/sim'
args '--user=root'
}
}
steps {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --recursive"
sh "git lfs pull"
lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
sh "${WORKSPACE}/tools/sim/build_container.sh"
sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
}
}
post {
always {
sh "docker kill carla_sim || true"
sh "rm -rf ${WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
*/
stage('PC tests') {
agent {
dockerfile {
filename 'Dockerfile.openpilot_base'
args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
}
}
steps {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --depth=1 --recursive"
sh "git lfs pull"
// tests that our build system's dependencies are configured properly, needs a machine with lots of cores
sh "scons --clean && scons --no-cache --random -j42"
sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
}
post {
always {
sh "rm -rf ${WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
stage('tizi-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tizi", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
])
}
}
stage('build') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
environment {
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
}
steps {
phone_steps("tici-needs-can", [
["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
])
}
}
stage('loopback-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-loopback", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
}
}
stage('HW + Unit Tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
["test nav", "pytest selfdrive/navd/tests/"],
])
}
}
stage('camerad') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-ar0231", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
phone_steps("tici-ox03c10", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
}
}
stage('sensord') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
])
phone_steps("tici-bmx-lsm", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
])
}
}
stage('replay') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-replay", [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
])
}
}
}
}
}
}
def setupCredentials() {
withCredentials([
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
]) {
env.AZURE_TOKEN = "${AZURE_TOKEN}"
env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
}
}
node {
env.CI = "1"
env.PYTHONWARNINGS = "error"
env.TEST_DIR = "/data/openpilot"
env.SOURCE_DIR = "/data/openpilot_source/"
setupCredentials()
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
if (env.BRANCH_NAME != 'master') {
properties([
disableConcurrentBuilds(abortPrevious: true)
])
}
try {
if (env.BRANCH_NAME == 'devel-staging') {
deviceStage("build release3-staging", "tici-needs-can", [], [
["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
])
}
if (env.BRANCH_NAME == 'master-ci') {
deviceStage("build nightly", "tici-needs-can", [], [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
}
if (!env.BRANCH_NAME.matches(excludeRegex)) {
parallel (
// tici tests
'onroad tests': {
deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
["test nav", "pytest selfdrive/navd/tests/"],
])
},
'loopback': {
deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
])
},
'replay': {
deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
])
},
// *** PC tests ***
'PC tests': {
pcStage("PC tests") {
// tests that our build system's dependencies are configured properly,
// needs a machine with lots of cores
sh label: "test multi-threaded build", script: "scons --no-cache --random -j42"
}
},
'car tests': {
pcStage("car tests") {
sh "scons -j30"
sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
}
},
)
}
} catch (Exception e) {
currentBuild.result = 'FAILED'
throw e
}
}
RELEASES.md
+5 -1
View File
@@ -1,7 +1,11 @@
Version 0.9.5 (202X-XX-XX)
Version 0.9.5 (2023-09-27)
========================
* New driving model
* Improved navigate on openpilot performance using navigation instructions as an additional model input
* Hyundai Azera 2022 support thanks to sunnyhaibin!
* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
* Lexus IS 2023 support thanks to L3R5!
SConstruct
+16 -36
View File
@@ -244,18 +244,6 @@ def progress_function(node):
if os.environ.get('SCONS_PROGRESS'):
Progress(progress_function, interval=node_interval)
SHARED = False
# TODO: this can probably be removed
def abspath(x):
if arch == 'aarch64':
pth = os.path.join("/data/pythonpath", x[0].path)
env.Depends(pth, x)
return File(pth)
else:
# rpath works elsewhere
return x[0].path.rsplit("/", 1)[1][:-3]
# Cython build environment
py_include = sysconfig.get_paths()['include']
envCython = env.Clone()
@@ -337,34 +325,35 @@ if GetOption("clazy"):
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
Export('env', 'qt_env', 'arch', 'real_arch')
# Build common module
SConscript(['common/SConscript'])
Import('_common', '_gpucommon')
if SHARED:
common, gpucommon = abspath(common), abspath(gpucommon)
else:
common = [_common, 'json11']
gpucommon = [_gpucommon]
common = [_common, 'json11']
gpucommon = [_gpucommon]
Export('common', 'gpucommon')
# cereal and messaging are shared with the system
# Build cereal and messaging
SConscript(['cereal/SConscript'])
if SHARED:
cereal = abspath([File('cereal/libcereal_shared.so')])
messaging = abspath([File('cereal/libmessaging_shared.so')])
else:
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
Export('cereal', 'messaging', 'messaging_python', 'visionipc')
# Build rednose library and ekf models
# Build other submodules
SConscript([
'body/board/SConscript',
'opendbc/can/SConscript',
'panda/SConscript',
])
# Build rednose library and ekf models
rednose_deps = [
"#selfdrive/locationd/models/constants.py",
"#selfdrive/locationd/models/gnss_helpers.py",
@@ -406,15 +395,6 @@ if arch != "Darwin":
])
# Build openpilot
# build submodules
SConscript([
'body/board/SConscript',
'cereal/SConscript',
'opendbc/can/SConscript',
'panda/SConscript',
])
SConscript(['third_party/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
cereal
+1 -1
Submodule cereal updated: fae6aed120...bf00063015
common/SConscript
+3 -8
View File
@@ -1,9 +1,4 @@
Import('env', 'envCython', 'arch', 'SHARED')
if SHARED:
fxn = env.SharedLibrary
else:
fxn = env.Library
Import('env', 'envCython', 'arch')
common_libs = [
'params.cc',
@@ -18,13 +13,13 @@ common_libs = [
if arch != "Darwin":
common_libs.append('gpio.cc')
_common = fxn('common', common_libs, LIBS="json11")
_common = env.Library('common', common_libs, LIBS="json11")
files = [
'clutil.cc',
]
_gpucommon = fxn('gpucommon', files)
_gpucommon = env.Library('gpucommon', files)
Export('_common', '_gpucommon')
if GetOption('extras'):
common/params.h
+5 -1
View File
@@ -15,7 +15,11 @@ enum ParamKeyType {
class Params {
public:
Params(const std::string &path = {});
explicit Params(const std::string &path = {});
// Not copyable.
Params(const Params&) = delete;
Params& operator=(const Params&) = delete;
std::vector<std::string> allKeys() const;
bool checkKey(const std::string &key);
ParamKeyType getKeyType(const std::string &key);
common/prefix.py
+6 -1
View File
@@ -5,10 +5,11 @@ import uuid
from typing import Optional
from openpilot.common.params import Params
from openpilot.system.hardware.hw import Paths
class OpenpilotPrefix:
def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
self.prefix = prefix if prefix else str(uuid.uuid4())
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
self.msgq_path = os.path.join('/dev/shm', self.prefix)
self.clean_dirs_on_exit = clean_dirs_on_exit
@@ -18,6 +19,7 @@ class OpenpilotPrefix:
os.mkdir(self.msgq_path)
except FileExistsError:
pass
os.makedirs(Paths.log_root(), exist_ok=True)
return self
@@ -36,3 +38,6 @@ class OpenpilotPrefix:
shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
os.remove(symlink_path)
shutil.rmtree(self.msgq_path, ignore_errors=True)
shutil.rmtree(Paths.log_root(), ignore_errors=True)
shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
shutil.rmtree(Paths.comma_home(), ignore_errors=True)
common/swaglog.cc
+1 -1
View File
@@ -20,7 +20,7 @@
class SwaglogState : public LogState {
public:
SwaglogState() : LogState("ipc:///tmp/logmessage") {}
SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
json11::Json::object ctx_j;
common/tests/test_ratekeeper.cc
+9 -2
View File
@@ -6,11 +6,18 @@
TEST_CASE("RateKeeper") {
float freq = GENERATE(10, 50, 100);
RateKeeper rk("Test RateKeeper", freq);
int lags = 0;
int bad_keep_times = 0;
for (int i = 0; i < freq; ++i) {
double begin = seconds_since_boot();
util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
bool lagged = rk.keepTime();
REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
REQUIRE(lagged == false);
lags += lagged;
bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
}
// need a tolerance here due to scheduling
REQUIRE(lags < 5);
REQUIRE(bad_keep_times < 5);
}
common/tests/test_swaglog.cc
+1 -2
View File
@@ -9,7 +9,6 @@
#include "system/hardware/hw.h"
#include "third_party/json11/json11.hpp"
const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
std::string daemon_name = "testy";
std::string dongle_id = "test_dongle_id";
int LINE_NO = 0;
@@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) {
void recv_log(int thread_cnt, int thread_msg_cnt) {
void *zctx = zmq_ctx_new();
void *sock = zmq_socket(zctx, ZMQ_PULL);
zmq_bind(sock, SWAGLOG_ADDR);
zmq_bind(sock, Path::swaglog_ipc().c_str());
std::vector<int> thread_msgs(thread_cnt);
int total_count = 0;
common/tests/test_util.cc
+4 -2
View File
@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
std::string content = random_bytes(64 * 1024);
write(fd, content.c_str(), content.size());
std::string ret = util::read_file(filename);
REQUIRE(ret == content);
bool equal = (ret == content);
REQUIRE(equal);
close(fd);
}
SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
REQUIRE(ret == 0);
ret = fclose(f);
REQUIRE(ret == 0);
REQUIRE(dat == util::read_file(filename));
bool equal = (dat == util::read_file(filename));
REQUIRE(equal);
}
TEST_CASE("util::create_directories") {
common/util.h
+3 -3
View File
@@ -188,9 +188,9 @@ class LogState {
void *zctx = nullptr;
void *sock = nullptr;
int print_level;
const char* endpoint;
std::string endpoint;
LogState(const char* _endpoint) {
LogState(std::string _endpoint) {
endpoint = _endpoint;
}
@@ -202,7 +202,7 @@ class LogState {
int timeout = 100;
zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
zmq_connect(sock, endpoint);
zmq_connect(sock, endpoint.c_str());
initialized = true;
}
docs/CARS.md
+6 -4
View File
@@ -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.
# 260 Supported Cars
# 262 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|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
|Hyundai|Azera 2022|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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
|Hyundai|Elantra 2021-23|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 K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@@ -88,8 +89,8 @@ 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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
|Hyundai|Kona 2020|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 B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2018-21|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 G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022|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 O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
|Hyundai|Kona Electric 2022-23|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 O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=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>|
|Hyundai|Kona Hybrid 2020|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 I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Palisade 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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -109,7 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Carnival 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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
|Kia|Carnival 2023-24[<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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
|Kia|Carnival (China 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 K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
|Kia|Ceed 2019|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 E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
|Kia|EV6 (Southeast Asia only) 2022-23[<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 P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
@@ -119,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Forte 2023|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 E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|Kia|K5 2021-22|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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|Kia|K5 Hybrid 2020|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 A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|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 Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|Kia|Niro EV 2019|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 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2020|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 F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Niro EV 2021|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 C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
opendbc
+1 -1
Submodule opendbc updated: d292afe444...ab68094723
panda
+1 -1
Submodule panda updated: be34fc4c02...329e049732
poetry.lock
Generated
+190 -152
View File
@@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
[[package]]
name = "aiohttp"
@@ -314,13 +314,13 @@ files = [
[[package]]
name = "azure-core"
version = "1.29.3"
version = "1.29.4"
description = "Microsoft Azure Core Library for Python"
optional = false
python-versions = ">=3.7"
files = [
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]
[package.dependencies]
@@ -813,63 +813,63 @@ test = ["pytest", "pytest-timeout"]
[[package]]
name = "coverage"
version = "7.3.0"
version = "7.3.1"
description = "Code coverage measurement for Python"
optional = false
python-versions = ">=3.8"
files = [
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[package.dependencies]
numpy = [
{version = ">=1.21.2", markers = "python_version >= \"3.10\""},
{version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\""},
{version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
{version = ">=1.17.0", markers = "python_version >= \"3.7\""},
{version = ">=1.17.3", markers = "python_version >= \"3.8\""},
]
numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
[[package]]
name = "opencv-python-headless"
@@ -2792,14 +2802,7 @@ files = [
]
[package.dependencies]
numpy = [
{version = ">=1.21.2", markers = "python_version >= \"3.10\""},
{version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\""},
{version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
{version = ">=1.17.0", markers = "python_version >= \"3.7\""},
{version = ">=1.17.3", markers = "python_version >= \"3.8\""},
]
numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
[[package]]
name = "packaging"
@@ -3194,24 +3197,24 @@ files = [
[[package]]
name = "protobuf"
version = "4.24.2"
version = "4.24.3"
description = ""
optional = false
python-versions = ">=3.7"
files = [
{file = "protobuf-4.24.2-cp310-abi3-win32.whl", hash = "sha256:58e12d2c1aa428ece2281cef09bbaa6938b083bcda606db3da4e02e991a0d924"},
{file = "protobuf-4.24.2-cp310-abi3-win_amd64.whl", hash = "sha256:77700b55ba41144fc64828e02afb41901b42497b8217b558e4a001f18a85f2e3"},
{file = "protobuf-4.24.2-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:237b9a50bd3b7307d0d834c1b0eb1a6cd47d3f4c2da840802cd03ea288ae8880"},
{file = "protobuf-4.24.2-cp37-abi3-manylinux2014_aarch64.whl", hash = "sha256:25ae91d21e3ce8d874211110c2f7edd6384816fb44e06b2867afe35139e1fd1c"},
{file = "protobuf-4.24.2-cp37-abi3-manylinux2014_x86_64.whl", hash = "sha256:c00c3c7eb9ad3833806e21e86dca448f46035242a680f81c3fe068ff65e79c74"},
{file = "protobuf-4.24.2-cp37-cp37m-win32.whl", hash = "sha256:4e69965e7e54de4db989289a9b971a099e626f6167a9351e9d112221fc691bc1"},
