diff --git a/.vscode/launch.json b/.vscode/launch.json index f090061c42..151b757dab 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -52,6 +52,9 @@ "type": "lldb", "request": "attach", "pid": "${command:pickMyProcess}", + "sourceMap": { + ".": "${workspaceFolder}/opendbc/safety" + }, "initCommands": [ "script import time; time.sleep(3)" ] diff --git a/cereal/SConscript b/cereal/SConscript index 73dc61844b..de7ca0d721 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -4,7 +4,7 @@ cereal_dir = Dir('.') gen_dir = Dir('gen') # Build cereal -schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp'] +schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp'] env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files], schema_files, f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/") diff --git a/cereal/legacy.capnp b/cereal/deprecated.capnp similarity index 71% rename from cereal/legacy.capnp rename to cereal/deprecated.capnp index a8fa5e4a1f..45ce25c682 100644 --- a/cereal/legacy.capnp +++ b/cereal/deprecated.capnp @@ -3,7 +3,7 @@ $Cxx.namespace("cereal"); @0x80ef1ec4889c2a63; -# legacy.capnp: a home for deprecated structs +# deprecated.capnp: a home for deprecated structs struct LogRotate @0x9811e1f38f62f2d1 { segmentNum @0 :Int32; @@ -571,4 +571,219 @@ struct LidarPts @0xe3d6685d4e9d8f7a { pkt @4 :Data; } +struct LiveTracksDEPRECATED @0xb16f60103159415a { + trackId @0 :Int32; + dRel @1 :Float32; + yRel @2 :Float32; + vRel @3 :Float32; + aRel @4 :Float32; + timeStamp @5 :Float32; + status @6 :Float32; + currentTime @7 :Float32; + stationary @8 :Bool; + oncoming @9 :Bool; +} +struct LiveMpcData @0x92a5e332a85f32a0 { + x @0 :List(Float32); + y @1 :List(Float32); + psi @2 :List(Float32); + curvature @3 :List(Float32); + qpIterations @4 :UInt32; + calculationTime @5 :UInt64; + cost @6 :Float64; +} + +struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 { + xEgo @0 :List(Float32); + vEgo @1 :List(Float32); + aEgo @2 :List(Float32); + xLead @3 :List(Float32); + vLead @4 :List(Float32); + aLead @5 :List(Float32); + aLeadTau @6 :Float32; # lead accel time constant + qpIterations @7 :UInt32; + mpcId @8 :UInt32; + calculationTime @9 :UInt64; + cost @10 :Float64; +} + +struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { + frameId @0 :UInt32; + modelExecutionTime @14 :Float32; + dspExecutionTime @16 :Float32; + rawPredictions @15 :Data; + + faceOrientation @3 :List(Float32); + facePosition @4 :List(Float32); + faceProb @5 :Float32; + leftEyeProb @6 :Float32; + rightEyeProb @7 :Float32; + leftBlinkProb @8 :Float32; + rightBlinkProb @9 :Float32; + faceOrientationStd @11 :List(Float32); + facePositionStd @12 :List(Float32); + sunglassesProb @13 :Float32; + poorVision @17 :Float32; + partialFace @18 :Float32; + distractedPose @19 :Float32; + distractedEyes @20 :Float32; + eyesOnRoad @21 :Float32; + phoneUse @22 :Float32; + occludedProb @23 :Float32; + + readyProb @24 :List(Float32); + notReadyProb @25 :List(Float32); + + irPwrDEPRECATED @10 :Float32; + descriptorDEPRECATED @1 :List(Float32); + stdDEPRECATED @2 :Float32; +} + +struct NavModelData @0xac3de5c437be057a { + frameId @0 :UInt32; + locationMonoTime @6 :UInt64; + modelExecutionTime @1 :Float32; + dspExecutionTime @2 :Float32; + features @3 :List(Float32); + # predicted future position + position @4 :XYData; + desirePrediction @5 :List(Float32); + + # All SI units and in device frame + struct XYData @0xbe09e615b2507e26 { + x @0 :List(Float32); + y @1 :List(Float32); + xStd @2 :List(Float32); + yStd @3 :List(Float32); + } +} + +struct AndroidBuildInfo @0xfe2919d5c21f426c { + board @0 :Text; + bootloader @1 :Text; + brand @2 :Text; + device @3 :Text; + display @4 :Text; + fingerprint @5 :Text; + hardware @6 :Text; + host @7 :Text; + id @8 :Text; + manufacturer @9 :Text; + model @10 :Text; + product @11 :Text; + radioVersion @12 :Text; + serial @13 :Text; + supportedAbis @14 :List(Text); + tags @15 :Text; + time @16 :Int64; + type @17 :Text; + user @18 :Text; + + versionCodename @19 :Text; + versionRelease @20 :Text; + versionSdk @21 :Int32; + versionSecurityPatch @22 :Text; +} + +struct AndroidSensor @0x9b513b93a887dbcd { + id @0 :Int32; + name @1 :Text; + vendor @2 :Text; + version @3 :Int32; + handle @4 :Int32; + type @5 :Int32; + maxRange @6 :Float32; + resolution @7 :Float32; + power @8 :Float32; + minDelay @9 :Int32; + fifoReservedEventCount @10 :UInt32; + fifoMaxEventCount @11 :UInt32; + stringType @12 :Text; + maxDelay @13 :Int32; +} + +struct IosBuildInfo @0xd97e3b28239f5580 { + appVersion @0 :Text; + appBuild @1 :UInt32; + osVersion @2 :Text; + deviceModel @3 :Text; +} + +enum FrameTypeDEPRECATED @0xa37f0d8558e193fd { + unknown @0; + neo @1; + chffrAndroid @2; + front @3; +} + +struct AndroidCaptureResult @0xbcc3efbac41d2048 { + sensitivity @0 :Int32; + frameDuration @1 :Int64; + exposureTime @2 :Int64; + rollingShutterSkew @3 :UInt64; + colorCorrectionTransform @4 :List(Int32); + colorCorrectionGains @5 :List(Float32); + displayRotation @6 :Int8; +} + +enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 { + none @0; + client @1; + cdp @2; + dcp @3; +} + +struct LateralINDIState @0x939463348632375e { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + steeringRateDeg @2 :Float32; + steeringAccelDeg @3 :Float32; + rateSetPoint @4 :Float32; + accelSetPoint @5 :Float32; + accelError @6 :Float32; + delayedOutput @7 :Float32; + delta @8 :Float32; + output @9 :Float32; + saturated @10 :Bool; + steeringAngleDesiredDeg @11 :Float32; + steeringRateDesiredDeg @12 :Float32; +} + +struct LateralLQRState @0x9024e2d790c82ade { + active @0 :Bool; + steeringAngleDeg @1 :Float32; + i @2 :Float32; + output @3 :Float32; + lqrOutput @4 :Float32; + saturated @5 :Bool; + steeringAngleDesiredDeg @6 :Float32; +} + +struct LateralCurvatureState @0xad9d8095c06f7c61 { + active @0 :Bool; + actualCurvature @1 :Float32; + desiredCurvature @2 :Float32; + error @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; +} + +struct LateralPlannerSolution @0x84caeca5a6b4acfe { + x @0 :List(Float32); + y @1 :List(Float32); + yaw @2 :List(Float32); + yawRate @3 :List(Float32); + xStd @4 :List(Float32); + yStd @5 :List(Float32); + yawStd @6 :List(Float32); + yawRateStd @7 :List(Float32); +} + +struct GpsTrajectory @0x8cfeb072f5301000 { + x @0 :List(Float32); + y @1 :List(Float32); +} diff --git a/cereal/log.capnp b/cereal/log.capnp index 1ad9430db8..7138a6178d 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2,7 +2,7 @@ using Cxx = import "./include/c++.capnp"; $Cxx.namespace("cereal"); using Car = import "car.capnp"; -using Legacy = import "legacy.capnp"; +using Deprecated = import "deprecated.capnp"; using Custom = import "custom.capnp"; @0xf3b1f17e25a4285b; @@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 { longitudinalManeuver @30; steerTempUnavailableSilent @31; resumeRequired @32; - preDriverDistracted @33; - promptDriverDistracted @34; - driverDistracted @35; - preDriverUnresponsive @36; - promptDriverUnresponsive @37; - driverUnresponsive @38; + driverDistracted1 @33; + driverDistracted2 @34; + driverDistracted3 @35; + driverUnresponsive1 @36; + driverUnresponsive2 @37; + driverUnresponsive3 @38; belowSteerSpeed @39; lowBattery @40; accFaulted @41; @@ -192,66 +192,16 @@ struct InitData { espVersion @3 :Text; } - # ***** deprecated stuff ***** - gctxDEPRECATED @1 :Text; - androidBuildInfo @5 :AndroidBuildInfo; - androidSensorsDEPRECATED @6 :List(AndroidSensor); - chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra; - iosBuildInfoDEPRECATED @14 :IosBuildInfo; - - struct AndroidBuildInfo { - board @0 :Text; - bootloader @1 :Text; - brand @2 :Text; - device @3 :Text; - display @4 :Text; - fingerprint @5 :Text; - hardware @6 :Text; - host @7 :Text; - id @8 :Text; - manufacturer @9 :Text; - model @10 :Text; - product @11 :Text; - radioVersion @12 :Text; - serial @13 :Text; - supportedAbis @14 :List(Text); - tags @15 :Text; - time @16 :Int64; - type @17 :Text; - user @18 :Text; - - versionCodename @19 :Text; - versionRelease @20 :Text; - versionSdk @21 :Int32; - versionSecurityPatch @22 :Text; - } - - struct AndroidSensor { - id @0 :Int32; - name @1 :Text; - vendor @2 :Text; - version @3 :Int32; - handle @4 :Int32; - type @5 :Int32; - maxRange @6 :Float32; - resolution @7 :Float32; - power @8 :Float32; - minDelay @9 :Int32; - fifoReservedEventCount @10 :UInt32; - fifoMaxEventCount @11 :UInt32; - stringType @12 :Text; - maxDelay @13 :Int32; - } - struct ChffrAndroidExtra { allCameraCharacteristics @0 :Map(Text, Text); } - struct IosBuildInfo { - appVersion @0 :Text; - appBuild @1 :UInt32; - osVersion @2 :Text; - deviceModel @3 :Text; + deprecated :group { + gctx @1 :Text; + androidBuildInfo @5 :Deprecated.AndroidBuildInfo; + androidSensors @6 :List(Deprecated.AndroidSensor); + chffrAndroidExtra @7 :ChffrAndroidExtra; + iosBuildInfo @14 :Deprecated.IosBuildInfo; } } @@ -280,13 +230,6 @@ struct FrameData { temperaturesC @24 :List(Float32); - enum FrameTypeDEPRECATED { - unknown @0; - neo @1; - chffrAndroid @2; - front @3; - } - sensor @26 :ImageSensor; enum ImageSensor { unknown @0; @@ -295,26 +238,19 @@ struct FrameData { os04c10 @3; } - frameLengthDEPRECATED @3 :Int32; - globalGainDEPRECATED @5 :Int32; - frameTypeDEPRECATED @7 :FrameTypeDEPRECATED; - androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; - lensPosDEPRECATED @11 :Int32; - lensSagDEPRECATED @12 :Float32; - lensErrDEPRECATED @13 :Float32; - lensTruePosDEPRECATED @14 :Float32; - focusValDEPRECATED @16 :List(Int16); - focusConfDEPRECATED @17 :List(UInt8); - sharpnessScoreDEPRECATED @18 :List(UInt16); - recoverStateDEPRECATED @19 :Int32; - struct AndroidCaptureResult { - sensitivity @0 :Int32; - frameDuration @1 :Int64; - exposureTime @2 :Int64; - rollingShutterSkew @3 :UInt64; - colorCorrectionTransform @4 :List(Int32); - colorCorrectionGains @5 :List(Float32); - displayRotation @6 :Int8; + deprecated :group { + frameLength @3 :Int32; + globalGain @5 :Int32; + frameType @7 :Deprecated.FrameTypeDEPRECATED; + androidCaptureResult @9 :Deprecated.AndroidCaptureResult; + lensPos @11 :Int32; + lensSag @12 :Float32; + lensErr @13 :Float32; + lensTruePos @14 :Float32; + focusVal @16 :List(Int16); + focusConf @17 :List(UInt8); + sharpnessScore @18 :List(UInt16); + recoverState @19 :Int32; } } @@ -343,7 +279,6 @@ struct SensorEventData { sensor @1 :Int32; type @2 :Int32; timestamp @3 :Int64; - uncalibratedDEPRECATED @10 :Bool; union { acceleration @4 :SensorVec; @@ -378,6 +313,10 @@ struct SensorEventData { lsm6ds3trc @10; mmc5603nj @11; } + + deprecated :group { + uncalibrated @10 :Bool; + } } # android struct GpsLocation @@ -463,7 +402,10 @@ struct CanData { address @0 :UInt32; dat @2 :Data; src @3 :UInt8; - busTimeDEPRECATED @1 :UInt16; + + deprecated :group { + busTime @1 :UInt16; + } } struct DeviceState @0xa4d8b5af2aa492eb { @@ -553,26 +495,27 @@ struct DeviceState @0xa4d8b5af2aa492eb { wwanRx @1 :Int64; } - # deprecated - cpu0DEPRECATED @0 :UInt16; - cpu1DEPRECATED @1 :UInt16; - cpu2DEPRECATED @2 :UInt16; - cpu3DEPRECATED @3 :UInt16; - memDEPRECATED @4 :UInt16; - gpuDEPRECATED @5 :UInt16; - batDEPRECATED @6 :UInt32; - pa0DEPRECATED @21 :UInt16; - cpuUsagePercentDEPRECATED @20 :Int8; - batteryStatusDEPRECATED @9 :Text; - batteryVoltageDEPRECATED @16 :Int32; - batteryTempCDEPRECATED @29 :Float32; - batteryPercentDEPRECATED @8 :Int16; - batteryCurrentDEPRECATED @15 :Int32; - chargingErrorDEPRECATED @17 :Bool; - chargingDisabledDEPRECATED @18 :Bool; - usbOnlineDEPRECATED @12 :Bool; - ambientTempCDEPRECATED @30 :Float32; - nvmeTempCDEPRECATED @35 :List(Float32); + deprecated :group { + cpu0 @0 :UInt16; + cpu1 @1 :UInt16; + cpu2 @2 :UInt16; + cpu3 @3 :UInt16; + mem @4 :UInt16; + gpu @5 :UInt16; + bat @6 :UInt32; + pa0 @21 :UInt16; + cpuUsagePercent @20 :Int8; + batteryStatus @9 :Text; + batteryVoltage @16 :Int32; + batteryTempC @29 :Float32; + batteryPercent @8 :Int16; + batteryCurrent @15 :Int32; + chargingError @17 :Bool; + chargingDisabled @18 :Bool; + usbOnline @12 :Bool; + ambientTempC @30 :Float32; + nvmeTempC @35 :List(Float32); + } } struct PandaState @0xa7649e2575e4591e { @@ -613,6 +556,11 @@ struct PandaState @0xa7649e2575e4591e { voltage @0 :UInt32; current @1 :UInt32; + # these fields are not used by openpilot, but they're + # reserved for forks building alternate experiences. + controlsAllowedRESERVED1 @38 :Bool; + controlsAllowedRESERVED2 @39 :Bool; + enum FaultStatus { none @0; faultTemp @1; @@ -709,15 +657,17 @@ struct PandaState @0xa7649e2575e4591e { } } - gasInterceptorDetectedDEPRECATED @4 :Bool; - startedSignalDetectedDEPRECATED @5 :Bool; - hasGpsDEPRECATED @6 :Bool; - gmlanSendErrsDEPRECATED @9 :UInt32; - fanSpeedRpmDEPRECATED @11 :UInt16; - usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; - safetyParamDEPRECATED @20 :Int16; - safetyParam2DEPRECATED @26 :UInt32; - fanStallCountDEPRECATED @34 :UInt8; + deprecated :group { + gasInterceptorDetected @4 :Bool; + startedSignalDetected @5 :Bool; + hasGps @6 :Bool; + gmlanSendErrs @9 :UInt32; + fanSpeedRpm @11 :UInt16; + usbPowerMode @12 :Deprecated.UsbPowerModeDEPRECATED; + safetyParam @20 :Int16; + safetyParam2 @26 :UInt32; + fanStallCount @34 :UInt8; + } } struct PeripheralState { @@ -726,12 +676,8 @@ struct PeripheralState { current @2 :UInt32; fanSpeedRpm @3 :UInt16; - usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED; - enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 { - none @0; - client @1; - cdp @2; - dcp @3; + deprecated :group { + usbPowerMode @4 :Deprecated.UsbPowerModeDEPRECATED; } } @@ -760,19 +706,22 @@ struct RadarState @0x9a185389d6fdd05f { radar @14 :Bool; radarTrackId @15 :Int32 = -1; - aLeadDEPRECATED @5 :Float32; + deprecated :group { + aLead @5 :Float32; + } } - # deprecated - ftMonoTimeDEPRECATED @7 :UInt64; - warpMatrixDEPRECATED @0 :List(Float32); - angleOffsetDEPRECATED @1 :Float32; - calStatusDEPRECATED @2 :Int8; - calCycleDEPRECATED @8 :Int32; - calPercDEPRECATED @9 :Int8; - canMonoTimesDEPRECATED @10 :List(UInt64); - cumLagMsDEPRECATED @5 :Float32; - radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED); + deprecated :group { + ftMonoTime @7 :UInt64; + warpMatrix @0 :List(Float32); + angleOffset @1 :Float32; + calStatus @2 :Int8; + calCycle @8 :Int32; + calPerc @9 :Int8; + canMonoTimes @10 :List(UInt64); + cumLagMs @5 :Float32; + radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED); + } } struct LiveCalibrationData { @@ -790,10 +739,6 @@ struct LiveCalibrationData { wideFromDeviceEuler @10 :List(Float32); height @12 :List(Float32); - warpMatrixDEPRECATED @0 :List(Float32); - calStatusDEPRECATED @1 :Int8; - warpMatrix2DEPRECATED @5 :List(Float32); - warpMatrixBigDEPRECATED @6 :List(Float32); enum Status { uncalibrated @0; @@ -801,19 +746,13 @@ struct LiveCalibrationData { invalid @2; recalibrating @3; } -} -struct LiveTracksDEPRECATED { - trackId @0 :Int32; - dRel @1 :Float32; - yRel @2 :Float32; - vRel @3 :Float32; - aRel @4 :Float32; - timeStamp @5 :Float32; - status @6 :Float32; - currentTime @7 :Float32; - stationary @8 :Bool; - oncoming @9 :Bool; + deprecated :group { + warpMatrix @0 :List(Float32); + calStatus @1 :Int8; + warpMatrix2 @5 :List(Float32); + warpMatrixBig @6 :List(Float32); + } } struct SelfdriveState { @@ -876,25 +815,9 @@ struct ControlsState @0x97ff69c53601abf1 { debugState @59 :LateralDebugState; torqueState @60 :LateralTorqueState; - curvatureStateDEPRECATED @65 :LateralCurvatureState; - lqrStateDEPRECATED @55 :LateralLQRState; - indiStateDEPRECATED @52 :LateralINDIState; - } - - struct LateralINDIState { - active @0 :Bool; - steeringAngleDeg @1 :Float32; - steeringRateDeg @2 :Float32; - steeringAccelDeg @3 :Float32; - rateSetPoint @4 :Float32; - accelSetPoint @5 :Float32; - accelError @6 :Float32; - delayedOutput @7 :Float32; - delta @8 :Float32; - output @9 :Float32; - saturated @10 :Bool; - steeringAngleDesiredDeg @11 :Float32; - steeringRateDesiredDeg @12 :Float32; + curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState; + lqrStateDEPRECATED @55 :Deprecated.LateralLQRState; + indiStateDEPRECATED @52 :Deprecated.LateralINDIState; } struct LateralPIDState { @@ -926,16 +849,6 @@ struct ControlsState @0x97ff69c53601abf1 { version @12 :Int32; } - struct LateralLQRState { - active @0 :Bool; - steeringAngleDeg @1 :Float32; - i @2 :Float32; - output @3 :Float32; - lqrOutput @4 :Float32; - saturated @5 :Bool; - steeringAngleDesiredDeg @6 :Float32; - } - struct LateralAngleState { active @0 :Bool; steeringAngleDeg @1 :Float32; @@ -944,18 +857,6 @@ struct ControlsState @0x97ff69c53601abf1 { steeringAngleDesiredDeg @4 :Float32; } - struct LateralCurvatureState { - active @0 :Bool; - actualCurvature @1 :Float32; - desiredCurvature @2 :Float32; - error @3 :Float32; - p @4 :Float32; - i @5 :Float32; - f @6 :Float32; - output @7 :Float32; - saturated @8 :Bool; - } - struct LateralDebugState { active @0 :Bool; steeringAngleDeg @1 :Float32; @@ -963,58 +864,59 @@ struct ControlsState @0x97ff69c53601abf1 { saturated @3 :Bool; } - # deprecated - vEgoDEPRECATED @0 :Float32; - vEgoRawDEPRECATED @32 :Float32; - aEgoDEPRECATED @1 :Float32; - canMonoTimeDEPRECATED @16 :UInt64; - radarStateMonoTimeDEPRECATED @17 :UInt64; - mdMonoTimeDEPRECATED @18 :UInt64; - yActualDEPRECATED @6 :Float32; - yDesDEPRECATED @7 :Float32; - upSteerDEPRECATED @8 :Float32; - uiSteerDEPRECATED @9 :Float32; - ufSteerDEPRECATED @34 :Float32; - aTargetMinDEPRECATED @10 :Float32; - aTargetMaxDEPRECATED @11 :Float32; - rearViewCamDEPRECATED @23 :Bool; - driverMonitoringOnDEPRECATED @43 :Bool; - hudLeadDEPRECATED @14 :Int32; - alertSoundDEPRECATED @45 :Text; - angleModelBiasDEPRECATED @27 :Float32; - gpsPlannerActiveDEPRECATED @40 :Bool; - decelForTurnDEPRECATED @47 :Bool; - decelForModelDEPRECATED @54 :Bool; - awarenessStatusDEPRECATED @26 :Float32; - angleSteersDEPRECATED @13 :Float32; - vCurvatureDEPRECATED @46 :Float32; - mapValidDEPRECATED @49 :Bool; - jerkFactorDEPRECATED @12 :Float32; - steerOverrideDEPRECATED @20 :Bool; - steeringAngleDesiredDegDEPRECATED @29 :Float32; - canMonoTimesDEPRECATED @21 :List(UInt64); - desiredCurvatureRateDEPRECATED @62 :Float32; - canErrorCounterDEPRECATED @57 :UInt32; - vPidDEPRECATED @2 :Float32; - alertBlinkingRateDEPRECATED @42 :Float32; - alertText1DEPRECATED @24 :Text; - alertText2DEPRECATED @25 :Text; - alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus; - alertSizeDEPRECATED @39 :SelfdriveState.AlertSize; - alertTypeDEPRECATED @44 :Text; - alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert; - engageableDEPRECATED @41 :Bool; # can OP be engaged? - stateDEPRECATED @31 :SelfdriveState.OpenpilotState; - enabledDEPRECATED @19 :Bool; - activeDEPRECATED @36 :Bool; - experimentalModeDEPRECATED @64 :Bool; - personalityDEPRECATED @66 :LongitudinalPersonality; - vCruiseDEPRECATED @22 :Float32; # actual set speed - vCruiseClusterDEPRECATED @63 :Float32; # set speed to display in the UI - startMonoTimeDEPRECATED @48 :UInt64; - cumLagMsDEPRECATED @15 :Float32; - aTargetDEPRECATED @35 :Float32; - vTargetLeadDEPRECATED @3 :Float32; + deprecated :group { + vEgo @0 :Float32; + vEgoRaw @32 :Float32; + aEgo @1 :Float32; + canMonoTime @16 :UInt64; + radarStateMonoTime @17 :UInt64; + mdMonoTime @18 :UInt64; + yActual @6 :Float32; + yDes @7 :Float32; + upSteer @8 :Float32; + uiSteer @9 :Float32; + ufSteer @34 :Float32; + aTargetMin @10 :Float32; + aTargetMax @11 :Float32; + rearViewCam @23 :Bool; + driverMonitoringOn @43 :Bool; + hudLead @14 :Int32; + alertSound @45 :Text; + angleModelBias @27 :Float32; + gpsPlannerActive @40 :Bool; + decelForTurn @47 :Bool; + decelForModel @54 :Bool; + awarenessStatus @26 :Float32; + angleSteers @13 :Float32; + vCurvature @46 :Float32; + mapValid @49 :Bool; + jerkFactor @12 :Float32; + steerOverride @20 :Bool; + steeringAngleDesiredDeg @29 :Float32; + canMonoTimes @21 :List(UInt64); + desiredCurvatureRate @62 :Float32; + canErrorCounter @57 :UInt32; + vPid @2 :Float32; + alertBlinkingRate @42 :Float32; + alertText1 @24 :Text; + alertText2 @25 :Text; + alertStatus @38 :SelfdriveState.AlertStatus; + alertSize @39 :SelfdriveState.AlertSize; + alertType @44 :Text; + alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert; + engageable @41 :Bool; # can OP be engaged? + state @31 :SelfdriveState.OpenpilotState; + enabled @19 :Bool; + active @36 :Bool; + experimentalMode @64 :Bool; + personality @66 :LongitudinalPersonality; + vCruise @22 :Float32; # actual set speed + vCruiseCluster @63 :Float32; # set speed to display in the UI + startMonoTime @48 :UInt64; + cumLagMs @15 :Float32; + aTarget @35 :Float32; + vTargetLead @3 :Float32; + } } struct DrivingModelData { @@ -1090,16 +992,10 @@ struct ModelDataV2 { meta @12 :MetaData; confidence @23: ConfidenceClass; - # Model perceived motion - temporalPoseDEPRECATED @21 :Pose; - # e2e lateral planner action @26: Action; - gpuExecutionTimeDEPRECATED @17 :Float32; - navEnabledDEPRECATED @22 :Bool; - locationMonoTimeDEPRECATED @24 :UInt64; - lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; + lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution; struct LeadDataV2 { prob @0 :Float32; # probability that car is your lead at time t @@ -1141,10 +1037,11 @@ struct ModelDataV2 { laneChangeDirection @9 :LaneChangeDirection; - # deprecated - brakeDisengageProbDEPRECATED @2 :Float32; - gasDisengageProbDEPRECATED @3 :Float32; - steerOverrideProbDEPRECATED @4 :Float32; + deprecated :group { + brakeDisengageProb @2 :Float32; + gasDisengageProb @3 :Float32; + steerOverrideProb @4 :Float32; + } } enum ConfidenceClass { @@ -1172,22 +1069,18 @@ struct ModelDataV2 { rotStd @3 :List(Float32); # std rad/s in device frame } - struct LateralPlannerSolution { - x @0 :List(Float32); - y @1 :List(Float32); - yaw @2 :List(Float32); - yawRate @3 :List(Float32); - xStd @4 :List(Float32); - yStd @5 :List(Float32); - yawStd @6 :List(Float32); - yawRateStd @7 :List(Float32); - } - struct Action { desiredCurvature @0 :Float32; desiredAcceleration @1 :Float32; shouldStop @2 :Bool; } + + deprecated :group { + temporalPose @21 :Pose; + gpuExecutionTime @17 :Float32; + navEnabled @22 :Bool; + locationMonoTime @24 :UInt64; + } } struct EncodeIndex { @@ -1273,38 +1166,35 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { e2e @4; } - # deprecated - vCruiseDEPRECATED @16 :Float32; - aCruiseDEPRECATED @17 :Float32; - vTargetDEPRECATED @3 :Float32; - vTargetFutureDEPRECATED @14 :Float32; - vStartDEPRECATED @26 :Float32; - aStartDEPRECATED @27 :Float32; - vMaxDEPRECATED @20 :Float32; - radarStateMonoTimeDEPRECATED @10 :UInt64; - jerkFactorDEPRECATED @6 :Float32; - hasLeftLaneDEPRECATED @23 :Bool; - hasRightLaneDEPRECATED @24 :Bool; - aTargetMinDEPRECATED @4 :Float32; - aTargetMaxDEPRECATED @5 :Float32; - lateralValidDEPRECATED @0 :Bool; - longitudinalValidDEPRECATED @2 :Bool; - dPolyDEPRECATED @1 :List(Float32); - laneWidthDEPRECATED @11 :Float32; - vCurvatureDEPRECATED @21 :Float32; - decelForTurnDEPRECATED @22 :Bool; - mapValidDEPRECATED @25 :Bool; - radarValidDEPRECATED @28 :Bool; - radarCanErrorDEPRECATED @30 :Bool; - commIssueDEPRECATED @31 :Bool; - eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED); - gpsTrajectoryDEPRECATED @12 :GpsTrajectory; - gpsPlannerActiveDEPRECATED @19 :Bool; - personalityDEPRECATED @36 :LongitudinalPersonality; - struct GpsTrajectory { - x @0 :List(Float32); - y @1 :List(Float32); + deprecated :group { + vCruise @16 :Float32; + aCruise @17 :Float32; + vTarget @3 :Float32; + vTargetFuture @14 :Float32; + vStart @26 :Float32; + aStart @27 :Float32; + vMax @20 :Float32; + radarStateMonoTime @10 :UInt64; + jerkFactor @6 :Float32; + hasLeftLane @23 :Bool; + hasRightLane @24 :Bool; + aTargetMin @4 :Float32; + aTargetMax @5 :Float32; + lateralValid @0 :Bool; + longitudinalValid @2 :Bool; + dPoly @1 :List(Float32); + laneWidth @11 :Float32; + vCurvature @21 :Float32; + decelForTurn @22 :Bool; + mapValid @25 :Bool; + radarValid @28 :Bool; + radarCanError @30 :Bool; + commIssue @31 :Bool; + events @13 :List(Car.OnroadEventDEPRECATED); + gpsTrajectory @12 :Deprecated.GpsTrajectory; + gpsPlannerActive @19 :Bool; + personality @36 :LongitudinalPersonality; } } struct UiPlan { @@ -1315,11 +1205,7 @@ struct UiPlan { struct LateralPlan @0xe1e9318e2ae8b51e { modelMonoTime @31 :UInt64; - laneWidthDEPRECATED @0 :Float32; - lProbDEPRECATED @5 :Float32; - rProbDEPRECATED @7 :Float32; dPathPoints @20 :List(Float32); - dProbDEPRECATED @21 :Float32; mpcSolutionValid @9 :Bool; desire @17 :Desire; @@ -1341,24 +1227,29 @@ struct LateralPlan @0xe1e9318e2ae8b51e { u @1 :List(Float32); } - # deprecated - curvatureDEPRECATED @22 :Float32; - curvatureRateDEPRECATED @23 :Float32; - rawCurvatureDEPRECATED @24 :Float32; - rawCurvatureRateDEPRECATED @25 :Float32; - cProbDEPRECATED @3 :Float32; - dPolyDEPRECATED @1 :List(Float32); - cPolyDEPRECATED @2 :List(Float32); - lPolyDEPRECATED @4 :List(Float32); - rPolyDEPRECATED @6 :List(Float32); - modelValidDEPRECATED @12 :Bool; - commIssueDEPRECATED @15 :Bool; - posenetValidDEPRECATED @16 :Bool; - sensorValidDEPRECATED @14 :Bool; - paramsValidDEPRECATED @10 :Bool; - steeringAngleDegDEPRECATED @8 :Float32; # deg - steeringRateDegDEPRECATED @13 :Float32; # deg/s - angleOffsetDegDEPRECATED @11 :Float32; + deprecated :group { + laneWidth @0 :Float32; + lProb @5 :Float32; + rProb @7 :Float32; + dProb @21 :Float32; + curvature @22 :Float32; + curvatureRate @23 :Float32; + rawCurvature @24 :Float32; + rawCurvatureRate @25 :Float32; + cProb @3 :Float32; + dPoly @1 :List(Float32); + cPoly @2 :List(Float32); + lPoly @4 :List(Float32); + rPoly @6 :List(Float32); + modelValid @12 :Bool; + commIssue @15 :Bool; + posenetValid @16 :Bool; + sensorValid @14 :Bool; + paramsValid @10 :Bool; + steeringAngleDeg @8 :Float32; # deg + steeringRateDeg @13 :Float32; # deg/s + angleOffsetDeg @11 :Float32; + } } struct LiveLocationKalman { @@ -1553,7 +1444,10 @@ struct GnssMeasurements { # Satellite position and velocity [x,y,z] satPos @7 :List(Float64); satVel @8 :List(Float64); - ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED; + + deprecated :group { + ephemerisSource @9 :EphemerisSourceDEPRECATED; + } } struct EphemerisSourceDEPRECATED { @@ -1708,7 +1602,6 @@ struct UbloxGnss { iDot @26 :Float64; codesL2 @27 :Float64; - gpsWeekDEPRECATED @28 :Float64; l2 @29 :Float64; svAcc @30 :Float64; @@ -1728,6 +1621,10 @@ struct UbloxGnss { towCount @40 :UInt32; toeWeek @41 :UInt16; tocWeek @42 :UInt16; + + deprecated :group { + gpsWeek @28 :Float64; + } } struct IonoData { @@ -1806,7 +1703,6 @@ struct UbloxGnss { age @17 :UInt8; svHealth @18 :UInt8; - tkDEPRECATED @19 :UInt16; tb @20 :UInt16; tauN @21 :Float64; @@ -1818,12 +1714,16 @@ struct UbloxGnss { p3 @26 :UInt8; p4 @27 :UInt8; - freqNumDEPRECATED @28 :UInt32; n4 @29 :UInt8; nt @30 :UInt16; freqNum @31 :Int16; tkSeconds @32 :UInt32; + + deprecated :group { + tk @19 :UInt16; + freqNum @28 :UInt32; + } } } @@ -2124,34 +2024,12 @@ struct QcomGnss @0xde94674b07ae51c1 { struct Clocks { wallTimeNanos @3 :UInt64; # unix epoch time - bootTimeNanosDEPRECATED @0 :UInt64; - monotonicNanosDEPRECATED @1 :UInt64; - monotonicRawNanosDEPRECATD @2 :UInt64; - modemUptimeMillisDEPRECATED @4 :UInt64; -} - -struct LiveMpcData { - x @0 :List(Float32); - y @1 :List(Float32); - psi @2 :List(Float32); - curvature @3 :List(Float32); - qpIterations @4 :UInt32; - calculationTime @5 :UInt64; - cost @6 :Float64; -} - -struct LiveLongitudinalMpcData { - xEgo @0 :List(Float32); - vEgo @1 :List(Float32); - aEgo @2 :List(Float32); - xLead @3 :List(Float32); - vLead @4 :List(Float32); - aLead @5 :List(Float32); - aLeadTau @6 :Float32; # lead accel time constant - qpIterations @7 :UInt32; - mpcId @8 :UInt32; - calculationTime @9 :UInt64; - cost @10 :Float64; + deprecated :group { + bootTimeNanos @0 :UInt64; + monotonicNanos @1 :UInt64; + monotonicRawNanos @2 :UInt64; + modemUptimeMillis @4 :UInt64; + } } struct Joystick { @@ -2179,50 +2057,23 @@ struct DriverStateV2 { eyesVisibleProb @14 :Float32; eyesClosedProb @15 :Float32; phoneProb @13 :Float32; - leftEyeProbDEPRECATED @5 :Float32; - rightEyeProbDEPRECATED @6 :Float32; - leftBlinkProbDEPRECATED @7 :Float32; - rightBlinkProbDEPRECATED @8 :Float32; - sunglassesProbDEPRECATED @9 :Float32; - notReadyProbDEPRECATED @12 :List(Float32); - occludedProbDEPRECATED @10 :Float32; - readyProbDEPRECATED @11 :List(Float32); + + deprecated :group { + leftEyeProb @5 :Float32; + rightEyeProb @6 :Float32; + leftBlinkProb @7 :Float32; + rightBlinkProb @8 :Float32; + sunglassesProb @9 :Float32; + notReadyProb @12 :List(Float32); + occludedProb @10 :Float32; + readyProb @11 :List(Float32); + } } - dspExecutionTimeDEPRECATED @2 :Float32; - poorVisionProbDEPRECATED @4 :Float32; -} - -struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { - frameId @0 :UInt32; - modelExecutionTime @14 :Float32; - dspExecutionTime @16 :Float32; - rawPredictions @15 :Data; - - faceOrientation @3 :List(Float32); - facePosition @4 :List(Float32); - faceProb @5 :Float32; - leftEyeProb @6 :Float32; - rightEyeProb @7 :Float32; - leftBlinkProb @8 :Float32; - rightBlinkProb @9 :Float32; - faceOrientationStd @11 :List(Float32); - facePositionStd @12 :List(Float32); - sunglassesProb @13 :Float32; - poorVision @17 :Float32; - partialFace @18 :Float32; - distractedPose @19 :Float32; - distractedEyes @20 :Float32; - eyesOnRoad @21 :Float32; - phoneUse @22 :Float32; - occludedProb @23 :Float32; - - readyProb @24 :List(Float32); - notReadyProb @25 :List(Float32); - - irPwrDEPRECATED @10 :Float32; - descriptorDEPRECATED @1 :List(Float32); - stdDEPRECATED @2 :Float32; + deprecated :group { + dspExecutionTime @2 :Float32; + poorVisionProb @4 :Float32; + } } struct DriverMonitoringState @0xb83cda094a1da284 { @@ -2244,11 +2095,13 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isRHD @4 :Bool; uncertainCount @19 :UInt32; - phoneProbOffsetDEPRECATED @20 :Float32; - phoneProbValidCountDEPRECATED @21 :UInt32; - isPreviewDEPRECATED @15 :Bool; - rhdCheckedDEPRECATED @5 :Bool; - eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); + deprecated :group { + phoneProbOffset @20 :Float32; + phoneProbValidCount @21 :UInt32; + isPreview @15 :Bool; + rhdChecked @5 :Bool; + events @0 :List(Car.OnroadEventDEPRECATED); + } } struct Boot { @@ -2257,8 +2110,10 @@ struct Boot { commands @5 :Map(Text, Data); launchLog @3 :Text; - lastKmsgDEPRECATED @1 :Data; - lastPmsgDEPRECATED @2 :Data; + deprecated :group { + lastKmsg @1 :Data; + lastPmsg @2 :Data; + } } struct LiveParametersData { @@ -2283,13 +2138,16 @@ struct LiveParametersData { steerRatioValid @19 :Bool = true; stiffnessFactorValid @20 :Bool = true; - yawRateDEPRECATED @7 :Float32; - filterStateDEPRECATED @15 :LiveLocationKalman.Measurement; struct FilterState { value @0 : List(Float64); std @1 : List(Float64); } + + deprecated :group { + yawRate @7 :Float32; + filterState @15 :LiveLocationKalman.Measurement; + } } struct LiveTorqueParametersData { @@ -2459,25 +2317,6 @@ struct MapRenderState { frameId @2: UInt32; } -struct NavModelData { - frameId @0 :UInt32; - locationMonoTime @6 :UInt64; - modelExecutionTime @1 :Float32; - dspExecutionTime @2 :Float32; - features @3 :List(Float32); - # predicted future position - position @4 :XYData; - desirePrediction @5 :List(Float32); - - # All SI units and in device frame - struct XYData { - x @0 :List(Float32); - y @1 :List(Float32); - xStd @2 :List(Float32); - yStd @3 :List(Float32); - } -} - struct EncodeData { idx @0 :EncodeIndex; data @1 :Data; @@ -2502,7 +2341,9 @@ struct SoundPressure @0xdc24138990726023 { soundPressureWeighted @3 :Float32; soundPressureWeightedDb @1 :Float32; - filteredSoundPressureWeightedDbDEPRECATED @2 :Float32; + deprecated :group { + filteredSoundPressureWeightedDb @2 :Float32; + } } struct AudioData { @@ -2666,48 +2507,48 @@ struct Event { customReserved19 @145 :Custom.CustomReserved19; # *********** legacy + deprecated *********** - model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated - liveMpcDEPRECATED @36 :LiveMpcData; - liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData; - liveLocationKalmanLegacyDEPRECATED @51 :Legacy.LiveLocationData; - orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection; - liveUIDEPRECATED @14 :Legacy.LiveUI; + model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated + liveMpcDEPRECATED @36 :Deprecated.LiveMpcData; + liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData; + liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData; + orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection; + liveUIDEPRECATED @14 :Deprecated.LiveUI; sensorEventDEPRECATED @4 :SensorEventData; - liveEventDEPRECATED @8 :List(Legacy.LiveEventData); - liveLocationDEPRECATED @25 :Legacy.LiveLocationData; - ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket); - cellInfoDEPRECATED @28 :List(Legacy.CellInfo); - wifiScanDEPRECATED @29 :List(Legacy.WifiScan); - uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent; + liveEventDEPRECATED @8 :List(Deprecated.LiveEventData); + liveLocationDEPRECATED @25 :Deprecated.LiveLocationData; + ethernetDataDEPRECATED @26 :List(Deprecated.EthernetPacket); + cellInfoDEPRECATED @28 :List(Deprecated.CellInfo); + wifiScanDEPRECATED @29 :List(Deprecated.WifiScan); + uiNavigationEventDEPRECATED @50 :Deprecated.UiNavigationEvent; liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED; - gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints; - gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan; + gpsPlannerPointsDEPRECATED @40 :Deprecated.GPSPlannerPoints; + gpsPlannerPlanDEPRECATED @41 :Deprecated.GPSPlannerPlan; applanixRawDEPRECATED @42 :Data; - androidGnssDEPRECATED @30 :Legacy.AndroidGnss; - lidarPtsDEPRECATED @32 :Legacy.LidarPts; - navStatusDEPRECATED @38 :Legacy.NavStatus; - trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent); - liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData; - liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData; - navUpdateDEPRECATED @27 :Legacy.NavUpdate; - orbObservationDEPRECATED @47 :List(Legacy.OrbObservation); - locationDEPRECATED @49 :Legacy.LiveLocationData; - orbOdometryDEPRECATED @53 :Legacy.OrbOdometry; - orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures; - applanixLocationDEPRECATED @55 :Legacy.LiveLocationData; - orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame; - orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary; - featuresDEPRECATED @10 :Legacy.CalibrationFeatures; - kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry; - uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState; + androidGnssDEPRECATED @30 :Deprecated.AndroidGnss; + lidarPtsDEPRECATED @32 :Deprecated.LidarPts; + navStatusDEPRECATED @38 :Deprecated.NavStatus; + trafficEventsDEPRECATED @43 :List(Deprecated.TrafficEvent); + liveLocationTimingDEPRECATED @44 :Deprecated.LiveLocationData; + liveLocationCorrectedDEPRECATED @46 :Deprecated.LiveLocationData; + navUpdateDEPRECATED @27 :Deprecated.NavUpdate; + orbObservationDEPRECATED @47 :List(Deprecated.OrbObservation); + locationDEPRECATED @49 :Deprecated.LiveLocationData; + orbOdometryDEPRECATED @53 :Deprecated.OrbOdometry; + orbFeaturesDEPRECATED @54 :Deprecated.OrbFeatures; + applanixLocationDEPRECATED @55 :Deprecated.LiveLocationData; + orbKeyFrameDEPRECATED @56 :Deprecated.OrbKeyFrame; + orbFeaturesSummaryDEPRECATED @58 :Deprecated.OrbFeaturesSummary; + featuresDEPRECATED @10 :Deprecated.CalibrationFeatures; + kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry; + uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState; pandaStateDEPRECATED @12 :PandaState; - driverStateDEPRECATED @59 :DriverStateDEPRECATED; + driverStateDEPRECATED @59 :Deprecated.DriverStateDEPRECATED; sensorEventsDEPRECATED @11 :List(SensorEventData); lateralPlanDEPRECATED @64 :LateralPlan; - navModelDEPRECATED @104 :NavModelData; + navModelDEPRECATED @104 :Deprecated.NavModelData; uiPlanDEPRECATED @106 :UiPlan; liveLocationKalman @72 :LiveLocationKalman; - liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED); + liveTracksDEPRECATED @16 :List(Deprecated.LiveTracksDEPRECATED); onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED); gyroscope2DEPRECATED @100 :SensorEventData; accelerometer2DEPRECATED @101 :SensorEventData; diff --git a/cereal/services.py b/cereal/services.py index 46ee0a33e3..9d64f67f2f 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -39,8 +39,8 @@ _services: dict[str, tuple] = { "roadEncodeIdx": (False, 20., 1), "liveTracks": (True, 20.), "sendcan": (True, 100., 139, QueueSize.MEDIUM), - "logMessage": (True, 0.), - "errorLogMessage": (True, 0., 1), + "logMessage": (True, 0., None, QueueSize.BIG), + "errorLogMessage": (True, 0., 1, QueueSize.BIG), "liveCalibration": (True, 4., 4), "liveTorqueParameters": (True, 4., 1), "liveDelay": (True, 4., 1), diff --git a/common/model.h b/common/model.h index b482499c74..fc1110431c 100644 --- a/common/model.h +++ b/common/model.h @@ -1 +1 @@ -#define DEFAULT_MODEL "OP Model (Default)" +#define DEFAULT_MODEL "OP Model 7 (Default)" diff --git a/common/utils.py b/common/utils.py index faaa96ecbc..28b9274d82 100644 --- a/common/utils.py +++ b/common/utils.py @@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered return compressed_stream, compressed_size -# remove all keys that end in DEPRECATED +# remove all keys that end in DEPRECATED, plus any "deprecated" group def strip_deprecated_keys(d): for k in list(d.keys()): if isinstance(k, str): - if k.endswith('DEPRECATED'): + if k.endswith('DEPRECATED') or k == 'deprecated': d.pop(k) elif isinstance(d[k], dict): strip_deprecated_keys(d[k]) diff --git a/opendbc_repo b/opendbc_repo index d7260245ff..427032a89a 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit d7260245ffcbc7f6bb7524d8db102226b3220be7 +Subproject commit 427032a89a556b4d80b700749582f68807fe2443 diff --git a/panda b/panda index 80846cff66..6cd1972ecf 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 80846cff66e0241adee27ec026f2e5cbcb15c5b4 +Subproject commit 6cd1972ecf31429abb55647cadeb8ab3e19a9141 diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index bf6dd04f60..1e2fb27b51 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b return float(new_curvature), limited_accel or limited_max_curv -def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05): +def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3): if len(speeds) == len(t_idxs): v_now = speeds[0] a_now = accels[0] v_target = np.interp(action_t, t_idxs, speeds) a_target = 2 * (v_target - v_now) / (action_t) - a_now - v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds) else: + v_now = 0.0 v_target = 0.0 - v_target_1sec = 0.0 a_target = 0.0 - should_stop = (v_target < vEgoStopping and - v_target_1sec < vEgoStopping) + should_stop = (v_now < vEgoStopping and a_target < 0.1) return a_target, should_stop def curv_from_psis(psi_target, psi_rate, vego, action_t): diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 00fa33ac63..4b1def4fc6 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -30,9 +30,9 @@ def cycle_alerts(duration=200, is_metric=False): (EventName.accFaulted, ET.IMMEDIATE_DISABLE), # DM sequence - (EventName.preDriverDistracted, ET.WARNING), - (EventName.promptDriverDistracted, ET.WARNING), - (EventName.driverDistracted, ET.WARNING), + (EventName.driverDistracted1, ET.WARNING), + (EventName.driverDistracted2, ET.WARNING), + (EventName.driverDistracted3, ET.WARNING), ] # debug alerts diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 78c329b394..7a82ff88b8 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -17,8 +17,8 @@ def estimate_pickle_max_size(onnx_size): # THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689 tg_flags = { 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env -}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0') + 'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env +}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0') # Get model metadata for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']: diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 3f32506a06..df77c9c0e7 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -414,7 +414,9 @@ def main(demo=False): posenet_send = messaging.new_message('cameraOdometry') mdv2sp_send = messaging.new_message('modelDataV2SP') - action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego) + frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average + action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state) + action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego) prev_action = action fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, diff --git a/selfdrive/modeld/models/driving_off_policy.onnx b/selfdrive/modeld/models/driving_off_policy.onnx index 33f6e0a2c1..5b0effc100 100644 --- a/selfdrive/modeld/models/driving_off_policy.onnx +++ b/selfdrive/modeld/models/driving_off_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eb6992bd60bada6162fea298e1a414b6b3d6a326db4eda46b9de62bcd8554754 -size 13393859 +oid sha256:e53f4e0527766082ba7bde38e275def0fe3c14f6c59ae2854439e239884d3ecc +size 13393365 diff --git a/selfdrive/modeld/models/driving_on_policy.onnx b/selfdrive/modeld/models/driving_on_policy.onnx index cbc072409a..bfe10ca185 100644 --- a/selfdrive/modeld/models/driving_on_policy.onnx +++ b/selfdrive/modeld/models/driving_on_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:86680a657bbb34f997034d1930bb2cb65c38b9222cea199732f72bd45791cfad -size 13022803 +oid sha256:ea89c50da3a16e710da292f97c81b083a982cfdee5c28eca0d37ed2fb99af6c5 +size 13022642 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 383cde35e4..335e9dbcf8 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7af05e03fd170653ff5771baf373a2c57b363da12c4c411cd416dee067b4cf58 -size 23266366 +oid sha256:6263aa3fbb44cde6c68a34cdb7cd8c389789dbc02b15c1911afdac4e018281ae +size 23267151 diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index f0c921924d..6c81fac7f0 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -345,10 +345,14 @@ class DriverMonitoring: self._reset_awareness() return - driver_attentive = self.driver_distraction_filter.x < 0.37 awareness_prev = self.awareness + _reaching_pre = self.awareness - self.step_change <= self.threshold_pre + _reaching_terminal = self.awareness - self.step_change <= 0 + standstill_orange_exemption = standstill and _reaching_pre + always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal - if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0): + if self.awareness > 0 and \ + ((self.driver_distraction_filter.x < 0.37 and self.face_detected and self.pose.low_std) or standstill_orange_exemption): if driver_engaged: self._reset_awareness() return @@ -361,34 +365,28 @@ class DriverMonitoring: if self.awareness > self.threshold_prompt: return - _reaching_pre = self.awareness - self.step_change <= self.threshold_pre - _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt - _reaching_terminal = self.awareness - self.step_change <= 0 - standstill_exemption = standstill and _reaching_pre - always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal - certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected if certainly_distracted or maybe_distracted: # should always be counting if distracted unless at standstill and reaching green # also will not be reaching 0 if DM is active when not engaged - if not (standstill_exemption or always_on_red_exemption): + if not (standstill_orange_exemption or always_on_red_exemption): self.awareness = max(self.awareness - self.step_change, -0.1) alert = None if self.awareness <= 0.: # terminal red alert: disengagement required - alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive + alert = EventName.driverDistracted3 if self.active_monitoring_mode else EventName.driverUnresponsive3 self.terminal_time += 1 if awareness_prev > 0.: self.terminal_alert_cnt += 1 elif self.awareness <= self.threshold_prompt: # prompt orange alert - alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive + alert = EventName.driverDistracted2 if self.active_monitoring_mode else EventName.driverUnresponsive2 elif self.awareness <= self.threshold_pre: # pre green alert - alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive + alert = EventName.driverDistracted1 if self.active_monitoring_mode else EventName.driverUnresponsive1 if alert is not None: self.current_events.add(alert) diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index daa10dd83c..ee6028d609 100644 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -76,11 +76,11 @@ class TestMonitoring: assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \ ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ - EventName.preDriverDistracted + EventName.driverDistracted1 assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \ - ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted + ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverDistracted2 assert events[int((d_status.settings._DISTRACTED_TIME + \ - ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted + ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted3 assert isinstance(d_status.awareness, float) # engaged, no face detected the whole time, no action @@ -89,11 +89,11 @@ class TestMonitoring: assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \ ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ - EventName.preDriverUnresponsive + EventName.driverUnresponsive1 assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \ - ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive2 assert events[int((d_status.settings._AWARENESS_TIME + \ - ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive + ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive3 # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention @@ -106,10 +106,10 @@ class TestMonitoring: [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0 - assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 + assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0 # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ @@ -129,9 +129,9 @@ class TestMonitoring: op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted - assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted + assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted2 + assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted3 + assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted3 assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0 # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears @@ -145,13 +145,13 @@ class TestMonitoring: interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0 if _visible_time == 0.5: - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive1 elif _visible_time == 10: - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0 # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages @@ -166,10 +166,10 @@ class TestMonitoring: op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive + assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive2 + assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive3 + assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive3 + assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive3 assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0 # disengaged, always distracted driver @@ -187,8 +187,19 @@ class TestMonitoring: events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0 _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL - assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted - assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted + assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.driverDistracted1 + assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.driverDistracted2 + + # engaged, distracted while moving, then car stops after reaching orange + # - should reset timer to pre green at standstill + def test_distracted_then_stops(self): + _stop_time = DISTRACTED_SECONDS_TO_ORANGE + 1 # stop 1 second after reaching orange + standstill_vector = always_false[:] + standstill_vector[int(_stop_time/DT_DMON):] = [True] * int((TEST_TIMESPAN-_stop_time)/DT_DMON) + events, _ = self._run_seq(always_distracted, always_false, always_true, standstill_vector) + # just before and briefly after stopping: orange alert; goes away quickly after stopped + assert events[int((_stop_time+0.1)/DT_DMON)].names[0] == EventName.driverDistracted2 + assert len(events[int((_stop_time+0.5)/DT_DMON)]) == 0 # engaged, model is somehow uncertain and driver is distracted # - should fall back to wheel touch after uncertain alert @@ -196,11 +207,11 @@ class TestMonitoring: ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) interaction_vector = always_false[:] events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - assert EventName.preDriverUnresponsive in \ + assert EventName.driverUnresponsive1 in \ events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names - assert EventName.promptDriverUnresponsive in \ + assert EventName.driverUnresponsive2 in \ events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - assert EventName.driverUnresponsive in \ + assert EventName.driverUnresponsive3 in \ events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names @@ -265,4 +276,3 @@ def test_enabled_states(enabled_state, lat_active_state, expected): actual_enabled = captured_args[0] assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}" - diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 0597aa9f17..c9b281436c 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -338,7 +338,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8), }, - EventName.preDriverDistracted: { + EventName.driverDistracted1: { ET.PERMANENT: Alert( "Pay Attention", "", @@ -346,7 +346,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOW, VisualAlert.none, AudibleAlert.none, .1), }, - EventName.promptDriverDistracted: { + EventName.driverDistracted2: { ET.PERMANENT: Alert( "Pay Attention", "Driver Distracted", @@ -354,7 +354,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), }, - EventName.driverDistracted: { + EventName.driverDistracted3: { ET.PERMANENT: Alert( "DISENGAGE IMMEDIATELY", "Driver Distracted", @@ -362,7 +362,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1), }, - EventName.preDriverUnresponsive: { + EventName.driverUnresponsive1: { ET.PERMANENT: Alert( "Touch Steering Wheel: No Face Detected", "", @@ -370,7 +370,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1), }, - EventName.promptDriverUnresponsive: { + EventName.driverUnresponsive2: { ET.PERMANENT: Alert( "Touch Steering Wheel", "Driver Unresponsive", @@ -378,7 +378,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1), }, - EventName.driverUnresponsive: { + EventName.driverUnresponsive3: { ET.PERMANENT: Alert( "DISENGAGE IMMEDIATELY", "Driver Unresponsive", @@ -858,14 +858,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { if HARDWARE.get_device_type() == 'mici': EVENTS.update({ - EventName.preDriverDistracted: { + EventName.driverDistracted1: { ET.PERMANENT: Alert( "Pay Attention", "", AlertStatus.normal, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, 2), }, - EventName.promptDriverDistracted: { + EventName.driverDistracted2: { ET.PERMANENT: Alert( "Pay Attention", "Driver Distracted", diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 131dab47b2..9f028a8fc8 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -46,8 +46,8 @@ class FuzzyGenerator: def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]: single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () - fields_to_generate = schema.non_union_fields + single_fill - return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) + fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated'] + return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate}) @staticmethod @cache diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index d41664040a..278c366609 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -100,6 +100,17 @@ def migration(inputs: list[str], product: str|None=None): return decorator +def migrate_onroad_event(event: capnp.lib.capnp._DynamicStructReader): + event_dict = event.to_dict() + try: + return log.OnroadEvent(**event_dict) + except capnp.lib.capnp.KjException as e: + # Ignore legacy events the current schema no longer defines. + if "enum has no such enumerant" in str(e): + return None + raise + + @migration(inputs=["longitudinalPlan", "carParams"]) def migrate_longitudinalPlan(msgs): ops = [] @@ -216,7 +227,7 @@ def migrate_controlsState(msgs): for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2", "alertStatus", "alertSize", "alertType", "experimentalMode", "personality"): - setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED")) + setattr(ss, field, getattr(msg.controlsState.deprecated, field)) add_ops.append(m.as_reader()) return [], add_ops, [] @@ -229,10 +240,10 @@ def migrate_carState(msgs): if msg.which() == 'controlsState': last_cs = msg elif msg.which() == 'carState' and last_cs is not None: - if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1: + if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1: msg = msg.as_builder() - msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED + msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise + msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster ops.append((index, msg.as_reader())) return ops, [], [] @@ -458,12 +469,13 @@ def migrate_onroadEvents(msgs): for event in msg.onroadEventsDEPRECATED: try: if not str(event.name).endswith('DEPRECATED'): - # dict converts name enum into string representation - onroadEvents.append(log.OnroadEvent(**event.to_dict())) + migrated_event = migrate_onroad_event(event) + if migrated_event is not None: + onroadEvents.append(migrated_event) except RuntimeError: # Member was null traceback.print_exc() - new_msg = messaging.new_message('onroadEvents', len(msg.onroadEventsDEPRECATED)) + new_msg = messaging.new_message('onroadEvents', len(onroadEvents)) new_msg.valid = msg.valid new_msg.logMonoTime = msg.logMonoTime new_msg.onroadEvents = onroadEvents @@ -478,11 +490,12 @@ def migrate_driverMonitoringState(msgs): for index, msg in msgs: msg = msg.as_builder() events = [] - for event in msg.driverMonitoringState.eventsDEPRECATED: + for event in msg.driverMonitoringState.deprecated.events: try: if not str(event.name).endswith('DEPRECATED'): - # dict converts name enum into string representation - events.append(log.OnroadEvent(**event.to_dict())) + migrated_event = migrate_onroad_event(event) + if migrated_event is not None: + events.append(migrated_event) except RuntimeError: # Member was null traceback.print_exc() diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index fb661b966d..0832fbb628 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -144,6 +144,7 @@ int cachedFetch(const std::string &cache) { LOGD("Fetching with cache: %s", cache.c_str()); run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str()); + run(util::string_format("cd %s && git remote set-url origin %s", TMP_INSTALL_PATH, GIT_URL.c_str()).c_str()); run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str()); renderProgress(10); diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index 307e3cc17b..76724244d0 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -153,7 +153,7 @@ class HudRenderer(Widget): v_cruise_cluster = car_state.vCruiseCluster set_speed = ( - controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster + controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster ) engaged = sm['selfdriveState'].enabled if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged): diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py index 79f150deea..73df8b3961 100644 --- a/selfdrive/ui/onroad/hud_renderer.py +++ b/selfdrive/ui/onroad/hud_renderer.py @@ -86,7 +86,7 @@ class HudRenderer(Widget): v_cruise_cluster = car_state.vCruiseCluster self.set_speed = ( - controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster + controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster ) self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA self.is_cruise_available = self.set_speed != -1 diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index cea22655b1..6b64289766 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -20,6 +20,7 @@ SAMPLE_RATE = 48000 SAMPLE_BUFFER = 4096 # (approx 100ms) MAX_VOLUME = 1.0 MIN_VOLUME = 0.1 +ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES) @@ -82,6 +83,9 @@ class Soundd(QuietMode): self.current_volume = MIN_VOLUME self.current_sound_frame = 0 + self.ramp_start_volume = MIN_VOLUME + self.ramp_start_time = 0. + self.selfdrive_timeout_alert = False self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) @@ -130,6 +134,9 @@ class Soundd(QuietMode): def update_alert(self, new_alert): current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame > len(self.loaded_sounds[self.current_alert]) if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once): + if new_alert == AudibleAlert.warningImmediate: + self.ramp_start_volume = self.current_volume + self.ramp_start_time = time.monotonic() self.current_alert = new_alert self.current_sound_frame = 0 @@ -170,12 +177,19 @@ class Soundd(QuietMode): self.load_param() - if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert + # Always update volume, even when alert is playing + if sm.updated['soundPressure']: self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb) self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) self.get_audible_alert(sm) + # Ramp up immediate warning sound over 4s + if self.current_alert == AudibleAlert.warningImmediate: + elapsed = time.monotonic() - self.ramp_start_time + ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME])) + self.current_volume = max(self.current_volume, ramp_vol) + rk.keep_time() assert stream.active diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash index 9a9ea5a968..3fdf97dd1b 100644 --- a/sunnypilot/models/tests/model_hash +++ b/sunnypilot/models/tests/model_hash @@ -1 +1 @@ -adfcb5ccac9cfaf291af6091d12e71be3f543c7694fc29d80caa561dc32194d7 +793b5d480edb5a30eed3d0d3bdb43259522978670f6bc3dea7a4d661261d3c48 diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 9b7d4f9ec0..40600d26b5 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import argparse -import time from openpilot.system.hardware import HARDWARE @@ -13,16 +12,13 @@ if __name__ == '__main__': parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile') args = parser.parse_args() - mutated = False lpa = HARDWARE.get_sim_lpa() if args.switch: lpa.switch_profile(args.switch) - mutated = True elif args.delete: confirm = input('are you sure you want to delete this profile? (y/N) ') if confirm == 'y': lpa.delete_profile(args.delete) - mutated = True else: print('cancelled') exit(0) @@ -33,11 +29,6 @@ if __name__ == '__main__': else: parser.print_help() - if mutated: - HARDWARE.reboot_modem() - # eUICC needs a small delay post-reboot before querying profiles - time.sleep(.5) - profiles = lpa.list_profiles() print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:') for p in profiles: diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py index 2e7e6a0ba9..ceb901e2f7 100644 --- a/system/hardware/tici/lpa.py +++ b/system/hardware/tici/lpa.py @@ -2,17 +2,23 @@ import atexit import base64 +import fcntl import math import os import serial +import subprocess import sys +import termios +import time -from collections.abc import Generator +from collections.abc import Callable, Generator +from contextlib import contextmanager +from typing import Any -from openpilot.system.hardware.base import LPABase, Profile +from openpilot.system.hardware.base import LPABase, LPAError, Profile -DEFAULT_DEVICE = "/dev/ttyUSB2" +DEFAULT_DEVICE = "/dev/modem_at0" DEFAULT_BAUD = 9600 DEFAULT_TIMEOUT = 5.0 # https://euicc-manual.osmocom.org/docs/lpa/applet-id/ @@ -20,44 +26,82 @@ ISDR_AID = "A0000005591010FFFFFFFF8900000100" MM = "org.freedesktop.ModemManager1" MM_MODEM = MM + ".Modem" ES10X_MSS = 120 +OPEN_ISDR_RETRIES = 10 +OPEN_ISDR_RETRY_DELAY_S = 0.25 +OPEN_ISDR_RESET_ATTEMPT = 5 +SEND_APDU_RETRIES = 3 +LOCK_FILE = '/dev/shm/modem_lpa.lock' DEBUG = os.environ.get("DEBUG") == "1" + # TLV Tags TAG_ICCID = 0x5A +TAG_STATUS = 0x80 TAG_PROFILE_INFO_LIST = 0xBF2D +TAG_SET_NICKNAME = 0xBF29 +TAG_ENABLE_PROFILE = 0xBF31 +TAG_DELETE_PROFILE = 0xBF33 +TAG_OK = 0xA0 + +PROFILE_OK = 0x00 +PROFILE_NOT_IN_DISABLED_STATE = 0x02 +PROFILE_CAT_BUSY = 0x05 + +PROFILE_ERROR_CODES = { + 0x01: "iccidOrAidNotFound", PROFILE_NOT_IN_DISABLED_STATE: "profileNotInDisabledState", + 0x03: "disallowedByPolicy", 0x04: "wrongProfileReenabling", + PROFILE_CAT_BUSY: "catBusy", 0x06: "undefinedError", +} STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"} ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"} CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"} +# TLV tag -> (field_name, decoder) +FieldMap = dict[int, tuple[str, Callable[[bytes], Any]]] + def b64e(data: bytes) -> str: return base64.b64encode(data).decode("ascii") +def base64_trim(s: str) -> str: + return "".join(c for c in s if c not in "\n\r \t") + + +def b64d(s: str) -> bytes: + return base64.b64decode(base64_trim(s)) + + class AtClient: - def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None: - self.debug = debug + def __init__(self, device: str, baud: int, timeout: float) -> None: self.channel: str | None = None + self._device = device + self._baud = baud self._timeout = timeout self._serial: serial.Serial | None = None - try: - self._serial = serial.Serial(device, baudrate=baud, timeout=timeout) - self._serial.reset_input_buffer() - except (serial.SerialException, PermissionError, OSError): - pass + self._use_dbus = not os.path.exists(device) + + def send_raw(self, data: bytes) -> None: + self._ensure_serial() + self._serial.reset_input_buffer() + self._serial.write(data) + self._serial.flush() def close(self) -> None: try: if self.channel: - self.query(f"AT+CCHC={self.channel}") + try: + self.query(f"AT+CCHC={self.channel}") + except (RuntimeError, TimeoutError): + pass self.channel = None finally: if self._serial: self._serial.close() def _send(self, cmd: str) -> None: - if self.debug: + if DEBUG: print(f"SER >> {cmd}", file=sys.stderr) self._serial.write((cmd + "\r").encode("ascii")) @@ -70,7 +114,7 @@ class AtClient: line = raw.decode(errors="ignore").strip() if not line: continue - if self.debug: + if DEBUG: print(f"SER << {line}", file=sys.stderr) if line == "OK": return lines @@ -78,6 +122,18 @@ class AtClient: raise RuntimeError(f"AT command failed: {line}") lines.append(line) + def _ensure_serial(self, reconnect: bool = False) -> None: + if reconnect: + self.channel = None + try: + if self._serial: + self._serial.close() + except Exception: + pass + self._serial = None + if self._serial is None: + self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout) + def _get_modem(self): import dbus bus = dbus.SystemBus() @@ -87,48 +143,88 @@ class AtClient: return bus.get_object(MM, modem_path) def _dbus_query(self, cmd: str) -> list[str]: - if self.debug: + if DEBUG: print(f"DBUS >> {cmd}", file=sys.stderr) try: result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout)) except Exception as e: raise RuntimeError(f"AT command failed: {e}") from e lines = [line.strip() for line in result.splitlines() if line.strip()] - if self.debug: + if DEBUG: for line in lines: print(f"DBUS << {line}", file=sys.stderr) return lines def query(self, cmd: str) -> list[str]: - if self._serial: + if self._use_dbus: + return self._dbus_query(cmd) + self._ensure_serial() + try: + self._send(cmd) + return self._expect() + except serial.SerialException: + self._ensure_serial(reconnect=True) self._send(cmd) return self._expect() - return self._dbus_query(cmd) - def open_isdr(self) -> None: - # close any stale logical channel from a previous crashed session - try: - self.query("AT+CCHC=1") - except RuntimeError: - pass + def _open_isdr_once(self) -> None: + if self.channel: + try: + self.query(f"AT+CCHC={self.channel}") + except RuntimeError: + pass + self.channel = None + # drain any unsolicited responses before opening + if self._serial and not self._use_dbus: + try: + self._serial.reset_input_buffer() + except (OSError, serial.SerialException, termios.error): + self._ensure_serial(reconnect=True) for line in self.query(f'AT+CCHO="{ISDR_AID}"'): if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()): self.channel = ch return raise RuntimeError("Failed to open ISD-R application") + def _reset_modem(self) -> None: + if self._serial: + try: + self._serial.close() + except Exception: + pass + self._serial = None + subprocess.run(['/usr/comma/lte/lte.sh', 'start'], capture_output=True) + + def open_isdr(self) -> None: + for attempt in range(OPEN_ISDR_RETRIES): + try: + self._open_isdr_once() + return + except (RuntimeError, TimeoutError, termios.error, serial.SerialException): + time.sleep(OPEN_ISDR_RETRY_DELAY_S) + if attempt == OPEN_ISDR_RESET_ATTEMPT: + self._reset_modem() + raise RuntimeError("Failed to open ISD-R after retries") + def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]: - if not self.channel: - raise RuntimeError("Logical channel is not open") - hex_payload = apdu.hex().upper() - for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'): - if line.startswith("+CGLA:"): - parts = line.split(":", 1)[1].split(",", 1) - if len(parts) == 2: - data = bytes.fromhex(parts[1].strip().strip('"')) - if len(data) >= 2: - return data[:-2], data[-2], data[-1] - raise RuntimeError("Missing +CGLA response") + for attempt in range(SEND_APDU_RETRIES): + try: + if not self.channel: + self.open_isdr() + hex_payload = apdu.hex().upper() + for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'): + if line.startswith("+CGLA:"): + parts = line.split(":", 1)[1].split(",", 1) + if len(parts) == 2: + data = bytes.fromhex(parts[1].strip().strip('"')) + if len(data) >= 2: + return data[:-2], data[-2], data[-1] + raise RuntimeError("Missing +CGLA response") + except (RuntimeError, ValueError): + self.channel = None + if attempt == SEND_APDU_RETRIES - 1: + raise + raise RuntimeError("send_apdu failed") # --- TLV utilities --- @@ -170,12 +266,37 @@ def find_tag(data: bytes, target: int) -> bytes | None: return next((v for t, v in iter_tlv(data) if t == target), None) +def require_tag(data: bytes, target: int, label: str = "") -> bytes: + v = find_tag(data, target) + if v is None: + raise RuntimeError(f"Missing {label or f'tag 0x{target:X}'}") + return v + + def tbcd_to_string(raw: bytes) -> str: return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9) -# Profile field decoders: TLV tag -> (field_name, decoder) -_PROFILE_FIELDS = { +def string_to_tbcd(s: str) -> bytes: + digits = [int(c) for c in s if c.isdigit()] + return bytes(digits[i] | ((digits[i + 1] if i + 1 < len(digits) else 0xF) << 4) for i in range(0, len(digits), 2)) + + +def encode_tlv(tag: int, value: bytes) -> bytes: + tag_bytes = bytes([(tag >> 8) & 0xFF, tag & 0xFF]) if tag > 255 else bytes([tag]) + vlen = len(value) + if vlen <= 127: + return tag_bytes + bytes([vlen]) + value + length_bytes = vlen.to_bytes((vlen.bit_length() + 7) // 8, "big") + return tag_bytes + bytes([0x80 | len(length_bytes)]) + length_bytes + value + + +def int_bytes(n: int) -> bytes: + """Encode a positive integer as minimal big-endian bytes (at least 1 byte).""" + return n.to_bytes((n.bit_length() + 7) // 8 or 1, "big") + + +PROFILE: FieldMap = { TAG_ICCID: ("iccid", tbcd_to_string), 0x4F: ("isdpAid", lambda v: v.hex().upper()), 0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")), @@ -188,11 +309,11 @@ _PROFILE_FIELDS = { } -def _decode_profile_fields(data: bytes) -> dict: - """Parse known profile metadata TLV fields into a dict.""" - result = {} +def decode_struct(data: bytes, field_map: FieldMap) -> dict[str, Any]: + """Parse TLV data using a {tag: (field_name, decoder)} map into a dict.""" + result: dict[str, Any] = {name: None for name, _ in field_map.values()} for tag, value in iter_tlv(data): - if (field := _PROFILE_FIELDS.get(tag)): + if (field := field_map.get(tag)): result[field[0]] = field[1](value) return result @@ -225,57 +346,102 @@ def es10x_command(client: AtClient, data: bytes) -> bytes: # --- Profile operations --- def decode_profiles(blob: bytes) -> list[dict]: - root = find_tag(blob, TAG_PROFILE_INFO_LIST) - if root is None: - raise RuntimeError("Missing ProfileInfoList") - list_ok = find_tag(root, 0xA0) + root = require_tag(blob, TAG_PROFILE_INFO_LIST, "ProfileInfoList") + list_ok = find_tag(root, TAG_OK) if list_ok is None: return [] - defaults = {name: None for name, _ in _PROFILE_FIELDS.values()} - return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3] + return [decode_struct(value, PROFILE) for tag, value in iter_tlv(list_ok) if tag == 0xE3] def list_profiles(client: AtClient) -> list[dict]: return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00")) +def set_profile_nickname(client: AtClient, iccid: str, nickname: str) -> None: + nickname_bytes = nickname.encode("utf-8") + if len(nickname_bytes) > 64: + raise ValueError("Profile nickname must be 64 bytes or less") + content = encode_tlv(TAG_ICCID, string_to_tbcd(iccid)) + encode_tlv(0x90, nickname_bytes) + response = es10x_command(client, encode_tlv(TAG_SET_NICKNAME, content)) + code = require_tag(require_tag(response, TAG_SET_NICKNAME, "SetNicknameResponse"), TAG_STATUS, "SetNickname status")[0] + if code == 0x01: + raise LPAError(f"profile {iccid} not found") + if code != 0x00: + raise RuntimeError(f"SetNickname failed with status 0x{code:02X}") + + class TiciLPA(LPABase): - _instance = None - - def __new__(cls): - if cls._instance is None: - cls._instance = super().