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64 Commits

Author SHA1 Message Date
Adeeb Shihadeh
a9626f95b6 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
 2023-08-20 20:49:55 -07:00
Adeeb Shihadeh
d61f86d339 replace custom clock helpers with time module (#29499) 
* replace custom clock stuff wtih time module

* fix double

* fix release

* bump cereal

* update type

* fix one more
 2023-08-20 18:50:58 -07:00
Kacper Rączy
62a88e504d Unpin numpy (#29421) 
* Unpin numpy

* Update lock file

* leave acados comment

* Fix warnings

* Fix more paramsd warnings
 2023-08-17 15:36:14 -07:00
Justin Newberry
62c1e65924 Ruff: enable most of bugbear (#29320) 
* added mutable default args

* most of the Bs

* add comment about lrucache
 2023-08-11 15:33:49 -07:00
Kacper Rączy
83d6552a15 lateral_planner: expose solverState, solverCost in debug mode (#28577) 
* Update cereal

* Add xs, ys, solverCost support in lat planner

* Update cereal

* Add support for debug mode. Add solverState

* Read debug mode from env

* Update cereal
 2023-06-16 19:51:37 -07:00
Harald Schäfer
cbd3e5b946 Plannerd: higher upper bound cost for lateral planner (#28352) 
20k not good upper bound for 10s
 2023-05-31 16:33:07 -07:00
Kacper Rączy
7b68a13048 lateral_planner: init missing variables (#28222) 
Init missing variables in LateralPlanner constructor
 2023-05-17 14:04:17 -07:00
Vivek Aithal
a599890fed Lateral Planner: Calibrate model speed with vEgo (#28049) 
* calibrate speed in the lateral planner

* make speed err helper fn

* check if trans has values

* clip the vel_err

* update refs
 2023-05-09 14:26:58 -07:00
Harald Schäfer
04fe6c4ec7 Expand lateral MPC to 10s (#27343) 
* 10s lat

* Full length MPC

* redfine N

* Leave controls the same for now

* Updates

* use long plan in lat plan

* interp plan

* add new interp

* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/

* expand to 10s

* revert this

* fix linter

* Update sconscripts

* fix test

* fix test

* fix test

* Revert "Update sconscripts"

This reverts commit 6e23c69dcebd5ed003e37e01921f6af7c31de0db.

* Dont import drive helpers

* better compile deps

* fix compile

* comment

* update replay

* Update plannerd time
 2023-02-17 15:28:26 -08:00
HaraldSchafer
4f84b29985 Use same minimum speed for lateral planning and controls (#26177) 
* Use same speed for lag adjustmenet

* One is a nicer number

* Update ref
 2022-10-20 14:34:36 -07:00
HaraldSchafer
1548db8962 Partial revert, lax torque control (#26146) 
* Closer to original

* Update ref
 2022-10-18 21:25:06 -07:00
HaraldSchafer
2c9b150761 Low speed lateral like before (#26022) 
* Add explicit cost on steering wheel movement

* Laxer low speed control

* Laxer low speed control

* Lower min speed now there is a cost

* 3m/s

* Similar to old master

* Add cost

* Crazy high

* Update ref

* comment
 2022-10-11 14:53:43 -07:00
HaraldSchafer
fb07437819 Increase low speed jerk cost (#26008) 
* Increase low speed jerk cost

* Update planner weight

* Update ref_commit

* Update lateral_planner.py

* cleanup and refactor

* Update ref_commit
 2022-10-07 19:15:04 -07:00
HaraldSchafer
1ecf6f351c Divide by 0 bug fix lateral planner (#25995) 
* Divide by speed correctly

* Update

* Update lateral_planner.py

* Update ref_commit
 2022-10-07 00:16:18 -07:00
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
HaraldSchafer
e5d2c3ce7a Planner cleanup (#25969) 2022-10-04 21:19:04 -07:00
HaraldSchafer
2eff6d0ebd Remove lane planning code (#25651) 
* Remove all lane planning logic

* Revert "Update ref"

This reverts commit 8dcb08ebccbb5641443459ac40601a95cf605682.

