* more
* event and checks
* comments
* missed events
* retry 2 times is enough
* rename to radar tracks
* fix data type
* more rename
* bump opendbc
* drain first
* put it behind a toggle lol
* re-enable
* update comments
* revert lead smoothing
* Revert "revert lead smoothing"
This reverts commit 872267970c.
* real events and radard engagement
* only show up for hyundai with mando
* update translations
* bump opendbc
* fix event name
* update description
* move above
* translations
---------
Co-authored-by: rav4kumar <meetkumardesai@gmail.com>
* add-uppercase-preview
* testing-UI-on-fork
* change back
* add-my-branch
* needs to see sha from fork for test
* fix missing sha
* change back
* get correct named artifact
* try this
* experimenting coordinates
* try these coordinates
* try these coordinates
* draws circles to see touches - changes coordinates
* try these changes
* better coordinates
* click is more centered
* try again
* revert back
* revert these too
* last revert...
* 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
---------
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* init btns
* better design
* force offroad in another PR
* old calibration design for now
* revert
* ci: fix position
* try this
* check ci
* Revert "check ci"
This reverts commit 80795cc700.
* test more ci
* Revert "test more ci"
This reverts commit 05670b5ad6.
* nuke more on CI
* unlikely but why not
* Revert "unlikely but why not"
This reverts commit 72f45a7516.
* Revert "nuke more on CI"
This reverts commit 7f406efc24.
* try this
* Revert "try this"
This reverts commit 3ce6768067.
* same across
* Refactor GitHub runner installation script
Enhance the script with modular functions for better readability and maintenance. Add support for restoration mode, enabling the recovery of existing runner configurations. Improve error handling, argument parsing, and system configuration setup.
* Ensure runner directory existence before restoration
Add a prerequisite check to verify the runner directory exists, preventing restoration failures due to a missing directory. Adjust exit code logic for proper handling when no restoration is required.
* rw not needed until a bit later
* Refactor system configuration handling and remount logic.
Reorganized system setup functions and centralized remount logic for consistency and clarity. Improved script structure by separating utility and setup functions, ensuring proper remounting behavior with a robust exit trap. Reduced redundancy and enhanced maintainability.
* silly change
* 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 76b08e37cb.
* Reapply "long planner: allow throttle reflects usage (#33792)"
This reverts commit c75244ca4e.
* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"
This reverts commit b2b7d21b7b.
* Reapply "Long planner get accel: new function args (#34288)"
This reverts commit 74dca2fccf.
* don't need
* retain snpe
* wrong
* they're symlinks
* remove
* put back into VCS
* add back
* don't include built
* Refactor model runner retrieval with caching support
Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.
* Update model runner determination logic with caching fix
Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.
* parse inputs via metadata
* load model and metadata dynamically
* cherry pick from devtekve as base
* lateral_control_params & prev_desired_curv: MLSIM V0 to Null Pointer
* old desired_curv data: MLSIM V1 to Postal Service
* Bringing what was on master back then
* Cleaning up
* Refactor model pipeline for modularity and dynamic input handling
Refactored the model pipeline by introducing helper functions to modularize model loading, metadata extraction, and input preparation. Improved flexibility in handling dynamic input keys and parsing outputs based on model configuration. Removed deprecated or unused code segments for cleaner and more maintainable structure.
* Push NDv2 because why not and fix modeld
* `Refactor model parsing and clean unused code dependencies`
Simplified `parse_outputs` by removing unnecessary `input_keys` parameter, ensuring cleaner logic. Updated `PROCESS_NAME` for standardization and eliminated deprecated `Pathlib` dependencies in model paths. Minor adjustments improve input handling for lateral control parameters.
* Refactor model and metadata loading functions.
Simplified and clarified `load_model` by renaming it to `get_model_path` and removing redundant variable assignments. Streamlined `load_metadata` by directly returning the loaded metadata without intermediate variables. These changes improve code readability and maintainability.
* Refactor modeld process selection based on SNPE support.
Introduce conditional logic to determine and start the appropriate modeld process (SNPE or default) based on hardware support. This improves flexibility and ensures correct process management.
* Walrus baby
* Update longitudinal_planner.py
* Improve model download progress handling and translations
Refactored model download status handling logic for better clarity and added mechanisms to track status changes efficiently. Updated UI text and translations across multiple languages to reflect consistent and accurate model download states.
