mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-22 16:13:43 +08:00
cd6fb642bd8c4132016cd0dc8dea9e968aec00ca
20 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Jason Wen
|
cb9d92dc3c | Merge branch 'master-new' into dec-redo | ||
|
Jason Wen
|
2792ce472a |
Merge branch 'upstream/openpilot/master' into sync-20240118
# Conflicts: # cereal/custom.capnp # cereal/log.capnp |
||
|
Adeeb Shihadeh
|
ae58be87bc |
cereal fork compatibility (#34414)
* more custom * cleanup * lil more |
||
|
Jason Wen
|
e630546250 | more logs | ||
|
Kumar
|
c3bfd17028 |
Revert "Longitudinal: Dynamic Experimental Control" (#571)
Revert "Longitudinal: Dynamic Experimental Control (#564)"
This reverts commit
|
||
|
Kumar
|
bba3c39e2f |
Longitudinal: Dynamic Experimental Control (#564)
* init dec * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * fix static test * ff * fix static test * unitee testt * Refactor test_dynamic_controller and fix formatting issues Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency. * Refactor test indentation for dynamic controller tests Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code. * Migrated to pytest using claude * Integrate radar parameter into dynamic controller's pytest tests Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases. * Disabling unittest file to allow checks on the pipeline to succeed. Pending to remove this, but leaving it to validate the move to pytest is okay before merging * Replace unittest with pytest for dynamic controller tests Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage. * new line... * Refactor and modularize DynamicExperimentalController logic Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports. * Add missing import for messaging in helpers.py The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code. * Format * Formatting * rebase fix * Refactor MpcSource definition and update references. Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. * Format * Refactor DEC into a dedicated longitudinal planner class Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity. * **Refactor DEC module structure for better organization** Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes. * static test * static * had moved to car_state * cleanup * some more * static method * move around * more cleanup * stuff * into their own * rename * check live param * sync with stock * type hint * unused * smoother trans * window time * fix type hint * pass sm.frame from plannerd * more fixes * more * more explicit * fix test * Revert "fix test" This reverts commit |
||
|
Jason Wen
|
cc507a5cd9 | cleanup | ||
|
DevTekVE
|
f861e8d678 | Format | ||
|
DevTekVE
|
fd6ec85e20 |
Refactor MpcSource definition and update references.
Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. |
||
|
DevTekVE
|
4a46bccc20 | rebase fix | ||
|
rav4kumar
|
c5524c6d42 | init dec | ||
|
DevTekVE
|
9ccc5cc3ea |
models: retain pre-20hz drive model support (#531)
* modeld: Retain pre-20hz drive model support * Method not available anymore on OP * some fixes * Revert "Long planner get accel: new function args (#34288)" * Revert "Fix low-speed allow_throttle behavior in long planner (#33894)" * Revert "long planner: allow throttle reflects usage (#33792)" * Revert "Gate acceleration on model gas press predictions (#33643)" * Reapply "Gate acceleration on model gas press predictions (#33643)" This reverts commit |
||
|
Jason Wen
|
acd46aa94b |
modeld: retain SNPE and thneed drive model support (#555)
* modeld: Retain pre-20hz drive model support * Method not available anymore on OP * some fixes * Revert "Long planner get accel: new function args (#34288)" * Revert "Fix low-speed allow_throttle behavior in long planner (#33894)" * Revert "long planner: allow throttle reflects usage (#33792)" * Revert "Gate acceleration on model gas press predictions (#33643)" * Reapply "Gate acceleration on model gas press predictions (#33643)" This reverts commit |
||
|
Jason Wen
|
402ee444b7 |
Revert "modeld: retain SNPE and thneed drive model support" (#551)
Revert "modeld: retain SNPE and thneed drive model support (#530)"
This reverts commit
|
||
|
Jason Wen
|
56aa07844a |
modeld: retain SNPE and thneed drive model support (#530)
* modeld: Retain pre-20hz drive model support * Method not available anymore on OP * some fixes * Revert "Long planner get accel: new function args (#34288)" * Revert "Fix low-speed allow_throttle behavior in long planner (#33894)" * Revert "long planner: allow throttle reflects usage (#33792)" * Revert "Gate acceleration on model gas press predictions (#33643)" * Reapply "Gate acceleration on model gas press predictions (#33643)" This reverts commit |
||
|
Jason Wen
|
c13f159a77 |
Revert "models: retain SNPE runner support" (#529)
Revert "models: retain SNPE runner support (#522)"
This reverts commit
|
||
|
Jason Wen
|
f84d27c4ee |
models: retain SNPE runner support (#522)
* tinygrad with snpe * force with snpe to validate * fix path * fix more paths * Adjust modeld execution logic based on active model runner Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner. * Refactor modeld process function checks. Introduce `is_stock_model` to clarify logic and replace direct uses of `is_snpe_model` where the stock model condition is needed. Additionally, rename the duplicate "modeld" process in sunnyPilot to "modeld_snpe" for clarity and consistency. * ignore tg * fix process name * ruff * fix thneed paths * mypy * remove our own * use upstream compile3 * fix thneed * try this * Revert "remove our own" This reverts commit |
