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2020-11-21, 2020-11-23, 2020-11-24 changes in master-ci

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This commit is contained in:
Rick Lan
2020-11-24 13:17:41 +10:00
parent 325c9b273d
commit e0b7cce478
12 changed files with 95 additions and 28 deletions
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2
cereal/car.capnp
View File

@@ -102,6 +102,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
modelLagWarning @93;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;

12
launch_chffrplus.sh
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@@ -8,6 +8,11 @@ source "$BASEDIR/launch_env.sh"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function tici_init {
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
}
function two_init {
# Restrict Android and other system processes to the first two cores
echo 0-1 > /dev/cpuset/background/cpus
@@ -36,11 +41,12 @@ function two_init {
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
echo 1 > /proc/irq/6/smp_affinity_list # MDSS
# USB traffic needs realtime handling on cpu 3
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
# Check for NEOS update
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
if [ -f "$DIR/scripts/continue.sh" ]; then
@@ -122,6 +128,10 @@ function launch {
two_init
fi
if [ -f /TICI ]; then
tici_init
fi
# handle pythonpath
ln -sfn $(pwd) /data/pythonpath
export PYTHONPATH="$PWD"

22
selfdrive/car/fw_versions.py
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@@ -28,7 +28,7 @@ SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.DEFAULT])
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
@@ -36,20 +36,20 @@ EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTRO
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
HYUNDAI_VERSION_REQUEST_SHORT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf1a0) # 4 Byte version number
p16(0xf1a0) # 4 Byte version number
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf100) # Long description
p16(0xf100) # Long description
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
p16(0xf100) + \
p16(0xf1a0)
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
p16(0xf100) + \
p16(0xf1a0)
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
@@ -127,8 +127,8 @@ def match_fw_to_car(fw_versions):
if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER] and found_version is None:
continue
# TODO: COROLLA_TSS2 engine can show on two different addresses
if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR] and found_version is None:
# TODO: on some toyota, the engine can show on two different addresses
if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
continue
# ignore non essential ecus

2
selfdrive/car/toyota/values.py
View File

@@ -649,6 +649,7 @@ FW_VERSIONS = {
b'\x03312M3000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x018965B1255000\x00\x00\x00\x00',
b'8965B12361\x00\x00\x00\x00\x00\x00',
b'\x018965B12350\x00\x00\x00\x00\x00\x00',
b'\x018965B12470\x00\x00\x00\x00\x00\x00',
@@ -1030,6 +1031,7 @@ FW_VERSIONS = {
b'\x01896634A19100\x00\x00\x00\x00',
b'\x01896634A20000\x00\x00\x00\x00',
b'\x01896634A22000\x00\x00\x00\x00',
b'\x01896634A45000\x00\x00\x00\x00',
b'\x01896634A46000\x00\x00\x00\x00',
b'\x01F152642551\x00\x00\x00\x00\x00\x00',
b'\x028966342T0000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',

9
selfdrive/controls/controlsd.py
View File

@@ -247,8 +247,13 @@ class Controls:
self.events.add(EventName.relayMalfunction)
if self.sm['plan'].fcw:
self.events.add(EventName.fcw)
if self.sm['model'].frameDropPerc > 1 and (not SIMULATION):
self.events.add(EventName.modeldLagging)
if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
self.events.add(EventName.cameraMalfunction)
if self.sm['model'].frameDropPerc > 20 and not SIMULATION:
self.events.add(EventName.modeldLagging)
elif self.sm['model'].frameDropPerc > 2 and not SIMULATION:
self.events.add(EventName.modelLagWarning)
# Only allow engagement with brake pressed when stopped behind another stopped car
if not self.sm['dragonConf'].dpAtl and CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \

8
selfdrive/controls/lib/events.py
View File

@@ -481,6 +481,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
},
EventName.modelLagWarning: {
ET.WARNING: Alert(
_("TAKE CONTROL"),
_("Driving Model Lagging"),
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
},
EventName.fanMalfunction: {
ET.PERMANENT: NormalPermanentAlert(_("Fan Malfunction"), _("Contact Support")),
},

6
selfdrive/modeld/SConscript
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@@ -19,7 +19,11 @@ if arch == "aarch64":
lenv['CFLAGS'].append("-DUSE_THNEED")
lenv['CXXFLAGS'].append("-DUSE_THNEED")
elif arch == "larch64":
libs += ['gsl', 'CB', 'pthread']
libs += ['gsl', 'CB', 'pthread', 'dl']
if not TEST_THNEED:
common_src += ["thneed/thneed.cc"]
lenv['CFLAGS'].append("-DUSE_THNEED")
lenv['CXXFLAGS'].append("-DUSE_THNEED")
else:
libs += ['pthread']

