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27 Commits

Author SHA1 Message Date
Adeeb Shihadeh
716d0d5918 process replay: remove sorting before comparison (#29072) 
* process replay: remove sorting before comparison

* keep ignore msgs
 2023-07-20 19:22:59 -07:00
Kacper Rączy
64377a88f9 process_replay: helpers (#28367) 
* process_replay helper

* Refactor

* refactor check_enabled uses

* fix __init__

* noqa in __init__ imports

* Move compare_logs outside of process_replay

* Move save_logs to tools.lib.helpers

* Remove save_log from compare_logs

* fix lint issues
 2023-06-06 10:31:13 -07:00
Kacper Rączy
12b3ffcc49 process_replay: drain sockets instead recv_one (#28161) 
* Drain the sockets until the next cycle in python process replay

* Add waiting mechanism to native process replay, which mimics the syncing

* Sort logs when comparing them. Drain all the sockets instead of only recv_socks.

* Reverse the retrieval order of FakeSocket

* Change pub order for torqued

* Update ref commit
 2023-05-23 12:59:09 -07:00
Kacper Rączy
504768f922 process_replay: sort logs before comparing them (#28201) 
* Sort logs before comparing them in process replay

* Simplify
 2023-05-16 15:30:28 -07:00
Adeeb Shihadeh
f3a711953a navmodel: check images in replay test (#26747) 
* move position

* log images

* enable test

* update refs

* ignore

Co-authored-by: Comma Device <device@comma.ai>
 2022-12-09 22:56:32 -08:00
Adeeb Shihadeh
1da6f6a6e2 nav model replay (#26697) 
* nav model replay

* set token

* fix gh actions

* update refs

* fix pc
 2022-12-07 19:36:30 -08:00
HaraldSchafer
cb0b7375b7 Rocket Launcher Model (#25963) 
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300

* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300

* tinygrad: cleanup gather

* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700

* empty commit for tests

* bump tinygrad

* dont use tinygrad matmul for now

* bump tinygrad

* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* increase steer rate cost

* Revert "increase steer rate cost"

This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.

* fork tinygrad

* empty commit for tests

* basics

* Kinda works

* new lat

* new tuning

* Move LATMPCN so scons compiles

* Update long weights

* Add tinygrad optim

* Update model ref

* update weights

* Update ref

* Try

* Error message for field ignore

* update model regf

* ref commit

* Fix onnx test

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-10-05 21:43:38 -07:00
Gijs Koning
4d7b7483d7 Replay: tolerances per field (#25116) 
* tolerances per field in replay

* refactor

* Remove laikad parameters

* Small comment change
 2022-07-12 03:36:57 -07:00
Lukas Petersson
444d265821 process replay: support running in parallel (#24534) 
* prefix params

* set env

* prefix in manager

* filesystem except

* dont delete manager folder

* Update selfdrive/common/params.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* debug same path

* remove cleanup + same default

* dont use filesystem lib

* param symlink path

* prefix helpers

* path

* dont delete d

* parallel loop

* refactor loop

* msgq

* clean msgs

* spelling

* nestable pool

* spelling

* logreaders in parallel

* bugfix

* assert msgq

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* assert in cereal

* folder exists

* create dirs in test

* bump cereal

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* PR feedback

* params path in basedir

* ref commit

* param path

* bugfix

* upload_only

* param path

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* msgq path name

* python concurrency.features

* progress bar

* remove progress bar from compare logs

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* defaultdict

* context manager

* update refs

* dont get logs if upload only

* upload refs in parallel

* cleanup

* Update selfdrive/test/process_replay/test_processes.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* cleanup

* text

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
 2022-05-18 19:59:30 -07:00
Adeeb Shihadeh
8af20af66d pylint: enforce indentation (W0311) (#24039) 
* pylint: enforce indentation (W0311)

* few more
 2022-03-24 23:23:29 -07:00
Willem Melching
5ac32705d0 compare_logs: catch typeError (#23632) 2022-01-26 17:13:32 +01:00
Adeeb Shihadeh
9941c99f7c process replay: handle inf and nan in absolute tolerance 2022-01-12 13:34:46 -08:00
Ewout ter Hoeven
332f568a82 Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305) 
Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default

Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>

Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
 2021-12-24 11:18:39 -08:00
grekiki
6951b3271d Python: Replace more lists with generators (#23116) 
* Replace lists with generators v2

* Replace set with {}

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Replace more set() with {}

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-12-03 22:57:19 -08:00
Adeeb Shihadeh
f9a961f6fb delay controls start (#20761) 
* delay controls start

* shouldn't need this stuff anymore

* only delay board

* bail after 2s

* fix loopback test

* fix process replay

* update refs

* bump cereal

Co-authored-by: Comma Device <device@comma.ai>
 2021-04-30 13:55:17 -07:00
Willem Melching
f728edfd03 speed up log writing 2021-02-17 12:06:55 +01:00
Adeeb Shihadeh
8992639754 add modelV2 to model replay (#2725) 
* add modelV2 to model replay

* update refs

* ignore fields for modelv2

* execution time

* fix compare logs

Co-authored-by: Comma Device <device@comma.ai>
 2020-12-08 22:01:34 -08:00
grekiki
870644b59e Process replay for C++ daemons (#2288) 
* more like a stash

* mem

* comment cpp

* remove some tests

* WORKSpython test_processes.py python test_processes.py

* all tests work, time to clean up

* initialize cleanup

* fix spaces

* refactor

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* revert debug change

* mini refactor

* remove submaster

* update README

* add delay

* check for missaligned start

* Update compare_logs.py

* should finally work now, I hope...

* update comment

* real fix

* real fix now

* fix styling

* fix styling

* Update process_replay.py

* fix code review

* speed up tests

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/test/process_replay/process_replay.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* fix reviews

* nicer code

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2020-10-12 11:18:53 +02:00
HaraldSchafer
8e2d344135 Misc locationd improvements (#1714) 
* I like this more

* rewind less

* bump rednose

* falling off windshield detectopr

* adjust thresholds

* this is a soft disable now

* move that

* process replay fixes

* update refs

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2020-07-30 15:33:22 -07:00
Willem Melching
5139b827af add tolerance to process replay compare (#1904) 2020-07-22 11:50:58 +02:00
Willem Melching
c18e7da3c2 Write orientation & transform in C++ (#1637) 
* locationd at 20hz

* update ref

* bump cereal

* dont modify global state

* add scons files

* ecef2geodetic and geodetic2ecef

* Finish local coords class

* Add header file

* Add orientation.cc

* cleanup

* Add functions to header file

* Add cython wrapper

* y u no work?

* This passes the tests

* test rot2quat and quat2rot

* Teste euler2rot and rot2euler

* rot_matrix

* test ecef_euler_from_ned and ned_euler_from_ecef

* add benchmark

* Add test

* Consistent newlines

* no more radians supported in geodetic

* test localcoord single

* test localcoord single

* all tests pass

* Unused import

* Add alternate namings

* Add source for formulas

* no explicit tests needed

* remove benchmark

* Add release files

* Typo

* Remove print statement

* no access to raw transform matrix

* temporarily add tolerance

* handcode quat2euler

* update ref
 2020-06-09 16:44:26 -07:00
Willem Melching
843a64c72f Make pylint more strict (#1626) 
* make pylint more strict

* cleanup in progress

* done cleaning up

* no opendbc
 2020-06-02 16:29:32 -07:00
Adeeb
d9bf9f0a40 Enable more flake8 checks (#1602) 
* enable some more flake8 checks

* some more quick ones

* bump opendbc

* e401

* e711 e712

* e115 e116

* e222

* e301

* remove that

* e129

* e701 e702

* e125 e131

* e227

* e306

* e262

* W503

* e713

* e704

* e731

* bump opendbc

* fix some e722
 2020-05-30 20:14:58 -07:00
Willem Melching
3d08dcc3b2 Run mypy commit hook (#1591) 
* run mypy commit hook

* fix mypy errors
 2020-05-28 15:05:04 -07:00
Willem Melching
78c1745ed5 add progress to save_logs 2020-03-05 13:24:21 -08:00
Adeeb
796d5c8cca Process replay enhancements (#1153) 
* process replay: exclude processes and cars
 2020-02-26 11:31:27 -08:00
George Hotz
c0bfbc12c7 selfdrive/test 2020-01-17 11:16:14 -08:00