||
|
DevTekVE
|
ee5c1c4507 |
Modular Assistive Driving System (MADS) (#446)
* allow re-regage * bump opendbc * bump panda * apply pause/resume fix for hyundai (should do this in a separate PR) * bump opendbc * fix * rename * Fix? * make sure to disengage for allow always cars * fix * combine * more fix * not needed * check if engagement is from openpilot's state machine * Rename * fix panda safety * fix * no fake lfa button for @devtekve ;) * fix non drive gear re-engage * fix settings * combine * add replace method * use replace * remoev already checks if it exists * fix * group * add todo * reserve events * cleaner * hyundai: only allow for cars with lfa button * sunnyParams * make sure it's car only * Move car-specific changes to opendbc * no need * bump opendbc * more fixes * no more available * more! * final? * always emit user disable * no longer needed * move unit test * add sunnypilot to unit tests * bump opendbc * use new cereal * bump opendbc * static analysis * no unittest * no need available * UI border update * show MADS updates * Add TODO * no longer needed * fix changed events * fix cluster enabled * don't add pre enable if not long * should use enabled * enabled <-> active * better format * bump opendbc * static analysis * static analysis * Rename test as collector was dying * Show our overriding * Revert "show MADS updates" This reverts commit |
||
|
DevTekVE
|
993c4a0d2a |
Driving Model Manager (#457)
* Introduce Model Manager to handle downloads and verification
This commit introduces a new Model Manager responsible for handling model downloads, including driving and navigation application models. The manager also verifies file hashes and communicates download progress for an improved user experience.
The Model Manager is asynchronous and utilizes asyncio and aiohttp for enhanced performance, including robust error handling.
Impacted files in the 'cereal', 'common', 'sunnypilot', and 'system' directories have been updated accordingly. The 'ModelsFetcher' process configuration has been modified to run only when off-road, ensuring optimum resource management.
This update aims to enhance code clarity, improve performance, and streamline the handling of model downloads.
* "Update model management and fetching for SunnyPilot"
This update refactors the model management, downloading and cache verification mechanisms of SunnyPilot. New functionalities, such as smart cache handling, have been implemented in ModelFetcher in sunnypilot/models/model_fetcher.py. Also, the model downloading process has been moved to a separate async function _download_bundle in ModelManagerSP in sunnypilot/models/model_manager.py. Hash verification of files is now performed in an async function verify_file in sunnypilot/models/model_helper.py. Changes in system parameters related to model management have been reflected in system/manager/manager.py.
* Integrate download ETA calculations in model manager
This commit introduces a new feature that calculates and tracks the Estimated Time of Arrival (ETA) for downloading models in the model manager component. The 'eta' property in the 'DownloadProgress' structure in 'custom.capnp' is changed from 'Float32' to 'UInt32'.
In the 'model_manager.py' file, a new method '_calculate_eta' has been added to perform ETA calculations. An additional dictionary '_download_start_times' has been created to keep track of the start time of each model download. The ETA is calculated every time a portion of the model file is downloaded, and it gets updated in the 'DownloadProgress' structure. Finally, the start time is cleared after the download completes.
In 'model_manager_audit.py', an additional check is added to only print downloadProgress for the downloads currently in progress.
* format
* no default model cache {} because it can be considered a valid json, we do not want that
* Refactor typing annotations to use PEP 604 syntax.
Updated type hints to adopt PEP 604 union syntax (`X | None`) and replaced `List` and `Dict` with modern built-in `list` and `dict`. This change improves consistency and readability while aligning with Python 3.10+ standards.
* Simplify logging messages and remove unused imports.
Removed an unused import from `model_manager.py` to improve clarity and maintainability. Also refined a log message in `model_fetcher.py` by removing unnecessary formatting for consistency.
* Refactor model handling and simplify cache fallback logic.
Updated type annotations for `selected_bundle` in `model_manager.py` for clarity. Streamlined cache fallback logic in `model_fetcher.py` by removing redundant conditionals while preserving functionality. These changes improve code readability and maintainability.
* "Fix formatting for ModelManager_DownloadIndex retrieval
Condensed parameter alignment in the get method for improved readability and adherence to style guidelines. This change does not affect functionality but ensures consistent code formatting."
* Need to have main defined for process_config to be able to run it
* Refactor model management to support active bundle tracking
Introduce the concept of an active model bundle with a new persistent parameter and API updates. Added fields for `generation` and `environment` in model metadata, improved caching, and updated methods to manage active model states efficiently.