* bump cereal

* Update ref
 2022-09-04 13:07:51 -07:00
Chris Souers
5b1ba4f135 Lateral planner: Don't prompt/initiate lane changes if lateral control is not active (#25436) 
* Don't set lane change events if we're not able to steer.

* more specific variable name

* update process replay socket config

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-08-15 11:37:24 -07:00
HaraldSchafer
041458f632 Falcon Punch Model: turn cutting improvements (#25413) 
* simplified change to mpc dynamics

* add jerk pts

* increase jerk cost

* increase jerk pts multipler to master value

* Add final commit

* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750

* some copies are useful

* update model replay ref

* less frames in model replay onnx cpu

* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950

* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950

* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900

* Fix couple tests

* Update ref

* Unused for now

* Add lateral factor comment

* Unused variable

Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
Co-authored-by: Bruce Wayne <batman@gpu06.internal>
 2022-08-12 00:47:59 -07:00
HaraldSchafer
9283040d84 Rocket league model (#24869) 
* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420

* no elementwise op

* 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60

* explicit slice

* some copies are useful

* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425

* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800

* set steer rate cost to 1.0

* smaller temporal size

* Update model reg

* update model ref again

* This did upload somehow

* Update steer rate cost

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-06-15 15:29:42 -07:00
Adeeb Shihadeh
0fce5d9045 Move a bunch of stuff to system/ part 3 (#24829) 
* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter
 2022-06-11 23:19:27 -07:00
ClockeNessMnstr
b215d611b1 update DH names + notes for MPC output curvatures (#24701) 
* update names + notes for MPC outputs

"current_curvature" is not the correct description of what the MPC is outputting in it's curvature_ego state.
The MPC is integrating it's free variable, curvature_rate, such that curvature[0] is actually the desired_curvature before any delay.
inversely: the curvature_rate_desired is the desired rate of change to the setpoint and not the actual curvature rate. 

If we were to set the initial curvature = measured curvature in the MPC initiation these names would be correct. 
This was possibly how it was initially set up but the nomenclature here is now confusing.

* more notes

* match

* Clarify #1
 2022-06-07 09:41:03 -07:00
HaraldSchafer
7da48ebdba New model: better laneless (#24605) 
* Fix ping pong

* Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800

* Remove lateral toggle

* a6da6265-1952-48dd-986b-2b5996dd2642/950

* Model replay commit

* Revert "Remove lateral toggle"

This reverts commit 69e57eb7e1a72e4bad5e12bcfded6ff431a21a0e.
 2022-05-24 09:11:31 -07:00
Willem Melching
eaa5819211 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
 2022-04-06 16:43:32 -07:00
Lukas Petersson
65fca83abe Latency logging 2 (#24058) 
* msg_order and gantt