* Revert "Update longitudinal_planner.py"
This reverts commit b44a687e4c.
* Fix variable naming for curvature size in modeld.py
Renamed the variable `len` to `length` to avoid conflict with the built-in `len()` function, improving code clarity and preventing potential errors. Also removed trailing spaces in commented-out sections for better formatting consistency.
* sync with upstream
* some are different
* should work
* sim_pose only exists in in ndv3 and prior
* dynamic meta constants
* fix
* uiview: disable power saving
* fix this
* ain't coasting for y'all
* Static analysis
* Refactor initialization of model inputs for clarity.
Removed redundant pre-initialization of `driving_style`, `nav_features`, and `nav_instructions` variables. Instead, directly initialize these within their respective conditional blocks for better readability and reduced memory usage.
* default to none
* enable in next PR
* more
* Revert "more"
This reverts commit f5a4220588.
* Revert "enable in next PR"
This reverts commit 621cc4f18e.
* no need to cast bool
* nuke
* fix desired curvature for pre LAv1 models
* mypy
* static
* fix
* new json
* Going to a test branch with a different model json list
* renamed model json
* Update model runner handling in custom.capnp and helpers
Refactored model runner logic by introducing a `runner` field in `custom.capnp` and simplifying `get_active_model_runner` logic. Removed deprecated function `get_model_runner_by_filename` and added a temporary filter in `fetcher.py` to enforce `snpe` until full tinygrad support is implemented.
* Revert "Update model runner handling in custom.capnp and helpers"
This reverts commit f34d872c13.
* Revert "renamed model json"
This reverts commit 15c6ed303b.
* Revert "Going to a test branch with a different model json list"
This reverts commit 4c1408fee5.
* Reapply "renamed model json"
This reverts commit c6fec6912a.
Reapply "Going to a test branch with a different model json list"
This reverts commit 83e253e9a3.
* Add 'runner' property to 'ModelBundle' and update relevant functions
The 'ModelBundle' class in 'custom.capnp' has been extended to include a 'runner' property. This required updating 'fetcher.py' to handle the 'runner' property when parsing model bundles. Additionally, the helper function 'get_model_runner_by_filename' has been removed from 'helpers.py' as it is no longer needed because the 'runner' property provides this information. The 'get_active_model_runner' function has also been updated in light of these changes.
* Refine bundle selection logic in SoftwarePanelSP
Improve logic for determining which model bundle to display by considering download status and failure state. Remove unnecessary function call to enhance clarity and maintainability.
* tmp
* Add retrieval of active model bundle in manager loop
Introduce a call to `get_active_bundle` to fetch the active model bundle and store it in `self.active_bundle`. This ensures the active bundle is always up-to-date during the model management process.
* Add "Use Default" option for model selection
Introduced a "Use Default" option in the model selection dropdown, allowing users to reset to the default model. Adjusted logic to handle default selection and ensure proper parameter updates. Fixed bundle status handling during the download process in the model manager.
* Refactor type hint in active_bundle assignment.
Removed an unnecessary type hint in the active_bundle assignment for cleaner and more maintainable code. This change does not affect functionality but improves code readability.
* no nested
* update json url
* split out
* format
* condense
* more
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>
* Add job to fetch and upload model artifacts
Introduced a new `get_model` job to retrieve and upload model artifacts as part of the workflow. Updated the `build_model` job to download and clean up model files before building, ensuring an isolated and streamlined process. These changes improve modularity and artifact handling in the CI pipeline.
* Refine model file handling in build workflow
Restrict deletion and download commands to ".onnx" files to prevent unintended removal or overwriting of non-ONNX files. This ensures a more targeted and safer workflow for handling model artifacts.
* Update model artifact handling in build workflow
Changed artifact upload path to include only .onnx files and commented out the deletion of existing models. Also added a dependency for the build stage to ensure proper execution sequence.
* Update build workflow to refine model artifact handling
Removed unused code for deleting models and fixed the artifact path. Added a reference file logging custom name and upstream branch for better traceability. These changes streamline the workflow and improve clarity.