{file = "protobuf-4.24.2-cp37-cp37m-win_amd64.whl", hash = "sha256:c5cdd486af081bf752225b26809d2d0a85e575b80a84cde5172a05bbb1990099"},
{file = "protobuf-4.24.2-cp38-cp38-win32.whl", hash = "sha256:6bd26c1fa9038b26c5c044ee77e0ecb18463e957fefbaeb81a3feb419313a54e"},
{file = "protobuf-4.24.2-cp38-cp38-win_amd64.whl", hash = "sha256:bb7aa97c252279da65584af0456f802bd4b2de429eb945bbc9b3d61a42a8cd16"},
{file = "protobuf-4.24.2-cp39-cp39-win32.whl", hash = "sha256:2b23bd6e06445699b12f525f3e92a916f2dcf45ffba441026357dea7fa46f42b"},
{file = "protobuf-4.24.2-cp39-cp39-win_amd64.whl", hash = "sha256:839952e759fc40b5d46be319a265cf94920174d88de31657d5622b5d8d6be5cd"},
{file = "protobuf-4.24.2-py3-none-any.whl", hash = "sha256:3b7b170d3491ceed33f723bbf2d5a260f8a4e23843799a3906f16ef736ef251e"},
{file = "protobuf-4.24.2.tar.gz", hash = "sha256:7fda70797ddec31ddfa3576cbdcc3ddbb6b3078b737a1a87ab9136af0570cd6e"},
{file = "protobuf-4.24.3-cp310-abi3-win32.whl", hash = "sha256:20651f11b6adc70c0f29efbe8f4a94a74caf61b6200472a9aea6e19898f9fcf4"},
{file = "protobuf-4.24.3-cp310-abi3-win_amd64.whl", hash = "sha256:3d42e9e4796a811478c783ef63dc85b5a104b44aaaca85d4864d5b886e4b05e3"},
{file = "protobuf-4.24.3-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:6e514e8af0045be2b56e56ae1bb14f43ce7ffa0f68b1c793670ccbe2c4fc7d2b"},
{file = "protobuf-4.24.3-cp37-abi3-manylinux2014_aarch64.whl", hash = "sha256:ba53c2f04798a326774f0e53b9c759eaef4f6a568ea7072ec6629851c8435959"},
{file = "protobuf-4.24.3-cp37-abi3-manylinux2014_x86_64.whl", hash = "sha256:f6ccbcf027761a2978c1406070c3788f6de4a4b2cc20800cc03d52df716ad675"},
{file = "protobuf-4.24.3-cp37-cp37m-win32.whl", hash = "sha256:1b182c7181a2891e8f7f3a1b5242e4ec54d1f42582485a896e4de81aa17540c2"},
{file = "protobuf-4.24.3-cp37-cp37m-win_amd64.whl", hash = "sha256:b0271a701e6782880d65a308ba42bc43874dabd1a0a0f41f72d2dac3b57f8e76"},
{file = "protobuf-4.24.3-cp38-cp38-win32.whl", hash = "sha256:e29d79c913f17a60cf17c626f1041e5288e9885c8579832580209de8b75f2a52"},
{file = "protobuf-4.24.3-cp38-cp38-win_amd64.whl", hash = "sha256:067f750169bc644da2e1ef18c785e85071b7c296f14ac53e0900e605da588719"},
{file = "protobuf-4.24.3-cp39-cp39-win32.whl", hash = "sha256:2da777d34b4f4f7613cdf85c70eb9a90b1fbef9d36ae4a0ccfe014b0b07906f1"},
{file = "protobuf-4.24.3-cp39-cp39-win_amd64.whl", hash = "sha256:f631bb982c5478e0c1c70eab383af74a84be66945ebf5dd6b06fc90079668d0b"},
{file = "protobuf-4.24.3-py3-none-any.whl", hash = "sha256:f6f8dc65625dadaad0c8545319c2e2f0424fede988368893ca3844261342c11a"},
{file = "protobuf-4.24.3.tar.gz", hash = "sha256:12e9ad2ec079b833176d2921be2cb24281fa591f0b119b208b788adc48c2561d"},
]
[[package]]
@@ -3623,13 +3626,13 @@ test = ["flaky", "pretend", "pytest (>=3.0.1)"]
[[package]]
name = "pyparsing"
version = "3.0.9"
version = "3.1.1"
description = "pyparsing module - Classes and methods to define and execute parsing grammars"
optional = false
python-versions = ">=3.6.8"
files = [
{file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
{file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
{file = "pyparsing-3.1.1-py3-none-any.whl", hash = "sha256:32c7c0b711493c72ff18a981d24f28aaf9c1fb7ed5e9667c9e84e3db623bdbfb"},
{file = "pyparsing-3.1.1.tar.gz", hash = "sha256:ede28a1a32462f5a9705e07aea48001a08f7cf81a021585011deba701581a0db"},
]
[package.extras]
@@ -3759,13 +3762,13 @@ cp2110 = ["hidapi"]
[[package]]
name = "pytest"
version = "7.4.1"
version = "7.4.2"
description = "pytest: simple powerful testing with Python"
optional = false
python-versions = ">=3.7"
files = [
{file = "pytest-7.4.1-py3-none-any.whl", hash = "sha256:460c9a59b14e27c602eb5ece2e47bec99dc5fc5f6513cf924a7d03a578991b1f"},
{file = "pytest-7.4.1.tar.gz", hash = "sha256:2f2301e797521b23e4d2585a0a3d7b5e50fdddaaf7e7d6773ea26ddb17c213ab"},
{file = "pytest-7.4.2-py3-none-any.whl", hash = "sha256:1d881c6124e08ff0a1bb75ba3ec0bfd8b5354a01c194ddd5a0a870a48d99b002"},
{file = "pytest-7.4.2.tar.gz", hash = "sha256:a766259cfab564a2ad52cb1aae1b881a75c3eb7e34ca3779697c23ed47c47069"},
]
[package.dependencies]
@@ -3795,6 +3798,21 @@ pytest = ">=4.6"
[package.extras]
testing = ["fields", "hunter", "process-tests", "pytest-xdist", "six", "virtualenv"]
[[package]]
name = "pytest-cpp"
version = "2.4.0"
description = "Use pytest's runner to discover and execute C++ tests"
optional = false
python-versions = ">=3.7"
files = [
{file = "pytest-cpp-2.4.0.tar.gz", hash = "sha256:dcb8b09d4c714fc7f778dc40a7c2c47e73cc50280d7f9bba3bdd3ca98abd4685"},
{file = "pytest_cpp-2.4.0-py3-none-any.whl", hash = "sha256:e7c5f40b70b00cc09d672a1584e35beb9b9553512cdd4b1d1f99468747b3bc31"},
]
[package.dependencies]
colorama = "*"
pytest = ">=7.0"
[[package]]
name = "pytest-subtests"
version = "0.11.0"
@@ -4333,19 +4351,39 @@ test = ["pytest"]
[[package]]
name = "setuptools"
version = "68.1.2"
version = "68.2.1"
description = "Easily download, build, install, upgrade, and uninstall Python packages"
optional = false
python-versions = ">=3.8"
files = [
{file = "setuptools-68.1.2-py3-none-any.whl", hash = "sha256:3d8083eed2d13afc9426f227b24fd1659489ec107c0e86cec2ffdde5c92e790b"},
{file = "setuptools-68.1.2.tar.gz", hash = "sha256:3d4dfa6d95f1b101d695a6160a7626e15583af71a5f52176efa5d39a054d475d"},
{file = "setuptools-68.2.1-py3-none-any.whl", hash = "sha256:eff96148eb336377ab11beee0c73ed84f1709a40c0b870298b0d058828761bae"},
{file = "setuptools-68.2.1.tar.gz", hash = "sha256:56ee14884fd8d0cd015411f4a13f40b4356775a0aefd9ebc1d3bfb9a1acb32f1"},
]
[package.extras]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5,<=7.1.2)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
[[package]]
name = "setuptools-scm"
version = "7.1.0"
description = "the blessed package to manage your versions by scm tags"
optional = false
python-versions = ">=3.7"
files = [
{file = "setuptools_scm-7.1.0-py3-none-any.whl", hash = "sha256:73988b6d848709e2af142aa48c986ea29592bbcfca5375678064708205253d8e"},
{file = "setuptools_scm-7.1.0.tar.gz", hash = "sha256:6c508345a771aad7d56ebff0e70628bf2b0ec7573762be9960214730de278f27"},
]
[package.dependencies]
packaging = ">=20.0"
setuptools = "*"
typing-extensions = "*"
[package.extras]
test = ["pytest (>=6.2)", "virtualenv (>20)"]
toml = ["setuptools (>=42)"]
[[package]]
name = "shapely"
@@ -4894,13 +4932,13 @@ zstd = ["zstandard (>=0.18.0)"]
[[package]]
name = "virtualenv"
version = "20.24.4"
version = "20.24.5"
description = "Virtual Python Environment builder"
optional = false
python-versions = ">=3.7"
files = [
{file = "virtualenv-20.24.4-py3-none-any.whl", hash = "sha256:29c70bb9b88510f6414ac3e55c8b413a1f96239b6b789ca123437d5e892190cb"},
{file = "virtualenv-20.24.4.tar.gz", hash = "sha256:772b05bfda7ed3b8ecd16021ca9716273ad9f4467c801f27e83ac73430246dca"},
{file = "virtualenv-20.24.5-py3-none-any.whl", hash = "sha256:b80039f280f4919c77b30f1c23294ae357c4c8701042086e3fc005963e4e537b"},
{file = "virtualenv-20.24.5.tar.gz", hash = "sha256:e8361967f6da6fbdf1426483bfe9fca8287c242ac0bc30429905721cefbff752"},
]
[package.dependencies]
@@ -4914,13 +4952,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
[[package]]
name = "websocket-client"
version = "1.6.2"
version = "1.6.3"
description = "WebSocket client for Python with low level API options"
optional = false
python-versions = ">=3.8"
files = [
{file = "websocket-client-1.6.2.tar.gz", hash = "sha256:53e95c826bf800c4c465f50093a8c4ff091c7327023b10bfaff40cf1ef170eaa"},
{file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"},
{file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"},
{file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"},
]
[package.extras]
@@ -5049,4 +5087,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata]
lock-version = "2.0"
python-versions = "~3.11"
content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1"
content-hash = "7258a24274936ccdafb930a683f4ea197e82ab187698d0723bb4683ca41e6d26"
pyproject.toml
+14 -3
View File
@@ -1,6 +1,7 @@
[tool.pytest.ini_options]
minversion = "6.0"
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
python_files = "test_*.py"
#timeout = "30" # you get this long by default
markers = [
@@ -18,9 +19,12 @@ testpaths = [
"selfdrive/test/longitudinal_maneuvers",
"system/hardware/tici",
"system/loggerd",
"system/proclogd",
"system/tests",
"system/ubloxd",
"tools/lib/tests"
"tools/lib/tests",
"tools/replay",
"tools/cabana"
]
[tool.mypy]
@@ -142,6 +146,7 @@ pygame = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-cov = "*"
pytest-cpp = "*"
pytest-subtests = "*"
pytest-xdist = "*"
pytest-timeout = "*"
@@ -167,7 +172,7 @@ build-backend = "poetry.core.masonry.api"
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
[tool.ruff]
select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B", "TID251"]
ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
line-length = 160
target-version="py311"
@@ -180,3 +185,9 @@ exclude = [
"third_party",
]
flake8-implicit-str-concat.allow-multiline=false
[tool.ruff.flake8-tidy-imports.banned-api]
"selfdrive".msg = "Use openpilot.selfdrive"
"common".msg = "Use openpilot.common"
"system".msg = "Use openpilot.system"
"third_party".msg = "Use openpilot.third_party"
"tools".msg = "Use openpilot.tools"
release/files_common
+3 -8
View File
@@ -212,6 +212,7 @@ system/hardware/__init__.py
system/hardware/base.h
system/hardware/base.py
system/hardware/hw.h
system/hardware/hw.py
system/hardware/tici/__init__.py
system/hardware/tici/hardware.h
system/hardware/tici/hardware.py
@@ -363,12 +364,10 @@ selfdrive/modeld/.gitignore
selfdrive/modeld/__init__.py
selfdrive/modeld/SConscript
selfdrive/modeld/modeld.py
selfdrive/modeld/navmodeld.cc
selfdrive/modeld/dmonitoringmodeld.cc
selfdrive/modeld/navmodeld.py
selfdrive/modeld/dmonitoringmodeld.py
selfdrive/modeld/constants.py
selfdrive/modeld/modeld
selfdrive/modeld/navmodeld
selfdrive/modeld/dmonitoringmodeld
selfdrive/modeld/models/__init__.py
selfdrive/modeld/models/*.pxd
@@ -381,12 +380,8 @@ selfdrive/modeld/models/driving.cc
selfdrive/modeld/models/driving.h
selfdrive/modeld/models/supercombo.onnx
selfdrive/modeld/models/dmonitoring.cc
selfdrive/modeld/models/dmonitoring.h
selfdrive/modeld/models/dmonitoring_model_q.dlc
selfdrive/modeld/models/nav.cc
selfdrive/modeld/models/nav.h
selfdrive/modeld/models/navmodel_q.dlc
selfdrive/modeld/transforms/loadyuv.cc
selfdrive/athena/athenad.py
+11 -12
View File
@@ -36,11 +36,11 @@ from openpilot.common.file_helpers import CallbackReader
from openpilot.common.params import Params
from openpilot.common.realtime import set_core_affinity
from openpilot.system.hardware import HARDWARE, PC, AGNOS
from openpilot.system.loggerd.config import ROOT
from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
from openpilot.selfdrive.statsd import STATS_DIR
from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
from openpilot.system.swaglog import cloudlog
from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
from openpilot.selfdrive.hardware.hw import Paths
# TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -119,12 +119,11 @@ class AbortTransferException(Exception):
class UploadQueueCache:
params = Params()
@staticmethod
def initialize(upload_queue: Queue[UploadItem]) -> None:
try:
upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
upload_queue_json = Params().get("AthenadUploadQueue")
if upload_queue_json is not None:
for item in json.loads(upload_queue_json):
upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +135,7 @@ class UploadQueueCache:
try:
queue: List[Optional[UploadItem]] = list(upload_queue.queue)
items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
Params().put("AthenadUploadQueue", json.dumps(items))
except Exception:
cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -352,7 +351,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
# (glob and friends traverse entire dir tree)
with os.scandir(path) as i:
for e in i:
rel_path = os.path.relpath(e.path, ROOT)
rel_path = os.path.relpath(e.path, Paths.log_root())
if e.is_dir(follow_symlinks=False):
# add trailing slash
rel_path = os.path.join(rel_path, '')
@@ -367,7 +366,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
@dispatcher.add_method
def listDataDirectory(prefix='') -> List[str]:
return scan_dir(ROOT, prefix)
return scan_dir(Paths.log_root(), prefix)
@dispatcher.add_method
@@ -408,7 +407,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
failed.append(file.fn)
continue
path = os.path.join(ROOT, file.fn)
path = os.path.join(Paths.log_root(), file.fn)
if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
failed.append(file.fn)
continue
@@ -572,8 +571,8 @@ def get_logs_to_send_sorted() -> List[str]:
# TODO: scan once then use inotify to detect file creation/deletion
curr_time = int(time.time())
logs = []
for log_entry in os.listdir(SWAGLOG_DIR):
log_path = os.path.join(SWAGLOG_DIR, log_entry)
for log_entry in os.listdir(Paths.swaglog_root()):
log_path = os.path.join(Paths.swaglog_root(), log_entry)
time_sent = 0
try:
value = getxattr(log_path, LOG_ATTR_NAME)
@@ -608,7 +607,7 @@ def log_handler(end_event: threading.Event) -> None:
cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
try:
curr_time = int(time.time())
log_path = os.path.join(SWAGLOG_DIR, log_entry)
log_path = os.path.join(Paths.swaglog_root(), log_entry)
setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
with open(log_path) as f:
jsonrpc = {
@@ -635,7 +634,7 @@ def log_handler(end_event: threading.Event) -> None:
log_success = "result" in log_resp and log_resp["result"].get("success")
cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
if log_entry and log_success:
log_path = os.path.join(SWAGLOG_DIR, log_entry)
log_path = os.path.join(Paths.swaglog_root(), log_entry)
try:
setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
except OSError:
selfdrive/athena/tests/test_athenad.py
+5 -8
View File
@@ -3,7 +3,6 @@ import json
import os
import requests
import shutil
import tempfile
import time
import threading
import queue
@@ -18,11 +17,11 @@ from unittest import mock
from websocket import ABNF
from websocket._exceptions import WebSocketConnectionClosedException
from openpilot.system import swaglog
from openpilot.selfdrive.athena import athenad
from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
from cereal import messaging
from openpilot.selfdrive.hardware.hw import Paths
class TestAthenadMethods(unittest.TestCase):
@@ -30,8 +29,6 @@ class TestAthenadMethods(unittest.TestCase):
def setUpClass(cls):
cls.SOCKET_PORT = 45454
athenad.Params = MockParams
athenad.ROOT = tempfile.mkdtemp()
athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
athenad.Api = MockApi
athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
@@ -41,8 +38,8 @@ class TestAthenadMethods(unittest.TestCase):
athenad.cur_upload_items.clear()
athenad.cancelled_uploads.clear()
for i in os.listdir(athenad.ROOT):
p = os.path.join(athenad.ROOT, i)
for i in os.listdir(Paths.log_root()):
p = os.path.join(Paths.log_root(), i)
if os.path.isdir(p):
shutil.rmtree(p)
else:
@@ -61,7 +58,7 @@ class TestAthenadMethods(unittest.TestCase):
@staticmethod
def _create_file(file: str, parent: Optional[str] = None) -> str:
fn = os.path.join(athenad.ROOT if parent is None else parent, file)
fn = os.path.join(Paths.log_root() if parent is None else parent, file)
os.makedirs(os.path.dirname(fn), exist_ok=True)
Path(fn).touch()
return fn
@@ -418,7 +415,7 @@ class TestAthenadMethods(unittest.TestCase):
fl = list()
for i in range(10):
file = f'swaglog.{i:010}'
self._create_file(file, athenad.SWAGLOG_DIR)
self._create_file(file, Paths.swaglog_root())
fl.append(file)
# ensure the list is all logs except most recent
selfdrive/car/gm/carstate.py
+2 -2
View File
@@ -99,7 +99,7 @@ class CarState(CarStateBase):
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -136,7 +136,7 @@ class CarState(CarStateBase):
("PSCMStatus", 10),
("ESPStatus", 10),
("BCMDoorBeltStatus", 10),
("VehicleIgnitionAlt", 10),
("BCMGeneralPlatformStatus", 10),
("EBCMWheelSpdFront", 20),
("EBCMWheelSpdRear", 20),
("EBCMFrictionBrakeStatus", 20),
selfdrive/car/hyundai/carstate.py
+14
View File
@@ -111,10 +111,12 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
else:
ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
# TODO: Find brake pressure
@@ -251,6 +253,13 @@ class CarState(CarStateBase):
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
