* ui: move alpha longitudinal control toggle to Developer panel
* show toggle in ui preview
* Revert "show toggle in ui preview"
This reverts commit 4b12964726b966a906840099ecc1d584e307b614.
* write to CarParamsPersistent on ui init
* no need for new msg
* missed
* no icon
* Add buffer length parameter for enhanced frame handling
Introduce a configurable `buffer_length` parameter to `DrivingModelFrame` to support dynamic buffer sizes, enabling better handling of different frame rates like 20Hz. Updates include necessary adjustments in buffer initialization, copying logic, and related model inputs for improved compatibility and flexibility.
* Rename variable `len` to `length` to avoid shadowing built-in.
Replaced the usage of `len` with `length` across the code to prevent conflicts with Python's built-in `len` function. This improves code clarity and reduces potential errors or misunderstandings in variable usage.
* Fix spacing inconsistency in modeld.py
Added a missing newline for better code readability and consistency. This change has no impact on functionality but improves code formatting.
* Move numpy_inputs initialization to correct position
Repositioned the `numpy_inputs` initialization to align with the input shape processing logic. This ensures consistency in buffer management and clarifies the flow of code execution related to input handling.
* Add 20Hz model state, smart input, and model switcher classes
Introduce `ModelState20Hz`, `ModelSmartInput`, and `ModelSwitcher` for enhanced modularity and flexibility in modeld. Refactor `ModelState` to inherit from these new classes, enabling support for 20Hz processing and smart input initialization. Update associated files to handle the new buffer length parameter and metadata management.
* Refactor `modeld` to streamline feature handling logic
Simplified feature processing for both standard and "smart input" modes by consolidating logic into reusable methods. Updated variable naming, formatting, and spacing for consistency and readability. This refactor enhances maintainability and reduces redundancy in feature update operations.
* Silence debug print statements and use cloudlog for warnings.
Commented out a debug print statement in `commonmodel.cc` to reduce noise. Replaced `print` statements with `cloudlog.warning` in `model_smart_input.py` for improved logging consistency and better integration with the logging system.
* Clean up formatting and fix minor style inconsistencies
Removed unnecessary blank lines and adjusted spacing to standardize code style across the file. These changes improve readability without altering functionality or logic.
* Refactor modeld logic and remove unused 20Hz and smart inputs
Eliminated `ModelSmartInput`, `ModelSwitcher`, and `ModelState20Hz` classes, simplifying model state handling. Centralized model processing within a unified `ModelState` class and moved related code into `sunnypilot/modeld_20hz`. This improves maintainability by removing unused features and consolidating model execution logic, aligning with current system requirements.
* clean
* Remove debug print statement in commonmodel.cc
The `printf` statement logging buffer movement details was removed as it is unnecessary for release builds. This helps streamline the code and avoid excessive console output during execution.
* Refactor model handling for 20Hz and introduce model runners
Introduce ModelRunner abstraction with TinygradRunner and ONNXRunner to streamline model handling for TICI and non-TICI hardware. Added support for dynamic input preparation and 20Hz models while simplifying the model parsing logic. This improves modularity, readability, and extensibility for future updates.
* Remove unused import and fix import order in model_runner.py
This commit removes the unused 'dtypes' import from tinygrad.tensor and adjusts the import order for cleaner code. These changes enhance readability and maintain coding standards.
* Add is20hz field to custom.capnp schema
Introduce a new boolean field `is20hz` to the `custom.capnp` schema. This allows the system to identify 20Hz-specific configurations or data processing. No changes to existing behavior are introduced for non-20Hz cases.
* Add Meta20hz class for 20Hz model message handling.
Introduces a new Meta20hz class for filling 20Hz model messages, encapsulating functionality for curvature, lane lines, road edges, and more. Refactored `modeld.py` to utilize the new class, improving modularity and maintainability. Minor adjustments were made to initialize and handle model metadata.
* Refactor import paths to align with `openpilot` structure.
Updated several import statements to use the `openpilot` namespace for better consistency and organization. This aligns the sunnypilot components more closely with the overall project structure.
* Refactor modeld to support 20Hz models and modularize runners
Replaced legacy runner logic with a unified ONNX and Tinygrad runner to support 20Hz models. Centralized model metadata management and optimized input preparation for adaptability. Updated curvature handling and output parsing for improved modularity and maintainability.