5
selfdrive/modeld/dmonitoringmodeld.cc
View File

@@ -3,6 +3,7 @@
#include <unistd.h>
#include <signal.h>
#include <cassert>
#include <sys/resource.h>
#include "common/visionbuf.h"
#include "common/visionipc.h"
@@ -23,7 +24,7 @@ static void set_do_exit(int sig) {
int main(int argc, char **argv) {
int err;
set_realtime_priority(51);
setpriority(PRIO_PROCESS, 0, -15);
#ifdef QCOM2
set_core_affinity(5);
@@ -65,7 +66,7 @@ int main(int argc, char **argv) {
double t2 = millis_since_boot();
// send dm packet
dmonitoring_publish(pm, extra.frame_id, res);
dmonitoring_publish(pm, extra.frame_id, res, (t2-t1)/1000.0);
LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
last = t1;

40
selfdrive/modeld/models/dmonitoring.cc
View File

@@ -114,24 +114,39 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
resized_width, resized_height,
mode);
// prerotate to be cache aware
uint8_t *resized_buf_rot = get_buffer(s->resized_buf_rot, resized_width*resized_height*3/2);
uint8_t *resized_y_buf_rot = resized_buf_rot;
uint8_t *resized_u_buf_rot = resized_y_buf_rot + (resized_width * resized_height);
uint8_t *resized_v_buf_rot = resized_u_buf_rot + ((resized_width/2) * (resized_height/2));
libyuv::I420Rotate(resized_y_buf, resized_width,
resized_u_buf, resized_width/2,
resized_v_buf, resized_width/2,
resized_y_buf_rot, resized_height,
resized_u_buf_rot, resized_height/2,
resized_v_buf_rot, resized_height/2,
// negative height causes a vertical flip to match previous
resized_width, -resized_height, libyuv::kRotate90);
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
for (int c = 0; c < MODEL_WIDTH/2; c++) {
for (int c = 0; c < MODEL_WIDTH/2; c++) {
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
// Y_ul
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
// Y_ur
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
net_input_buf[(c*MODEL_HEIGHT/2) + r + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r) + (2*c)*resized_height]);
// Y_dl
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
net_input_buf[(c*MODEL_HEIGHT/2) + r + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r+1) + (2*c)*resized_height]);
// Y_ur
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r) + (2*c+1)*resized_height]);
// Y_dr
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(2*r+1) + (2*c+1)*resized_height]);
// U
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(resized_width*resized_height) + r + (c*resized_height/2)]);
// V
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf_rot[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + r + (c*resized_height/2)]);
}
}
@@ -140,6 +155,10 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
//fwrite(raw_buf, height*width*3/2, sizeof(uint8_t), dump_yuv_file);
//fclose(dump_yuv_file);
// *** testing ***
// idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
// imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
//FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
//fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
//fclose(dump_yuv_file2);
@@ -165,11 +184,12 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
return ret;
}
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res){
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time){
// make msg
MessageBuilder msg;
auto framed = msg.initEvent().initDriverState();
framed.setFrameId(frame_id);
framed.setModelExecutionTime(execution_time);
kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
kj::ArrayPtr<const float> face_orientation_std(&res.face_orientation_meta[0], ARRAYSIZE(res.face_orientation_meta));

1
selfdrive/modeld/runners/snpemodel.cc
View File

@@ -1,6 +1,7 @@
#pragma clang diagnostic ignored "-Wexceptions"
#include <cassert>
#include <string.h>
#include <stdlib.h>
#include "common/util.h"
#include "snpemodel.h"

11
selfdrive/modeld/thneed/thneed.cc
View File

@@ -1,10 +1,11 @@
#include "thneed.h"
#include <cassert>
#include <sys/mman.h>
#include <dlfcn.h>
#include <map>
#include <string>
#include <string.h>
#include <errno.h>
#include "thneed.h"
Thneed *g_thneed = NULL;
int g_fd = -1;
@@ -31,6 +32,7 @@ extern "C" {
int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
#undef ioctl
int ioctl(int filedes, unsigned long request, void *argp) {
request &= 0xFFFFFFFF; // needed on QCOM2
if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
Thneed *thneed = g_thneed;
@@ -440,7 +442,14 @@ cl_program thneed_clCreateProgramWithSource(cl_context context, cl_uint count, c
#endif
void *dlsym(void *handle, const char *symbol) {
// TODO: Find dlsym in a better way. Currently this is hand looked up in libdl.so
#if defined QCOM
void *(*my_dlsym)(void *handle, const char *symbol) = (void *(*)(void *handle, const char *symbol))((uintptr_t)dlopen-0x2d4);
#elif defined QCOM2
void *(*my_dlsym)(void *handle, const char *symbol) = (void *(*)(void *handle, const char *symbol))((uintptr_t)dlopen+0x138);
#else
#error "Unsupported platform for thneed"
#endif
if (memcmp("REAL_", symbol, 5) == 0) {
return my_dlsym(handle, symbol+5);
} else if (strcmp("clEnqueueNDRangeKernel", symbol) == 0) {

5
selfdrive/modeld/thneed/thneed.h
View File

@@ -1,5 +1,10 @@
#pragma once
#ifndef __user
#define __user __attribute__(())
#endif
#include <stdlib.h>
#include <stdint.h>
#include "include/msm_kgsl.h"
#include <vector>