From 015eed5d61c583328d419a7990ffac0eee97edd4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 22 Feb 2024 20:17:00 -0500 Subject: [PATCH 01/47] Subaru: move to PlatformConfig (#31547) * subaru platform config * forester wrong dbc * spacing --- selfdrive/car/subaru/values.py | 156 +++++++++++++++++++-------------- 1 file changed, 90 insertions(+), 66 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 2f7350b966..580408df0c 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -1,10 +1,10 @@ from dataclasses import dataclass, field -from enum import Enum, IntFlag, StrEnum -from typing import Dict, List, Union +from enum import Enum, IntFlag +from typing import List from cereal import car from panda.python import uds -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 @@ -68,27 +68,6 @@ class CanBus: camera = 2 -class CAR(StrEnum): - # Global platform - ASCENT = "SUBARU ASCENT LIMITED 2019" - ASCENT_2023 = "SUBARU ASCENT 2023" - IMPREZA = "SUBARU IMPREZA LIMITED 2019" - IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" - FORESTER = "SUBARU FORESTER 2019" - OUTBACK = "SUBARU OUTBACK 6TH GEN" - CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020" - FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020" - LEGACY = "SUBARU LEGACY 7TH GEN" - FORESTER_2022 = "SUBARU FORESTER 2022" - OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN" - - # Pre-global - FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" - LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018" - OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017" - OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019" - - class Footnote(Enum): GLOBAL = CarFootnote( "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.", @@ -110,32 +89,92 @@ class SubaruCarInfo(CarInfo): if CP.experimentalLongitudinalAvailable: self.footnotes.append(Footnote.EXP_LONG) -CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { - CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), - CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), - CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), - CAR.IMPREZA: [ - SubaruCarInfo("Subaru Impreza 2017-19"), - SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), - SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), - ], - CAR.IMPREZA_2020: [ - SubaruCarInfo("Subaru Impreza 2020-22"), - SubaruCarInfo("Subaru Crosstrek 2020-23"), - SubaruCarInfo("Subaru XV 2020-21"), - ], + +@dataclass +class SubaruPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None)) + + +class CAR(Platforms): + # Global platform + ASCENT = SubaruPlatformConfig( + "SUBARU ASCENT LIMITED 2019", + SubaruCarInfo("Subaru Ascent 2019-21", "All"), + ) + OUTBACK = SubaruPlatformConfig( + "SUBARU OUTBACK 6TH GEN", + SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + ) + LEGACY = SubaruPlatformConfig( + "SUBARU LEGACY 7TH GEN", + SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + ) + IMPREZA= SubaruPlatformConfig( + "SUBARU IMPREZA LIMITED 2019", + [ + SubaruCarInfo("Subaru Impreza 2017-19"), + SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + ], + ) + IMPREZA_2020 = SubaruPlatformConfig( + "SUBARU IMPREZA SPORT 2020", + [ + SubaruCarInfo("Subaru Impreza 2020-22"), + SubaruCarInfo("Subaru Crosstrek 2020-23"), + SubaruCarInfo("Subaru XV 2020-21"), + ], + ) # TODO: is there an XV and Impreza too? - CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])), - CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"), - CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), - CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), - CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), - CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), - CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), - CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), - CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), - CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), -} + CROSSTREK_HYBRID = SubaruPlatformConfig( + "SUBARU CROSSTREK HYBRID 2020", + SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])), + dbc_dict('subaru_global_2020_hybrid_generated', None), + ) + FORESTER_HYBRID = SubaruPlatformConfig( + "SUBARU FORESTER HYBRID 2020", + SubaruCarInfo("Subaru Forester Hybrid 2020"), + dbc_dict('subaru_global_2020_hybrid_generated', None), + ) + FORESTER = SubaruPlatformConfig( + "SUBARU FORESTER 2019", + SubaruCarInfo("Subaru Forester 2019-21", "All"), + ) + # Pre-global + FORESTER_PREGLOBAL = SubaruPlatformConfig( + "SUBARU FORESTER 2017 - 2018", + SubaruCarInfo("Subaru Forester 2017-18"), + dbc_dict('subaru_forester_2017_generated', None), + ) + LEGACY_PREGLOBAL = SubaruPlatformConfig( + "SUBARU LEGACY 2015 - 2018", + SubaruCarInfo("Subaru Legacy 2015-18"), + dbc_dict('subaru_outback_2015_generated', None), + ) + OUTBACK_PREGLOBAL = SubaruPlatformConfig( + "SUBARU OUTBACK 2015 - 2017", + SubaruCarInfo("Subaru Outback 2015-17"), + dbc_dict('subaru_outback_2015_generated', None), + ) + OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( + "SUBARU OUTBACK 2018 - 2019", + SubaruCarInfo("Subaru Outback 2018-19"), + dbc_dict('subaru_outback_2019_generated', None), + ) + # Angle LKAS + FORESTER_2022= SubaruPlatformConfig( + "SUBARU FORESTER 2022", + SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + ) + OUTBACK_2023 = SubaruPlatformConfig( + "SUBARU OUTBACK 7TH GEN", + SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), + ) + ASCENT_2023 = SubaruPlatformConfig( + "SUBARU ASCENT 2023", + SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])) + ) + LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023} GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023} @@ -186,20 +225,5 @@ FW_QUERY_CONFIG = FwQueryConfig( } ) -DBC = { - CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), - CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None), - CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), - CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), - CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), - CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None), - CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), - CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), - CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None), - CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None), - CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None), - CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), - CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), - CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), - CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), -} +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() From 73a497ded8b4ae7f1e2d3b5a7c4a2f57c748ff1c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 22 Feb 2024 20:49:27 -0500 Subject: [PATCH 02/47] cleanup PlatformConfig (#31551) cleanup --- selfdrive/car/__init__.py | 2 ++ selfdrive/car/subaru/values.py | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index ab0a26ca0c..ad21c694cc 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -78,6 +78,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor DbcDict = Dict[str, str] + def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict: return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} @@ -245,6 +246,7 @@ class CanSignalRateCalculator: CarInfos = Union[CarInfo, List[CarInfo]] + @dataclass(order=True) class PlatformConfig: platform_str: str diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 580408df0c..7de083f4a2 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -109,7 +109,7 @@ class CAR(Platforms): "SUBARU LEGACY 7TH GEN", SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), ) - IMPREZA= SubaruPlatformConfig( + IMPREZA = SubaruPlatformConfig( "SUBARU IMPREZA LIMITED 2019", [ SubaruCarInfo("Subaru Impreza 2017-19"), @@ -162,7 +162,7 @@ class CAR(Platforms): dbc_dict('subaru_outback_2019_generated', None), ) # Angle LKAS - FORESTER_2022= SubaruPlatformConfig( + FORESTER_2022 = SubaruPlatformConfig( "SUBARU FORESTER 2022", SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), ) From c9c2ab9cc858bc2bc1ce16a3f4b04545582fcb1d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 22 Feb 2024 21:34:42 -0500 Subject: [PATCH 03/47] pre-commit: run ruff first (#31548) move ruff up --- .pre-commit-config.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index f98bca6060..335ccae456 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -32,6 +32,11 @@ repos: # if you've got a short variable name that's getting flagged, add it here - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US +- repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.2.2 + hooks: + - id: ruff + exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: mypy @@ -43,11 +48,6 @@ repos: - --local-partial-types - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.2.2 - hooks: - - id: ruff - exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' - repo: local hooks: - id: cppcheck From 72a7f008ab3c4d0f86605860579926911815a103 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 Feb 2024 06:00:28 -0600 Subject: [PATCH 04/47] Volkswagen: log FW on non-OBD buses (#31556) * log lots * update refs * cmt --- selfdrive/car/tests/test_fw_fingerprint.py | 4 ++-- selfdrive/car/volkswagen/values.py | 15 +++++++++++---- 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index e1ebd5cf18..1a745b4447 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 6.05, 2: 6.95} + total_ref_time = {1: 6.5, 2: 7.4} brand_ref_times = { 1: { 'gm': 0.5, @@ -277,7 +277,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'subaru': 0.45, 'tesla': 0.2, 'toyota': 1.6, - 'volkswagen': 0.2, + 'volkswagen': 0.65, }, 2: { 'ford': 0.3, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 35cb3607ec..b09cbc5d8a 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -293,17 +293,24 @@ VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + VOLKSWAGEN_RX_OFFSET = 0x6a FW_QUERY_CONFIG = FwQueryConfig( - requests=[ + # TODO: add back whitelists after we gather enough data + requests=[request for bus, obd_multiplexing in [(1, True), (1, False), (0, False)] for request in [ Request( [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], + # whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], rx_offset=VOLKSWAGEN_RX_OFFSET, + bus=bus, + logging=(bus != 1 or not obd_multiplexing), + obd_multiplexing=obd_multiplexing, ), Request( [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission], + # whitelist_ecus=[Ecu.engine, Ecu.transmission], + bus=bus, + logging=(bus != 1 or not obd_multiplexing), + obd_multiplexing=obd_multiplexing, ), - ], + ]], ) From 556f9738960526d6eeaab9fe639d0340a6d5d6c9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 23 Feb 2024 14:50:33 -0500 Subject: [PATCH 05/47] segment range docs update (#31560) * the format * cleaner --- tools/lib/README.md | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/tools/lib/README.md b/tools/lib/README.md index a0c4a0863b..af1ad0de22 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -34,10 +34,16 @@ for msg in lr: ### Segment Ranges -We also support a new format called a "segment range", where you can specify which segments from a route to load. +We also support a new format called a "segment range": + +``` +344c5c15b34f2d8a / 2024-01-03--09-37-12 / 2:6 / q +[ dongle id ] [ timestamp ] [ selector ] [ query type] +``` + +you can specify which segments from a route to load ```python - lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4") # 4th segment lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1") # last segment From 1161d33c1892b32980a222b7c5b2ad9d6b05621e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 23 Feb 2024 16:23:40 -0500 Subject: [PATCH 06/47] Subaru: move carspecs to PlatformConfig (#31550) * subaru platform config * forester wrong dbc * spacing * subaru car specs * someday! * more red diff * all brands can be done like this * but this should be done first and thats subaru specific * that seems very low but we shouldn't change it here * as long as it subclasses str its fine * fix --- selfdrive/car/__init__.py | 13 ++++++++-- selfdrive/car/interfaces.py | 12 +++++++-- selfdrive/car/subaru/interface.py | 40 +++--------------------------- selfdrive/car/subaru/values.py | 27 +++++++++++++++----- selfdrive/car/tests/test_models.py | 2 +- 5 files changed, 47 insertions(+), 47 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index ad21c694cc..8f2c8bd451 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -247,12 +247,21 @@ class CanSignalRateCalculator: CarInfos = Union[CarInfo, List[CarInfo]] +@dataclass +class CarSpecs: + mass: float + wheelbase: float + steerRatio: float + + @dataclass(order=True) class PlatformConfig: platform_str: str car_info: CarInfos dbc_dict: DbcDict + specs: Optional[CarSpecs] = None + def __hash__(self) -> int: return hash(self.platform_str) @@ -268,8 +277,8 @@ class Platforms(str, ReprEnum): @classmethod def create_dbc_map(cls) -> Dict[str, DbcDict]: - return {p.config.platform_str: p.config.dbc_dict for p in cls} + return {p: p.config.dbc_dict for p in cls} @classmethod def create_carinfo_map(cls) -> Dict[str, CarInfos]: - return {p.config.platform_str: p.config.car_info for p in cls} + return {p: p.config.car_info for p in cls} diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 9767752edb..2b0b148ccf 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -4,7 +4,7 @@ import numpy as np import tomllib from abc import abstractmethod, ABC from enum import StrEnum -from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple +from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple, cast from cereal import car from openpilot.common.basedir import BASEDIR @@ -12,7 +12,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel @@ -109,6 +109,14 @@ class CarInterfaceBase(ABC): @classmethod def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) + + if hasattr(candidate, "config"): + platform_config = cast(PlatformConfig, candidate.config) + if platform_config.specs is not None: + ret.mass = platform_config.specs.mass + ret.wheelbase = platform_config.specs.wheelbase + ret.steerRatio = platform_config.specs.steerRatio + ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 1296aead5e..edf07ac2ef 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -40,11 +40,10 @@ class CarInterface(CarInterfaceBase): else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + ret.centerToFront = ret.wheelbase * 0.5 + if candidate in (CAR.ASCENT, CAR.ASCENT_2023): - ret.mass = 2031. - ret.wheelbase = 2.89 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 13.5 ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00003 @@ -52,10 +51,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] elif candidate == CAR.IMPREZA: - ret.mass = 1568. - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 15 ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 @@ -63,58 +58,31 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] elif candidate == CAR.IMPREZA_2020: - ret.mass = 1480. - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 17 # learned, 14 stock ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] elif candidate == CAR.CROSSTREK_HYBRID: - ret.mass = 1668. - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 17 ret.steerActuatorDelay = 0.1 elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID): - ret.mass = 1568. - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 17 # learned, 14 stock ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023): - ret.mass = 1568. - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 17 ret.steerActuatorDelay = 0.1 elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal - ret.mass = 1568 - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 20 # learned, 14 stock elif candidate == CAR.LEGACY_PREGLOBAL: - ret.mass = 1568 - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 elif candidate == CAR.OUTBACK_PREGLOBAL: - ret.mass = 1568 - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 20 # learned, 14 stock + pass else: raise ValueError(f"unknown car: {candidate}") diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 7de083f4a2..b871a919e3 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -4,7 +4,7 @@ from typing import List from cereal import car from panda.python import uds -from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 @@ -100,14 +100,17 @@ class CAR(Platforms): ASCENT = SubaruPlatformConfig( "SUBARU ASCENT LIMITED 2019", SubaruCarInfo("Subaru Ascent 2019-21", "All"), + specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), ) OUTBACK = SubaruPlatformConfig( "SUBARU OUTBACK 6TH GEN", SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), ) LEGACY = SubaruPlatformConfig( "SUBARU LEGACY 7TH GEN", SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + specs=OUTBACK.specs, ) IMPREZA = SubaruPlatformConfig( "SUBARU IMPREZA LIMITED 2019", @@ -116,6 +119,7 @@ class CAR(Platforms): SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), ], + specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), ) IMPREZA_2020 = SubaruPlatformConfig( "SUBARU IMPREZA SPORT 2020", @@ -124,55 +128,66 @@ class CAR(Platforms): SubaruCarInfo("Subaru Crosstrek 2020-23"), SubaruCarInfo("Subaru XV 2020-21"), ], + specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17), ) # TODO: is there an XV and Impreza too? CROSSTREK_HYBRID = SubaruPlatformConfig( "SUBARU CROSSTREK HYBRID 2020", SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])), dbc_dict('subaru_global_2020_hybrid_generated', None), + specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), + ) + FORESTER = SubaruPlatformConfig( + "SUBARU FORESTER 2019", + SubaruCarInfo("Subaru Forester 2019-21", "All"), + specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), ) FORESTER_HYBRID = SubaruPlatformConfig( "SUBARU FORESTER HYBRID 2020", SubaruCarInfo("Subaru Forester Hybrid 2020"), dbc_dict('subaru_global_2020_hybrid_generated', None), - ) - FORESTER = SubaruPlatformConfig( - "SUBARU FORESTER 2019", - SubaruCarInfo("Subaru Forester 2019-21", "All"), + specs=FORESTER.specs, ) # Pre-global FORESTER_PREGLOBAL = SubaruPlatformConfig( "SUBARU FORESTER 2017 - 2018", SubaruCarInfo("Subaru Forester 2017-18"), dbc_dict('subaru_forester_2017_generated', None), + specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), ) LEGACY_PREGLOBAL = SubaruPlatformConfig( "SUBARU LEGACY 2015 - 2018", SubaruCarInfo("Subaru Legacy 2015-18"), dbc_dict('subaru_outback_2015_generated', None), + specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), ) OUTBACK_PREGLOBAL = SubaruPlatformConfig( "SUBARU OUTBACK 2015 - 2017", SubaruCarInfo("Subaru Outback 2015-17"), dbc_dict('subaru_outback_2015_generated', None), + specs=FORESTER_PREGLOBAL.specs, ) OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( "SUBARU OUTBACK 2018 - 2019", SubaruCarInfo("Subaru Outback 2018-19"), dbc_dict('subaru_outback_2019_generated', None), + specs=FORESTER_PREGLOBAL.specs, ) # Angle LKAS FORESTER_2022 = SubaruPlatformConfig( "SUBARU FORESTER 2022", SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + specs=FORESTER.specs, ) OUTBACK_2023 = SubaruPlatformConfig( "SUBARU OUTBACK 7TH GEN", SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), + specs=OUTBACK.specs, ) ASCENT_2023 = SubaruPlatformConfig( "SUBARU ASCENT 2023", - SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])) + SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), + specs=ASCENT.specs, ) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 3592fd0baa..ec7527713d 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -50,7 +50,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: for i, c in enumerate(sorted(all_known_cars())): if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,)))) + test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) else: segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) From b75a6cea34864d097ebd22a713db445180c72732 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 23 Feb 2024 19:35:21 -0600 Subject: [PATCH 07/47] VW PQ: Consolidate and cleanup tuning (#31566) consolidate and cleanup PQ configs --- selfdrive/car/volkswagen/interface.py | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 710e779d0a..544d104d33 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -72,14 +72,18 @@ class CarInterface(CarInterfaceBase): # Global lateral tuning defaults, can be overridden per-vehicle - ret.steerActuatorDelay = 0.1 - ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out - ret.lateralTuning.pid.kpBP = [0.] - ret.lateralTuning.pid.kiBP = [0.] - ret.lateralTuning.pid.kf = 0.00006 - ret.lateralTuning.pid.kpV = [0.6] - ret.lateralTuning.pid.kiV = [0.2] + ret.steerLimitTimer = 0.4 + if candidate in PQ_CARS: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + else: + ret.steerActuatorDelay = 0.1 + ret.lateralTuning.pid.kpBP = [0.] + ret.lateralTuning.pid.kiBP = [0.] + ret.lateralTuning.pid.kf = 0.00006 + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.2] # Global longitudinal tuning defaults, can be overridden per-vehicle @@ -131,8 +135,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.80 ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS ret.minSteerSpeed = 50 * CV.KPH_TO_MS - ret.steerActuatorDelay = 0.2 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.POLO_MK6: ret.mass = 1230 @@ -142,7 +144,6 @@ class CarInterface(CarInterfaceBase): ret.mass = 1639 ret.wheelbase = 2.92 ret.minSteerSpeed = 50 * CV.KPH_TO_MS - ret.steerActuatorDelay = 0.2 elif candidate == CAR.TAOS_MK1: ret.mass = 1498 From 92475d653bcb94a907d20701a697118fbe8815ef Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 23 Feb 2024 17:41:03 -0800 Subject: [PATCH 08/47] agnos 9.7 (#31564) * agnos 9.7 * update --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 0c72c54581..6859afb0d4 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="9.6" + export AGNOS_VERSION="9.7" fi export STAGING_ROOT="/data/safe_staging" diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index b4408d2140..e69842cfec 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -61,17 +61,17 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz", - "hash": "10ac02f18c5f1cde5a888a3411d3701b929c3488753467e77aad6085db058eb9", - "hash_raw": "3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db", + "url": "https://commadist.azureedge.net/agnosupdate/system-0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2.img.xz", + "hash": "4858385ba6284bcaa179ab77ac4263486e4d8670df921e4ac400464dc1dde59c", + "hash_raw": "0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2", "size": 10737418240, "sparse": true, "full_check": false, "has_ab": true, "alt": { - "hash": "a7db41b93b587f8f9c3f83a3313f186445c4bdf07283cd6a5421dfbc0286c9db", - "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz", - "size": 4548131508 + "hash": "42658a6fff660d9b6abb9cb9fbb3481071259c9a9598718af6b1edff2b556009", + "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-0f69173d5f3058f7197c139442a6556be59e52f15402a263215a329ba5ec41e2.img.xz", + "size": 4548292756 } } ] \ No newline at end of file From adb7e2e2297ecfc00e333155d4c8d0666c2c9205 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 23 Feb 2024 23:54:48 -0500 Subject: [PATCH 09/47] CI: Retry multiarch build (#31570) hardware --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 8b1f256bfb..d1dff147f2 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -117,7 +117,7 @@ jobs: - name: Merge x64 and arm64 tags run: | export PUSH_IMAGE=true - selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 + scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 static_analysis: name: static analysis From 378ba114f9d4852374d76c7ebc0318a80cd29c43 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 23 Feb 2024 23:22:34 -0600 Subject: [PATCH 10/47] Ford: support hybrid Q3 platforms (#31568) * bump * ford: remove dynamic dashcam lockout for hybrids * releases? * Revert "releases?" This reverts commit 88d950043d79b8c00535f48ed84b854bc2ab2557. * bump * Reapply "releases?" This reverts commit db5079dc3f1a6bce70bd04430be45704d8604e76. * 097 --- RELEASES.md | 1 + panda | 2 +- selfdrive/car/ford/carstate.py | 7 ------- selfdrive/car/ford/interface.py | 2 -- 4 files changed, 2 insertions(+), 10 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 096fa691ac..d0fd530db1 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.7 (2024-XX-XX) ======================== * New driving model +* Support for many hybrid Ford models Version 0.9.6 (2024-02-27) ======================== diff --git a/panda b/panda index b4442a7c93..6aa4b55033 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b4442a7c930aac112cdd82cddfc3dd12254a56e1 +Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28 diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index ef56d23d79..34006e8da4 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -18,17 +18,10 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"] self.vehicle_sensors_valid = False - self.unsupported_platform = False def update(self, cp, cp_cam): ret = car.CarState.new_message() - # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums, - # this must be root-caused before enabling support. Ford Q4 hybrids do not have this problem. - # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants - self.unsupported_platform = (cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0 and - self.CP.carFingerprint not in CANFD_CAR) - # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement # The vehicle usually recovers out of this state within a minute of normal driving self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3 diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index cc013fb54b..685a2a27ad 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -109,8 +109,6 @@ class CarInterface(CarInterfaceBase): events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) if not self.CS.vehicle_sensors_valid: events.add(car.CarEvent.EventName.vehicleSensorsInvalid) - if self.CS.unsupported_platform: - events.add(car.CarEvent.EventName.startupNoControl) ret.events = events.to_msg() From 6ed72b362698a4ceef4eff5d9a9ed6ce5ec002be Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 24 Feb 2024 18:01:02 +0000 Subject: [PATCH 11/47] Ford: add hybrid variants to docs (#31575) * Ford: add hybrid variants to docs Following up on https://github.com/commaai/openpilot/pull/31568 | CarInfoPlatform | ElectrificationLevel | ModelYear | Series | Trim | |:-----------------------------|:-----------------------|:-----------------------|:--------------------------------------------------------------------------------------------------|:--------------------------------------------------------------------| | FORD BRONCO SPORT 1ST GEN | ICE | 2021, 2022 | BADLANDS, BASE, BIG BEND, FIRST EDITION, OUTER BANKS | | | FORD ESCAPE 4TH GEN | FHEV | 2020, 2021, 2022 | SE, SEL, Titanium | | | FORD ESCAPE 4TH GEN | ICE | 2020, 2021, 2022 | S, SE, SEL, Titanium | | | FORD ESCAPE 4TH GEN | PHEV | 2020, 2021, 2022 | SE, SEL, Titanium | | | FORD EXPLORER 6TH GEN | HEV | 2020, 2021, 2022, 2023 | Limited, Platinum | | | FORD EXPLORER 6TH GEN | ICE | 2020, 2021, 2022, 2023 | Base, Black Label, King Ranch, Limited, Platinum, Reserve, ST, ST-Line, Standard, Timberline, XLT | | | FORD EXPLORER 6TH GEN | PHEV | 2020, 2021 | Black Label Grand Touring, Blk Label Grand Touring, Grand Touring | | | FORD F-150 14TH GEN | HEV | 2021, 2022, 2023 | , F-Series | SuperCrew | | FORD F-150 14TH GEN | ICE | 2021, 2022, 2023 | , F-Series | , Regular Cab, SuperCab, SuperCrew, SuperCrew-Raptor, SuperCrew-SSV | | FORD F-150 LIGHTNING 1ST GEN | BEV | 2022, 2023 | | SuperCrew | | FORD MAVERICK 1ST GEN | HEV | 2022, 2023 | SUPERCREW, XL XLT Lariat | , SUPERCREW | | FORD MAVERICK 1ST GEN | ICE | 2022, 2023 | SUPERCREW, XL XLT Lariat, XLT Lariat | , SUPERCREW | | FORD MUSTANG MACH-E 1ST GEN | BEV | 2021, 2022, 2023 | California Route 1, GT, Premium, Select | | Data from NHTSA database and https://www.ford.co.uk/cars. * revert F-150 model year change --- docs/CARS.md | 13 +++++++++++-- selfdrive/car/ford/values.py | 20 +++++++++++++++++--- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 6d3ee71659..7ad12189cb 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 279 Supported Cars +# 288 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -37,11 +37,19 @@ A supported vehicle is one that just works when you install a comma device. All |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Explorer Hybrid 2020-23|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Focus 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Focus Hybrid 2018[3](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ford|Maverick Hybrid 2023|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -177,7 +185,8 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 979cc6d20a..8704a7b724 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -91,19 +91,33 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.ESCAPE_MK4: [ FordCarInfo("Ford Escape 2020-22"), + FordCarInfo("Ford Escape Hybrid 2020-22"), + FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"), FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), + FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), + FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), ], CAR.EXPLORER_MK6: [ FordCarInfo("Ford Explorer 2020-23"), - FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"), + FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only + FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"), + FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only + ], + CAR.F_150_MK14: [ + FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), + FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"), ], - CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), - CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), + CAR.FOCUS_MK4: [ + FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), + FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only + ], CAR.MAVERICK_MK1: [ FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), + FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"), FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"), + FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"), ], } From 995250ae4967943ee33a3699a1d89a7a770d95e9 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 25 Feb 2024 00:41:23 +0000 Subject: [PATCH 12/47] use pyupgrade to update to new typing syntax (#31580) * add pyupgrade hook * run pyupgrade (pre-commit run -a) * ruff --fix * Revert "add pyupgrade hook" This reverts commit 56ec18bb6b8602a0b612f3803d96cdad14b52066. * revert changes to third_party/ * manual type fixes * explicit Optional wrapping capnp objects --- common/file_helpers.py | 3 +- common/gpio.py | 7 +- common/mock/__init__.py | 5 +- common/prefix.py | 3 +- common/realtime.py | 7 +- common/transformations/orientation.py | 2 +- openpilot/__init__.py | 3 - selfdrive/athena/athenad.py | 57 ++++++------ selfdrive/athena/registration.py | 9 +- selfdrive/athena/tests/test_athenad.py | 3 +- selfdrive/athena/tests/test_athenad_ping.py | 6 +- selfdrive/boardd/pandad.py | 4 +- selfdrive/car/__init__.py | 19 ++-- selfdrive/car/car_helpers.py | 6 +- selfdrive/car/chrysler/values.py | 3 +- selfdrive/car/docs.py | 15 ++-- selfdrive/car/docs_definitions.py | 33 ++++--- selfdrive/car/ecu_addrs.py | 13 ++- selfdrive/car/ford/tests/test_ford.py | 4 +- selfdrive/car/ford/values.py | 5 +- selfdrive/car/fw_query_definitions.py | 26 +++--- selfdrive/car/fw_versions.py | 27 +++--- selfdrive/car/gm/values.py | 5 +- selfdrive/car/honda/values.py | 3 +- selfdrive/car/hyundai/values.py | 9 +- selfdrive/car/interfaces.py | 23 ++--- selfdrive/car/mazda/values.py | 3 +- selfdrive/car/mock/values.py | 3 +- selfdrive/car/nissan/values.py | 3 +- selfdrive/car/subaru/values.py | 3 +- selfdrive/car/tesla/values.py | 3 +- selfdrive/car/tests/routes.py | 6 +- selfdrive/car/tests/test_docs.py | 4 +- selfdrive/car/tests/test_fingerprints.py | 3 +- selfdrive/car/tests/test_lateral_limits.py | 3 +- selfdrive/car/tests/test_models.py | 15 ++-- selfdrive/car/toyota/values.py | 7 +- selfdrive/car/volkswagen/values.py | 5 +- selfdrive/controls/lib/alertmanager.py | 11 ++- selfdrive/controls/lib/events.py | 18 ++-- selfdrive/controls/lib/vehicle_model.py | 3 +- selfdrive/controls/radard.py | 12 +-- selfdrive/debug/can_print_changes.py | 5 +- selfdrive/debug/check_freq.py | 6 +- selfdrive/debug/check_lag.py | 3 +- selfdrive/debug/check_timings.py | 4 +- selfdrive/debug/count_events.py | 6 +- selfdrive/debug/cpu_usage_stat.py | 4 +- selfdrive/debug/format_fingerprints.py | 2 +- .../internal/measure_modeld_packet_drop.py | 3 +- selfdrive/debug/live_cpu_and_temp.py | 7 +- selfdrive/locationd/calibrationd.py | 18 ++-- selfdrive/locationd/helpers.py | 10 +-- selfdrive/locationd/models/car_kf.py | 4 +- selfdrive/manager/build.py | 3 +- selfdrive/manager/manager.py | 7 +- selfdrive/manager/process.py | 12 +-- selfdrive/modeld/dmonitoringmodeld.py | 5 +- selfdrive/modeld/fill_model_msg.py | 5 +- selfdrive/modeld/get_model_metadata.py | 3 +- selfdrive/modeld/modeld.py | 9 +- selfdrive/modeld/navmodeld.py | 5 +- selfdrive/modeld/parse_model_outputs.py | 3 +- selfdrive/modeld/runners/onnxmodel.py | 4 +- selfdrive/navd/helpers.py | 16 ++-- selfdrive/statsd.py | 6 +- selfdrive/test/ciui.py | 4 +- selfdrive/test/fuzzy_generation.py | 17 ++-- selfdrive/test/helpers.py | 2 +- selfdrive/test/process_replay/capture.py | 4 +- selfdrive/test/process_replay/compare_logs.py | 3 +- .../test/process_replay/process_replay.py | 87 ++++++++++--------- selfdrive/test/process_replay/regen.py | 11 +-- selfdrive/test/process_replay/test_debayer.py | 2 +- .../test/process_replay/test_processes.py | 6 +- selfdrive/test/update_ci_routes.py | 6 +- selfdrive/thermald/power_monitoring.py | 5 +- selfdrive/thermald/thermald.py | 19 ++-- selfdrive/ui/soundd.py | 5 +- selfdrive/ui/tests/test_translations.py | 6 +- selfdrive/ui/translations/create_badges.py | 4 +- selfdrive/ui/update_translations.py | 2 +- selfdrive/updated.py | 11 ++- system/hardware/base.py | 3 +- system/hardware/tici/agnos.py | 6 +- system/hardware/tici/amplifier.py | 5 +- system/hardware/tici/casync.py | 18 ++-- system/hardware/tici/power_monitor.py | 3 +- system/hardware/tici/precise_power_measure.py | 2 +- .../tici/tests/compare_casync_manifest.py | 3 +- system/hardware/tici/tests/test_power_draw.py | 7 +- system/loggerd/deleter.py | 3 +- system/loggerd/tests/loggerd_tests_common.py | 5 +- system/loggerd/tests/test_deleter.py | 2 +- system/loggerd/tests/test_loggerd.py | 3 +- system/loggerd/tests/test_uploader.py | 5 +- system/loggerd/uploader.py | 15 ++-- system/loggerd/xattr_cache.py | 5 +- system/qcomgpsd/nmeaport.py | 2 +- system/qcomgpsd/qcomgpsd.py | 6 +- system/sensord/pigeond.py | 7 +- system/ubloxd/tests/ubloxd.py | 2 +- system/version.py | 7 +- system/webrtc/device/audio.py | 7 +- system/webrtc/device/video.py | 3 +- system/webrtc/schema.py | 8 +- system/webrtc/tests/test_webrtcd.py | 2 +- system/webrtc/webrtcd.py | 16 ++-- tools/bodyteleop/web.py | 4 +- tools/car_porting/auto_fingerprint.py | 3 +- tools/car_porting/test_car_model.py | 3 +- tools/latencylogger/latency_logger.py | 2 +- tools/lib/auth.py | 4 +- tools/lib/azure_container.py | 6 +- tools/lib/bootlog.py | 5 +- tools/lib/helpers.py | 14 +-- tools/lib/live_logreader.py | 5 +- tools/lib/logreader.py | 16 ++-- tools/lib/route.py | 4 +- tools/lib/tests/test_comma_car_segments.py | 2 - tools/lib/vidindex.py | 7 +- tools/replay/lib/ui_helpers.py | 4 +- tools/sim/bridge/common.py | 3 +- .../sim/bridge/metadrive/metadrive_bridge.py | 6 +- tools/sim/lib/manual_ctrl.py | 10 +-- 125 files changed, 464 insertions(+), 525 deletions(-) diff --git a/common/file_helpers.py b/common/file_helpers.py index dea298a529..417776b87c 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -1,7 +1,6 @@ import os import tempfile import contextlib -from typing import Optional class CallbackReader: @@ -24,7 +23,7 @@ class CallbackReader: @contextlib.contextmanager -def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None, +def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None, overwrite: bool = False): """Write to a file atomically using a temporary file in the same directory as the destination file.""" dir_name = os.path.dirname(path) diff --git a/common/gpio.py b/common/gpio.py index 88a9479a60..68932cb87a 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,6 +1,5 @@ import os from functools import lru_cache -from typing import Optional, List def gpio_init(pin: int, output: bool) -> None: try: @@ -16,7 +15,7 @@ def gpio_set(pin: int, high: bool) -> None: except Exception as e: print(f"Failed to set gpio {pin} value: {e}") -def gpio_read(pin: int) -> Optional[bool]: +def gpio_read(pin: int) -> bool | None: val = None try: with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f: @@ -37,7 +36,7 @@ def gpio_export(pin: int) -> None: print(f"Failed to export gpio {pin}") @lru_cache(maxsize=None) -def get_irq_action(irq: int) -> List[str]: +def get_irq_action(irq: int) -> list[str]: try: with open(f"/sys/kernel/irq/{irq}/actions") as f: actions = f.read().strip().split(',') @@ -45,7 +44,7 @@ def get_irq_action(irq: int) -> List[str]: except FileNotFoundError: return [] -def get_irqs_for_action(action: str) -> List[str]: +def get_irqs_for_action(action: str) -> list[str]: ret = [] with open("/proc/interrupts") as f: for l in f.readlines(): diff --git a/common/mock/__init__.py b/common/mock/__init__.py index e0dbf45c74..8c86bbd394 100644 --- a/common/mock/__init__.py +++ b/common/mock/__init__.py @@ -6,7 +6,6 @@ example in common/tests/test_mock.py import functools import threading -from typing import List, Union from cereal.messaging import PubMaster from cereal.services import SERVICE_LIST from openpilot.common.mock.generators import generate_liveLocationKalman @@ -18,7 +17,7 @@ MOCK_GENERATOR = { } -def generate_messages_loop(services: List[str], done: threading.Event): +def generate_messages_loop(services: list[str], done: threading.Event): pm = PubMaster(services) rk = Ratekeeper(100) i = 0 @@ -32,7 +31,7 @@ def generate_messages_loop(services: List[str], done: threading.Event): rk.keep_time() -def mock_messages(services: Union[List[str], str]): +def mock_messages(services: list[str] | str): if isinstance(services, str): services = [services] diff --git a/common/prefix.py b/common/prefix.py index d027e3e5a1..40f2f34b74 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -2,14 +2,13 @@ import os import shutil import uuid -from typing import Optional from openpilot.common.params import Params from openpilot.system.hardware.hw import Paths from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): + def __init__(self, prefix: str | None = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit diff --git a/common/realtime.py b/common/realtime.py index a398146166..6b8587ff06 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -3,7 +3,6 @@ import gc import os import time from collections import deque -from typing import Optional, List, Union from setproctitle import getproctitle @@ -33,12 +32,12 @@ def set_realtime_priority(level: int) -> None: os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) -def set_core_affinity(cores: List[int]) -> None: +def set_core_affinity(cores: list[int]) -> None: if not PC: os.sched_setaffinity(0, cores) -def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None: +def config_realtime_process(cores: int | list[int], priority: int) -> None: gc.disable() set_realtime_priority(priority) c = cores if isinstance(cores, list) else [cores, ] @@ -46,7 +45,7 @@ def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None class Ratekeeper: - def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None: + def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None: """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative.""" self._interval = 1. / rate self._next_frame_time = time.monotonic() + self._interval diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py index ce4378738d..86e6a6c347 100644 --- a/common/transformations/orientation.py +++ b/common/transformations/orientation.py @@ -1,5 +1,5 @@ import numpy as np -from typing import Callable +from collections.abc import Callable from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single, euler2quat_single, diff --git a/openpilot/__init__.py b/openpilot/__init__.py index b28b04f643..e69de29bb2 100644 --- a/openpilot/__init__.py +++ b/openpilot/__init__.py @@ -1,3 +0,0 @@ - - - diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index cc3ab5e95b..9480d2b8ec 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -19,7 +19,8 @@ from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial from queue import Queue -from typing import Callable, Dict, List, Optional, Set, Union, cast +from typing import cast +from collections.abc import Callable import requests from jsonrpc import JSONRPCResponseManager, dispatcher @@ -55,17 +56,17 @@ WS_FRAME_SIZE = 4096 NetworkType = log.DeviceState.NetworkType -UploadFileDict = Dict[str, Union[str, int, float, bool]] -UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]] +UploadFileDict = dict[str, str | int | float | bool] +UploadItemDict = dict[str, str | bool | int | float | dict[str, str]] -UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]] +UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]] @dataclass class UploadFile: fn: str url: str - headers: Dict[str, str] + headers: dict[str, str] allow_cellular: bool @classmethod @@ -77,9 +78,9 @@ class UploadFile: class UploadItem: path: str url: str - headers: Dict[str, str] + headers: dict[str, str] created_at: int - id: Optional[str] + id: str | None retry_count: int = 0 current: bool = False progress: float = 0 @@ -97,9 +98,9 @@ send_queue: Queue[str] = queue.Queue() upload_queue: Queue[UploadItem] = queue.Queue() low_priority_send_queue: Queue[str] = queue.Queue() log_recv_queue: Queue[str] = queue.Queue() -cancelled_uploads: Set[str] = set() +cancelled_uploads: set[str] = set() -cur_upload_items: Dict[int, Optional[UploadItem]] = {} +cur_upload_items: dict[int, UploadItem | None] = {} def strip_bz2_extension(fn: str) -> str: @@ -127,14 +128,14 @@ class UploadQueueCache: @staticmethod def cache(upload_queue: Queue[UploadItem]) -> None: try: - queue: List[Optional[UploadItem]] = list(upload_queue.queue) + queue: list[UploadItem | None] = list(upload_queue.queue) items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)] Params().put("AthenadUploadQueue", json.dumps(items)) except Exception: cloudlog.exception("athena.UploadQueueCache.cache.exception") -def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None: +def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None: end_event = threading.Event() threads = [ @@ -278,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None: cloudlog.exception("athena.upload_handler.exception") -def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response: +def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response: path = upload_item.path compress = False @@ -317,7 +318,7 @@ def getMessage(service: str, timeout: int = 1000) -> dict: @dispatcher.add_method -def getVersion() -> Dict[str, str]: +def getVersion() -> dict[str, str]: return { "version": get_version(), "remote": get_normalized_origin(), @@ -327,7 +328,7 @@ def getVersion() -> Dict[str, str]: @dispatcher.add_method -def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]: +def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]: destination = { "latitude": latitude, "longitude": longitude, @@ -339,7 +340,7 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optiona return {"success": 1} -def scan_dir(path: str, prefix: str) -> List[str]: +def scan_dir(path: str, prefix: str) -> list[str]: files = [] # only walk directories that match the prefix # (glob and friends traverse entire dir tree) @@ -359,12 +360,12 @@ def scan_dir(path: str, prefix: str) -> List[str]: return files @dispatcher.add_method -def listDataDirectory(prefix='') -> List[str]: +def listDataDirectory(prefix='') -> list[str]: return scan_dir(Paths.log_root(), prefix) @dispatcher.add_method -def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse: +def uploadFileToUrl(fn: str, url: str, headers: dict[str, str]) -> UploadFilesToUrlResponse: # this is because mypy doesn't understand that the decorator doesn't change the return type response: UploadFilesToUrlResponse = uploadFilesToUrls([{ "fn": fn, @@ -375,11 +376,11 @@ def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesTo @dispatcher.add_method -def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse: +def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlResponse: files = map(UploadFile.from_dict, files_data) - items: List[UploadItemDict] = [] - failed: List[str] = [] + items: list[UploadItemDict] = [] + failed: list[str] = [] for file in files: if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0: failed.append(file.fn) @@ -418,13 +419,13 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo @dispatcher.add_method -def listUploadQueue() -> List[UploadItemDict]: +def listUploadQueue() -> list[UploadItemDict]: items = list(upload_queue.queue) + list(cur_upload_items.values()) return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)] @dispatcher.add_method -def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]: +def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]: if not isinstance(upload_id, list): upload_id = [upload_id] @@ -437,7 +438,7 @@ def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]] return {"success": 1} @dispatcher.add_method -def setRouteViewed(route: str) -> Dict[str, Union[int, str]]: +def setRouteViewed(route: str) -> dict[str, int | str]: # maintain a list of the last 10 routes viewed in connect params = Params() @@ -452,7 +453,7 @@ def setRouteViewed(route: str) -> Dict[str, Union[int, str]]: return {"success": 1} -def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: +def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]: try: if local_port not in LOCAL_PORT_WHITELIST: raise Exception("Requested local port not whitelisted") @@ -486,7 +487,7 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local @dispatcher.add_method -def getPublicKey() -> Optional[str]: +def getPublicKey() -> str | None: if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'): return None @@ -526,7 +527,7 @@ def getNetworks(): @dispatcher.add_method -def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: +def takeSnapshot() -> str | dict[str, str] | None: from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: @@ -543,7 +544,7 @@ def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: raise Exception("not available while camerad is started") -def get_logs_to_send_sorted() -> List[str]: +def get_logs_to_send_sorted() -> list[str]: # TODO: scan once then use inotify to detect file creation/deletion curr_time = int(time.time()) logs = [] @@ -766,7 +767,7 @@ def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) -def main(exit_event: Optional[threading.Event] = None): +def main(exit_event: threading.Event | None = None): try: set_core_affinity([0, 1, 2, 3]) except Exception: diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 7db94c28c8..6574d9ac20 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -3,7 +3,6 @@ import time import json import jwt from pathlib import Path -from typing import Optional from datetime import datetime, timedelta from openpilot.common.api import api_get @@ -23,12 +22,12 @@ def is_registered_device() -> bool: return dongle not in (None, UNREGISTERED_DONGLE_ID) -def register(show_spinner=False) -> Optional[str]: +def register(show_spinner=False) -> str | None: params = Params() IMEI = params.get("IMEI", encoding='utf8') HardwareSerial = params.get("HardwareSerial", encoding='utf8') - dongle_id: Optional[str] = params.get("DongleId", encoding='utf8') + dongle_id: str | None = params.get("DongleId", encoding='utf8') needs_registration = None in (IMEI, HardwareSerial, dongle_id) pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub") @@ -48,8 +47,8 @@ def register(show_spinner=False) -> Optional[str]: # Block until we get the imei serial = HARDWARE.get_serial() start_time = time.monotonic() - imei1: Optional[str] = None - imei2: Optional[str] = None + imei1: str | None = None + imei2: str | None = None while imei1 is None and imei2 is None: try: imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index d59058d7e2..8d09661f01 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -12,7 +12,6 @@ import unittest from dataclasses import asdict, replace from datetime import datetime, timedelta from parameterized import parameterized -from typing import Optional from unittest import mock from websocket import ABNF @@ -97,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase): break @staticmethod - def _create_file(file: str, parent: Optional[str] = None, data: bytes = b'') -> str: + def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str: fn = os.path.join(Paths.log_root() if parent is None else parent, file) os.makedirs(os.path.dirname(fn), exist_ok=True) with open(fn, 'wb') as f: diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index 7f32f60cb4..f56fcac8b5 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -3,7 +3,7 @@ import subprocess import threading import time import unittest -from typing import cast, Optional +from typing import cast from unittest import mock from openpilot.common.params import Params @@ -29,8 +29,8 @@ class TestAthenadPing(unittest.TestCase): athenad: threading.Thread exit_event: threading.Event - def _get_ping_time(self) -> Optional[str]: - return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8")) + def _get_ping_time(self) -> str | None: + return cast(str | None, self.params.get("LastAthenaPingTime", encoding="utf-8")) def _clear_ping_time(self) -> None: self.params.remove("LastAthenaPingTime") diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index a87613c803..988d1a2409 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -4,7 +4,7 @@ import os import usb1 import time import subprocess -from typing import List, NoReturn +from typing import NoReturn from functools import cmp_to_key from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH @@ -124,7 +124,7 @@ def main() -> NoReturn: cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") # Flash pandas - pandas: List[Panda] = [] + pandas: list[Panda] = [] for serial in panda_serials: pandas.append(flash_panda(serial)) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 8f2c8bd451..7544796b93 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -2,7 +2,6 @@ from collections import namedtuple from dataclasses import dataclass from enum import ReprEnum -from typing import Dict, List, Optional, Union import capnp @@ -27,9 +26,9 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float: return val_steady -def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], - unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]: - events: List[capnp.lib.capnp._DynamicStructBuilder] = [] +def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule], + unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]: + events: list[capnp.lib.capnp._DynamicStructBuilder] = [] if cur_btn == prev_btn: return events @@ -76,7 +75,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor return tire_stiffness_front, tire_stiffness_rear -DbcDict = Dict[str, str] +DbcDict = dict[str, str] def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict: @@ -214,7 +213,7 @@ def get_safety_config(safety_model, safety_param = None): class CanBusBase: offset: int - def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None: + def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None: if CP is None: assert fingerprint is not None num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1 @@ -244,7 +243,7 @@ class CanSignalRateCalculator: return self.rate -CarInfos = Union[CarInfo, List[CarInfo]] +CarInfos = CarInfo | list[CarInfo] @dataclass @@ -260,7 +259,7 @@ class PlatformConfig: car_info: CarInfos dbc_dict: DbcDict - specs: Optional[CarSpecs] = None + specs: CarSpecs | None = None def __hash__(self) -> int: return hash(self.platform_str) @@ -276,9 +275,9 @@ class Platforms(str, ReprEnum): return member @classmethod - def create_dbc_map(cls) -> Dict[str, DbcDict]: + def create_dbc_map(cls) -> dict[str, DbcDict]: return {p: p.config.dbc_dict for p in cls} @classmethod - def create_carinfo_map(cls) -> Dict[str, CarInfos]: + def create_carinfo_map(cls) -> dict[str, CarInfos]: return {p: p.config.car_info for p in cls} diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 95028e10c5..fe4c0e885c 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -1,6 +1,6 @@ import os import time -from typing import Callable, Dict, List, Optional, Tuple +from collections.abc import Callable from cereal import car from openpilot.common.params import Params @@ -63,7 +63,7 @@ def load_interfaces(brand_names): return ret -def _get_interface_names() -> Dict[str, List[str]]: +def _get_interface_names() -> dict[str, list[str]]: # returns a dict of brand name and its respective models brand_names = {} for brand_name, brand_models in get_interface_attr("CAR").items(): @@ -77,7 +77,7 @@ interface_names = _get_interface_names() interfaces = load_interfaces(interface_names) -def can_fingerprint(next_can: Callable) -> Tuple[Optional[str], Dict[int, dict]]: +def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]: finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 frame = 0 diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 94ff1f1d0f..a7eec8fe5a 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,6 +1,5 @@ from enum import IntFlag, StrEnum from dataclasses import dataclass, field -from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds @@ -66,7 +65,7 @@ class ChryslerCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca])) -CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { +CAR_INFO: dict[str, ChryslerCarInfo | list[ChryslerCarInfo] | None] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 8475a69d8a..caa79a8f87 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -5,7 +5,6 @@ import jinja2 import os from enum import Enum from natsort import natsorted -from typing import Dict, List from cereal import car from openpilot.common.basedir import BASEDIR @@ -14,7 +13,7 @@ from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFoot from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr -def get_all_footnotes() -> Dict[Enum, int]: +def get_all_footnotes() -> dict[Enum, int]: all_footnotes = list(CommonFootnote) for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): all_footnotes.extend(footnotes) @@ -25,8 +24,8 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md") CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") -def get_all_car_info() -> List[CarInfo]: - all_car_info: List[CarInfo] = [] +def get_all_car_info() -> list[CarInfo]: + all_car_info: list[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): # If available, uses experimental longitudinal limits for the docs @@ -47,19 +46,19 @@ def get_all_car_info() -> List[CarInfo]: all_car_info.append(_car_info) # Sort cars by make and model + year - sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower()) + sorted_cars: list[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower()) return sorted_cars -def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]: +def group_by_make(all_car_info: list[CarInfo]) -> dict[str, list[CarInfo]]: sorted_car_info = defaultdict(list) for car_info in all_car_info: sorted_car_info[car_info.make].append(car_info) return dict(sorted_car_info) -def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: - with open(template_fn, "r") as f: +def generate_cars_md(all_car_info: list[CarInfo], template_fn: str) -> str: + with open(template_fn) as f: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) footnotes = [fn.value.text for fn in get_all_footnotes()] diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index f2ce743607..03ed1f32cb 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -3,7 +3,6 @@ from collections import namedtuple import copy from dataclasses import dataclass, field from enum import Enum -from typing import Dict, List, Optional, Tuple, Union from cereal import car from openpilot.common.conversions import Conversions as CV @@ -35,7 +34,7 @@ class Star(Enum): @dataclass class BasePart: name: str - parts: List[Enum] = field(default_factory=list) + parts: list[Enum] = field(default_factory=list) def all_parts(self): # Recursively get all parts @@ -76,7 +75,7 @@ class Accessory(EnumBase): @dataclass class BaseCarHarness(BasePart): - parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft]) + parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft]) has_connector: bool = True # without are hidden on the harness connector page @@ -149,18 +148,18 @@ class PartType(Enum): tool = Tool -DEFAULT_CAR_PARTS: List[EnumBase] = [Device.threex] +DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex] @dataclass class CarParts: - parts: List[EnumBase] = field(default_factory=list) + parts: list[EnumBase] = field(default_factory=list) def __call__(self): return copy.deepcopy(self) @classmethod - def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None): + def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None): p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] return cls(p) @@ -186,7 +185,7 @@ class CommonFootnote(Enum): Column.LONGITUDINAL) -def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: +def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]: # Returns applicable footnotes given current column return [fn for fn in footnotes if fn.value.column == column] @@ -209,7 +208,7 @@ def get_year_list(years): return years_list -def split_name(name: str) -> Tuple[str, str, str]: +def split_name(name: str) -> tuple[str, str, str]: make, model = name.split(" ", 1) years = "" match = re.search(MODEL_YEARS_RE, model) @@ -233,13 +232,13 @@ class CarInfo: # the minimum compatibility requirements for this model, regardless # of market. can be a package, trim, or list of features - requirements: Optional[str] = None + requirements: str | None = None - video_link: Optional[str] = None - footnotes: List[Enum] = field(default_factory=list) - min_steer_speed: Optional[float] = None - min_enable_speed: Optional[float] = None - auto_resume: Optional[bool] = None + video_link: str | None = None + footnotes: list[Enum] = field(default_factory=list) + min_steer_speed: float | None = None + min_enable_speed: float | None = None + auto_resume: bool | None = None # all the parts needed for the supported car car_parts: CarParts = field(default_factory=CarParts) @@ -248,7 +247,7 @@ class CarInfo: self.make, self.model, self.years = split_name(self.name) self.year_list = get_year_list(self.years) - def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): + def init(self, CP: car.CarParams, all_footnotes: dict[Enum, int]): self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint @@ -293,7 +292,7 @@ class CarInfo: if len(tools_docs): hardware_col += f'
Tools{display_func(tools_docs)}
' - self.row: Dict[Enum, Union[str, Star]] = { + self.row: dict[Enum, str | Star] = { Column.MAKE: self.make, Column.MODEL: self.model, Column.PACKAGE: self.package, @@ -352,7 +351,7 @@ class CarInfo: raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}") def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str: - item: Union[str, Star] = self.row[column] + item: str | Star = self.row[column] if isinstance(item, Star): item = star_icon.format(item.value) elif column == Column.MODEL and len(self.years): diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 13f7926def..6d6fa333a5 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import capnp import time -from typing import Optional, Set import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE @@ -20,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None): return make_can_msg(addr, bytes(dat), bus) -def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: Optional[int] = None) -> bool: +def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int | None = None) -> bool: # ISO-TP messages are always padded to 8 bytes # tester present response is always a single frame dat_offset = 1 if subaddr is not None else 0 @@ -34,16 +33,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd return False -def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]: +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]: addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] - queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} + queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} responses = queries return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) -def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType], - responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]: - ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: set[EcuAddrBusType], + responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]: + ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index dff29629f6..fb5d07f4bf 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import unittest from parameterized import parameterized -from typing import Dict, Iterable, Optional, Tuple +from collections.abc import Iterable import capnp @@ -50,7 +50,7 @@ class TestFordFW(unittest.TestCase): self.assertIsNone(subaddr, "Unexpected ECU subaddress") @parameterized.expand(FW_VERSIONS.items()) - def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]): + def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]): for (ecu, addr, subaddr), fws in fw_versions.items(): self.assertIn(ecu, ECU_FW_CORE, "Unexpected ECU") self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch") diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 8704a7b724..3ad39d715f 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,7 +1,6 @@ from collections import defaultdict from dataclasses import dataclass from enum import Enum, StrEnum -from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import AngleRateLimit, dbc_dict @@ -59,7 +58,7 @@ class RADAR: DELPHI_MRR = 'FORD_CADS' -DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) +DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) # F-150 radar is not yet supported DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None) @@ -87,7 +86,7 @@ class FordCarInfo(CarInfo): self.car_parts = CarParts([Device.threex, harness]) -CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { +CAR_INFO: dict[str, CarInfo | list[CarInfo]] = { CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), CAR.ESCAPE_MK4: [ FordCarInfo("Ford Escape 2020-22"), diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 36e6794d2c..80492b4177 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -3,16 +3,16 @@ import capnp import copy from dataclasses import dataclass, field import struct -from typing import Callable, Dict, List, Optional, Set, Tuple +from collections.abc import Callable import panda.python.uds as uds -AddrType = Tuple[int, Optional[int]] -EcuAddrBusType = Tuple[int, Optional[int], int] -EcuAddrSubAddr = Tuple[int, int, Optional[int]] +AddrType = tuple[int, int | None] +EcuAddrBusType = tuple[int, int | None, int] +EcuAddrSubAddr = tuple[int, int, int | None] -LiveFwVersions = Dict[AddrType, Set[bytes]] -OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]] +LiveFwVersions = dict[AddrType, set[bytes]] +OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]] # A global list of addresses we will only ever consider for VIN responses # engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI @@ -71,9 +71,9 @@ class StdQueries: @dataclass class Request: - request: List[bytes] - response: List[bytes] - whitelist_ecus: List[int] = field(default_factory=list) + request: list[bytes] + response: list[bytes] + whitelist_ecus: list[int] = field(default_factory=list) rx_offset: int = 0x8 bus: int = 1 # Whether this query should be run on the first auxiliary panda (CAN FD cars for example) @@ -86,15 +86,15 @@ class Request: @dataclass class FwQueryConfig: - requests: List[Request] + requests: list[Request] # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus # Overrides and removes from essential ecus for specific models and ecus (exact matching) - non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) + non_essential_ecus: dict[capnp.lib.capnp._EnumModule, list[str]] = field(default_factory=dict) # Ecus added for data collection, not to be fingerprinted on - extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + extra_ecus: list[tuple[capnp.lib.capnp._EnumModule, int, int | None]] = field(default_factory=list) # Function a brand can implement to provide better fuzzy matching. Takes in FW versions, # returns set of candidates. Only will match if one candidate is returned - match_fw_to_car_fuzzy: Optional[Callable[[LiveFwVersions, OfflineFwVersions], Set[str]]] = None + match_fw_to_car_fuzzy: Callable[[LiveFwVersions, OfflineFwVersions], set[str]] | None = None def __post_init__(self): for i in range(len(self.requests)): diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 6c02e69503..1cf4cecd3e 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, DefaultDict, Dict, Iterator, List, Optional, Set, TypeVar +from typing import Any, TypeVar +from collections.abc import Iterator from tqdm import tqdm import capnp @@ -27,19 +28,19 @@ REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for T = TypeVar('T') -def chunks(l: List[T], n: int = 128) -> Iterator[List[T]]: +def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]: for i in range(0, len(l), n): yield l[i:i + n] -def is_brand(brand: str, filter_brand: Optional[str]) -> bool: +def is_brand(brand: str, filter_brand: str | None) -> bool: """Returns if brand matches filter_brand or no brand filter is specified""" return filter_brand is None or brand == filter_brand -def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], - filter_brand: Optional[str] = None) -> Dict[AddrType, Set[bytes]]: - fw_versions_dict: DefaultDict[AddrType, Set[bytes]] = defaultdict(set) +def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], + filter_brand: str | None = None) -> dict[AddrType, set[bytes]]: + fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set) for fw in fw_versions: if is_brand(fw.brand, filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None @@ -97,7 +98,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= return set() -def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> Set[str]: +def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it @@ -164,11 +165,11 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): return True, set() -def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: +def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]: params = Params() # queries are split by OBD multiplexing mode - queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []} - parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} + queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []} + parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []} responses = set() for brand, config, r in REQUESTS: @@ -203,7 +204,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: return ecu_responses -def get_brand_ecu_matches(ecu_rx_addrs: Set[EcuAddrBusType]) -> dict[str, set[AddrType]]: +def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, set[AddrType]]: """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = {brand: {(addr, subaddr) for _, addr, subaddr in config.get_all_ecus(VERSIONS[brand])} for @@ -231,7 +232,7 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool): def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ - List[capnp.lib.capnp._DynamicStructBuilder]: + list[capnp.lib.capnp._DynamicStructBuilder]: """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] @@ -254,7 +255,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ - List[capnp.lib.capnp._DynamicStructBuilder]: + list[capnp.lib.capnp._DynamicStructBuilder]: versions = VERSIONS.copy() params = Params() diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 8188ad4e6e..5c4d572fdb 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,7 +1,6 @@ from collections import defaultdict from dataclasses import dataclass from enum import Enum, StrEnum -from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import dbc_dict @@ -98,7 +97,7 @@ class GMCarInfo(CarInfo): self.footnotes.append(Footnote.OBD_II) -CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { +CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = { CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"), CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), @@ -181,7 +180,7 @@ FW_QUERY_CONFIG = FwQueryConfig( extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], ) -DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) +DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 517d2550a4..a2ef757d15 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1,6 +1,5 @@ from dataclasses import dataclass from enum import Enum, IntFlag, StrEnum -from typing import Dict, List, Optional, Union from cereal import car from openpilot.common.conversions import Conversions as CV @@ -116,7 +115,7 @@ class HondaCarInfo(CarInfo): self.car_parts = CarParts.common([CarHarness.nidec]) -CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { +CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = { CAR.ACCORD: [ HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 20fc29897d..76ff0b39ce 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,7 +1,6 @@ import re from dataclasses import dataclass from enum import Enum, IntFlag, StrEnum -from typing import Dict, List, Optional, Set, Tuple, Union from cereal import car from panda.python import uds @@ -157,7 +156,7 @@ class HyundaiCarInfo(CarInfo): self.footnotes.insert(0, Footnote.CANFD) -CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { +CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = { CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.AZERA_HEV_6TH_GEN: [ HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), @@ -316,7 +315,7 @@ class Buttons: CANCEL = 4 # on newer models, this is a pause/resume button -def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]: +def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]: # Returns