# The car will brake, but does not respect positive acceleration commands in this mode
# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
if self.CP.carFingerprint in EV_CAR:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -363,6 +372,11 @@ class CarState(CarStateBase):
("DOORS_SEATBELTS", 4),
]
if CP.carFingerprint in EV_CAR:
messages += [
("MANUAL_SPEED_LIMIT_ASSIST", 10),
]
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
messages += [
("CRUISE_BUTTONS", 50)
selfdrive/car/hyundai/hyundaican.py
+2 -1
View File
@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
selfdrive/car/hyundai/interface.py
+9 -1
View File
@@ -68,7 +68,11 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
if candidate == CAR.AZERA_6TH_GEN:
ret.mass = 1540. # average
ret.wheelbase = 2.885
ret.steerRatio = 14.5
elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.mass = 3982. * CV.LB_TO_KG
ret.wheelbase = 2.766
# Values from optimizer
@@ -215,6 +219,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2087.
ret.wheelbase = 3.09
ret.steerRatio = 14.23
elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
ret.wheelbase = 2.895
ret.steerRatio = 13.27 # guesstimate from K5 platform
# Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
selfdrive/car/hyundai/tests/test_hyundai.py
+9
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
from hypothesis import settings, given, strategies as st
import unittest
from cereal import car
@@ -66,6 +67,14 @@ class TestHyundaiFingerprint(unittest.TestCase):
part = code.split(b"-")[1]
self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
@settings(max_examples=100)
@given(data=st.data())
def test_platform_codes_fuzzy_fw(self, data):
"""Ensure function doesn't raise an exception"""
fw_strategy = st.lists(st.binary())
fws = data.draw(fw_strategy)
get_platform_codes(fws)
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
def test_platform_code_ecus_available(self):
selfdrive/car/hyundai/values.py
+41 -9
View File
@@ -75,6 +75,7 @@ class HyundaiFlagsSP(IntFlag):
class CAR:
# Hyundai
AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_2022_NON_SCC = "HYUNDAI ELANTRA SE 2022 NON-SCC"
@@ -113,6 +114,7 @@ class CAR:
KIA_FORTE_2021_NON_SCC = "KIA FORTE LXS 2021 NON-SCC"
KIA_K5_2021 = "KIA K5 2021"
KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -162,6 +164,7 @@ class HyundaiCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA: [
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -183,7 +186,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])),
@@ -227,6 +230,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -270,7 +274,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CAR.KIA_CARNIVAL_4TH_GEN: [
HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
@@ -475,6 +479,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
# TODO: use abs, it has the platform code and part number on many platforms
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
# So far we've only seen dates in fwdCamera
# TODO: there are date codes in the ABS firmware versions in hex
DATE_FW_ECUS = [Ecu.fwdCamera]
FW_QUERY_CONFIG = FwQueryConfig(
@@ -538,6 +543,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
CAR.AZERA_6TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.HYUNDAI_GENESIS: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DH LKAS 1.1 -150210',
@@ -1478,10 +1500,7 @@ FW_VERSIONS = {
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
# TODO: these return from the MULTI request, above return from LONG
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
],
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1489,12 +1508,14 @@ FW_VERSIONS = {
b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904',
],
(Ecu.eps, 0x7D4, None): [
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
],
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00',
@@ -2005,6 +2026,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221',
b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525',
b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ',
@@ -2020,6 +2042,14 @@ FW_VERSIONS = {
b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ',
],
},
CAR.KIA_K8_HEV_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ',
],
},
}
CHECKSUM = {
@@ -2042,7 +2072,7 @@ CAN_GEARS = {
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
@@ -2055,13 +2085,13 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_K8_HEV_1ST_GEN}
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
CAR.KIA_OPTIMA_H}
@@ -2075,6 +2105,7 @@ NON_SCC_RADAR_FCA_CAR = {CAR.GENESIS_G70_2021_NON_SCC, }
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
DBC = {
CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2022_NON_SCC: dbc_dict('hyundai_kia_generic', None),
@@ -2139,4 +2170,5 @@ DBC = {
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
}
selfdrive/car/mock/interface.py
+5 -31
View File
@@ -1,61 +1,35 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.system.swaglog import cloudlog
import cereal.messaging as messaging
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
# mocked car interface to work with chffrplus
# mocked car interface for dashcam mode
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
cloudlog.debug("Using Mock Car Interface")
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
self.speed = 0.
self.prev_speed = 0.
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "mock"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
ret.mass = 1700.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.steerRatio = 13.
return ret
# returns a car.CarState
def _update(self, c):
self.sm.update(0)
gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
if self.sm.updated[gps_sock]:
self.prev_speed = self.speed
self.speed = self.sm[gps_sock].speed
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.speed
ret.vEgoRaw = self.speed
ret.aEgo = self.speed - self.prev_speed
ret.brakePressed = ret.aEgo < -0.5
ret.standstill = self.speed < 0.01
ret.wheelSpeeds.fl = self.speed
ret.wheelSpeeds.fr = self.speed
ret.wheelSpeeds.rl = self.speed
ret.wheelSpeeds.rr = self.speed
ret.vEgo = self.sm[gps_sock].speed
ret.vEgoRaw = self.sm[gps_sock].speed
return ret
def apply(self, c, now_nanos):
# in mock no carcontrols
actuators = car.CarControl.Actuators.new_message()
return actuators, []
selfdrive/car/mock/radar_interface.py
Executable → Regular
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
selfdrive/car/subaru/carcontroller.py
+17 -3
View File
@@ -1,8 +1,13 @@
from openpilot.common.numpy_fast import clip, interp
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.subaru import subarucan
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
# involves the total steering angle change rather than rate, but these limits work well for now
MAX_STEER_RATE = 25 # deg/s
MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
class CarController:
@@ -12,6 +17,7 @@ class CarController:
self.frame = 0
self.cruise_button_prev = 0
self.steer_rate_counter = 0
self.p = CarControllerParams(CP)
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -38,7 +44,15 @@ class CarController:
if self.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
apply_steer_req = CC.latActive
if self.CP.carFingerprint in STEER_RATE_LIMITED:
# Steering rate fault prevention
self.steer_rate_counter, apply_steer_req = \
common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
self.apply_steer_last = apply_steer
selfdrive/car/subaru/values.py
+4
View File
@@ -710,3 +710,7 @@ LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
# Cars that temporarily fault when steering angle rate is greater than some threshold.
# Appears to be all cars that started production after 2020
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
selfdrive/car/tests/routes.py
+4 -1
View File
@@ -25,7 +25,6 @@ non_tested_cars = [
HONDA.ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
TOYOTA.RAV4_TSS2_2023,
TOYOTA.RAV4H_TSS2_2023,
SUBARU.FORESTER_HYBRID,
]
@@ -94,6 +93,7 @@ routes = [
CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN),
CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
@@ -134,6 +134,7 @@ routes = [
CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV), # openpilot longitudinal enabled
CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13),
CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
@@ -145,6 +146,7 @@ routes = [
CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
@@ -181,6 +183,7 @@ routes = [
CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023),
CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
selfdrive/car/tests/test_car_interfaces.py
-3
View File
@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
elif tune.which() == 'indi':
self.assertTrue(len(tune.indi.outerLoopGainV))
cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
# Run car interface
now_nanos = 0
selfdrive/car/tests/test_fw_fingerprint.py
+2
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import pytest
import random
import time
import unittest
@@ -224,6 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
self._assert_timing(vin_time / self.N, vin_ref_time)
print(f'get_vin, query time={vin_time / self.N} seconds')
@pytest.mark.timeout(60)
def test_fw_query_timing(self):
total_ref_time = 6.07
brand_ref_times = {
selfdrive/car/tests/test_lateral_limits.py
+1 -1
View File
@@ -32,7 +32,7 @@ ABOVE_LIMITS_CARS = [
car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
class TestLateralLimits(unittest.TestCase):
car_model: str
selfdrive/car/tests/test_models.py
+12 -4
View File
@@ -9,6 +9,7 @@ from parameterized import parameterized_class
from cereal import log, car
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.fingerprints import all_known_cars
from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
@@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM
from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
from openpilot.selfdrive.controls.controlsd import Controls
from openpilot.selfdrive.test.openpilotci import get_url
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route, SegmentName, RouteName
@@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName
from panda.tests.libpanda import libpanda_py
from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR
EventName = car.CarEvent.EventName
PandaType = log.PandaState.PandaType
SafetyModel = car.CarParams.SafetyModel
@@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase):
del cls.can_msgs
def setUp(self):
self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState)
assert self.CI
Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled)
# TODO: check safetyModel is in release panda build
self.safety = libpanda_py.libpanda
@@ -187,8 +192,6 @@ class TestCarModelBase(unittest.TestCase):
self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
elif tuning == 'torque':
self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
else:
raise Exception("unknown tuning")
@@ -317,6 +320,8 @@ class TestCarModelBase(unittest.TestCase):
controls_allowed_prev = False
CS_prev = car.CarState.new_message()
checks = defaultdict(lambda: 0)
controlsd = Controls(CI=self.CI)
controlsd.initialized = True
for idx, can in enumerate(self.can_msgs):
CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
for msg in filter(lambda m: m.src in range(64), can.can):
@@ -361,7 +366,10 @@ class TestCarModelBase(unittest.TestCase):
checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
else:
# Check for enable events on rising edge of controls allowed
button_enable = any(evt.enable for evt in CS.events)
controlsd.update_events(CS)
controlsd.CS_prev = CS
button_enable = (any(evt.enable for evt in CS.events) and
not any(evt == EventName.pedalPressed for evt in controlsd.events.names))
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
checks['controlsAllowed'] += mismatch
controls_allowed_prev = self.safety.get_controls_allowed()
selfdrive/car/torque_data/override.yaml
+4 -4
View File
@@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan]
SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
SUBARU ASCENT 2023: [.nan, 3.0, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]
@@ -60,6 +56,10 @@ KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
HONDA ACCORD 4CYL 9TH GEN: [1.7, 0.35, 0.21]
HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
TOYOTA RAV4 2023: [2.5, 2.5, 0.1]
TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
selfdrive/car/toyota/interface.py
+27 -20
View File
@@ -28,7 +28,15 @@ class CarInterface(CarInterfaceBase):
if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
if candidate in ANGLE_CONTROL_CAR:
# Allow angle control cars with whitelisted EPSs to use torque control (made in Japan)
# So far only hybrid RAV4 2023 has been seen with this FW version
angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw)
if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
else:
ret.dashcamOnly = True
ret.steerControlType = SteerControlType.angle
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
@@ -36,11 +44,6 @@ class CarInterface(CarInterfaceBase):
# LTA control can be more delayed and winds up more often
ret.steerActuatorDelay = 0.25
ret.steerLimitTimer = 0.8
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
@@ -122,21 +125,25 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.3
ret.tireStiffnessFactor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0]
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.1]
ret.lateralTuning.pid.kf = 0.00007818594
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV = [0.15]
ret.lateralTuning.pid.kiV = [0.05]
ret.lateralTuning.pid.kf = 0.00004
break
# Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same
# TODO: revisit this disparity if there is a divide for 2023
if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0]
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.1]
ret.lateralTuning.pid.kf = 0.00007818594
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV = [0.15]
ret.lateralTuning.pid.kiV = [0.05]
ret.lateralTuning.pid.kf = 0.00004
break
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
selfdrive/car/toyota/tests/print_platform_codes.py
Executable
+21
View File
@@ -0,0 +1,21 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.selfdrive.car.toyota.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
if __name__ == "__main__":
for car_model, ecus in FW_VERSIONS.items():
print()
print(car_model)
for ecu in sorted(ecus, key=lambda x: int(x[0])):
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
platform_codes = get_platform_codes(ecus[ecu])
codes = {code for code, _ in platform_codes}
dates = {date for _, date in platform_codes if date is not None}
print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
print(f' Codes: {codes}')
print(f' Versions: {dates}')
selfdrive/car/toyota/tests/test_toyota.py
+22 -2
View File
@@ -1,10 +1,13 @@
#!/usr/bin/env python3
from cereal import car
from hypothesis import given, settings, strategies as st
import unittest
from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
from cereal import car
from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS, \
get_platform_codes
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
class TestToyotaInterfaces(unittest.TestCase):
@@ -39,5 +42,22 @@ class TestToyotaInterfaces(unittest.TestCase):
self.assertIn(Ecu.eps, present_ecus)
class TestToyotaFingerprint(unittest.TestCase):
@settings(max_examples=100)
@given(data=st.data())
def test_platform_codes_fuzzy_fw(self, data):
fw_strategy = st.lists(st.binary())
fws = data.draw(fw_strategy)
get_platform_codes(fws)
def test_fw_pattern(self):
"""Asserts all ECUs can be parsed"""
for ecus in FW_VERSIONS.values():
for fws in ecus.values():
for fw in fws:
ret = get_platform_codes([fw])
self.assertTrue(len(ret))
if __name__ == "__main__":
unittest.main()
selfdrive/car/toyota/values.py
+69 -2
View File
@@ -1,7 +1,8 @@
import re
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from typing import Dict, List, Union
from typing import Dict, List, Set, Tuple, Union
from cereal import car
from openpilot.common.conversions import Conversions as CV
@@ -234,6 +235,71 @@ STATIC_DSU_MSGS = [
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
]
def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, bytes]]:
codes = set() # (Optional[part]-platform-major_version, minor_version)
for fw in fw_versions:
# FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
# and are prefixed with a byte that describes how many chunks of data there are.
# But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
length_code = 1
length_code_match = FW_LEN_CODE.search(fw)
if length_code_match is not None:
length_code = length_code_match.group()[0]
fw = fw[1:]
# fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
if length_code * FW_CHUNK_LEN != len(fw):
continue
chunks = [fw[FW_CHUNK_LEN * i:FW_CHUNK_LEN * i + FW_CHUNK_LEN].strip(b'\x00 ') for i in range(length_code)]
# only first is considered for now since second is commonly shared (TODO: understand that)
first_chunk = chunks[0]
if len(first_chunk) == 8:
# TODO: no part number, but some short chunks have it in subsequent chunks
fw_match = SHORT_FW_PATTERN.search(first_chunk)
if fw_match is not None:
platform, major_version, sub_version = fw_match.groups()
# codes.add((platform + b'-' + major_version, sub_version))
codes.add((b'-'.join((platform, major_version)), sub_version))
elif len(first_chunk) == 10:
fw_match = MEDIUM_FW_PATTERN.search(first_chunk)
if fw_match is not None:
part, platform, major_version, sub_version = fw_match.groups()
codes.add((b'-'.join((part, platform, major_version)), sub_version))
elif len(first_chunk) == 12:
fw_match = LONG_FW_PATTERN.search(first_chunk)
if fw_match is not None:
part, platform, major_version, sub_version = fw_match.groups()
codes.add((b'-'.join((part, platform, major_version)), sub_version))
return codes
# Regex patterns for parsing more general platform-specific identifiers from FW versions.
# - Part number: Toyota part number (usually last character needs to be ignored to find a match).
# - Platform: usually multiple codes per an openpilot platform, however this has the less variability and
# is usually shared across ECUs and model years signifying this describes something about the specific platform.
# - Major version: second least variable part of the FW version. Seen splitting cars by model year such as RAV4 2022/2023 and Prius.
# It is important to note that these aren't always consecutive, for example:
# Prius TSS-P has these major versions over 16 FW: 2, 3, 4, 6, 8 while Prius TSS2 has: 5
# - Sub version: exclusive to major version, but shared with other cars. Should only be used for further filtering,
# more exploration is needed.
SHORT_FW_PATTERN = re.compile(b'(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{4})')
MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{1})(?P<sub_version>[A-Z0-9]{2})')
LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
FW_LEN_CODE = re.compile(b'^[\x01-\x05]') # 5 chunks max. highest seen is 3 chunks, 16 bytes each
FW_CHUNK_LEN = 16
# List of ECUs expected to have platform codes
# TODO: use hybrid ECU, splits many similar ICE and hybrid variants
PLATFORM_CODE_ECUS = [Ecu.abs, Ecu.engine, Ecu.eps, Ecu.dsu, Ecu.fwdCamera, Ecu.fwdRadar]
# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
# Toyota diagnostic software first gets the supported data ids, then queries them one by one.
# For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
@@ -2323,7 +2389,8 @@ UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
# these cars use the Lane Tracing Assist (LTA) message for lateral control
# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require
# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected
ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
selfdrive/car/volkswagen/values.py
+7
View File
@@ -461,6 +461,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906259K \xf1\x890003',
b'\xf1\x878V0906259P \xf1\x890001',
b'\xf1\x878V0906259Q \xf1\x890002',
b'\xf1\x878V0906259R \xf1\x890002',
b'\xf1\x878V0906264F \xf1\x890003',
b'\xf1\x878V0906264L \xf1\x890002',
b'\xf1\x878V0906264M \xf1\x890001',
@@ -502,6 +503,7 @@ FW_VERSIONS = {
b'\xf1\x870GC300012A \xf1\x891401',
b'\xf1\x870GC300012A \xf1\x891403',
b'\xf1\x870GC300014B \xf1\x892401',
b'\xf1\x870GC300014B \xf1\x892403',
b'\xf1\x870GC300014B \xf1\x892405',
b'\xf1\x870GC300020G \xf1\x892401',
b'\xf1\x870GC300020G \xf1\x892403',
@@ -521,6 +523,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
@@ -547,6 +550,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1',
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
@@ -1323,6 +1327,7 @@ FW_VERSIONS = {
b'\xf1\x8704E906027BT\xf1\x899042',
b'\xf1\x8704L906026ET\xf1\x891343',
b'\xf1\x8704L906026FP\xf1\x891196',
b'\xf1\x8704L906026KA\xf1\x896014',
b'\xf1\x8704L906026KB\xf1\x894071',
b'\xf1\x8704L906026KD\xf1\x894798',
b'\xf1\x8704L906026MT\xf1\x893076',
@@ -1340,6 +1345,7 @@ FW_VERSIONS = {
b'\xf1\x870D9300014K \xf1\x895006',
b'\xf1\x870D9300041H \xf1\x894905',
b'\xf1\x870D9300043F \xf1\x895202',
b'\xf1\x870GC300013K \xf1\x892403',
b'\xf1\x870GC300014M \xf1\x892801',
b'\xf1\x870GC300019G \xf1\x892803',
b'\xf1\x870GC300043 \xf1\x892301',
@@ -1352,6 +1358,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
],
selfdrive/controls/controlsd.py
+7 -9
View File
@@ -381,17 +381,19 @@ class Controls:
else:
self.logged_comm_issue = None
if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
self.events.add(EventName.vehicleModelInvalid)
if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError)
if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK):
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive sensor inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].inputsOK:
self.events.add(EventName.locationdTemporaryError)
if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
self.events.add(EventName.paramsdTemporaryError)
if not REPLAY:
# Check for mismatch between openpilot and car's PCM
@@ -427,8 +429,6 @@ class Controls:
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
if self.sm['liveLocationKalman'].excessiveResets:
self.events.add(EventName.localizerMalfunction)
def data_sample(self):
"""Receive data from sockets and update carState"""
@@ -814,8 +814,6 @@ class Controls:
controlsState.lateralControlState.pidState = lac_log
elif lat_tuning == 'torque':
controlsState.lateralControlState.torqueState = lac_log
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
selfdrive/controls/lib/events.py
+28 -18
View File
@@ -434,19 +434,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
# ********** events only containing alerts that display while engaged **********
# openpilot tries to learn certain parameters about your car by observing
# how the car behaves to steering inputs from both human and openpilot driving.
# This includes:
# - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
# - tire stiffness: how much grip your tires have
# - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
# This alert is thrown when any of these values exceed a sanity check. This can be caused by
# bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
EventName.vehicleModelInvalid: {
ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"),
ET.SOFT_DISABLE: soft_disable_alert("Vehicle Parameter Identification Failed"),
},
EventName.steerTempUnavailableSilent: {
ET.WARNING: Alert(
"Steering Temporarily Unavailable",
@@ -606,11 +593,34 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.PERMANENT: NormalPermanentAlert("GPS Malfunction", "Likely Hardware Issue"),
},
# When the GPS position and localizer diverge the localizer is reset to the
# current GPS position. This alert is thrown when the localizer is reset
# more often than expected.
EventName.localizerMalfunction: {
# ET.PERMANENT: NormalPermanentAlert("Sensor Malfunction", "Hardware Malfunction"),
EventName.locationdTemporaryError: {
ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
},
EventName.locationdPermanentError: {
ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
},
# openpilot tries to learn certain parameters about your car by observing
# how the car behaves to steering inputs from both human and openpilot driving.
# This includes:
# - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
# - tire stiffness: how much grip your tires have
# - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
# This alert is thrown when any of these values exceed a sanity check. This can be caused by
# bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
EventName.paramsdTemporaryError: {
ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
},
EventName.paramsdPermanentError: {
ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
},
EventName.speedLimitActive: {
selfdrive/controls/radard.py
+7 -4
View File
@@ -50,7 +50,8 @@ class KalmanParams:
class Track:
def __init__(self, v_lead: float, kalman_params: KalmanParams):
def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams):
self.identifier = identifier
self.cnt = 0
self.aLeadTau = _LEAD_ACCEL_TAU
self.K_A = kalman_params.A
@@ -98,11 +99,12 @@ class Track:
"vLead": float(self.vLead),
"vLeadK": float(self.vLeadK),
"aLeadK": float(self.aLeadK),
"aLeadTau": float(self.aLeadTau),
"status": True,
"fcw": self.is_potential_fcw(model_prob),
"modelProb": model_prob,
"radar": True,
"aLeadTau": float(self.aLeadTau)
"radarTrackId": self.identifier,
}
def potential_low_speed_lead(self, v_ego: float):
@@ -158,8 +160,9 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
"aLeadTau": 0.3,
"fcw": False,
"modelProb": float(lead_msg.prob),
"status": True,
"radar": False,
"status": True
"radarTrackId": -1,
}
@@ -237,7 +240,7 @@ class RadarD:
# create the track if it doesn't exist or it's a new track
if ids not in self.tracks:
self.tracks[ids] = Track(v_lead, self.kalman_params)
self.tracks[ids] = Track(ids, v_lead, self.kalman_params)
self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
# *** publish radarState ***
selfdrive/controls/tests/test_cruise_speed.py
+10 -11
View File
@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import itertools
import numpy as np
import unittest
@@ -31,21 +32,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
return output[-1, 3]
@parameterized_class(("e2e", "personality", "speed"), itertools.product(
[True, False], # e2e
log.LongitudinalPersonality.schema.enumerants, # personality
[5,35])) # speed
class TestCruiseSpeed(unittest.TestCase):
def test_cruise_speed(self):
params = Params()
personalities = [log.LongitudinalPersonality.relaxed,
log.LongitudinalPersonality.standard,
log.LongitudinalPersonality.aggressive]
for personality in personalities:
params.put("LongitudinalPersonality", str(personality))
for e2e in [False, True]:
for speed in [5,35]:
print(f'Testing {speed} m/s')
cruise_speed = float(speed)
params.put("LongitudinalPersonality", str(self.personality))
print(f'Testing {self.speed} m/s')
cruise_speed = float(self.speed)
simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e)
self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
# TODO: test pcmCruise
selfdrive/controls/tests/test_leads.py
+2 -2
View File
@@ -3,8 +3,8 @@ import unittest
import cereal.messaging as messaging
from selfdrive.test.process_replay import replay_process_with_name
from selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.test.process_replay import replay_process_with_name
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
class TestLeads(unittest.TestCase):
selfdrive/locationd/SConscript
+1 -5
View File
@@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
lenv = env.Clone()
lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}'
locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations)
lenv.Depends(locationd, libkf)
if File("liblocationd.cc").exists():
liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
lenv.Depends(liblocationd, libkf)
lenv.Depends(locationd, libkf)
selfdrive/locationd/laikad.py
+5 -5
View File
@@ -24,11 +24,11 @@ from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velf
from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
from openpilot.system.hardware.hw import Paths
from openpilot.system.swaglog import cloudlog
MAX_TIME_GAP = 10
EPHEMERIS_CACHE = 'LaikadEphemerisV3'
DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
CACHE_VERSION = 0.2
POS_FIX_RESIDUAL_THRESHOLD = 100.0
@@ -83,7 +83,7 @@ class Laikad:
save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
"""
self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
clear_old_ephemeris=True, cache_dir=Paths.download_cache_root())
self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
self.auto_fetch_navs = auto_fetch_navs
@@ -435,9 +435,9 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
def clear_tmp_cache():
if os.path.exists(DOWNLOADS_CACHE_FOLDER):
shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
os.mkdir(DOWNLOADS_CACHE_FOLDER)
if os.path.exists(Paths.download_cache_root()):
shutil.rmtree(Paths.download_cache_root())
os.mkdir(Paths.download_cache_root())
def main(sm=None, pm=None):
selfdrive/locationd/liblocationd.cc
-41
View File
@@ -1,41 +0,0 @@
#include "selfdrive/locationd/locationd.h"
extern "C" {
typedef Localizer* Localizer_t;
Localizer *localizer_init(bool has_ublox) {
return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
}
void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
char *buff, size_t buff_size) {
MessageBuilder msg_builder;
kj::ArrayPtr<char> arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars();
assert(buff_size >= arr.size());
memcpy(buff, arr.begin(), arr.size());
}
void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) {
localizer->handle_msg_bytes(data, size);
}
void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){
Eigen::VectorXd state = localizer->get_state();
memcpy(state_buff, state.data(), sizeof(double) * state.size());
Eigen::VectorXd stdev = localizer->get_stdev();
memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size());
}
bool is_gps_ok(Localizer *localizer){
return localizer->is_gps_ok();
}
bool are_inputs_ok(Localizer *localizer){
return localizer->are_inputs_ok();
}
void observation_timings_invalid_reset(Localizer *localizer){
localizer->observation_timings_invalid_reset();
}
}
selfdrive/locationd/locationd.cc
+13 -4
View File
@@ -21,9 +21,11 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s
const double VALID_POS_STD = 50.0; // m
const double MAX_RESET_TRACKER = 5.0;
const double SANE_GPS_UNCERTAINTY = 1500.0; // m
const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
const double DECAY = 0.99995; // same as reset tracker
const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
const double RESET_TRACKER_DECAY = 0.99995;
const double DECAY = 0.9993; // ~10 secs to resume after a bad input
const double MAX_FILTER_REWIND_TIME = 0.8; // s
const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
// TODO: GPS sensor time offsets are empirically calculated
// They should be replaced with synced time from a real clock
@@ -256,7 +258,13 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
auto v = log.getGyroUncalibrated().getV();
auto meas = Vector3d(-v[2], -v[1], -v[0]);
if (meas.norm() < ROTATION_SANITY_CHECK) {
VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
this->observation_values_invalid["gyroscope"] *= DECAY;
} else {
@@ -483,6 +491,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
{ trans_device }, { trans_device_cov });
this->observation_values_invalid["cameraOdometry"] *= DECAY;
this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
}
void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
@@ -538,7 +547,7 @@ void Localizer::time_check(double current_time) {
void Localizer::update_reset_tracker() {
// reset tracker is tuned to trigger when over 1reset/10s over 2min period
if (this->is_gps_ok()) {
this->reset_tracker *= DECAY;
this->reset_tracker *= RESET_TRACKER_DECAY;
} else {
this->reset_tracker = 0.0;
}
selfdrive/locationd/locationd.h
+1
View File
@@ -94,6 +94,7 @@ private:
float gps_variance_factor;
float gps_vertical_variance_factor;
double gps_time_offset;
Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
void configure_gnss_source(const LocalizerGnssSource &source);
};
selfdrive/locationd/test/_test_locationd_lib.py
-109
View File
@@ -1,109 +0,0 @@
#!/usr/bin/env python3
"""This test can't be run together with other locationd tests.
