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80bc61dc6c36dcac018203dfbcdd16b4a993c9cd
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60 Commits

Author SHA1 Message Date
Kacper Rączy
80bc61dc6c controlsd: use livePose (#33283) 
* Pose calibrator

* Fix static analysis

* Fix static

* Fix test_latcontrol

* Fix test_latcontrol

* Update services in process replay

* Fix static

* Matmul not mul

* Add assertion

* Move pose calibration to data_sample

* Update ref commit

* Remove llk from cycle alerts

* Deprecated nogps event

* Switch power_draw to lp

* Bring back noGps alert

* Add handling code back

* get_bool

* Bring inputsok back
old-commit-hash: 9734015bbb
 2024-08-13 21:11:16 -07:00
Kacper Rączy
3740693956 paramsd: use livePose (#33099) 
* Use livePose instead  of llk

* Update process replay sockets

* Fix import

* Fix calib

* Fix field name

* Dont store device_from_calib

* Update ref commit
old-commit-hash: 84cff4fc03
 2024-07-29 19:51:21 -07:00
Dean Lee
45c3992e43 CarParams: set no traversal limit (#32929) 
* Increase traversal_limit_in_words to Fix Traversal Limit Errors

* just use log_from_bytes

* come on pycharm

* no free lunch

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 12d729a0a0
 2024-07-08 13:50:31 -07:00
Adeeb Shihadeh
adcac1f207 SubMaster: improve service aliveness checks (#31391) 
* bump cereal

* fix

* fixes

* single poll

* bump

* bump

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 279d2c3b23
 2024-02-12 10:11:37 -08:00
Dean Lee
1d7d7b89b2 common/params: support nonblocking write (#29808) 
* Safe and efficient asynchronous writing parameters

* call putNonBlocking in locationd

* remove space

* ->AsyncWriter

* remove semicolon

* use member function

* asyc write multiple times

* add test case for AsyncWriter

* merge master

* add missing include

* public

* cleanup

* create once

* cleanup

* update that

* explicit waiting

* improve test case

* pass prefix to asywriter

* move to params

* assert(queue.empty())

* add comment

* add todo

* test_power_monitoring: remove patch

* rm laikad.py

* fix import

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3c4c4d1f7f
 2023-12-13 20:36:01 -08:00
Adeeb Shihadeh
59eb2988de swaglog.py goes in common/ (#30631) 
* swaglog.py goes in common/

* all of these go in release

* we'll even include the pyx
old-commit-hash: 35f819c823
 2023-12-06 17:27:51 -08:00
Adeeb Shihadeh
4b78e52e34 cleanup old sm pm args (#30241) 
* cleanup sm pm

* fix controlsd

* fix
old-commit-hash: b68cfbb332
 2023-10-13 23:27:04 -07:00
Vivek Aithal
739a102d55 paramsd: Add condition to sensor valid check (#30066) 
add condition to sensorvalid check
old-commit-hash: 0461ea8a82
 2023-09-27 21:00:36 -07:00
Adeeb Shihadeh
0010c9a986 Revert "params: safe and efficient async writing parameters (#25912)" 
This reverts commit 780669c33fea1b2a14a0bd6e2eac82c9b8893aa5.

old-commit-hash: ec479322d3
 2023-09-06 13:44:20 -07:00
Dean Lee
08e70aecb2 params: safe and efficient async writing parameters (#25912) 
* Safe and efficient asynchronous writing parameters

* call putNonBlocking in locationd

* remove space

* ->AsyncWriter

* remove semicolon

* use member function

* asyc write multiple times

* add test case for AsyncWriter

* merge master

* add missing include

* public

* cleanup

* create once

* cleanup

* update that

* explicit waiting

* improve test case

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 0d797f4e8b
 2023-09-06 08:50:28 -07:00
Adeeb Shihadeh
16ec56398c add openpilot prefix to imports (#29498) 
* add openpilot prefix to imports

* more

* more

* fix docs

* fix linter

* bump submodules

* fix patched tests

* update dynamic imports

* debug

* Revert "debug"

This reverts commit db5e13b9911cc74438bee123bc3430da6c31b24b.

* fix pm test
old-commit-hash: a9626f95b6
 2023-08-20 20:49:55 -07:00
Kacper Rączy
eb87a31bc5 Unpin numpy (#29421) 
* Unpin numpy

* Update lock file

* leave acados comment

* Fix warnings

* Fix more paramsd warnings
old-commit-hash: 62a88e504d
 2023-08-17 15:36:14 -07:00
Justin Newberry
7b677910df Linter: Fix >160 line length test (#29287) 
* test

* fix line length

* fix line length

* fix file size

* revert poetry

* cleanup for PR
old-commit-hash: cf64b27168
 2023-08-08 17:13:35 -07:00
Adeeb Shihadeh
b0c3778aae agnos 8 (#28843) 
* agnos 8

* update to python 3.11.4 (#27452)

* rebase

* optional

* lower cython

* TEMP don't pull cl to use python3.11

* Revert "lower cython"

This reverts commit c5132f8a2727c212bdfc01e77aa53e50a17ead9d.