* Add 20Hz metadata handling for model predictions
Introduce `Meta20hz` class for 20Hz-specific metadata and implement dynamic loading of meta model classes in `meta_helper.py`. Update `fill_model_msg.py` to use the new metadata structure, ensuring seamless integration with 20Hz models. Adjust imports in `model_runner.py` to align with project structure.
* "Refactor modeld_20hz to modeld_v2 with cleanup"
Refactored `modeld_20hz` module to `modeld_v2` for improved clarity and consistency. Removed unused code and aligned imports across modules to reflect the new structure. Enhanced maintainability by restructuring model-related files and updating references accordingly.
* Refactor variable names and adjust imports for clarity.
Renamed `len` to `length` to avoid conflict with the built-in function and improve readability. Reorganized imports in `fill_model_msg.py` for better structure and consistency.
* "Add missing newline at end of file in __init__.py
Ensure proper formatting by adding a newline at the end of the file. This adheres to POSIX standards and improves compatibility with some tools and version control systems."
* Handle model runner initialization errors gracefully
Wrap the model runner initialization in a try-except block to catch and log exceptions. This ensures that failures during initialization are logged with detailed information, improving debugging and error tracing.
* Refactor curvature calculation for clarity and reuse.
Introduce a dedicated `get_curvature_from_output` function to handle desired curvature retrieval, improving code readability and reusability. Replace redundant logic in curvature calculation with the new function to streamline the flow.
* Make 20Hz-specific variables conditional in modeld.py
Moved the initialization of 20Hz-specific variables to be conditional based on the `is_20hz` flag. This ensures that unnecessary memory allocations are avoided when the model is not running at 20Hz, improving efficiency and clarity.
* cleanup
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* carControlSP and move MADS to outside structs
* publish it
* apply to all car controller
* migrate sunnypilotParams
* migrate madsEnabled
* tldr
* convert to capnp
* unused
* wrong module
* fix name
* cancer is right (all tests should be passing now)
* bump opendbc
* add-slash-to uppercase
* caps-lock-works
* leaner and simpler
* this is simpler
* better...
* simpler
* rm comments
* clearer naming
* make more explicit
* change to SHIFT_KEY
* change name
* works - no more double tap
* better and works
* more readable
* simpler but still readable
* more self documenting
* whoops
* add back - needed for if string requirment not meant
* sp flags
* pass CP_SP to card and car interfaces
* CP_SP in radar interface
* bump opendbc
* use dataclass like old times
* bump opendbc
* write to params for controls
* fix test models
* fix
* need to use copy instead
* fix data type
* add service
* more
* fix
* Revert "fix"
This reverts commit 74723d7fb2.
* Revert "fix data type"
This reverts commit 02355f44df.
* missed
* more
* no more lagging
* Reapply "fix data type"
This reverts commit dbf1b8583f.
* Reapply "fix"
This reverts commit 9cbce9968a.
* Revert "Reapply "fix""
This reverts commit 1871919b63.
* Revert "Reapply "fix data type""
This reverts commit 5e95752fd5.
* no longer
* Revert "no longer"
This reverts commit 66ee1ba151.
* Reapply "Reapply "fix data type""
This reverts commit 670a384333.
* Reapply "Reapply "fix""
This reverts commit 42f09f955c.
* only for car params sp
* rename
* fix more test
* no need for process replay
* pass stock car params to sp set car params
* pass stock car params to sp set car params
* deprecate CarParams.sunnypilotFlags to CarParamsSP.flags
* missed arg
* fix tests
* tests fixed
* need to pass this too
* must generate cp_sp!
* fix typing
* must be initialized prior can comm callback!
* no more cancer (@devtekve)
* remove more cancer
* Refactor `get_non_essential_params_sp` to simplify arguments (#612)
* Refactor 'get_non_essential_params_sp' function calls in tests
In both `test_latcontrol.py` and `process_replay.py`, simplified the function calls to 'get_non_essential_params_sp'. Removed an unnecessary call to 'get_non_essential_params'. This change makes the code cleaner and more efficient by reducing redundancy in the function calls. This modification also ensures consistency across different code files.
* Refactor get_non_essential_params_sp to take car_params.
Simplify parameters by modifying `get_non_essential_params_sp` to use `car_params` as input. Adjust related calls in test files and process replay to match the updated method signature. This improves code clarity and reduces redundancy.
* bump opendbc
* Refactor parameter handling for `get_params_sp`.