cffi.dlopen breaks the list of registered filters."""
import os
import random
import unittest
from cffi import FFI
import cereal.messaging as messaging
from cereal import log
from openpilot.common.ffi_wrapper import suffix
SENSOR_DECIMATION = 1
VISION_DECIMATION = 1
LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
class TestLocationdLib(unittest.TestCase):
def setUp(self):
header = '''typedef ...* Localizer_t;
Localizer_t localizer_init(bool has_ublox);
void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
self.ffi = FFI()
self.ffi.cdef(header)
self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
self.localizer = self.lib.localizer_init(True) # default to ublox
self.buff_size = 2048
self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
def localizer_handle_msg(self, msg_builder):
bytstr = msg_builder.to_bytes()
self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
return log_evt
def test_liblocalizer(self):
msg = messaging.new_message('liveCalibration')
msg.liveCalibration.validBlocks = random.randint(1, 10)
msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
self.localizer_handle_msg(msg)
liveloc = self.localizer_get_msg()
self.assertTrue(liveloc is not None)
@unittest.skip("temporarily disabled due to false positives")
def test_device_fell(self):
msg = messaging.new_message('accelerometer')
msg.accelerometer.sensor = 1
msg.accelerometer.timestamp = msg.logMonoTime
msg.accelerometer.type = 1
msg.accelerometer.init('acceleration')
msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0] # zero with gravity
self.localizer_handle_msg(msg)
ret = self.localizer_get_msg()
self.assertTrue(ret.liveLocationKalman.deviceStable)
msg = messaging.new_message('accelerometer')
msg.accelerometer.sensor = 1
msg.accelerometer.timestamp = msg.logMonoTime
msg.accelerometer.type = 1
msg.accelerometer.init('acceleration')
msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2
self.localizer_handle_msg(msg)
ret = self.localizer_get_msg()
self.assertFalse(ret.liveLocationKalman.deviceStable)
def test_posenet_spike(self):
for _ in range(SENSOR_DECIMATION):
msg = messaging.new_message('carState')
msg.carState.vEgo = 6.0 # more than 5 m/s
self.localizer_handle_msg(msg)
ret = self.localizer_get_msg()
self.assertTrue(ret.liveLocationKalman.posenetOK)
for _ in range(20 * VISION_DECIMATION): # size of hist_old
msg = messaging.new_message('cameraOdometry')
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
self.localizer_handle_msg(msg)
for _ in range(20 * VISION_DECIMATION): # size of hist_new
msg = messaging.new_message('cameraOdometry')
msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger
self.localizer_handle_msg(msg)
ret = self.localizer_get_msg()
self.assertFalse(ret.liveLocationKalman.posenetOK)
if __name__ == "__main__":
unittest.main()
selfdrive/locationd/test/test_locationd_scenarios.py
Executable
+227
View File
@@ -0,0 +1,227 @@
#!/usr/bin/env python3
import unittest
import numpy as np
from collections import defaultdict
from enum import Enum
from openpilot.selfdrive.test.openpilotci import get_url
from openpilot.tools.lib.logreader import LogReader
from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4
GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation']
SELECT_COMPARE_FIELDS = {
'yaw_rate': ['angularVelocityCalibrated', 'value', 2],
'roll': ['orientationNED', 'value', 0],
'gps_flag': ['gpsOK'],
'inputs_flag': ['inputsOK'],
'sensors_flag': ['sensorsOK'],
}
JUNK_IDX = 100
class Scenario(Enum):
BASE = 'base'
GPS_OFF = 'gps_off'
GPS_OFF_MIDWAY = 'gps_off_midway'
GPS_ON_MIDWAY = 'gps_on_midway'
GPS_TUNNEL = 'gps_tunnel'
GYRO_OFF = 'gyro_off'
GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
ACCEL_OFF = 'accel_off'
ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
def get_select_fields_data(logs):
def get_nested_keys(msg, keys):
val = None
for key in keys:
val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key]
return val
llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman']
data = defaultdict(list)
for msg in llk:
for key, fields in SELECT_COMPARE_FIELDS.items():
data[key].append(get_nested_keys(msg, fields))
for key in data:
data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
return data
def run_scenarios(scenario, logs):
if scenario == Scenario.BASE:
pass
elif scenario == Scenario.GPS_OFF:
logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime)
elif scenario == Scenario.GPS_OFF_MIDWAY:
non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
gps = [x for x in logs if x.which() in GPS_MESSAGES]
logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime)
elif scenario == Scenario.GPS_ON_MIDWAY:
non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
gps = [x for x in logs if x.which() in GPS_MESSAGES]
logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime)
elif scenario == Scenario.GPS_TUNNEL:
non_gps = [x for x in logs if x.which() not in GPS_MESSAGES]
gps = [x for x in logs if x.which() in GPS_MESSAGES]
logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime)
elif scenario == Scenario.GYRO_OFF:
logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)
elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
non_gyro = [x for x in logs if x.which() not in 'gyroscope']
gyro = [x for x in logs if x.which() in 'gyroscope']
temp = gyro[len(gyro) // 2].as_builder()
temp.gyroscope.gyroUncalibrated.v[0] += 3.0
gyro[len(gyro) // 2] = temp.as_reader()
logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime)
elif scenario == Scenario.ACCEL_OFF:
logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)
elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
non_accel = [x for x in logs if x.which() not in 'accelerometer']
accel = [x for x in logs if x.which() in 'accelerometer']
temp = accel[len(accel) // 2].as_builder()
temp.accelerometer.acceleration.v[0] += 10.0
accel[len(accel) // 2] = temp.as_reader()
logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime)
replayed_logs = replay_process_with_name(name='locationd', lr=logs)
return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
class TestLocationdScenarios(unittest.TestCase):
"""
Test locationd with different scenarios. In all these scenarios, we expect the following:
- locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
- faulty values should be ignored, with appropriate flags set
"""
@classmethod
def setUpClass(cls):
cls.logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM)))
def test_base(self):
"""
Test: unchanged log
Expected Result:
- yaw_rate: unchanged
- roll: unchanged
"""
orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
def test_gps_off(self):
"""
Test: no GPS message for the entire segment
Expected Result:
- yaw_rate: unchanged
- roll:
- gpsOK: False
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0))
def test_gps_off_midway(self):
"""
Test: no GPS message for the second half of the segment
Expected Result:
- yaw_rate: unchanged
- roll:
- gpsOK: True for the first half, False for the second half
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0)
def test_gps_on_midway(self):
"""
Test: no GPS message for the first half of the segment
Expected Result:
- yaw_rate: unchanged
- roll:
- gpsOK: False for the first half, True for the second half
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)))
self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0)
def test_gps_tunnel(self):
"""
Test: no GPS message for the middle section of the segment
Expected Result:
- yaw_rate: unchanged
- roll:
- gpsOK: False for the middle section, True for the rest
"""
orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0)
self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0)
def test_gyro_off(self):
"""
Test: no gyroscope message for the entire segment
Expected Result:
- yaw_rate: 0
- roll: 0
- sensorsOK: False
"""
_, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs)
self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
def test_gyro_spikes(self):
"""
Test: a gyroscope spike in the middle of the segment
Expected Result:
- yaw_rate: unchanged
- roll: unchanged
- inputsOK: False for some time after the spike, True for the rest
"""
orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0)
self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0)
def test_accel_off(self):
"""
Test: no accelerometer message for the entire segment
Expected Result:
- yaw_rate: 0
- roll: 0
- sensorsOK: False
"""
_, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs)
self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0))
self.assertTrue(np.allclose(replayed_data['roll'], 0.0))
self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0))
def test_accel_spikes(self):
"""
ToDo:
Test: an accelerometer spike in the middle of the segment
Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes.
"""
orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)))
self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)))
if __name__ == "__main__":
unittest.main()
selfdrive/manager/process_config.py
+2 -2
View File
@@ -52,13 +52,13 @@ procs = [
PythonProcess("micd", "system.micd", iscar),
PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
selfdrive/modeld/SConscript
+1 -23
View File
@@ -32,14 +32,8 @@ if arch == "Darwin":
else:
libs += ['OpenCL']
# Use onnx on PC
if arch != "larch64" and not GetOption('snpe'):
common_src += ['runners/onnxmodel.cc']
lenv['CFLAGS'].append("-DUSE_ONNX_MODEL")
lenv['CXXFLAGS'].append("-DUSE_ONNX_MODEL")
# Set path definitions
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
for xenv in (lenv, lenvCython):
xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
@@ -49,31 +43,15 @@ snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
cython_libs = envCython["LIBS"] + libs
onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
commonmodel_lib = lenv.Library('commonmodel', common_src)
driving_lib = lenv.Library('driving', ['models/driving.cc'])
lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
lenvCython.Program('models/driving_pyx.so', 'models/driving_pyx.pyx', LIBS=[driving_lib, commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
# Compile binaries
lenv['FRAMEWORKS'] = frameworks
common_model = lenv.Object(common_src)
lenv.Program('_dmonitoringmodeld', [
"dmonitoringmodeld.cc",
"models/dmonitoring.cc",
]+common_model, LIBS=libs + snpe_lib)
lenv.Program('_navmodeld', [
"navmodeld.cc",
"models/nav.cc",
]+common_model, LIBS=libs + snpe_lib)
# Build thneed model
if arch == "larch64" or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath
selfdrive/modeld/dmonitoringmodeld
-12
View File
@@ -1,12 +0,0 @@
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
if [ -f /TICI ]; then
export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
else
export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
fi
exec ./_dmonitoringmodeld
selfdrive/modeld/dmonitoringmodeld.cc
-69
View File
@@ -1,69 +0,0 @@
#include <sys/resource.h>
#include <limits.h>
#include <cstdio>
#include <cstdlib>
#include "cereal/visionipc/visionipc_client.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "selfdrive/modeld/models/dmonitoring.h"
ExitHandler do_exit;
void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
PubMaster pm({"driverStateV2"});
SubMaster sm({"liveCalibration"});
float calib[CALIB_LEN] = {0};
// double last = 0;
while (!do_exit) {
VisionIpcBufExtra extra = {};
VisionBuf *buf = vipc_client.recv(&extra);
if (buf == nullptr) continue;
sm.update(0);
if (sm.updated("liveCalibration")) {
auto calib_msg = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
for (int i = 0; i < CALIB_LEN; i++) {
calib[i] = calib_msg[i];
}
}
double t1 = millis_since_boot();
DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
double t2 = millis_since_boot();
// send dm packet
dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
// printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
// last = t1;
}
}
int main(int argc, char **argv) {
setpriority(PRIO_PROCESS, 0, -15);
// init the models
DMonitoringModelState model;
dmonitoring_init(&model);
Params().putBool("DmModelInitialized", true);
LOGW("connecting to driver stream");
VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
while (!do_exit && !vipc_client.connect(false)) {
util::sleep_for(100);
}
// run the models
if (vipc_client.connected) {
LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
run_model(model, vipc_client);
}
dmonitoring_free(&model);
return 0;
}
selfdrive/modeld/dmonitoringmodeld.py
Executable
+157
View File
@@ -0,0 +1,157 @@
#!/usr/bin/env python3
import os
import gc
import math
import time
import ctypes
import numpy as np
from pathlib import Path
from typing import Tuple, Dict
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.system.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.realtime import set_realtime_priority
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid
CALIB_LEN = 3
REG_SCALE = 0.25
MODEL_WIDTH = 1440
MODEL_HEIGHT = 960
OUTPUT_SIZE = 84
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PATHS = {
ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc',
ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'}
class DriverStateResult(ctypes.Structure):
_fields_ = [
("face_orientation", ctypes.c_float*3),
("face_position", ctypes.c_float*3),
("face_orientation_std", ctypes.c_float*3),
("face_position_std", ctypes.c_float*3),
("face_prob", ctypes.c_float),
("_unused_a", ctypes.c_float*8),
("left_eye_prob", ctypes.c_float),
("_unused_b", ctypes.c_float*8),
("right_eye_prob", ctypes.c_float),
("left_blink_prob", ctypes.c_float),
("right_blink_prob", ctypes.c_float),
("sunglasses_prob", ctypes.c_float),
("occluded_prob", ctypes.c_float),
("ready_prob", ctypes.c_float*4),
("not_ready_prob", ctypes.c_float*2)]
class DMonitoringModelResult(ctypes.Structure):
_fields_ = [
("driver_state_lhd", DriverStateResult),
("driver_state_rhd", DriverStateResult),
("poor_vision_prob", ctypes.c_float),
("wheel_on_right_prob", ctypes.c_float)]
class ModelState:
inputs: Dict[str, np.ndarray]
output: np.ndarray
model: ModelRunner
def __init__(self):
assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32)
self.inputs = {
'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8),
'calib': np.zeros(CALIB_LEN, dtype=np.float32)}
self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
self.model.addInput("input_img", None)
self.model.addInput("calib", self.inputs['calib'])
def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]:
self.inputs['calib'][:] = calib
v_offset = buf.height - MODEL_HEIGHT
h_offset = (buf.width - MODEL_WIDTH) // 2
buf_data = buf.data.reshape(-1, buf.stride)
input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH)
input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH]
t1 = time.perf_counter()
self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
self.model.execute()
t2 = time.perf_counter()
return self.output, t2 - t1
def fill_driver_state(msg, ds_result: DriverStateResult):
msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation]
msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]]
msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
msg.faceProb = sigmoid(ds_result.face_prob)