* frameId in long/lat planner

* track frame id

* controls frame id

* graph tracked events

* graph json

* cloudlog timestamp

* c++ cloudlog

* add frame id

* bug fixes

* bug fixes

* frame id visionicp

* bug fixes and debug level

* timestamp log placement

* print timestamps in table

* translate events

* more logging

* bug fixes

* daemon boardd

* print logs with boardd

* more timestamp logs

* cleanup

* remove publish logs

* bug fix

* timestamp received

* timestamp received

* bug fixes

* use json lib

* ignore driver camera

* prep for new timestamp pipeline

* bug fix

* read new pipeline unfinnished

* read new pipeline

* bug fix

* add frame to controlsstate

* remove controlsstate

* print

* cleanup

* more cleanup + bug fix

* clock build issue

* remove unused imports

* format durations

* increase speed

* pr comments fixes

* conflicts

* set MANAGER_DAEMON for boardd

* clean script code

* bug fix + argparse

* remove rcv time

* bug fixes

* print without tabulate

* fix pre-commits

* plot gnatt

* color bug fix

* read without timestampextra

* bump panda

* mono time instead of frame id

* finnish script

* clean unused

* clean unused logging

* monotonic + json fixes

* del test

* remove whilelines

* bump laika

* cleanup

* remove deps

* logs nicer strings

* remove plotting from scirpt

* reset pipfile

* reset pipfile

* nicer strings

* bug fix

* bug fix

* pr comments cleaning

* remove plotting

* bug fix

* new demo route

* bump opendbc and panda

* cereal master

* cereal master

* script less komplex

* assertions

* matplotlib

* readme

* Update README.md

* graph html

* design fixes

* more code design

* Update common/logging_extra.py

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

* whitespace

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

* Update tools/latency_logger/latency_logger.py

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

* pr comments

* bug fix

* readme + env once

* clean swaglog

* bug fix

* Update tools/latencylogger/README.md

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

* revert

* revert

* clean swaglog with error

* remove typo file

* revert graph

* cereal

* submodules

* whitespaces

* update refs

Co-authored-by: Bruce Wayne <batman@workstation-openpilot2.internal>
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2022-04-05 21:05:45 -07:00
Shane Smiskol
6be70a063d LateralPlanner: Move lane change logic to another class (#23476) 
* should work

* Revert "should work"

This reverts commit dabc2ea17a072a6c835e4bd1c75a2c1e2d10623d.

* move lane change logic to DesireHelper class

* clean up desires

clean up desires

* comments

* Revert "clean up desires"

This reverts commit 7301c921e305fcbd4746b19040631d935d50dfd9.

* Update selfdrive/controls/lib/desire_helper.py

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

* add to files_common

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-01-25 13:40:03 +01:00
Jonathan Frey
0681474840 work on acados lateral MPC (#23558) 
* lat_mpc: make v_ego, rotation_radius parameters instead of states

* lat_mpc: remove rotation_radius argument, since it is part of the parameters

* lat_mpc: use qp_solver_cond_N = 1

slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control

* adapt test_lateral_mpc to formulation with parameters

* lat_mpc: set parameters in reset() and copy values

* acados_ocp_solver_pyx: make options_set useable

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2022-01-18 09:49:48 -08:00
Willem Melching
f76328b426 Log MPC solver time (#23566) 
* add solve time to plan output

* add to process replay ignore list

* print in CI
 2022-01-18 14:51:03 +01:00
Dean Lee
dbae5e7601 lateral_planner: use nympy.isnan().any() (#23500) 2022-01-12 15:56:41 +01:00
Dean Lee
35ec6ac1cb use ndarray.tolist to convert numpy array to float (#23485) 2022-01-11 14:34:47 +01:00
Dean Lee
b2beb5e6ba controls: check contents in tuple instead of list (#23463) 2022-01-10 11:26:58 +01:00
Dean Lee
2ca0925da7 lateral_planner.py/publish: follow capnp best practices (#23359) 2022-01-02 11:55:24 -08:00
Shane Smiskol
93fd662adf Clean up planner files (#23031) 
* clean up planner files

clean up planner files

* fix plant instance
 2021-11-26 14:57:39 +01:00
HaraldSchafer
24aadaf1f3 Lateral planner: lower max cost (#22960) 
* prevent ping pong when tuning is not so great

* update refs
 2021-11-17 20:24:10 -08:00
Jason Young
2006fff2b6 Fix momentary false blind spot alerts when changing lanes (#22819) 
* reset LaneChangeDirection after finishing

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
 2021-11-10 17:21:36 +01:00
Vivek Aithal
2ea4feffb9 plannerd: add useLaneLines to lateralPlan (#22699) 
* add laneless toggle in lateral plan message

* update cereal

* add refs
 2021-10-26 14:32:41 -07:00
Harald Schafer
791de68689 plannerd: position std size check bug 2021-10-17 19:52:11 -07:00
HaraldSchafer
0dc45eaf1c Fix 0 init bug for acados lateral (#22225) 
* this is needed somehow

* new ref
 2021-09-13 21:23:22 -07:00
HaraldSchafer
7081ab4fb7 Port lateral planning to ACADOS (#22080) 
* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
 2021-09-13 19:06:54 -07:00
Adeeb Shihadeh
9be7cf2cda remove deprecated mpc logging code 2021-08-26 13:33:43 -07:00
Mitchell Goff
05b37552f3 Retuned desire model (#21919) 
* New model: d8e7f76f-7bec-4a83-af00-c0fae792527f/950

* Updated process replay refs

* Updated model replay ref
 2021-08-12 21:06:26 -07:00
Mitchell Goff
15d6bbb47c Revert "New desire model (#21729)" (#21805) 
* Revert "New desire model (#21729)"

This reverts commit e83973b9b3.

