mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-05 13:25:40 +08:00
Merge remote-tracking branch 'commaai/panda/master' into g70-2024-port
This commit is contained in:
Jason Wen
@@ -21,7 +21,7 @@ jobs:
|
||||
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
|
||||
stale-pr-label: stale
|
||||
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
|
||||
exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
|
||||
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
|
||||
|
||||
@@ -88,14 +88,15 @@ jobs:
|
||||
A=($scenes)
|
||||
|
||||
DIFF=""
|
||||
TABLE="<details>"
|
||||
TABLE="${TABLE}<summary>All Screenshots</summary>"
|
||||
open=false
|
||||
TABLE="<summary>All Screenshots</summary>"
|
||||
TABLE="${TABLE}<table>"
|
||||
|
||||
for ((i=0; i<${#A[*]}; i=i+1));
|
||||
do
|
||||
|
||||
if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
|
||||
open=true
|
||||
convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
|
||||
composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
|
||||
convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
|
||||
@@ -135,6 +136,12 @@ jobs:
|
||||
TABLE="${TABLE}</table>"
|
||||
TABLE="${TABLE}</details>"
|
||||
|
||||
if $open; then
|
||||
TABLE="<details open>${TABLE}"
|
||||
else
|
||||
TABLE="<details>${TABLE}"
|
||||
fi
|
||||
|
||||
echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
|
||||
@@ -55,9 +55,6 @@ selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/car/tests/cars_dump
|
||||
system/camerad/camerad
|
||||
system/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
|
||||
notebooks
|
||||
hyperthneed
|
||||
|
||||
Vendored
+2
@@ -84,6 +84,8 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 35, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
def date = sh(script: 'date', returnStdout: true).trim();
|
||||
device(device_ip, "set time", "date -s '" + date + "'")
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
|
||||
+5
-1
@@ -1,6 +1,10 @@
|
||||
Version 0.9.8 (2024-XX-XX)
|
||||
========================
|
||||
* New Tomb Raider driving model
|
||||
* New driving model
|
||||
* Trained in brand new ML simulator
|
||||
* Model now gates applying positive accel in Chill mode
|
||||
* New driving monitoring model
|
||||
* Reduced false positives related to passengers
|
||||
* Added toggle to enable driver monitoring even when openpilot is not engaged
|
||||
* New Toyota TSS2 longitudinal tune
|
||||
|
||||
|
||||
@@ -64,6 +64,10 @@ AddOption('--pc-thneed',
|
||||
dest='pc_thneed',
|
||||
help='use thneed on pc')
|
||||
|
||||
AddOption('--mutation',
|
||||
action='store_true',
|
||||
help='generate mutation-ready code')
|
||||
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
|
||||
+10
-5
@@ -52,7 +52,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
joystickDebug @34;
|
||||
longitudinalManeuver @124;
|
||||
steerTempUnavailableSilent @35;
|
||||
@@ -87,6 +86,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
|
||||
startup @75;
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupNoSecOcKey @125;
|
||||
startupMaster @78;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
@@ -103,7 +103,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
|
||||
selfdriveInitializing @98;
|
||||
usbError @99;
|
||||
cruiseMismatch @106;
|
||||
lkasDisabled @107;
|
||||
canBusMissing @111;
|
||||
selfdrivedLagging @112;
|
||||
resumeBlocked @113;
|
||||
@@ -149,6 +148,8 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
|
||||
wideRoadCameraErrorDEPRECATED @102;
|
||||
highCpuUsageDEPRECATED @105;
|
||||
startupNoFwDEPRECATED @104;
|
||||
lowSpeedLockoutDEPRECATED @31;
|
||||
lkasDisabledDEPRECATED @107;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -156,8 +157,6 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
events @13 :List(OnroadEvent);
|
||||
|
||||
# CAN health
|
||||
canValid @26 :Bool; # invalid counter/checksums
|
||||
canTimeout @40 :Bool; # CAN bus dropped out
|
||||
@@ -198,6 +197,7 @@ struct CarState {
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steerFaultTemporary @35 :Bool; # temporary EPS fault
|
||||
steerFaultPermanent @36 :Bool; # permanent EPS fault
|
||||
invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off)
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
@@ -205,6 +205,7 @@ struct CarState {
|
||||
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
|
||||
espActive @51 :Bool;
|
||||
vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc.
|
||||
lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
@@ -280,7 +281,7 @@ struct CarState {
|
||||
cancel @5;
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
mainCruise @8;
|
||||
setCruise @9;
|
||||
resumeCruise @10;
|
||||
gapAdjustCruise @11;
|
||||
@@ -293,6 +294,7 @@ struct CarState {
|
||||
steeringRateLimitedDEPRECATED @29 :Bool;
|
||||
canMonoTimesDEPRECATED @12: List(UInt64);
|
||||
canRcvTimeoutDEPRECATED @49 :Bool;
|
||||
eventsDEPRECATED @13 :List(OnroadEvent);
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -515,6 +517,9 @@ struct CarParams {
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate
|
||||
secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
|
||||
@@ -109,12 +109,26 @@ class FrequencyTracker:
|
||||
self.min_freq = min_freq * 0.8
|
||||
self.max_freq = max_freq * 1.2
|
||||
self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
|
||||
self.recv_dts_sum = 0.0
|
||||
self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
|
||||
self.recent_recv_dts_sum = 0.0
|
||||
self.prev_time = 0.0
|
||||
|
||||
def record_recv_time(self, cur_time: float) -> None:
|
||||
# TODO: Handle case where cur_time is less than prev_time
|
||||
if self.prev_time > 1e-5:
|
||||
self.recv_dts.append(cur_time - self.prev_time)
|
||||
dt = cur_time - self.prev_time
|
||||
|
||||
if len(self.recv_dts) == self.recv_dts.maxlen:
|
||||
self.recv_dts_sum -= self.recv_dts[0]
|
||||
self.recv_dts.append(dt)
|
||||
self.recv_dts_sum += dt
|
||||
|
||||
if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
|
||||
self.recent_recv_dts_sum -= self.recent_recv_dts[0]
|
||||
self.recent_recv_dts.append(dt)
|
||||
self.recent_recv_dts_sum += dt
|
||||
|
||||
self.prev_time = cur_time
|
||||
|
||||
@property
|
||||
@@ -122,12 +136,11 @@ class FrequencyTracker:
|
||||
if not self.recv_dts:
|
||||
return False
|
||||
|
||||
avg_freq = len(self.recv_dts) / sum(self.recv_dts)
|
||||
avg_freq = len(self.recv_dts) / self.recv_dts_sum
|
||||
if self.min_freq <= avg_freq <= self.max_freq:
|
||||
return True
|
||||
|
||||
recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
|
||||
avg_freq_recent = len(recent_dts) / sum(recent_dts)
|
||||
avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
|
||||
return self.min_freq <= avg_freq_recent <= self.max_freq
|
||||
|
||||
|
||||
|
||||
@@ -182,6 +182,7 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"PrimeType", PERSISTENT},
|
||||
{"RecordFront", PERSISTENT},
|
||||
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
|
||||
{"SecOCKey", PERSISTENT | DONT_LOG},
|
||||
{"RouteCount", PERSISTENT},
|
||||
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
|
||||
{"SshEnabled", PERSISTENT},
|
||||
|
||||
+1
-1
@@ -53,7 +53,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
|
||||
|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
|
||||
|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 9438c3dad6...4a5c9c3104
+1
-1
Submodule panda updated: a4aceb2b15...e70b6fb32c
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:a3cd3b91673eded1282e2082be0efa8e54ed477b5feb3580e521d08078e18ed1
|
||||
size 42640
|
||||
@@ -1,9 +1,11 @@
|
||||
from collections import deque
|
||||
from cereal import car
|
||||
import cereal.messaging as messaging
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.interfaces import MAX_CTRL_SPEED, CarStateBase, CarControllerBase
|
||||
from opendbc.car.interfaces import MAX_CTRL_SPEED
|
||||
from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
|
||||
from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
|
||||
from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
|
||||
|
||||
from openpilot.selfdrive.selfdrived.events import Events
|
||||
|
||||
@@ -37,132 +39,121 @@ class CarSpecificEvents:
|
||||
self.no_steer_warning = False
|
||||
self.silent_steer_warning = True
|
||||
|
||||
def update(self, CS: CarStateBase, CS_prev: car.CarState, CC: CarControllerBase, CC_prev: car.CarControl):
|
||||
self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
|
||||
|
||||
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
|
||||
if self.CP.carName in ('body', 'mock'):
|
||||
events = Events()
|
||||
|
||||
elif self.CP.carName == 'subaru':
|
||||
events = self.create_common_events(CS.out, CS_prev)
|
||||
elif self.CP.carName in ('subaru', 'mazda'):
|
||||
events = self.create_common_events(CS, CS_prev)
|
||||
|
||||
elif self.CP.carName == 'ford':
|
||||
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.manumatic])
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
|
||||
|
||||
elif self.CP.carName == 'nissan':
|
||||
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
|
||||
|
||||
if CS.lkas_enabled: # type: ignore[attr-defined]
|
||||
events.add(EventName.invalidLkasSetting)
|
||||
|
||||
elif self.CP.carName == 'mazda':
|
||||
events = self.create_common_events(CS.out, CS_prev)
|
||||
|
||||
if CS.lkas_disabled: # type: ignore[attr-defined]
|
||||
events.add(EventName.lkasDisabled)
|
||||
elif CS.low_speed_alert: # type: ignore[attr-defined]
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
|
||||
|
||||
elif self.CP.carName == 'chrysler':
|
||||
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
if self.CP.minSteerSpeed > 0. and CS.out.vEgo < (self.CP.minSteerSpeed + 0.5):
|
||||
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
|
||||
self.low_speed_alert = True
|
||||
elif CS.out.vEgo > (self.CP.minSteerSpeed + 1.):
|
||||
elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
elif self.CP.carName == 'honda':
|
||||
events = self.create_common_events(CS.out, CS_prev, pcm_enable=False)
|
||||
events = self.create_common_events(CS, CS_prev, pcm_enable=False)
|
||||
|
||||
if self.CP.pcmCruise and CS.out.vEgo < self.CP.minEnableSpeed:
|
||||
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
|
||||
if self.CP.pcmCruise:
|
||||
# we engage when pcm is active (rising edge)
|
||||
if CS.out.cruiseState.enabled and not CS_prev.cruiseState.enabled:
|
||||
if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
|
||||
events.add(EventName.pcmEnable)
|
||||
elif not CS.out.cruiseState.enabled and (CC_prev.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
|
||||
elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
|
||||
# it can happen that car cruise disables while comma system is enabled: need to
|
||||
# keep braking if needed or if the speed is very low
|
||||
if CS.out.vEgo < self.CP.minEnableSpeed + 2.:
|
||||
if CS.vEgo < self.CP.minEnableSpeed + 2.:
|
||||
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
|
||||
events.add(EventName.speedTooLow)
|
||||
else:
|
||||
events.add(EventName.cruiseDisabled)
|
||||
if self.CP.minEnableSpeed > 0 and CS.out.vEgo < 0.001:
|
||||
if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
|
||||
events.add(EventName.manualRestart)
|
||||
|
||||
elif self.CP.carName == 'toyota':
|
||||
events = self.create_common_events(CS.out, CS_prev)
|
||||
events = self.create_common_events(CS, CS_prev)
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if CS.out.cruiseState.standstill and not CS.out.brakePressed:
|
||||
if CS.cruiseState.standstill and not CS.brakePressed:
|
||||
events.add(EventName.resumeRequired)
|
||||
if CS.low_speed_lockout: # type: ignore[attr-defined]
|
||||
events.add(EventName.lowSpeedLockout)
|
||||
if CS.out.vEgo < self.CP.minEnableSpeed:
|
||||
if CS.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if CC_prev.actuators.accel > 0.3:
|
||||
if CC.actuators.accel > 0.3:
|
||||
# some margin on the actuator to not false trigger cancellation while stopping
|
||||
events.add(EventName.speedTooLow)
|
||||
if CS.out.vEgo < 0.001:
|
||||
if CS.vEgo < 0.001:
|
||||
# while in standstill, send a user alert
|
||||
events.add(EventName.manualRestart)
|
||||
|
||||
elif self.CP.carName == 'gm':
|
||||
# The ECM allows enabling on falling edge of set, but only rising edge of resume
|
||||
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
|
||||
GearShifter.eco, GearShifter.manumatic],
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
|
||||
GearShifter.eco, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
|
||||
if not self.CP.pcmCruise:
|
||||
if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.out.buttonEvents):
|
||||
if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
|
||||
events.add(EventName.buttonEnable)
|
||||
|
||||
# Enabling at a standstill with brake is allowed
|
||||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
below_min_enable_speed = CS.out.vEgo < self.CP.minEnableSpeed or CS.moving_backward # type: ignore[attr-defined]
|
||||