msg.leftEyeProb = sigmoid(ds_result.left_eye_prob)
msg.rightEyeProb = sigmoid(ds_result.right_eye_prob)
msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob)
msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob)
msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob)
msg.occludedProb = sigmoid(ds_result.occluded_prob)
msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob]
msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob]
def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
msg = messaging.new_message('driverStateV2')
ds = msg.driverStateV2
ds.frameId = frame_id
ds.modelExecutionTime = execution_time
ds.dspExecutionTime = dsp_execution_time
ds.poorVisionProb = sigmoid(model_result.poor_vision_prob)
ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob)
ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
return msg
def main():
gc.disable()
set_realtime_priority(1)
model = ModelState()
cloudlog.warning("models loaded, dmonitoringmodeld starting")
Params().put_bool("DmModelInitialized", True)
cloudlog.warning("connecting to driver stream")
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
while not vipc_client.connect(False):
time.sleep(0.1)
assert vipc_client.is_connected()
cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
sm = SubMaster(["liveCalibration"])
pm = PubMaster(["driverStateV2"])
calib = np.zeros(CALIB_LEN, dtype=np.float32)
# last = 0
while True:
buf = vipc_client.recv()
if buf is None:
continue
sm.update(0)
if sm.updated["liveCalibration"]:
calib[:] = np.array(sm["liveCalibration"].rpyCalib)
t1 = time.perf_counter()
model_output, dsp_execution_time = model.run(buf, calib)
t2 = time.perf_counter()
pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
# print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last))
# last = t1
if __name__ == "__main__":
main()
selfdrive/modeld/modeld.py
+9 -9
View File
@@ -46,11 +46,11 @@ class ModelState:
self.prev_desire = np.zeros(DESIRE_LEN, dtype=np.float32)
self.output = np.zeros(NET_OUTPUT_SIZE, dtype=np.float32)
self.inputs = {
'desire_pulse': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
'desire': np.zeros(DESIRE_LEN * (HISTORY_BUFFER_LEN+1), dtype=np.float32),
'traffic_convention': np.zeros(TRAFFIC_CONVENTION_LEN, dtype=np.float32),
'nav_features': np.zeros(NAV_FEATURE_LEN, dtype=np.float32),
'nav_instructions': np.zeros(NAV_INSTRUCTION_LEN, dtype=np.float32),
'feature_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
'features_buffer': np.zeros(HISTORY_BUFFER_LEN * FEATURE_LEN, dtype=np.float32),
}
self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
@@ -62,10 +62,10 @@ class ModelState:
def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[np.ndarray]:
# Model decides when action is completed, so desire input is just a pulse triggered on rising edge
inputs['desire_pulse'][0] = 0
self.inputs['desire_pulse'][:-DESIRE_LEN] = self.inputs['desire_pulse'][DESIRE_LEN:]
self.inputs['desire_pulse'][-DESIRE_LEN:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
self.prev_desire[:] = inputs['desire_pulse']
inputs['desire'][0] = 0
self.inputs['desire'][:-DESIRE_LEN] = self.inputs['desire'][DESIRE_LEN:]
self.inputs['desire'][-DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
self.prev_desire[:] = inputs['desire']
self.inputs['traffic_convention'][:] = inputs['traffic_convention']
self.inputs['nav_features'][:] = inputs['nav_features']
@@ -81,8 +81,8 @@ class ModelState:
return None
self.model.execute()
self.inputs['feature_buffer'][:-FEATURE_LEN] = self.inputs['feature_buffer'][FEATURE_LEN:]
self.inputs['feature_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
self.inputs['features_buffer'][:-FEATURE_LEN] = self.inputs['features_buffer'][FEATURE_LEN:]
self.inputs['features_buffer'][-FEATURE_LEN:] = self.output[OUTPUT_SIZE:OUTPUT_SIZE+FEATURE_LEN]
return self.output
@@ -232,7 +232,7 @@ def main():
cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
inputs:Dict[str, np.ndarray] = {
'desire_pulse': vec_desire,
'desire': vec_desire,
'traffic_convention': traffic_convention,
'driving_style': driving_style,
'nav_features': nav_features,
selfdrive/modeld/models/dmonitoring.cc
-133
View File
@@ -1,133 +0,0 @@
#include <cstring>
#include "common/mat.h"
#include "common/modeldata.h"
#include "common/params.h"
#include "common/timing.h"
#include "system/hardware/hw.h"
#include "selfdrive/modeld/models/dmonitoring.h"
constexpr int MODEL_WIDTH = 1440;
constexpr int MODEL_HEIGHT = 960;
template <class T>
static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
if (buf.size() < size) buf.resize(size);
return buf.data();
}
void dmonitoring_init(DMonitoringModelState* s) {
#ifdef USE_ONNX_MODEL
s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
#else
s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
#endif
s->m->addInput("input_imgs", NULL, 0);
s->m->addInput("calib", s->calib, CALIB_LEN);
}
void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
for (int i = 0; i < 3; ++i) {
ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE;
ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]);
}
for (int i = 0; i < 2; ++i) {
ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
}
for (int i = 0; i < 4; ++i) {
ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
}
for (int i = 0; i < 2; ++i) {
ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
}
ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
}
void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) {
ddata.setFaceOrientation(ds_res.face_orientation);
ddata.setFaceOrientationStd(ds_res.face_orientation_std);
ddata.setFacePosition(ds_res.face_position);
ddata.setFacePositionStd(ds_res.face_position_std);
ddata.setFaceProb(ds_res.face_prob);
ddata.setLeftEyeProb(ds_res.left_eye_prob);
ddata.setRightEyeProb(ds_res.right_eye_prob);
ddata.setLeftBlinkProb(ds_res.left_blink_prob);
ddata.setRightBlinkProb(ds_res.right_blink_prob);
ddata.setSunglassesProb(ds_res.sunglasses_prob);
ddata.setOccludedProb(ds_res.occluded_prob);
ddata.setReadyProb(ds_res.ready_prob);
ddata.setNotReadyProb(ds_res.not_ready_prob);
}
DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
int v_off = height - MODEL_HEIGHT;
int h_off = (width - MODEL_WIDTH) / 2;
int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT;
uint8_t *raw_buf = (uint8_t *) stream_buf;
// vertical crop free
uint8_t *raw_y_start = raw_buf + stride * v_off;
uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// here makes a uint8 copy
for (int r = 0; r < MODEL_HEIGHT; ++r) {
memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH);
}
// printf("preprocess completed. %d \n", yuv_buf_len);
// FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
// fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
// fclose(dump_yuv_file);
double t1 = millis_since_boot();
s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float));
for (int i = 0; i < CALIB_LEN; i++) {
s->calib[i] = calib[i];
}
s->m->execute();
double t2 = millis_since_boot();
DMonitoringModelResult model_res = {0};
parse_driver_data(model_res.driver_state_lhd, s, 0);
parse_driver_data(model_res.driver_state_rhd, s, 41);
model_res.poor_vision_prob = sigmoid(s->output[82]);
model_res.wheel_on_right_prob = sigmoid(s->output[83]);
model_res.dsp_execution_time = (t2 - t1) / 1000.;
return model_res;
}
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
// make msg
MessageBuilder msg;
auto framed = msg.initEvent().initDriverStateV2();
framed.setFrameId(frame_id);
framed.setModelExecutionTime(execution_time);
framed.setDspExecutionTime(model_res.dsp_execution_time);
framed.setPoorVisionProb(model_res.poor_vision_prob);
framed.setWheelOnRightProb(model_res.wheel_on_right_prob);
fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd);
fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd);
if (send_raw_pred) {
framed.setRawPredictions(raw_pred.asBytes());
}
pm.send("driverStateV2", msg);
}
void dmonitoring_free(DMonitoringModelState* s) {
delete s->m;
}
selfdrive/modeld/models/dmonitoring.h
-50
View File
@@ -1,50 +0,0 @@
#pragma once
#include <vector>
#include "cereal/messaging/messaging.h"
#include "common/util.h"
#include "selfdrive/modeld/models/commonmodel.h"
#include "selfdrive/modeld/runners/run.h"
#define CALIB_LEN 3
#define OUTPUT_SIZE 84
#define REG_SCALE 0.25f
typedef struct DriverStateResult {
float face_orientation[3];
float face_orientation_std[3];
float face_position[2];
float face_position_std[2];
float face_prob;
float left_eye_prob;
float right_eye_prob;
float left_blink_prob;
float right_blink_prob;
float sunglasses_prob;
float occluded_prob;
float ready_prob[4];
float not_ready_prob[2];
} DriverStateResult;
typedef struct DMonitoringModelResult {
DriverStateResult driver_state_lhd;
DriverStateResult driver_state_rhd;
float poor_vision_prob;
float wheel_on_right_prob;
float dsp_execution_time;
} DMonitoringModelResult;
typedef struct DMonitoringModelState {
RunModel *m;
float output[OUTPUT_SIZE];
std::vector<uint8_t> net_input_buf;
float calib[CALIB_LEN];
} DMonitoringModelState;
void dmonitoring_init(DMonitoringModelState* s);
DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred);
void dmonitoring_free(DMonitoringModelState* s);
selfdrive/modeld/models/driving.h
+4 -1
View File
@@ -6,13 +6,16 @@
#include "cereal/messaging/messaging.h"
#include "common/modeldata.h"
#include "common/util.h"
#include "selfdrive/modeld/models/nav.h"
#include "selfdrive/modeld/models/commonmodel.h"
#include "selfdrive/modeld/runners/run.h"
constexpr int FEATURE_LEN = 128;
constexpr int HISTORY_BUFFER_LEN = 99;
constexpr int DESIRE_LEN = 8;
constexpr int DESIRE_PRED_LEN = 4;
constexpr int TRAFFIC_CONVENTION_LEN = 2;
constexpr int NAV_FEATURE_LEN = 256;
constexpr int NAV_INSTRUCTION_LEN = 150;
constexpr int DRIVING_STYLE_LEN = 12;
constexpr int MODEL_FREQ = 20;
selfdrive/modeld/models/nav.cc
-71
View File
@@ -1,71 +0,0 @@
#include "selfdrive/modeld/models/nav.h"
#include <cstdio>
#include <cstring>
#include "common/mat.h"
#include "common/modeldata.h"
#include "common/timing.h"
void navmodel_init(NavModelState* s) {
#ifdef USE_ONNX_MODEL
s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
#else
s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
#endif
s->m->addInput("map", NULL, 0);
}
NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
double t1 = millis_since_boot();
s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
s->m->execute();
double t2 = millis_since_boot();
NavModelResult *model_res = (NavModelResult*)&s->output;
model_res->dsp_execution_time = (t2 - t1) / 1000.;
return model_res;
}
void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) {
std::array<float, TRAJECTORY_SIZE> pos_x, pos_y;
std::array<float, TRAJECTORY_SIZE> pos_x_std, pos_y_std;
for (int i=0; i<TRAJECTORY_SIZE; i++) {
pos_x[i] = plan.mean[i].x;
pos_y[i] = plan.mean[i].y;
pos_x_std[i] = exp(plan.std[i].x);
pos_y_std[i] = exp(plan.std[i].y);
}
auto position = framed.initPosition();
position.setX(to_kj_array_ptr(pos_x));
position.setY(to_kj_array_ptr(pos_y));
position.setXStd(to_kj_array_ptr(pos_x_std));
position.setYStd(to_kj_array_ptr(pos_y_std));
}
void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
// make msg
MessageBuilder msg;
auto evt = msg.initEvent();
auto framed = evt.initNavModel();
evt.setValid(extra.valid && route_valid);
framed.setFrameId(extra.frame_id);
framed.setLocationMonoTime(extra.timestamp_sof);
framed.setModelExecutionTime(execution_time);
framed.setDspExecutionTime(model_res.dsp_execution_time);
framed.setFeatures(to_kj_array_ptr(model_res.features.values));
framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
fill_plan(framed, model_res.plan);
pm.send("navModel", msg);
}
void navmodel_free(NavModelState* s) {
delete s->m;
}
selfdrive/modeld/models/nav.h
-57
View File
@@ -1,57 +0,0 @@
#pragma once
#include "cereal/messaging/messaging.h"
#include "cereal/visionipc/visionipc_client.h"
#include "common/util.h"
#include "common/modeldata.h"
#include "selfdrive/modeld/models/commonmodel.h"
#include "selfdrive/modeld/runners/run.h"
constexpr int NAV_INPUT_SIZE = 256*256;
constexpr int NAV_FEATURE_LEN = 256;
constexpr int NAV_INSTRUCTION_LEN = 150;
constexpr int NAV_DESIRE_LEN = 32;
struct NavModelOutputXY {
float x;
float y;
};
static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
struct NavModelOutputPlan {
std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
};
static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
struct NavModelOutputDesirePrediction {
std::array<float, NAV_DESIRE_LEN> values;
};
static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
struct NavModelOutputFeatures {
std::array<float, NAV_FEATURE_LEN> values;
};
static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
struct NavModelResult {
const NavModelOutputPlan plan;
const NavModelOutputDesirePrediction desire_pred;
const NavModelOutputFeatures features;
float dsp_execution_time;
};
static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
struct NavModelState {
RunModel *m;
uint8_t net_input_buf[NAV_INPUT_SIZE];
float output[NAV_OUTPUT_SIZE];
};
void navmodel_init(NavModelState* s);
NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
void navmodel_free(NavModelState* s);
selfdrive/modeld/navmodeld
-12
View File
@@ -1,12 +0,0 @@
#!/usr/bin/env bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
if [ -f /TICI ]; then
export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
else
export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
fi
exec ./_navmodeld
selfdrive/modeld/navmodeld.cc
-70
View File
@@ -1,70 +0,0 @@
#include <sys/resource.h>
#include <limits.h>
#include <cstdio>
#include <cstdlib>
#include "cereal/visionipc/visionipc_client.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "selfdrive/modeld/models/nav.h"
ExitHandler do_exit;
void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
SubMaster sm({"navInstruction"});
PubMaster pm({"navModel"});
//double last_ts = 0;
//uint32_t last_frame_id = 0;
VisionIpcBufExtra extra = {};
while (!do_exit) {
VisionBuf *buf = vipc_client.recv(&extra);
if (buf == nullptr) continue;
sm.update(0);
double t1 = millis_since_boot();
NavModelResult *model_res = navmodel_eval_frame(&model, buf);
double t2 = millis_since_boot();
// send navmodel packet
navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
//printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
//last_ts = t1;
//last_frame_id = extra.frame_id;
}
}
int main(int argc, char **argv) {
setpriority(PRIO_PROCESS, 0, -15);
// there exists a race condition when two processes try to create a
// SNPE model runner at the same time, wait for dmonitoringmodeld to finish
LOGW("waiting for dmonitoringmodeld to initialize");
if (!Params().getBool("DmModelInitialized", true)) {
return 0;
}
// init the models
NavModelState model;
navmodel_init(&model);
LOGW("models loaded, navmodeld starting");
VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
while (!do_exit && !vipc_client.connect(false)) {
util::sleep_for(100);
}
// run the models
if (vipc_client.connected) {
LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
run_model(model, vipc_client);
}
navmodel_free(&model);
return 0;
}
selfdrive/modeld/navmodeld.py