Removed unnecessary reassignment of `car_params` in calls to `get_params_sp`, ensuring a cleaner and more streamlined code structure. This change improves code clarity and eliminates redundant operations. All relevant assertions and behavior remain unaffected.
* bumping opedbc
* bump opendbc
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Implemented custom Networking class for sunnypilot UI
This modification introduced a new 'NetworkingSP' class for the sunnypilot user interface. It's based on the existing Networking class, but tailored to the specific needs of the sunnypilot UI. This class adds a new 'Scan' button to the Wi-Fi screen and implements an additional layout to accommodate both 'Scan' and 'Advanced' buttons. It also contains updates to the file inclusions in 'settings.cc' to use the new class. Moreover, the accessibility of several member variables in the original Networking class has been updated from 'private' to 'protected'. This change enhances the modifiability and extensibility of the class structure.
* Add Spanish translations for networking scan messages
Added translations for "Scan" and "Scanning..." in the Spanish localization file. These updates ensure proper display and functionality in the networking scan feature for Spanish-speaking users.
* updating lang files
* Refactor networking component and clean up unused code.
Removed unnecessary comments and unused includes to enhance readability and maintainability. Refactored variable declarations for consistency and streamlined layout adjustments in the networking UI code.
* Add support for "settings_network" scene in UI tests
Updated the workflow and test script to include the "settings_network" scene. Introduced a new setup function for "settings_network" and registered it in the scene-to-function mapping. This ensures proper handling and testing of network settings in the UI.
* Static analysis lol
* Add support for "settings_network_advanced" scene
Extend UI tests and workflow to include the "settings_network_advanced" scene. Updated the YAML workflow and test script to handle this new scene for comprehensive coverage.
* boardd: reset safety mode on exit
old-commit-hash: dd18ccbf0a9ab72ace0a7533632d5939c0719953
* comment
old-commit-hash: 01b598e8dde93548f7783be19b1cb37d22fadc23
* log it
old-commit-hash: 181c4d412e9e3a9c576934e16fc26a9b6e07a117
* logmessaged might not be alive
old-commit-hash: 7483ba0eac42875a822df97596d23ff277bf3865
* reproduction, manager gets SIGTERM from python_process
old-commit-hash: b90402bd776c3933bfe3dd60998f9913b4bd0068
* even smaller repro
old-commit-hash: 03dd430b7131da2b48243714df0513c6a1e594f0
* should work
old-commit-hash: 388c4273385ee4c67b1a229ccb9abac6dd94dd0f
* let's not change that rn
old-commit-hash: d057299058503e8fb792b5a765d0da4af6bef943
* something like this
old-commit-hash: 123d6ed845d662aec2bd95d1ccf9c2782308d693
* pandad.cc should receive same SIGTERM and exit
old-commit-hash: afc5ef6b916c54ac2ec471d144f601ead71250cb
* stash
old-commit-hash: e02e0dc488de51c5d40d227c4c2202ba40436d8d
* remove debugging
old-commit-hash: ac170d0ca32a4285be22e28ec7730fcba3d0697d
* remove debugging
old-commit-hash: 50949600aeed231347cc4c600a8a7d24accde674
* match behavior
old-commit-hash: 5f24167c58caf98b641af2f63f839015e404c349
* convention
old-commit-hash: 1664113a232c4b1a3aa67073e9e8cebef414518f
* systemd option
old-commit-hash: 95183ff77842fcb9592715db07396be28d778197
* manager option
old-commit-hash: 2071893299cb32c3a7cd8a444d8d386c5fa96511
* just curious if this works, change to ELM327 on exit
old-commit-hash: 9674ed525134aa03f995942b18163cb047a59c5b
* Revert "just curious if this works, change to ELM327 on exit"
This reverts commit d4ae294d419dc3d787d11dee4474799f3fb2acef.
old-commit-hash: 6d24edd1635ddd0b8ed68a4a4fc8aaaa88984e45
* check onroad
same update
* useless
* comment
* fix
* debug
* Revert "debug"
This reverts commit 2bb138610ea7b26d8610d36ef3f0bbb2d6ada388.
* Update common/util.h
* double wait does not work, blocking in signal handler not good, exit on do_exit, change to SIGINT, use existing stop to support ctrl+c
nope
* organize?
* no sys
* None
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Reapply "Reapply "bump msgq (#34410)" (#34443)"
This reverts commit cb6eb4f3cf.