__new__(cls) - return cls._instance - def __init__(self): if hasattr(self, '_client'): return - self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG) - self._client.open_isdr() + self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT) atexit.register(self._client.close) + @contextmanager + def _acquire_channel(self): + fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR) + try: + fcntl.flock(fd, fcntl.LOCK_EX) + self._client.open_isdr() + yield + finally: + if self._client.channel: + try: + self._client.query(f"AT+CCHC={self._client.channel}") + except (RuntimeError, TimeoutError): + pass + self._client.channel = None + fcntl.flock(fd, fcntl.LOCK_UN) + os.close(fd) + def list_profiles(self) -> list[Profile]: - return [ - Profile( - iccid=p.get("iccid", ""), - nickname=p.get("profileNickname") or "", - enabled=p.get("profileState") == "enabled", - provider=p.get("serviceProviderName") or "", - ) - for p in list_profiles(self._client) - ] + with self._acquire_channel(): + return [ + Profile( + iccid=p.get("iccid", ""), + nickname=p.get("profileNickname") or "", + enabled=p.get("profileState") == "enabled", + provider=p.get("serviceProviderName") or "", + ) + for p in list_profiles(self._client) + ] def get_active_profile(self) -> Profile | None: return None def delete_profile(self, iccid: str) -> None: - return None + if self.is_comma_profile(iccid): + raise LPAError("refusing to delete a comma profile") + with self._acquire_channel(): + request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid))) + response = es10x_command(self._client, request) + code = require_tag(require_tag(response, TAG_DELETE_PROFILE, "DeleteProfileResponse"), TAG_STATUS, "DeleteProfile status")[0] + if code != PROFILE_OK: + raise LPAError(f"DeleteProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})") def download_profile(self, qr: str, nickname: str | None = None) -> None: return None def nickname_profile(self, iccid: str, nickname: str) -> None: - return None + with self._acquire_channel(): + set_profile_nickname(self._client, iccid, nickname) + + def _enable_profile(self, iccid: str) -> int: + inner = encode_tlv(TAG_OK, encode_tlv(TAG_ICCID, string_to_tbcd(iccid))) + inner += b'\x01\x01\x01' # refreshFlag=1 + response = es10x_command(self._client, encode_tlv(TAG_ENABLE_PROFILE, inner)) + return require_tag(require_tag(response, TAG_ENABLE_PROFILE, "EnableProfileResponse"), TAG_STATUS, "EnableProfile status")[0] def switch_profile(self, iccid: str) -> None: - return None + with self._acquire_channel(): + code = self._enable_profile(iccid) + if code == PROFILE_CAT_BUSY: # stale eUICC transaction, reset and retry + self._client._reset_modem() + self._client.open_isdr() + code = self._enable_profile(iccid) + if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE): + raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})") + from openpilot.system.hardware import HARDWARE + if HARDWARE.get_device_type() == "mici": + self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r') # mici has no SIM presence pin; raw because CFUN=0 drops serial + self._client._ensure_serial(reconnect=True) diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py index e55cadcf78..78429a847b 100755 --- a/system/ubloxd/ubloxd.py +++ b/system/ubloxd/ubloxd.py @@ -365,7 +365,7 @@ class UbloxMsgParser: assert isinstance(s1, Glonass.String1) eph.p1 = int(s1.p1) tk = int(s1.t_k) - eph.tkDEPRECATED = tk + eph.deprecated.tk = tk eph.xVel = float(s1.x_vel) * math.pow(2, -20) eph.xAccel = float(s1.x_accel) * math.pow(2, -30) eph.x = float(s1.x) * math.pow(2, -11) diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py index d80986ebf2..4876198eb0 100644 --- a/system/webrtc/schema.py +++ b/system/webrtc/schema.py @@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]: - return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")} + return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"} def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]: diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html index 3654769756..48672dbbf0 100644 --- a/tools/bodyteleop/static/index.html +++ b/tools/bodyteleop/static/index.html @@ -15,29 +15,23 @@

comma body

- -
-
-
-
-
- - - -
-

body

+
+
+
+
+
W
-
-
- - -
-

you

+
+
A
+
S
+
D
-
+
+
+
@@ -53,43 +47,6 @@
- -
-
-
-
-
-
W
-
0,0x,y
-
-
-
A
-
S
-
D
-
-
-
- - - - -
-
-
-
-
-
-

Play Sounds

-
-
- - - -
-
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js index b1e0e7ee70..3a11f78b9e 100644 --- a/tools/bodyteleop/static/js/controls.js +++ b/tools/bodyteleop/static/js/controls.js @@ -18,37 +18,3 @@ export const handleKeyX = (key, setValue) => { $("#pos-vals").text(x+","+y); } }; - -export async function executePlan() { - let plan = $("#plan-text").val(); - const planList = []; - plan.split("\n").forEach(function(e){ - let line = e.split(",").map(k=>parseInt(k)); - if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){ - console.log("invalid plan"); - } - else{ - planList.push(line) - } - }); - - async function execute() { - for (var i = 0; i < planList.length; i++) { - let [w, a, s, d, t] = planList[i]; - while(t > 0){ - console.log(w, a, s, d, t); - if(w==1){$("#key-w").mousedown();} - if(a==1){$("#key-a").mousedown();} - if(s==1){$("#key-s").mousedown();} - if(d==1){$("#key-d").mousedown();} - await sleep(50); - $("#key-w").mouseup(); - $("#key-a").mouseup(); - $("#key-s").mouseup(); - $("#key-d").mouseup(); - t = t - 0.05; - } - } - } - execute(); -} \ No newline at end of file diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js index 83205a876b..0db1dcd9b3 100644 --- a/tools/bodyteleop/static/js/jsmain.js +++ b/tools/bodyteleop/static/js/jsmain.js @@ -1,5 +1,5 @@ -import { handleKeyX, executePlan } from "./controls.js"; -import { start, stop, lastChannelMessageTime, playSoundRequest } from "./webrtc.js"; +import { handleKeyX } from "./controls.js"; +import { start, stop, lastChannelMessageTime } from "./webrtc.js"; export var pc = null; export var dc = null; @@ -8,12 +8,6 @@ document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1))); document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0))); $(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1)); $(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0)); -$("#plan-button").click(executePlan); -$(".sound").click((e)=>{ - const sound = $(e.target).attr('id').replace('sound-', '') - return playSoundRequest(sound); -}); - setInterval( () => { const dt = new Date().getTime(); if ((dt - lastChannelMessageTime) > 1000) { diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js index 165a2ce6c4..28bea238e6 100644 --- a/tools/bodyteleop/static/js/webrtc.js +++ b/tools/bodyteleop/static/js/webrtc.js @@ -15,15 +15,6 @@ export function offerRtcRequest(sdp, type) { } -export function playSoundRequest(sound) { - return fetch('/sound', { - body: JSON.stringify({sound}), - headers: {'Content-Type': 'application/json'}, - method: 'POST' - }); -} - - export function pingHeadRequest() { return fetch('/', { method: 'HEAD' @@ -38,20 +29,18 @@ export function createPeerConnection(pc) { pc = new RTCPeerConnection(config); - // connect audio / video + // connect video pc.addEventListener('track', function(evt) { console.log("Adding Tracks!") if (evt.track.kind == 'video') document.getElementById('video').srcObject = evt.streams[0]; - else - document.getElementById('audio').srcObject = evt.streams[0]; }); return pc; } export function negotiate(pc) { - return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) { + return pc.createOffer({offerToReceiveVideo:true}).then(function(offer) { return pc.setLocalDescription(offer); }).then(function() { return new Promise(function(resolve) { @@ -90,14 +79,6 @@ function isMobile() { export const constraints = { - audio: { - autoGainControl: false, - sampleRate: 48000, - sampleSize: 16, - echoCancellation: true, - noiseSuppression: true, - channelCount: 1 - }, video: isMobile() }; @@ -105,23 +86,8 @@ export const constraints = { export function start(pc, dc) { pc = createPeerConnection(pc); - // add audio track - navigator.mediaDevices.enumerateDevices() - .then(function(devices) { - const hasAudioInput = devices.find((device) => device.kind === "audioinput"); - var modifiedConstraints = {}; - modifiedConstraints.video = constraints.video; - modifiedConstraints.audio = hasAudioInput ? constraints.audio : false; - - return Promise.resolve(modifiedConstraints); - }) - .then(function(constraints) { - if (constraints.audio || constraints.video) { - return navigator.mediaDevices.getUserMedia(constraints); - } else{ - return Promise.resolve(null); - } - }) + // add a local video track on mobile + (constraints.video ? navigator.mediaDevices.getUserMedia(constraints) : Promise.resolve(null)) .then(function(stream) { if (stream) { stream.getTracks().forEach(function(track) { diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css index 1bfb5982b4..79fe8052ff 100644 --- a/tools/bodyteleop/static/main.css +++ b/tools/bodyteleop/static/main.css @@ -172,13 +172,6 @@ video { display: none; } -.plan-form { - display: flex; - flex-direction: column; - justify-content: space-between; - align-items: center; -} - .details { display: flex; padding: 0px 10px 0px 10px; diff --git a/tools/jotpluggler/browser.cc b/tools/jotpluggler/browser.cc index 0d1b5a2c1b..27378b4b6b 100644 --- a/tools/jotpluggler/browser.cc +++ b/tools/jotpluggler/browser.cc @@ -73,7 +73,7 @@ std::vector build_browser_tree(const std::vector &path } bool is_deprecated_browser_path(const std::string &path) { - return path.find("DEPRECATED") != std::string::npos; + return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos; } std::vector visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) { diff --git a/tools/jotpluggler/plot.cc b/tools/jotpluggler/plot.cc index a3c68ddcef..5d9d644808 100644 --- a/tools/jotpluggler/plot.cc +++ b/tools/jotpluggler/plot.cc @@ -6,7 +6,6 @@ #include #include #include -#include constexpr double PLOT_Y_PAD_FRACTION = 0.4; @@ -74,10 +73,6 @@ struct StateBlock { std::string label; }; -struct PaneEnumContext { - std::vector enums; -}; - struct PaneValueFormatContext { SeriesFormat format; bool valid = false; @@ -106,38 +101,6 @@ bool curves_are_bool_like(const std::vector &prepared_curves) { return true; } -bool curve_is_state_like(const PreparedCurve &curve) { - if (!curve.display_info.integer_like || curve.xs.size() < 2 || curve.xs.size() != curve.ys.size()) { - return false; - } - if (curve.enum_info != nullptr) { - return true; - } - std::unordered_set distinct_values; - for (double value : curve.ys) { - if (!std::isfinite(value)) { - continue; - } - distinct_values.insert(static_cast(std::llround(value))); - if (distinct_values.size() > 12) { - return false; - } - } - return !distinct_values.empty(); -} - -bool curves_use_state_blocks(const std::vector &prepared_curves) { - if (prepared_curves.empty()) { - return false; - } - for (const PreparedCurve &curve : prepared_curves) { - if (!curve_is_state_like(curve)) { - return false; - } - } - return true; -} - ImU32 state_block_color(int value, float alpha = 1.0f) { static