Executable
+118
View File
@@ -0,0 +1,118 @@
#!/usr/bin/env python3
import gc
import math
import time
import ctypes
import numpy as np
from pathlib import Path
from typing import Tuple, Dict
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType
from openpilot.system.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.realtime import set_realtime_priority
from openpilot.selfdrive.modeld.constants import IDX_N
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
NAV_INPUT_SIZE = 256*256
NAV_FEATURE_LEN = 256
NAV_DESIRE_LEN = 32
NAV_OUTPUT_SIZE = 2*2*IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN
MODEL_PATHS = {
ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc',
ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'}
class NavModelOutputXY(ctypes.Structure):
_fields_ = [
("x", ctypes.c_float),
("y", ctypes.c_float)]
class NavModelOutputPlan(ctypes.Structure):
_fields_ = [
("mean", NavModelOutputXY*IDX_N),
("std", NavModelOutputXY*IDX_N)]
class NavModelResult(ctypes.Structure):
_fields_ = [
("plan", NavModelOutputPlan),
("desire_pred", ctypes.c_float*NAV_DESIRE_LEN),
("features", ctypes.c_float*NAV_FEATURE_LEN)]
class ModelState:
inputs: Dict[str, np.ndarray]
output: np.ndarray
model: ModelRunner
def __init__(self):
assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)}
self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None)
self.model.addInput("input_img", None)
def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]:
self.inputs['input_img'][:] = buf
t1 = time.perf_counter()
self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32))
self.model.execute()
t2 = time.perf_counter()
return self.output, t2 - t1
def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float):
model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents
msg = messaging.new_message('navModel')
msg.valid = valid
msg.navModel.frameId = frame_id
msg.navModel.locationMonoTime = location_ts
msg.navModel.modelExecutionTime = execution_time
msg.navModel.dspExecutionTime = dsp_execution_time
msg.navModel.features = model_result.features[:]
msg.navModel.desirePrediction = model_result.desire_pred[:]
msg.navModel.position.x = [p.x for p in model_result.plan.mean]
msg.navModel.position.y = [p.y for p in model_result.plan.mean]
msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std]
msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std]
return msg
def main():
gc.disable()
set_realtime_priority(1)
# there exists a race condition when two processes try to create a
# SNPE model runner at the same time, wait for dmonitoringmodeld to finish
cloudlog.warning("waiting for dmonitoringmodeld to initialize")
if not Params().get_bool("DmModelInitialized", True):
return
model = ModelState()
cloudlog.warning("models loaded, navmodeld starting")
vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
while not vipc_client.connect(False):
time.sleep(0.1)
assert vipc_client.is_connected()
cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
sm = SubMaster(["navInstruction"])
pm = PubMaster(["navModel"])
while True:
buf = vipc_client.recv()
if buf is None:
continue
sm.update(0)
t1 = time.perf_counter()
model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset])
t2 = time.perf_counter()
valid = vipc_client.valid and sm.valid["navInstruction"]
pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))
if __name__ == "__main__":
main()
selfdrive/modeld/runners/__init__.py
+1 -1
View File
@@ -19,7 +19,7 @@ class ModelRunner(RunModel):
from openpilot.selfdrive.modeld.runners.snpemodel_pyx import SNPEModel as Runner
runner_type = ModelRunner.SNPE
elif ModelRunner.ONNX in paths:
from openpilot.selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as Runner
from openpilot.selfdrive.modeld.runners.onnxmodel import ONNXModel as Runner
runner_type = ModelRunner.ONNX
else:
raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
selfdrive/modeld/runners/onnx_runner.py
-78
View File
@@ -1,78 +0,0 @@
#!/usr/bin/env python3
import os
import sys
import numpy as np
from typing import Tuple, Dict, Union, Any
os.environ["OMP_NUM_THREADS"] = "4"
os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
import onnxruntime as ort
ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
def read(sz, tf8=False):
dd = []
gt = 0
szof = 1 if tf8 else 4
while gt < sz * szof:
st = os.read(0, sz * szof - gt)
assert(len(st) > 0)
dd.append(st)
gt += len(st)
r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32)
if tf8:
r = r / 255.
return r
def write(d):
os.write(1, d.tobytes())
def run_loop(m, tf8_input=False):
ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
keys = [x.name for x in m.get_inputs()]
itypes = [ORT_TYPES_TO_NP_TYPES[x.type] for x in m.get_inputs()]
# run once to initialize CUDA provider
if "CUDAExecutionProvider" in m.get_providers():
m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True)))
print("ready to run onnx model", keys, ishapes, file=sys.stderr)
while 1:
inputs = []
for k, shp, itp in zip(keys, ishapes, itypes, strict=True):
ts = np.product(shp)
#print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp))
ret = m.run(None, dict(zip(keys, inputs, strict=True)))
#print(ret, file=sys.stderr)
for r in ret:
write(r.astype(np.float32))
if __name__ == "__main__":
print(sys.argv, file=sys.stderr)
print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
options = ort.SessionOptions()
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
provider: Union[str, Tuple[str, Dict[Any, Any]]]
if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
provider = 'OpenVINOExecutionProvider'
elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
options.intra_op_num_threads = 2
provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
else:
options.intra_op_num_threads = 2
options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
provider = 'CPUExecutionProvider'
try:
print("Onnx selected provider: ", [provider], file=sys.stderr)
ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv))
except KeyboardInterrupt:
pass
selfdrive/modeld/runners/onnxmodel.cc
-88
View File
@@ -1,88 +0,0 @@
#include "selfdrive/modeld/runners/onnxmodel.h"
#include <csignal>
#include <cstdio>
#include <cstdlib>
#include <poll.h>
#include <unistd.h>
#include "common/util.h"
ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
LOGD("loading model %s", path.c_str());
output = _output;
output_size = _output_size;
use_tf8 = _use_tf8;
int err = pipe(pipein);
assert(err == 0);
err = pipe(pipeout);
assert(err == 0);
std::string onnx_runner = ONNXRUNNER_PATH;
std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
proc_pid = fork();
if (proc_pid == 0) {
LOGD("spawning onnx process %s", onnx_runner.c_str());
char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr};
dup2(pipein[0], 0);
dup2(pipeout[1], 1);
close(pipein[0]);
close(pipein[1]);
close(pipeout[0]);
close(pipeout[1]);
execvp(onnx_runner.c_str(), argv);
exit(1); // exit if the exec fails
}
// parent
close(pipein[0]);
close(pipeout[1]);
}
ONNXModel::~ONNXModel() {
close(pipein[1]);
close(pipeout[0]);
kill(proc_pid, SIGTERM);
}
void ONNXModel::pwrite(float *buf, int size) {
char *cbuf = (char *)buf;
int tw = size*sizeof(float);
while (tw > 0) {
int err = write(pipein[1], cbuf, tw);
//printf("host write %d\n", err);
assert(err >= 0);
cbuf += err;
tw -= err;
}
LOGD("host write of size %d done", size);
}
void ONNXModel::pread(float *buf, int size) {
char *cbuf = (char *)buf;
int tr = size*sizeof(float);
struct pollfd fds[1];
fds[0].fd = pipeout[0];
fds[0].events = POLLIN;
while (tr > 0) {
int err;
err = poll(fds, 1, 10000); // 10 second timeout
assert(err == 1 || (err == -1 && errno == EINTR));
LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err);
err = read(pipeout[0], cbuf, tr);
assert(err > 0 || (err == 0 && errno == EINTR));
cbuf += err;
tr -= err;
}
LOGD("host read done");
}
void ONNXModel::execute() {
for (auto &input : inputs) {
pwrite(input->buffer, input->size);
}
pread(output, output_size);
}
selfdrive/modeld/runners/onnxmodel.h
-23
View File
@@ -1,23 +0,0 @@
#pragma once
#include <string>
#include "selfdrive/modeld/runners/runmodel.h"
class ONNXModel : public RunModel {
public:
ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL);
~ONNXModel();
void execute();
private:
int proc_pid;
float *output;
size_t output_size;
bool use_tf8;
// pipe to communicate to onnx_runner subprocess
void pread(float *buf, int size);
void pwrite(float *buf, int size);
int pipein[2];
int pipeout[2];
};
selfdrive/modeld/runners/onnxmodel.pxd
-9
View File
@@ -1,9 +0,0 @@
# distutils: language = c++
from libcpp.string cimport string
from cereal.visionipc.visionipc cimport cl_context
cdef extern from "selfdrive/modeld/runners/onnxmodel.h":
cdef cppclass ONNXModel:
ONNXModel(string, float*, size_t, int, bool, cl_context)
selfdrive/modeld/runners/onnxmodel.py
+70
View File
@@ -0,0 +1,70 @@
import os
import sys
import numpy as np
from typing import Tuple, Dict, Union, Any
from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel
ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
def create_ort_session(path):
os.environ["OMP_NUM_THREADS"] = "4"
os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
import onnxruntime as ort
print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
options = ort.SessionOptions()
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
provider: Union[str, Tuple[str, Dict[Any, Any]]]
if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
provider = 'OpenVINOExecutionProvider'
elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
options.intra_op_num_threads = 2
provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
else:
options.intra_op_num_threads = 2
options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
provider = 'CPUExecutionProvider'
print("Onnx selected provider: ", [provider], file=sys.stderr)
ort_session = ort.InferenceSession(path, options, providers=[provider])
print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
return ort_session
class ONNXModel(RunModel):
def __init__(self, path, output, runtime, use_tf8, cl_context):
self.inputs = {}
self.output = output
self.use_tf8 = use_tf8
self.session = create_ort_session(path)
self.input_names = [x.name for x in self.session.get_inputs()]
self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
# run once to initialize CUDA provider
if "CUDAExecutionProvider" in self.session.get_providers():
self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
print("ready to run onnx model", self.input_shapes, file=sys.stderr)
def addInput(self, name, buffer):
assert name in self.input_names
self.inputs[name] = buffer
def setInputBuffer(self, name, buffer):
assert name in self.inputs
self.inputs[name] = buffer
def getCLBuffer(self, name):
return None
def execute(self):
inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()}
inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
outputs = self.session.run(None, inputs)
assert len(outputs) == 1, "Only single model outputs are supported"
self.output[:] = outputs[0]
return self.output
selfdrive/modeld/runners/onnxmodel_pyx.pyx
-14
View File
@@ -1,14 +0,0 @@
# distutils: language = c++
# cython: c_string_encoding=ascii
from libcpp cimport bool
from libcpp.string cimport string
from .onnxmodel cimport ONNXModel as cppONNXModel
from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
cdef class ONNXModel(RunModel):
def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
self.model = <cppRunModel *> new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context)
selfdrive/modeld/runners/run.h
-4
View File
@@ -2,7 +2,3 @@
#include "selfdrive/modeld/runners/runmodel.h"
#include "selfdrive/modeld/runners/snpemodel.h"
#if defined(USE_ONNX_MODEL)
#include "selfdrive/modeld/runners/onnxmodel.h"
#endif
selfdrive/test/docker_build.sh
+13 -32
View File
@@ -1,45 +1,26 @@
#!/bin/bash
#!/usr/bin/env bash
set -e
# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
# mkdir -p .ci_cache/scons_cache
# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
if [ $1 = "base" ]; then
export DOCKER_IMAGE=openpilot-base
export DOCKER_FILE=Dockerfile.openpilot_base
elif [ $1 = "docs" ]; then
export DOCKER_IMAGE=openpilot-docs
export DOCKER_FILE=docs/docker/Dockerfile
elif [ $1 = "sim" ]; then
export DOCKER_IMAGE=openpilot-sim
export DOCKER_FILE=tools/sim/Dockerfile.sim
elif [ $1 = "prebuilt" ]; then
export DOCKER_IMAGE=openpilot-prebuilt
export DOCKER_FILE=Dockerfile.openpilot
elif [ $1 = "cl" ]; then
export DOCKER_IMAGE=openpilot-base-cl
export DOCKER_FILE=Dockerfile.openpilot_base_cl
else
echo "Invalid docker build image $1"
exit 1
fi
export DOCKER_REGISTRY=ghcr.io/commaai
export COMMIT_SHA=$(git rev-parse HEAD)
LOCAL_TAG=$DOCKER_IMAGE
REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA
SCRIPT_DIR=$(dirname "$0")
OPENPILOT_DIR=$SCRIPT_DIR/../../
if [ -n "$TARGET_ARCHITECTURE" ]; then
PLATFORM="linux/$TARGET_ARCHITECTURE"
TAG_SUFFIX="-$TARGET_ARCHITECTURE"
else
PLATFORM="linux/$(uname -m)"
TAG_SUFFIX=""
fi
DOCKER_BUILDKIT=1 docker buildx build --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
if [[ ! -z "$PUSH_IMAGE" ]];
then
DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
if [ -n "$PUSH_IMAGE" ]; then
docker push $REMOTE_TAG
docker tag $REMOTE_TAG $REMOTE_SHA_TAG
docker push $REMOTE_SHA_TAG
fi
fi
selfdrive/test/docker_common.sh
+27
View File
@@ -0,0 +1,27 @@
if [ $1 = "base" ]; then
export DOCKER_IMAGE=openpilot-base
export DOCKER_FILE=Dockerfile.openpilot_base
elif [ $1 = "docs" ]; then
export DOCKER_IMAGE=openpilot-docs
export DOCKER_FILE=docs/docker/Dockerfile
elif [ $1 = "sim" ]; then
export DOCKER_IMAGE=openpilot-sim
export DOCKER_FILE=tools/sim/Dockerfile.sim
elif [ $1 = "prebuilt" ]; then
export DOCKER_IMAGE=openpilot-prebuilt
export DOCKER_FILE=Dockerfile.openpilot
elif [ $1 = "cl" ]; then
export DOCKER_IMAGE=openpilot-base-cl
export DOCKER_FILE=Dockerfile.openpilot_base_cl
else
echo "Invalid docker build image $1"
exit 1
fi
export DOCKER_REGISTRY=ghcr.io/commaai
export COMMIT_SHA=$(git rev-parse HEAD)
TAG_SUFFIX=$2
LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
selfdrive/test/docker_tag_multiarch.sh
Executable
+25
View File
@@ -0,0 +1,25 @@
#!/usr/bin/env bash
set -e
if [ $# -lt 2 ]; then
echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
exit 1
fi
SCRIPT_DIR=$(dirname "$0")
ARCHS=("${@:2}")
source $SCRIPT_DIR/docker_common.sh $1
MANIFEST_AMENDS=""
for ARCH in ${ARCHS[@]}; do
MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
done
docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
if [[ -n "$PUSH_IMAGE" ]]; then
docker manifest push $REMOTE_TAG
docker manifest push $REMOTE_SHA_TAG
fi
selfdrive/test/helpers.py
-46
View File
@@ -1,9 +1,6 @@
import os
import time
import tempfile
from typing import List, Union
from unittest import mock
from functools import wraps
import cereal.messaging as messaging
@@ -72,46 +69,3 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
return wrap
return wrapper
def temporary_mock_dir(mock_paths_in: Union[List[str], str], kwarg: Union[str, None] = None, generator = tempfile.TemporaryDirectory):
"""
mock_paths_in: string or string list representing the full path of the variable you want to mock.