unique, platform-specific identification codes for a set of versions codes = set() # (code-Optional[part], date) for fw in fw_versions: @@ -335,12 +334,12 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by return codes -def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]: # Non-electric CAN FD platforms often do not have platform code specifiers needed # to distinguish between hybrid and ICE. All EVs so far are either exclusively # electric or specify electric in the platform code. fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)} - candidates: Set[str] = set() + candidates: set[str] = set() for candidate, fws in offline_fw_versions.items(): # Keep track of ECUs which pass all checks (platform codes, within date range) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 2b0b148ccf..05610a6dd6 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -4,7 +4,8 @@ import numpy as np import tomllib from abc import abstractmethod, ABC from enum import StrEnum -from typing import Any, Dict, Optional, Tuple, List, Callable, NamedTuple, cast +from typing import Any, NamedTuple, cast +from collections.abc import Callable from cereal import car from openpilot.common.basedir import BASEDIR @@ -107,7 +108,7 @@ class CarInterfaceBase(ABC): return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) @classmethod - def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): + def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) if hasattr(candidate, "config"): @@ -131,8 +132,8 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], - car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): + def _get_params(ret: car.CarParams, candidate: str, fingerprint: dict[int, dict[int, int]], + car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError @staticmethod @@ -212,7 +213,7 @@ class CarInterfaceBase(ABC): def _update(self, c: car.CarControl) -> car.CarState: pass - def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState: + def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState: # parse can for cp in self.can_parsers: if cp is not None: @@ -246,7 +247,7 @@ class CarInterfaceBase(ABC): return reader @abstractmethod - def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]: + def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[bytes]]: pass def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True, @@ -417,11 +418,11 @@ class CarStateBase(ABC): return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0) @staticmethod - def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter: + def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter: if gear is None: return GearShifter.unknown - d: Dict[str, car.CarState.GearShifter] = { + d: dict[str, car.CarState.GearShifter] = { 'P': GearShifter.park, 'PARK': GearShifter.park, 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, @@ -458,7 +459,7 @@ INTERFACE_ATTR_FILE = { # interface-specific helpers -def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str | StrEnum, Any]: +def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]: # read all the folders in selfdrive/car and return a dict where: # - keys are all the car models or brand names # - values are attr values from all car folders @@ -491,7 +492,7 @@ class NanoFFModel: self.load_weights(platform) def load_weights(self, platform: str): - with open(self.weights_loc, 'r') as fob: + with open(self.weights_loc) as fob: self.weights = {k: np.array(v) for k, v in json.load(fob)[platform].items()} def relu(self, x: np.ndarray): @@ -506,7 +507,7 @@ class NanoFFModel: x = np.dot(x, self.weights['w_4']) + self.weights['b_4'] return x - def predict(self, x: List[float], do_sample: bool = False): + def predict(self, x: list[float], do_sample: bool = False): x = self.forward(np.array(x)) if do_sample: pred = np.random.laplace(x[0], np.exp(x[1]) / self.weights['temperature']) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index b43ab3df66..eaf76d6a72 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -1,6 +1,5 @@ from dataclasses import dataclass, field from enum import StrEnum -from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import dbc_dict @@ -41,7 +40,7 @@ class MazdaCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) -CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { +CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = { CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"), CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index c6c96579b4..e75665c98f 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -1,5 +1,4 @@ from enum import StrEnum -from typing import Dict, List, Optional, Union from openpilot.selfdrive.car.docs_definitions import CarInfo @@ -8,6 +7,6 @@ class CAR(StrEnum): MOCK = 'mock' -CAR_INFO: Dict[str, Optional[Union[CarInfo, List[CarInfo]]]] = { +CAR_INFO: dict[str, CarInfo | list[CarInfo] | None] = { CAR.MOCK: None, } diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index d064ce894d..c0308f9e0d 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,6 +1,5 @@ from dataclasses import dataclass, field from enum import StrEnum -from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds @@ -37,7 +36,7 @@ class NissanCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a])) -CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { +CAR_INFO: dict[str, NissanCarInfo | list[NissanCarInfo] | None] = { CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"), CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index b871a919e3..e496f43628 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -1,6 +1,5 @@ from dataclasses import dataclass, field from enum import Enum, IntFlag -from typing import List from cereal import car from panda.python import uds @@ -81,7 +80,7 @@ class Footnote(Enum): class SubaruCarInfo(CarInfo): package: str = "EyeSight Driver Assistance" car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a])) - footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL]) + footnotes: list[Enum] = field(default_factory=lambda: [Footnote.GLOBAL]) def init_make(self, CP: car.CarParams): self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool]) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 12877f1344..2a51d15da8 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,6 +1,5 @@ from collections import namedtuple from enum import StrEnum -from typing import Dict, List, Union from cereal import car from openpilot.selfdrive.car import AngleRateLimit, dbc_dict @@ -17,7 +16,7 @@ class CAR(StrEnum): AP2_MODELS = 'TESLA AP2 MODEL S' -CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { +CAR_INFO: dict[str, CarInfo | list[CarInfo]] = { CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"), CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index f7ae4e038e..9c14c0d252 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from typing import NamedTuple, Optional +from typing import NamedTuple from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER from openpilot.selfdrive.car.gm.values import CAR as GM @@ -29,8 +29,8 @@ non_tested_cars = [ class CarTestRoute(NamedTuple): route: str - car_model: Optional[str] - segment: Optional[int] = None + car_model: str | None + segment: int | None = None routes = [ diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index d9d67fe87d..0cafb508f7 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -20,7 +20,7 @@ class TestCarDocs(unittest.TestCase): def test_generator(self): generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) - with open(CARS_MD_OUT, "r") as f: + with open(CARS_MD_OUT) as f: current_cars_md = f.read() self.assertEqual(generated_cars_md, current_cars_md, @@ -45,7 +45,7 @@ class TestCarDocs(unittest.TestCase): all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys() for platform in sorted(interfaces.keys()): with self.subTest(platform=platform): - self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform)) + self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't exist in CarInfo") def test_naming_conventions(self): # Asserts market-standard car naming conventions by brand diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py index 61e9a4d165..34f30bc703 100755 --- a/selfdrive/car/tests/test_fingerprints.py +++ b/selfdrive/car/tests/test_fingerprints.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import os import sys -from typing import Dict, List from openpilot.common.basedir import BASEDIR @@ -64,7 +63,7 @@ def check_can_ignition_conflicts(fingerprints, brands): if __name__ == "__main__": fingerprints = _get_fingerprints() - fingerprints_flat: List[Dict] = [] + fingerprints_flat: list[dict] = [] car_names = [] brand_names = [] for brand in fingerprints: diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 10e24ff4c5..083cdd5a5e 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -3,7 +3,6 @@ from collections import defaultdict import importlib from parameterized import parameterized_class import sys -from typing import DefaultDict, Dict import unittest from openpilot.common.realtime import DT_CTRL @@ -29,7 +28,7 @@ ABOVE_LIMITS_CARS = [ SUBARU.OUTBACK, ] -car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) +car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) @parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)]) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ec7527713d..2b29c14f72 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -8,7 +8,6 @@ import unittest from collections import defaultdict, Counter import hypothesis.strategies as st from hypothesis import Phase, given, settings -from typing import List, Optional, Tuple from parameterized import parameterized_class from cereal import messaging, log, car @@ -40,7 +39,7 @@ MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300")) CI = os.environ.get("CI", None) is not None -def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: +def get_test_cases() -> list[tuple[str, CarTestRoute | None]]: # build list of test cases test_cases = [] if not len(INTERNAL_SEG_LIST): @@ -65,14 +64,14 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: @pytest.mark.slow @pytest.mark.shared_download_cache class TestCarModelBase(unittest.TestCase): - car_model: Optional[str] = None - test_route: Optional[CarTestRoute] = None + car_model: str | None = None + test_route: CarTestRoute | None = None test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket - can_msgs: List[capnp.lib.capnp._DynamicStructReader] + can_msgs: list[capnp.lib.capnp._DynamicStructReader] fingerprint: dict[int, dict[int, int]] - elm_frame: Optional[int] - car_safety_mode_frame: Optional[int] + elm_frame: int | None + car_safety_mode_frame: int | None @classmethod def get_testing_data_from_logreader(cls, lr): @@ -408,7 +407,7 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() - checks = defaultdict(lambda: 0) + checks = defaultdict(int) controlsd = Controls(CI=self.CI) controlsd.initialized = True for idx, can in enumerate(self.can_msgs): diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ed2b022f43..011d153f70 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -2,7 +2,6 @@ import re from collections import defaultdict from dataclasses import dataclass, field from enum import Enum, IntFlag, StrEnum -from typing import Dict, List, Set, Union from cereal import car from openpilot.common.conversions import Conversions as CV @@ -100,7 +99,7 @@ class ToyotaCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a])) -CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { +CAR_INFO: dict[str, ToyotaCarInfo | list[ToyotaCarInfo]] = { # Toyota CAR.ALPHARD_TSS2: [ ToyotaCarInfo("Toyota Alphard 2019-20"), @@ -253,7 +252,7 @@ STATIC_DSU_MSGS = [ ] -def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]: +def get_platform_codes(fw_versions: list[bytes]) -> dict[bytes, set[bytes]]: # Returns sub versions in a dict so comparisons can be made within part-platform-major_version combos codes = defaultdict(set) # Optional[part]-platform-major_version: set of sub_version for fw in fw_versions: @@ -297,7 +296,7 @@ def get_platform_codes(fw_versions: List[bytes]) -> Dict[bytes, Set[bytes]]: return dict(codes) -def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> Set[str]: +def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]: candidates = set() for candidate, fws in offline_fw_versions.items(): diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index b09cbc5d8a..e49b9850be 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,7 +1,6 @@ from collections import defaultdict, namedtuple from dataclasses import dataclass, field from enum import Enum, IntFlag, StrEnum -from typing import Dict, List, Union from cereal import car from panda.python import uds @@ -151,7 +150,7 @@ class CAR(StrEnum): PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} -DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None)) +DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None)) for car_type in PQ_CARS: DBC[car_type] = dbc_dict("vw_golf_mk4", None) @@ -191,7 +190,7 @@ class VWCarInfo(CarInfo): self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533]) -CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { +CAR_INFO: dict[str, VWCarInfo | list[VWCarInfo]] = { CAR.ARTEON_MK1: [ VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index 6abcf4cbba..8034c8ebbc 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -3,7 +3,6 @@ import os import json from collections import defaultdict from dataclasses import dataclass -from typing import List, Dict, Optional from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params @@ -14,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a OFFROAD_ALERTS = json.load(f) -def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None: +def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None: if show_alert: a = copy.copy(OFFROAD_ALERTS[alert]) a['extra'] = extra_text or '' @@ -25,7 +24,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = @dataclass class AlertEntry: - alert: Optional[Alert] = None + alert: Alert | None = None start_frame: int = -1 end_frame: int = -1 @@ -34,9 +33,9 @@ class AlertEntry: class AlertManager: def __init__(self): - self.alerts: Dict[str, AlertEntry] = defaultdict(AlertEntry) + self.alerts: dict[str, AlertEntry] = defaultdict(AlertEntry) - def add_many(self, frame: int, alerts: List[Alert]) -> None: + def add_many(self, frame: int, alerts: list[Alert]) -> None: for alert in alerts: entry = self.alerts[alert.alert_type] entry.alert = alert @@ -45,7 +44,7 @@ class AlertManager: min_end_frame = entry.start_frame + alert.duration entry.end_frame = max(frame + 1, min_end_frame) - def process_alerts(self, frame: int, clear_event_types: set) -> Optional[Alert]: + def process_alerts(self, frame: int, clear_event_types: set) -> Alert | None: current_alert = AlertEntry() for v in self.alerts.values(): if not v.alert: diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index d68c95bcf5..c5228ef7f2 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -2,7 +2,7 @@ import math import os from enum import IntEnum -from typing import Dict, Union, Callable, List, Optional +from collections.abc import Callable from cereal import log, car import cereal.messaging as messaging @@ -48,12 +48,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} class Events: def __init__(self): - self.events: List[int] = [] - self.static_events: List[int] = [] + self.events: list[int] = [] + self.static_events: list[int] = [] self.events_prev = dict.fromkeys(EVENTS.keys(), 0) @property - def names(self) -> List[int]: + def names(self) -> list[int]: return self.events def __len__(self) -> int: @@ -71,7 +71,7 @@ class Events: def contains(self, event_type: str) -> bool: return any(event_type in EVENTS.get(e, {}) for e in self.events) - def create_alerts(self, event_types: List[str], callback_args=None): + def create_alerts(self, event_types: list[str], callback_args=None): if callback_args is None: callback_args = [] @@ -132,7 +132,7 @@ class Alert: self.creation_delay = creation_delay self.alert_type = "" - self.event_type: Optional[str] = None + self.event_type: str | None = None def __str__(self) -> str: return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}" @@ -333,7 +333,7 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, -EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { +EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** EventName.stockFcw: {}, @@ -965,7 +965,7 @@ if __name__ == '__main__': from collections import defaultdict event_names = {v: k for k, v in EventName.schema.enumerants.items()} - alerts_by_type: Dict[str, Dict[Priority, List[str]]] = defaultdict(lambda: defaultdict(list)) + alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list)) CP = car.CarParams.new_message() CS = car.CarState.new_message() @@ -977,7 +977,7 @@ if __name__ == '__main__': alert = alert(CP, CS, sm, False, 1) alerts_by_type[et][alert.priority].append(event_names[i]) - all_alerts: Dict[str, List[tuple[Priority, List[str]]]] = {} + all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {} for et, priority_alerts in alerts_by_type.items(): all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True) diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py index 0750384918..b6f50b4ba8 100755 --- a/selfdrive/controls/lib/vehicle_model.py +++ b/selfdrive/controls/lib/vehicle_model.py @@ -12,7 +12,6 @@ x_dot = A*x + B*u A depends on longitudinal speed, u [m/s], and vehicle parameters CP """ -from typing import Tuple import numpy as np from numpy.linalg import solve @@ -169,7 +168,7 @@ def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray: return K * sa -def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]: +def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]: """Returns the A and B matrix for the dynamics system Args: diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index b0b9350dec..4de4208e9d 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -2,7 +2,7 @@ import importlib import math from collections import deque -from typing import Optional, Dict, Any +from typing import Any, Optional import capnp from cereal import messaging, log, car @@ -125,7 +125,7 @@ def laplacian_pdf(x: float, mu: float, b: float): return math.exp(-abs(x-mu)/b) -def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: Dict[int, Track]): +def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]): offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA def prob(c): @@ -166,8 +166,8 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa } -def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader, - model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]: +def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader, + model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]: # Determine leads, this is where the essential logic happens if len(tracks) > 0 and ready and lead_msg.prob > .5: track = match_vision_to_track(v_ego, lead_msg, tracks) @@ -196,14 +196,14 @@ class RadarD: def __init__(self, radar_ts: float, delay: int = 0): self.current_time = 0.0 - self.tracks: Dict[int, Track] = {} + self.tracks: dict[int, Track] = {} self.kalman_params = KalmanParams(radar_ts) self.v_ego = 0.0 self.v_ego_hist = deque([0.0], maxlen=delay+1) self.last_v_ego_frame = -1 - self.radar_state: Optional[capnp._DynamicStructBuilder] = None + self.radar_state: capnp._DynamicStructBuilder | None = None self.radar_state_valid = False self.ready = False diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index 810e45cfc6..97d60b2b05 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -3,7 +3,6 @@ import argparse import binascii import time from collections import defaultdict -from typing import Optional import cereal.messaging as messaging from openpilot.selfdrive.debug.can_table import can_table @@ -96,8 +95,8 @@ if __name__ == "__main__": args = parser.parse_args() - init_lr: Optional[LogIterable] = None - new_lr: Optional[LogIterable] = None + init_lr: LogIterable | None = None + new_lr: LogIterable | None = None if args.init: if args.init == '': diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index 7e7b05e950..1765aeb86b 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -3,7 +3,7 @@ import argparse import numpy as np import time from collections import defaultdict, deque -from typing import DefaultDict, Deque, MutableSequence +from collections.abc import MutableSequence import cereal.messaging as messaging @@ -19,8 +19,8 @@ if __name__ == "__main__": socket_names = args.socket sockets = {} - rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) - valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) + rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) + valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100)) t = time.monotonic() for name in socket_names: diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py index 72d11d6eda..341ae79c8b 100755 --- a/selfdrive/debug/check_lag.py +++ b/selfdrive/debug/check_lag.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -from typing import Dict import cereal.messaging as messaging from cereal.services import SERVICE_LIST @@ -10,7 +9,7 @@ TO_CHECK = ['carState'] if __name__ == "__main__": sm = messaging.SubMaster(TO_CHECK) - prev_t: Dict[str, float] = {} + prev_t: dict[str, float] = {} while True: sm.update() diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index fb8467a3c4..3de6b8eb66 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -3,13 +3,13 @@ import sys import time import numpy as np -from typing import DefaultDict, MutableSequence +from collections.abc import MutableSequence from collections import defaultdict, deque import cereal.messaging as messaging socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} -ts: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) +ts: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) if __name__ == "__main__": while True: diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 30e9bf8ec5..5942054757 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -4,7 +4,7 @@ import math import datetime from collections import Counter from pprint import pprint -from typing import List, Tuple, cast +from typing import cast from cereal.services import SERVICE_LIST from openpilot.tools.lib.logreader import LogReader, ReadMode @@ -15,8 +15,8 @@ if __name__ == "__main__": cams = [s for s in SERVICE_LIST if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) - events: List[Tuple[float, set[str]]] = [] - alerts: List[Tuple[float, str]] = [] + events: list[tuple[float, set[str]]] = [] + alerts: list[tuple[float, str]] = [] start_time = math.inf end_time = -math.inf ignition_off = None diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 9050fbb064..ec9d02e8f4 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -66,12 +66,12 @@ if __name__ == "__main__": for p in psutil.process_iter(): if p == psutil.Process(): continue - matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(r'.*{}.*'.format(pn), l, re.M | re.I))) + matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I))) if matched: k = ' '.join(p.cmdline()) print('Add monitored proc:', k) stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None), - 'avg': defaultdict(lambda: 0.0), 'last_cpu_times': None, 'last_sys_time': None} + 'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None} stats[k]['last_sys_time'] = timer() stats[k]['last_cpu_times'] = p.cpu_times() monitored_procs.append(p) diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py index bd5822729a..2a5e4e6080 100755 --- a/selfdrive/debug/format_fingerprints.py +++ b/selfdrive/debug/format_fingerprints.py @@ -67,7 +67,7 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup extra_fw_versions = extra_fw_versions or {} fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py") - with open(fingerprints_file, "r") as f: + with open(fingerprints_file) as f: comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] with open(fingerprints_file, "w") as f: diff --git a/selfdrive/debug/internal/measure_modeld_packet_drop.py b/selfdrive/debug/internal/measure_modeld_packet_drop.py index 6b7f7dbd13..9814942ce2 100755 --- a/selfdrive/debug/internal/measure_modeld_packet_drop.py +++ b/selfdrive/debug/internal/measure_modeld_packet_drop.py @@ -1,12 +1,11 @@ #!/usr/bin/env python3 import cereal.messaging as messaging -from typing import Optional if __name__ == "__main__": modeld_sock = messaging.sub_sock("modelV2") last_frame_id = None - start_t: Optional[int] = None + start_t: int | None = None frame_cnt = 0 dropped = 0 diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py index 06f1be0b00..8549b92665 100755 --- a/selfdrive/debug/live_cpu_and_temp.py +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -5,7 +5,6 @@ from collections import defaultdict from cereal.messaging import SubMaster from openpilot.common.numpy_fast import mean -from typing import Optional, Dict def cputime_total(ct): return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq @@ -42,8 +41,8 @@ if __name__ == "__main__": total_times = [0.]*8 busy_times = [0.]*8 - prev_proclog: Optional[capnp._DynamicStructReader] = None - prev_proclog_t: Optional[int] = None + prev_proclog: capnp._DynamicStructReader | None = None + prev_proclog_t: int | None = None while True: sm.update() @@ -76,7 +75,7 @@ if __name__ == "__main__": print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C") if args.cpu and prev_proclog is not None and prev_proclog_t is not None: - procs: Dict[str, float] = defaultdict(float) + procs: dict[str, float] = defaultdict(float) dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9 for proc in m.procs: try: diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index da1c4ec37b..1456bf16f5 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -10,7 +10,7 @@ import gc import os import capnp import numpy as np -from typing import List, NoReturn, Optional +from typing import NoReturn from cereal import log import cereal.messaging as messaging @@ -89,7 +89,7 @@ class Calibrator: valid_blocks: int = 0, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, height_init: np.ndarray = HEIGHT_INIT, - smooth_from: Optional[np.ndarray] = None) -> None: + smooth_from: np.ndarray | None = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: @@ -125,7 +125,7 @@ class Calibrator: self.old_rpy = smooth_from self.old_rpy_weight = 1.0 - def get_valid_idxs(self) -> List[int]: + def get_valid_idxs(self) -> list[int]: # exclude current block_idx from validity window before_current = list(range(self.block_idx)) after_current = list(range(min(self.valid_blocks, self.block_idx + 1), self.valid_blocks)) @@ -175,12 +175,12 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], - rot: List[float], - wide_from_device_euler: List[float], - trans_std: List[float], - road_transform_trans: List[float], - road_transform_trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: list[float], + rot: list[float], + wide_from_device_euler: list[float], + trans_std: list[float], + road_transform_trans: list[float], + road_transform_trans_std: list[float]) -> np.ndarray | None: self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index c292e9886c..c273ba87b3 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -1,5 +1,5 @@ import numpy as np -from typing import List, Optional, Tuple, Any +from typing import Any from cereal import log @@ -12,7 +12,7 @@ class NPQueue: def __len__(self) -> int: return len(self.arr) - def append(self, pt: List[float]) -> None: + def append(self, pt: list[float]) -> None: if len(self.arr) < self.maxlen: self.arr = np.append(self.arr, [pt], axis=0) else: @@ -21,7 +21,7 @@ class NPQueue: class PointBuckets: - def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None: + def __init__(self, x_bounds: list[tuple[float, float]], min_points: list[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None: self.x_bounds = x_bounds self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds} self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True)) @@ -41,13 +41,13 @@ class PointBuckets: def add_point(self, x: float, y: float, bucket_val: float) -> None: raise NotImplementedError - def get_points(self, num_points: Optional[int] = None) -> Any: + def get_points(self, num_points: int | None = None) -> Any: points = np.vstack([x.arr for x in self.buckets.values()]) if num_points is None: return points return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)] - def load_points(self, points: List[List[float]]) -> None: + def load_points(self, points: list[list[float]]) -> None: for point in points: self.add_point(*point) diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 9230cb48f0..1f3e447a19 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import math import sys -from typing import Any, Dict +from typing import Any import numpy as np @@ -70,7 +70,7 @@ class CarKalman(KalmanFilter): ]) P_initial = Q.copy() - obs_noise: Dict[int, Any] = { + obs_noise: dict[int, Any] = { ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2), ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2), ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2), diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index f2758cf32b..067e1b5a1e 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -2,7 +2,6 @@ import os import subprocess from pathlib import Path -from typing import List # NOTE: Do NOT import anything here that needs be built (e.g. params) from openpilot.common.basedir import BASEDIR @@ -29,7 +28,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None: # building with all cores can result in using too # much memory, so retry with less parallelism - compile_output: List[bytes] = [] + compile_output: list[bytes] = [] for n in (nproc, nproc/2, 1): compile_output.clear() scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", *extra_args], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index bf1eeb8fd0..24dceaaf08 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -4,7 +4,6 @@ import os import signal import sys import traceback -from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging @@ -33,7 +32,7 @@ def manager_init() -> None: if is_release_branch(): params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) - default_params: List[Tuple[str, Union[str, bytes]]] = [ + default_params: list[tuple[str, str | bytes]] = [ ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "0"), ("GsmMetered", "1"), @@ -121,7 +120,7 @@ def manager_thread() -> None: params = Params() - ignore: List[str] = [] + ignore: list[str] = [] if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID): ignore += ["manage_athenad", "uploader"] if os.getenv("NOBOARD") is not None: @@ -154,7 +153,7 @@ def manager_thread() -> None: ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) - running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) + running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) for p in managed_processes.values() if p.proc) print(running) cloudlog.debug(running) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index ac1b4ac68c..46fb68f89c 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -4,7 +4,7 @@ import signal import struct import time import subprocess -from typing import Optional, Callable, List, ValuesView +from collections.abc import Callable, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process @@ -47,7 +47,7 @@ def launcher(proc: str, name: str) -> None: raise -def nativelauncher(pargs: List[str], cwd: str, name: str) -> None: +def nativelauncher(pargs: list[str], cwd: str, name: str) -> None: os.environ['MANAGER_DAEMON'] = name # exec the process @@ -67,12 +67,12 @@ class ManagerProcess(ABC): daemon = False sigkill = False should_run: Callable[[bool, Params, car.CarParams], bool] - proc: Optional[Process] = None + proc: Process | None = None enabled = True name = "" last_watchdog_time = 0 - watchdog_max_dt: Optional[int] = None + watchdog_max_dt: int | None = None watchdog_seen = False shutting_down = False @@ -109,7 +109,7 @@ class ManagerProcess(ABC): else: self.watchdog_seen = True - def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]: + def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None: if self.proc is None: return None @@ -274,7 +274,7 @@ class DaemonProcess(ManagerProcess): def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, - not_run: Optional[List[str]]=None) -> List[ManagerProcess]: + not_run: list[str] | None=None) -> list[ManagerProcess]: if not_run is None: not_run = [] diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 1e25964702..ef403b44fc 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -6,7 +6,6 @@ import time import ctypes import numpy as np from pathlib import Path -from typing import Tuple, Dict from cereal import messaging from cereal.messaging import PubMaster, SubMaster @@ -53,7 +52,7 @@ class DMonitoringModelResult(ctypes.Structure): ("wheel_on_right_prob", ctypes.c_float)] class ModelState: - inputs: Dict[str, np.ndarray] + inputs: dict[str, np.ndarray] output: np.ndarray model: ModelRunner @@ -68,7 +67,7 @@ class ModelState: self.model.addInput("input_img", None) self.model.addInput("calib", self.inputs['calib']) - def run(self, buf:VisionBuf, calib:np.ndarray) -> Tuple[np.ndarray, float]: + def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]: self.inputs['calib'][:] = calib v_offset = buf.height - MODEL_HEIGHT diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index c76966867a..c39ec2da3d 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -1,7 +1,6 @@ import os import capnp import numpy as np -from typing import Dict from cereal import log from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta @@ -42,7 +41,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std if a_std is not None: builder.aStd = a_std.tolist() -def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState, +def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, nav_enabled: bool, valid: bool) -> None: @@ -174,7 +173,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, if SEND_RAW_PRED: modelV2.rawPredictions = net_output_data['raw_pred'].tobytes() -def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], +def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None: msg.valid = live_calib_seen & (vipc_dropped_frames < 1) cameraOdometry = msg.cameraOdometry diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py index 187f83399b..144860204f 100755 --- a/selfdrive/modeld/get_model_metadata.py +++ b/selfdrive/modeld/get_model_metadata.py @@ -4,9 +4,8 @@ import pathlib import onnx import codecs import pickle -from typing import Tuple -def get_name_and_shape(value_info:onnx.ValueInfoProto) -> Tuple[str, Tuple[int,...]]: +def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) name = value_info.name return name, shape diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index f2842d94b7..e086b8aaf8 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -6,7 +6,6 @@ import numpy as np import cereal.messaging as messaging from cereal import car, log from pathlib import Path -from typing import Dict, Optional from setproctitle import setproctitle from cereal.messaging import PubMaster, SubMaster from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf @@ -45,7 +44,7 @@ class FrameMeta: class ModelState: frame: ModelFrame wide_frame: ModelFrame - inputs: Dict[str, np.ndarray] + inputs: dict[str, np.ndarray] output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse model: ModelRunner @@ -78,14 +77,14 @@ class ModelState: for k,v in self.inputs.items(): self.model.addInput(k, v) - def slice_outputs(self, model_outputs: np.ndarray) -> Dict[str, np.ndarray]: + def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]: parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} if SEND_RAW_PRED: parsed_model_outputs['raw_pred'] = model_outputs.copy() return parsed_model_outputs def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, - inputs: Dict[str, np.ndarray], prepare_only: bool) -> Optional[Dict[str, np.ndarray]]: + inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge inputs['desire'][0] = 0 self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] @@ -276,7 +275,7 @@ def main(demo=False): if prepare_only: cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") - inputs:Dict[str, np.ndarray] = { + inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, 'lateral_control_params': lateral_control_params, diff --git a/selfdrive/modeld/navmodeld.py b/selfdrive/modeld/navmodeld.py index ed0b597dfe..4672734681 100755 --- a/selfdrive/modeld/navmodeld.py +++ b/selfdrive/modeld/navmodeld.py @@ -5,7 +5,6 @@ import time import ctypes import numpy as np from pathlib import Path -from typing import Tuple, Dict from cereal import messaging from cereal.messaging import PubMaster, SubMaster @@ -41,7 +40,7 @@ class NavModelResult(ctypes.Structure): ("features", ctypes.c_float*NAV_FEATURE_LEN)] class ModelState: - inputs: Dict[str, np.ndarray] + inputs: dict[str, np.ndarray] output: np.ndarray model: ModelRunner @@ -52,7 +51,7 @@ class ModelState: self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) self.model.addInput("input_img", None) - def run(self, buf:np.ndarray) -> Tuple[np.ndarray, float]: + def run(self, buf:np.ndarray) -> tuple[np.ndarray, float]: self.inputs['input_img'][:] = buf t1 = time.perf_counter() diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 01cba29d1c..af57e11d03 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -1,5 +1,4 @@ import numpy as np -from typing import Dict from openpilot.selfdrive.modeld.constants import ModelConstants def sigmoid(x): @@ -82,7 +81,7 @@ class Parser: outs[name] = pred_mu_final.reshape(final_shape) outs[name + '_stds'] = pred_std_final.reshape(final_shape) - def parse_outputs(self, outs: Dict[str, np.ndarray]) -> Dict[str, np.ndarray]: + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py index f86bee3878..69b44a5a97 100644 --- a/selfdrive/modeld/runners/onnxmodel.py +++ b/selfdrive/modeld/runners/onnxmodel.py @@ -3,7 +3,7 @@ import itertools import os import sys import numpy as np -from typing import Tuple, Dict, Union, Any +from typing import Any from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel @@ -38,7 +38,7 @@ def create_ort_session(path, fp16_to_fp32): options = ort.SessionOptions() options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL - provider: Union[str, Tuple[str, Dict[Any, Any]]] + provider: str | tuple[str, dict[Any, Any]] if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: provider = 'OpenVINOExecutionProvider' elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index 55c3f88a9a..5b0f5b7e85 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -2,7 +2,7 @@ from __future__ import annotations import json import math -from typing import Any, Dict, List, Optional, Tuple, Union, cast +from typing import Any, cast from openpilot.common.conversions import Conversions from openpilot.common.numpy_fast import clip @@ -22,13 +22,13 @@ class Coordinate: def __init__(self, latitude: float, longitude: float) -> None: self.latitude = latitude self.longitude = longitude - self.annotations: Dict[str, float] = {} + self.annotations: dict[str, float] = {} @classmethod - def from_mapbox_tuple(cls, t: Tuple[float, float]) -> Coordinate: + def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate: return cls(t[1], t[0]) - def as_dict(self) -> Dict[str, float]: + def as_dict(self) -> dict[str, float]: return {'latitude': self.latitude, 'longitude': self.longitude} def __str__(self) -> str: @@ -83,7 +83,7 @@ def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate): return projection.distance_to(p) -def distance_along_geometry(geometry: List[Coordinate], pos: Coordinate) -> float: +def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float: if len(geometry) <= 2: return geometry[0].distance_to(pos) @@ -106,7 +106,7 @@ def distance_along_geometry(geometry: List[Coordinate], pos: Coordinate) -> floa return total_distance_closest -def coordinate_from_param(param: str, params: Optional[Params] = None) -> Optional[Coordinate]: +def coordinate_from_param(param: str, params: Params | None = None) -> Coordinate | None: if params is None: params = Params() @@ -130,7 +130,7 @@ def string_to_direction(direction: str) -> str: return 'none' -def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float: +def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float: unit = cast(str, maxspeed['unit']) speed = cast(float, maxspeed['speed']) return SPEED_CONVERSIONS[unit] * speed @@ -140,7 +140,7 @@ def field_valid(dat: dict, field: str) -> bool: return field in dat and dat[field] is not None -def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> Optional[Dict[str, Any]]: +def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None: if not len(banners): return None diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 94572b82c7..299aa295d7 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -5,7 +5,7 @@ import time from pathlib import Path from collections import defaultdict from datetime import datetime, timezone -from typing import NoReturn, Union, List, Dict +from typing import NoReturn from openpilot.common.params import Params from cereal.messaging import SubMaster @@ -61,7 +61,7 @@ class StatLog: def main() -> NoReturn: dongle_id = Params().get("DongleId", encoding='utf-8') - def get_influxdb_line(measurement: str, value: Union[float, Dict[str, float]], timestamp: datetime, tags: dict) -> str: + def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str: res = f"{measurement}" for k, v in tags.items(): res += f",{k}={str(v)}" @@ -102,7 +102,7 @@ def main() -> NoReturn: idx = 0 last_flush_time = time.monotonic() gauges = {} - samples: Dict[str, List[float]] = defaultdict(list) + samples: dict[str, list[float]] = defaultdict(list) try: while True: started_prev = sm['deviceState'].started diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py index 3f33847b29..f3b0c1a98f 100755 --- a/selfdrive/test/ciui.py +++ b/selfdrive/test/ciui.py @@ -11,7 +11,7 @@ from openpilot.selfdrive.ui.qt.python_helpers import set_main_window class Window(QWidget): def __init__(self, parent=None): - super(Window, self).__init__(parent) + super().__init__(parent) layout = QVBoxLayout() self.setLayout(layout) @@ -47,7 +47,7 @@ class Window(QWidget): def update(self): for cmd, label in self.labels.items(): - out = subprocess.run(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE, + out = subprocess.run(cmd, capture_output=True, shell=True, check=False, encoding='utf8').stdout label.setText(out.strip()) diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 28c70a0ff4..00e98fadc1 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -1,6 +1,7 @@ import capnp import hypothesis.strategies as st -from typing import Any, Callable, Dict, List, Optional, Union +from typing import Any +from collections.abc import Callable from cereal import log @@ -12,7 +13,7 @@ class FuzzyGenerator: self.draw = draw self.real_floats = real_floats - def generate_native_type(self, field: str) -> st.SearchStrategy[Union[bool, int, float, str, bytes]]: + def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]: def floats(**kwargs) -> st.SearchStrategy[float]: allow_nan = not self.real_floats allow_infinity = not self.real_floats @@ -67,18 +68,18 @@ class FuzzyGenerator: else: return self.generate_struct(field.schema) - def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: Optional[str] = None) -> st.SearchStrategy[Dict[str, Any]]: - full_fill: List[str] = list(schema.non_union_fields) - single_fill: List[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else [] + def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]: + full_fill: list[str] = list(schema.non_union_fields) + single_fill: list[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else [] return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill}) @classmethod - def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> Dict[str, Any]: + def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> dict[str, Any]: fg = cls(draw, real_floats=real_floats) - data: Dict[str, Any] = draw(fg.generate_struct(struct.schema)) + data: dict[str, Any] = draw(fg.generate_struct(struct.schema)) return data @classmethod - def get_random_event_msg(cls, draw: DrawType, events: List[str], real_floats: bool = False) -> List[Dict[str, Any]]: + def get_random_event_msg(cls, draw: DrawType, events: list[str], real_floats: bool = False) -> list[dict[str, Any]]: fg = cls(draw, real_floats=real_floats) return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)] diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 0e7912a989..a62f7ede85 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -72,7 +72,7 @@ def noop(*args, **kwargs): def read_segment_list(segment_list_path): - with open(segment_list_path, "r") as f: + with open(segment_list_path) as f: seg_list = f.read().splitlines() return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] diff --git a/selfdrive/test/process_replay/capture.py b/selfdrive/test/process_replay/capture.py index 28206c6b91..90c279ef35 100644 --- a/selfdrive/test/process_replay/capture.py +++ b/selfdrive/test/process_replay/capture.py @@ -1,7 +1,7 @@ import os import sys -from typing import Tuple, no_type_check +from typing import no_type_check class FdRedirect: def __init__(self, file_prefix: str, fd: int): @@ -53,7 +53,7 @@ class ProcessOutputCapture: self.stdout_redirect.link() self.stderr_redirect.link() - def read_outerr(self) -> Tuple[str, str]: + def read_outerr(self) -> tuple[str, str]: out_str = self.stdout_redirect.read().decode() err_str = self.stderr_redirect.read().decode() return out_str, err_str diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index dbb7c223f5..673f3b484c 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -5,7 +5,6 @@ import capnp import numbers import dictdiffer from collections import Counter -from typing import Dict from openpilot.tools.lib.logreader import LogReader @@ -97,7 +96,7 @@ def format_process_diff(diff): diff_short += f" {diff}\n" diff_long += f"\t{diff}\n" else: - cnt: Dict[str, int] = {} + cnt: dict[str, int] = {} for d in diff: diff_long += f"\t{str(d)}\n" diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 77ac3f551e..b760548fd7 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -8,7 +8,8 @@ import signal import platform from collections import OrderedDict from dataclasses import dataclass, field -from typing import Dict, List, Optional, Callable, Union, Any, Iterable, Tuple +from typing import Any +from collections.abc import Callable, Iterable from tqdm import tqdm import capnp @@ -36,9 +37,9 @@ FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") class DummySocket: def __init__(self): - self.data: List[bytes] = [] + self.data: list[bytes] = [] - def receive(self, non_blocking: bool = False) -> Optional[bytes]: + def receive(self, non_blocking: bool = False) -> bytes | None: if non_blocking: return None @@ -128,21 +129,21 @@ class ReplayContext: @dataclass class ProcessConfig: proc_name: str - pubs: List[str] - subs: List[str] - ignore: List[str] - config_callback: Optional[Callable] = None - init_callback: Optional[Callable] = None - should_recv_callback: Optional[Callable] = None - tolerance: Optional[float] = None + pubs: list[str] + subs: list[str] + ignore: list[str] + config_callback: Callable | None = None + init_callback: Callable | None = None + should_recv_callback: Callable | None = None + tolerance: float | None = None processing_time: float = 0.001 timeout: int = 30 simulation: bool = True - main_pub: Optional[str] = None + main_pub: str | None = None main_pub_drained: bool = True - vision_pubs: List[str] = field(default_factory=list) - ignore_alive_pubs: List[str] = field(default_factory=list) - unlocked_pubs: List[str] = field(default_factory=list) + vision_pubs: list[str] = field(default_factory=list) + ignore_alive_pubs: list[str] = field(default_factory=list) + unlocked_pubs: list[str] = field(default_factory=list) class ProcessContainer: @@ -150,25 +151,25 @@ class ProcessContainer: self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False) self.cfg = copy.deepcopy(cfg) self.process = copy.deepcopy(managed_processes[cfg.proc_name]) - self.msg_queue: List[capnp._DynamicStructReader] = [] + self.msg_queue: list[capnp._DynamicStructReader] = [] self.cnt = 0 - self.pm: Optional[messaging.PubMaster] = None - self.sockets: Optional[List[messaging.SubSocket]] = None - self.rc: Optional[ReplayContext] = None - self.vipc_server: Optional[VisionIpcServer] = None - self.environ_config: Optional[Dict[str, Any]] = None - self.capture: Optional[ProcessOutputCapture] = None + self.pm: messaging.PubMaster | None = None + self.sockets: list[messaging.SubSocket] | None = None + self.rc: ReplayContext | None = None + self.vipc_server: VisionIpcServer | None = None + self.environ_config: dict[str, Any] | None = None + self.capture: ProcessOutputCapture | None = None @property def has_empty_queue(self) -> bool: return len(self.msg_queue) == 0 @property - def pubs(self) -> List[str]: + def pubs(self) -> list[str]: return self.cfg.pubs @property - def subs(self) -> List[str]: + def subs(self) -> list[str]: return self.cfg.subs def _clean_env(self): @@ -180,7 +181,7 @@ class ProcessContainer: if k in os.environ: del os.environ[k] - def _setup_env(self, params_config: Dict[str, Any], environ_config: Dict[str, Any]): + def _setup_env(self, params_config: dict[str, Any], environ_config: dict[str, Any]): for k, v in environ_config.items(): if len(v) != 0: os.environ[k] = v @@ -202,7 +203,7 @@ class ProcessContainer: self.environ_config = environ_config - def _setup_vision_ipc(self, all_msgs: LogIterable, frs: Dict[str, Any]): + def _setup_vision_ipc(self, all_msgs: LogIterable, frs: dict[str, Any]): assert len(self.cfg.vision_pubs) != 0 vipc_server = VisionIpcServer("camerad") @@ -223,9 +224,9 @@ class ProcessContainer: self.process.start() def start( - self, params_config: Dict[str, Any], environ_config: Dict[str, Any], - all_msgs: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], - fingerprint: Optional[str], capture_output: bool + self, params_config: dict[str, Any], environ_config: dict[str, Any], + all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None, + fingerprint: str | None, capture_output: bool ): with self.prefix as p: self._setup_env(params_config, environ_config) @@ -266,7 +267,7 @@ class ProcessContainer: self.prefix.clean_dirs() self._clean_env() - def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, BaseFrameReader]]) -> List[capnp._DynamicStructReader]: + def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]: assert self.rc and self.pm and self.sockets and self.process.proc output_msgs = [] @@ -580,7 +581,7 @@ def get_process_config(name: str) -> ProcessConfig: raise Exception(f"Cannot find process config with name: {name}") from ex -def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> Dict[str, Any]: +def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> dict[str, Any]: """ Use this to get custom params dict based on provided logs. Useful when replaying following processes: calibrationd, paramsd, torqued @@ -614,7 +615,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> return custom_params -def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]: +def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args, **kwargs) -> list[capnp._DynamicStructReader]: if isinstance(name, str): cfgs = [get_process_config(name)] elif isinstance(name, Iterable): @@ -626,10 +627,10 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, * def replay_process( - cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]] = None, - fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, - captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False -) -> List[capnp._DynamicStructReader]: + cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None = None, + fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None, + captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False +) -> list[capnp._DynamicStructReader]: if isinstance(cfg, Iterable): cfgs = list(cfg) else: @@ -654,9 +655,9 @@ def replay_process( def _replay_multi_process( - cfgs: List[ProcessConfig], lr: LogIterable, frs: Optional[Dict[str, BaseFrameReader]], fingerprint: Optional[str], - custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool -) -> List[capnp._DynamicStructReader]: + cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None, + custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool +) -> list[capnp._DynamicStructReader]: if fingerprint is not None: params_config = generate_params_config(lr=lr, fingerprint=fingerprint, custom_params=custom_params) env_config = generate_environ_config(fingerprint=fingerprint) @@ -690,10 +691,10 @@ def _replay_multi_process( pub_msgs = [msg for msg in all_msgs if msg.which() in lr_pubs] # external queue for messages taken from logs; internal queue for messages generated by processes, which will be republished - external_pub_queue: List[capnp._DynamicStructReader] = pub_msgs.copy() - internal_pub_queue: List[capnp._DynamicStructReader] = [] + external_pub_queue: list[capnp._DynamicStructReader] = pub_msgs.copy() + internal_pub_queue: list[capnp._DynamicStructReader] = [] # heap for maintaining the order of messages generated by processes, where each element: (logMonoTime, index in internal_pub_queue) - internal_pub_index_heap: List[Tuple[int, int]] = [] + internal_pub_index_heap: list[tuple[int, int]] = [] pbar = tqdm(total=len(external_pub_queue), disable=disable_progress) while len(external_pub_queue) != 0 or (len(internal_pub_index_heap) != 0 and not all(c.has_empty_queue for c in containers)): @@ -723,7 +724,7 @@ def _replay_multi_process( return log_msgs -def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]: +def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> dict[str, Any]: params_dict = { "OpenpilotEnabledToggle": True, "DisengageOnAccelerator": True, @@ -755,7 +756,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non return params_dict -def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str, Any]: +def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> dict[str, Any]: environ_dict = {} if platform.system() != "Darwin": environ_dict["PARAMS_ROOT"] = "/dev/shm/params" diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 245b5b2709..3bb51d0b65 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -5,7 +5,8 @@ import time import capnp import numpy as np -from typing import Union, Iterable, Optional, List, Any, Dict, Tuple +from typing import Any +from collections.abc import Iterable from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ check_openpilot_enabled, get_custom_params_from_lr @@ -40,9 +41,9 @@ class DummyFrameReader(BaseFrameReader): def regen_segment( - lr: LogIterable, frs: Optional[Dict[str, Any]] = None, + lr: LogIterable, frs: dict[str, Any] | None = None, processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False -) -> List[capnp._DynamicStructReader]: +) -> list[capnp._DynamicStructReader]: all_msgs = sorted(lr, key=lambda m: m.logMonoTime) custom_params = get_custom_params_from_lr(all_msgs) @@ -57,7 +58,7 @@ def regen_segment( def setup_data_readers( route: str, sidx: int, use_route_meta: bool, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False -) -> Tuple[LogReader, Dict[str, Any]]: +) -> tuple[LogReader, dict[str, Any]]: if use_route_meta: r = Route(route) lr = LogReader(r.log_paths()[sidx]) @@ -92,7 +93,7 @@ def setup_data_readers( def regen_and_save( - route: str, sidx: int, processes: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA, + route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA, upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False ) -> str: if not isinstance(processes, str) and not hasattr(processes, "__iter__"): diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index bea1b1fb00..edf2cbd469 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -30,7 +30,7 @@ def get_frame_fn(ref_commit, test_route, tici=True): def bzip_frames(frames): - data = bytes() + data = b'' for y, u, v in frames: data += y.tobytes() data += u.tobytes() diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5323a5280f..2b917b0f61 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -5,7 +5,7 @@ import os import sys from collections import defaultdict from tqdm import tqdm -from typing import Any, DefaultDict, Dict +from typing import Any from openpilot.selfdrive.car.car_helpers import interface_names from openpilot.tools.lib.openpilotci import get_url, upload_file @@ -172,11 +172,11 @@ if __name__ == "__main__": untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} assert len(untested) == 0, f"Cars missing routes: {str(untested)}" - log_paths: DefaultDict[str, Dict[str, Dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) + log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: if not args.upload_only: download_segments = [seg for car, seg in segments if car in tested_cars] - log_data: Dict[str, LogReader] = {} + log_data: dict[str, LogReader] = {} p1 = pool.map(get_log_data, download_segments) for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): log_data[segment] = lr diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 5ab5042b2b..bdfefb78d1 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -3,7 +3,7 @@ import os import re import subprocess import sys -from typing import Iterable, List, Optional +from collections.abc import Iterable from tqdm import tqdm @@ -12,14 +12,14 @@ from openpilot.selfdrive.test.process_replay.test_processes import source_segmen from openpilot.tools.lib.azure_container import AzureContainer from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer -SOURCES: List[AzureContainer] = [ +SOURCES: list[AzureContainer] = [ DataProdContainer, DataCIContainer ] DEST = OpenpilotCIContainer -def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: +def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None: if exclude_patterns is None: exclude_patterns = [r'dcamera\.hevc'] diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index f74118b568..073589edb7 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -1,6 +1,5 @@ import time import threading -from typing import Optional from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE @@ -38,7 +37,7 @@ class PowerMonitoring: self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh)) # Calculation tick - def calculate(self, voltage: Optional[int], ignition: bool): + def calculate(self, voltage: int | None, ignition: bool): try: now = time.monotonic() @@ -108,7 +107,7 @@ class PowerMonitoring: return int(self.car_battery_capacity_uWh) # See if we need to shutdown - def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: Optional[float], started_seen: bool): + def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool): if offroad_timestamp is None: return False diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index e868f2ffdd..93ebd3ab87 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -6,7 +6,6 @@ import threading import time from collections import OrderedDict, namedtuple from pathlib import Path -from typing import Dict, Optional, Tuple import psutil @@ -50,9 +49,9 @@ THERMAL_BANDS = OrderedDict({ # Override to highest thermal band when offroad and above this temp OFFROAD_DANGER_TEMP = 75 -prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {} +prev_offroad_states: dict[str, tuple[bool, str | None]] = {} -tz_by_type: Optional[Dict[str, int]] = None +tz_by_type: dict[str, int] | None = None def populate_tz_by_type(): global tz_by_type tz_by_type = {} @@ -87,7 +86,7 @@ def read_thermal(thermal_config): return dat -def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: Optional[str]=None): +def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None): if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text): return prev_offroad_states[offroad_alert] = (show_alert, extra_text) @@ -169,16 +168,16 @@ def thermald_thread(end_event, hw_queue) -> None: count = 0 - onroad_conditions: Dict[str, bool] = { + onroad_conditions: dict[str, bool] = { "ignition": False, } - startup_conditions: Dict[str, bool] = {} - startup_conditions_prev: Dict[str, bool] = {} + startup_conditions: dict[str, bool] = {} + startup_conditions_prev: dict[str, bool] = {} - off_ts: Optional[float] = None - started_ts: Optional[float] = None + off_ts: float | None = None + started_ts: float | None = None started_seen = False - startup_blocked_ts: Optional[float] = None + startup_blocked_ts: float | None = None thermal_status = ThermalStatus.yellow last_hw_state = HardwareState( diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index 11caf809d1..0550a7db9e 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -3,7 +3,6 @@ import numpy as np import time import wave -from typing import Dict, Optional, Tuple from cereal import car, messaging from openpilot.common.basedir import BASEDIR @@ -27,7 +26,7 @@ DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied AudibleAlert = car.CarControl.HUDControl.AudibleAlert -sound_list: Dict[int, Tuple[str, Optional[int], float]] = { +sound_list: dict[int, tuple[str, int | None, float]] = { # AudibleAlert, file name, play count (none for infinite) AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME), AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME), @@ -64,7 +63,7 @@ class Soundd: self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) def load_sounds(self): - self.loaded_sounds: Dict[int, np.ndarray] = {} + self.loaded_sounds: dict[int, np.ndarray] = {} # Load all sounds for sound in sound_list: diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 9ba9054ea1..8e50695e70 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -12,7 +12,7 @@ from parameterized import parameterized_class from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations -with open(LANGUAGES_FILE, "r") as f: +with open(LANGUAGES_FILE) as f: translation_files = json.load(f) UNFINISHED_TRANSLATION_TAG = " None: t = datetime.datetime.utcnow() params.put(param, t.isoformat().encode('utf8')) -def read_time_from_param(params, param) -> Optional[datetime.datetime]: +def read_time_from_param(params, param) -> datetime.datetime | None: t = params.get(param, encoding='utf8') try: return datetime.datetime.fromisoformat(t) @@ -72,7 +71,7 @@ def read_time_from_param(params, param) -> Optional[datetime.datetime]: pass return None -def run(cmd: List[str], cwd: Optional[str] = None) -> str: +def run(cmd: list[str], cwd: str | None = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -234,7 +233,7 @@ def handle_agnos_update() -> None: class Updater: def __init__(self): self.params = Params() - self.branches = defaultdict(lambda: '') + self.branches = defaultdict(str) self._has_internet: bool = False @property @@ -243,7 +242,7 @@ class Updater: @property def target_branch(self) -> str: - b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') + b: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8') if b is None: b = self.get_branch(BASEDIR) return b @@ -272,7 +271,7 @@ class Updater: def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: return run(["git", "rev-parse", "HEAD"], path).rstrip() - def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: + def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None: self.params.put("UpdateFailedCount", str(failed_count)) self.params.put("UpdaterTargetBranch", self.target_branch) diff --git a/system/hardware/base.py b/system/hardware/base.py index 7434bb61e8..6cdb4a4d64 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -1,6 +1,5 @@ from abc import abstractmethod, ABC from collections import namedtuple -from typing import Dict from cereal import log @@ -10,7 +9,7 @@ NetworkType = log.DeviceState.NetworkType class HardwareBase(ABC): @staticmethod - def get_cmdline() -> Dict[str, str]: + def get_cmdline() -> dict[str, str]: with open('/proc/cmdline') as f: cmdline = f.read() return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2} diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 342281b0f8..502295be07 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -6,7 +6,7 @@ import os import struct import subprocess import time -from typing import Dict, Generator, List, Tuple, Union +from collections.abc import Generator import requests @@ -117,7 +117,7 @@ def get_raw_hash(path: str, partition_size: int) -> str: return raw_hash.hexdigest().lower() -def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool: +def verify_partition(target_slot_number: int, partition: dict[str, str | int], force_full_check: bool = False) -> bool: full_check = partition['full_check'] or force_full_check path = get_partition_path(target_slot_number, partition) @@ -184,7 +184,7 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog): target = casync.parse_caibx(partition['casync_caibx']) - sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = [] + sources: list[tuple[str, casync.ChunkReader, casync.ChunkDict]] = [] # First source is the current partition. try: diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index e003f131cc..af82067467 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -2,7 +2,6 @@ import time from smbus2 import SMBus from collections import namedtuple -from typing import List # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf @@ -110,7 +109,7 @@ class Amplifier: def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig: return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000) - def _set_configs(self, configs: List[AmpConfig]) -> None: + def _set_configs(self, configs: list[AmpConfig]) -> None: with SMBus(self.AMP_I2C_BUS) as bus: for config in configs: if self.debug: @@ -123,7 +122,7 @@ class Amplifier: if self.debug: print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}") - def set_configs(self, configs: List[AmpConfig]) -> bool: + def set_configs(self, configs: list[AmpConfig]) -> bool: # retry in case panda is using the amp tries = 15 for i in range(15): diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index 993336616d..68ca37d38d 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -7,7 +7,7 @@ import sys import time from abc import ABC, abstractmethod from collections import defaultdict, namedtuple -from typing import Callable, Dict, List, Optional, Tuple +from collections.abc import Callable import requests from Crypto.Hash import SHA512 @@ -28,7 +28,7 @@ CHUNK_DOWNLOAD_RETRIES = 3 CAIBX_DOWNLOAD_TIMEOUT = 120 Chunk = namedtuple('Chunk', ['sha', 'offset', 'length']) -ChunkDict = Dict[bytes, Chunk] +ChunkDict = dict[bytes, Chunk] class ChunkReader(ABC): @@ -83,7 +83,7 @@ class RemoteChunkReader(ChunkReader): return decompressor.decompress(contents) -def parse_caibx(caibx_path: str) -> List[Chunk]: +def parse_caibx(caibx_path: str) -> list[Chunk]: """Parses the chunks from a caibx file. Can handle both local and remote files. Returns a list of chunks with hash, offset and length""" caibx: io.BufferedIOBase @@ -132,7 +132,7 @@ def parse_caibx(caibx_path: str) -> List[Chunk]: return chunks -def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict: +def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict: """Turn a list of chunks into a dict for faster lookups based on hash. Keep first chunk since it's more likely to be already downloaded.""" r = {} @@ -142,11 +142,11 @@ def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict: return r -def extract(target: List[Chunk], - sources: List[Tuple[str, ChunkReader, ChunkDict]], +def extract(target: list[Chunk], + sources: list[tuple[str, ChunkReader, ChunkDict]], out_path: str, - progress: Optional[Callable[[int], None]] = None): - stats: Dict[str, int] = defaultdict(int) + progress: Callable[[int], None] | None = None): + stats: dict[str, int] = defaultdict(int) mode = 'rb+' if os.path.exists(out_path) else 'wb' with open(out_path, mode) as out: @@ -181,7 +181,7 @@ def extract(target: List[Chunk], return stats -def print_stats(stats: Dict[str, int]): +def print_stats(stats: dict[str, int]): total_bytes = sum(stats.values()) print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB") for name, total in stats.items(): diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index ef3055ac47..296290dae8 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -3,7 +3,6 @@ import sys import time import datetime import numpy as np -from typing import List from collections import deque from openpilot.common.realtime import Ratekeeper @@ -14,7 +13,7 @@ def read_power(): with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f: return int(f.read()) / 1e6 -def sample_power(seconds=5) -> List[float]: +def sample_power(seconds=5) -> list[float]: rate = 123 rk = Ratekeeper(rate, print_delay_threshold=None) diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py index e186ba4aea..52fe0850ab 100755 --- a/system/hardware/tici/precise_power_measure.py +++ b/system/hardware/tici/precise_power_measure.py @@ -6,4 +6,4 @@ if __name__ == '__main__': print("measuring for 5 seconds") for _ in range(3): pwrs = sample_power() - print("mean %.2f std %.2f" % (np.mean(pwrs), np.std(pwrs))) + print(f"mean {np.mean(pwrs):.2f} std {np.std(pwrs):.2f}") diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index 835985b0b5..7de66d91d0 100755 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -3,7 +3,6 @@ import argparse import collections import multiprocessing import os -from typing import Dict, List import requests from tqdm import tqdm @@ -42,7 +41,7 @@ if __name__ == "__main__": szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to))) chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)} - sources: Dict[str, List[int]] = { + sources: dict[str, list[int]] = { 'seed': [], 'remote_uncompressed': [], 'remote_compressed': [], diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index f6c0cf21a4..352fcdf18a 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -7,7 +7,6 @@ import time import numpy as np from dataclasses import dataclass from tabulate import tabulate -from typing import List import cereal.messaging as messaging from cereal.services import SERVICE_LIST @@ -22,9 +21,9 @@ MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid sample @dataclass class Proc: - procs: List[str] + procs: list[str] power: float - msgs: List[str] + msgs: list[str] rtol: float = 0.05 atol: float = 0.12 @@ -66,7 +65,7 @@ class TestPowerDraw(unittest.TestCase): return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol) def tabulate_msg_counts(self, msgs_and_power): - msg_counts = defaultdict(lambda: 0) + msg_counts = defaultdict(int) for _, counts