if below_min_enable_speed and not (CS.out.standstill and CS.out.brake >= 20 and
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if CS.out.cruiseState.standstill:
|
||||
if CS.cruiseState.standstill:
|
||||
events.add(EventName.resumeRequired)
|
||||
if CS.out.vEgo < self.CP.minSteerSpeed:
|
||||
if CS.vEgo < self.CP.minSteerSpeed:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
elif self.CP.carName == 'volkswagen':
|
||||
events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
pcm_enable=not self.CP.openpilotLongitudinalControl,
|
||||
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.out.vEgo < (self.CP.minSteerSpeed + 1.):
|
||||
if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
|
||||
self.low_speed_alert = True
|
||||
elif CS.out.vEgo > (self.CP.minSteerSpeed + 2.):
|
||||
elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if CS.out.vEgo < self.CP.minEnableSpeed + 0.5:
|
||||
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if CC_prev.enabled and CS.out.vEgo < self.CP.minEnableSpeed:
|
||||
if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.speedTooLow)
|
||||
|
||||
if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined]
|
||||
events.add(EventName.steerTimeLimit)
|
||||
# TODO: this needs to be implemented generically in carState struct
|
||||
# if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined]
|
||||
# events.add(EventName.steerTimeLimit)
|
||||
|
||||
elif self.CP.carName == 'hyundai':
|
||||
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
|
||||
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
|
||||
# Main button also can trigger an engagement on these cars
|
||||
allow_enable = any(btn in HYUNDAI_ENABLE_BUTTONS for btn in CS.cruise_buttons) or any(CS.main_buttons) # type: ignore[attr-defined]
|
||||
events = self.create_common_events(CS.out, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=allow_enable)
|
||||
self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
|
||||
events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if CS.out.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
if CS.out.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
if CS.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
@@ -213,6 +204,10 @@ class CarSpecificEvents:
|
||||
events.add(EventName.gasPressedOverride)
|
||||
if CS.vehicleSensorsInvalid:
|
||||
events.add(EventName.vehicleSensorsInvalid)
|
||||
if CS.invalidLkasSetting:
|
||||
events.add(EventName.invalidLkasSetting)
|
||||
if CS.lowSpeedAlert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
# Handle button presses
|
||||
for b in CS.buttonEvents:
|
||||
|
||||
+16
-34
@@ -20,9 +20,8 @@ from opendbc.car.car_helpers import get_car, get_radar_interface
|
||||
from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
|
||||
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
|
||||
from openpilot.selfdrive.car.cruise import VCruiseHelper
|
||||
from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
|
||||
from openpilot.selfdrive.car.car_specific import MockCarState
|
||||
from openpilot.selfdrive.car.helpers import convert_carControl, convert_to_capnp
|
||||
from openpilot.selfdrive.selfdrived.events import Events, ET
|
||||
|
||||
REPLAY = "REPLAY" in os.environ
|
||||
|
||||
@@ -112,9 +111,9 @@ class Car:
|
||||
self.RI = RI
|
||||
|
||||
# set alternative experiences from parameters
|
||||
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
|
||||
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
|
||||
self.CP.alternativeExperience = 0
|
||||
if not self.disengage_on_accelerator:
|
||||
if not disengage_on_accelerator:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
|
||||
|
||||
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
|
||||
@@ -127,6 +126,18 @@ class Car:
|
||||
safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
|
||||
self.CP.safetyConfigs = [safety_config]
|
||||
|
||||
if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
|
||||
secoc_key = self.params.get("SecOCKey", encoding='utf8')
|
||||
if secoc_key is not None:
|
||||
saved_secoc_key = bytes.fromhex(secoc_key.strip())
|
||||
if len(saved_secoc_key) == 16:
|
||||
self.CP.secOcKeyAvailable = True
|
||||
self.CI.CS.secoc_key = saved_secoc_key
|
||||
if controller_available:
|
||||
self.CI.CC.secoc_key = saved_secoc_key
|
||||
else:
|
||||
cloudlog.warning("Saved SecOC key is invalid")
|
||||
|
||||
# Write previous route's CarParams
|
||||
prev_cp = self.params.get("CarParamsPersistent")
|
||||
if prev_cp is not None:
|
||||
@@ -140,9 +151,6 @@ class Car:
|
||||
self.params.put_nonblocking("CarParamsCache", cp_bytes)
|
||||
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
|
||||
|
||||
self.events = Events()
|
||||
|
||||
self.car_events = CarSpecificEvents(self.CP)
|
||||
self.mock_carstate = MockCarState()
|
||||
self.v_cruise_helper = VCruiseHelper(self.CP)
|
||||
|
||||
@@ -184,30 +192,6 @@ class Car:
|
||||
|
||||
return CS, RD
|
||||
|
||||
def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
|
||||
self.events.clear()
|
||||
|
||||
CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
|
||||
|
||||
self.events.add_from_msg(CS.events)
|
||||
|
||||
if self.CP.notCar:
|
||||
# wait for everything to init first
|
||||
if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev:
|
||||
# body always wants to enable
|
||||
self.events.add(EventName.pcmEnable)
|
||||
|
||||
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
|
||||
if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
|
||||
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
|
||||
(CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
|
||||
self.events.add(EventName.pedalPressed)
|
||||
|
||||
if RD is not None and len(RD.errors):
|
||||
self.events.add(EventName.radarFault)
|
||||
|
||||
CS.events = self.events.to_msg()
|
||||
|
||||
def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
|
||||
"""carState and carParams publish loop"""
|
||||
|
||||
@@ -259,9 +243,7 @@ class Car:
|
||||
def step(self):
|
||||
CS, RD = self.state_update()
|
||||
|
||||
self.update_events(CS, RD)
|
||||
|
||||
if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
|
||||
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
|
||||
self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
|
||||
|
||||
self.state_publish(CS, RD)
|
||||
|
||||
@@ -20,7 +20,9 @@ from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.values import Platform
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from openpilot.selfdrive.car.card import Car, convert_to_capnp
|
||||
from openpilot.selfdrive.car.card import convert_to_capnp
|
||||
from openpilot.selfdrive.selfdrived.events import ET
|
||||
from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD
|
||||
from openpilot.selfdrive.pandad import can_capnp_to_list
|
||||
from openpilot.selfdrive.test.helpers import read_segment_list
|
||||
from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
@@ -404,7 +406,8 @@ class TestCarModelBase(unittest.TestCase):
|
||||
controls_allowed_prev = False
|
||||
CS_prev = car.CarState.new_message()
|
||||
checks = defaultdict(int)
|
||||
card = Car(CI=self.CI)
|
||||
selfdrived = SelfdriveD(CP=self.CP)
|
||||
selfdrived.initialized = True
|
||||
for idx, can in enumerate(self.can_msgs):
|
||||
CS = convert_to_capnp(self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))))
|
||||
for msg in filter(lambda m: m.src in range(64), can.can):
|
||||
@@ -449,10 +452,10 @@ class TestCarModelBase(unittest.TestCase):
|
||||
checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
|
||||
else:
|
||||
# Check for enable events on rising edge of controls allowed
|
||||
card.update_events(CS, None)
|
||||
card.CS_prev = CS
|
||||
button_enable = (any(evt.enable for evt in CS.events) and
|
||||
not any(evt == EventName.pedalPressed for evt in card.events.names))
|
||||
selfdrived.update_events(CS)
|
||||
selfdrived.CS_prev = CS
|
||||
button_enable = (selfdrived.events.contains(ET.ENABLE) and
|
||||
EventName.pedalPressed not in selfdrived.events.names)
|
||||
mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
|
||||
checks['controlsAllowed'] += mismatch
|
||||
controls_allowed_prev = self.safety.get_controls_allowed()
|
||||
|
||||
@@ -87,7 +87,7 @@ class Controls:
|
||||
CC.enabled = self.sm['selfdriveState'].enabled
|
||||
|
||||
# Check which actuators can be enabled
|
||||
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
|
||||
standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
|
||||
CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
|
||||
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
|
||||
|
||||
|
||||
@@ -21,6 +21,8 @@ A_CRUISE_MIN = -1.2
|
||||
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
|
||||
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
|
||||
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
|
||||
ALLOW_THROTTLE_THRESHOLD = 0.5
|
||||
ACCEL_LIMIT_MARGIN = 0.05
|
||||
|
||||
# Lookup table for turns
|
||||
_A_TOTAL_MAX_V = [1.7, 3.2]
|
||||
@@ -30,6 +32,9 @@ _A_TOTAL_MAX_BP = [20., 40.]
|
||||
def get_max_accel(v_ego):
|
||||
return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
|
||||
|
||||
def get_coast_accel(pitch):
|
||||
return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
|
||||
|
||||
|
||||
def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
"""
|
||||
@@ -69,6 +74,7 @@ class LongitudinalPlanner:
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
|
||||
self.a_desired = init_a
|
||||
self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
|
||||
@@ -93,11 +99,20 @@ class LongitudinalPlanner:
|
||||
v = np.zeros(len(T_IDXS_MPC))
|
||||
a = np.zeros(len(T_IDXS_MPC))
|
||||
j = np.zeros(len(T_IDXS_MPC))
|
||||
return x, v, a, j
|
||||
if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
|
||||
throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
|
||||
else:
|
||||
throttle_prob = 1.0
|
||||
return x, v, a, j, throttle_prob
|
||||
|
||||
def update(self, sm):
|
||||
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
|
||||
|
||||
if len(sm['carControl'].orientationNED) == 3:
|
||||
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
|
||||
else:
|
||||
accel_coast = ACCEL_MAX
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
|
||||
v_cruise = v_cruise_kph * CV.KPH_TO_MS
|
||||
@@ -130,6 +145,13 @@ class LongitudinalPlanner:
|
||||
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
|
||||
# Compute model v_ego error
|
||||
self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
|
||||
x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
|
||||
self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
|
||||
|
||||
if not self.allow_throttle and v_ego > 5.0: # Don't clip at low speeds since throttle_prob doesn't account for creep
|
||||
# MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
|
||||
clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
|
||||
accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
|
||||
|
||||
if force_slow_decel:
|
||||
v_cruise = 0.0
|
||||
@@ -140,7 +162,6 @@ class LongitudinalPlanner:
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
|
||||
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
@@ -179,6 +200,6 @@ class LongitudinalPlanner:
|
||||
longitudinalPlan.aTarget = a_target
|
||||
longitudinalPlan.shouldStop = should_stop
|
||||
longitudinalPlan.allowBrake = True
|
||||
longitudinalPlan.allowThrottle = True
|
||||
longitudinalPlan.allowThrottle = self.allow_throttle
|
||||
|
||||
pm.send('longitudinalPlan', plan_send)
|
||||
|
||||
@@ -15,7 +15,8 @@ class ModelConstants:
|
||||
# model inputs constants
|
||||
MODEL_FREQ = 20
|
||||
FEATURE_LEN = 512
|
||||
HISTORY_BUFFER_LEN = 99
|
||||
FULL_HISTORY_BUFFER_LEN = 99
|
||||
HISTORY_BUFFER_LEN = 24
|
||||
DESIRE_LEN = 8
|
||||
TRAFFIC_CONVENTION_LEN = 2
|
||||
LAT_PLANNER_STATE_LEN = 4
|
||||
@@ -72,14 +73,14 @@ class Plan:
|
||||
class Meta:
|
||||
ENGAGED = slice(0, 1)
|
||||
# next 2, 4, 6, 8, 10 seconds
|
||||
GAS_DISENGAGE = slice(1, 41, 8)
|
||||
BRAKE_DISENGAGE = slice(2, 41, 8)
|
||||
STEER_OVERRIDE = slice(3, 41, 8)
|
||||
HARD_BRAKE_3 = slice(4, 41, 8)
|
||||
HARD_BRAKE_4 = slice(5, 41, 8)
|
||||
HARD_BRAKE_5 = slice(6, 41, 8)
|
||||
GAS_PRESS = slice(7, 41, 8)
|
||||
BRAKE_PRESS = slice(8, 41, 8)
|
||||
GAS_DISENGAGE = slice(1, 31, 6)
|
||||
BRAKE_DISENGAGE = slice(2, 31, 6)
|
||||
STEER_OVERRIDE = slice(3, 31, 6)
|
||||
HARD_BRAKE_3 = slice(4, 31, 6)
|
||||
HARD_BRAKE_4 = slice(5, 31, 6)
|
||||
HARD_BRAKE_5 = slice(6, 31, 6)
|
||||
# next 0, 2, 4, 6, 8, 10 seconds
|
||||
LEFT_BLINKER = slice(41, 53, 2)
|
||||
RIGHT_BLINKER = slice(42, 53, 2)
|
||||
GAS_PRESS = slice(31, 55, 4)
|
||||
BRAKE_PRESS = slice(32, 55, 4)
|
||||
LEFT_BLINKER = slice(33, 55, 4)
|
||||
RIGHT_BLINKER = slice(34, 55, 4)
|
||||
|
||||
@@ -48,6 +48,12 @@ def fill_xyz_poly(builder, degree, x, y, z):
|
||||
builder.yCoefficients = coeffs[:, 1].tolist()
|
||||
builder.zCoefficients = coeffs[:, 2].tolist()
|
||||
|
||||
def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
|
||||
builder.leftY = lane_lines[1].y[0]
|
||||
builder.leftProb = lane_line_probs[1]
