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47 Commits

Author SHA1 Message Date
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
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
9917924ee5 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
old-commit-hash: 83d6552a15
 2023-06-16 19:51:37 -07:00
Adeeb Shihadeh
e2acf6ab14 plannerd: add frameId to uiPlan (#27573) 
* plannerd: add frameId to uiPlan

* update refs
old-commit-hash: 17b71b477e
 2023-03-13 15:30:38 -07:00
Shane Smiskol
827c5678f0 uiPlan: add planned acceleration field (#27484) 
* add accel

* bump cereal

* Update ref_commit

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
old-commit-hash: 3ab8645d3a
 2023-03-02 20:11:24 -08:00
Harald Schäfer
0ac73f2a81 MPC path in UI (#27380) 
* 10s lat

* Full length MPC

* redfine N

* Leave controls the same for now

* Updates

* use long plan in lat plan

* interp plan

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

* expand to 10s

* revert this

* fix linter

* vizualize

* fix long test

* typo

* cleanup

* compiles

* unused

* unused

* bump cereal

* bump cereal

* use model if no uiplanm

* update replay

* update ref commit

* bump cereal to master
old-commit-hash: eb8bdc0026
 2023-02-17 19:58:30 -08:00
HaraldSchafer
0b87a4ddb1 More conservative lead policy in e2e long mode (#25684) 
* Add params for lead and danger

* fix long params

* E2e passes simple maneuver tests

* Make tests run with e2e long mode

* Slightly more error allowed in e2e mode

* FCW back and populate long source field

* Fix planner name

* FCW still doesnt work

* Slightly less aggressive

* Doesn't need to simulate from stop
old-commit-hash: 7899fb79c1
 2022-09-06 21:52:34 -07:00
HaraldSchafer
b8a6a961fe Remove lane planning code (#25651) 
* Remove all lane planning logic

* Revert "Update ref"

This reverts commit 8dcb08ebccbb5641443459ac40601a95cf605682.

* bump cereal

* Update ref
old-commit-hash: 2eff6d0ebd
 2022-09-04 13:07:51 -07:00
Chris Souers
179b0d1a81 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>
old-commit-hash: 5b1ba4f135
 2022-08-15 11:37:24 -07:00
HaraldSchafer
48522500ea 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>
old-commit-hash: 041458f632
 2022-08-12 00:47:59 -07:00
HaraldSchafer
b0b1aff5cc 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>
old-commit-hash: 9283040d84
 2022-06-15 15:29:42 -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
HaraldSchafer
08ad733229 Remove laneless toggle (#24738) 
* Remove laneless toggle

* Update refs
old-commit-hash: 7f16e19f79
 2022-06-03 14:04:14 -07:00
Willem Melching
753045c73d less TICI when not needed (#24698) 
* less TICI when not needed

* fix process replay

* move reading voltages into hw abstraction layer

* Update selfdrive/hardware/tici/hardware.h

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

* Update selfdrive/hardware/hw.h

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

* Update selfdrive/hardware/base.h

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

* rename init function

* Update selfdrive/athena/athenad.py

Co-authored-by: Robbe Derks <robbe.derks@gmail.com>

* Update selfdrive/boardd/boardd.cc

* Apply suggestions from code review

* Update selfdrive/thermald/thermald.py

* update ref

* fix alert width if all cameras are bad

* add ecam to test_loggerd

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Robbe Derks <robbe.derks@gmail.com>
old-commit-hash: f49a9c9fd2
 2022-06-02 15:20:51 +02:00
Gijs Koning
6a53db981b Simulator: Speed up process by removing second camera (#24679) 
* simulator: support running wide camera only

* proper frame id

* use param name that makes more sense

* do some cleanup

* Update tools/sim/bridge.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: b5aed2bf67
 2022-05-30 15:25:07 +02:00
Shane Smiskol
1b79236fa0 Clean up planner files (#23031) 
* clean up planner files

clean up planner files

* fix plant instance
old-commit-hash: 93fd662adf
 2021-11-26 14:57:39 +01:00
Robbe Derks
39d9bd31b0 Make longitudinal planning triggered on model (#22641) 
* Make long planning triggered on model

* fix process replay

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: efb5abec41
 2021-10-28 12:27:09 +02:00
Adeeb Shihadeh
52aaad7cad plannerd: remove last of liveMpc 
old-commit-hash: da74a6cf73
 2021-09-09 14:09:09 -07:00
Adeeb Shihadeh
16c7107d65 fingerprint cloudlog event (#20950) 
* fingerprint cloudlog event

* kale cloudlog

* not fuzzy
old-commit-hash: f08e01c97f
 2021-05-18 10:52:53 -07:00
Willem Melching
5ec437bb6e Ignore radarState average frequency 
old-commit-hash: 64d2ec38f2
 2021-04-21 10:59:26 +02:00
Willem Melching
811746959e tici: move real-time processes to high-performance cores (#20634) 
old-commit-hash: 8ede1b30aa
 2021-04-09 13:41:43 +02:00
Willem Melching
80b4e6ce09 plannerd: use get_bool to read param 
old-commit-hash: 44c395165b
 2021-04-09 10:32:31 +02:00
HaraldSchafer
3833a80305 MPC retune for laneless fix (#20616) 
* was making wrong policy more aggresive