in msgs_and_power: for msg, count in counts.items(): msg_counts[msg] += count diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index 868340150a..2f0b96c90e 100755 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -2,7 +2,6 @@ import os import shutil import threading -from typing import List from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog from openpilot.system.loggerd.config import get_available_bytes, get_available_percent @@ -23,7 +22,7 @@ def has_preserve_xattr(d: str) -> bool: return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE -def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]: +def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]: preserved = [] for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))): if n == PRESERVE_COUNT: diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 3aa9e40531..0532fe1a89 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -2,7 +2,6 @@ import os import random import unittest from pathlib import Path -from typing import Optional import openpilot.system.loggerd.deleter as deleter @@ -12,7 +11,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr -def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None: +def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None: file_path.parent.mkdir(parents=True, exist_ok=True) if lock: @@ -82,7 +81,7 @@ class UploaderTestCase(unittest.TestCase): self.params.put("DongleId", "0000000000000000") def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, - upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path: + upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn create_random_file(file_path, size_mb, lock, upload_xattr) diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index e4112b7b4e..37d25507e0 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -4,7 +4,7 @@ import threading import unittest from collections import namedtuple from pathlib import Path -from typing import Sequence +from collections.abc import Sequence import openpilot.system.loggerd.deleter as deleter from openpilot.common.timeout import Timeout, TimeoutException diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 963978926d..c80dc19fce 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -8,7 +8,6 @@ import subprocess import time from collections import defaultdict from pathlib import Path -from typing import Dict, List from flaky import flaky import cereal.messaging as messaging @@ -76,7 +75,7 @@ class TestLoggerd: end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment assert msgs[-1].sentinel.type == end_type - def _publish_random_messages(self, services: List[str]) -> Dict[str, list]: + def _publish_random_messages(self, services: list[str]) -> dict[str, list]: pm = messaging.PubMaster(services) managed_processes["loggerd"].start() diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index b674de5438..b807bd6b98 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -6,7 +6,6 @@ import unittest import logging import json from pathlib import Path -from typing import List, Optional from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog @@ -53,7 +52,7 @@ class TestUploader(UploaderTestCase): self.end_event.set() self.up_thread.join() - def gen_files(self, lock=False, xattr: Optional[bytes] = None, boot=True) -> List[Path]: + def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]: f_paths = [] for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr)) @@ -62,7 +61,7 @@ class TestUploader(UploaderTestCase): f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr)) return f_paths - def gen_order(self, seg1: List[int], seg2: List[int], boot=True) -> List[str]: + def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]: keys = [] if boot: keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1] diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 5c8f25368c..5ccf0ff69a 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -9,7 +9,8 @@ import threading import time import traceback import datetime -from typing import BinaryIO, Iterator, List, Optional, Tuple +from typing import BinaryIO +from collections.abc import Iterator from cereal import log import cereal.messaging as messaging @@ -42,10 +43,10 @@ class FakeResponse: self.request = FakeRequest() -def get_directory_sort(d: str) -> List[str]: +def get_directory_sort(d: str) -> list[str]: return [s.rjust(10, '0') for s in d.rsplit('--', 1)] -def listdir_by_creation(d: str) -> List[str]: +def listdir_by_creation(d: str) -> list[str]: if not os.path.isdir(d): return [] @@ -82,7 +83,7 @@ class Uploader: self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def list_upload_files(self, metered: bool) -> Iterator[Tuple[str, str, str]]: + def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]: r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") requested_routes = [] if r is None else r.split(",") @@ -121,7 +122,7 @@ class Uploader: yield name, key, fn - def next_file_to_upload(self, metered: bool) -> Optional[Tuple[str, str, str]]: + def next_file_to_upload(self, metered: bool) -> tuple[str, str, str] | None: upload_files = list(self.list_upload_files(metered)) for name, key, fn in upload_files: @@ -207,7 +208,7 @@ class Uploader: return success - def step(self, network_type: int, metered: bool) -> Optional[bool]: + def step(self, network_type: int, metered: bool) -> bool | None: d = self.next_file_to_upload(metered) if d is None: return None @@ -221,7 +222,7 @@ class Uploader: return self.upload(name, key, fn, network_type, metered) -def main(exit_event: Optional[threading.Event] = None) -> None: +def main(exit_event: threading.Event | None = None) -> None: if exit_event is None: exit_event = threading.Event() diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py index 5feeff34d2..d3220118ac 100644 --- a/system/loggerd/xattr_cache.py +++ b/system/loggerd/xattr_cache.py @@ -1,10 +1,9 @@ import os import errno -from typing import Dict, Optional, Tuple -_cached_attributes: Dict[Tuple, Optional[bytes]] = {} +_cached_attributes: dict[tuple, bytes | None] = {} -def getxattr(path: str, attr_name: str) -> Optional[bytes]: +def getxattr(path: str, attr_name: str) -> bytes | None: key = (path, attr_name) if key not in _cached_attributes: try: diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py index 231096fc5d..caff7af646 100644 --- a/system/qcomgpsd/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -93,7 +93,7 @@ def nmea_checksum_ok(s): def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: while True: try: - with open(device, "r") as nmeaport: + with open(device) as nmeaport: for line in nmeaport: line = line.strip() if DEBUG: diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index e2a180df86..e8c407a627 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -10,7 +10,7 @@ import shutil import subprocess import datetime from multiprocessing import Process, Event -from typing import NoReturn, Optional +from typing import NoReturn from struct import unpack_from, calcsize, pack from cereal import log @@ -90,7 +90,7 @@ def try_setup_logs(diag, logs): return setup_logs(diag, logs) @retry(attempts=3, delay=1.0) -def at_cmd(cmd: str) -> Optional[str]: +def at_cmd(cmd: str) -> str | None: return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') def gps_enabled() -> bool: @@ -342,7 +342,7 @@ def main() -> NoReturn: gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi # TODO needs update if there is another leap second, after june 2024? - dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) + + dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.UTC) + datetime.timedelta(weeks=report['w_GpsWeekNumber']) + datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18))) gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3 diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index 78b3b07498..21b3a86f97 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -7,7 +7,6 @@ import struct import requests import urllib.parse from datetime import datetime -from typing import List, Optional, Tuple from cereal import messaging from openpilot.common.params import Params @@ -41,7 +40,7 @@ def add_ubx_checksum(msg: bytes) -> bytes: B = (B + A) % 256 return msg + bytes([A, B]) -def get_assistnow_messages(token: bytes) -> List[bytes]: +def get_assistnow_messages(token: bytes) -> list[bytes]: # make request # TODO: implement adding the last known location r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({ @@ -238,7 +237,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: return False return True -def deinitialize_and_exit(pigeon: Optional[TTYPigeon]): +def deinitialize_and_exit(pigeon: TTYPigeon | None): cloudlog.warning("Storing almanac in ublox flash") if pigeon is not None: @@ -259,7 +258,7 @@ def deinitialize_and_exit(pigeon: Optional[TTYPigeon]): set_power(False) sys.exit(0) -def create_pigeon() -> Tuple[TTYPigeon, messaging.PubMaster]: +def create_pigeon() -> tuple[TTYPigeon, messaging.PubMaster]: pigeon = None # register exit handler diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py index 4ee99dc28a..c17387114f 100755 --- a/system/ubloxd/tests/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -82,7 +82,7 @@ def configure_ublox(dev): if __name__ == "__main__": class Device: def write(self, s): - d = '"{}"s'.format(''.join('\\x{:02X}'.format(b) for b in s)) + d = '"{}"s'.format(''.join(f'\\x{b:02X}' for b in s)) print(f" if (!send_with_ack({d})) continue;") dev = ublox.UBlox(Device(), baudrate=baudrate) diff --git a/system/version.py b/system/version.py index e34458f16f..4319ef2140 100755 --- a/system/version.py +++ b/system/version.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 import os import subprocess -from typing import List, Callable, TypeVar +from typing import TypeVar +from collections.abc import Callable from functools import lru_cache from openpilot.common.basedir import BASEDIR @@ -18,11 +19,11 @@ def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]: return lru_cache(maxsize=None)(user_function) -def run_cmd(cmd: List[str]) -> str: +def run_cmd(cmd: list[str]) -> str: return subprocess.check_output(cmd, encoding='utf8').strip() -def run_cmd_default(cmd: List[str], default: str = "") -> str: +def run_cmd_default(cmd: list[str], default: str = "") -> str: try: return run_cmd(cmd) except subprocess.CalledProcessError: diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py index 3c78be6752..b1859518a1 100644 --- a/system/webrtc/device/audio.py +++ b/system/webrtc/device/audio.py @@ -1,6 +1,5 @@ import asyncio import io -from typing import Optional, List, Tuple import aiortc import av @@ -17,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): pyaudio.paFloat32: 'flt', } - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: Optional[int] = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None): super().__init__() self.p = pyaudio.PyAudio() @@ -49,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): class AudioOutputSpeaker: - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: Optional[int] = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None): chunk_size = int(packet_time * rate) self.p = pyaudio.PyAudio() @@ -62,7 +61,7 @@ class AudioOutputSpeaker: output=True, output_device_index=device_index, stream_callback=self.__pyaudio_callback) - self.tracks_and_tasks: List[Tuple[aiortc.MediaStreamTrack, Optional[asyncio.Task]]] = [] + self.tracks_and_tasks: list[tuple[aiortc.MediaStreamTrack, asyncio.Task | None]] = [] def __pyaudio_callback(self, in_data, frame_count, time_info, status): if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2: diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py index 314f812834..1bca909294 100644 --- a/system/webrtc/device/video.py +++ b/system/webrtc/device/video.py @@ -1,5 +1,4 @@ import asyncio -from typing import Optional import av from teleoprtc.tracks import TiciVideoStreamTrack @@ -40,5 +39,5 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack): return packet - def codec_preference(self) -> Optional[str]: + def codec_preference(self) -> str | None: return "H264" diff --git a/system/webrtc/schema.py b/system/webrtc/schema.py index f659b34293..d80986ebf2 100644 --- a/system/webrtc/schema.py +++ b/system/webrtc/schema.py @@ -1,8 +1,8 @@ import capnp -from typing import Union, List, Dict, Any +from typing import Any -def generate_type(type_walker, schema_walker) -> Union[str, List[Any], Dict[str, Any]]: +def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any]: data_type = next(type_walker) if data_type.which() == 'struct': return generate_struct(next(schema_walker)) @@ -15,11 +15,11 @@ def generate_type(type_walker, schema_walker) -> Union[str, List[Any], Dict[str, return str(data_type.which()) -def generate_struct(schema: capnp.lib.capnp._StructSchema) -> 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")} -def generate_field(field: capnp.lib.capnp._StructSchemaField) -> Union[str, List[Any], Dict[str, Any]]: +def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]: def schema_walker(field): yield field.schema diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py index e92958cc92..c31b63d02b 100755 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -18,7 +18,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): try: async with asyncio.timeout(timeout): await awaitable - except asyncio.TimeoutError: + except TimeoutError: self.fail("Timeout while waiting for awaitable to complete") async def test_webrtcd(self): diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index cc26d50daf..6c1370eae9 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -6,7 +6,7 @@ import json import uuid import logging from dataclasses import dataclass, field -from typing import Any, List, Optional, Union, TYPE_CHECKING +from typing import Any, TYPE_CHECKING # aiortc and its dependencies have lots of internal warnings :( import warnings @@ -24,7 +24,7 @@ from cereal import messaging, log class CerealOutgoingMessageProxy: def __init__(self, sm: messaging.SubMaster): self.sm = sm - self.channels: List['RTCDataChannel'] = [] + self.channels: list['RTCDataChannel'] = [] def add_channel(self, channel: 'RTCDataChannel'): self.channels.append(channel) @@ -103,7 +103,7 @@ class CerealProxyRunner: class StreamSession: - def __init__(self, sdp: str, cameras: List[str], incoming_services: List[str], outgoing_services: List[str], debug_mode: bool = False): + def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False): from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack from aiortc.contrib.media import MediaBlackhole from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack @@ -132,8 +132,8 @@ class StreamSession: self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services)) self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) - self.audio_output: Optional[Union[AudioOutputSpeaker, MediaBlackhole]] = None - self.run_task: Optional[asyncio.Task] = None + self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None + self.run_task: asyncio.Task | None = None self.logger = logging.getLogger("webrtcd") self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s", self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services) @@ -189,9 +189,9 @@ class StreamSession: @dataclass class StreamRequestBody: sdp: str - cameras: List[str] - bridge_services_in: List[str] = field(default_factory=list) - bridge_services_out: List[str] = field(default_factory=list) + cameras: list[str] + bridge_services_in: list[str] = field(default_factory=list) + bridge_services_out: list[str] = field(default_factory=list) async def get_stream(request: 'web.Request'): diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py index b1fb9525db..fd8f691d19 100644 --- a/tools/bodyteleop/web.py +++ b/tools/bodyteleop/web.py @@ -56,7 +56,7 @@ def create_ssl_cert(cert_path: str, key_path: str): try: proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \ -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"', - stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True) + capture_output=True, shell=True) proc.check_returncode() except subprocess.CalledProcessError as ex: raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex @@ -77,7 +77,7 @@ def create_ssl_context(): ## ENDPOINTS async def index(request: 'web.Request'): - with open(os.path.join(TELEOPDIR, "static", "index.html"), "r") as f: + with open(os.path.join(TELEOPDIR, "static", "index.html")) as f: content = f.read() return web.Response(content_type="text/html", text=content) diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py index 7dae9ce048..f122c2774e 100755 --- a/tools/car_porting/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -2,7 +2,6 @@ import argparse from collections import defaultdict -from typing import Optional from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions from openpilot.selfdrive.car.fw_versions import match_fw_to_car @@ -30,7 +29,7 @@ if __name__ == "__main__": carVin = None carPlatform = None - platform: Optional[str] = None + platform: str | None = None CP = lr.first("carParams") diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py index 66fe2ea65f..86980b054b 100755 --- a/tools/car_porting/test_car_model.py +++ b/tools/car_porting/test_car_model.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import argparse import sys -from typing import List import unittest from openpilot.selfdrive.car.tests.routes import CarTestRoute @@ -9,7 +8,7 @@ from openpilot.selfdrive.car.tests.test_models import TestCarModel from openpilot.tools.lib.route import SegmentName -def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite: +def create_test_models_suite(routes: list[CarTestRoute], ci=False) -> unittest.TestSuite: test_suite = unittest.TestSuite() for test_route in routes: # create new test case and discover tests diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 19c0a86bf4..8c6af56b6e 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -90,7 +90,7 @@ def read_logs(lr): return (data, frame_mismatches) # This is not needed in 3.10 as a "key" parameter is added to bisect -class KeyifyList(object): +class KeyifyList: def __init__(self, inner, key): self.inner = inner self.key = key diff --git a/tools/lib/auth.py b/tools/lib/auth.py index 997d1f860d..5988397d0a 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -26,7 +26,7 @@ import sys import pprint import webbrowser from http.server import BaseHTTPRequestHandler, HTTPServer -from typing import Any, Dict +from typing import Any from urllib.parse import parse_qs, urlencode from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError @@ -36,7 +36,7 @@ PORT = 3000 class ClientRedirectServer(HTTPServer): - query_params: Dict[str, Any] = {} + query_params: dict[str, Any] = {} class ClientRedirectHandler(BaseHTTPRequestHandler): diff --git a/tools/lib/azure_container.py b/tools/lib/azure_container.py index 7d9550266d..52b2f37dbf 100644 --- a/tools/lib/azure_container.py +++ b/tools/lib/azure_container.py @@ -2,7 +2,7 @@ import os from datetime import datetime, timedelta from functools import lru_cache from pathlib import Path -from typing import IO, Union +from typing import IO TOKEN_PATH = Path("/data/azure_token") @@ -57,7 +57,7 @@ class AzureContainer: ext = "hevc" if log_type.endswith('camera') else "bz2" return self.BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" - def upload_bytes(self, data: Union[bytes, IO], blob_name: str) -> str: + def upload_bytes(self, data: bytes | IO, blob_name: str) -> str: from azure.storage.blob import BlobClient blob = BlobClient( account_url=self.ACCOUNT_URL, @@ -69,6 +69,6 @@ class AzureContainer: blob.upload_blob(data) return self.BASE_URL + blob_name - def upload_file(self, path: Union[str, os.PathLike], blob_name: str) -> str: + def upload_file(self, path: str | os.PathLike, blob_name: str) -> str: with open(path, "rb") as f: return self.upload_bytes(f, blob_name) diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 827ef1eefc..208ddc19c2 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -1,6 +1,5 @@ import functools import re -from typing import List, Optional from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import CommaApi @@ -44,7 +43,7 @@ class Bootlog: return False return self.id < b.id -def get_bootlog_from_id(bootlog_id: str) -> Optional[Bootlog]: +def get_bootlog_from_id(bootlog_id: str) -> Bootlog | None: # TODO: implement an API endpoint for this bl = Bootlog(bootlog_id) for b in get_bootlogs(bl.dongle_id): @@ -52,7 +51,7 @@ def get_bootlog_from_id(bootlog_id: str) -> Optional[Bootlog]: return b return None -def get_bootlogs(dongle_id: str) -> List[Bootlog]: +def get_bootlogs(dongle_id: str) -> list[Bootlog]: api = CommaApi(get_token()) r = api.get(f'v1/devices/{dongle_id}/bootlogs') return [Bootlog(b) for b in r] diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index f0af3d03c5..653eb3d7e0 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -9,18 +9,18 @@ class RE: DONGLE_ID = r'(?P[a-f0-9]{16})' TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' LOG_ID_V2 = r'(?P[a-f0-9]{8})--(?P[a-z0-9]{10})' - LOG_ID = r'(?P(?:{}|{}))'.format(TIMESTAMP, LOG_ID_V2) - ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, LOG_ID) - SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) + LOG_ID = fr'(?P(?:{TIMESTAMP}|{LOG_ID_V2}))' + ROUTE_NAME = fr'(?P{DONGLE_ID}[|_/]{LOG_ID})' + SEGMENT_NAME = fr'{ROUTE_NAME}(?:--|/)(?P[0-9]+)' INDEX = r'-?[0-9]+' - SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) - SEGMENT_RANGE = r'{}(?:(--|/)(?P({})))?(?:/(?P([qras])))?'.format(ROUTE_NAME, SLICE) + SLICE = fr'(?P{INDEX})?:?(?P{INDEX})?:?(?P{INDEX})?' + SEGMENT_RANGE = fr'{ROUTE_NAME}(?:(--|/)(?P({SLICE})))?(?:/(?P([qras])))?' BOOTLOG_NAME = ROUTE_NAME - EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) - OP_SEGMENT_DIR = r'^(?P{})$'.format(SEGMENT_NAME) + EXPLORER_FILE = fr'^(?P{SEGMENT_NAME})--(?P[a-z]+\.[a-z0-9]+)$' + OP_SEGMENT_DIR = fr'^(?P{SEGMENT_NAME})$' def timestamp_to_datetime(t: str) -> datetime.datetime: diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py index 0678fd1d00..6a7ecee6fd 100644 --- a/tools/lib/live_logreader.py +++ b/tools/lib/live_logreader.py @@ -1,5 +1,4 @@ import os -from typing import List from cereal import log as capnp_log, messaging from cereal.services import SERVICE_LIST @@ -8,7 +7,7 @@ from openpilot.tools.lib.logreader import LogIterable, RawLogIterable ALL_SERVICES = list(SERVICE_LIST.keys()) -def raw_live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable: +def raw_live_logreader(services: list[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable: if addr != "127.0.0.1": os.environ["ZMQ"] = "1" messaging.context = messaging.Context() @@ -25,7 +24,7 @@ def raw_live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0. yield msg -def live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> LogIterable: +def live_logreader(services: list[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> LogIterable: for m in raw_live_logreader(services, addr): with capnp_log.Event.from_bytes(m) as evt: yield evt diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 7957712aff..6247bbc9db 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -11,7 +11,7 @@ import tqdm import urllib.parse import warnings -from typing import Callable, Dict, Iterable, Iterator, List, Optional, Type +from collections.abc import Callable, Iterable, Iterator from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log @@ -21,7 +21,7 @@ from openpilot.tools.lib.openpilotci import get_url from openpilot.tools.lib.filereader import FileReader, file_exists, internal_source_available from openpilot.tools.lib.route import Route, SegmentRange -LogMessage = Type[capnp._DynamicStructReader] +LogMessage = type[capnp._DynamicStructReader] LogIterable = Iterable[LogMessage] RawLogIterable = Iterable[bytes] @@ -76,8 +76,8 @@ class ReadMode(enum.StrEnum): AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user -LogPath = Optional[str] -LogPaths = List[LogPath] +LogPath = str | None +LogPaths = list[LogPath] ValidFileCallable = Callable[[LogPath], bool] Source = Callable[[SegmentRange, ReadMode], LogPaths] @@ -170,7 +170,7 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths: if mode == ReadMode.SANITIZED: return comma_car_segments_source(sr, mode) - SOURCES: List[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,] + SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,] exceptions = [] # Automatically determine viable source for source in SOURCES: @@ -212,7 +212,7 @@ def parse_indirect(identifier: str): class LogReader: - def _parse_identifiers(self, identifier: str | List[str]): + def _parse_identifiers(self, identifier: str | list[str]): if isinstance(identifier, list): return [i for j in identifier for i in self._parse_identifiers(j)] @@ -234,7 +234,7 @@ class LogReader: are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name." return identifiers - def __init__(self, identifier: str | List[str], default_mode: ReadMode = ReadMode.RLOG, + def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False): self.default_mode = default_mode self.default_source = default_source @@ -243,7 +243,7 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout self.sort_by_time = sort_by_time self.only_union_types = only_union_types - self.__lrs: Dict[int, _LogFileReader] = {} + self.__lrs: dict[int, _LogFileReader] = {} self.reset() def _get_lr(self, i): diff --git a/tools/lib/route.py b/tools/lib/route.py index 47ebdc7a51..bd0ccc1fc3 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -4,7 +4,7 @@ from functools import cache from urllib.parse import urlparse from collections import defaultdict from itertools import chain -from typing import Optional, cast +from typing import cast from openpilot.tools.lib.auth_config import get_token from openpilot.tools.lib.api import CommaApi @@ -231,7 +231,7 @@ class SegmentName: def route_name(self) -> RouteName: return self._route_name @property - def data_dir(self) -> Optional[str]: return self._data_dir + def data_dir(self) -> str | None: return self._data_dir def __str__(self) -> str: return self._canonical_name diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py index b355b0fe60..50d4200b4f 100644 --- a/tools/lib/tests/test_comma_car_segments.py +++ b/tools/lib/tests/test_comma_car_segments.py @@ -1,5 +1,3 @@ - - import unittest import requests diff --git a/tools/lib/vidindex.py b/tools/lib/vidindex.py index 8156faba6b..f2e4e9ca45 100755 --- a/tools/lib/vidindex.py +++ b/tools/lib/vidindex.py @@ -3,7 +3,6 @@ import argparse import os import struct from enum import IntEnum -from typing import Tuple from openpilot.tools.lib.filereader import FileReader @@ -120,7 +119,7 @@ HEVC_CODED_SLICE_SEGMENT_NAL_UNITS = ( class VideoFileInvalid(Exception): pass -def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> Tuple[int, int]: +def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> tuple[int, int]: prefix_val = 0 prefix_len = 0 suffix_val = 0 @@ -184,7 +183,7 @@ def get_hevc_nal_unit_type(dat: bytes, nal_unit_start: int) -> HevcNalUnitType: print(" nal_unit_type:", nal_unit_type.name, f"({nal_unit_type.value})") return nal_unit_type -def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalUnitType) -> Tuple[int, bool]: +def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalUnitType) -> tuple[int, bool]: # 7.3.2.9 Slice segment layer RBSP syntax # slice_segment_layer_rbsp( ) { # slice_segment_header( ) @@ -259,7 +258,7 @@ def get_hevc_slice_type(dat: bytes, nal_unit_start: int, nal_unit_type: HevcNalU raise VideoFileInvalid("slice_type must be 0, 1, or 2") return slice_type, is_first_slice -def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> Tuple[list, int, bytes]: +def hevc_index(hevc_file_name: str, allow_corrupt: bool=False) -> tuple[list, int, bytes]: with FileReader(hevc_file_name) as f: dat = f.read() diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index e350b89bac..23f3563084 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -1,5 +1,5 @@ import itertools -from typing import Any, Dict, Tuple +from typing import Any import matplotlib.pyplot as plt import numpy as np @@ -84,7 +84,7 @@ class Calibration: return pts / self.zoom -_COLOR_CACHE : Dict[Tuple[int, int, int], Any] = {} +_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} def find_color(lidar_surface, color): if color in _COLOR_CACHE: return _COLOR_CACHE[color] diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 91ab0b6f07..10e2a055a3 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -4,7 +4,6 @@ import functools from multiprocessing import Process, Queue, Value from abc import ABC, abstractmethod -from typing import Optional from openpilot.common.params import Params from openpilot.common.numpy_fast import clip @@ -44,7 +43,7 @@ class SimulatorBridge(ABC): self._exit = threading.Event() self.simulator_state = SimulatorState() - self.world: Optional[World] = None + self.world: World | None = None self.past_startup_engaged = False diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 1b1e5ffea6..c94fca2b95 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -30,14 +30,14 @@ class CopyRamRGBCamera(RGBCamera): class RGBCameraWide(CopyRamRGBCamera): def __init__(self, *args, **kwargs): - super(RGBCameraWide, self).__init__(*args, **kwargs) + super().__init__(*args, **kwargs) lens = self.get_lens() lens.setFov(120) lens.setNear(0.1) class RGBCameraRoad(CopyRamRGBCamera): def __init__(self, *args, **kwargs): - super(RGBCameraRoad, self).__init__(*args, **kwargs) + super().__init__(*args, **kwargs) lens = self.get_lens() lens.setFov(40) lens.setNear(0.1) @@ -85,7 +85,7 @@ class MetaDriveBridge(SimulatorBridge): def __init__(self, dual_camera, high_quality): self.should_render = False - super(MetaDriveBridge, self).__init__(dual_camera, high_quality) + super().__init__(dual_camera, high_quality) def spawn_world(self): sensors = { diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 5e826e7baa..8a72296538 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -4,7 +4,7 @@ import array import os import struct from fcntl import ioctl -from typing import NoReturn, Dict, List +from typing import NoReturn # Iterate over the joystick devices. print('Available devices:') @@ -13,8 +13,8 @@ for fn in os.listdir('/dev/input'): print(f' /dev/input/{fn}') # We'll store the states here. -axis_states: Dict[str, float] = {} -button_states: Dict[str, float] = {} +axis_states: dict[str, float] = {} +button_states: dict[str, float] = {} # These constants were borrowed from linux/input.h axis_names = { @@ -88,8 +88,8 @@ button_names = { 0x2c3 : 'dpad_down', } -axis_name_list: List[str] = [] -button_name_list: List[str] = [] +axis_name_list: list[str] = [] +button_name_list: list[str] = [] def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: # Open the joystick device. From 96ce470b7356a5dc3ca2e02aa6fc8d08646faf78 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 24 Feb 2024 20:54:04 -0800 Subject: [PATCH 13/47] VSCode settings (#31582) * base config * add launch.json * little more * cleanup * fix --------- Co-authored-by: Justin Newberry --- .gitignore | 1 - .pre-commit-config.yaml | 2 +- .vscode/extensions.json | 7 ++++++ .vscode/launch.json | 47 +++++++++++++++++++++++++++++++++++++++++ .vscode/settings.json | 16 ++++++++++++++ 5 files changed, 71 insertions(+), 2 deletions(-) create mode 100644 .vscode/extensions.json create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json diff --git a/.gitignore b/.gitignore index 3e91531d08..3da75aaea4 100644 --- a/.gitignore +++ b/.gitignore @@ -10,7 +10,6 @@ venv/ .overlay_init .overlay_consistent .sconsign.dblite -.vscode* model2.png a.out .hypothesis diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 335ccae456..09fded7f77 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -10,7 +10,7 @@ repos: - id: check-ast exclude: '^(third_party)/' - id: check-json - exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments + exclude: '.devcontainer/devcontainer.json|.vscode/' # these support JSON with comments - id: check-toml - id: check-xml - id: check-yaml diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000000..3799b93e79 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,7 @@ +{ + "recommendations": [ + "ms-python.python", + "ms-vscode.cpptools", + "elagil.pre-commit-helper", + ] +} \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000000..3b3953c3f4 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,47 @@ +{ + "version": "0.2.0", + "inputs": [ + { + "id": "python_process", + "type": "pickString", + "description": "Select the process to debug", + "options": [ + "selfdrive/controls/controlsd.py", + "selfdrive/navd/navd.py", + "system/timed/timed.py", + "tools/sim/run_bridge.py" + ] + }, + { + "id": "cpp_process", + "type": "pickString", + "description": "Select the process to debug", + "options": [ + "selfdrive/ui/ui" + ] + }, + { + "id": "args", + "description": "Arguments to pass to the process", + "type": "promptString" + } + ], + "configurations": [ + { + "name": "Python: openpilot Process", + "type": "debugpy", + "request": "launch", + "program": "${input:python_process}", + "console": "integratedTerminal", + "justMyCode": true, + "args": "${input:args}" + }, + { + "name": "C++: openpilot Process", + "type": "cppdbg", + "request": "launch", + "program": "${workspaceFolder}/${input:cpp_process}", + "cwd": "${workspaceFolder}", + } + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000000..daf74ca777 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,16 @@ +{ + "editor.tabSize": 2, + "editor.insertSpaces": true, + "editor.renderWhitespace": "trailing", + "files.trimTrailingWhitespace": true, + "search.exclude": { + "**/.git": true, + "**/.venv": true, + "**/__pycache__": true + }, + "files.exclude": { + "**/.git": true, + "**/.venv": true, + "**/__pycache__": true + } +} \ No newline at end of file From e6009d80e9323f0cbb41f058164b63eef4a9c55c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 25 Feb 2024 01:18:13 -0500 Subject: [PATCH 14/47] cars: introduce "Platform" union type for all car enums (#31558) * Hmm * release * hmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmmm * unrelated * forgot * cleaner * Platform * new syntax * Fix * clean * Fix --- release/files_common | 1 + selfdrive/car/car_helpers.py | 6 +++++- selfdrive/car/interfaces.py | 7 ++++--- selfdrive/car/subaru/interface.py | 3 ++- selfdrive/car/values.py | 18 ++++++++++++++++++ 5 files changed, 30 insertions(+), 5 deletions(-) create mode 100644 selfdrive/car/values.py diff --git a/release/files_common b/release/files_common index 1158d2c552..00a6abe6e6 100644 --- a/release/files_common +++ b/release/files_common @@ -87,6 +87,7 @@ selfdrive/car/docs_definitions.py selfdrive/car/car_helpers.py selfdrive/car/fingerprints.py selfdrive/car/interfaces.py +selfdrive/car/values.py selfdrive/car/vin.py selfdrive/car/disable_ecu.py selfdrive/car/fw_versions.py diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index fe4c0e885c..339be1912c 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -5,6 +5,7 @@ from collections.abc import Callable from cereal import car from openpilot.common.params import Params from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.values import PLATFORMS from openpilot.system.version import is_comma_remote, is_tested_branch from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars @@ -189,7 +190,10 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus, fingerprints=repr(finger), fw_query_time=fw_query_time, error=True) - return car_fingerprint, finger, vin, car_fw, source, exact_match + + car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint) + + return car_platform, finger, vin, car_fw, source, exact_match def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 05610a6dd6..4516ff3a9a 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -14,6 +14,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel @@ -101,14 +102,14 @@ class CarInterfaceBase(ABC): return ACCEL_MIN, ACCEL_MAX @classmethod - def get_non_essential_params(cls, candidate: str): + def get_non_essential_params(cls, candidate: Platform): """ Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints. """ return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) @classmethod - def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): + def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) if hasattr(candidate, "config"): @@ -132,7 +133,7 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: dict[int, dict[int, int]], + def _get_params(ret: car.CarParams, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index edf07ac2ef..1358adb69c 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,6 +1,7 @@ from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.car.disable_ecu import disable_ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags @@ -9,7 +10,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGL class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate: Platform, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True # for HYBRID CARS to be upstreamed, we need: diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py new file mode 100644 index 0000000000..7a824d25c3 --- /dev/null +++ b/selfdrive/car/values.py @@ -0,0 +1,18 @@ +from typing import List, cast, Dict +from openpilot.selfdrive.car.body.values import CAR as BODY +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.tesla.values import CAR as TESLA +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN + +Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN +BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN] + +PLATFORMS: Dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(List[Platform], brand)} From cdd4d418aaa1516d110e03199f070b3168cb55c6 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Sun, 25 Feb 2024 02:15:16 -0500 Subject: [PATCH 15/47] Subaru: fix forester weight (#31585) fix weight --- selfdrive/car/subaru/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index e496f43628..0fd7ab9c13 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -139,7 +139,7 @@ class CAR(Platforms): FORESTER = SubaruPlatformConfig( "SUBARU FORESTER 2019", SubaruCarInfo("Subaru Forester 2019-21", "All"), - specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), + specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), ) FORESTER_HYBRID = SubaruPlatformConfig( "SUBARU FORESTER HYBRID 2020", From be8e503a7da7b686ffa944902d58bb62925e34a9 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 25 Feb 2024 16:24:33 +0000 Subject: [PATCH 16/47] cars: update platforms typing syntax (#31586) --- selfdrive/car/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py index 7a824d25c3..3e27870915 100644 --- a/selfdrive/car/values.py +++ b/selfdrive/car/values.py @@ -1,4 +1,4 @@ -from typing import List, cast, Dict +from typing import cast from openpilot.selfdrive.car.body.values import CAR as BODY from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER from openpilot.selfdrive.car.ford.values import CAR as FORD @@ -15,4 +15,4 @@ from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN] -PLATFORMS: Dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(List[Platform], brand)} +PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)} From 30afe2c231d18bbbf71c1e26d0458bf0acacdd2f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 25 Feb 2024 17:26:11 +0000 Subject: [PATCH 17/47] scripts: install and run pyupgrade (#31587) --- scripts/pyupgrade.sh | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100755 scripts/pyupgrade.sh diff --git a/scripts/pyupgrade.sh b/scripts/pyupgrade.sh new file mode 100755 index 0000000000..19aac4b5e2 --- /dev/null +++ b/scripts/pyupgrade.sh @@ -0,0 +1,7 @@ +#!