|
||||
builder.rightY = lane_lines[2].y[0]
|
||||
builder.rightProb = lane_line_probs[2]
|
||||
|
||||
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_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,
|
||||
@@ -130,10 +136,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
|
||||
modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
|
||||
|
||||
lane_line_meta = driving_model_data.laneLineMeta
|
||||
lane_line_meta.leftY = modelV2.laneLines[1].y[0]
|
||||
lane_line_meta.leftProb = modelV2.laneLineProbs[1]
|
||||
lane_line_meta.rightY = modelV2.laneLines[2].y[0]
|
||||
lane_line_meta.rightProb = modelV2.laneLineProbs[2]
|
||||
fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
|
||||
|
||||
# road edges
|
||||
modelV2.init('roadEdges', 2)
|
||||
|
||||
+24
-11
@@ -34,6 +34,7 @@ MODEL_PATHS = {
|
||||
|
||||
METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
|
||||
|
||||
|
||||
class FrameMeta:
|
||||
frame_id: int = 0
|
||||
timestamp_sof: int = 0
|
||||
@@ -55,6 +56,11 @@ class ModelState:
|
||||
self.frame = ModelFrame(context)
|
||||
self.wide_frame = ModelFrame(context)
|
||||
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
|
||||
self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
|
||||
self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
|
||||
self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
|
||||
|
||||
# img buffers are managed in openCL transform code
|
||||
self.inputs = {
|
||||
'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
|
||||
'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
|
||||
@@ -87,17 +93,18 @@ class ModelState:
|
||||
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:]
|
||||
self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
|
||||
new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
|
||||
self.prev_desire[:] = inputs['desire']
|
||||
|
||||
self.desire_20Hz[:-1] = self.desire_20Hz[1:]
|
||||
self.desire_20Hz[-1] = new_desire
|
||||
self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten()
|
||||
|
||||
self.inputs['traffic_convention'][:] = inputs['traffic_convention']
|
||||
self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
|
||||
|
||||
# if getCLBuffer is not None, frame will be None
|
||||
self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
|
||||
if wbuf is not None:
|
||||
self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
|
||||
self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
|
||||
|
||||
if prepare_only:
|
||||
return None
|
||||
@@ -105,10 +112,16 @@ class ModelState:
|
||||
self.model.execute()
|
||||
outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
|
||||
|
||||
self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
|
||||
self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
|
||||
self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
|
||||
self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :]
|
||||
self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
|
||||
self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
|
||||
|
||||
self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:]
|
||||
self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :]
|
||||
|
||||
idxs = np.arange(-4,-100,-4)[::-1]
|
||||
self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten()
|
||||
# TODO model only uses last value now, once that changes we need to input strided action history buffer
|
||||
self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :]
|
||||
return outputs
|
||||
|
||||
|
||||
@@ -174,7 +187,6 @@ def main(demo=False):
|
||||
CP = convert_to_capnp(get_demo_car_params())
|
||||
else:
|
||||
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
||||
|
||||
cloudlog.info("modeld got CarParams: %s", CP.carName)
|
||||
|
||||
# TODO this needs more thought, use .2s extra for now to estimate other delays
|
||||
@@ -219,7 +231,8 @@ def main(demo=False):
|
||||
desire = DH.desire
|
||||
is_rhd = sm["driverMonitoringState"].isRHD
|
||||
frame_id = sm["roadCameraState"].frameId
|
||||
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
|
||||
v_ego = max(sm["carState"].vEgo, 0.)
|
||||
lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
|
||||
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
|
||||
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
|
||||
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
|
||||
|
||||
@@ -7,32 +7,39 @@
|
||||
#include "common/clutil.h"
|
||||
|
||||
ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
|
||||
input_frames = std::make_unique<float[]>(buf_size);
|
||||
input_frames = std::make_unique<uint8_t[]>(buf_size);
|
||||
|
||||
q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
|
||||
y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
|
||||
u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
|
||||
v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
|
||||
net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
|
||||
img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
|
||||
region.origin = 4 * frame_size_bytes;
|
||||
region.size = frame_size_bytes;
|
||||
last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err));
|
||||
|
||||
transform_init(&transform, context, device_id);
|
||||
loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
|
||||
}
|
||||
|
||||
float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
|
||||
uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
|
||||
transform_queue(&this->transform, q,
|
||||
yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
|
||||
y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
|
||||
yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
|
||||
y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
|
||||
}
|
||||
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
|
||||
if (output == NULL) {
|
||||
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
|
||||
|
||||
std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
|
||||
CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
|
||||
CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr));
|
||||
CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
|
||||
clFinish(q);
|
||||
return &input_frames[0];
|
||||
} else {
|
||||
loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
|
||||
copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes);
|
||||
copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes);
|
||||
|
||||
// NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
|
||||
clFinish(q);
|
||||
return NULL;
|
||||
@@ -42,7 +49,8 @@ float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int
|
||||
ModelFrame::~ModelFrame() {
|
||||
transform_destroy(&transform);
|
||||
loadyuv_destroy(&loadyuv);
|
||||
CL_CHECK(clReleaseMemObject(net_input_cl));
|
||||
CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
|
||||
CL_CHECK(clReleaseMemObject(last_img_cl));
|
||||
CL_CHECK(clReleaseMemObject(v_cl));
|
||||
CL_CHECK(clReleaseMemObject(u_cl));
|
||||
CL_CHECK(clReleaseMemObject(y_cl));
|
||||
|
||||
@@ -20,17 +20,19 @@ class ModelFrame {
|
||||
public:
|
||||
ModelFrame(cl_device_id device_id, cl_context context);
|
||||
~ModelFrame();
|
||||
float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
|
||||
uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
|
||||
|
||||
const int MODEL_WIDTH = 512;
|
||||
const int MODEL_HEIGHT = 256;
|
||||
const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
|
||||
const int buf_size = MODEL_FRAME_SIZE * 2;
|
||||
const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
|
||||
|
||||
private:
|
||||
Transform transform;
|
||||
LoadYUVState loadyuv;
|
||||
cl_command_queue q;
|
||||
cl_mem y_cl, u_cl, v_cl, net_input_cl;
|
||||
std::unique_ptr<float[]> input_frames;
|
||||
};
|
||||
cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl;
|
||||
cl_buffer_region region;
|
||||
std::unique_ptr<uint8_t[]> input_frames;
|
||||
};
|
||||
@@ -15,4 +15,4 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
|
||||
cppclass ModelFrame:
|
||||
int buf_size
|
||||
ModelFrame(cl_device_id, cl_context)
|
||||
float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
|
||||
unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
|
||||
|
||||
@@ -35,11 +35,11 @@ cdef class ModelFrame:
|
||||
def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
|
||||
cdef mat3 cprojection
|
||||
memcpy(cprojection.v, &projection[0], 9*sizeof(float))
|
||||
cdef float * data
|
||||
cdef unsigned char * data
|
||||
if output is None:
|
||||
data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
|
||||
else:
|
||||
data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
|
||||
if not data:
|
||||
return None
|
||||
return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
|
||||
return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:d42319e42e8ba1a818c845ee0c687ece6afd98e59fef142895be33dd230974c2
|
||||
size 62481231
|
||||
oid sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95
|
||||
size 50309976
|
||||
|
||||
@@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) {
|
||||
|
||||
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
|
||||
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
|
||||
cl_mem out_cl, bool do_shift) {
|
||||
cl_mem out_cl) {
|
||||
cl_int global_out_off = 0;
|
||||
if (do_shift) {
|
||||
// shift the image in slot 1 to slot 0, then place the new image in slot 1
|
||||
global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
|
||||
const size_t copy_work_size = global_out_off/8;
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
|
||||
©_work_size, NULL, 0, 0, NULL));
|
||||
}
|
||||
|
||||
CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
|
||||
CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
|
||||
@@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
|
||||
&loaduv_work_size, NULL, 0, 0, NULL));
|
||||
}
|
||||
|
||||
void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
|
||||
size_t src_offset, size_t dst_offset, size_t size) {
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
|
||||
CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
|
||||
const size_t copy_work_size = size/8;
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
|
||||
©_work_size, NULL, 0, 0, NULL));
|
||||
}
|
||||
@@ -1,7 +1,7 @@
|
||||
#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
|
||||
|
||||
__kernel void loadys(__global uchar8 const * const Y,
|
||||
__global float * out,
|
||||
__global uchar * out,
|
||||
int out_offset)
|
||||
{
|
||||
const int gid = get_global_id(0);
|
||||
@@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y,
|
||||
const int ox = ois % TRANSFORMED_WIDTH;
|
||||
|
||||
const uchar8 ys = Y[gid];
|
||||
const float8 ysf = convert_float8(ys);
|
||||
|
||||
// 02
|
||||
// 13
|
||||
|
||||
__global float* outy0;
|
||||
__global float* outy1;
|
||||
__global uchar* outy0;
|
||||
__global uchar* outy1;
|
||||
if ((oy & 1) == 0) {
|
||||
outy0 = out + out_offset; //y0
|
||||
outy1 = out + out_offset + UV_SIZE*2; //y2
|
||||
@@ -25,23 +24,24 @@ __kernel void loadys(__global uchar8 const * const Y,
|
||||
outy1 = out + out_offset + UV_SIZE*3; //y3
|
||||
}
|
||||
|
||||
vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
|
||||
vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
|
||||
vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
|
||||
vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
|
||||
}
|
||||
|
||||
__kernel void loaduv(__global uchar8 const * const in,
|
||||
__global float8 * out,
|
||||
__global uchar8 * out,
|
||||
int out_offset)
|
||||
{
|
||||
const int gid = get_global_id(0);
|
||||
const uchar8 inv = in[gid];
|
||||
const float8 outv = convert_float8(inv);
|
||||
out[gid + out_offset / 8] = outv;
|
||||
out[gid + out_offset / 8] = inv;
|
||||
}
|
||||
|
||||
__kernel void copy(__global float8 * inout,
|
||||
int in_offset)
|
||||
__kernel void copy(__global uchar8 * in,
|
||||
__global uchar8 * out,
|
||||
int in_offset,
|
||||
int out_offset)
|
||||
{
|
||||
const int gid = get_global_id(0);
|
||||
inout[gid] = inout[gid + in_offset / 8];
|
||||
out[gid + out_offset / 8] = in[gid + in_offset / 8];
|
||||
}
|
||||
|
||||
@@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s);
|
||||
|
||||
void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
|
||||
cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
|
||||
cl_mem out_cl, bool do_shift = false);
|
||||
cl_mem out_cl);
|
||||
|
||||
|
||||
void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
|
||||
size_t src_offset, size_t dst_offset, size_t size);
|
||||
@@ -382,14 +382,21 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
|
||||
},
|
||||
|
||||
EventName.startupNoSecOcKey: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
|
||||
"Security Key Not Available",
|
||||
priority=Priority.HIGH),
|
||||
},
|
||||
|
||||
EventName.dashcamMode: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
|
||||
priority=Priority.LOWEST),
|
||||
},
|
||||
|
||||
EventName.invalidLkasSetting: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
|
||||
"Turn off stock LKAS to engage"),
