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390 Commits

Author SHA1 Message Date
Vivek Aithal
f8dce94688 params: Remove separate CarParams from each daemon (#30405) 
* remove separate previous route carparams from each daemon and add centrally to controlsd

* extract out sigint handler

* make process replay work for torqued

* don't write param if None
old-commit-hash: 2eb487c9a5
 2023-11-08 15:25:41 -08:00
Kacper Rączy
7bd8c5425b controlsd: reset axes in joystick mode if message is old (#30409) 
Reset joystick if it wasnt received after 0.2 sec
old-commit-hash: c419376bbd
 2023-11-07 15:48:13 -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
Adeeb Shihadeh
9c8de3e08b simplify sensor alert (#29824) 
* simplify

* update proc replay
old-commit-hash: a4aa801fbe
 2023-09-26 16:47:21 -07:00
coffee-cake-isaac
cf35d8eded joystick mode: add curvature control (#30010) 
* Added curvature controls to joystick mode

* same line

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: c43325fa17
 2023-09-22 21:53:31 -07:00
Vivek Aithal
56f4c138cd Alerts: More understandable locationd, paramsd alerts (#29831) 
* add locationd paramsd alerts

* remove more additions, just renames

* update refs

* Update selfdrive/controls/lib/events.py

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

* Update selfdrive/controls/lib/events.py

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

* resolve comemnts

* update cereal

* update refs

* remove nosensor in new alerts

* bump cereal

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 00d1c682b0
 2023-09-11 16:28:42 -07:00
Lee Jong Mun
89e5ee45ca cleanup remnants of LQR and INDI tuning (#29860) 
* not use 'indi' cleanup

* bump cereal

* rm more

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 238f9d65db
 2023-09-10 16:30:13 -07:00
Vivek Aithal
43ce3d16df locationd: Add camera-IMU cross-checks (#29727) 
* camera-gyro cross checks, but one way

* increase factor to account for gyro noise (potholes, bad roads etc

* increase factor to reduce FP with device taps, bad roads, etc

* factor to 30

* add inputsok to sensoir data invalid alert

* bugfix

* move the sensors check

* add localizer catchall alert

* update refcommit

* remove permanent alert

* revert sensorDataInvalid alert change, split into new PR
old-commit-hash: dbada885ac
 2023-09-06 21:01:01 -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
Adeeb Shihadeh
51634f52dc 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
old-commit-hash: d61f86d339
 2023-08-20 18:50:58 -07:00
Justin Newberry
715f028a0e Ruff: enable flake8-builtins (#29315) 
* enable flake8-builtins

* replace any with contains

* fix typo in pack

* fix type

* format is from the parent module, has to be enabled

* item_id

* fix item_id

* disable for id since that's what the remote server returns
old-commit-hash: 8793cbff40
 2023-08-10 18:58:22 -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
Vivek Aithal
3b18903574 [commabody] Support both self-balancing bodies and the wheeled bodies (#29118) 
* add wheeled body support

* add WheeledBody param

* make movement less jerky
old-commit-hash: 92448012f0
 2023-07-24 19:49:51 -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
e51ad90e92 controlsd: write ControlsReady in thread (#29048) 
old-commit-hash: 83c5d11dff
 2023-07-19 19:13:18 -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
Shane Smiskol
f9c6c9e8c3 Revert "experimental mode: gate navigate on openpilot (#28883)" (#29005) 
This reverts commit 929880496515e3f995634e561145802bf15a60ea.
old-commit-hash: b5b431c12d
 2023-07-17 19:56:38 -07:00
Shane Smiskol
296de39f48 experimental mode: gate navigate on openpilot (#28883) 
* first draft copy, needs updates

* gate behind exp mode

* can be one line

* this is no longer true

* toggle isn't just e2e long now, rename

* don't enable/disable

* kinda works!