/usr/bin/env bash + +set -e + +pip install --upgrade pyupgrade + +git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus From 854e78eaffbdf66daccb53aa326276fb51723ee1 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Sun, 25 Feb 2024 18:18:43 +0000 Subject: [PATCH 18/47] linux-aarch64 also works for plotjuggler --- tools/plotjuggler/juggle.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index dc94062801..0caf5a18ff 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -26,7 +26,7 @@ MAX_STREAMING_BUFFER_SIZE = 1000 def install(): m = f"{platform.system()}-{platform.machine()}" - supported = ("Linux-x86_64", "Darwin-arm64", "Darwin-x86_64") + supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64") if m not in supported: raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}") From 3520d479557dad78b85ce2fd1f51d656c7ea6bd2 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 25 Feb 2024 19:41:27 +0000 Subject: [PATCH 19/47] vscode: add ruff extension (#31589) --- .vscode/extensions.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.vscode/extensions.json b/.vscode/extensions.json index 3799b93e79..458312fc88 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -3,5 +3,6 @@ "ms-python.python", "ms-vscode.cpptools", "elagil.pre-commit-helper", + "charliermarsh.ruff", ] -} \ No newline at end of file +} From 80da3aee147867e46f566b63a96f4fe199e0628d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 25 Feb 2024 21:29:18 +0000 Subject: [PATCH 20/47] mypy: use implicit-optional (#31590) * mypy: set implicit-optional = true * find and replace '| None = None' -> '= None' in function args --- common/file_helpers.py | 2 +- common/prefix.py | 2 +- pyproject.toml | 3 +++ selfdrive/athena/athenad.py | 6 +++--- selfdrive/athena/tests/test_athenad.py | 2 +- selfdrive/car/docs_definitions.py | 2 +- selfdrive/car/ecu_addrs.py | 2 +- selfdrive/car/fw_versions.py | 2 +- selfdrive/car/isotp_parallel_query.py | 2 +- selfdrive/controls/lib/alertmanager.py | 2 +- selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/helpers.py | 2 +- selfdrive/manager/process.py | 2 +- selfdrive/navd/helpers.py | 2 +- selfdrive/test/fuzzy_generation.py | 2 +- selfdrive/test/process_replay/process_replay.py | 6 +++--- selfdrive/test/process_replay/regen.py | 2 +- selfdrive/test/update_ci_routes.py | 2 +- selfdrive/ui/translations/auto_translate.py | 2 +- selfdrive/updated.py | 2 +- system/hardware/tici/casync.py | 2 +- system/loggerd/tests/loggerd_tests_common.py | 4 ++-- system/loggerd/tests/test_uploader.py | 2 +- system/loggerd/uploader.py | 2 +- system/webrtc/device/audio.py | 4 ++-- 25 files changed, 33 insertions(+), 30 deletions(-) diff --git a/common/file_helpers.py b/common/file_helpers.py index 417776b87c..29ad219c07 100644 --- a/common/file_helpers.py +++ b/common/file_helpers.py @@ -23,7 +23,7 @@ class CallbackReader: @contextlib.contextmanager -def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None, +def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None, overwrite: bool = False): """Write to a file atomically using a temporary file in the same directory as the destination file.""" dir_name = os.path.dirname(path) diff --git a/common/prefix.py b/common/prefix.py index 40f2f34b74..4059ac09e2 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -8,7 +8,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT class OpenpilotPrefix: - def __init__(self, prefix: str | None = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): + def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False): self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15]) self.msgq_path = os.path.join('/dev/shm', self.prefix) self.clean_dirs_on_exit = clean_dirs_on_exit diff --git a/pyproject.toml b/pyproject.toml index 51396ca39b..ac5bb0922c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -63,6 +63,9 @@ warn_unused_ignores=true # restrict dynamic typing warn_return_any=true +# allow implicit optionals for default args +implicit_optional = true + [tool.poetry] name = "openpilot" diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 9480d2b8ec..9f901498b7 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -279,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None: cloudlog.exception("athena.upload_handler.exception") -def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response: +def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response: path = upload_item.path compress = False @@ -328,7 +328,7 @@ def getVersion() -> dict[str, str]: @dispatcher.add_method -def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]: +def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]: destination = { "latitude": latitude, "longitude": longitude, @@ -767,7 +767,7 @@ def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) -def main(exit_event: threading.Event | None = None): +def main(exit_event: threading.Event = None): try: set_core_affinity([0, 1, 2, 3]) except Exception: diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 8d09661f01..780bef345e 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -96,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase): break @staticmethod - def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str: + def _create_file(file: str, parent: str = None, data: bytes = b'') -> str: fn = os.path.join(Paths.log_root() if parent is None else parent, file) os.makedirs(os.path.dirname(fn), exist_ok=True) with open(fn, 'wb') as f: diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 03ed1f32cb..841cc3af2f 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -159,7 +159,7 @@ class CarParts: return copy.deepcopy(self) @classmethod - def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None): + def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None): p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] return cls(p) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 6d6fa333a5..da5e7b4612 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None): return make_can_msg(addr, bytes(dat), bus) -def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int | None = None) -> bool: +def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool: # ISO-TP messages are always padded to 8 bytes # tester present response is always a single frame dat_offset = 1 if subaddr is not None else 0 diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 1cf4cecd3e..7673814195 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -39,7 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool: def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], - filter_brand: str | None = None) -> dict[AddrType, set[bytes]]: + filter_brand: str = None) -> dict[AddrType, set[bytes]]: fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set) for fw in fw_versions: if is_brand(fw.brand, filter_brand) and not fw.logging: diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 678fe9ea46..8fdc747e9e 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -12,7 +12,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a class IsoTpParallelQuery: def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType], request: list[bytes], response: list[bytes], response_offset: int = 0x8, - functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None: + functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None: self.sendcan = sendcan self.logcan = logcan self.bus = bus diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index 8034c8ebbc..f67e269fa9 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -13,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a OFFROAD_ALERTS = json.load(f) -def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None: +def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None: if show_alert: a = copy.copy(OFFROAD_ALERTS[alert]) a['extra'] = extra_text or '' diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 1456bf16f5..6e154bf07c 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -89,7 +89,7 @@ class Calibrator: valid_blocks: int = 0, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, height_init: np.ndarray = HEIGHT_INIT, - smooth_from: np.ndarray | None = None) -> None: + smooth_from: np.ndarray = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index c273ba87b3..786bdbbfec 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -41,7 +41,7 @@ class PointBuckets: def add_point(self, x: float, y: float, bucket_val: float) -> None: raise NotImplementedError - def get_points(self, num_points: int | None = None) -> Any: + def get_points(self, num_points: int = None) -> Any: points = np.vstack([x.arr for x in self.buckets.values()]) if num_points is None: return points diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 46fb68f89c..7964f5229d 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -109,7 +109,7 @@ class ManagerProcess(ABC): else: self.watchdog_seen = True - def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None: + def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None: if self.proc is None: return None diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index 5b0f5b7e85..0f0410c2c7 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -106,7 +106,7 @@ def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> floa return total_distance_closest -def coordinate_from_param(param: str, params: Params | None = None) -> Coordinate | None: +def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None: if params is None: params = Params() diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py index 00e98fadc1..26c35c0c18 100644 --- a/selfdrive/test/fuzzy_generation.py +++ b/selfdrive/test/fuzzy_generation.py @@ -68,7 +68,7 @@ class FuzzyGenerator: else: return self.generate_struct(field.schema) - def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]: + def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]: full_fill: list[str] = list(schema.non_union_fields) single_fill: list[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else [] return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill}) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b760548fd7..4fb3e3c4de 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -627,9 +627,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args, def replay_process( - cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None = None, - fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None, - captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False + cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None, + fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None, + captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False ) -> list[capnp._DynamicStructReader]: if isinstance(cfg, Iterable): cfgs = list(cfg) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 3bb51d0b65..8e882207b5 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -41,7 +41,7 @@ class DummyFrameReader(BaseFrameReader): def regen_segment( - lr: LogIterable, frs: dict[str, Any] | None = None, + lr: LogIterable, frs: dict[str, Any] = None, processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False ) -> list[capnp._DynamicStructReader]: all_msgs = sorted(lr, key=lambda m: m.logMonoTime) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index bdfefb78d1..a9f4494ffd 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [ DEST = OpenpilotCIContainer -def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None: +def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None: if exclude_patterns is None: exclude_patterns = [r'dcamera\.hevc'] diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py index 8613feb245..c2e4bbc552 100755 --- a/selfdrive/ui/translations/auto_translate.py +++ b/selfdrive/ui/translations/auto_translate.py @@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." -def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: +def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]: files = {} with open(TRANSLATIONS_LANGUAGES) as fp: diff --git a/selfdrive/updated.py b/selfdrive/updated.py index ba4260ae3d..b6b395f254 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -71,7 +71,7 @@ def read_time_from_param(params, param) -> datetime.datetime | None: pass return None -def run(cmd: list[str], cwd: str | None = None) -> str: +def run(cmd: list[str], cwd: str = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index 68ca37d38d..986228c1cd 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -145,7 +145,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict: def extract(target: list[Chunk], sources: list[tuple[str, ChunkReader, ChunkDict]], out_path: str, - progress: Callable[[int], None] | None = None): + progress: Callable[[int], None] = None): stats: dict[str, int] = defaultdict(int) mode = 'rb+' if os.path.exists(out_path) else 'wb' diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 0532fe1a89..42eec2a0f4 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import setxattr -def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None: +def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None: file_path.parent.mkdir(parents=True, exist_ok=True) if lock: @@ -81,7 +81,7 @@ class UploaderTestCase(unittest.TestCase): self.params.put("DongleId", "0000000000000000") def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, - upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path: + upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path: file_path = Path(Paths.log_root()) / f_dir / fn create_random_file(file_path, size_mb, lock, upload_xattr) diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index b807bd6b98..73917a30cf 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -52,7 +52,7 @@ class TestUploader(UploaderTestCase): self.end_event.set() self.up_thread.join() - def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]: + def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]: f_paths = [] for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr)) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 5ccf0ff69a..33ee8c1850 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -222,7 +222,7 @@ class Uploader: return self.upload(name, key, fn, network_type, metered) -def main(exit_event: threading.Event | None = None) -> None: +def main(exit_event: threading.Event = None) -> None: if exit_event is None: exit_event = threading.Event() diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py index b1859518a1..4b22033e03 100644 --- a/system/webrtc/device/audio.py +++ b/system/webrtc/device/audio.py @@ -16,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): pyaudio.paFloat32: 'flt', } - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None): super().__init__() self.p = pyaudio.PyAudio() @@ -48,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack): class AudioOutputSpeaker: - def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None): + def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None): chunk_size = int(packet_time * rate) self.p = pyaudio.PyAudio() From da540eac1346d0d28bf7cbb2499d6193af541798 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 25 Feb 2024 19:38:17 -0600 Subject: [PATCH 21/47] VW: Move car specs to PlatformConfig (#31567) * subaru platform config * forester wrong dbc * spacing * subaru car specs * someday! * more red diff * all brands can be done like this * but this should be done first and thats subaru specific * that seems very low but we shouldn't change it here * as long as it subclasses str its fine * well that sucked * cleanup and follow refactor * diff reduction * oops * fix * force fingerprint * Revert "force fingerprint" This reverts commit 600fbcd7d559703601a06c8876a640de417e5b6c. * space * Fix specs * this one too --------- Co-authored-by: Justin Newberry --- selfdrive/car/__init__.py | 6 +- selfdrive/car/interfaces.py | 2 + selfdrive/car/volkswagen/interface.py | 120 +-------- selfdrive/car/volkswagen/values.py | 336 ++++++++++++++++---------- 4 files changed, 217 insertions(+), 247 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 7544796b93..ca77dce1cf 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,6 +1,6 @@ # functions common among cars from collections import namedtuple -from dataclasses import dataclass +from dataclasses import dataclass, field from enum import ReprEnum import capnp @@ -246,11 +246,13 @@ class CanSignalRateCalculator: CarInfos = CarInfo | list[CarInfo] -@dataclass +@dataclass(kw_only=True) class CarSpecs: mass: float wheelbase: float steerRatio: float + minSteerSpeed: float = field(default=0.) + minEnableSpeed: float = field(default=-1.) @dataclass(order=True) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 4516ff3a9a..e0db1b56d8 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -118,6 +118,8 @@ class CarInterfaceBase(ABC): ret.mass = platform_config.specs.mass ret.wheelbase = platform_config.specs.wheelbase ret.steerRatio = platform_config.specs.steerRatio + ret.minEnableSpeed = platform_config.specs.minEnableSpeed + ret.minSteerSpeed = platform_config.specs.minSteerSpeed ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 544d104d33..fa68e81d0d 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,9 +1,8 @@ from cereal import car from panda import Panda -from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags +from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -72,7 +71,6 @@ class CarInterface(CarInterfaceBase): # Global lateral tuning defaults, can be overridden per-vehicle - ret.steerRatio = 15.6 # Let the params learner figure this out ret.steerLimitTimer = 0.4 if candidate in PQ_CARS: ret.steerActuatorDelay = 0.2 @@ -105,122 +103,6 @@ class CarInterface(CarInterfaceBase): # Per-chassis tuning values, override tuning defaults here if desired - if candidate == CAR.ARTEON_MK1: - ret.mass = 1733 - ret.wheelbase = 2.84 - - elif candidate == CAR.ATLAS_MK1: - ret.mass = 2011 - ret.wheelbase = 2.98 - - elif candidate == CAR.CRAFTER_MK2: - ret.mass = 2100 - ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference - ret.minSteerSpeed = 50 * CV.KPH_TO_MS - - elif candidate == CAR.GOLF_MK7: - ret.mass = 1397 - ret.wheelbase = 2.62 - - elif candidate == CAR.JETTA_MK7: - ret.mass = 1328 - ret.wheelbase = 2.71 - - elif candidate == CAR.PASSAT_MK8: - ret.mass = 1551 - ret.wheelbase = 2.79 - - elif candidate == CAR.PASSAT_NMS: - ret.mass = 1503 - ret.wheelbase = 2.80 - ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS - ret.minSteerSpeed = 50 * CV.KPH_TO_MS - - elif candidate == CAR.POLO_MK6: - ret.mass = 1230 - ret.wheelbase = 2.55 - - elif candidate == CAR.SHARAN_MK2: - ret.mass = 1639 - ret.wheelbase = 2.92 - ret.minSteerSpeed = 50 * CV.KPH_TO_MS - - elif candidate == CAR.TAOS_MK1: - ret.mass = 1498 - ret.wheelbase = 2.69 - - elif candidate == CAR.TCROSS_MK1: - ret.mass = 1150 - ret.wheelbase = 2.60 - - elif candidate == CAR.TIGUAN_MK2: - ret.mass = 1715 - ret.wheelbase = 2.74 - - elif candidate == CAR.TOURAN_MK2: - ret.mass = 1516 - ret.wheelbase = 2.79 - - elif candidate == CAR.TRANSPORTER_T61: - ret.mass = 1926 - ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference - ret.minSteerSpeed = 14.0 - - elif candidate == CAR.TROC_MK1: - ret.mass = 1413 - ret.wheelbase = 2.63 - - elif candidate == CAR.AUDI_A3_MK3: - ret.mass = 1335 - ret.wheelbase = 2.61 - - elif candidate == CAR.AUDI_Q2_MK1: - ret.mass = 1205 - ret.wheelbase = 2.61 - - elif candidate == CAR.AUDI_Q3_MK2: - ret.mass = 1623 - ret.wheelbase = 2.68 - - elif candidate == CAR.SEAT_ATECA_MK1: - ret.mass = 1900 - ret.wheelbase = 2.64 - - elif candidate == CAR.SEAT_LEON_MK3: - ret.mass = 1227 - ret.wheelbase = 2.64 - - elif candidate == CAR.SKODA_FABIA_MK4: - ret.mass = 1266 - ret.wheelbase = 2.56 - - elif candidate == CAR.SKODA_KAMIQ_MK1: - ret.mass = 1265 - ret.wheelbase = 2.66 - - elif candidate == CAR.SKODA_KAROQ_MK1: - ret.mass = 1278 - ret.wheelbase = 2.66 - - elif candidate == CAR.SKODA_KODIAQ_MK1: - ret.mass = 1569 - ret.wheelbase = 2.79 - - elif candidate == CAR.SKODA_OCTAVIA_MK3: - ret.mass = 1388 - ret.wheelbase = 2.68 - - elif candidate == CAR.SKODA_SCALA_MK1: - ret.mass = 1192 - ret.wheelbase = 2.65 - - elif candidate == CAR.SKODA_SUPERB_MK3: - ret.mass = 1505 - ret.wheelbase = 2.84 - - else: - raise ValueError(f"unsupported car {candidate}") - ret.autoResumeSng = ret.minEnableSpeed == -1 ret.centerToFront = ret.wheelbase * 0.45 return ret diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index e49b9850be..f029740284 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,11 +1,12 @@ -from collections import defaultdict, namedtuple +from collections import namedtuple from dataclasses import dataclass, field -from enum import Enum, IntFlag, StrEnum +from enum import Enum, IntFlag from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine -from openpilot.selfdrive.car import dbc_dict +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 @@ -111,49 +112,17 @@ class CANBUS: class VolkswagenFlags(IntFlag): STOCK_HCA_PRESENT = 1 +@dataclass +class VolkswagenMQBPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None)) -# Check the 7th and 8th characters of the VIN before adding a new CAR. If the -# chassis code is already listed below, don't add a new CAR, just add to the -# FW_VERSIONS for that existing CAR. -# Exception: SEAT Leon and SEAT Ateca share a chassis code - -class CAR(StrEnum): - ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants - ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport - CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN" # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE - GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants - JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta - PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants - PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift - POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo - SHARAN_MK2 = "VOLKSWAGEN SHARAN 2ND GEN" # Chassis 7N, Mk2 Volkswagen Sharan and SEAT Alhambra - TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu - TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants - TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants - TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants - TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California - TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW T-Roc and variants - AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants - AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only) - AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants - SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca - SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants - SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia - SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq - SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq - SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq - SKODA_SCALA_MK1 = "SKODA SCALA 1ST GEN" # Chassis NW, Mk1 Skoda Scala and Skoda Kamiq - SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants - SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants - - -PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} - - -DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None)) -for car_type in PQ_CARS: - DBC[car_type] = dbc_dict("vw_golf_mk4", None) +@dataclass +class VolkswagenPQPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None)) +@dataclass(kw_only=True) +class VolkswagenCarSpecs(CarSpecs): + steerRatio: float = field(default=15.6) class Footnote(Enum): KAMIQ = CarFootnote( @@ -189,90 +158,202 @@ class VWCarInfo(CarInfo): if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61): self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533]) +# Check the 7th and 8th characters of the VIN before adding a new CAR. If the +# chassis code is already listed below, don't add a new CAR, just add to the +# FW_VERSIONS for that existing CAR. +# Exception: SEAT Leon and SEAT Ateca share a chassis code -CAR_INFO: dict[str, VWCarInfo | list[VWCarInfo]] = { - CAR.ARTEON_MK1: [ - VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), - ], - CAR.ATLAS_MK1: [ - VWCarInfo("Volkswagen Atlas 2018-23"), - VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"), - VWCarInfo("Volkswagen Teramont 2018-22"), - VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"), - VWCarInfo("Volkswagen Teramont X 2021-22"), - ], - CAR.CRAFTER_MK2: [ - VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), - VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), - ], - CAR.GOLF_MK7: [ - VWCarInfo("Volkswagen e-Golf 2014-20"), - VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False), - VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False), - VWCarInfo("Volkswagen Golf GTD 2015-20"), - VWCarInfo("Volkswagen Golf GTE 2015-20"), - VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False), - VWCarInfo("Volkswagen Golf R 2015-19"), - VWCarInfo("Volkswagen Golf SportsVan 2015-20"), - ], - CAR.JETTA_MK7: [ - VWCarInfo("Volkswagen Jetta 2018-24"), - VWCarInfo("Volkswagen Jetta GLI 2021-24"), - ], - CAR.PASSAT_MK8: [ - VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), - VWCarInfo("Volkswagen Passat Alltrack 2015-22"), - VWCarInfo("Volkswagen Passat GTE 2015-22"), - ], - CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"), - CAR.POLO_MK6: [ - VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), - VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), - ], - CAR.SHARAN_MK2: [ - VWCarInfo("Volkswagen Sharan 2018-22"), - VWCarInfo("SEAT Alhambra 2018-20"), - ], - CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"), - CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), - CAR.TIGUAN_MK2: [ - VWCarInfo("Volkswagen Tiguan 2018-24"), - VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), - ], - CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"), - CAR.TRANSPORTER_T61: [ - VWCarInfo("Volkswagen Caravelle 2020"), - VWCarInfo("Volkswagen California 2021-23"), - ], - CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), - CAR.AUDI_A3_MK3: [ - VWCarInfo("Audi A3 2014-19"), - VWCarInfo("Audi A3 Sportback e-tron 2017-18"), - VWCarInfo("Audi RS3 2018"), - VWCarInfo("Audi S3 2015-17"), - ], - CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"), - CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), - CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), - CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), - CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), - CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), - CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"), - CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), - CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), - CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), - CAR.SKODA_OCTAVIA_MK3: [ - VWCarInfo("Škoda Octavia 2015-19"), - VWCarInfo("Škoda Octavia RS 2016"), - ], -} +class CAR(Platforms): + ARTEON_MK1 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN ARTEON 1ST GEN", # Chassis AN + [ + VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), + ], + specs=VolkswagenCarSpecs(mass=1733, wheelbase=2.84), + ) + ATLAS_MK1 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN ATLAS 1ST GEN", # Chassis CA + [ + VWCarInfo("Volkswagen Atlas 2018-23"), + VWCarInfo("Volkswagen Atlas Cross Sport 2020-22"), + VWCarInfo("Volkswagen Teramont 2018-22"), + VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"), + VWCarInfo("Volkswagen Teramont X 2021-22"), + ], + specs=VolkswagenCarSpecs(mass=2011, wheelbase=2.98), + ) + CRAFTER_MK2 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN CRAFTER 2ND GEN", # Chassis SY/SZ + [ + VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), + VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), + ], + specs=VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), + ) + GOLF_MK7 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN GOLF 7TH GEN", # Chassis 5G/AU/BA/BE + [ + VWCarInfo("Volkswagen e-Golf 2014-20"), + VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False), + VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False), + VWCarInfo("Volkswagen Golf GTD 2015-20"), + VWCarInfo("Volkswagen Golf GTE 2015-20"), + VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False), + VWCarInfo("Volkswagen Golf R 2015-19"), + VWCarInfo("Volkswagen Golf SportsVan 2015-20"), + ], + specs=VolkswagenCarSpecs(mass=1397, wheelbase=2.62), + ) + JETTA_MK7 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN JETTA 7TH GEN", # Chassis BU + [ + VWCarInfo("Volkswagen Jetta 2018-24"), + VWCarInfo("Volkswagen Jetta GLI 2021-24"), + ], + specs=VolkswagenCarSpecs(mass=1328, wheelbase=2.71), + ) + PASSAT_MK8 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN PASSAT 8TH GEN", # Chassis 3G + [ + VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), + VWCarInfo("Volkswagen Passat Alltrack 2015-22"), + VWCarInfo("Volkswagen Passat GTE 2015-22"), + ], + specs=VolkswagenCarSpecs(mass=1551, wheelbase=2.79), + ) + PASSAT_NMS = VolkswagenPQPlatformConfig( + "VOLKSWAGEN PASSAT NMS", # Chassis A3 + VWCarInfo("Volkswagen Passat NMS 2017-22"), + specs=VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS), + ) + POLO_MK6 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN POLO 6TH GEN", # Chassis AW + [ + VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), + ], + specs=VolkswagenCarSpecs(mass=1230, wheelbase=2.55), + ) + SHARAN_MK2 = VolkswagenPQPlatformConfig( + "VOLKSWAGEN SHARAN 2ND GEN", # Chassis 7N + [ + VWCarInfo("Volkswagen Sharan 2018-22"), + VWCarInfo("SEAT Alhambra 2018-20"), + ], + specs=VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS), + ) + TAOS_MK1 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN TAOS 1ST GEN", # Chassis B2 + VWCarInfo("Volkswagen Taos 2022-23"), + specs=VolkswagenCarSpecs(mass=1498, wheelbase=2.69), + ) + TCROSS_MK1 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1 + car_info=VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), + specs=VolkswagenCarSpecs(mass=1150, wheelbase=2.60), + ) + TIGUAN_MK2 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN TIGUAN 2ND GEN", # Chassis AD/BW + [ + VWCarInfo("Volkswagen Tiguan 2018-24"), + VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), + ], + specs=VolkswagenCarSpecs(mass=1715, wheelbase=2.74), + ) + TOURAN_MK2 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T + VWCarInfo("Volkswagen Touran 2016-23"), + specs=VolkswagenCarSpecs(mass=1516, wheelbase=2.79), + ) + TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN TRANSPORTER T6.1", # Chassis 7H/7L + [ + VWCarInfo("Volkswagen Caravelle 2020"), + VWCarInfo("Volkswagen California 2021-23"), + ], + specs=VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0), + ) + TROC_MK1 = VolkswagenMQBPlatformConfig( + "VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1 + VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), + specs=VolkswagenCarSpecs(mass=1413, wheelbase=2.63), + ) + AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( + "AUDI A3 3RD GEN", # Chassis 8V/FF + [ + VWCarInfo("Audi A3 2014-19"), + VWCarInfo("Audi A3 Sportback e-tron 2017-18"), + VWCarInfo("Audi RS3 2018"), + VWCarInfo("Audi S3 2015-17"), + ], + specs=VolkswagenCarSpecs(mass=1335, wheelbase=2.61), + ) + AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( + "AUDI Q2 1ST GEN", # Chassis GA + VWCarInfo("Audi Q2 2018"), + specs=VolkswagenCarSpecs(mass=1205, wheelbase=2.61), + ) + AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( + "AUDI Q3 2ND GEN", # Chassis 8U/F3/FS + VWCarInfo("Audi Q3 2019-23"), + specs=VolkswagenCarSpecs(mass=1623, wheelbase=2.68), + ) + SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( + "SEAT ATECA 1ST GEN", # Chassis 5F + VWCarInfo("SEAT Ateca 2018"), + specs=VolkswagenCarSpecs(mass=1900, wheelbase=2.64), + ) + SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( + "SEAT LEON 3RD GEN", # Chassis 5F + VWCarInfo("SEAT Leon 2014-20"), + specs=VolkswagenCarSpecs(mass=1227, wheelbase=2.64), + ) + SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( + "SKODA FABIA 4TH GEN", # Chassis PJ + VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), + specs=VolkswagenCarSpecs(mass=1266, wheelbase=2.56), + ) + SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( + "SKODA KAMIQ 1ST GEN", # Chassis NW + VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), + specs=VolkswagenCarSpecs(mass=1265, wheelbase=2.66), + ) + SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( + "SKODA KAROQ 1ST GEN", # Chassis NU + VWCarInfo("Škoda Karoq 2019-23"), + specs=VolkswagenCarSpecs(mass=1278, wheelbase=2.66), + ) + SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( + "SKODA KODIAQ 1ST GEN", # Chassis NS + VWCarInfo("Škoda Kodiaq 2017-23"), + specs=VolkswagenCarSpecs(mass=1569, wheelbase=2.79), + ) + SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( + "SKODA OCTAVIA 3RD GEN", # Chassis NE + [ + VWCarInfo("Škoda Octavia 2015-19"), + VWCarInfo("Škoda Octavia RS 2016"), + ], + specs=VolkswagenCarSpecs(mass=1388, wheelbase=2.68), + ) + SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( + "SKODA SCALA 1ST GEN", # Chassis NW + VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), + specs=VolkswagenCarSpecs(mass=1192, wheelbase=2.65), + ) + SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( + "SKODA SUPERB 3RD GEN", # Chassis 3V/NP + VWCarInfo("Škoda Superb 2015-22"), + specs=VolkswagenCarSpecs(mass=1505, wheelbase=2.84), + ) +PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars # with a manual trans won't return transmission firmware, but all other cars will. @@ -313,3 +394,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ]], ) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() From 5012e15aa65f4ee82ce19c856a52909b3a879016 Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Sun, 25 Feb 2024 18:53:26 -0700 Subject: [PATCH 22/47] GM: move to platform config (#31553) * subaru platform config * forester wrong dbc * spacing * subaru car specs * someday! * more red diff * Move GM to platform config * Implement CarSpecs * Simplify centerToFront * Accidentally had subaru DBC * Fix typo in DBC name * done above * two spaces * that is moved up * fix hardcoded fingerprints * whitespace * values * better? * fix * bump * fix * fix --------- Co-authored-by: Justin Newberry --- selfdrive/car/__init__.py | 1 + selfdrive/car/gm/interface.py | 61 -------------- selfdrive/car/gm/values.py | 133 ++++++++++++++++++++---------- selfdrive/car/interfaces.py | 1 + selfdrive/car/subaru/interface.py | 3 - 5 files changed, 90 insertions(+), 109 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index ca77dce1cf..75b85cab2f 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -251,6 +251,7 @@ class CarSpecs: mass: float wheelbase: float steerRatio: float + centerToFrontRatio: float = field(default=0.5) minSteerSpeed: float = field(default=0.) minEnableSpeed: float = field(default=-1.) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 05caa28510..e0dde4d0e9 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -152,11 +152,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: - ret.mass = 1607. - ret.wheelbase = 2.69 - ret.steerRatio = 17.7 # Stock 15.7, LiveParameters ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters - ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] @@ -165,61 +161,20 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() ret.steerActuatorDelay = 0.2 - elif candidate == CAR.MALIBU: - ret.mass = 1496. - ret.wheelbase = 2.83 - ret.steerRatio = 15.8 - ret.centerToFront = ret.wheelbase * 0.4 # wild guess - - elif candidate == CAR.HOLDEN_ASTRA: - ret.mass = 1363. - ret.wheelbase = 2.662 - # Remaining parameters copied from Volt for now - ret.centerToFront = ret.wheelbase * 0.4 - ret.steerRatio = 15.7 - elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.mass = 4353. * CV.LB_TO_KG - ret.wheelbase = 2.86 - ret.steerRatio = 14.4 # end to end is 13.46 - ret.centerToFront = ret.wheelbase * 0.4 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BUICK_LACROSSE: - ret.mass = 1712. - ret.wheelbase = 2.91 - ret.steerRatio = 15.8 - ret.centerToFront = ret.wheelbase * 0.4 # wild guess CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - elif candidate == CAR.BUICK_REGAL: - ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2 - ret.wheelbase = 2.83 # 111.4 inches in meters - ret.steerRatio = 14.4 # guess for tourx - ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx - - elif candidate == CAR.CADILLAC_ATS: - ret.mass = 1601. - ret.wheelbase = 2.78 - ret.steerRatio = 15.3 - ret.centerToFront = ret.wheelbase * 0.5 - elif candidate == CAR.ESCALADE: ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2 - ret.wheelbase = 2.95 # 116 inches in meters - ret.steerRatio = 17.3 - ret.centerToFront = ret.wheelbase * 0.5 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019): ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.mass = 2739. - ret.wheelbase = 3.302 - ret.steerRatio = 17.3 - ret.centerToFront = ret.wheelbase * 0.5 ret.tireStiffnessFactor = 1.0 if candidate == CAR.ESCALADE_ESV: @@ -231,19 +186,11 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BOLT_EUV: - ret.mass = 1669. - ret.wheelbase = 2.63779 - ret.steerRatio = 16.8 - ret.centerToFront = ret.wheelbase * 0.4 ret.tireStiffnessFactor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: - ret.mass = 2450. - ret.wheelbase = 3.75 - ret.steerRatio = 16.3 - ret.centerToFront = ret.wheelbase * 0.5 ret.tireStiffnessFactor = 1.0 # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop # with foot on brake to allow engagement, but this platform only has that check in the camera. @@ -253,17 +200,9 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.EQUINOX: - ret.mass = 3500. * CV.LB_TO_KG - ret.wheelbase = 2.72 - ret.steerRatio = 14.4 - ret.centerToFront = ret.wheelbase * 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.TRAILBLAZER: - ret.mass = 1345. - ret.wheelbase = 2.64 - ret.steerRatio = 16.8 - ret.centerToFront = ret.wheelbase * 0.4 ret.tireStiffnessFactor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 5c4d572fdb..53dbde87f4 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,9 +1,8 @@ -from collections import defaultdict -from dataclasses import dataclass -from enum import Enum, StrEnum +from dataclasses import dataclass, field +from enum import Enum from cereal import car -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -61,23 +60,6 @@ class CarControllerParams: self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.] -class CAR(StrEnum): - HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017" - VOLT = "CHEVROLET VOLT PREMIER 2017" - CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" - MALIBU = "CHEVROLET MALIBU PREMIER 2017" - ACADIA = "GMC ACADIA DENALI 2018" - BUICK_LACROSSE = "BUICK LACROSSE 2017" - BUICK_REGAL = "BUICK REGAL ESSENCE 2018" - ESCALADE = "CADILLAC ESCALADE 2017" - ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" - ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019" - BOLT_EUV = "CHEVROLET BOLT EUV 2022" - SILVERADO = "CHEVROLET SILVERADO 1500 2020" - EQUINOX = "CHEVROLET EQUINOX 2019" - TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021" - - class Footnote(Enum): OBD_II = CarFootnote( 'Requires a community built ASCM harness. ' + @@ -97,28 +79,88 @@ class GMCarInfo(CarInfo): self.footnotes.append(Footnote.OBD_II) -CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = { - CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"), - CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), - CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), - CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), - CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), - CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), - CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), - CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), - CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), - CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"), - CAR.BOLT_EUV: [ - GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), - GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), - ], - CAR.SILVERADO: [ - GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), - GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), - ], - CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"), - CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"), -} +@dataclass +class GMPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) + + +class CAR(Platforms): + HOLDEN_ASTRA = GMPlatformConfig( + "HOLDEN ASTRA RS-V BK 2017", + GMCarInfo("Holden Astra 2017"), + specs=CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), + ) + VOLT = GMPlatformConfig( + "CHEVROLET VOLT PREMIER 2017", + GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), + specs=CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45), + ) + CADILLAC_ATS = GMPlatformConfig( + "CADILLAC ATS Premium Performance 2018", + GMCarInfo("Cadillac ATS Premium Performance 2018"), + specs=CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), + ) + MALIBU = GMPlatformConfig( + "CHEVROLET MALIBU PREMIER 2017", + GMCarInfo("Chevrolet Malibu Premier 2017"), + specs=CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), + ) + ACADIA = GMPlatformConfig( + "GMC ACADIA DENALI 2018", + GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), + specs=CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), + ) + BUICK_LACROSSE = GMPlatformConfig( + "BUICK LACROSSE 2017", + GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), + specs=CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), + ) + BUICK_REGAL = GMPlatformConfig( + "BUICK REGAL ESSENCE 2018", + GMCarInfo("Buick Regal Essence 2018"), + specs=CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), + ) + ESCALADE = GMPlatformConfig( + "CADILLAC ESCALADE 2017", + GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), + specs=CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), + ) + ESCALADE_ESV = GMPlatformConfig( + "CADILLAC ESCALADE ESV 2016", + GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), + specs=CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3), + ) + ESCALADE_ESV_2019 = GMPlatformConfig( + "CADILLAC ESCALADE ESV 2019", + GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"), + specs=ESCALADE_ESV.specs, + ) + BOLT_EUV = GMPlatformConfig( + "CHEVROLET BOLT EUV 2022", + [ + GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), + GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), + ], + specs=CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4), + ) + SILVERADO = GMPlatformConfig( + "CHEVROLET SILVERADO 1500 2020", + [ + GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), + ], + specs=CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3), + ) + EQUINOX = GMPlatformConfig( + "CHEVROLET EQUINOX 2019", + GMCarInfo("Chevrolet Equinox 2019-22"), + specs=CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), + ) + TRAILBLAZER = GMPlatformConfig( + "CHEVROLET TRAILBLAZER 2021", + GMCarInfo("Chevrolet Trailblazer 2021-22"), + specs=CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4), + ) class CruiseButtons: @@ -180,11 +222,12 @@ FW_QUERY_CONFIG = FwQueryConfig( extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], ) -DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) - EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} STEER_THRESHOLD = 1.0 + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e0db1b56d8..0a2d978004 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -118,6 +118,7 @@ class CarInterfaceBase(ABC): ret.mass = platform_config.specs.mass ret.wheelbase = platform_config.specs.wheelbase ret.steerRatio = platform_config.specs.steerRatio + ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio ret.minEnableSpeed = platform_config.specs.minEnableSpeed ret.minSteerSpeed = platform_config.specs.minSteerSpeed diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 1358adb69c..2dfb4f9565 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -41,9 +41,6 @@ class CarInterface(CarInterfaceBase): else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - - ret.centerToFront = ret.wheelbase * 0.5 - if candidate in (CAR.ASCENT, CAR.ASCENT_2023): ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.lateralTuning.init('pid') From 8e03cdfc2ae72ea09208ce41ddc8f7a118c3b973 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 26 Feb 2024 01:55:42 +0000 Subject: [PATCH 23/47] Ford: move to PlatformConfig (#31554) * Ford: move to PlatformConfig * Align Aviator model years with Explorer * Add CarSpecs to PlatformConfig --------- Co-authored-by: justin --- selfdrive/car/ford/interface.py | 47 +---------- selfdrive/car/ford/values.py | 141 +++++++++++++++++++------------- 2 files changed, 83 insertions(+), 105 deletions(-) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 685a2a27ad..fd4c381f88 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -3,7 +3,7 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.ford.fordcan import CanBus -from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu +from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase TransmissionType = car.CarParams.TransmissionType @@ -39,51 +39,6 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD - if candidate == CAR.BRONCO_SPORT_MK1: - ret.wheelbase = 2.67 - ret.steerRatio = 17.7 - ret.mass = 1625 - - elif candidate == CAR.ESCAPE_MK4: - ret.wheelbase = 2.71 - ret.steerRatio = 16.7 - ret.mass = 1750 - - elif candidate == CAR.EXPLORER_MK6: - ret.wheelbase = 3.025 - ret.steerRatio = 16.8 - ret.mass = 2050 - - elif candidate == CAR.F_150_MK14: - # required trim only on SuperCrew - ret.wheelbase = 3.69 - ret.steerRatio = 17.0 - ret.mass = 2000 - - elif candidate == CAR.F_150_LIGHTNING_MK1: - # required trim only on SuperCrew - ret.wheelbase = 3.70 - ret.steerRatio = 16.9 - ret.mass = 2948 - - elif candidate == CAR.MUSTANG_MACH_E_MK1: - ret.wheelbase = 2.984 - ret.steerRatio = 17.0 # guess - ret.mass = 2200 - - elif candidate == CAR.FOCUS_MK4: - ret.wheelbase = 2.7 - ret.steerRatio = 15.0 - ret.mass = 1350 - - elif candidate == CAR.MAVERICK_MK1: - ret.wheelbase = 3.076 - ret.steerRatio = 17.0 - ret.mass = 1650 - - else: - raise ValueError(f"Unsupported car: {candidate}") - # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs: diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 3ad39d715f..ef99cf5f34 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,9 +1,8 @@ -from collections import defaultdict -from dataclasses import dataclass -from enum import Enum, StrEnum +from dataclasses import dataclass, field +from enum import Enum from cereal import car -from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -39,33 +38,11 @@ class CarControllerParams: pass -class CAR(StrEnum): - BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN" - ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" - EXPLORER_MK6 = "FORD EXPLORER 6TH GEN" - F_150_MK14 = "FORD F-150 14TH GEN" - FOCUS_MK4 = "FORD FOCUS 4TH GEN" - MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" - F_150_LIGHTNING_MK1 = "FORD F-150 LIGHTNING 1ST GEN" - MUSTANG_MACH_E_MK1 = "FORD MUSTANG MACH-E 1ST GEN" - - -CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} - - class RADAR: DELPHI_ESR = 'ford_fusion_2018_adas' DELPHI_MRR = 'FORD_CADS' -DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) - -# F-150 radar is not yet supported -DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None) -DBC[CAR.F_150_LIGHTNING_MK1] = dbc_dict("ford_lincoln_base_pt", None) -DBC[CAR.MUSTANG_MACH_E_MK1] = dbc_dict("ford_lincoln_base_pt", None) - - class Footnote(Enum): FOCUS = CarFootnote( "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " + @@ -86,39 +63,82 @@ class FordCarInfo(CarInfo): self.car_parts = CarParts([Device.threex, harness]) -CAR_INFO: dict[str, CarInfo | list[CarInfo]] = { - CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"), - CAR.ESCAPE_MK4: [ - FordCarInfo("Ford Escape 2020-22"), - FordCarInfo("Ford Escape Hybrid 2020-22"), - FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"), - FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), - FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), - FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), - ], - CAR.EXPLORER_MK6: [ - FordCarInfo("Ford Explorer 2020-23"), - FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only - FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"), - FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only - ], - CAR.F_150_MK14: [ - FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), - FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"), - ], - CAR.F_150_LIGHTNING_MK1: FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), - CAR.MUSTANG_MACH_E_MK1: FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), - CAR.FOCUS_MK4: [ - FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), - FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only - ], - CAR.MAVERICK_MK1: [ - FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), - FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"), - FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"), - FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"), - ], -} +@dataclass +class FordPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR)) + + +class CAR(Platforms): + BRONCO_SPORT_MK1 = FordPlatformConfig( + "FORD BRONCO SPORT 1ST GEN", + FordCarInfo("Ford Bronco Sport 2021-22"), + specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), + ) + ESCAPE_MK4 = FordPlatformConfig( + "FORD ESCAPE 4TH GEN", + [ + FordCarInfo("Ford Escape 2020-22"), + FordCarInfo("Ford Escape Hybrid 2020-22"), + FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"), + FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"), + FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), + FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), + ], + specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), + ) + EXPLORER_MK6 = FordPlatformConfig( + "FORD EXPLORER 6TH GEN", + [ + FordCarInfo("Ford Explorer 2020-23"), + FordCarInfo("Ford Explorer Hybrid 2020-23"), # Limited and Platinum only + FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"), + FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only + ], + specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), + ) + F_150_MK14 = FordPlatformConfig( + "FORD F-150 14TH GEN", + [ + FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), + FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"), + ], + dbc_dict=dbc_dict('ford_lincoln_base_pt', None), + specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), + ) + F_150_LIGHTNING_MK1 = FordPlatformConfig( + "FORD F-150 LIGHTNING 1ST GEN", + FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), + dbc_dict=dbc_dict('ford_lincoln_base_pt', None), + specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), + ) + FOCUS_MK4 = FordPlatformConfig( + "FORD FOCUS 4TH GEN", + [ + FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), + FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only + ], + specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), + ) + MAVERICK_MK1 = FordPlatformConfig( + "FORD MAVERICK 1ST GEN", + [ + FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"), + FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"), + FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"), + FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"), + ], + specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), + ) + MUSTANG_MACH_E_MK1 = FordPlatformConfig( + "FORD MUSTANG MACH-E 1ST GEN", + FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), + dbc_dict=dbc_dict('ford_lincoln_base_pt', None), + specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio + ) + + +CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} + FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -142,3 +162,6 @@ FW_QUERY_CONFIG = FwQueryConfig( (Ecu.shiftByWire, 0x732, None), ], ) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() From a1fefabbca852923dee83b5ee58c748ce861cdad Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Feb 2024 09:08:24 -0800 Subject: [PATCH 24/47] [bot] Update Python packages and pre-commit hooks (#31595) Update Python packages and pre-commit hooks Co-authored-by: jnewb1 --- .pre-commit-config.yaml | 2 +- poetry.lock | 351 ++++++++++++++++++++-------------------- 2 files changed, 177 insertions(+), 176 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 09fded7f77..6db68e55bc 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -91,7 +91,7 @@ repos: pass_filenames: false files: 'selfdrive/ui/translations/*' - repo: https://github.com/python-poetry/poetry - rev: '1.7.0' + rev: '1.8.0' hooks: - id: poetry-check name: validate poetry lock diff --git a/poetry.lock b/poetry.lock index 9972cd7732..588186d138 100644 --- a/poetry.lock +++ b/poetry.lock @@ 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"sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"}, - {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"}, + {file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"}, + {file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"}, ] [package.dependencies] From 5c0bbc7dda74f4e354b5e670185abf29d2d49488 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Feb 2024 11:20:42 -0800 Subject: [PATCH 25/47] [bot] Bump submodules (#31594) * bump submodules * bump opendbc --------- Co-authored-by: jnewb1 Co-authored-by: Justin Newberry --- cereal | 2 +- opendbc | 2 +- panda | 2 +- rednose_repo | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/cereal b/cereal index 2fba1381f4..a4255106b7 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 2fba1381f40df2654f42a2e4bed869f2b7d01a52 +Subproject commit a4255106b7255e00ae04162f7aa14aa3cae339c3 diff --git a/opendbc b/opendbc index 951ab07fdc..0ac21652f2 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 951ab07fdcbce023a5c927f56bbf94e0f2322366 +Subproject commit 0ac21652f2e643e29aa471ad6b238bf74b22e356 diff --git a/panda b/panda index 6aa4b55033..0c7d5f11d7 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6aa4b550336136bc20a6abb307cf310e876eba28 +Subproject commit 0c7d5f11d7187904022ea49b6a76b54d7b280345 diff --git a/rednose_repo b/rednose_repo index 18b91458fd..c5762e8bc6 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 18b91458fd396530d43e1a2fe9a3ac9055fa9109 +Subproject commit c5762e8bc6f7338c7a30d2cd1cba8cc64e81ba19 From 86090a1e150f6d6df5283725ff1fb03605ecfef5 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 26 Feb 2024 14:20:51 -0500 Subject: [PATCH 26/47] add common/mock to release (#31596) * add mock * fix * fix2 --- release/files_common | 1 + 1 file changed, 1 insertion(+) diff --git a/release/files_common b/release/files_common index 00a6abe6e6..d62ef8d1bb 100644 --- a/release/files_common +++ b/release/files_common @@ -23,6 +23,7 @@ common/.gitignore common/__init__.py common/*.py common/*.pyx +common/mock/* common/transformations/__init__.py common/transformations/camera.py From 9d1cafd0fccc0406a91309a2f9aa1053b498601d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 26 Feb 2024 15:53:17 -0500 Subject: [PATCH 27/47] move with_http_server to selfdrive/test/helpers (#31597) * move * fix --- selfdrive/athena/tests/helpers.py | 24 ------------------------ selfdrive/athena/tests/test_athenad.py | 4 ++-- selfdrive/test/helpers.py | 24 ++++++++++++++++++++++++ tools/lib/tests/test_caching.py | 2 +- 4 files changed, 27 insertions(+), 27 deletions(-) diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 87202665aa..3dd98f02c9 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -1,7 +1,5 @@ import http.server -import threading import socket -from functools import wraps class MockResponse: @@ -65,25 +63,3 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler): self.rfile.read(length) self.send_response(201, "Created") self.end_headers() - - -def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None): - @wraps(func) - def inner(*args, **kwargs): - host = '127.0.0.1' - server = http.server.HTTPServer((host, 0), handler) - port = server.server_port - t = threading.Thread(target=server.serve_forever) - t.start() - - if setup is not None: - setup(host, port) - - try: - return func(*args, f'http://{host}:{port}', **kwargs) - finally: - server.shutdown() - server.server_close() - t.join() - - return inner diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 780bef345e..4850ab9a3f 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -23,9 +23,9 @@ from openpilot.common.params import Params from openpilot.common.timeout import Timeout from openpilot.selfdrive.athena import athenad from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockApi, EchoSocket, with_http_server +from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket +from openpilot.selfdrive.test.helpers import with_http_server from openpilot.system.hardware.hw import Paths -from openpilot.selfdrive.athena.tests.helpers import HTTPRequestHandler def seed_athena_server(host, port): diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index a62f7ede85..210a283699 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,4 +1,6 @@ +import http.server import os +import threading import time from functools import wraps @@ -76,3 +78,25 @@ def read_segment_list(segment_list_path): seg_list = f.read().splitlines() return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] + + +def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None): + @wraps(func) + def inner(*args, **kwargs): + host = '127.0.0.1' + server = http.server.HTTPServer((host, 0), handler) + port = server.server_port + t = threading.Thread(target=server.serve_forever) + t.start() + + if setup is not None: + setup(host, port) + + try: + return func(*args, f'http://{host}:{port}', **kwargs) + finally: + server.shutdown() + server.server_close() + t.join() + + return inner diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index bc92b01357..5d3dfeba42 100755 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -7,7 +7,7 @@ import socket import unittest from parameterized import parameterized -from openpilot.selfdrive.athena.tests.helpers import with_http_server +from openpilot.selfdrive.test.helpers import with_http_server from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.url_file import URLFile From edd26acdc324ad8d4b3ccd7406be545545f4cb6f Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 26 Feb 2024 19:26:01 -0500 Subject: [PATCH 28/47] can_replay: add type hint (#31601) type hint --- tools/replay/can_replay.py | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index c597df1f66..bf6b1e9ae2 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -21,41 +21,41 @@ ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0 ENABLE_PWR = PWR_ON > 0 and PWR_OFF > 0 -def send_thread(s, flock): +def send_thread(j: PandaJungle, flock): if "FLASH" in os.environ: with flock: - s.flash() + j.flash() for i in [0, 1, 2, 3, 0xFFFF]: - s.can_clear(i) - s.set_can_speed_kbps(i, 500) - s.set_can_data_speed_kbps(i, 500) - s.set_ignition(False) + j.can_clear(i) + j.set_can_speed_kbps(i, 500) + j.set_can_data_speed_kbps(i, 500) + j.set_ignition(False) time.sleep(5) - s.set_ignition(True) - s.set_panda_power(True) - s.set_can_loopback(False) + j.set_ignition(True) + j.set_panda_power(True) + j.set_can_loopback(False) rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None) while True: # handle cycling if ENABLE_PWR: i = (rk.frame*DT_CTRL) % (PWR_ON + PWR_OFF) < PWR_ON - s.set_panda_power(i) + j.set_panda_power(i) if ENABLE_IGN: i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON - s.set_ignition(i) + j.set_ignition(i) snd = CAN_MSGS[rk.frame % len(CAN_MSGS)] snd = list(filter(lambda x: x[-1] <= 2, snd)) try: - s.can_send_many(snd) + j.can_send_many(snd) except usb1.USBErrorTimeout: # timeout is fine, just means the CAN TX buffer is full pass # Drain panda message buffer - s.can_recv() + j.can_recv() rk.keep_time() From 3c4e82f14a3569cec615fe602886271fee1566c7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Feb 2024 20:21:44 -0800 Subject: [PATCH 29/47] get name from kernel (#31602) * get name from kernel * revert that --------- Co-authored-by: Comma Device --- system/hardware/tici/hardware.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index e553a665a8..f1d1f1e717 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -20,12 +20,12 @@ public: } static std::string get_name() { - std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model"); - return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici"; + std::string model = util::read_file("/sys/firmware/devicetree/base/model"); + return model.substr(std::string("comma ").size()); } static cereal::InitData::DeviceType get_device_type() { - return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI; + return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI); } static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); } From 14ea615ae4acc644026b66342edc76edd9178afc Mon Sep 17 00:00:00 2001 From: Comma Device Date: Mon, 26 Feb 2024 20:39:41 -0800 Subject: [PATCH 30/47] no amp config --- system/hardware/tici/amplifier.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index af82067467..5725cb8170 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -97,6 +97,7 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), ], + "mici": [], } class Amplifier: From 6d0027342ab00486e9cfbed1ffbd098642f2abd7 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 00:01:41 -0500 Subject: [PATCH 31/47] remove cast for platformconfig (#31604) * this isnt required * Cleaner --- selfdrive/car/interfaces.py | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 0a2d978004..0a5ec94aa0 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -4,7 +4,7 @@ import numpy as np import tomllib from abc import abstractmethod, ABC from enum import StrEnum -from typing import Any, NamedTuple, cast +from typing import Any, NamedTuple from collections.abc import Callable from cereal import car @@ -13,7 +13,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events @@ -113,14 +113,13 @@ class CarInterfaceBase(ABC): ret = CarInterfaceBase.get_std_params(candidate) if hasattr(candidate, "config"): - platform_config = cast(PlatformConfig, candidate.config) - if platform_config.specs is not None: - ret.mass = platform_config.specs.mass - ret.wheelbase = platform_config.specs.wheelbase - ret.steerRatio = platform_config.specs.steerRatio - ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio - ret.minEnableSpeed = platform_config.specs.minEnableSpeed - ret.minSteerSpeed = platform_config.specs.minSteerSpeed + if candidate.config.specs is not None: + ret.mass = candidate.config.specs.mass + ret.wheelbase = candidate.config.specs.wheelbase + ret.steerRatio = candidate.config.specs.steerRatio + ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio + ret.minEnableSpeed = candidate.config.specs.minEnableSpeed + ret.minSteerSpeed = candidate.config.specs.minSteerSpeed ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) From 9ecff49118a053917b462aac9dd20cadcf56dd1a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 00:16:05 -0500 Subject: [PATCH 32/47] platformconfig: freeze all dataclasses (#31605) * frozen * frozen --- selfdrive/car/__init__.py | 4 ++-- selfdrive/car/ford/values.py | 2 +- selfdrive/car/gm/values.py | 2 +- selfdrive/car/subaru/values.py | 2 +- selfdrive/car/volkswagen/values.py | 6 +++--- 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 75b85cab2f..3b749101c9 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -246,7 +246,7 @@ class CanSignalRateCalculator: CarInfos = CarInfo | list[CarInfo] -@dataclass(kw_only=True) +@dataclass(frozen=True, kw_only=True) class CarSpecs: mass: float wheelbase: float @@ -256,7 +256,7 @@ class CarSpecs: minEnableSpeed: float = field(default=-1.) -@dataclass(order=True) +@dataclass(frozen=True, order=True) class PlatformConfig: platform_str: str car_info: CarInfos diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index ef99cf5f34..caa3eb0d37 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -63,7 +63,7 @@ class FordCarInfo(CarInfo): self.car_parts = CarParts([Device.threex, harness]) -@dataclass +@dataclass(frozen=True) class FordPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR)) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 53dbde87f4..35fdf3fb92 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -79,7 +79,7 @@ class GMCarInfo(CarInfo): self.footnotes.append(Footnote.OBD_II) -@dataclass +@dataclass(frozen=True) class GMPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 0fd7ab9c13..a296550b12 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -89,7 +89,7 @@ class SubaruCarInfo(CarInfo): self.footnotes.append(Footnote.EXP_LONG) -@dataclass +@dataclass(frozen=True) class SubaruPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None)) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index f029740284..4dff9205d6 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -112,15 +112,15 @@ class CANBUS: class VolkswagenFlags(IntFlag): STOCK_HCA_PRESENT = 1 -@dataclass +@dataclass(frozen=True) class VolkswagenMQBPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None)) -@dataclass +@dataclass(frozen=True) class VolkswagenPQPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None)) -@dataclass(kw_only=True) +@dataclass(frozen=True, kw_only=True) class VolkswagenCarSpecs(CarSpecs): steerRatio: float = field(default=15.6) From c724d1c86ce4044bfc03f1e7941871466f51a708 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 27 Feb 2024 12:22:10 +0000 Subject: [PATCH 33/47] Ford: log interesting module configuration data (#31569) * Ford: log interesting module configuration data Ford ECUs have what is called "As-Built Data" which is configured at the factory/workshop to set what packages/features are enabled on the car. But they also contain vehicle specific information (VIN, make, model, weight, wheel base...), DTC information and driver preferences. I dumped the CAN traffic for the FORScan diagnostic tool to see how it requests this information from the ECUs.