|
||||
ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
|
||||
"Toggle stock LKAS on or off to engage"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
|
||||
},
|
||||
|
||||
EventName.cruiseMismatch: {
|
||||
@@ -939,16 +946,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
|
||||
},
|
||||
|
||||
EventName.lowSpeedLockout: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
|
||||
},
|
||||
|
||||
EventName.lkasDisabled: {
|
||||
ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
|
||||
ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
|
||||
},
|
||||
|
||||
EventName.vehicleSensorsInvalid: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
|
||||
ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
|
||||
|
||||
@@ -7,6 +7,7 @@ import cereal.messaging as messaging
|
||||
|
||||
from cereal import car, log
|
||||
from msgq.visionipc import VisionIpcClient, VisionStreamType
|
||||
from panda import ALTERNATIVE_EXPERIENCE
|
||||
|
||||
|
||||
from openpilot.common.params import Params
|
||||
@@ -14,6 +15,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.gps import get_gps_location_service
|
||||
|
||||
from openpilot.selfdrive.car.car_specific import CarSpecificEvents
|
||||
from openpilot.selfdrive.selfdrived.events import Events, ET
|
||||
from openpilot.selfdrive.selfdrived.state import StateMachine
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
|
||||
@@ -41,15 +43,21 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
|
||||
|
||||
|
||||
class SelfdriveD:
|
||||
def __init__(self):
|
||||
def __init__(self, CP=None):
|
||||
self.params = Params()
|
||||
|
||||
# Ensure the current branch is cached, otherwise the first cycle lags
|
||||
build_metadata = get_build_metadata()
|
||||
|
||||
cloudlog.info("selfdrived is waiting for CarParams")
|
||||
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("selfdrived got CarParams")
|
||||
if CP is None:
|
||||
cloudlog.info("selfdrived is waiting for CarParams")
|
||||
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
|
||||
cloudlog.info("selfdrived got CarParams")
|
||||
else:
|
||||
self.CP = CP
|
||||
|
||||
self.car_events = CarSpecificEvents(self.CP)
|
||||
self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
|
||||
|
||||
# Setup sockets
|
||||
self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
|
||||
@@ -118,6 +126,8 @@ class SelfdriveD:
|
||||
self.startup_event = EventName.startupNoCar
|
||||
elif car_recognized and self.CP.passive:
|
||||
self.startup_event = EventName.startupNoControl
|
||||
elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
|
||||
self.startup_event = EventName.startupNoSecOcKey
|
||||
|
||||
if not sounds_available:
|
||||
self.events.add(EventName.soundsUnavailable, static=True)
|
||||
@@ -164,7 +174,20 @@ class SelfdriveD:
|
||||
|
||||
# Add car events, ignore if CAN isn't valid
|
||||
if CS.canValid:
|
||||
self.events.add_from_msg(CS.events)
|
||||
car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
|
||||
self.events.add_from_msg(car_events)
|
||||
|
||||
if self.CP.notCar:
|
||||
# wait for everything to init first
|
||||
if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
|
||||
# body always wants to enable
|
||||
self.events.add(EventName.pcmEnable)
|
||||
|
||||
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
|
||||
if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
|
||||
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
|
||||
(CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
|
||||
self.events.add(EventName.pedalPressed)
|
||||
|
||||
# Create events for temperature, disk space, and memory
|
||||
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
|
||||
@@ -332,7 +355,7 @@ class SelfdriveD:
|
||||
self.events.add(EventName.noGps)
|
||||
if gps_ok:
|
||||
self.distance_traveled = 0
|
||||
self.distance_traveled += CS.vEgo * DT_CTRL
|
||||
self.distance_traveled += abs(CS.vEgo) * DT_CTRL
|
||||
|
||||
if self.sm['modelV2'].frameDropPerc > 20:
|
||||
self.events.add(EventName.modeldLagging)
|
||||
|
||||
@@ -12,11 +12,14 @@ class Maneuver:
|
||||
self.breakpoints = kwargs.get("breakpoints", [0.0, duration])
|
||||
self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
|
||||
self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
|
||||
self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))])
|
||||
self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
|
||||
self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))])
|
||||
|
||||
self.only_lead2 = kwargs.get("only_lead2", False)
|
||||
self.only_radar = kwargs.get("only_radar", False)
|
||||
self.ensure_start = kwargs.get("ensure_start", False)
|
||||
self.ensure_slowdown = kwargs.get("ensure_slowdown", False)
|
||||
self.enabled = kwargs.get("enabled", True)
|
||||
self.e2e = kwargs.get("e2e", False)
|
||||
self.personality = kwargs.get("personality", 0)
|
||||
@@ -42,9 +45,11 @@ class Maneuver:
|
||||
logs = []
|
||||
while plant.current_time < self.duration:
|
||||
speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
|
||||
prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
|
||||
prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
|
||||
cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values)
|
||||
log = plant.step(speed_lead, prob, cruise)
|
||||
pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values)
|
||||
prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values)
|
||||
log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle)
|
||||
|
||||
d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
|
||||
v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
|
||||
@@ -57,13 +62,18 @@ class Maneuver:
|
||||
speed_lead,
|
||||
log['acceleration']]))
|
||||
|
||||
if d_rel < .4 and (self.only_radar or prob > 0.5):
|
||||
if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
|
||||
print("Crashed!!!!")
|
||||
valid = False
|
||||
|
||||
if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
|
||||
print('LongitudinalPlanner not starting!')
|
||||
valid = False
|
||||
|
||||
if self.ensure_slowdown and log['speed'] > 5.5:
|
||||
print('LongitudinalPlanner not slowing down!')
|
||||
valid = False
|
||||
|
||||
if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
|
||||
print('Not stopping with force decel')
|
||||
valid = False
|
||||
|
||||
@@ -57,13 +57,14 @@ class Plant:
|
||||
def current_time(self):
|
||||
return float(self.rk.frame) / self.rate
|
||||
|
||||
def step(self, v_lead=0.0, prob=1.0, v_cruise=50.):
|
||||
def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0):
|
||||
# ******** publish a fake model going straight and fake calibration ********
|
||||
# note that this is worst case for MPC, since model will delay long mpc by one time step
|
||||
radar = messaging.new_message('radarState')
|
||||
control = messaging.new_message('controlsState')
|
||||
ss = messaging.new_message('selfdriveState')
|
||||
car_state = messaging.new_message('carState')
|
||||
car_control = messaging.new_message('carControl')
|
||||
model = messaging.new_message('modelV2')
|
||||
a_lead = (v_lead - self.v_lead_prev)/self.ts
|
||||
self.v_lead_prev = v_lead
|
||||
@@ -73,14 +74,14 @@ class Plant:
|
||||
v_rel = v_lead - self.speed
|
||||
if self.only_radar:
|
||||
status = True
|
||||
elif prob > .5:
|
||||
elif prob_lead > .5:
|
||||
status = True
|
||||
else:
|
||||
status = False
|
||||
else:
|
||||
d_rel = 200.
|
||||
v_rel = 0.
|
||||
prob = 0.0
|
||||
prob_lead = 0.0
|
||||
status = False
|
||||
|
||||
lead = log.RadarState.LeadData.new_message()
|
||||
@@ -94,7 +95,7 @@ class Plant:
|
||||
# TODO use real radard logic for this
|
||||
lead.aLeadTau = float(_LEAD_ACCEL_TAU)
|
||||
lead.status = status
|
||||
lead.modelProb = float(prob)
|
||||
lead.modelProb = float(prob_lead)
|
||||
if not self.only_lead2:
|
||||
radar.radarState.leadOne = lead
|
||||
radar.radarState.leadTwo = lead
|
||||
@@ -112,6 +113,7 @@ class Plant:
|
||||
acceleration = log.XYZTData.new_message()
|
||||
acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
|
||||
model.modelV2.acceleration = acceleration
|
||||
model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)]
|
||||
|
||||
control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
|
||||
ss.selfdriveState.experimentalMode = self.e2e
|
||||
@@ -120,10 +122,12 @@ class Plant:
|
||||
car_state.carState.vEgo = float(self.speed)
|
||||
car_state.carState.standstill = self.speed < 0.01
|
||||
car_state.carState.vCruise = float(v_cruise * 3.6)
|
||||
car_control.carControl.orientationNED = [0., float(pitch), 0.]
|
||||
|
||||
# ******** get controlsState messages for plotting ***
|
||||
sm = {'radarState': radar.radarState,
|
||||
'carState': car_state.carState,
|
||||
'carControl': car_control.carControl,
|
||||
'controlsState': control.controlsState,
|
||||
'selfdriveState': ss.selfdriveState,
|
||||
'modelV2': model.modelV2}
|
||||
|
||||
@@ -82,6 +82,44 @@ def create_maneuvers(kwargs):
|
||||
breakpoints=[0.0, 2., 2.01],
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1",
|
||||
duration=30.,
|
||||
initial_speed=20.,
|
||||
lead_relevancy=True,
|
||||
initial_distance_lead=120.,
|
||||
speed_lead_values=[0.0, 0., 0.],
|
||||
prob_throttle_values=[1., 0., 0.],
|
||||
cruise_values=[20., 20., 20.],
|
||||
pitch_values=[0., -0.1, -0.1],
|
||||
breakpoints=[0.0, 2., 2.01],
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1",
|
||||
duration=30.,
|
||||
initial_speed=20.,
|
||||
lead_relevancy=True,
|
||||
initial_distance_lead=120.,
|
||||
speed_lead_values=[0.0, 0., 0.],
|
||||
prob_throttle_values=[1., 0., 0.],
|
||||
cruise_values=[20., 20., 20.],
|
||||
pitch_values=[0., 0.1, 0.1],
|
||||
breakpoints=[0.0, 2., 2.01],
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"slow to 5m/s with allow_throttle = False and pitch = +0.1",
|
||||
duration=25.,
|
||||
initial_speed=20.,
|
||||
lead_relevancy=False,
|
||||
prob_throttle_values=[1., 0., 0.],
|
||||
cruise_values=[20., 20., 20.],
|
||||
pitch_values=[0., 0.1, 0.1],
|
||||
breakpoints=[0.0, 2., 2.01],
|
||||
ensure_slowdown=True,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"approach slower cut-in car at 20m/s",
|
||||
duration=20.,
|
||||
|
||||
@@ -30,7 +30,7 @@ optional arguments:
|
||||
--whitelist-cars WHITELIST_CARS Whitelist given cars from the test (e.g. HONDA)
|
||||
--blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd)
|
||||
--blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA)
|
||||
--ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events)
|
||||
--ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
|
||||
--ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents)
|
||||
--update-refs Updates reference logs using current commit
|
||||
--upload-only Skips testing processes and uploads logs from previous test run
|
||||
|
||||
@@ -1,51 +1,124 @@
|
||||
from collections import defaultdict
|
||||
from collections.abc import Callable
|
||||
import functools
|
||||
import capnp
|
||||
|
||||
from cereal import messaging, car
|
||||
from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.toyota.values import EPS_SCALE
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.tools.lib.logreader import LogIterable
|
||||
from panda import Panda
|
||||
|
||||
MessageWithIndex = tuple[int, capnp.lib.capnp._DynamicStructReader]
|
||||
MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], list[capnp.lib.capnp._DynamicStructReader], list[int]]
|
||||
MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
|
||||
|
||||
# TODO: message migration should happen in-place
|
||||
def migrate_all(lr, manager_states=False, panda_states=False, camera_states=False):
|
||||
msgs = migrate_sensorEvents(lr)
|
||||
msgs = migrate_carParams(msgs)
|
||||
msgs = migrate_gpsLocation(msgs)
|
||||
msgs = migrate_deviceState(msgs)
|
||||
msgs = migrate_carOutput(msgs)
|
||||
msgs = migrate_controlsState(msgs)
|
||||
msgs = migrate_liveLocationKalman(msgs)
|
||||
msgs = migrate_liveTracks(msgs)
|
||||
msgs = migrate_driverAssistance(msgs)
|
||||
|
||||
## rules for migration functions
|
||||
## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
|
||||
## 2. it only gets the messages that are in the inputs list
|
||||
## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
|
||||
## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
|
||||
## 5. all migration functions must be independent of each other
|
||||
def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
|
||||
migrations = [
|
||||
migrate_sensorEvents,
|
||||
migrate_carParams,
|
||||
migrate_gpsLocation,
|
||||
migrate_deviceState,
|
||||
migrate_carOutput,
|
||||
migrate_controlsState,
|
||||
migrate_carState,
|
||||
migrate_liveLocationKalman,
|
||||
migrate_liveTracks,
|
||||
migrate_driverAssistance,
|
||||
migrate_drivingModelData,
|
||||
]
|
||||
if manager_states:
|
||||
msgs = migrate_managerState(msgs)
|
||||
migrations.append(migrate_managerState)
|
||||
if panda_states:
|
||||
msgs = migrate_pandaStates(msgs)
|
||||
msgs = migrate_peripheralState(msgs)
|
||||
migrations.extend([migrate_pandaStates, migrate_peripheralState])