* remove old giant qstring

* comment clean up

* similar breakpoint

* more clean up

* fixup onroad

* preserve planner behavior, and we don't need to look at confirmed param if we're onroad

* update translations

* vanish translations

* use scene for op long

* lowercase!

* updated copy

* need to check longitudinal here now too

* clean up!

* here is better

* used

* no nav emoji

* don't check param if not valid

* revert this

revert this

* ed
old-commit-hash: f973d605b2
 2023-07-14 05:26:59 -07:00
Kacper Rączy
fe84dadaa5 controlsd: support for SIMULATION mode for process replay (#28895) 
* Support for simulation flag while replay

* Update cereal

* Enable simulation for controlsd

* Update ref commit

* Update cereal
old-commit-hash: 72579a0e10
 2023-07-12 10:32:02 -07:00
Adeeb Shihadeh
59064a4f6a sim: fix paramsd error (#28685) 
old-commit-hash: 4662a0de82
 2023-06-24 20:46:03 -07:00
Kacper Rączy
8aa845a1c8 modeld: use any available stream as main, if there's only one (#28514) 
* Use whatever stream is available as main, if there's only one

* Move logw somewhere else

* Add wideRoadCameraState to ignore_alive if its not available
old-commit-hash: 4eb3d54149
 2023-06-12 20:13:56 -07:00
Dean Lee
eddc84d104 automatically detect available camera streams (#27640) 
* remove WideCameraOnly

* check in set_initial_state

* no block

* remove try block

* apply reviews
old-commit-hash: 4ae0378f63
 2023-06-12 13:40:43 -07:00
Adeeb Shihadeh
d2ec950790 test onroad: explicit memory leak check (#28502) 
old-commit-hash: 2f117e88b7
 2023-06-11 14:43:25 -07:00
Adeeb Shihadeh
678825e10f cloudlog process not running (#28472) 
* cloudlog process not running

* error
old-commit-hash: a412cd07b1
 2023-06-09 15:36:15 -07:00
Harald Schäfer
bb8eeb7873 Remove INDI controller (#28366) 
old-commit-hash: dba437bc8d
 2023-06-01 21:05:49 -07:00
Adeeb Shihadeh
7e64d60f4b test_onroad: ignore vehicleModelInvalid (#28335) 
* test_onroad: ignore vehicleModelInvalid

* not for all ci
old-commit-hash: cd57b340c1
 2023-06-01 10:26:08 -07:00
Shane Smiskol
0189b3fbe6 controls: write recalibrating offroad alert once (#28312) 
* only write once

* rm read

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 715f44ff45
 2023-05-26 13:07:35 -07:00
Adeeb Shihadeh
b820990639 controlsd: check longitudinalPlan avg freq (#28200) 
old-commit-hash: dee7ced00e
 2023-05-24 20:46:44 -07:00
Adeeb Shihadeh
b9e0c2936b controlsd: check for self lagging in radar alert 
old-commit-hash: e889e09513
 2023-05-15 13:57:11 -07:00
Adeeb Shihadeh
b376a2dd63 calibrationd: add offroad alert when remount detected (#28073) 
* calibrationd: add offroad alert for recalibration

* Update common/params.cc
old-commit-hash: c192c92a4e
 2023-05-15 13:10:36 -07:00
Harald Schäfer
5ddceb553d Calibrationd: make recalibrating alert (#28149) 
* Initial

* fixes

* not an int anymore

* elif

* revert ref

* update ref

* fix alert text

* regen refs

* update ref

* add recalibration unit test

* set into recalibration state

* fix words

* recalib

* text

* Update selfdrive/controls/lib/events.py

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

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 598343aad1
 2023-05-15 09:29:57 -07:00
Kacper Rączy
2d107da5cf controlsd: disable controlsdLagging event during process replay (#28177) 
Disable controlsdLagging event during process replay
old-commit-hash: e08952acc8
 2023-05-12 11:33:48 -07:00
Adeeb Shihadeh
7e73e412ee gate no gps alert on valid localizer inputs (#28135) 
old-commit-hash: 154a42dcbd
 2023-05-08 15:09:00 -07:00
Adeeb Shihadeh
4e87efb78c controlsd: remove procs from ignore list (#26848) 
* trim list