FORScan communication with IPMA (camera) 
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': '0200'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'TESTER_PRESENT', 'hex': '00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'TESTER_PRESENT', 'hex': '00'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f190'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f113'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x13JX7T-19H406-CH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1134a5837542d3139483430362d434800000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f188'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x88JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1884a5837542d3134463339372d414800000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f120'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1 JX7T-14F397-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1204a5837542d3134463339372d424600000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f121'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f124'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1$JX7T-14F398-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1244a5837542d3134463339382d414700000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f125'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1%JX7T-14F398-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1254a5837542d3134463339382d424600000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f126'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f10a'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f111'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x11JX7T-14F403-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1114a5837542d3134463430332d434100000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f18c'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x8c182762191\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f18c31383237363231393100000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f162'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f110'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x10DS-JX7T-19H406-AD\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f11044532d4a5837542d3139483430362d414400000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': '0202'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd100'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd10001'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd700'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd70001010101'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd701'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'd70101020000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'dd01'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'dd010102f8'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'f113'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'data': b'\xf1\x13JX7T-19H406-CH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', 'hex': 'f1134a5837542d3139483430362d434800000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd08'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd0800000500500100300000000000000000000000300000000000000000200100400300100200001200f00300500000000000000300c00b00400200000000000000000000000000000000200f01201e01501400a00200200400700d02501d01700700e06405005e05503401100a000000002002002001000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd09'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'fd09ffec0001fef60002'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DTC_INFORMATION', 'hex': '028f'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DTC_INFORMATION', 'hex': '02ff50019768c253002cc401862cc418862c'}
... skip DTC requests ...
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de00020799dbaa10296516a440000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de01'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de01fd5616db5fffff557fe1f842080000000800000008000000080000000819bfe00f7c00000000000000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de02'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de02800000008000000080000000800000008337fc00800000008000000080000000800000008337fc0000000000000000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de03'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de03fffc26c3800000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de04'}
{'addr': 1806, 'type': 'positive_response', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de04546a8c0000000000'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de05'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de06'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de07'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de08'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de09'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0a'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0b'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0c'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0d'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
{'addr': 1798, 'type': 'request', 'service': 'READ_DATA_BY_IDENTIFIER', 'hex': 'de0e'}
{'addr': 1806, 'type': 'negative_response', 'hex': '2231'}
Using UDS service `READ_DATA_BY_IDENTIFIER`, we can read the As-Built blocks from `0xDExx` with no diagnostic session/security access necessary. I used [Online As-Built databases](https://cyanlabs.net/asbuilt-db/) and various coding spreadsheets shared online to find values we might be interested in using for fingerprinting (both vehicle parameters and identifying the platform). ABS: - Payload tier (Base, Mid Payload Upgrade, Heavy Duty Payload Upgrade...) - Wheelbase - Steering ratio - Cruise Control Mode (Normal, Adaptive) - Enable Stop and Go PSCM: - Enable Lane Keeping Aid - Enable Traffic Jam Assist - Enable Lane Centering Assist IPMA (Q4): - Steering ratio - Wheelbase APIM (Sync 3 and Sync 4): - Steering ratio - Vehicle weight - Wheelbase There are more potentially useful signals which I haven't included although they might not be necessary: - Vehicle (Ford platform code, like "C344" or "C519" - although the source of the mapping from index to code is FORScan and not Ford themselves unless we can find a better source). - Fuel type - Vehicle length/height/front track/rear track - Tire circumference (could be useful for converting wheel speed rad/s to m/s) - Steering angle source (Pinion, Wheel) - Country code (letters, e.g. US, CA or UK) - Transmission type - CAN network architecture - More feature flags (the APIM also stores settings for ACC, LCA, BLIS) The full list of settings I have found is [here](https://github.com/incognitojam/op-notebooks/blob/main/ford/settings.py). * FwQueryConfig: add data_requests * add car_data to CarInterface get_params * Revert "add car_data to CarInterface get_params" This reverts commit aa161a6b82082705db97bea2c4317e1888a74845. * test_ford: add APIM ecu address * Revert "FwQueryConfig: add data_requests" This reverts commit dc5484a9b80be5bc61a7fdf55560b8813bc43ef7. * fix block numbers and add extra queries * bump test_fw_query_timing * add missing query whitelists * simplify asbuilt requests * use forscan block ids * formatting --------- Co-authored-by: Shane Smiskol --- selfdrive/car/ford/tests/test_ford.py | 1 + selfdrive/car/ford/values.py | 46 ++++++++++++++++++++-- selfdrive/car/tests/test_fw_fingerprint.py | 6 +-- 3 files changed, 46 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py index fb5d07f4bf..2ad3f5db1b 100755 --- a/selfdrive/car/ford/tests/test_ford.py +++ b/selfdrive/car/ford/tests/test_ford.py @@ -19,6 +19,7 @@ ECU_ADDRESSES = { Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA) Ecu.engine: 0x7E0, # Powertrain Control Module (PCM) Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM) + Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM) } diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index caa3eb0d37..df3201c853 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,11 +1,12 @@ from dataclasses import dataclass, field from enum import Enum +import panda.python.uds as uds from cereal import car from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -140,6 +141,33 @@ class CAR(Platforms): CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} +DATA_IDENTIFIER_FORD_ASBUILT = 0xDE + +ASBUILT_BLOCKS: list[tuple[int, list]] = [ + (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]), + (2, [Ecu.abs, Ecu.debug, Ecu.eps]), + (3, [Ecu.abs, Ecu.debug, Ecu.eps]), + (4, [Ecu.debug, Ecu.fwdCamera]), + (5, [Ecu.debug]), + (6, [Ecu.debug]), + (7, [Ecu.debug]), + (8, [Ecu.debug]), + (9, [Ecu.debug]), + (16, [Ecu.debug, Ecu.fwdCamera]), + (18, [Ecu.fwdCamera]), + (20, [Ecu.fwdCamera]), + (21, [Ecu.fwdCamera]), +] + + +def ford_asbuilt_block_request(block_id: int): + return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1) + + +def ford_asbuilt_block_response(block_id: int): + return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1) + + FW_QUERY_CONFIG = FwQueryConfig( requests=[ # CAN and CAN FD queries are combined. @@ -147,19 +175,29 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire], logging=True, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire], bus=0, auxiliary=True, ), + *[Request( + [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)], + [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)], + whitelist_ecus=ecus, + bus=0, + logging=True, + ) for block_id, ecus in ASBUILT_BLOCKS], ], extra_ecus=[ - # We are unlikely to get a response from the PCM from behind the gateway - (Ecu.engine, 0x7e0, None), - (Ecu.shiftByWire, 0x732, None), + (Ecu.engine, 0x7e0, None), # Powertrain Control Module + # Note: We are unlikely to get a response from behind the gateway + (Ecu.shiftByWire, 0x732, None), # Gear Shift Module + (Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module ], ) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 1a745b4447..88c7225f22 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,13 +263,13 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 6.5, 2: 7.4} + total_ref_time = {1: 7.8, 2: 8.7} brand_ref_times = { 1: { 'gm': 0.5, 'body': 0.1, 'chrysler': 0.3, - 'ford': 0.2, + 'ford': 1.5, 'honda': 0.55, 'hyundai': 1.05, 'mazda': 0.1, @@ -280,7 +280,7 @@ class TestFwFingerprintTiming(unittest.TestCase): 'volkswagen': 0.65, }, 2: { - 'ford': 0.3, + 'ford': 1.6, 'hyundai': 1.85, } } From 3978e7e98caef295ea60277bc7994e77b38823f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Feb 2024 06:40:46 -0600 Subject: [PATCH 34/47] [bot] Fingerprints: add missing FW versions from new users (#31572) * Export fingerprints * get these FP in --- selfdrive/car/toyota/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 12a1d46aaf..6b48408a10 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -573,6 +573,7 @@ FW_VERSIONS = { b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', @@ -843,6 +844,7 @@ FW_VERSIONS = { b'8965B47023\x00\x00\x00\x00\x00\x00', b'8965B47050\x00\x00\x00\x00\x00\x00', b'8965B47060\x00\x00\x00\x00\x00\x00', + b'8965B47070\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152647290\x00\x00\x00\x00\x00\x00', @@ -1024,6 +1026,7 @@ FW_VERSIONS = { b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', From d3f0f76a7e33832bb7312597f85b802b50f2d757 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 13:16:06 -0500 Subject: [PATCH 35/47] Nissan: move to platform config (#31599) * do nissan * cleanup + fix --- selfdrive/car/__init__.py | 5 ++- selfdrive/car/nissan/interface.py | 14 +------ selfdrive/car/nissan/values.py | 68 +++++++++++++++++++------------ 3 files changed, 46 insertions(+), 41 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 3b749101c9..297dc582f7 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,6 +1,6 @@ # functions common among cars from collections import namedtuple -from dataclasses import dataclass, field +from dataclasses import dataclass, field, replace from enum import ReprEnum import capnp @@ -267,6 +267,9 @@ class PlatformConfig: def __hash__(self) -> int: return hash(self.platform_str) + def override(self, **kwargs): + return replace(self, **kwargs) + class Platforms(str, ReprEnum): config: PlatformConfig diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index aedcaa1887..a94b97de20 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -16,25 +16,13 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0.1 - ret.steerRatio = 17 ret.steerControlType = car.CarParams.SteerControlType.angle ret.radarUnavailable = True - if candidate in (CAR.ROGUE, CAR.XTRAIL): - ret.mass = 1610 - ret.wheelbase = 2.705 - ret.centerToFront = ret.wheelbase * 0.44 - elif candidate in (CAR.LEAF, CAR.LEAF_IC): - ret.mass = 1610 - ret.wheelbase = 2.705 - ret.centerToFront = ret.wheelbase * 0.44 - elif candidate == CAR.ALTIMA: + if candidate == CAR.ALTIMA: # Altima has EPS on C-CAN unlike the others that have it on V-CAN ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS - ret.mass = 1492 - ret.wheelbase = 2.824 - ret.centerToFront = ret.wheelbase * 0.44 return ret diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index c0308f9e0d..58e4eb051a 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -1,9 +1,8 @@ from dataclasses import dataclass, field -from enum import StrEnum from cereal import car from panda.python import uds -from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -20,29 +19,52 @@ class CarControllerParams: pass -class CAR(StrEnum): - XTRAIL = "NISSAN X-TRAIL 2017" - LEAF = "NISSAN LEAF 2018" - # Leaf with ADAS ECU found behind instrument cluster instead of glovebox - # Currently the only known difference between them is the inverted seatbelt signal. - LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster" - ROGUE = "NISSAN ROGUE 2019" - ALTIMA = "NISSAN ALTIMA 2020" - - @dataclass class NissanCarInfo(CarInfo): package: str = "ProPILOT Assist" car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a])) -CAR_INFO: dict[str, NissanCarInfo | list[NissanCarInfo] | None] = { - CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"), - CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), - CAR.LEAF_IC: None, # same platforms - CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), - CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), -} +@dataclass(frozen=True) +class NissanCarSpecs(CarSpecs): + centerToFrontRatio: float = 0.44 + steerRatio: float = 17. + + +@dataclass(frozen=True) +class NissanPlaformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None)) + + +class CAR(Platforms): + XTRAIL = NissanPlaformConfig( + "NISSAN X-TRAIL 2017", + NissanCarInfo("Nissan X-Trail 2017"), + specs=NissanCarSpecs(mass=1610, wheelbase=2.705) + ) + LEAF = NissanPlaformConfig( + "NISSAN LEAF 2018", + NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), + dbc_dict=dbc_dict('nissan_leaf_2018_generated', None), + specs=NissanCarSpecs(mass=1610, wheelbase=2.705) + ) + # Leaf with ADAS ECU found behind instrument cluster instead of glovebox + # Currently the only known difference between them is the inverted seatbelt signal. + LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None) + ROGUE = NissanPlaformConfig( + "NISSAN ROGUE 2019", + NissanCarInfo("Nissan Rogue 2018-20"), + specs=NissanCarSpecs(mass=1610, wheelbase=2.705) + ) + ALTIMA = NissanPlaformConfig( + "NISSAN ALTIMA 2020", + NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), + specs=NissanCarSpecs(mass=1492, wheelbase=2.824) + ) + + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() # Default diagnostic session NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81]) @@ -88,11 +110,3 @@ FW_QUERY_CONFIG = FwQueryConfig( ), ]], ) - -DBC = { - CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), - CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), - CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None), - CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None), - CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None), -} From 666c41d96923b1826f34a971b568f7d7754b4070 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 13:16:22 -0500 Subject: [PATCH 36/47] Chrylser: move to platform config (#31600) * do chrysler * chrysler specs * cleanup Co-authored-by: Shane Smiskol --------- Co-authored-by: Shane Smiskol --- selfdrive/car/chrysler/interface.py | 12 --- selfdrive/car/chrysler/values.py | 131 +++++++++++++++++----------- 2 files changed, 79 insertions(+), 64 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 32a4f5dfcf..34df32762d 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase): elif candidate in RAM_DT: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT - ret.minSteerSpeed = 3.8 # m/s CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate not in RAM_CARS: # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. @@ -35,10 +34,6 @@ class CarInterface(CarInterfaceBase): # Chrysler if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO): - ret.mass = 2242. - ret.wheelbase = 3.089 - ret.steerRatio = 16.2 # Pacifica Hybrid 2017 - ret.lateralTuning.init('pid') ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] @@ -46,9 +41,6 @@ class CarInterface(CarInterfaceBase): # Jeep elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019): - ret.mass = 1778 - ret.wheelbase = 2.71 - ret.steerRatio = 16.7 ret.steerActuatorDelay = 0.2 ret.lateralTuning.init('pid') @@ -60,9 +52,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.RAM_1500: ret.steerActuatorDelay = 0.2 ret.wheelbase = 3.88 - ret.steerRatio = 16.3 - ret.mass = 2493. - ret.minSteerSpeed = 14.5 # Older EPS FW allow steer to zero if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw): ret.minSteerSpeed = 0. @@ -72,7 +61,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 3.785 ret.steerRatio = 15.61 ret.mass = 3405. - ret.minSteerSpeed = 16 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) else: diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index a7eec8fe5a..a94512608a 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,9 +1,9 @@ -from enum import IntFlag, StrEnum +from enum import IntFlag from dataclasses import dataclass, field from cereal import car from panda.python import uds -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 @@ -13,25 +13,89 @@ Ecu = car.CarParams.Ecu class ChryslerFlags(IntFlag): HIGHER_MIN_STEERING_SPEED = 1 +@dataclass +class ChryslerCarInfo(CarInfo): + package: str = "Adaptive Cruise Control (ACC)" + car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca])) -class CAR(StrEnum): + +@dataclass +class ChryslerPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None)) + + +@dataclass +class ChryslerCarSpecs(CarSpecs): + minSteerSpeed: float = 3.8 # m/s + + +class CAR(Platforms): # Chrysler - PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017" - PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018" - PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019" - PACIFICA_2018 = "CHRYSLER PACIFICA 2018" - PACIFICA_2020 = "CHRYSLER PACIFICA 2020" + PACIFICA_2017_HYBRID = ChryslerPlatformConfig( + "CHRYSLER PACIFICA HYBRID 2017", + ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), + specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), + ) + PACIFICA_2018_HYBRID = ChryslerPlatformConfig( + "CHRYSLER PACIFICA HYBRID 2018", + ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), + specs=PACIFICA_2017_HYBRID.specs, + ) + PACIFICA_2019_HYBRID = ChryslerPlatformConfig( + "CHRYSLER PACIFICA HYBRID 2019", + ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), + specs=PACIFICA_2017_HYBRID.specs, + ) + PACIFICA_2018 = ChryslerPlatformConfig( + "CHRYSLER PACIFICA 2018", + ChryslerCarInfo("Chrysler Pacifica 2017-18"), + specs=PACIFICA_2017_HYBRID.specs, + ) + PACIFICA_2020 = ChryslerPlatformConfig( + "CHRYSLER PACIFICA 2020", + [ + ChryslerCarInfo("Chrysler Pacifica 2019-20"), + ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), + ], + specs=PACIFICA_2017_HYBRID.specs, + ) # Dodge - DODGE_DURANGO = "DODGE DURANGO 2021" + DODGE_DURANGO = ChryslerPlatformConfig( + "DODGE DURANGO 2021", + ChryslerCarInfo("Dodge Durango 2020-21"), + specs=PACIFICA_2017_HYBRID.specs, + ) # Jeep - JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk - JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk + JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk + "JEEP GRAND CHEROKEE V6 2018", + ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), + specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7), + ) + + JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk + "JEEP GRAND CHEROKEE 2019", + ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), + specs=JEEP_GRAND_CHEROKEE.specs, + ) # Ram - RAM_1500 = "RAM 1500 5TH GEN" - RAM_HD = "RAM HD 5TH GEN" + RAM_1500 = ChryslerPlatformConfig( + "RAM 1500 5TH GEN", + ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), + dbc_dict('chrysler_ram_dt_generated', None), + specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5), + ) + RAM_HD = ChryslerPlatformConfig( + "RAM HD 5TH GEN", + [ + ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), + ], + dbc_dict('chrysler_ram_hd_generated', None), + specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.), + ) class CarControllerParams: @@ -59,32 +123,6 @@ RAM_HD = {CAR.RAM_HD, } RAM_CARS = RAM_DT | RAM_HD -@dataclass -class ChryslerCarInfo(CarInfo): - package: str = "Adaptive Cruise Control (ACC)" - car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca])) - - -CAR_INFO: dict[str, ChryslerCarInfo | list[ChryslerCarInfo] | None] = { - CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), - CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), - CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), - CAR.PACIFICA_2020: [ - ChryslerCarInfo("Chrysler Pacifica 2019-20"), - ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), - ], - CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), - CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), - CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), - ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), - ], -} - - CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf132) CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ @@ -124,16 +162,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) - -DBC = { - CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None), - CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None), -} +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() From d457ed9d50801905b762c870c4799e734dea05b1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 13:23:13 -0500 Subject: [PATCH 37/47] chrysler: freeze dataclass + remove more from interface (#31613) * fix * fix --- selfdrive/car/chrysler/interface.py | 3 --- selfdrive/car/chrysler/values.py | 4 ++-- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 34df32762d..eb40bc6f6e 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -58,9 +58,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.RAM_HD: ret.steerActuatorDelay = 0.2 - ret.wheelbase = 3.785 - ret.steerRatio = 15.61 - ret.mass = 3405. CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) else: diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index a94512608a..1cc51753d4 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -19,12 +19,12 @@ class ChryslerCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca])) -@dataclass +@dataclass(frozen=True) class ChryslerPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None)) -@dataclass +@dataclass(frozen=True) class ChryslerCarSpecs(CarSpecs): minSteerSpeed: float = 3.8 # m/s From 0e41bf34746854869ad0d319fbb6bb765288ce50 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 27 Feb 2024 18:59:27 +0000 Subject: [PATCH 38/47] Ford: fix As-Built request identifier (#31609) Should be 0xDE00 not 0xDE --- selfdrive/car/ford/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index df3201c853..1008d68b98 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -141,7 +141,7 @@ class CAR(Platforms): CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} -DATA_IDENTIFIER_FORD_ASBUILT = 0xDE +DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00 ASBUILT_BLOCKS: list[tuple[int, list]] = [ (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]), From 402ac424d90f7b66dfe100b4073a43bf13570081 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 27 Feb 2024 11:09:48 -0800 Subject: [PATCH 39/47] auto PR comments (#30675) * auto PR comments * little more * test * update action * cleanup --- .github/workflows/auto_pr_review.yaml | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index abb6c38d6b..de07ed118f 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -34,6 +34,23 @@ jobs: already-exists-action: close_this already-exists-comment: "Your PR should be made against the `master` branch" + comment: + runs-on: ubuntu-latest + steps: + - name: comment + uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 + with: + message: | + Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: + * Convert your PR to a draft unless it's ready to review + * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) + * Before marking as "ready for review", ensure: + * the goal is clearly stated in the description + * all the tests are passing + * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) + * include a route or your device' dongle ID if relevant + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + check-pr-template: runs-on: ubuntu-latest permissions: @@ -41,7 +58,7 @@ jobs: issues: write pull-requests: write actions: read - if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot' steps: - uses: actions/github-script@v7 with: From dc3728134055bd422abac4f005e1ecbae46e6167 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 14:55:19 -0500 Subject: [PATCH 40/47] typo (#31618) dataset --- docs/CONTRIBUTING.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 30f4e0dfd3..755ca82220 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -62,4 +62,4 @@ A good pull request has all of the following: * Consider opting into driver camera uploads to improve the driver monitoring model. * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release. -* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k). +* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k). From 47013fd0a4a322da39cbbdf6bd8129d49abb295d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 27 Feb 2024 12:06:53 -0800 Subject: [PATCH 41/47] Revert "auto PR comments (#30675)" This reverts commit 402ac424d90f7b66dfe100b4073a43bf13570081. --- .github/workflows/auto_pr_review.yaml | 19 +------------------ 1 file changed, 1 insertion(+), 18 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index de07ed118f..abb6c38d6b 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -34,23 +34,6 @@ jobs: already-exists-action: close_this already-exists-comment: "Your PR should be made against the `master` branch" - comment: - runs-on: ubuntu-latest - steps: - - name: comment - uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 - with: - message: | - Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: - * Convert your PR to a draft unless it's ready to review - * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) - * Before marking as "ready for review", ensure: - * the goal is clearly stated in the description - * all the tests are passing - * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) - * include a route or your device' dongle ID if relevant - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - check-pr-template: runs-on: ubuntu-latest permissions: @@ -58,7 +41,7 @@ jobs: issues: write pull-requests: write actions: read - if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot' + if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' steps: - uses: actions/github-script@v7 with: From f293f7bad4d6675b70a97d303f1321fb6cfc9182 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 16:17:56 -0500 Subject: [PATCH 42/47] scons: move cereal library exports to cereal submodule (#31617) * cleanup-cereal * bump --- SConstruct | 9 --------- cereal | 2 +- 2 files changed, 1 insertion(+), 10 deletions(-) diff --git a/SConstruct b/SConstruct index b04e3903ed..4d4f9ad4fe 100644 --- a/SConstruct +++ b/SConstruct @@ -96,8 +96,6 @@ lenv = { rpath = lenv["LD_LIBRARY_PATH"].copy() if arch == "larch64": - lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib'] - cpppath = [ "#third_party/opencl/include", ] @@ -360,13 +358,6 @@ Export('common', 'gpucommon') # Build cereal and messaging SConscript(['cereal/SConscript']) -cereal = [File('#cereal/libcereal.a')] -messaging = [File('#cereal/libmessaging.a')] -visionipc = [File('#cereal/libvisionipc.a')] -messaging_python = [File('#cereal/messaging/messaging_pyx.so')] - -Export('cereal', 'messaging', 'messaging_python', 'visionipc') - # Build other submodules SConscript([ 'body/board/SConscript', diff --git a/cereal b/cereal index a4255106b7..2012d9fd16 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit a4255106b7255e00ae04162f7aa14aa3cae339c3 +Subproject commit 2012d9fd16f62c737951ce2d1eb19d39f0c7615f From c05b37979d49c0a586b56db9294aa061c2c079e2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 27 Feb 2024 13:23:04 -0800 Subject: [PATCH 43/47] Wheeled body (#31614) * Wheeled body * 100hz only for balance * No carparams in locationd no more * Update ref --- common/params.cc | 1 - selfdrive/car/body/carcontroller.py | 20 ++----------------- selfdrive/locationd/locationd.cc | 8 +++----- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 7 insertions(+), 26 deletions(-) diff --git a/common/params.cc b/common/params.cc index eb75705ca3..aef2cbdecd 100644 --- a/common/params.cc +++ b/common/params.cc @@ -207,7 +207,6 @@ std::unordered_map keys = { {"UpdaterLastFetchTime", PERSISTENT}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, - {"WheeledBody", PERSISTENT}, }; } // namespace diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 1dad8e796a..d15f11d3a4 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,6 +1,5 @@ import numpy as np -from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car.body import bodycan @@ -20,18 +19,13 @@ class CarController: self.frame = 0 self.packer = CANPacker(dbc_name) - # Speed, balance and turn PIDs - self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL) - self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL) + # PIDs self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL) self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL) self.torque_r_filtered = 0. self.torque_l_filtered = 0. - params = Params() - self.wheeled_body = params.get("WheeledBody") - @staticmethod def deadband_filter(torque, deadband): if torque > 0: @@ -55,17 +49,7 @@ class CarController: speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2. speed_error = speed_desired - speed_measured - if self.wheeled_body is None: - freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or - (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR)) - angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator) - - # Clip angle error, this is enough to get up from stands - angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR) - angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.) - torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate) - else: - torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False) + torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False) speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) turn_error = speed_diff_measured - speed_diff_desired diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index e32ed78a3e..1050d68b9b 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -691,10 +691,9 @@ int Localizer::locationd_thread() { this->configure_gnss_source(source); const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", - "carState", "carParams", "accelerometer", "gyroscope"}; + "carState", "accelerometer", "gyroscope"}; - // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); + SubMaster sm(service_list, {}, nullptr, {gps_location_socket}); PubMaster pm({"liveLocationKalman"}); uint64_t cnt = 0; @@ -718,8 +717,7 @@ int Localizer::locationd_thread() { filterInitialized = sm.allAliveAndValid(); } - // 100Hz publish for notcars, 20Hz for cars - const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry"; + const char* trigger_msg = "cameraOdometry"; if (sm.updated(trigger_msg)) { bool inputsOK = sm.allValid() && this->are_inputs_ok(); bool gpsOK = this->is_gps_ok(); diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 4fb3e3c4de..5119be0a8c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -512,7 +512,7 @@ CONFIGS = [ proc_name="locationd", pubs=[ "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", - "liveCalibration", "carState", "carParams", "gpsLocation" + "liveCalibration", "carState", "gpsLocation" ], subs=["liveLocationKalman"], ignore=["logMonoTime"], diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fc38f87310..9c627fb7c9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d0cdea7eb15f3cac8a921f7ace3eaa6baebb4fd5 +47609e372bf616932c4dca74d2616c3d97fa2443 From 19db56b1f6a86a6a250e6b69f1533ae02d1fb367 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 17:06:18 -0500 Subject: [PATCH 44/47] tici tests: remove pytest.main (#31622) pytest.main is bad! --- selfdrive/test/test_onroad.py | 2 +- system/hardware/tici/tests/test_hardware.py | 2 +- system/hardware/tici/tests/test_power_draw.py | 3 +-- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index de8a4420b3..8f8c93ecff 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -424,4 +424,4 @@ class TestOnroad(unittest.TestCase): if __name__ == "__main__": - pytest.main() + unittest.main() diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py index 0c436595ee..6c41c383a0 100755 --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -25,4 +25,4 @@ class TestHardware(unittest.TestCase): if __name__ == "__main__": - pytest.main() + unittest.main() diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 352fcdf18a..180ec155e4 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 from collections import defaultdict, deque -import sys import pytest import unittest import time @@ -132,4 +131,4 @@ class TestPowerDraw(unittest.TestCase): if __name__ == "__main__": - pytest.main(sys.argv) + unittest.main() From 262b328ad706194425479b1a56af9321d1a0c97a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 27 Feb 2024 17:17:01 -0500 Subject: [PATCH 45/47] ban pytest.main (#31623) ban it! --- pyproject.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/pyproject.toml b/pyproject.toml index ac5bb0922c..99a8602460 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -190,6 +190,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false "system".msg = "Use openpilot.system" "third_party".msg = "Use openpilot.third_party" "tools".msg = "Use openpilot.tools" +"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" [tool.coverage.run] concurrency = ["multiprocessing", "thread"] From 56e343b3f1e0117d379ad4582170d51609599530 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Feb 2024 19:41:52 -0600 Subject: [PATCH 46/47] Honda Accord: label non-essential ECUs (#31624) * note non-essential ecus * do accordh --- selfdrive/car/honda/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index a2ef757d15..f573296609 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -207,6 +207,8 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G], + Ecu.shiftByWire: [CAR.ACCORD], # existence correlates with transmission type for ICE + Ecu.hud: [CAR.ACCORD, CAR.ACCORDH], # existence correlates with trim level }, extra_ecus=[ # The only other ECU on PT bus accessible by camera on radarless Civic From 4397a687bc4f1f78135ea1067f53d53bd6415bfb Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 27 Feb 2024 21:09:47 -0500 Subject: [PATCH 47/47] Bump submodules --- cereal | 2 +- opendbc | 2 +- panda | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 6aff39be25..d4c43a0865 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 6aff39be259914e1596cc6a582f434132ce0e810 +Subproject commit d4c43a0865fe2d9c7c765f62e31233c9a7d33ebc diff --git a/opendbc b/opendbc index 3f6e8d1859..ecffe0cc98 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 3f6e8d1859c5128ef11de79b1a82b4999723d47c +Subproject commit ecffe0cc9881d7db1dc87a1569a3534816bd7db5 diff --git a/panda b/panda index aae8ea8ff2..6683e77bcc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit aae8ea8ff274c03ccff0c703eb2a2f721cb91f15 +Subproject commit 6683e77bcccda0c55aa53859ffcd9eeb782db164