|
||||
if camera_states:
|
||||
msgs = migrate_cameraStates(msgs)
|
||||
migrations.append(migrate_cameraStates)
|
||||
|
||||
return msgs
|
||||
return migrate(lr, migrations)
|
||||
|
||||
def migrate_driverAssistance(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
all_msgs.append(msg)
|
||||
if msg.which() == 'longitudinalPlan':
|
||||
all_msgs.append(messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime).as_reader())
|
||||
if msg.which() == 'driverAssistance':
|
||||
return lr
|
||||
return all_msgs
|
||||
|
||||
def migrate_liveTracks(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() != "liveTracksDEPRECATED":
|
||||
all_msgs.append(msg)
|
||||
def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
|
||||
lr = list(lr)
|
||||
grouped = defaultdict(list)
|
||||
for i, msg in enumerate(lr):
|
||||
grouped[msg.which()].append(i)
|
||||
|
||||
replace_ops, add_ops, del_ops = [], [], []
|
||||
for migration in migration_funcs:
|
||||
assert hasattr(migration, "inputs") and hasattr(migration, "product"), "Migration functions must use @migration decorator"
|
||||
if migration.product in grouped: # skip if product already exists
|
||||
continue
|
||||
|
||||
sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
|
||||
msg_gen = [(i, lr[i]) for i in sorted_indices]
|
||||
r_ops, a_ops, d_ops = migration(msg_gen)
|
||||
replace_ops.extend(r_ops)
|
||||
add_ops.extend(a_ops)
|
||||
del_ops.extend(d_ops)
|
||||
|
||||
for index, msg in replace_ops:
|
||||
lr[index] = msg
|
||||
for index in sorted(del_ops, reverse=True):
|
||||
del lr[index]
|
||||
for msg in add_ops:
|
||||
lr.append(msg)
|
||||
lr = sorted(lr, key=lambda x: x.logMonoTime)
|
||||
|
||||
return lr
|
||||
|
||||
|
||||
def migration(inputs: list[str], product: str|None=None):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
wrapper.inputs = inputs
|
||||
wrapper.product = product
|
||||
return wrapper
|
||||
return decorator
|
||||
|
||||
|
||||
@migration(inputs=["longitudinalPlan"], product="driverAssistance")
|
||||
def migrate_driverAssistance(msgs):
|
||||
add_ops = []
|
||||
for _, msg in msgs:
|
||||
new_msg = messaging.new_message('driverAssistance', valid=True, logMonoTime=msg.logMonoTime)
|
||||
add_ops.append(new_msg.as_reader())
|
||||
return [], add_ops, []
|
||||
|
||||
|
||||
@migration(inputs=["modelV2"], product="drivingModelData")
|
||||
def migrate_drivingModelData(msgs):
|
||||
add_ops = []
|
||||
for _, msg in msgs:
|
||||
dmd = messaging.new_message('drivingModelData', valid=msg.valid, logMonoTime=msg.logMonoTime)
|
||||
for field in ["frameId", "frameIdExtra", "frameDropPerc", "modelExecutionTime", "action"]:
|
||||
setattr(dmd.drivingModelData, field, getattr(msg.modelV2, field))
|
||||
for meta_field in ["laneChangeState", "laneChangeState"]:
|
||||
setattr(dmd.drivingModelData.meta, meta_field, getattr(msg.modelV2.meta, meta_field))
|
||||
if len(msg.modelV2.laneLines) and len(msg.modelV2.laneLineProbs):
|
||||
fill_lane_line_meta(dmd.drivingModelData.laneLineMeta, msg.modelV2.laneLines, msg.modelV2.laneLineProbs)
|
||||
if all(len(a) for a in [msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z]):
|
||||
fill_xyz_poly(dmd.drivingModelData.path, ModelConstants.POLY_PATH_DEGREE, msg.modelV2.position.x, msg.modelV2.position.y, msg.modelV2.position.z)
|
||||
add_ops.append( dmd.as_reader())
|
||||
return [], add_ops, []
|
||||
|
||||
|
||||
@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
|
||||
def migrate_liveTracks(msgs):
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
new_msg = messaging.new_message('liveTracks')
|
||||
new_msg.valid = msg.valid
|
||||
new_msg.logMonoTime = msg.logMonoTime
|
||||
@@ -63,128 +136,112 @@ def migrate_liveTracks(lr):
|
||||
pts.append(pt)
|
||||
|
||||
new_msg.liveTracks.points = pts
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
|
||||
return all_msgs
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_liveLocationKalman(lr):
|
||||
# migration needed only for routes before livePose
|
||||
if any(msg.which() == 'livePose' for msg in lr):
|
||||
return lr
|
||||
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() != 'liveLocationKalmanDEPRECATED':
|
||||
all_msgs.append(msg)
|
||||
continue
|
||||
|
||||
@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
|
||||
def migrate_liveLocationKalman(msgs):
|
||||
nans = [float('nan')] * 3
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
m = messaging.new_message('livePose')
|
||||
m.valid = msg.valid
|
||||
m.logMonoTime = msg.logMonoTime
|
||||
for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
|
||||
lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
|
||||
lp_field.x, lp_field.y, lp_field.z = llk_field.value
|
||||
lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
|
||||
lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
|
||||
lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
|
||||
lp_field.valid = llk_field.valid
|
||||
for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
|
||||
setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
|
||||
|
||||
all_msgs.append(m.as_reader())
|
||||
|
||||
return all_msgs
|
||||
ops.append((index, m.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_controlsState(lr):
|
||||
ret = []
|
||||
@migration(inputs=["controlsState"], product="selfdriveState")
|
||||
def migrate_controlsState(msgs):
|
||||
add_ops = []
|
||||
for _, msg in msgs:
|
||||
m = messaging.new_message('selfdriveState')
|
||||
m.valid = msg.valid
|
||||
m.logMonoTime = msg.logMonoTime
|
||||
ss = m.selfdriveState
|
||||
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
|
||||
"alertStatus", "alertSize", "alertType", "experimentalMode",
|
||||
"personality"):
|
||||
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
|
||||
add_ops.append(m.as_reader())
|
||||
return [], add_ops, []
|
||||
|
||||
|
||||
@migration(inputs=["carState", "controlsState"])
|
||||
def migrate_carState(msgs):
|
||||
ops = []
|
||||
last_cs = None
|
||||
for msg in lr:
|
||||
for index, msg in msgs:
|
||||
if msg.which() == 'controlsState':
|
||||
last_cs = msg
|
||||
|
||||
m = messaging.new_message('selfdriveState')
|
||||
m.valid = msg.valid
|
||||
m.logMonoTime = msg.logMonoTime
|
||||
ss = m.selfdriveState
|
||||
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
|
||||
"alertStatus", "alertSize", "alertType", "experimentalMode",
|
||||
"personality"):
|
||||
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED"))
|
||||
ret.append(m.as_reader())
|
||||
elif msg.which() == 'carState' and last_cs is not None:
|
||||
if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1:
|
||||
msg = msg.as_builder()
|
||||
msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED
|
||||
msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED
|
||||
msg = msg.as_reader()
|
||||
|
||||
ret.append(msg)
|
||||
return ret
|
||||
ops.append((index, msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_managerState(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() != "managerState":
|
||||
all_msgs.append(msg)
|
||||
continue
|
||||
|
||||
@migration(inputs=["managerState"])
|
||||
def migrate_managerState(msgs):
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
new_msg = msg.as_builder()
|
||||
new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
|
||||
return all_msgs
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_gpsLocation(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() in ('gpsLocation', 'gpsLocationExternal'):
|
||||
new_msg = msg.as_builder()
|
||||
g = getattr(new_msg, new_msg.which())
|
||||
# hasFix is a newer field
|
||||
if not g.hasFix and g.flags == 1:
|
||||
g.hasFix = True
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
else:
|
||||
all_msgs.append(msg)
|
||||
return all_msgs
|
||||
@migration(inputs=["gpsLocation", "gpsLocationExternal"])
|
||||
def migrate_gpsLocation(msgs):
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
new_msg = msg.as_builder()
|
||||
g = getattr(new_msg, new_msg.which())
|
||||
# hasFix is a newer field
|
||||
if not g.hasFix and g.flags == 1:
|
||||
g.hasFix = True
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_deviceState(lr):
|
||||
all_msgs = []
|
||||
@migration(inputs=["deviceState", "initData"])
|
||||
def migrate_deviceState(msgs):
|
||||
ops = []
|
||||
dt = None
|
||||
for msg in lr:
|
||||
for i, msg in msgs:
|
||||
if msg.which() == 'initData':
|
||||
dt = msg.initData.deviceType
|
||||
if msg.which() == 'deviceState':
|
||||
n = msg.as_builder()
|
||||
n.deviceState.deviceType = dt
|
||||
all_msgs.append(n.as_reader())
|
||||
else:
|
||||
all_msgs.append(msg)
|
||||
return all_msgs
|
||||
ops.append((i, n.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_carOutput(lr):
|
||||
# migration needed only for routes before carOutput
|
||||
if any(msg.which() == 'carOutput' for msg in lr):
|
||||
return lr
|
||||
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() == 'carControl':
|
||||
co = messaging.new_message('carOutput')
|
||||
co.valid = msg.valid
|
||||
co.logMonoTime = msg.logMonoTime
|
||||
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
|
||||
all_msgs.append(co.as_reader())
|
||||
all_msgs.append(msg)
|
||||
return all_msgs
|
||||
@migration(inputs=["carControl"], product="carOutput")
|
||||
def migrate_carOutput(msgs):
|
||||
add_ops = []
|
||||
for _, msg in msgs:
|
||||
co = messaging.new_message('carOutput')
|
||||
co.valid = msg.valid
|
||||
co.logMonoTime = msg.logMonoTime
|
||||
co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED
|
||||
add_ops.append(co.as_reader())
|
||||
return [], add_ops, []
|
||||
|
||||
|
||||
def migrate_pandaStates(lr):
|
||||
all_msgs = []
|
||||
@migration(inputs=["pandaStates", "pandaStateDEPRECATED", "carParams"])
|
||||
def migrate_pandaStates(msgs):
|
||||
# TODO: safety param migration should be handled automatically
|
||||
safety_param_migration = {
|
||||
"TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
|
||||
@@ -192,11 +249,12 @@ def migrate_pandaStates(lr):
|
||||
"KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
|
||||
}
|
||||
|
||||
# Migrate safety param base on carState
|
||||
CP = next((m.carParams for m in lr if m.which() == 'carParams'), None)
|
||||
# Migrate safety param base on carParams
|
||||
CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
|
||||
assert CP is not None, "carParams message not found"
|
||||
if CP.carFingerprint in safety_param_migration:
|
||||
safety_param = safety_param_migration[CP.carFingerprint]
|
||||
fingerprint = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
|
||||
if fingerprint in safety_param_migration:
|
||||
safety_param = safety_param_migration[fingerprint]
|
||||
elif len(CP.safetyConfigs):
|
||||
safety_param = CP.safetyConfigs[0].safetyParam
|
||||
if CP.safetyConfigs[0].safetyParamDEPRECATED != 0:
|
||||
@@ -204,49 +262,45 @@ def migrate_pandaStates(lr):
|
||||
else:
|
||||
safety_param = CP.safetyParamDEPRECATED
|
||||
|
||||
for msg in lr:
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
if msg.which() == 'pandaStateDEPRECATED':
|
||||
new_msg = messaging.new_message('pandaStates', 1)
|
||||
new_msg.valid = msg.valid
|
||||
new_msg.logMonoTime = msg.logMonoTime
|
||||
new_msg.pandaStates[0] = msg.pandaStateDEPRECATED
|
||||
new_msg.pandaStates[0].safetyParam = safety_param
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
elif msg.which() == 'pandaStates':
|
||||
new_msg = msg.as_builder()
|
||||
new_msg.pandaStates[-1].safetyParam = safety_param
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
else:
|
||||
all_msgs.append(msg)
|
||||
|
||||
return all_msgs
|
||||
ops.append((index, new_msg.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_peripheralState(lr):
|
||||
if any(msg.which() == "peripheralState" for msg in lr):
|
||||
return lr
|
||||
@migration(inputs=["pandaStates", "pandaStateDEPRECATED"], product="peripheralState")
|
||||
def migrate_peripheralState(msgs):
|
||||
add_ops = []
|
||||
|
||||
all_msg = []
|
||||
for msg in lr:
|
||||
all_msg.append(msg)
|
||||
if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]:
|
||||
which = "pandaStates" if any(msg.which() == "pandaStates" for _, msg in msgs) else "pandaStateDEPRECATED"
|
||||
for _, msg in msgs:
|
||||
if msg.which() != which:
|
||||
continue
|
||||
|
||||
new_msg = messaging.new_message("peripheralState")
|
||||
new_msg.valid = msg.valid
|
||||
new_msg.logMonoTime = msg.logMonoTime
|
||||
all_msg.append(new_msg.as_reader())
|
||||
|
||||
return all_msg
|
||||
add_ops.append(new_msg.as_reader())
|
||||
return [], add_ops, []
|
||||
|
||||
|
||||
def migrate_cameraStates(lr):
|
||||
all_msgs = []
|
||||
@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
|
||||
def migrate_cameraStates(msgs):
|
||||
add_ops, del_ops = [], []
|
||||
frame_to_encode_id = defaultdict(dict)
|
||||
# just for encodeId fallback mechanism
|
||||
min_frame_id = defaultdict(lambda: float('inf'))
|
||||
|
||||
for msg in lr:
|
||||
for _, msg in msgs:
|
||||
if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
|
||||
continue
|
||||