* allow to be set from simulator

* update refs

* put params together
old-commit-hash: 0e10b74a61
 2021-04-08 12:56:47 -07:00
Willem Melching
4bd1929d2b LateralPlanner should only compute curvature (#20289) 
* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: c23ec9f753
 2021-03-11 21:08:51 -08:00
Adeeb Shihadeh
966945880b Cereal cleanup (#20003) 
* start cleanup

* fan speed

* cleanup dm

* fix cereal

* hwType -> pandaType

* update refs

* update refs

* bump cereal

* freeSpacePercent

* cereal master
old-commit-hash: 000bd226aa
 2021-02-03 19:57:30 -08:00
Mitchell Goff
d28831dbab Split planner and pathplanner publishing into separate 'publish' methods (#19860) 
* Split planner and pathplanner publishing into separate 'publish' methods

* Updated test_following_distance.py

* Combined publish+send_mpc_solution methods
old-commit-hash: 608f00f814
 2021-01-26 20:27:24 -08:00
HaraldSchafer
c6d9b9565a Mpc rework2 (#19660) 
* start again

* need that too

* this actually works

* not needed

* do properly

* still works

* still works

* still good

* all G without ll

* still works

* all still good

* cleanup building

* cleanup sconscript

* new lane planner

* how on earth is this silent too....

* update

* add rotation radius

* update

* pathplanner first pass

* misc fixes

* fix

* need deep_interp

* local again

* fix

* fix test

* very old

* new replay

* interp properly

* correct length

* another horrible silent bug

* like master

* fix that

* do doubles

* different delay compensation

* make robust to empty msg

* make pass with hack for now

* add some extra

* update ref for increased leg

* test cpu usage on this pr

* tiny bit faster

* purge numpy

* update ref

* not needed

* ready for merge

* try again after recompile

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 158210cde8
 2021-01-14 18:43:50 -08:00
Adeeb Shihadeh
ff14d71845 Run all driving processes on cores 2-3 (#2257) 
old-commit-hash: 059cf6b43e
 2020-10-02 17:18:18 -07:00
Adeeb Shihadeh
bdf52941c8 Improve realtime performance on NEOS (#2166) 
* fix setting core affinity

* dmonitoringd doesn't need rt priority

* android only gets two cores

* model and planner get core 2

* log missed cycle count

* neos update

* prod image

* revert NEOS changes

* still need this
old-commit-hash: ef21b83937
 2020-09-16 15:33:12 -07:00
Adeeb Shihadeh
6eddfac1a6 Reduce plannerd and dmonitoringd CPU usage (#2108) 
* fix wasted cycles in locationd and dmonitoringd

* bump cereal

* calibrationd

* Revert "calibrationd"

This reverts commit 580051a33bc96e1e83300629e9c04817928d0851.

* this is cleaner

* calibrationd

* paramsd is driven by liveLocationKalman

* only log params once a minute

* stricter CPU usage test

* revert locationd for now

* revert calibrationd too

* revert thresholds
old-commit-hash: 21fbe26980
 2020-09-01 16:41:09 -07:00
Jason Young
ebed52527b Reduce scheduler latency for realtime processes (#1638) 
* WIP: reduce boardd and other lags

* Copypasta fault

* Silence spurious startup warning

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 68531b071c
 2020-06-05 17:09:41 -04:00
George Hotz
079eee7294 selfdrive/controls 
old-commit-hash: b0260dadba
 2020-01-17 12:48:30 -08:00
George Hotz
81dd5a50cf root commit 
old-commit-hash: 6c33a5c1f3
 2020-01-17 10:02:52 -08:00
Vehicle Researcher
99b637c7ce openpilot v0.7 release 
old-commit-hash: c025b96e8a
 2019-12-13 13:03:08 -08:00
Vehicle Researcher
89d1d84c70 openpilot v0.6.5 release 
old-commit-hash: cf80f7a28b
 2019-10-09 18:43:53 +00:00
Vehicle Researcher
dfe603c178 openpilot v0.6.4 release 
old-commit-hash: 61229779e4
 2019-09-09 23:03:02 +00:00
Vehicle Researcher
3835061760 openpilot v0.6.2 release 
old-commit-hash: e90c41c576
 2019-07-30 02:27:48 +00:00
Vehicle Researcher
9abcfabc5f openpilot v0.6 release 
old-commit-hash: 8a9ed94f5f
 2019-06-28 21:11:30 +00:00
Vehicle Researcher
e47a2e6e30 openpilot v0.5.13 release 
old-commit-hash: dd34ccfe28
 2019-06-06 04:38:45 +00:00
Vehicle Researcher
0932b367bd openpilot v0.5.12 release 
old-commit-hash: 3f9059fea8
 2019-05-16 13:20:29 -07:00
Vehicle Researcher
30f7a33535 openpilot v0.5.10 release 
old-commit-hash: f74a201edc
 2019-03-26 01:09:18 -07:00
Vehicle Researcher
2cc4edde68 openpilot v0.5.9 release 
old-commit-hash: 0207a97040
 2019-02-20 01:39:02 +00:00
Vehicle Researcher
46e0ee7750 openpilot v0.3.4 release 
old-commit-hash: 6f46f988d9
 2017-07-28 03:23:57 -07:00
Vehicle Researcher
beae7b6009 openpilot v0.3.2 release 
old-commit-hash: 7fe46f1e1d
 2017-05-22 22:26:12 -07:00
Vehicle Researcher
5de48a7668 openpilot v0.3.0-devel release 
old-commit-hash: 4653a9aef0
 2017-05-11 12:41:17 -07:00