* Updated process replay ref and reverted release notes
 2021-07-30 14:34:29 -07:00
Mitchell Goff
e83973b9b3 New desire model (#21729) 
* New model: b822ee32-917c-4639-99f8-25be3e6aabad/900

* Enable keeps

* use new packet

* Send keep pulses once per second

* Updated model_replay_ref_commit

* New model: 0f160bf9-1bce-43e6-9785-564b2453eeac

* Bump model_replay_ref_commit

* Bump submodules

* New model: fd904bf9-5dd8-4619-8997-c5668400e078/550

* New model: fd904bf9-5dd8-4619-8997-c5668400e078/950

* No keeps

* Bumped model replay ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
 2021-07-26 21:11:09 -07:00
Adeeb Shihadeh
88424ede2c Revert model (#21571) 
* Revert "New desire model (#21458)"

This reverts commit 4230d5d212.

* revert rel notes
 2021-07-12 19:26:50 -07:00
HaraldSchafer
4230d5d212 New desire model (#21458) 
* New model: b822ee32-917c-4639-99f8-25be3e6aabad/900

* Enable keeps

* use new packet

* Send keep pulses once per second

* Updated model_replay_ref_commit

* New model: 0f160bf9-1bce-43e6-9785-564b2453eeac

* Bump model_replay_ref_commit

Co-authored-by: mitchell <mitchellgoffpc@gmail.com>
 2021-07-07 19:44:17 -07:00
HaraldSchafer
be5ddd25cd Refactor long (#21433) 
* refactor

* needs casting

* tests pass

* fix that test

* refactor in controls

* lets not go crazy

* change of names

* use constants

* better naming

* renamed

* soft constraints

* compile slack variables

* rm git conflict

* add slack variables

* unused

* new edition

* fcw

* fix tests

* dividing causes problems

* was way too slow

* take a step back

* byeeee

* for another time

* bad idxs

* little more cpu for cruise mpc

* update refs

* these limits seem fine

* rename

* test model timings fails sometimes

* add default

* save some cpu

* Revert "little more cpu for cruise mpc"

This reverts commit f0a8163ec90e8dc1eabb3c4a4268ad330d23374d.

* Revert "test model timings fails sometimes"

This reverts commit d259d845710ed2cbeb28b383e2600476527d4838.

* update refs

* less cpu

* Revert "Revert "test model timings fails sometimes""

This reverts commit e0263050d9929bfc7ee70c9788234541a4a8461c.

* Revert "less cpu"

This reverts commit 679007472bc2013e7fafb7b17de7a43d6f82359a.

* cleanup

* not too much until we clean up mpc

* more cost on jerk

* change ref

* add todo

* new ref

* indentation
 2021-07-07 19:42:26 -07:00
HaraldSchafer
6838e1c82c Refactor lateral lag compensation (#21334) 
* add T_IDXS

* refactor

* fix test

* unused

* typo

* needs casting

* Update selfdrive/controls/lib/drive_helpers.py

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

* deprecate field

* regen all

* new segs

* add todo

* split back

* clean

* bad names

* do in controls

* add arg

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-06-30 14:19:39 -07:00
Willem Melching
de34d1a527 Determine lane chane direction in preLaneChange state (#21119) 
* Determine lane chane direction in preLaneChange state

* cleanup

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
 2021-06-04 10:03:13 +02:00
Willem Melching
a57f10c202 Fix ability to change lane change direction while in progress (#20765) 2021-04-29 13:03:16 -07:00
HaraldSchafer
0e10b74a61 MPC retune for laneless fix (#20616) 
* was making wrong policy more aggresive

* allow to be set from simulator

* update refs

* put params together
 2021-04-08 12:56:47 -07:00