|
||||
@@ -256,9 +310,8 @@ def migrate_cameraStates(lr):
|
||||
assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
|
||||
frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
|
||||
|
||||
for msg in lr:
|
||||
for index, msg in msgs:
|
||||
if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
|
||||
all_msgs.append(msg)
|
||||
continue
|
||||
|
||||
camera_state = getattr(msg, msg.which())
|
||||
@@ -268,6 +321,7 @@ def migrate_cameraStates(lr):
|
||||
if encode_id is None:
|
||||
print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
|
||||
if len(frame_to_encode_id[msg.which()]) != 0:
|
||||
del_ops.append(index)
|
||||
continue
|
||||
|
||||
# fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
|
||||
@@ -288,33 +342,27 @@ def migrate_cameraStates(lr):
|
||||
new_msg.logMonoTime = msg.logMonoTime
|
||||
new_msg.valid = msg.valid
|
||||
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
|
||||
return all_msgs
|
||||
del_ops.append(index)
|
||||
add_ops.append(new_msg.as_reader())
|
||||
return [], add_ops, del_ops
|
||||
|
||||
|
||||
def migrate_carParams(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() == 'carParams':
|
||||
CP = msg.as_builder()
|
||||
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
|
||||
for car_fw in CP.carParams.carFw:
|
||||
car_fw.brand = CP.carParams.carName
|
||||
CP.logMonoTime = msg.logMonoTime
|
||||
msg = CP.as_reader()
|
||||
all_msgs.append(msg)
|
||||
|
||||
return all_msgs
|
||||
@migration(inputs=["carParams"])
|
||||
def migrate_carParams(msgs):
|
||||
ops = []
|
||||
for index, msg in msgs:
|
||||
CP = msg.as_builder()
|
||||
CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
|
||||
for car_fw in CP.carParams.carFw:
|
||||
car_fw.brand = CP.carParams.carName
|
||||
ops.append((index, CP.as_reader()))
|
||||
return ops, [], []
|
||||
|
||||
|
||||
def migrate_sensorEvents(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() != 'sensorEventsDEPRECATED':
|
||||
all_msgs.append(msg)
|
||||
continue
|
||||
|
||||
@migration(inputs=["sensorEventsDEPRECATED"], product="sensorEvents")
|
||||
def migrate_sensorEvents(msgs):
|
||||
add_ops, del_ops = [], []
|
||||
for index, msg in msgs:
|
||||
# migrate to split sensor events
|
||||
for evt in msg.sensorEventsDEPRECATED:
|
||||
# build new message for each sensor type
|
||||
@@ -342,6 +390,6 @@ def migrate_sensorEvents(lr):
|
||||
m_dat.timestamp = evt.timestamp
|
||||
setattr(m_dat, evt.which(), getattr(evt, evt.which()))
|
||||
|
||||
all_msgs.append(m.as_reader())
|
||||
|
||||
return all_msgs
|
||||
add_ops.append(m.as_reader())
|
||||
del_ops.append(index)
|
||||
return [], add_ops, del_ops
|
||||
|
||||
@@ -129,7 +129,10 @@ if __name__ == "__main__":
|
||||
for i in range(4):
|
||||
for field in ('x', 'y', 'z', 't'):
|
||||
ignore.append(f'modelV2.laneLines.{i}.{field}')
|
||||
tolerance = .2 if PC else None
|
||||
for i in range(2):
|
||||
for field in ('x', 'y', 'z', 't'):
|
||||
ignore.append(f'modelV2.roadEdges.{i}.{field}')
|
||||
tolerance = .3 if PC else None
|
||||
results: Any = {TEST_ROUTE: {}}
|
||||
log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
|
||||
results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
|
||||
|
||||
@@ -1 +1 @@
|
||||
7cd64f431b814adfa11118643efe3822c496922b
|
||||
c4d60dfe4b677f9230eebb47614501ea8d0b99a3
|
||||
|
||||
@@ -569,7 +569,7 @@ CONFIGS = [
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="modeld",
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
|
||||
pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState"],
|
||||
subs=["modelV2", "drivingModelData", "cameraOdometry"],
|
||||
ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
|
||||
should_recv_callback=ModeldCameraSyncRcvCallback(),
|
||||
|
||||
@@ -1 +1 @@
|
||||
d8a02c23f530dd236553b47ff7f0355929fe15fc
|
||||
fbf16d1e9b056830a12fcf29a5137e1fc0b01354
|
||||
@@ -42,7 +42,7 @@ source_segments = [
|
||||
segments = [
|
||||
("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
|
||||
("HYUNDAI", "regen9CBD921E93E|2024-08-30--02-38-51--0"),
|
||||
("HYUNDAI2", "regen12E0C4EA1A7|2024-08-30--02-42-40--0"),
|
||||
("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
|
||||
("TOYOTA", "regen1CA7A48E6F7|2024-08-30--02-45-08--0"),
|
||||
("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
|
||||
("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
|
||||
@@ -60,7 +60,7 @@ segments = [
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
excluded_interfaces = ["mock"]
|
||||
excluded_interfaces = ["mock", "tesla"]
|
||||
|
||||
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
|
||||
REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
|
||||
@@ -135,7 +135,7 @@ if __name__ == "__main__":
|
||||
parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
|
||||
help="Blacklist given cars from the test (e.g. HONDA)")
|
||||
parser.add_argument("--ignore-fields", type=str, nargs="*", default=[],
|
||||
help="Extra fields or msgs to ignore (e.g. carState.events)")
|
||||
help="Extra fields or msgs to ignore (e.g. driverMonitoringState.events)")
|
||||
parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[],
|
||||
help="Msgs to ignore (e.g. carEvents)")
|
||||
parser.add_argument("--update-refs", action="store_true",
|
||||
|
||||
@@ -36,24 +36,24 @@ CPU usage budget
|
||||
MAX_TOTAL_CPU = 265. # total for all 8 cores
|
||||
PROCS = {
|
||||
# Baseline CPU usage by process
|
||||
"selfdrive.controls.controlsd": 18.0,
|
||||
"selfdrive.selfdrived.selfdrived": 21.0,
|
||||
"selfdrive.controls.controlsd": 16.0,
|
||||
"selfdrive.selfdrived.selfdrived": 16.0,
|
||||
"selfdrive.car.card": 30.0,
|
||||
"./loggerd": 14.0,
|
||||
"./encoderd": 17.0,
|
||||
"./camerad": 14.5,
|
||||
"selfdrive.controls.plannerd": 11.0,
|
||||
"selfdrive.controls.plannerd": 9.0,
|
||||
"./ui": 18.0,
|
||||
"selfdrive.locationd.paramsd": 9.0,
|
||||
"./sensord": 7.0,
|
||||
"selfdrive.controls.radard": 2.0,
|
||||
"selfdrive.modeld.modeld": 17.0,
|
||||
"selfdrive.modeld.dmonitoringmodeld": 8.0,
|
||||
"selfdrive.modeld.dmonitoringmodeld": 11.0,
|
||||
"system.hardware.hardwared": 3.87,
|
||||
"selfdrive.locationd.calibrationd": 2.0,
|
||||
"selfdrive.locationd.torqued": 5.0,
|
||||
"selfdrive.locationd.locationd": 25.0,
|
||||
"selfdrive.ui.soundd": 3.5,
|
||||
"selfdrive.ui.soundd": 3.38,
|
||||
"selfdrive.monitoring.dmonitoringd": 4.0,
|
||||
"./proclogd": 1.54,
|
||||
"system.logmessaged": 0.2,
|
||||
@@ -208,13 +208,13 @@ class TestOnroad:
|
||||
def test_log_sizes(self):
|
||||
for f, sz in self.log_sizes.items():
|
||||
if f.name == "qcamera.ts":
|
||||
assert 2.15 < sz < 2.35
|
||||
assert 2.15 < sz < 2.6
|
||||
elif f.name == "qlog":
|
||||
assert 0.4 < sz < 0.55
|
||||
elif f.name == "rlog":
|
||||
assert 5 < sz < 50
|
||||
elif f.name.endswith('.hevc'):
|
||||
assert 70 < sz < 77
|
||||
assert 70 < sz < 80
|
||||
else:
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
@@ -30,7 +30,7 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
|
||||
"qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
|
||||
"qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
|
||||
"qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
|
||||
"qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
|
||||
"qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
|
||||
"qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
|
||||
|
||||
# build translation files
|
||||
|
||||
@@ -22,7 +22,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
|
||||
"OpenpilotEnabledToggle",
|
||||
tr("Enable openpilot"),
|
||||
tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
|
||||
"../assets/offroad/icon_openpilot.png",
|
||||
"../assets/img_chffr_wheel.png",
|
||||
},
|
||||
{
|
||||
"ExperimentalLongitudinalEnabled",
|
||||
|
||||
@@ -75,8 +75,7 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
|
||||
0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
|
||||
0.0f, 0.0f, 1.0f).finished();
|
||||
|
||||
s->car_space_transform = video_transform * calib_transform;
|
||||
s->clip_region = rect().adjusted(-500, -500, 500, 500);
|
||||
model.setTransform(video_transform * calib_transform);
|
||||
|
||||
float zx = zoom * 2 * center_x / w;
|
||||
float zy = zoom * 2 * center_y / h;
|
||||
@@ -88,106 +87,10 @@ mat4 AnnotatedCameraWidget::calcFrameMatrix() {
|
||||
}};
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
|
||||
painter.save();
|
||||
|
||||
const UIScene &scene = s->scene;
|
||||
SubMaster &sm = *(s->sm);
|
||||
|
||||
// lanelines
|
||||
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
|
||||
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
|
||||
painter.drawPolygon(scene.lane_line_vertices[i]);
|
||||
}
|
||||
|
||||
// road edges
|
||||
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
|
||||
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
|
||||
painter.drawPolygon(scene.road_edge_vertices[i]);
|
||||
}
|
||||
|
||||
// paint path
|
||||
QLinearGradient bg(0, height(), 0, 0);
|
||||
if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
|
||||
// The first half of track_vertices are the points for the right side of the path
|
||||
const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
|
||||
const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
|
||||
|
||||
for (int i = 0; i < max_len; ++i) {
|
||||
// Some points are out of frame
|
||||
int track_idx = max_len - i - 1; // flip idx to start from bottom right
|
||||
if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
|
||||
|
||||
// Flip so 0 is bottom of frame
|
||||
float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
|
||||
|
||||
// speed up: 120, slow down: 0
|
||||
float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
|
||||
// FIXME: painter.drawPolygon can be slow if hue is not rounded
|
||||
path_hue = int(path_hue * 100 + 0.5) / 100;
|
||||
|
||||
float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
|
||||
float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
|
||||
float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
|
||||
bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
|
||||
|
||||
// Skip a point, unless next is last
|
||||
i += (i + 2) < max_len ? 1 : 0;
|
||||
}
|
||||
|
||||
} else {
|
||||
bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
|
||||
bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
|
||||
bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
|
||||
}
|
||||
|
||||
painter.setBrush(bg);
|
||||
painter.drawPolygon(scene.track_vertices);
|
||||
|
||||
painter.restore();
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
|
||||
painter.save();
|
||||
|
||||
const float speedBuff = 10.;
|
||||
const float leadBuff = 40.;
|
||||
const float d_rel = lead_data.getDRel();
|
||||
const float v_rel = lead_data.getVRel();
|
||||
|
||||
float fillAlpha = 0;
|
||||
if (d_rel < leadBuff) {
|
||||
fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
|
||||
if (v_rel < 0) {
|
||||
fillAlpha += 255 * (-1 * (v_rel / speedBuff));
|
||||
}
|
||||
fillAlpha = (int)(fmin(fillAlpha, 255));
|
||||
}
|
||||
|
||||
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
|
||||
float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
|
||||
float y = std::fmin(height() - sz * .6, (float)vd.y());
|
||||
|
||||
float g_xo = sz / 5;
|
||||
float g_yo = sz / 10;
|
||||
|
||||
QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
|
||||
painter.setBrush(QColor(218, 202, 37, 255));
|
||||
painter.drawPolygon(glow, std::size(glow));
|
||||
|
||||
// chevron
|
||||
QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
|
||||
painter.setBrush(redColor(fillAlpha));
|
||||
painter.drawPolygon(chevron, std::size(chevron));
|
||||
|
||||
painter.restore();
|
||||
}
|
||||
|
||||
void AnnotatedCameraWidget::paintGL() {
|
||||
UIState *s = uiState();
|
||||
SubMaster &sm = *(s->sm);
|
||||
const double start_draw_t = millis_since_boot();
|
||||
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
|
||||
|
||||
// draw camera frame
|
||||
{
|
||||
@@ -218,7 +121,7 @@ void AnnotatedCameraWidget::paintGL() {
|
||||
wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
|
||||
}
|
||||
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
|
||||
CameraWidget::setFrameId(model.getFrameId());
|
||||
CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
|
||||
CameraWidget::paintGL();
|
||||
}
|
||||
|
||||
@@ -226,24 +129,7 @@ void AnnotatedCameraWidget::paintGL() {
|
||||
painter.setRenderHint(QPainter::Antialiasing);
|
||||
painter.setPen(Qt::NoPen);
|
||||
|
||||
if (s->scene.world_objects_visible) {
|
||||
update_model(s, model);
|
||||
drawLaneLines(painter, s);
|
||||
|
||||
if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
|
||||
auto radar_state = sm["radarState"].getRadarState();
|
||||
update_leads(s, radar_state, model.getPosition());
|
||||
auto lead_one = radar_state.getLeadOne();
|
||||
auto lead_two = radar_state.getLeadTwo();
|
||||
if (lead_one.getStatus()) {
|
||||
drawLead(painter, lead_one, s->scene.lead_vertices[0]);
|
||||
}
|
||||
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
|