kwarg: str or None representing the kwarg that gets passed into the test function, in case the test needs access to the temporary directory.
generator: a context to use to generate the temporary directory
"""
def wrapper(func):
@wraps(func)
def wrap(*args, **kwargs):
mock_paths = mock_paths_in if isinstance(mock_paths_in, list) else [mock_paths_in]
with generator() as temp_dir:
mocks = []
for mock_path in mock_paths:
mocks.append(mock.patch(mock_path, str(temp_dir)))
[mock.start() for mock in mocks]
try:
if kwarg is not None:
kwargs[kwarg] = temp_dir
func(*args, **kwargs)
finally:
[mock.stop() for mock in mocks]
return wrap
return wrapper
def string_context(context):
class StringContext:
def __enter__(self):
return context
def __exit__(self, *args):
pass
return StringContext
temporary_dir = temporary_mock_dir([], "temp_dir")
temporary_cache_dir = temporary_mock_dir("openpilot.tools.lib.url_file.CACHE_DIR")
temporary_swaglog_dir = temporary_mock_dir("openpilot.system.swaglog.SWAGLOG_DIR", "temp_dir")
temporary_laikad_downloads_dir = temporary_mock_dir("openpilot.selfdrive.locationd.laikad.DOWNLOADS_CACHE_FOLDER")
temporary_swaglog_ipc = temporary_mock_dir(["openpilot.system.swaglog.SWAGLOG_IPC", "system.logmessaged.SWAGLOG_IPC"],
generator=string_context("/tmp/test_swaglog_ipc"))
selfdrive/test/process_replay/ref_commit
+1 -1
View File
@@ -1 +1 @@
649c512f95d9ad80e7c8c4d852cfa5f468a28fd5
b421ff389ce720b70a36dd2b3510af54eb484b5f
selfdrive/test/process_replay/test_processes.py
+2 -2
View File
@@ -20,8 +20,8 @@ source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS)
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)
selfdrive/test/setup_device_ci.sh
+58 -21
View File
@@ -56,31 +56,68 @@ sleep infinity
EOF
chmod +x $CONTINUE_PATH
safe_checkout() {
# completely clean TEST_DIR
cd $SOURCE_DIR
# cleanup orphaned locks
find .git -type f -name "*.lock" -exec rm {} +
git reset --hard
git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
git reset --hard $GIT_COMMIT
git checkout $GIT_COMMIT
git clean -xdff
git submodule sync
git submodule update --init --recursive
git submodule foreach --recursive "git reset --hard && git clean -xdff"
git lfs pull
(ulimit -n 65535 && git lfs prune)
echo "git checkout done, t=$SECONDS"
du -hs $SOURCE_DIR $SOURCE_DIR/.git
if [ -z "SKIP_COPY" ]; then
rsync -a --delete $SOURCE_DIR $TEST_DIR
fi
}
unsafe_checkout() {
# checkout directly in test dir, leave old build products
cd $TEST_DIR
# cleanup orphaned locks
find .git -type f -name "*.lock" -exec rm {} +
git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT
git checkout --force --no-recurse-submodules $GIT_COMMIT
git reset --hard $GIT_COMMIT
git clean -df
git submodule sync
git submodule update --init --recursive
git submodule foreach --recursive "git reset --hard && git clean -df"
git lfs pull
(ulimit -n 65535 && git lfs prune)
}
export GIT_PACK_THREADS=8
# set up environment
if [ ! -d "$SOURCE_DIR" ]; then
git clone https://github.com/commaai/openpilot.git $SOURCE_DIR
fi
cd $SOURCE_DIR
# cleanup orphaned locks
find .git -type f -name "*.lock" -exec rm {} +
git reset --hard
git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
git reset --hard $GIT_COMMIT
git checkout $GIT_COMMIT
git clean -xdff
git submodule sync
git submodule update --init --recursive
git submodule foreach --recursive "git reset --hard && git clean -xdff"
git lfs pull
(ulimit -n 65535 && git lfs prune)
echo "git checkout done, t=$SECONDS"
du -hs $SOURCE_DIR $SOURCE_DIR/.git
rsync -a --delete $SOURCE_DIR $TEST_DIR
if [ ! -z "$UNSAFE" ]; then
echo "doing unsafe checkout"
unsafe_checkout
else
echo "doing safe checkout"
safe_checkout
fi
echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS"
selfdrive/test/test_onroad.py
+8 -8
View File
@@ -19,8 +19,8 @@ from openpilot.common.timeout import Timeout
from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.events import EVENTS, ET
from openpilot.system.hardware import HARDWARE
from openpilot.system.loggerd.config import ROOT
from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
from openpilot.system.hardware.hw import Paths
from openpilot.tools.lib.logreader import LogReader
# Baseline CPU usage by process
@@ -37,8 +37,8 @@ PROCS = {
"./_sensord": 7.0,
"selfdrive.controls.radard": 4.5,
"selfdrive.modeld.modeld": 8.0,
"./_dmonitoringmodeld": 5.0,
"./_navmodeld": 1.0,
"selfdrive.modeld.dmonitoringmodeld": 8.0,
"selfdrive.modeld.navmodeld": 1.0,
"selfdrive.thermald.thermald": 3.87,
"selfdrive.locationd.calibrationd": 2.0,
"selfdrive.locationd.torqued": 5.0,
@@ -102,7 +102,7 @@ class TestOnroad(unittest.TestCase):
@classmethod
def setUpClass(cls):
if "DEBUG" in os.environ:
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
print(segs[-3])
cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
@@ -115,8 +115,8 @@ class TestOnroad(unittest.TestCase):
params.remove("CurrentRoute")
set_params_enabled()
os.environ['TESTING_CLOSET'] = '1'
if os.path.exists(ROOT):
shutil.rmtree(ROOT)
if os.path.exists(Paths.log_root()):
shutil.rmtree(Paths.log_root())
os.system("rm /dev/shm/*")
# Make sure athena isn't running
@@ -143,8 +143,8 @@ class TestOnroad(unittest.TestCase):
while len(cls.segments) < 3:
segs = set()
if Path(ROOT).exists():
segs = set(Path(ROOT).glob(f"{route}--*"))
if Path(Paths.log_root()).exists():
segs = set(Path(Paths.log_root()).glob(f"{route}--*"))
cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
time.sleep(2)
selfdrive/tombstoned.py
+2 -2
View File
@@ -10,8 +10,8 @@ import glob
from typing import NoReturn
from openpilot.common.file_helpers import mkdirs_exists_ok
from openpilot.system.loggerd.config import ROOT
import openpilot.selfdrive.sentry as sentry
from openpilot.system.hardware.hw import Paths
from openpilot.system.swaglog import cloudlog
from openpilot.system.version import get_commit
@@ -130,7 +130,7 @@ def report_tombstone_apport(fn):
new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
crashlog_dir = os.path.join(ROOT, "crash")
crashlog_dir = os.path.join(Paths.log_root(), "crash")
mkdirs_exists_ok(crashlog_dir)
# Files could be on different filesystems, copy, then delete
selfdrive/ui/qt/onroad.cc
-1
View File
@@ -278,7 +278,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
setFixedSize(btn_size, btn_size);
params = Params();
engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
system/hardware/hw.h
+32 -11
View File
@@ -14,16 +14,37 @@
#endif
namespace Path {
inline std::string log_root() {
if (const char *env = getenv("LOG_ROOT")) {
return env;
inline std::string openpilot_prefix() {
return util::getenv("OPENPILOT_PREFIX", "");
}
inline std::string comma_home() {
return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix();
}
inline std::string log_root() {
if (const char *env = getenv("LOG_ROOT")) {
return env;
}
return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
}
inline std::string params() {
return Hardware::PC() ? util::getenv("PARAMS_ROOT", Path::comma_home() + "/params") : "/data/params";
}
inline std::string rsa_file() {
return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa";
}
inline std::string swaglog_ipc() {
return "ipc:///tmp/logmessage" + Path::openpilot_prefix();
}
inline std::string download_cache_root() {
if (const char *env = getenv("COMMA_CACHE")) {
return env;
}
return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
}
return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
}
inline std::string params() {
return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
}
inline std::string rsa_file() {
return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
}
} // namespace Path
system/hardware/hw.py
+35
View File
@@ -0,0 +1,35 @@
import os
from pathlib import Path
from openpilot.selfdrive.hardware import PC
class Paths:
@staticmethod
def comma_home() -> str:
return os.path.join(str(Path.home()), ".comma" + os.environ.get("OPENPILOT_PREFIX", ""))
@staticmethod
def log_root() -> str:
if os.environ.get('LOG_ROOT', False):
return os.environ['LOG_ROOT']
elif PC:
return str(Path(Paths.comma_home()) / "media" / "0" / "realdata")
else:
return '/data/media/0/realdata/'
@staticmethod
def swaglog_root() -> str:
if PC:
return os.path.join(Paths.comma_home(), "log")
else:
return "/data/log/"
@staticmethod
def swaglog_ipc() -> str:
return "ipc:///tmp/logmessage" + os.environ.get("OPENPILOT_PREFIX", "")
@staticmethod
def download_cache_root() -> str:
if os.environ.get('COMMA_CACHE', False):
return os.environ['COMMA_CACHE']
return "/tmp/comma_download_cache" + os.environ.get("OPENPILOT_PREFIX", "") + "/"
system/loggerd/bootlog.cc
+2 -2
View File
@@ -50,11 +50,11 @@ static kj::Array<capnp::word> build_boot_log() {
int main(int argc, char** argv) {
const std::string timestr = logger_get_route_name();
const std::string path = LOG_ROOT + "/boot/" + timestr;
const std::string path = Path::log_root() + "/boot/" + timestr;
LOGW("bootlog to %s", path.c_str());
// Open bootlog
bool r = util::create_directories(LOG_ROOT + "/boot/", 0775);
bool r = util::create_directories(Path::log_root() + "/boot/", 0775);
assert(r);
RawFile file(path.c_str());
system/loggerd/config.py
+3 -9
View File
@@ -1,13 +1,7 @@
import os
from pathlib import Path
from openpilot.system.hardware import PC
if os.environ.get('LOG_ROOT', False):
ROOT = os.environ['LOG_ROOT']
elif PC:
ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata")
else:
ROOT = '/data/media/0/realdata/'
from openpilot.selfdrive.hardware.hw import Paths
CAMERA_FPS = 20
@@ -23,7 +17,7 @@ STATS_FLUSH_TIME_S = 60
def get_available_percent(default=None):
try:
statvfs = os.statvfs(ROOT)
statvfs = os.statvfs(Paths.log_root())
available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
except OSError:
available_percent = default
@@ -33,7 +27,7 @@ def get_available_percent(default=None):
def get_available_bytes(default=None):
try:
statvfs = os.statvfs(ROOT)
statvfs = os.statvfs(Paths.log_root())
available_bytes = statvfs.f_bavail * statvfs.f_frsize
except OSError:
available_bytes = default
system/loggerd/deleter.py
+5 -5
View File
@@ -3,9 +3,9 @@ import os
import shutil
import threading
from typing import List
from openpilot.system.hardware.hw import Paths
from openpilot.system.swaglog import cloudlog
from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent
from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
from openpilot.system.loggerd.uploader import listdir_by_creation
from openpilot.system.loggerd.xattr_cache import getxattr
@@ -20,7 +20,7 @@ PRESERVE_COUNT = 5
def has_preserve_xattr(d: str) -> bool:
return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
@@ -51,14 +51,14 @@ def deleter_thread(exit_event):
out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
if out_of_percent or out_of_bytes:
dirs = listdir_by_creation(ROOT)
dirs = listdir_by_creation(Paths.log_root())
# skip deleting most recent N preserved segments (and their prior segment)
preserved_dirs = get_preserved_segments(dirs)
# remove the earliest directory we can
for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
delete_path = os.path.join(ROOT, delete_dir)
delete_path = os.path.join(Paths.log_root(), delete_dir)
if any(name.endswith(".lock") for name in os.listdir(delete_path)):
continue
system/loggerd/logger.h
-2
View File
@@ -16,8 +16,6 @@
#include "common/swaglog.h"
#include "system/hardware/hw.h"
const std::string LOG_ROOT = Path::log_root();
#define LOGGER_MAX_HANDLES 16
class RawFile {

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