* fix cython

* remove tensorrt

* carla + opencv

* macos

* update timm and smp

* pynvc

* https

* downgrade numpy

* pin scipy

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>

* revert that

* fix linter

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
Co-authored-by: Yassine <yassine.y10@gmail.com>
old-commit-hash: 1945c356c2
 2023-07-20 21:56:57 -07:00
Adeeb Shihadeh
33e6aad83b Revert "Update pycapnp and Cython (#29021)" 
This reverts commit 9f80430d3958cbcf4fb9b67a428f45fd034c5649.

old-commit-hash: 9c307f2550
 2023-07-18 18:47:35 -07:00
Maxime Desroches
6ba97408e9 Update pycapnp and Cython (#29021) 
* cython + pycapnp

* from_bytes with context

* poetry lock

* limit numpy

* force build

* Revert "force build"

This reverts commit 8c7cb00421da9d0f1b7da2c94f75e9c43733f840.

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 76ef1b9b9f
 2023-07-18 16:40:36 -07:00
Kacper Rączy
215819c218 paramsd: expose filterState in debug mode (#28627) 
* Update cereal

* Expose filterState in debug mode.
old-commit-hash: b6c3f69dc0
 2023-06-23 13:45:40 -07:00
Vivek Aithal
09073a7286 [paramsd] Add a hysteresis band for valid checks where applicable (#28546) 
* add a hysteresis band for the slow offset valid check

* add hysteresis to total_ofset and roll valid cases

* bugfix: roll is in radians, offsets are in degs

* remove defaults

* remove kwarg

* remove slow offset check while loading params
old-commit-hash: dfbdcbad73
 2023-06-15 20:17:06 -07:00
Vivek Aithal
b6eae6f146 paramsd: Check if roll from the localizer is actually valid (#27105) 
* add roll_valid check, use localizer roll when it is valid

* increase std to 1.5

* btter check

* avoid numpy

* update refs

* update refs
old-commit-hash: 519b3c8847
 2023-02-01 11:21:51 -08:00
Vivek Aithal
f28fb581f1 paramsd: Remove one active condition (#26922) 
* remove one active condition

* update refs

* remove unused vars

* update refs

* update refs
old-commit-hash: 2e36d07106
 2023-01-13 13:23:06 -08:00
Vivek Aithal
8f6f406237 [paramsd] Prevent low speed drifting (#26360) 
* lower active speed for paramsd observations

* update refs
old-commit-hash: 81f6ebebaa
 2022-11-04 01:32:29 -07:00
Vivek Aithal
e23f58937f Lateral Acceleration Error alert (Sensor Invalid) (#25291) 
* sensor flag in paramsd

* increase lateral acc err alert threshold

* add invalid sensor alert from paramsd

* update ref, bool before adding to msg

* account for sign difference in locationd and paramsd

* revert ref
old-commit-hash: e77dc1ab44
 2022-07-28 13:10:01 -07:00
Adeeb Shihadeh
3c48bc47b7 Move a bunch of stuff to system/ part 3 (#24829) 
* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter
old-commit-hash: 0fce5d9045
 2022-06-11 23:19:27 -07:00
Adeeb Shihadeh
9b9d332a54 paramsd: fix variable cpu usage (#24281) 
* paramsd: fix variable cpu usage

* fix that

* increase that a bit
old-commit-hash: f7c2b8b46e
 2022-04-20 14:08:52 -07:00
Adeeb Shihadeh
b57808e650 paramsd: use real logMonoTime (#24279) 
old-commit-hash: 4c9020863f
 2022-04-20 13:57:15 -07:00
Willem Melching
871ecc451b commIssueAvgFreq: separate alert for avg freq check (#24150) 
* commIssueAvgFreq: separate alert for avg freq check

* bump cereal

* bump cereal

* bump cereal

* freq_ok separate from alive

* bump cereal to master

* update_ref

* fix profiler
old-commit-hash: eaa5819211
 2022-04-06 16:43:32 -07:00
Vivek Aithal
5bad0f4400 locationd, paramsd: Check conditions before updating kalman filters (#23789) 
* update filters only when all messages are alivbe and valid

* update message valid and fix unit test

* update refs

* move check outside loop

* modify fake message fn in test

* deprecate inputsOK and resolve PR comments

* avoid double looped list comprehension

* follow import conventions

* modify paramsd valid to only be invalid in case of commIssue

* update refs
old-commit-hash: 7e6903b58f
 2022-03-02 01:01:29 -08:00
Vivek Aithal
1eb13fdc65 paramsd: fix VehicleModelInvalid errors (#23726) 
* bound steerratio, stiffness std

* remove start steer_ratio limits after looking at data

* reduce sf obs noise

* update refs

* update refs

* add comment explaining change
old-commit-hash: 8a2cbfe00b
 2022-02-09 17:37:28 -08:00
Vivek Aithal
e4c2c2cf2e use roll std from locationd (#23449) 
* use roll std from locationd