||||
drawLead(painter, lead_two, s->scene.lead_vertices[1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
model.draw(painter, rect());
|
||||
dmon.draw(painter, rect());
|
||||
hud.updateState(*s);
|
||||
hud.draw(painter, rect());
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
#include "selfdrive/ui/qt/onroad/hud.h"
|
||||
#include "selfdrive/ui/qt/onroad/buttons.h"
|
||||
#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
|
||||
#include "selfdrive/ui/qt/onroad/model.h"
|
||||
#include "selfdrive/ui/qt/widgets/cameraview.h"
|
||||
|
||||
class AnnotatedCameraWidget : public CameraWidget {
|
||||
@@ -19,6 +20,7 @@ private:
|
||||
ExperimentalButton *experimental_btn;
|
||||
DriverMonitorRenderer dmon;
|
||||
HudRenderer hud;
|
||||
ModelRenderer model;
|
||||
std::unique_ptr<PubMaster> pm;
|
||||
|
||||
int skip_frame_count = 0;
|
||||
@@ -29,9 +31,6 @@ protected:
|
||||
void initializeGL() override;
|
||||
void showEvent(QShowEvent *event) override;
|
||||
mat4 calcFrameMatrix() override;
|
||||
void drawLaneLines(QPainter &painter, const UIState *s);
|
||||
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
|
||||
inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
|
||||
|
||||
double prev_draw_t = 0;
|
||||
FirstOrderFilter fps_filter;
|
||||
|
||||
@@ -0,0 +1,208 @@
|
||||
#include "selfdrive/ui/qt/onroad/model.h"
|
||||
|
||||
constexpr int CLIP_MARGIN = 500;
|
||||
constexpr float MIN_DRAW_DISTANCE = 10.0;
|
||||
constexpr float MAX_DRAW_DISTANCE = 100.0;
|
||||
|
||||
static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
|
||||
const auto &line_x = line.getX();
|
||||
int max_idx = 0;
|
||||
for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
|
||||
max_idx = i;
|
||||
}
|
||||
return max_idx;
|
||||
}
|
||||
|
||||
void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
|
||||
auto &sm = *(uiState()->sm);
|
||||
if (sm.updated("carParams")) {
|
||||
longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
|
||||
}
|
||||
|
||||
// Check if data is up-to-date
|
||||
if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) {
|
||||
return;
|
||||
}
|
||||
|
||||
clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
|
||||
experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
|
||||
|
||||
painter.save();
|
||||
|
||||
const auto &model = sm["modelV2"].getModelV2();
|
||||
const auto &radar_state = sm["radarState"].getRadarState();
|
||||
const auto &lead_one = radar_state.getLeadOne();
|
||||
|
||||
update_model(model, lead_one);
|
||||
drawLaneLines(painter);
|
||||
drawPath(painter, model, surface_rect.height());
|
||||
|
||||
if (longitudinal_control && sm.alive("radarState")) {
|
||||
update_leads(radar_state, model.getPosition());
|
||||
const auto &lead_two = radar_state.getLeadTwo();
|
||||
if (lead_one.getStatus()) {
|
||||
drawLead(painter, lead_one, lead_vertices[0], surface_rect);
|
||||
}
|
||||
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
|
||||
drawLead(painter, lead_two, lead_vertices[1], surface_rect);
|
||||
}
|
||||
}
|
||||
|
||||
painter.restore();
|
||||
}
|
||||
|
||||
void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
|
||||
for (int i = 0; i < 2; ++i) {
|
||||
const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
|
||||
if (lead_data.getStatus()) {
|
||||
float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
|
||||
mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
|
||||
const auto &model_position = model.getPosition();
|
||||
float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
|
||||
|
||||
// update lane lines
|
||||
const auto &lane_lines = model.getLaneLines();
|
||||
const auto &line_probs = model.getLaneLineProbs();
|
||||
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
|
||||
for (int i = 0; i < std::size(lane_line_vertices); i++) {
|
||||
lane_line_probs[i] = line_probs[i];
|
||||
mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
|
||||
}
|
||||
|
||||
// update road edges
|
||||
const auto &road_edges = model.getRoadEdges();
|
||||
const auto &edge_stds = model.getRoadEdgeStds();
|
||||
for (int i = 0; i < std::size(road_edge_vertices); i++) {
|
||||
road_edge_stds[i] = edge_stds[i];
|
||||
mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
|
||||
}
|
||||
|
||||
// update path
|
||||
if (lead.getStatus()) {
|
||||
const float lead_d = lead.getDRel() * 2.;
|
||||
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
|
||||
}
|
||||
max_idx = get_path_length_idx(model_position, max_distance);
|
||||
mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
|
||||
}
|
||||
|
||||
void ModelRenderer::drawLaneLines(QPainter &painter) {
|
||||
// lanelines
|
||||
for (int i = 0; i < std::size(lane_line_vertices); ++i) {
|
||||
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
|
||||
painter.drawPolygon(lane_line_vertices[i]);
|
||||
}
|
||||
|
||||
// road edges
|
||||
for (int i = 0; i < std::size(road_edge_vertices); ++i) {
|
||||
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
|
||||
painter.drawPolygon(road_edge_vertices[i]);
|
||||
}
|
||||
}
|
||||
|
||||
void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
|
||||
QLinearGradient bg(0, height, 0, 0);
|
||||
if (experimental_model) {
|
||||
// The first half of track_vertices are the points for the right side of the path
|
||||
const auto &acceleration = model.getAcceleration().getX();
|
||||
const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
|
||||
|
||||
for (int i = 0; i < max_len; ++i) {
|
||||
// Some points are out of frame
|
||||
int track_idx = max_len - i - 1; // flip idx to start from bottom right
|
||||
if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
|
||||
|
||||
// Flip so 0 is bottom of frame
|
||||
float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
|
||||
|
||||
// speed up: 120, slow down: 0
|
||||
float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
|
||||
// FIXME: painter.drawPolygon can be slow if hue is not rounded
|
||||
path_hue = int(path_hue * 100 + 0.5) / 100;
|
||||
|
||||
float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
|
||||
float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
|
||||
float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
|
||||
bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
|
||||
|
||||
// Skip a point, unless next is last
|
||||
i += (i + 2) < max_len ? 1 : 0;
|
||||
}
|
||||
|
||||
} else {
|
||||
bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
|
||||
bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
|
||||
bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
|
||||
}
|
||||
|
||||
painter.setBrush(bg);
|
||||
painter.drawPolygon(track_vertices);
|
||||
}
|
||||
|
||||
void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
|
||||
const QPointF &vd, const QRect &surface_rect) {
|
||||
const float speedBuff = 10.;
|
||||
const float leadBuff = 40.;
|
||||
const float d_rel = lead_data.getDRel();
|
||||
const float v_rel = lead_data.getVRel();
|
||||
|
||||
float fillAlpha = 0;
|
||||
if (d_rel < leadBuff) {
|
||||
fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
|
||||
if (v_rel < 0) {
|
||||
fillAlpha += 255 * (-1 * (v_rel / speedBuff));
|
||||
}
|
||||
fillAlpha = (int)(fmin(fillAlpha, 255));
|
||||
}
|
||||
|
||||
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
|
||||
float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
|
||||
float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
|
||||
|
||||
float g_xo = sz / 5;
|
||||
float g_yo = sz / 10;
|
||||
|
||||
QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
|
||||
painter.setBrush(QColor(218, 202, 37, 255));
|
||||
painter.drawPolygon(glow, std::size(glow));
|
||||
|
||||
// chevron
|
||||
QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
|
||||
painter.setBrush(QColor(201, 34, 49, fillAlpha));
|
||||
painter.drawPolygon(chevron, std::size(chevron));
|
||||
}
|
||||
|
||||
// Projects a point in car to space to the corresponding point in full frame image space.
|
||||
bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
|
||||
Eigen::Vector3f input(in_x, in_y, in_z);
|
||||
auto pt = car_space_transform * input;
|
||||
*out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
|
||||
return clip_region.contains(*out);
|
||||
}
|
||||
|
||||
void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
|
||||
QPolygonF *pvd, int max_idx, bool allow_invert) {
|
||||
const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
|
||||
QPointF left, right;
|
||||
pvd->clear();
|
||||
for (int i = 0; i <= max_idx; i++) {
|
||||
// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
|
||||
if (line_x[i] < 0) continue;
|
||||
|
||||
bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
|
||||
bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
|
||||
if (l && r) {
|
||||
// For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
|
||||
if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
|
||||
continue;
|
||||
}
|
||||
pvd->push_back(left);
|
||||
pvd->push_front(right);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,34 @@
|
||||
#pragma once
|
||||
|
||||
#include <QPainter>
|
||||
#include <QPolygonF>
|
||||
|
||||
#include "selfdrive/ui/ui.h"
|
||||
|
||||
class ModelRenderer {
|
||||
public:
|
||||
ModelRenderer() {}
|
||||
void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
|
||||
void draw(QPainter &painter, const QRect &surface_rect);
|
||||
|
||||
private:
|
||||
bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
|
||||
void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
|
||||
QPolygonF *pvd, int max_idx, bool allow_invert = true);
|
||||
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
|
||||
void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
|
||||
void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
|
||||
void drawLaneLines(QPainter &painter);
|
||||
void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
|
||||
|
||||
bool longitudinal_control = false;
|
||||
bool experimental_model = false;
|
||||
float lane_line_probs[4] = {};
|
||||
float road_edge_stds[2] = {};
|
||||
QPolygonF track_vertices;
|
||||
QPolygonF lane_line_vertices[4] = {};
|
||||
QPolygonF road_edge_vertices[2] = {};
|
||||
QPointF lead_vertices[2] = {};
|
||||
Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
|
||||
QRectF clip_region;
|
||||
};
|
||||
@@ -180,20 +180,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
|
||||
|
||||
QFrame* finishRegistration = new QFrame;
|
||||
finishRegistration->setObjectName("primeWidget");
|
||||
QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration);
|
||||
finishRegistationLayout->setSpacing(38);
|
||||
finishRegistationLayout->setContentsMargins(64, 48, 64, 48);
|
||||
QVBoxLayout* finishRegistrationLayout = new QVBoxLayout(finishRegistration);
|
||||
finishRegistrationLayout->setSpacing(38);
|
||||
finishRegistrationLayout->setContentsMargins(64, 48, 64, 48);
|
||||
|
||||
QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
|
||||
registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
|
||||
finishRegistationLayout->addWidget(registrationTitle);
|
||||
finishRegistrationLayout->addWidget(registrationTitle);
|
||||
|
||||
QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
|
||||
registrationDescription->setWordWrap(true);
|
||||
registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
|
||||
finishRegistationLayout->addWidget(registrationDescription);
|
||||
finishRegistrationLayout->addWidget(registrationDescription);
|
||||
|
||||
finishRegistationLayout->addStretch();
|
||||
finishRegistrationLayout->addStretch();
|
||||
|
||||
QPushButton* pair = new QPushButton(tr("Pair device"));
|
||||
pair->setStyleSheet(R"(
|
||||
@@ -208,7 +208,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
|
||||
background-color: #3049F4;
|
||||
}
|
||||
)");
|
||||
finishRegistationLayout->addWidget(pair);
|
||||
finishRegistrationLayout->addWidget(pair);
|
||||
|
||||
popup = new PairingPopup(this);
|
||||
QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec);
|
||||
|
||||
@@ -19,7 +19,7 @@ from openpilot.common.prefix import OpenpilotPrefix
|
||||
from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
|
||||
from openpilot.selfdrive.test.helpers import with_processes
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate_controlsState
|
||||
from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
from openpilot.tools.lib.framereader import FrameReader
|
||||
from openpilot.tools.lib.route import Route
|
||||
@@ -263,7 +263,7 @@ def create_screenshots():
|
||||
segnum = 2
|
||||
lr = LogReader(route.qlog_paths()[segnum])
|
||||
DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
|
||||
for event in migrate_controlsState(lr):
|
||||
for event in migrate(lr, [migrate_controlsState, migrate_carState]):
|
||||
if event.which() in DATA:
|
||||
DATA[event.which()] = event.as_builder()
|
||||
|
||||
|
||||
@@ -14,90 +14,6 @@
|
||||
#define BACKLIGHT_DT 0.05
|
||||
#define BACKLIGHT_TS 10.00
|
||||
|
||||
// Projects a point in car to space to the corresponding point in full frame
|
||||
// image space.