* here too
* running locally in loop to make sure this was fluke
* running locally in loop to make sure this was fluke
French language update. The only constraint encountered was the “Developer” menu, which I had to abbreviate to “Dév.” because its translation ("Développeur") went beyond the interface.
* Events: Migrate sunnypilot onroad events to its own cereal
* more
* slightly more
* typing
* fix more
* fix mads state machine tests
* readjust order
* fix event
* abstract
* need these
* move around
* let's make sure it cleared on every loop
* Update selfdrive/selfdrived/alertmanager.py
Co-authored-by: DevTekVE <devtekve@gmail.com>
* use upstream custom struct
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Events: Migrate sunnypilot onroad events to its own cereal
* more
* slightly more
* typing
* fix more
* fix mads state machine tests
* readjust order
* fix event
* abstract
* need these
* move around
* let's make sure it cleared on every loop
* Update selfdrive/selfdrived/alertmanager.py
Co-authored-by: DevTekVE <devtekve@gmail.com>
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* duplicate alphalong toggle
* add description
* cleanup
* add cases
* remove old alpha_long toggle and cleanup
* fix some design errors
* Revert "fix some design errors"
This reverts commit c11b8c41c033f81fd0b2f9a0fb3724a92c8025b9.
* Create FUNDING.yml
* cleanup
* hidde btn in release and no translate
* remove new translations
* update translation files
* rm obsolete translations
* if is a release branch or if the car already have long control the alphaLongToggle should not be visible
* fix identation
---------
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
* Longitudinal: Distance button hold to toggle Chill/Experimental Mode
* unused
* fix
* no need
* Refactor: Introduce ButtonHoldTracker to manage button hold durations (#593)
Add ButtonHoldTracker for button hold logic and tests
Introduce a new `ButtonHoldTracker` class to manage button hold durations, replacing manual timer handling in `ExperimentalSwitcher`. Updated `ExperimentalSwitcher` to leverage this implementation for cleaner and more modular code. Added comprehensive unit tests for both `ButtonHoldTracker` and `ExperimentalSwitcher` to ensure functionality and edge case coverage.
* Revert "Refactor: Introduce ButtonHoldTracker to manage button hold durations (#593)"
This reverts commit 7ee7e73ce7.
* less in selfdrived
* pass carparams into child
* tests for cruisehelper
* rename these bad bois (happy now @devtekve? xD)
* Apply suggestions from code review
Co-authored-by: DevTekVE <devtekve@gmail.com>
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* 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 635b15f2bc.
* Revert "pass sm.frame from plannerd"
This reverts commit a8deaa69b8.
* use internal frame
* update name
* never used
* this is why it was never using DEC
* more logs
* slight cleanup
* remove to fail test
* update name
* more
* rename
* move around
* explicit type hints
* move to constants py
* Revert "explicit type hints"
This reverts commit c205497b
* more
* don't set to exp mode initial if DEC is active
* use walrus for None
* Revert "use walrus for None"
This reverts commit 5f2396d490.
* fix wrong typing and variable name
* use walrus (needs cleanup)
* fix tests
* revert smooht lead for now
* dec: how good is FirstOrderFilter?
* Update dec.py
* dec: faster ?
* Revert "dec: faster ?"
This reverts commit 40259cd22a.
* Revert "Update dec.py"
This reverts commit 3f29ccbd99.
* Revert "dec: how good is FirstOrderFilter?"
This reverts commit 01e06df542.
* Update slow-down logic and constants for improved behavior
Adjust the slowdown scaling factor and anomaly handling to refine behavior without abrupt resets. Modify constants to increase window size and adjust probabilities and distances for smoother adaptation. Update version to reflect the new changes.
* Fix lead detection fallback for weighted average check.
Add a fallback value of -1 when computing the weighted average to prevent errors caused by invalid or None values. This ensures robust lead detection and avoids potential crashes or undefined behavior.
* visuals for DEC
* try this
* add opacity
* should be active and dimmer
* even dimmer
* Update dec.py
* Update constants.py
* use another method for drawing
* migrate to sp only
* fix
* init
---------
Co-authored-by: rav4kumar <meetkumardesai@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Install user SecOCKey to params
* Move it to launch_chffrplus.sh/launch
* Move it to card.py
* Basic error check
* Catch Exception to suppress the linter
* Make it local to secOC section
Jason Wen