* cleaner

* add todo

* new ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
old-commit-hash: f808b174af
 2022-01-12 21:37:09 -08:00
Dean Lee
179a685894 paramsd: follow capnp best practices (#23399) 
old-commit-hash: df7126b982
 2022-01-04 15:57:38 -08:00
HaraldSchafer
f64c2974b4 Road Roll Compensation Rebased (#23251) 
* first commit

* update refs
old-commit-hash: cf466222f6
 2021-12-16 17:34:12 -08:00
Vivek Aithal
9f96d63520 paramsd: Sort messages in each update iteration before processing (#22403) 
* sort livelocationKalman and carState messages in each update iteration before processing

* update refs

* update refs

* update refs

* update again

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 83a53618b3
 2021-10-07 18:21:11 -07:00
Vivek Aithal
c0ff654602 Add paramsd Stdev to message (#22443) 
* add STD to message

* use modified names for car_kf state stdev atttributes

* update refs

* add modofied cereal

* update refs
old-commit-hash: 244fbde56e
 2021-10-06 16:22:18 -07:00
Adeeb Shihadeh
e75dc5718c make locationd and paramsd RT (#21264) 
old-commit-hash: f01ebc5680
 2021-06-17 14:19:24 -07:00
Willem Melching
26f9d28532 Rate limit paramsd angleOffset output (#20946) 
* rate limit paramsd angle offset

* update ref
old-commit-hash: 17c3220322
 2021-05-18 12:59:42 +02:00
Willem Melching
ab886b9599 paramsd: nan checks are implicit now 
old-commit-hash: b768729755
 2021-05-05 17:44:28 +02:00
Willem Melching
2901659fe2 paramsd: stricter checks on locationd yaw rate outputs 
old-commit-hash: d6a575a860
 2021-05-05 17:42:11 +02:00
Willem Melching
b9fa4e5696 Add more sanity checks to paramsd (#20820) 
* add more sanity checks to paramsd

* Update selfdrive/locationd/paramsd.py
old-commit-hash: 9fb79024ef
 2021-05-04 09:50:45 -07:00
Willem Melching
8bd3b9a7b8 paramsd: check NaN in inputs and outputs (#20804) 
old-commit-hash: 0b4d28b9d6
 2021-05-03 14:13:31 +02:00
Willem Melching
7483953935 disable GC for locationd and paramsd (#20680) 
old-commit-hash: fc478ff920
 2021-04-14 23:59:29 -07:00
Joost Wooning
ff9840c53f locationd and paramsd using cython version of ekfsym (#20610) 
* Locationd live_kf using c++ kalman filter

* use both cpp and python live_kf to compare

* Locationd using ekfsym cpp

* Paramsd using c++ ekf_sym

* Other building method

* Cleanup

* cleanup

* Single sconscript for rednose and locationd/models

* CI

* CI

* CI fix

* renamed scons config

* Fix lib loading

* bump rednose

* update cpu usage test
old-commit-hash: e6a8157916
 2021-04-08 13:09:11 +02:00
HaraldSchafer
cf6c7cb2b8 Update locationd (#20410) 
* this was too extreme

* unused import

* capnp wants bools

* update refs
old-commit-hash: 8bddaa7607
 2021-03-19 17:12:34 -07:00
Adeeb Shihadeh
05eb44115e cereal cleanup part 2 (#20092) 
* car stuff

* thermal

* Revert "car stuff"

This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.

* panda state

* camera stuff

* start deg

* most is building

* builds

* planner + controls run

* fix up paramsd

* cleanup

* process replay passes

* fix webcam build

* camerad

* no more frame

* thermald

* ui

* paramsd

* camera replay

* fix long tests

* fix camerad tests

* maxSteeringAngle

* bump cereal

* more frame

* cereal master
old-commit-hash: 312b681a46
 2021-02-16 21:39:32 -08:00
Willem Melching
643120e411 Reset liveParameters if starting with invalid values (#2360) 
* reset params if starting with invalid values

* newline

* No need to check stiffness
old-commit-hash: 63e23e9cd7
 2020-10-19 19:04:33 +02:00
Adeeb Shihadeh
64a9728f2e Reduce paramsd and calibrationd CPU usage (#2119) 
* reduce paramsd cpu

* reduce calibrationd cpu usage

* calibration_helpers was mostly unused

* more calibration cleanup

* update refs

* fix thresholds in CPU test
old-commit-hash: e0004d0981
 2020-09-10 12:16:29 -07:00
Willem Melching
26c17c844c Reset stiffness at beginning of each drive 
old-commit-hash: ef1c7b6833
 2020-06-12 12:09:32 -07:00
Willem Melching
c8d32ce78a wider margins on stiffness 
old-commit-hash: fac0231471
 2020-06-09 17:36:16 -07:00
Willem Melching
6f09d990af paramsd output at 20 Hz instead of 100 Hz 
old-commit-hash: a108e7f211
 2020-06-01 13:47:17 -07:00
Willem Melching
a4f120d2be Rename enum 
old-commit-hash: f69f200178
 2020-05-19 18:13:11 -07:00
Willem Melching
d2a41fad6e Paramsd handle liveLocation not valid and add alerts 
old-commit-hash: 44484102db
 2020-05-19 17:00:30 -07:00