* check for file
old-commit-hash: c4501e4bc1
 2023-05-07 15:43:45 -07:00
Shane Smiskol
6f0efe4ea0 Lane Departure Warning: fix desire index bug (#28119) 
don't subtract 1
old-commit-hash: 4e951e4524
 2023-05-06 03:03:28 -07:00
Shane Smiskol
71fed2384d Remove dashcam override param (#27509) 
* remove dashcam override

* sort

* remove ford from segments
old-commit-hash: e729f5b763
 2023-03-06 15:36:39 -08:00
Adeeb Shihadeh
0691c6b6de improved fan malfunction detection (#27405) 
old-commit-hash: 9d64fb2d1a
 2023-02-22 14:11:29 -08:00
Adeeb Shihadeh
bc61a6b1fd controlsd: higher default set speed in experimental mode (#27279) 
* controlsd: higher default set speed in experimental mode

* update tests

* update tests
old-commit-hash: 5ab2d35f7b
 2023-02-09 19:27:51 -08:00
Adeeb Shihadeh
827c16fbcb controlsd: revert CAN timeout threshold (#27275) 
* controlsd: revert CAN timeout threshold

* dt_ctrl doesn't make sense there
old-commit-hash: 7978901101
 2023-02-09 18:54:17 -08:00
Shane Smiskol
acc8e38111 GM: enforce steering command message timing (#27250) 
* draft

* bump opendbc

* still draft

* that's not right

* superset of the changes, 33hz

* cleanup

* this should work

* remove line

* pass it in again

* actually no need to check updated now

* now_nanos

* consistent name

* fix replay

* one line isn't that bad

switch

switch

* fix CarController tests

* Update ref_commit
old-commit-hash: 8f5057ff2d
 2023-02-09 15:37:39 -08:00
Adeeb Shihadeh
7d2477e0af controlsd: don't show steer saturated if recently overriding (#27191) 
* controlsd: don't show steer saturated if recently overriding

* 2s

* update refs
old-commit-hash: b3b35b23fa
 2023-02-02 17:12:13 -08:00
Shane Smiskol
09a54d7ce5 controls: add curvature to actuators (#27108) 
* Add curvature to actuators

* Use it in CC

* revert ford stuff

* Update ref_commit
old-commit-hash: ad5b3ea410
 2023-01-26 20:02:23 -08:00
Adeeb Shihadeh
69680e5a93 UI: show experimental long available to release users (#26910) 
* UI: show experimental long available to release users

* more description

* cleanup

* hide toggle

* fix process replay

* clear param

* actually fix
old-commit-hash: c408b7e306
 2023-01-19 23:06:18 -08:00
Shane Smiskol
5a74a8db6d Deprecate canMonoTimes (#26992) 
* not used anywhere

* bump cereal

* also here
old-commit-hash: 2fd48e26a3
 2023-01-17 22:00:01 -08:00
Jason Young
fda55793d0 controlsd: set latActive with max minimum steer speed (#26805) 
* refactor minimum lateral speed handling

* rename for clarity

* simplify without joystick at standstill

* intermediate standstill variable, check notCar

* check joystick for now

* cmt

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: cb88b3ed65
 2023-01-10 20:51:10 -08:00
Shane Smiskol
ba3d08c25f process replay: test body with joystick mode (#26916) 
* no need to check sm

* fix

* Update ref_commit

* revert
old-commit-hash: f0d0d99981
 2023-01-10 19:59:39 -08:00
Adeeb Shihadeh
6c8aca245a controlsd: remove laikad from ignored process list 
old-commit-hash: 65414bcd8d
 2022-12-31 11:30:28 -08:00