constexpr std::array, 8> kPalette = {{ {{111, 143, 175}}, @@ -307,36 +270,6 @@ std::optional app_sample_xy_value_at_time(const std::vector &xs, return y0 + (y1 - y0) * alpha; } -int format_enum_axis_tick(double value, char *buf, int size, void *user_data) { - const auto *ctx = static_cast(user_data); - const int idx = static_cast(std::llround(value)); - if (ctx != nullptr && idx >= 0 && std::abs(value - static_cast(idx)) < 0.01) { - std::vector names; - names.reserve(ctx->enums.size()); - for (const EnumInfo *info : ctx->enums) { - if (info == nullptr || static_cast(idx) >= info->names.size()) { - continue; - } - const std::string &name = info->names[static_cast(idx)]; - if (name.empty()) continue; - if (std::find(names.begin(), names.end(), std::string_view(name)) == names.end()) { - names.emplace_back(name); - } - } - if (!names.empty()) { - std::string joined; - for (size_t i = 0; i < names.size(); ++i) { - if (i != 0) { - joined += ", "; - } - joined += names[i]; - } - return std::snprintf(buf, size, "%d (%s)", idx, joined.c_str()); - } - } - return std::snprintf(buf, size, "%.6g", value); -} - int format_numeric_axis_tick(double value, char *buf, int size, void *user_data) { const auto *ctx = static_cast(user_data); if (ctx == nullptr || !ctx->valid) { @@ -831,23 +764,16 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) { } const PlotBounds bounds = compute_plot_bounds(*pane, prepared_curves, *state); - PaneEnumContext enum_context; PaneValueFormatContext pane_value_format; - const bool state_block_mode = curves_use_state_blocks(prepared_curves); - bool all_enum_curves = !prepared_curves.empty(); + bool state_block_mode = !prepared_curves.empty(); size_t max_legend_label_width = 0; for (const PreparedCurve &curve : prepared_curves) { max_legend_label_width = std::max(max_legend_label_width, curve.label.size()); - if (curve.enum_info != nullptr) { - enum_context.enums.push_back(curve.enum_info); - } else { - all_enum_curves = false; + if (curve.enum_info == nullptr) { + state_block_mode = false; merge_pane_value_format(&pane_value_format, curve.display_info); } } - if (prepared_curves.empty()) { - all_enum_curves = false; - } const int supported_count = static_cast(prepared_curves.size()); const ImVec2 plot_size = ImGui::GetContentRegionAvail(); const bool has_cursor_time = state->has_tracker_time; @@ -895,8 +821,6 @@ void draw_plot(const AppSession &session, Pane *pane, UiState *state) { ImPlot::SetupAxisFormat(ImAxis_X1, "%.1f"); if (state_block_mode) { ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, 1.0, ImPlotCond_Always); - } else if (all_enum_curves && !enum_context.enums.empty()) { - ImPlot::SetupAxisFormat(ImAxis_Y1, format_enum_axis_tick, &enum_context); } else if (pane_value_format.valid) { ImPlot::SetupAxisFormat(ImAxis_Y1, format_numeric_axis_tick, &pane_value_format); } else { diff --git a/tools/jotpluggler/sketch_layout.cc b/tools/jotpluggler/sketch_layout.cc index cd0bf51015..bc110b534f 100644 --- a/tools/jotpluggler/sketch_layout.cc +++ b/tools/jotpluggler/sketch_layout.cc @@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which, append_can_frame(can_service, static_cast(msg.getSrc()), msg.getAddress(), - msg.getBusTimeDEPRECATED(), + msg.getDeprecated().getBusTime(), msg.getDat(), tm, series); @@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which, append_can_frame(can_service, static_cast(msg.getSrc()), msg.getAddress(), - msg.getBusTimeDEPRECATED(), + msg.getDeprecated().getBusTime(), msg.getDat(), tm, series); diff --git a/tools/op.sh b/tools/op.sh index f21a285d17..3b02602619 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -383,6 +383,9 @@ function op_switch() { git submodule update --init --recursive git submodule foreach git reset --hard git submodule foreach git clean -df + + # remove openpilot update flag if present + rm -f .overlay_init } function op_start() { diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index 7c95e9cad4..039dd4f235 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -5,6 +5,7 @@ import numpy as np import pyray as rl from matplotlib.backends.backend_agg import FigureCanvasAgg +from matplotlib.offsetbox import AnchoredOffsetbox, HPacker, TextArea from openpilot.common.transformations.camera import get_view_frame_from_calib_frame from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA @@ -94,6 +95,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)} + label_palette = {**color_palette, "b": (43/255, 114/255, 1.0)} dpi = 90 fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) @@ -116,10 +118,18 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co plots.append(plot) idxs.append(name_to_arr_idx[item]) plot_select.append(i) - axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) + # Build colored title: each label colored to match its plot line + title_texts = [] + for j2, (nm, cl) in enumerate(zip(pl_list, plot_colors[i], strict=False)): + if j2 > 0: + title_texts.append(TextArea(", ", textprops=dict(color="white", fontsize=10))) + title_texts.append(TextArea(nm, textprops=dict(color=label_palette[cl], fontsize=10))) + packed = HPacker(children=title_texts, pad=0, sep=0) + ab = AnchoredOffsetbox(loc='lower center', child=packed, bbox_to_anchor=(0.5, 1.0), + bbox_transform=axs[i].transAxes, frameon=False, pad=0) + axs[i].add_artist(ab) axs[i].tick_params(axis="x", colors="white") axs[i].tick_params(axis="y", colors="white") - axs[i].title.set_color("white") if i < len(plot_ylims) - 1: axs[i].set_xticks([]) diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index aba67bcdf8..54b69dc168 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -142,18 +142,19 @@ void LogReader::migrateOldEvents() { new_evt.setLogMonoTime(old_evt.getLogMonoTime()); auto new_state = new_evt.initSelfdriveState(); - new_state.setActive(old_state.getActiveDEPRECATED()); - new_state.setAlertSize(old_state.getAlertSizeDEPRECATED()); - new_state.setAlertSound(old_state.getAlertSound2DEPRECATED()); - new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED()); - new_state.setAlertText1(old_state.getAlertText1DEPRECATED()); - new_state.setAlertText2(old_state.getAlertText2DEPRECATED()); - new_state.setAlertType(old_state.getAlertTypeDEPRECATED()); - new_state.setEnabled(old_state.getEnabledDEPRECATED()); - new_state.setEngageable(old_state.getEngageableDEPRECATED()); - new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED()); - new_state.setPersonality(old_state.getPersonalityDEPRECATED()); - new_state.setState(old_state.getStateDEPRECATED()); + auto old_dep = old_state.getDeprecated(); + new_state.setActive(old_dep.getActive()); + new_state.setAlertSize(old_dep.getAlertSize()); + new_state.setAlertSound(old_dep.getAlertSound2()); + new_state.setAlertStatus(old_dep.getAlertStatus()); + new_state.setAlertText1(old_dep.getAlertText1()); + new_state.setAlertText2(old_dep.getAlertText2()); + new_state.setAlertType(old_dep.getAlertType()); + new_state.setEnabled(old_dep.getEnabled()); + new_state.setEngageable(old_dep.getEngageable()); + new_state.setExperimentalMode(old_dep.getExperimentalMode()); + new_state.setPersonality(old_dep.getPersonality()); + new_state.setState(old_dep.getState()); // Serialize the new event to the buffer auto buf_size = msg.getSerializedSize(); diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 7fe2f405a1..405c79f425 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -3,7 +3,6 @@ import argparse import os import sys -import cv2 import numpy as np import pyray as rl @@ -22,7 +21,8 @@ from openpilot.tools.replay.lib.ui_helpers import ( plot_lead, plot_model, ) -from msgq.visionipc import VisionIpcClient, VisionStreamType +from msgq.visionipc import VisionStreamType +from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView os.environ['BASEDIR'] = BASEDIR @@ -30,8 +30,6 @@ ANGLE_SCALE = 5.0 def ui_thread(addr): - cv2.setNumThreads(1) - # Get monitor info before creating window rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT) rl.init_window(1, 1, "") @@ -59,14 +57,15 @@ def ui_thread(addr): font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf") font = rl.load_font_ex(font_path, 32, None, 0) - # Create textures for camera and top-down view - camera_image = rl.gen_image_color(640, 480, rl.BLACK) - camera_texture = rl.load_texture_from_image(camera_image) - rl.unload_image(camera_image) + camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD) + + # Overlay texture for model/lane line drawing + overlay_img = np.zeros((480, 640, 4), dtype='uint8') + overlay_image = rl.gen_image_color(640, 480, rl.BLANK) + overlay_texture = rl.load_texture_from_image(overlay_image) + rl.unload_image(overlay_image) # lid_overlay array is (lidar_x, lidar_y) = (384, 960) - # pygame treats first axis as width, so texture is 384 wide x 960 tall - # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK) top_down_texture = rl.load_texture_from_image(top_down_image) rl.unload_image(top_down_image) @@ -89,7 +88,6 @@ def ui_thread(addr): ) img = np.zeros((480, 640, 3), dtype='uint8') - imgff = None num_px = 0 calibration = None @@ -116,7 +114,7 @@ def ui_thread(addr): plot_arr = np.zeros((100, len(name_to_arr_idx.values()))) plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])] - plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)] + plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.5, 2.0)] plot_names = [ ["gas", "computer_gas", "user_brake", "computer_brake"], ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], @@ -138,20 +136,16 @@ def ui_thread(addr): palette[110] = [110, 110, 110, 255] # car_color (gray) palette[255] = [255, 255, 255, 255] # WHITE - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) while not rl.window_should_close(): - # ***** frame ***** - if not vipc_client.is_connected(): - vipc_client.connect(False) - rl.begin_drawing() rl.clear_background(rl.Color(64, 64, 64, 255)) - yuv_img_raw = vipc_client.recv() - if yuv_img_raw is None or not yuv_img_raw.data.any(): - rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE) - rl.end_drawing() - continue + # Render camera (NV12->RGB on GPU via shader) + if camera_view.frame: + cam_h = 640.0 * camera_view.frame.height / camera_view.frame.width + else: + cam_h = 480.0 + camera_view.render(rl.Rectangle(0, 0, 640, cam_h)) lid_overlay = lid_overlay_blank.copy() top_down = top_down_texture, lid_overlay @@ -159,19 +153,10 @@ def ui_thread(addr): sm.update(0) camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] - - # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding) - h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride - nv12_size = h * 3 // 2 * stride - imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride)) - num_px = w * h - rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12) - - qcam = "QCAM" in os.environ - bb_scale = (528 if qcam else camera.fcam.width) / 640.0 calib_scale = camera.fcam.width / 640.0 - zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]]) - cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) + + if camera_view.frame: + num_px = camera_view.frame.width * camera_view.frame.height intrinsic_matrix = camera.fcam.intrinsics @@ -183,7 +168,8 @@ def ui_thread(addr): else: angle_steers_k = np.inf - plot_arr[:-1] = plot_arr[1:] + if sm.updated['carState']: + plot_arr[:-1] = plot_arr[1:] plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k @@ -198,9 +184,10 @@ def ui_thread(addr): plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed plot_arr[-1, name_to_arr_idx['a_ego']] = 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