|
||||
static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) {
|
||||
Eigen::Vector3f input(in_x, in_y, in_z);
|
||||
auto transformed = s->car_space_transform * input;
|
||||
*out = QPointF(transformed.x() / transformed.z(), transformed.y() / transformed.z());
|
||||
return s->clip_region.contains(*out);
|
||||
}
|
||||
|
||||
int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
|
||||
const auto line_x = line.getX();
|
||||
int max_idx = 0;
|
||||
for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
|
||||
max_idx = i;
|
||||
}
|
||||
return max_idx;
|
||||
}
|
||||
|
||||
void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
|
||||
for (int i = 0; i < 2; ++i) {
|
||||
auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
|
||||
if (lead_data.getStatus()) {
|
||||
float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
|
||||
calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
|
||||
float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
|
||||
const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
|
||||
QPointF left, right;
|
||||
pvd->clear();
|
||||
for (int i = 0; i <= max_idx; i++) {
|
||||
// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
|
||||
if (line_x[i] < 0) continue;
|
||||
|
||||
bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
|
||||
bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
|
||||
if (l && r) {
|
||||
// For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
|
||||
if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
|
||||
continue;
|
||||
}
|
||||
pvd->push_back(left);
|
||||
pvd->push_front(right);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void update_model(UIState *s,
|
||||
const cereal::ModelDataV2::Reader &model) {
|
||||
UIScene &scene = s->scene;
|
||||
auto model_position = model.getPosition();
|
||||
float max_distance = std::clamp(*(model_position.getX().end() - 1),
|
||||
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
|
||||
|
||||
// update lane lines
|
||||
const auto lane_lines = model.getLaneLines();
|
||||
const auto lane_line_probs = model.getLaneLineProbs();
|
||||
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
|
||||
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
|
||||
scene.lane_line_probs[i] = lane_line_probs[i];
|
||||
update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
|
||||
}
|
||||
|
||||
// update road edges
|
||||
const auto road_edges = model.getRoadEdges();
|
||||
const auto road_edge_stds = model.getRoadEdgeStds();
|
||||
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
|
||||
scene.road_edge_stds[i] = road_edge_stds[i];
|
||||
update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx);
|
||||
}
|
||||
|
||||
// update path
|
||||
auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
|
||||
if (lead_one.getStatus()) {
|
||||
const float lead_d = lead_one.getDRel() * 2.;
|
||||
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
|
||||
}
|
||||
max_idx = get_path_length_idx(model_position, max_distance);
|
||||
update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
|
||||
}
|
||||
|
||||
static void update_sockets(UIState *s) {
|
||||
s->sm->update(0);
|
||||
}
|
||||
@@ -136,9 +52,6 @@ static void update_state(UIState *s) {
|
||||
} else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
|
||||
scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
|
||||
}
|
||||
if (sm.updated("carParams")) {
|
||||
scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
|
||||
}
|
||||
if (sm.updated("wideRoadCameraState")) {
|
||||
auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
|
||||
float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
|
||||
@@ -147,11 +60,6 @@ static void update_state(UIState *s) {
|
||||
scene.light_sensor = -1;
|
||||
}
|
||||
scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
|
||||
|
||||
scene.world_objects_visible = scene.world_objects_visible ||
|
||||
(scene.started &&
|
||||
sm.rcv_frame("liveCalibration") > scene.started_frame &&
|
||||
sm.rcv_frame("modelV2") > scene.started_frame);
|
||||
}
|
||||
|
||||
void ui_update_params(UIState *s) {
|
||||
@@ -177,7 +85,6 @@ void UIState::updateStatus() {
|
||||
scene.started_frame = sm->frame;
|
||||
}
|
||||
started_prev = scene.started;
|
||||
scene.world_objects_visible = false;
|
||||
emit offroadTransition(!scene.started);
|
||||
}
|
||||
}
|
||||
|
||||
+1
-26
@@ -7,7 +7,6 @@
|
||||
#include <QTimer>
|
||||
#include <QColor>
|
||||
#include <QFuture>
|
||||
#include <QPolygonF>
|
||||
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "common/mat.h"
|
||||
@@ -22,8 +21,6 @@ const int UI_HEADER_HEIGHT = 420;
|
||||
const int UI_FREQ = 20; // Hz
|
||||
const int BACKLIGHT_OFFROAD = 50;
|
||||
|
||||
const float MIN_DRAW_DISTANCE = 10.0;
|
||||
const float MAX_DRAW_DISTANCE = 100.0;
|
||||
const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
|
||||
0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 1.0,
|
||||
@@ -58,21 +55,10 @@ typedef struct UIScene {
|
||||
Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
|
||||
cereal::PandaState::PandaType pandaType;
|
||||
|
||||
// modelV2
|
||||
float lane_line_probs[4];
|
||||
float road_edge_stds[2];
|
||||
QPolygonF track_vertices;
|
||||
QPolygonF lane_line_vertices[4];
|
||||
QPolygonF road_edge_vertices[2];
|
||||
|
||||
// lead
|
||||
QPointF lead_vertices[2];
|
||||
|
||||
cereal::LongitudinalPersonality personality;
|
||||
|
||||
float light_sensor = -1;
|
||||
bool started, ignition, is_metric, longitudinal_control;
|
||||
bool world_objects_visible = false;
|
||||
bool started, ignition, is_metric;
|
||||
uint64_t started_frame;
|
||||
} UIScene;
|
||||
|
||||
@@ -89,13 +75,9 @@ public:
|
||||
std::unique_ptr<SubMaster> sm;
|
||||
UIStatus status;
|
||||
UIScene scene = {};
|
||||
|
||||
QString language;
|
||||
PrimeState *prime_state;
|
||||
|
||||
Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
|
||||
QRectF clip_region;
|
||||
|
||||
signals:
|
||||
void uiUpdate(const UIState &s);
|
||||
void offroadTransition(bool offroad);
|
||||
@@ -145,11 +127,4 @@ public slots:
|
||||
};
|
||||
|
||||
Device *device();
|
||||
|
||||
void ui_update_params(UIState *s);
|
||||
int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
|
||||
void update_model(UIState *s,
|
||||
const cereal::ModelDataV2::Reader &model);
|
||||
void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
|
||||
void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
|
||||
float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
|
||||
|
||||
libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon, 'atomic']
|
||||
libs = ['pthread', common, 'jpeg', 'OpenCL', messaging, visionipc, gpucommon]
|
||||
|
||||
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
|
||||
'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
|
||||
|
||||
@@ -178,9 +178,10 @@ void CameraState::set_camera_exposure(float grey_frac) {
|
||||
new_exp_t = exposure_time;
|
||||
enable_dc_gain = false;
|
||||
} else {
|
||||
// Simple brute force optimizer to choose sensor parameters
|
||||
// to reach desired EV
|
||||
for (int g = std::max((int)sensor->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)sensor->analog_gain_max_idx, gain_idx + 1); g++) {
|
||||
// Simple brute force optimizer to choose sensor parameters to reach desired EV
|
||||
int min_g = std::max(gain_idx - 1, sensor->analog_gain_min_idx);
|
||||
int max_g = std::min(gain_idx + 1, sensor->analog_gain_max_idx);
|
||||
for (int g = min_g; g <= max_g; g++) {
|
||||
float gain = sensor->sensor_analog_gains[g] * get_gain_factor();
|
||||
|
||||
// Compute optimal time for given gain
|
||||
|
||||
@@ -4,14 +4,8 @@
|
||||
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
if (Hardware::PC()) {
|
||||
printf("exiting, camerad is not meant to run on PC\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int ret = util::set_realtime_priority(53);
|
||||
assert(ret == 0);
|
||||
ret = util::set_core_affinity({6});
|
||||
|
||||
@@ -110,7 +110,7 @@ int LSM6DS3_Gyro::init() {
|
||||
uint8_t value = 0;
|
||||
bool do_self_test = false;
|
||||
|
||||
const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST");
|
||||
const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
|
||||
if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
|
||||
do_self_test = true;
|
||||
}
|
||||
|
||||
+1
-1
Submodule tinygrad_repo updated: 3e15fa0dae...9dda6d260d
@@ -18,7 +18,9 @@ Test your vehicle's longitudinal control tuning with this tool. The tool will te
|
||||
|
||||
|
||||
|
||||
5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
|
||||
5. Ensure the road ahead is clear, as openpilot will not brake for any obstructions in this mode. Once you are ready, press "Set" on your steering wheel to start the tests. The tests will run for about 4 minutes. If you need to pause the tests, press "Cancel" on your steering wheel. You can resume the tests by pressing "Resume" on your steering wheel.
|
||||
|
||||
**Note:** For GM cars, it is recommended to hold down the resume button for all low-speed tests (starting, stopping and creep) to avoid the car entering standstill.
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -92,7 +92,7 @@ def report(platform, route, _description, CP, maneuvers):
|
||||
# TODO localizer accel
|
||||
ax[0].set_ylabel('Acceleration (m/s^2)')
|
||||
#ax[0].set_ylim(-6.5, 6.5)
|
||||
ax[0].legend()
|
||||
ax[0].legend(prop={'size': 30})
|
||||
|
||||
if target_cross_time is not None:
|
||||
ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
|
||||
|
||||
@@ -80,18 +80,18 @@ MANEUVERS = [
|
||||
),
|
||||
Maneuver(
|
||||
"start from stop",
|
||||
[Action(1.5, 3)],
|
||||
[Action(1.5, 5)],
|
||||
repeat=3,
|
||||
initial_speed=0.,
|
||||
),
|
||||
Maneuver(
|
||||
"creep: alternate between +1m/s^2 and -1m/s^2",
|
||||
[
|
||||
Action(1, 2), Action(-1, 2),
|
||||
Action(1, 2), Action(-1, 2),
|
||||
Action(1, 2), Action(-1, 2),
|
||||
Action(1, 3), Action(-1, 3),
|
||||
Action(1, 3), Action(-1, 3),
|
||||
Action(1, 3), Action(-1, 3),
|
||||
],
|
||||
repeat=1,
|
||||
repeat=2,
|
||||
initial_speed=0.,
|
||||
),
|
||||
Maneuver(
|
||||
|
||||
@@ -11,16 +11,16 @@ resolution-markers = [
|
||||
|
||||
[[package]]
|
||||
name = "aiohappyeyeballs"
|
||||
version = "2.4.0"
|
||||
version = "2.4.2"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/2d/f7/22bba300a16fd1cad99da1a23793fe43963ee326d012fdf852d0b4035955/aiohappyeyeballs-2.4.0.tar.gz", hash = "sha256:55a1714f084e63d49639800f95716da97a1f173d46a16dfcfda0016abb93b6b2", size = 16786 }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/c7/d9/e710a5c9e51b4d5a977c823ce323a81d344da8c1b6fba16bb270a8be800d/aiohappyeyeballs-2.4.2.tar.gz", hash = "sha256:4ca893e6c5c1f5bf3888b04cb5a3bee24995398efef6e0b9f747b5e89d84fd74", size = 18391 }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/18/b6/58ea188899950d759a837f9a58b2aee1d1a380ea4d6211ce9b1823748851/aiohappyeyeballs-2.4.0-py3-none-any.whl", hash = "sha256:7ce92076e249169a13c2f49320d1967425eaf1f407522d707d59cac7628d62bd", size = 12155 },
|
||||
{ url = "https://files.pythonhosted.org/packages/13/64/40165ff77ade5203284e3015cf88e11acb07d451f6bf83fff71192912a0d/aiohappyeyeballs-2.4.2-py3-none-any.whl", hash = "sha256:8522691d9a154ba1145b157d6d5c15e5c692527ce6a53c5e5f9876977f6dab2f", size = 14105 },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "aiohttp"
|
||||
version = "3.10.5"
|
||||
version = "3.10.8"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "aiohappyeyeballs" },
|
||||
@@ -30,53 +30,53 @@ dependencies = [
|
||||
{ name = "multidict" },
|
||||
{ name = "yarl" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/ca/28/ca549838018140b92a19001a8628578b0f2a3b38c16826212cc6f706e6d4/aiohttp-3.10.5.tar.gz", hash = "sha256:f071854b47d39591ce9a17981c46790acb30518e2f83dfca8db2dfa091178691", size = 7524360 }
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sdist = { url = "https://files.pythonhosted.org/packages/4e/05/da5ff89c85444a6ade9079e73580fb3f78c6ba0e170a2472f15400d03e02/aiohttp-3.10.8.tar.gz", hash = "sha256:21f8225f7dc187018e8433c9326be01477fb2810721e048b33ac49091b19fb4a", size = 7540022 }
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wheels = [
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]
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[[package]]
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Reference in New Issue
Block a user