* UI commit (#515)
* Refactor model management to support active bundle tracking
Introduce the concept of an active model bundle with a new persistent parameter and API updates. Added fields for `generation` and `environment` in model metadata, improved caching, and updated methods to manage active model states efficiently.
* Add new driving model selection feature to settings
This commit introduces a new feature to the settings that allows users to select different driving models. It fetches available models and displays their download progress. The created UI also suggests a calibration reset after model download. The changes include the creation of 'SoftwarePanelSP' within 'settings.' Additionally, 'sunnypilot/SConscript' has been updated to include 'settings.cc' and 'software_panel.cc'. Changes also include localization for this feature.
* Show model description during download status
This update ensures the model description is displayed when a model is in the downloading state. It improves the user interface by providing real-time feedback during the download process.
* Update translations for multiple languages
Added new and updated translation strings in several language files, including Spanish, Arabic, Chinese (Simplified and Traditional), Turkish, Korean, Thai, Japanese, and Brazilian Portuguese. These updates include placeholder translations for new UI elements and features.
* Refactor model name handling and add generation check.
Replaced `bundleName` with `model_name` for better clarity in status messages. Added a generation mismatch check before showing the reset parameters dialog to avoid unnecessary prompts.
* Update model handling in SoftwarePanelSP
Remove unused "common/model.h" and replace "CURRENT_MODEL" with "..." as the default return value in GetModelName. Adjust logic to check for active bundles instead of selected bundles for improved accuracy. Minor text change for clarity in UI label.
* Rename `GetModelName` to `GetActiveModelName` for clarity.
The new name better reflects the function's purpose of retrieving the active model name, improving code readability. All relevant calls and references have been updated to ensure consistency across the codebase.
* Update sunnypilot/models/model_helper.py
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
* Refactor download status handling and add 'cached' state
Introduce 'cached' as a new download status and adjust relevant logic across components to support it. Simplify and streamline model status handling in the software panel for better readability and maintainability. Ensure consistent status reporting for all model types.
* Update translations for multiple languages
Refined and expanded translations across various languages, replacing placeholders with meaningful text. This improves clarity and user experience in the multilingual interface.
* Update terminology from 'bundle' to 'model' in UI texts
Replaced occurrences of 'bundle' with 'model' in button labels, dialog titles, and messages in the SoftwarePanelSP code. This improves clarity and aligns terminology with current functionality.
* Update translation placeholders for model fetching texts
Replaced "Fetching bundles" with "Fetching models" across multiple languages to align text placeholders with the updated functionality. Adjusted related background download messages for clarity and consistency.
* cleanup
* not used, and likely not needed
---------
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
* cleaning up
* Update system/manager/process_config.py
* Simplify model parsing and index handling logic.
Refactored `ModelManager_DownloadIndex` retrieval to use the walrus operator, streamlining the conditional logic. Additionally, restructured model list initialization in `_parse_bundle` for improved readability and maintainability. These changes enhance code clarity and reduce redundancy.
* `Improve error handling in model cache retrieval`
Revised the `get` method to ensure it returns an empty dictionary on errors or missing data, avoiding potential `None`-related issues. Added logging for clearer diagnostics when cached model data is unavailable or retrieval fails. This improves reliability and debuggability of the model fetching process.
* Fix cached model data handling by parsing JSON response
Previously, cached model data was returned as a raw string, causing potential issues when using the data. The change ensures the cached data is properly parsed into JSON format before returning, improving reliability and consistency.
* Adjust modelManagerSP rate and Ratekeeper frequency
Reduced the rate for modelManagerSP in services and aligned the Ratekeeper frequency in model_manager.py to 0.1.
* Update model fetcher URL and adjust modelManagerSP rate
Updated the model fetcher URL to point to the correct resource for driving models. Adjusted the rate of modelManagerSP in both its service definition and the corresponding Ratekeeper initialization to 1 Hz for improved consistency.
* Refactor model download logic for clarity and efficiency
Simplify the logic for finding the model to download by combining redundant constructs into a single line. This improves code readability and reduces unnecessary variable assignments.
* Fix cache keys for manual prebuilt actions because they were missing the cache when manually built
* no need to log
* formatting
* revert ci changes
* Refactor and restructure `modeld` to `models` module.
Renamed `modeld` directory to `models` for clarity and consistency. Updated all references and imports to reflect the new structure. This improves maintainability and aligns with naming conventions.
---------
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
|
||
|
Harald Schäfer
|
f870a968e9 |
Split cereal into cereal/msgq (#32631)
* squash
* fix doc
* compile device
* compile device
* Update ref
* add msgq to precommit exclusions
* No service ports
* fix compile
* address comments
* More comments
* Delete logger
* Update opendbc
* Linting
* bump msgq
old-commit-hash:
|