* Set dynamic run-name for sunnypilot build workflow
Added a customizable `run-name` field in the sunnypilot build model workflow. This allows more informative and dynamic naming based on input parameters such as `custom_name` or `upstream_branch`. Improves clarity and traceability in workflow runs.
* Add customization options and metadata generation to build
Introduce new inputs for file name prefix and 20Hz model specification in the workflow. Enable renaming of model files, generation of file hashes, and creation of a `metadata.json` file containing build details. This improves flexibility and enhances artifact information management.
* Refactor CI workflow to remove redundant get_model job
The `get_model` job has been removed, and its relevant steps have been merged into the `build_model` job to streamline the workflow. Additionally, a patch for `SConstruct` has been added to support an arbitrary cache directory configuration. This simplifies the pipeline while maintaining functionality.
* powersave ok ok
* Revert "powersave ok ok"
This reverts commit 716b9f1e2d.
* Update build process to use .thneed files over .pkl
Replaced .pkl file references with .thneed in the sunnypilot build workflow. Adjusted file renaming, hashing, and metadata handling to align with the new file format. This ensures compatibility with the updated file structure.
* let's seeeeeeeeee
* Remove unused CXXFLAGS from build step in workflow
CXXFLAGS options `-Wno-vla-extension` and `-Wno-vla-cxx-extension` were removed from the `scons` command as they are no longer necessary. This simplifies the build configuration and ensures cleaner workflows.
* 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 76b08e37cb.
* Reapply "long planner: allow throttle reflects usage (#33792)"
This reverts commit c75244ca4e.
* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"
This reverts commit b2b7d21b7b.
* Reapply "Long planner get accel: new function args (#34288)"
This reverts commit 74dca2fccf.
* don't need
* retain snpe
* wrong
* they're symlinks
* remove
* put back into VCS
* add back
* don't include built
* Refactor model runner retrieval with caching support
Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.
* Update model runner determination logic with caching fix
Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.
* default to none
* enable in next PR
* more
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* 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 76b08e37cb.
* Reapply "long planner: allow throttle reflects usage (#33792)"
This reverts commit c75244ca4e.
* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"
This reverts commit b2b7d21b7b.
* Reapply "Long planner get accel: new function args (#34288)"
This reverts commit 74dca2fccf.
* don't need
* retain snpe
* wrong
* they're symlinks
* remove
* put back into VCS
* add back
* don't include built
* Refactor model runner retrieval with caching support
Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.
* Update model runner determination logic with caching fix
Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.
* default to none
* enable in next PR
* more
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* Increase timeout for test report creation by 1 minute
Adjusted the `timeout-minutes` value to allow more time for the
test report creation step.
* Add script to disable power save in build workflow
This commit integrates the `disable-powersave.py` script into the sunnypilot build workflow. It ensures power save mode is disabled during the build process, improving reliability and consistency.
* Set PYTHONPATH before running disable-powersave.py
The change ensures the correct Python module path is set when executing the disable-powersave script. This update prevents potential import issues by including the GitHub workspace in the PYTHONPATH.
* Refactor powersave handling with a dedicated script
Replaced inline powersave disable logic with a new script `manage-powersave.py` to handle enabling and disabling power saving mode. Updated the CI workflow to use this script and added a step to re-enable powersave after builds. This improves clarity and modularity for power management operations.
* Enable CPU core count display in power save script
Introduce multiprocessing to show the number of CPU cores available. Added messages to indicate power save mode state and core count, improving script feedback and user clarity.
* Refine power save mode logging output.
Improve clarity of logging messages in `manage-powersave.py` by indicating CPU core counts before and after applying changes. Simplified the power save state message for better readability.
* Updated scons cache key restore logic in GitHub workflows
This commit updates the restore key logic in two GitHub workflow config files (sunnypilot-build-model.yaml and sunnypilot-build-prebuilt.yaml). The restore key sequence has been revised for improved accuracy and consistency. This should optimize the cache hit rate and speed up the subsequent builds.
* Add comments on GitHub Actions cache isolation behavior
Clarifies the cache isolation enforced by GitHub Actions for security reasons. Notes that only caches from the default branch are shared across all builds, and this behavior cannot be changed. This improves maintainability and understanding of the workflow configuration.
Ensure the cache is treated as expired when last_sync is zero. This prevents potential issues with uninitialized or missing sync timestamps, enhancing reliability.
Adeeb Shihadeh